Partition paper placing method for carton boxing

Abstract

The invention discloses a partition paper placing method for carton boxing. The partition paper placing method comprises the following steps: (1) system configuration; (2) clamping a row of paper box stacks through a paper clamping manipulator and transferring the paper box stacks to appointed positions in the paper boxes; (3) a piece of side face partition paper is adsorbed through a partition paper adsorption mechanical arm, the side face partition paper is transferred into the carton at the boxing station, and the side face partition paper is stacked on the carton stack and partially extends out of the carton stack; the partition paper adsorption manipulator is reset to correspond to the partition paper storage table; (4) the other row of paper box stacks are clamped through a paper clamping mechanical arm, the suspended exposed portions of the side face partition paper in the step (3) are pressed downwards into the gap between the two rows of paper box stacks, and the side face partition paper is made to stand in the gap between the two rows of paper box stacks in a vertical posture; and (5) adsorbing a piece of upper-layer separation paper through a separation paper adsorption manipulator, transferring the upper-layer separation paper into a carton at a boxing station, and flatly placing the upper-layer separation paper on the upper end surface of each row of carton stacks.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carton automatic boxing in the packaging and printing industry, and particularly relates to a paper partition placing method for carton boxing. BACKGROUND

[0002] In the automatic production process of cartons in the packaging and printing industry, after the cartons are shaped by a pasting machine and counted by a counting mechanism, the cartons are stacked in a vertical standing state to form a carton stack of a set number, and then the carton stack is loaded into the same carton by a mechanical hand for subsequent storage and transportation. In order to avoid mutual interference of adjacent carton stacks in the carton, a paper partition is generally used to separate the adjacent carton stacks.

[0003] At present, the specific operation of separating the adjacent carton stacks in the same carton usually adopts a suction disc group to suck the paper partition and lay the paper partition on the upper end face of the uppermost layer of materials to complete the boxing work of the paper partition, as disclosed in the invention patent application with the application publication number CN111703648A and the application publication date September 25, 2020. The above-mentioned automatic boxing robot only separates the adjacent carton stacks, but the two rows of adjacent carton stacks in the same carton are closely adjacent in the carton. The jolt and vibration in the transportation process can cause the adjacent carton stacks to be inserted into each other, and the number of the carton stacks is prone to deviation, which seriously affects the subsequent storage statistics and sales settlement.

[0004] More importantly, the paper partition separation of the adjacent carton stacks still relies on manual operation, and there are obvious operation pain points. Firstly, after placing a row of carton stacks, the paper partition is prone to be blocked and deformed by the subsequent placement of another row of carton stacks when the paper partition is placed on the side of the row of carton stacks, and the paper partition cannot form an effective barrier. Secondly, if the two rows of carton stacks are placed side by side, and then the paper partition is manually inserted between the two rows of carton stacks, it is extremely difficult to insert the paper partition into the gap due to the close adhesion of the two rows of carton stacks. In summary, the existing technology cannot realize the automatic vertical placement of the side paper partition between the two rows of adjacent carton stacks, which not only is complicated in operation, but also seriously restricts the boxing efficiency of the carton stacks. SUMMARY

[0005] The present application solves the problem of providing a paper partition placing method for carton boxing, which can realize the automatic paper partition separation of the adjacent carton stacks, and also consider the barrier of the upper and lower carton stacks, thereby improving the boxing efficiency and the regularity of the carton stacks.

[0006] In order to solve the above technical problems, the technical scheme adopted by the present application is as follows: A method for placing separator paper in cardboard box packaging, characterized by comprising the following steps: (1) System configuration: Build a carton packing system including a carton conveying mechanism, a paper storage platform, a paper clamping robot and a paper adsorption robot. The carton conveying mechanism is equipped with a carton packing station. The carton conveying mechanism is used to transport empty cartons to the packing station and output full cartons; The paper separator storage platform is used to store stacks of side paper separators and top paper separators of the appropriate specifications, and corresponds to the working range of the paper separator adsorption robot. The length of the side paper separator is the same as the length of the carton stack, the width of the side paper separator is the same as the height of the carton stack, and the size of the top paper separator is adapted to the bottom area of ​​the carton cavity. (2) A stack of cardboard boxes is picked up by a paper clamping robot and moved to a designated position inside the cardboard box; (3) A side separator is picked up by the paper separator suction robot and transferred to the carton in the packing station. The side separator is stacked on the carton stack and partially extends out of the carton stack. The part of the side separator that accounts for more than 1 / 2 of the width of the side separator is placed flat on the upper surface of the carton stack in step (2), and the part that accounts for less than 1 / 2 of the width of the side separator is suspended and exposed on the outer side of the upper surface of the carton stack. The paper separator suction robot is reset to correspond with the paper separator storage platform. (4) Use a paper clamping robot to grab another row of cardboard boxes and move it directly above the exposed part of the side partition paper in step (3). Then loosen the row of cardboard boxes and place it in an adjacent position to the cardboard box stack in step (3). At the same time, the weight of the row of cardboard boxes will press the exposed part of the side partition paper in step (3) downward into the gap between the two rows of cardboard boxes, so that the side partition paper stands vertically in the gap between the two rows of cardboard boxes. Repeat steps (2)-(4) until the cardboard boxes are filled with a layer of multiple rows of parallel cardboard boxes. (5) Use the paper separator suction robot to suction a top layer paper and transfer the top layer paper to the carton in the packing station. Place the top layer paper flat on the top surface of each row of carton stacks. Repeat steps (2)-(5) until the carton is filled with multiple layers and rows of parallel carton stacks.

[0007] In step (1) above, the length of the side divider is the same as the length of the cardboard stack, which can ensure that the side divider can completely cover the cardboard stack along its length, avoiding the interlacing caused by the lack of divider at both ends of the cardboard stack; the width of the side divider is the same as the height of the cardboard stack, which can ensure that after the side divider is pressed into the gap, its vertical height is consistent with the height of the cardboard stack, and will not affect the placement of the upper cardboard stack due to the side divider being too high and protruding from the cardboard stack.

[0008] In step (4) above, the weight of the cardboard stack itself is used to press the side divider into place, which does not require an additional power source, simplifies the system structure, and reduces equipment costs and maintenance difficulty. At the same time, the placement of the cardboard stack and the pressing of the side divider into place are completed simultaneously, without the need for additional procedures and without affecting the packing efficiency.

[0009] In the preferred embodiment, the packing system in step (1) further includes a coordinate acquisition module and a controller. The coordinate acquisition module is electrically connected to the corresponding control input terminal of the controller. The carton conveying mechanism, the paper clamping robot, and the paper separation adsorption robot are electrically connected to the corresponding control output terminal of the controller. The X-axis is set along the length direction of the carton, and the Y-axis is set along the width direction of the carton. The coordinate acquisition module acquires the reference coordinates (X0, Y0) of the carton on the packing station. X0 is located on the center line of the length direction of the carton, and Y0 is located on the center line of the width direction of the carton. At the same time, the inner wall length L and the inner wall width W1 of the carton are collected. The controller pre-enters the width W2 of the single row of cartons to be packed and the fine adjustment value Δ of the side paper separation position. When placing i rows of cardboard boxes in the same layer within a carton, the position coordinates (X) of the i-1 side dividers are calculated using the following formula. k ,Y k ): The X-coordinates of all side panels are: ; The Y-coordinates of each side panel are: ; in: i represents the number of rows of cardboard boxes in the same layer, where i is a positive integer ≥ 2; k represents the paper separator number, k=1,2,...,i-1; X k Represents the x-coordinate of the k-th side panel; Y k Represents the ordinate of the k-th side panel paper in the Y direction; X0 represents the reference x-coordinate in the length direction of the carton; Y0 represents the reference ordinate in the width direction of the carton; L represents the length of the inner wall of the carton; W1 represents the width of the inner wall of the carton; W2 represents the width of a single row of cardboard box stacks; The width of the total gap inside the carton is obtained by subtracting the total width of the i rows of cartons, i×W2, from the width of the inner wall of the carton, W1. This indicates that the width of the total gap is evenly divided into i+1 equal parts to accommodate the gap distribution of i rows of paper box stacks. Δ represents the fine-tuning value of the side partition paper position, and the value of Δ ranges from 0 to 5 mm.

[0010] Side dividers are only needed when each layer of a cardboard box contains at least two rows of stacked boxes.

[0011] The aforementioned k-th side divider is used to separate the k-th row and the (k+1)-th row of cardboard boxes.

[0012] The aforementioned fine-tuning value Δ for the side partition paper position is used to compensate for carton size tolerances, partition paper thickness, and mechanical installation errors. The value range of Δ, 0-5mm, is a common mechanical error compensation range in the packaging and printing industry. The production size tolerances of the carton, the thickness tolerances of the partition paper (generally 0.1-0.5mm), and the installation and movement errors of the robotic arm (generally ±3mm) are all within the range of 0-5mm. This avoids the situation where an excessively large value may cause the partition paper positioning to shift, or an excessively small value may not provide effective compensation.

[0013] Typically, the coordinate acquisition module includes an industrial camera and a laser displacement sensor. The industrial camera captures images of the cartons at the packing station and automatically acquires the reference coordinates (X0, Y0). The laser displacement sensor calibrates the inner wall length L and width W1 of the carton. The two data are fused by the controller to balance positioning accuracy and dimensional measurement stability.

[0014] Compared with the prior art, the present invention has the following advantages: (1) To realize the automated paper separation of adjacent cardboard stacks on the left and right, filling the technological gap in the industry: Breaking through the limitations of existing technology which can only automatically realize paper separation between upper and lower cardboard stacks and paper separation between left and right stacks by manual labor, overcoming the problems that side paper separation cannot be placed vertically, may be blocked by the next cardboard stack and be deformed by pressure, and are difficult to insert paper after two rows of cardboard stacks are placed side by side, through the linkage method of suspending and pressing the cardboard stacks in, the side paper separation is automatically placed in the gap between the two rows of cardboard stacks to complete the left and right separation, greatly improving the automation level and packing efficiency of cardboard box packing.

[0015] (2) Completely solve the problem of cardboard boxes being intertwined during transportation and ensure the accuracy of counting: The vertically placed side dividers form a rigid separation between adjacent cardboard box stacks on the left and right, effectively avoiding the cardboard boxes being intertwined due to transportation bumps and vibrations, ensuring the accuracy of the number of each stack of cardboard boxes, and fundamentally solving the problem of quantity error in warehousing statistics and sales settlement; at the same time, combined with the upper and lower separation of the upper dividers, it realizes all-round layering and blocking of cardboard box stacks in the carton, greatly improving the regularity.

[0016] (3) No additional power is required for the placement of the paper divider, and the structure and action logic are simple: the weight of the back row of cardboard boxes is used to press the suspended part of the side paper divider into the gap to form a vertical divider. There is no need to add cylinders, push rods or other additional driving mechanisms, which simplifies the structural design of the packing system and reduces equipment costs and failure probability.

[0017] (4) The specifications of the partition paper are precisely matched with the cardboard stack / carton, and the partition effect is stable: the length of the side partition paper is consistent with the length of the cardboard stack, the width of the side partition paper is consistent with the height of the cardboard stack, and the size of the upper partition paper is compatible with the bottom area of ​​the inner cavity of the carton, ensuring that the partition paper can completely cover the partition area, avoiding the failure of the partition due to the mismatch of the partition paper specifications, and ensuring the stability of the cardboard stack during transportation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the packing system of a specific embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure of placing two layers of cardboard boxes in a cardboard box according to a specific embodiment of the present invention; Figure 3 This is a schematic diagram of a specific embodiment 1 of the present invention, in which the side partition paper is pressed between two rows of cardboard boxes; Figure 4 This is a coordinate diagram of specific embodiment 1 of the present invention; Figure 5 This is a coordinate diagram of specific embodiment 2 of the present invention; Figure 6 This is a coordinate diagram of specific embodiment 3 of the present invention. Detailed Implementation

[0019] The following description, in conjunction with the accompanying drawings and preferred embodiments of the present invention, will provide further details.

[0020] Example 1, such as Figures 1-4 This method of placing the separating paper in cardboard boxes includes the following steps: (1) System configuration: A carton packing system including a carton conveying mechanism 1, a paper storage platform 2, a paper clamping robot 3 and a paper adsorption robot 4 is set up. The carton conveying mechanism 1 is equipped with a carton packing station 11. The carton conveying mechanism 1 is used to convey empty cartons 5 to the packing station 11 and output full cartons 5; The paper storage platform 2 is used to store a full stack of side paper dividers 6 and a full stack of top paper dividers 7 of the appropriate specifications, and corresponds to the working range of the paper adsorption robot 4; the length of the side paper dividers 6 is the same as the length of the cardboard stack 8, the width of the side paper dividers 6 is the same as the height of the cardboard stack 8, and the size of the top paper dividers 7 is adapted to the bottom area of ​​the inner cavity of the carton 5. (2) A row of cardboard box stacks 8 is picked up by the paper clamping robot 3 and transferred to the designated position inside the cardboard box 5; (3) A side paper 6 is adsorbed by the paper adsorption robot 4 and transferred to the carton 5 in the packing station 11, so that the side paper 6 is stacked on the carton stack 8 and partially extends out of the carton stack 8. The part of the side paper 6 that occupies more than 1 / 2 of the width of the side paper 6 is placed flat on the upper surface of the carton stack 8 in step (2), and the part that occupies less than 1 / 2 of the width of the side paper 6 is suspended and exposed on the outer side of the upper surface of the carton stack 8; the paper adsorption robot 4 is reset to correspond with the paper storage platform 2; (4) The paper clamping robot 3 clamps another row of paper box stacks 8 and moves it directly above the suspended exposed part of the side partition 6 in step (3). Then, the paper box stack 8 is released and placed in an adjacent position to the paper box stack 8 in step (3). At the same time, the weight of the paper box stack 8 presses the suspended exposed part of the side partition 6 in step (3) downward into the gap between the two rows of paper box stacks 8, so that the side partition 6 stands vertically in the gap between the two rows of paper box stacks 8. Repeat steps (2)-(4) until the cardboard box 5 is filled with a layer of multiple rows of parallel paper box stacks 8. (5) Use the paper separator suction robot 4 to suction a top layer paper separator 7 and transfer the top layer paper separator 7 to the carton 5 in the packing station 11. Place the top layer paper separator 7 flat on the top surface of each row of carton stacks 8. Repeat steps (2)-(5) until the carton 5 is filled with multiple layers and rows of parallel carton stacks 8.

[0021] In step (1) above, the length of the side divider 6 is the same as the length of the cardboard stack, which can ensure that the side divider 6 can completely cover the cardboard stack along its length, avoiding the interlacing caused by the lack of divider at both ends of the cardboard stack; the width of the side divider 6 is the same as the height of the cardboard stack, which can ensure that after the side divider 6 is pressed into the gap, its vertical height is consistent with the height of the cardboard stack, and will not affect the placement of the upper cardboard stack due to the side divider 6 protruding too high.

[0022] In step (4) above, the weight of the cardboard stack itself is used to press the side divider 6 in, which does not require an additional power source, simplifies the system structure, and reduces equipment costs and maintenance difficulty; at the same time, the placement of the cardboard stack and the pressing of the side divider 6 are completed simultaneously, without additional procedures, and do not affect the packing efficiency.

[0023] The packing system in step (1) also includes a coordinate acquisition module and a controller. The coordinate acquisition module is electrically connected to the corresponding control input terminal of the controller. The carton conveying mechanism 1, the paper clamping robot 3, and the paper separation adsorption robot 4 are electrically connected to the corresponding control output terminal of the controller. The X-axis is set along the length direction of the carton, and the Y-axis is set along the width direction of the carton. The coordinate acquisition module acquires the reference coordinates (X0, Y0) of the carton on the packing station 11. X0 is located on the center line of the length direction of the carton, and Y0 is located on the center line of the width direction of the carton. At the same time, the inner wall length L and the inner wall width W1 of the carton are collected. The controller pre-enters the width W2 of the single row of cartons to be packed and the fine adjustment value Δ of the side paper separator 6. In this embodiment, the cardboard box can hold two layers of cardboard stacks, and each layer can hold two rows of cardboard stacks. The position coordinates (X1, Y1) of one side partition paper 6 are calculated using the following formula.

[0024] When i=2 (i.e., 2 rows of cardboard boxes require 1 side divider, k=1): The obtained parameters are: X0=0mm, Y0=0mm, L=300mm, W1=200mm, W2=95mm, Δ=2mm.

[0025] The X-coordinates of all side panels are: .

[0026] use This formula is used to calculate, where .

[0027] The Y-coordinate of the first side panel is (k=1): That is, the position coordinates (X1,Y1) of the first side partition paper are (-150,-2).

[0028] Example 2, as Figure 5 As shown, each layer of the cardboard box in this embodiment can hold 3 rows of cardboard boxes. The position coordinates (X1,Y1) and (X2,Y2) of the two side dividers 6 are calculated using the following formula.

[0029] When i=3 (i.e., 3 rows of cardboard boxes require 2 side dividers, k=1, 2): The obtained parameters are: X0=0mm, Y0=0mm, L=600mm, W1=400mm, W2=130mm, Δ=2mm.

[0030] The X-coordinates of all side panels are: .

[0031] use This formula is used to calculate, where .

[0032] The Y-coordinate of the first side panel is (k=1): ; The Y-coordinate of the second side panel is (k=2): ; That is, the position coordinates of the first side divider paper are (X1,Y1) (-300,-67.625) and the position coordinates of the second side divider paper are (X2,Y2) (-300,63.625).

[0033] Example 3, as Figure 6 As shown, each layer of the cardboard box in this embodiment can hold 3 rows of cardboard boxes. The position coordinates (X1,Y1), (X2,Y2), and (X3,Y3) of the two side dividers 6 are calculated using the following formula.

[0034] When i=4 (i.e., 4 rows of cardboard boxes, requiring 3 side dividers, k=1, 2, 3): The obtained parameters are: X0=0mm, Y0=0mm, L=600mm, W1=400mm, W2=95mm, Δ=2mm.

[0035] The X-coordinates of all side panels are: .

[0036] use This formula is used to calculate, where .

[0037] The Y-coordinate of the first side panel is (k=1): ; The Y-coordinate of the second side panel is (k=2): ; The Y-coordinate of the third side panel is (k=3): ; That is, the coordinates of the first side divider are (X1,Y1) (-300,-99), the coordinates of the second side divider are (X2,Y2) (-300,-2), and the coordinates of the third side divider are (X3,Y3) (-300,95).

[0038] Furthermore, it should be noted that the names of the various parts of the specific embodiments described in this specification may differ. All equivalent or simple variations made to the structure, features, and principles described in this invention are included within the scope of protection of this invention. Those skilled in the art can make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not deviate from the structure of this invention or exceed the scope defined in these claims, all of which should fall within the scope of protection of this invention.

Claims

1. A method for placing separating paper in cardboard box packaging, characterized in that... Includes the following steps: (1) System configuration: Build a carton packing system including a carton conveying mechanism, a paper storage platform, a paper clamping robot and a paper adsorption robot. The carton conveying mechanism is equipped with a carton packing station. The carton conveying mechanism is used to transport empty cartons to the packing station and output full cartons; The paper separator storage platform is used to store stacks of side paper separators and top paper separators of the appropriate specifications, and corresponds to the working range of the paper separator adsorption robot. The length of the side paper separator is the same as the length of the carton stack, the width of the side paper separator is the same as the height of the carton stack, and the size of the top paper separator is adapted to the bottom area of ​​the carton cavity. (2) A stack of cardboard boxes is picked up by a paper clamping robot and moved to a designated position inside the cardboard box; (3) A side separator is picked up by the paper separator suction robot and transferred to the carton in the packing station. The side separator is stacked on the carton stack and partially extends out of the carton stack. The part of the side separator that accounts for more than 1 / 2 of the width of the side separator is placed flat on the upper surface of the carton stack in step (2), and the part that accounts for less than 1 / 2 of the width of the side separator is suspended and exposed on the outer side of the upper surface of the carton stack. The paper separator suction robot is reset to correspond with the paper separator storage platform. (4) Use a paper clamping robot to grab another row of cardboard boxes and move it directly above the exposed part of the side partition paper in step (3). Then loosen the row of cardboard boxes and place it in an adjacent position to the cardboard box stack in step (3). At the same time, the weight of the row of cardboard boxes will press the exposed part of the side partition paper in step (3) downward into the gap between the two rows of cardboard boxes, so that the side partition paper stands vertically in the gap between the two rows of cardboard boxes. Repeat steps (2)-(4) until the cardboard boxes are filled with a layer of multiple rows of parallel cardboard boxes. (5) Use the paper separator suction robot to suction a top layer paper and transfer the top layer paper to the carton in the packing station. Place the top layer paper flat on the top surface of each row of carton stacks. Repeat steps (2)-(5) until the carton is filled with multiple layers and rows of parallel carton stacks.

2. The method for placing separating paper in cardboard box packaging as described in claim 1, characterized in that: The packing system in step (1) also includes a coordinate acquisition module and a controller. The coordinate acquisition module is electrically connected to the corresponding control input terminal of the controller. The carton conveying mechanism, the paper clamping robot, and the paper separation adsorption robot are electrically connected to the corresponding control output terminal of the controller. The X-axis is set along the length direction of the carton, and the Y-axis is set along the width direction of the carton. The coordinate acquisition module acquires the reference coordinates (X0, Y0) of the carton on the packing station. X0 is located on the center line of the length direction of the carton, and Y0 is located on the center line of the width direction of the carton. At the same time, the inner wall length L and the inner wall width W1 of the carton are collected. The controller pre-enters the width W2 of the single row of cartons to be packed and the fine adjustment value Δ of the side paper separation position. When placing i rows of cardboard boxes in the same layer within a carton, the position coordinates (X) of the i-1 side dividers are calculated using the following formula. k ,Y k ): The X-coordinates of all side panels are: ; The Y-coordinates of each side panel are: ; in: i represents the number of rows of cardboard boxes in the same layer, where i is a positive integer ≥ 2; k represents the paper separator number, k=1,2,...,i-1; X k Represents the x-coordinate of the k-th side panel; Y k Represents the ordinate of the k-th side panel paper in the Y direction; X0 represents the reference x-coordinate in the length direction of the carton; Y0 represents the reference ordinate in the width direction of the carton; L represents the length of the inner wall of the carton; W1 represents the width of the inner wall of the carton; W2 represents the width of a single row of cardboard box stacks; The width of the total gap inside the carton is obtained by subtracting the total width of the i rows of cartons, i×W2, from the width of the inner wall of the carton, W1. This indicates that the width of the total gap is evenly divided into i+1 equal parts to accommodate the gap distribution of i rows of paper box stacks. Δ represents the fine-tuning value of the side partition paper position, and the value of Δ ranges from 0 to 5 mm.

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