Automatic paper box overlapping device and overlapping method

Abstract

The invention discloses an automatic paper box overlapping device which comprises a first conveying belt, a second conveying belt and a conveying mechanism. The first conveying belt is used for conveying packaging paper. The second conveying belt is used for conveying paper boxes; the mechanical arm is used for accurately grabbing the paper box and placing the paper box at a specified position of packaging paper; the pressing device is used for preliminarily pressing and fixing the paper box and the packaging paper; the transferring device is used for transferring the pressed combined body; and the overlapping device is used for finishing final wrapping and forming. The stacking device comprises a containing groove and a pressing device, wherein the containing groove and the pressing device are matched in size. According to the scheme, full automation of stacking and wrapping of the paper box and the independent packaging paper is achieved. According to the core principle, packaging paper with a paper box is pressed into the containing groove through the pressing device, in the process, the wall face and the guide inclined face of the containing groove force the periphery of the packaging paper to be bent upwards and inwards along the surface of the paper box, so that packaging is automatically completed, and the packaging machine has the outstanding advantages of being high in production efficiency, good in product consistency, high in adaptability, reliable in operation and the like.

Description

Technical Field

[0001] This invention relates to the field of paper box packaging machinery, and more specifically to an automated paper box stacking device and stacking method. Background Technology

[0002] In the packaging of food, gifts, and electronic products, it is often necessary to combine a pre-made or pre-fabricated cardboard box (inner box) with a separate, beautifully printed wrapping paper (outer packaging) to form a complete packaging unit. The traditional method mainly relies on manual labor. The process generally involves workers laying out the wrapping paper, aligning the cardboard box with the designated area on the wrapping paper, and then manually folding the four corners or sides of the wrapping paper inwards one by one, wrapping and gluing it to the surface of the cardboard box.

[0003] This manual operation method has significant drawbacks: Low efficiency and high cost: Relying entirely on manual labor, it is slow, has low output, and requires a large workforce, making it difficult to meet demand during peak seasons or mass production, resulting in persistently high labor costs. Poor consistency and unstable quality: Manual operation makes it difficult to ensure that the relative position, folding accuracy, and wrapping tightness of the cardboard box and packaging paper are completely consistent in each product, leading to inconsistent product appearance and affecting brand image. Difficulty in achieving complex or precise folding: For packaging forms requiring precise positioning (such as aligning the pattern on the packaging paper with a specific face of the cardboard box) or with complex folding structures, manual operation is difficult and results in a low yield rate.

[0004] Currently, while some automated packaging equipment exists on the market, most focus on the forming, filling, or sealing of cardboard boxes themselves. Mature automated devices specifically designed for the "automatic stacking and wrapping of cardboard boxes and individual packaging paper" process are relatively rare. Existing solutions may involve complex multi-station turntables or non-dedicated general-purpose robotic arms, which suffer from problems such as complex equipment structures, large footprints, cumbersome adjustments for adapting to products of different sizes, and difficulty in efficiently handling the flexible characteristics of packaging paper. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide an automated cardboard box stacking device and method that is compact, efficient, stable, and capable of automatically and accurately stacking and wrapping cardboard boxes and packaging paper.

[0006] The technical solution adopted by this invention to solve its technical problem is: An automated paper box stacking device includes: The first conveyor belt used for conveying paper box packaging paper; A second conveyor belt is disposed on one side of the first conveyor belt for conveying paper boxes; A robotic arm is positioned between the first conveyor belt and the second conveyor belt. The robotic arm is used to clamp the cardboard box on the second conveyor belt and place it on the cardboard box packaging paper on the first conveyor belt. A pressing device is installed on the first conveyor belt, the pressing device being used to press the cardboard box placed on the cardboard packaging paper; A transfer device for transferring the cardboard packaging paper with a cardboard box after it has been compressed by the pressing device; A stacking device includes a receiving groove for receiving the cardboard box packaging paper transferred by the transfer device, and a pressing device for pressing down the cardboard box packaging paper in the receiving groove; wherein, through the pressing action of the pressing device, the cardboard box portion is pressed into the receiving groove, and the cardboard box packaging paper is wrapped and stacked along the surface of the cardboard box.

[0007] Preferably, the pressing device includes a pressure plate disposed above the first conveyor belt and a pressing drive component for driving the pressure plate to move up and down.

[0008] Preferably, the transfer device is a third conveyor belt located downstream of the first conveyor belt, with the end of the third conveyor belt corresponding to the inlet of the receiving trough.

[0009] Preferably, the transfer device is a robotic arm disposed between the first conveyor belt and the stacking device.

[0010] Preferably, the cross-sectional shape of the receiving groove matches the cross-sectional shape of the paper boxes to be stacked.

[0011] Preferably, the inner wall of the receiving groove is provided with a guide slope.

[0012] Preferably, the pressing device includes a pressing head and a pressing drive component for driving the pressing head to move up and down, wherein the shape of the pressing surface of the pressing head matches the shape of the top surface of the paper box to be stacked.

[0013] Another technical problem to be solved by the present invention is to provide a stacking method using an automated paper box stacking device as described in any one of the above-mentioned methods, comprising the following steps: S1: Paper box packaging paper is conveyed via the first conveyor belt, and paper boxes are conveyed via the second conveyor belt; S2: Use a robotic arm to pick up the cardboard boxes on the second conveyor belt and place them on the corresponding cardboard packaging paper on the first conveyor belt; S3: Press the cardboard box onto the cardboard packaging paper using a pressing device; S4: Use the transfer device to transfer the compressed cardboard box packaging paper into the receiving slot of the stacking device; S5: Activate the pressing device to press down the cardboard packaging paper with the cardboard box in the receiving slot, so that the cardboard box part is pressed into the receiving slot, and at the same time the cardboard packaging paper wraps and overlaps along the surface of the cardboard box.

[0014] Preferably, in step S2, the cardboard packaging paper is provided with positioning marks or coated with adhesive, and the robotic arm places the cardboard box according to the positioning marks or places the cardboard box in the area coated with adhesive.

[0015] Preferably, in step S5, the pressing stroke of the pressing device is controllable to adapt to the stacking requirements of paper boxes of different heights.

[0016] The beneficial effects of this invention are as follows: Through the coordinated operation of the first and second conveyor belts, robotic arms, pressing devices, transfer devices, and stacking devices, the entire process from automatic alignment, initial fixing, and transfer of cardboard boxes and packaging paper to final stacking and wrapping is fully automated. This replaces the traditional, entirely manual operation model, offering a fast production cycle and enabling continuous 24-hour operation, significantly improving production efficiency and capacity while effectively reducing labor costs. The precise gripping and placement by the robotic arm, the stable pressure application by the pressing device, and the precise guidance and shaping by the accommodating slots and pressing devices in the stacking device ensure a high degree of consistency in the positional relationship, wrapping shape, and tightness of the cardboard boxes and packaging paper in each product. This avoids individual variations caused by manual operation and significantly improves the overall appearance quality and standardization of the products.

[0017] The entire device is rationally laid out, with each functional module tightly integrated, and the flow path of materials (cardboard boxes and packaging paper) is clear and continuous. Compared to complex multi-station rotary equipment, the combination of a conveyor belt and a dedicated stacking device simplifies the structure, reduces the footprint, and increases operational reliability. The stacking device cleverly utilizes a combination of a "receiving groove" and a "pressing device." The pressing action causes the cardboard box to sink into the receiving groove, while the constraint and guiding effect of the groove walls force the soft packaging paper to bend and stack naturally and precisely along the cardboard box surface. This physical constraint forming method is particularly suitable for handling flexible packaging paper, ensuring reliable stacking, a high success rate, and minimal damage to the packaging paper. Attached Figure Description

[0018] Figure 1 This is a front structural diagram of the automated paper box stacking device of the present invention; Figure 2 This is a three-dimensional structural diagram of the automated paper box stacking device of the present invention. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0020] Example 1 See Figure 1-2 As shown, this invention provides an automated paper box stacking device. This device constitutes a continuous automated production line, with its core process flow being: precise feeding and alignment → initial bonding and fixing → transfer and positioning → mechanically constrained wrapping and stacking. The entire system is supported by a frame (not labeled in the figure) and integrates a central control system (such as a PLC) to coordinate the sequential actions of each execution unit.

[0021] The first conveyor belt 1 is the reference platform for conveying and positioning the packaging paper 100. It is horizontally mounted on the frame and adopts an intermittent motion (Start-Stop) mode, driven by a servo motor to ensure precise start and stop at each station.

[0022] Belt structure: The first conveyor belt 1 can be a flat belt or a synchronous belt. Its surface is specially treated (such as sprayed polyurethane layer) to have a moderate coefficient of friction, which can prevent the packaging paper from slipping and facilitate subsequent transfer.

[0023] Positioning and Detection Subsystem: Above the starting end of the first conveyor belt 1, a vision positioning system (such as an industrial camera with a light source) is installed. The functions of this system are: a) to detect the packaging paper in place; b) to identify the pre-printed positioning marks (such as crosshairs or specific patterns) on the packaging paper 100; c) to calculate the offset (ΔX, ΔY, Δθ) of the current packaging paper relative to the preset ideal position. This offset data will be transmitted to the control system in real time for subsequent position compensation of the robotic arm 3.

[0024] The second conveyor belt 2 is arranged parallel to the side of the first conveyor belt 1 and is used to transport pre-made individual cardboard boxes 200. It can be connected upstream to a vibratory feeder, a linear feeder, or a robotic depalletizing system.

[0025] Posture correction: At the end of the second conveyor belt 2, a carton posture correction mechanism 21 (such as a guide rail or short-stroke push plate) is provided. This mechanism ensures that the orientation (e.g., opening direction, printing surface direction) of each carton 200 that arrives at the gripping position is consistent.

[0026] Position sensor: A photoelectric sensor is set at the gripping position to detect whether the cardboard box 200 has been accurately positioned and to trigger the gripping command of the robotic arm 3.

[0027] The robotic arm 3 is responsible for performing the action of grabbing the cardboard box 200 from the second conveyor belt 2 and accurately placing it on the designated position of the packaging paper 100 on the first conveyor belt 1.

[0028] Robotic arm selection: Six-axis articulated robots are preferred, as they have high flexibility, large workspace and high repeatability (within ±0.1mm).

[0029] End effector 31: Employs an adaptive parallel pneumatic gripper with the inner side of the gripper lined with a flexible material (such as polyurethane) to prevent damage to the carton surface. The opening and closing degree of the gripper can be adjusted according to different sizes of carton 200.

[0030] Placement Strategy: The control system of robotic arm 3 receives offset data from the visual positioning system of the first conveyor belt module. Its placement path planning is as follows: First, it grasps the cardboard box 200 from the fixed gripping point of the second conveyor belt 2; then, it moves to a dynamic virtual placement point, whose coordinates are the result of preset ideal placement coordinates (based on the theoretical marking position on the packaging paper) compensated by visual offsets (ΔX, ΔY, Δθ). In this way, even if the packaging paper experiences slight offset or rotation during transport, the cardboard box 200 can be accurately placed in the absolutely correct position on the packaging paper 100, achieving pattern alignment or uniform edge spacing.

[0031] Adhesive pre-coating: Before placement, a small amount of quick-drying adhesive or hot melt adhesive can be pre-coated in the preset placement area of ​​the packaging paper 100 by an automatic dispensing machine (not shown in the figure) to facilitate subsequent initial fixation.

[0032] The clamping device 4 is located downstream of the robotic arm placement station. Its core function is to provide stable and uniform pressure to the "paper box-packaging paper" assembly before the adhesive cures or before stacking, ensuring that the two are initially firmly bonded and there is no risk of relative slippage.

[0033] Structural Details: This module employs a gantry structure. The clamping drive 41 is a servo electric cylinder, capable of precisely controlling the pressing stroke and pressure (via feedback from a pressure sensor). The size of the pressure plate 42 is slightly larger than the projected area of ​​the largest model cardboard box.

[0034] Compression Logic: When the packaging paper with the cardboard box is intermittently conveyed to directly below the pressure plate 42, the first conveyor belt 1 pauses. Simultaneously, the vacuum suction plate remains operational. The servo electric cylinder drives the pressure plate 42 to press down at a constant speed, maintaining a preset pressure (e.g., 20-50N) and holding time (e.g., 0.3-1 second) after contacting the cardboard box, then rising at a uniform speed. The entire process features a smooth pressure curve, avoiding impact that could cause misalignment of the cardboard box.

[0035] The transfer device 5 is responsible for smoothly and accurately transferring the initially compressed assembly to the inlet of the receiving slot 61 of the stacking device 6.

[0036] The transfer device 5 is an L-shaped, rotating transfer chuck 51. Its inlet end seamlessly overlaps with the end of the first conveyor belt 1 and is driven by an independent motor. When the assembly is released from the end of the first conveyor belt 1, the transfer chuck 51 receives it and rotates it 90 degrees for transport until the front end of the assembly triggers the positioning photoelectric sensor located at the front end of the inlet of the receiving groove 61. The sensor signal triggers the transfer chuck 51 to stop. At this time, the assembly is exactly above the receiving groove 61, and its position has been coarsely positioned by the conveyor belt guide rail.

[0037] The stacking device 6 is the core mechanism for automatically wrapping the packaging paper into the carton, and its design cleverly utilizes the principle of physical constraints.

[0038] The receiving slot 61 is a replaceable module fixed to the base 60. Its cavity cross-section is rectangular to match the cardboard box 200, and its dimensions are designed as follows: length Lc = Lp (cardboard box length) + 2 × t (thickness of a single layer of wrapping paper) + gap δ (approximately 0.5-1 mm); the width Wc is similarly designed. This design allows the edges and corners of the wrapping paper to enter the slot along with the cardboard box.

[0039] The depth Hc must be less than the height Hp of the cardboard box, and is usually set to Hc = (1 / 2 ~ 2 / 3) Hp. In this way, when pressed down, only the bottom of the cardboard box enters the groove, while the top remains exposed, making it easier for the wrapping paper to wrap upwards.

[0040] Bottom lifting mechanism: The bottom of the receiving groove 61 can be designed as a movable base plate, connected to a small lifting cylinder (not shown in the figure), which is used to push out the finished product after stacking.

[0041] The pressing device 62 uses a high-thrust servo electric cylinder or a high-precision pneumatic cylinder as the pressing drive component 621 to ensure sufficient and stable pressing force to overcome friction and adhesion.

[0042] Press head 6: The lower surface of the press head 6 perfectly matches the top surface of the carton. Its edges are rounded with a radius R instead of sharp right angles. This radius, together with the receiving groove 61, forms a "rolling / sliding" folding surface, guiding the wrapping paper to complete a smooth transition from horizontal to vertical and then to inward wrapping.

[0043] Pressure and stroke control: The end point of the downward stroke is set by the program to ensure that the depth to which the carton is pressed into the receiving groove meets the preset value (Hp - Hc). The downward pressure can be adjusted according to the material of the carton and packaging paper.

[0044] The workflow is as follows: Step S10: Packaging paper positioning and feeding. The first conveyor belt 1 starts feeding a piece of packaging paper 100, which stops after reaching the vision station. The vision system 11 takes a picture, identifies, calculates the offset, and sends it to the control system. Then the first conveyor belt 1 delivers it to the robotic arm placement station, and the vacuum adsorption plate starts adsorption. Step S20: Cardboard box gripping and precise placement. The second conveyor belt 2 delivers the cardboard box 200 to the gripping position, triggering the sensor. The robotic arm 3 grips the cardboard box 200 and, based on the received visual offset data, performs compensating movements to precisely place the cardboard box 200 at the center of the adhesive coating area of ​​the packaging paper 100. The vacuum suction plate is then released; Step S30: Initial pressing and fixing. The first conveyor belt 1 delivers the assembly to the pressing station and stops. The pressure plate 42 of the pressing device 4 presses down, holds pressure, and then rises back, completing the initial bonding; Step S40: Transfer and Positioning. The first conveyor belt 1 starts again, sending the assembly to the end. The transfer device 5 (taking the transfer chuck 51 as an example) receives it and transports it above the inlet of the receiving groove 61 of the stacking device 6, where it stops under the positioning of the sensor. Step S50: Mechanically constrained folding. The pressing device 62 is activated, and the pressing head 6 presses down at a constant speed. The cardboard box 200 is pressed into the receiving groove 61. Under the combined action of the rounded corners of the pressing head and the guide slope of the receiving groove, the edges of the wrapping paper 100 are smoothly and forcibly folded upwards and inwards, finally tightly against the side of the cardboard box, completing the wrapping. The pressing head 6 returns to its original position; Step S60: Finished product ejection. The lifting cylinder at the bottom of the receiving tank is activated to eject the stacked finished product from the receiving tank, which is then picked up by the downstream collection conveyor belt or robot arm and proceeds to the next process (such as hot pressing and curing, bagging, etc.). The system resets and begins the next loop.

[0045] The key innovations and beneficial effects of this invention are concentrated in this workflow: the positioning problem of flexible materials (packaging paper) is solved by visual compensation placement; the stability of intermediate products is ensured by the pressing device; and finally, the complex "folding" action is simplified into a reliable linear pressing motion by the geometric matching design of the receiving groove and the pressing head. The problem of automatic forming of flexible materials is cleverly solved by rigid mechanical constraints, realizing high-efficiency and high-consistency automated production.

[0046] The above embodiments of the present invention are not intended to limit the scope of protection of the present invention. The implementation of the present invention is not limited thereto. All other modifications, substitutions or alterations made to the above structure of the present invention based on the above content of the present invention, in accordance with ordinary technical knowledge and common practice in the field, without departing from the basic technical idea of ​​the present invention, shall fall within the scope of protection of the present invention.

Claims

1. An apparatus for automatically stacking cartons, comprising: include: The first conveyor belt used for conveying paper box packaging paper; A second conveyor belt is disposed on one side of the first conveyor belt for conveying paper boxes; A robotic arm is positioned between the first conveyor belt and the second conveyor belt. The robotic arm is used to clamp the cardboard box on the second conveyor belt and place it on the cardboard box packaging paper on the first conveyor belt. A pressing device is installed on the first conveyor belt, the pressing device being used to press the cardboard box placed on the cardboard packaging paper; A transfer device for transferring the cardboard packaging paper with a cardboard box after it has been compressed by the pressing device; A stacking device includes a receiving groove for receiving the cardboard box packaging paper transferred by the transfer device, and a pressing device for pressing down the cardboard box packaging paper in the receiving groove; wherein, through the pressing action of the pressing device, the cardboard box portion is pressed into the receiving groove, and the cardboard box packaging paper is wrapped and stacked along the surface of the cardboard box.

2. The carton automation stacking apparatus of claim 1, wherein, The pressing device includes a pressure plate disposed above the first conveyor belt and a pressing drive component that drives the pressure plate to move up and down.

3. The carton automation stacking apparatus of claim 1, wherein, The transfer device is a third conveyor belt located downstream of the first conveyor belt, with the end of the third conveyor belt corresponding to the inlet of the receiving trough.

4. The carton automation stacking apparatus of claim 1, wherein, The transfer device is a robotic arm positioned between the first conveyor belt and the stacking device.

5. The carton automation stacking apparatus of any one of claims 1 to 4, wherein, The cross-sectional shape of the receiving groove matches the cross-sectional shape of the paper boxes to be stacked.

6. The carton automation stacking apparatus of claim 5, wherein, The inner wall of the receiving groove is provided with a guide slope.

7. The carton automation stacking apparatus of any one of claims 1 to 4, wherein, The pressing device includes a pressing head and a pressing drive component that drives the pressing head to move up and down. The shape of the pressing surface of the pressing head matches the shape of the top surface of the paper box to be stacked.

8. A stacking method employing the paper box automatic stacking apparatus according to any one of claims 1 to 7, characterized by, Includes the following steps: S1: Paper box packaging paper is conveyed via the first conveyor belt, and paper boxes are conveyed via the second conveyor belt; S2: Use a robotic arm to pick up the cardboard boxes on the second conveyor belt and place them on the corresponding cardboard packaging paper on the first conveyor belt; S3: Press the cardboard box onto the cardboard packaging paper using a pressing device; S4: Use the transfer device to transfer the compressed cardboard box packaging paper into the receiving slot of the stacking device; S5: Activate the pressing device to press down the cardboard packaging paper with the cardboard box in the receiving slot, so that the cardboard box part is pressed into the receiving slot, and at the same time the cardboard packaging paper wraps and overlaps along the surface of the cardboard box.

9. The lamination method according to claim 8, characterized by In step S2, the cardboard packaging paper is provided with positioning marks or coated with adhesive, and the robotic arm places the cardboard box according to the positioning marks or places the cardboard box in the area coated with adhesive.

10. The lamination method according to claim 8, characterized by In step S5, the pressing stroke of the pressing device is controllable to adapt to the stacking requirements of paper boxes of different heights.

Images