Automatic sheet correcting, stacking and boxing device and method
By employing a two-stage correction structure consisting of a preliminary single-sided correction and a secondary double-sided fine correction, combined with an integrated sheet feeding and boxing robot, the problems of low efficiency and poor consistency in sheet stacking and boxing are solved, achieving efficient and reliable automated correction and boxing.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- JIANGSU COLLEGE OF INFORMATION TECH
- Filing Date
- 2026-04-09
- Publication Date
- 2026-05-12
AI Technical Summary
In existing technologies, the stacking and boxing of thin sheet workpieces is inefficient, inconsistent, and easily damaged. Furthermore, automated equipment is complex and costly, and cannot meet the requirements for high cleanliness.
The system employs a two-stage correction structure consisting of a preliminary single-sided correction and a secondary double-sided fine correction. Combined with an integrated sheet feeding, stacking correction and sorting, and boxing robot, it achieves automated sheet correction and boxing.
It significantly improved the yield rate of thin sheets, reduced sheet damage, increased production efficiency and packaging consistency, simplified equipment structure, and reduced costs.
Smart Images
Figure CN122009607A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automation equipment technology, specifically to an automatic sheet straightening and stacking device and a boxing method. Background Technology
[0002] In the automated production process of precision thin sheet workpieces such as electronic screens and sintered diamond cutting discs, the finished thin sheets need to be stacked neatly in batches and put into material boxes to meet the requirements of warehousing, transportation and subsequent use.
[0003] Currently, the stacking and boxing of thin sheet workpieces suffer from the following technical defects: traditional manual sorting, stacking, and boxing methods are inefficient and inconsistent, rely on operator experience, and are prone to problems such as skewed stacking, inaccurate quantity, and improper boxing; manual operation easily introduces impurities such as dust and hair, affecting the appearance and performance of precision thin sheets and failing to meet high cleanliness requirements; existing automated equipment mostly uses single-stage correction, and direct extrusion correction easily causes thin sheets to chip, break, and deform, resulting in a low yield rate; most equipment uses multiple independent robotic arms for picking, boxing, and capping, which are complex in structure, costly, space-consuming, and have cumbersome control logic; there is a lack of stacking status detection and automatic rejection of defective products, and abnormal stacking materials directly flow into the finished product box, affecting the overall quality.
[0004] Based on the shortcomings of the existing technologies, there is an urgent need for an automatic sheet straightening, stacking and boxing device and method that is simple in structure, reliable in calibration, highly integrated and highly automated, in order to solve the problems of low sheet boxing efficiency, easy damage and unstable quality. Summary of the Invention
[0005] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.
[0006] Therefore, the purpose of this invention is to provide an automatic sheet straightening and stacking device and a boxing method to solve the problems mentioned in the background art.
[0007] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution: An automatic sheet straightening, stacking, and boxing device, comprising: Workbench; A sheet feeding mechanism, installed on the worktable, is used to convey the sheet forward; A material box feeding mechanism is installed on the worktable and is used to convey the material box forward; A lid feeding mechanism is installed on the worktable to convey lids forward; A feeding mechanism for feeding boxes is installed on the worktable and is used to feed boxes filled with thin sheets and sealed by the lid to the rear end. The stacking and straightening mechanism is installed on the workbench and is used to perform primary straightening, secondary stacking straightening, and stacking clamping and flipping on the sheets conveyed by the sheet feeding mechanism. A sheet picking mechanism is installed on the workbench and located between the sheet feeding mechanism and the stacking and straightening mechanism. It is used to sequentially transport the sheets on the sheet feeding mechanism to the stacking and straightening mechanism. Each time the sheet picking mechanism picks up a sheet, the sheet feeding mechanism drives the subsequent sheet to be transported forward one grid. A boxing robot, mounted on the worktable, is used to pick up and transfer boxes from the box loading mechanism to the box unloading mechanism, pick up and transfer stacks of multiple thin sheets from the stacking and straightening mechanism to the box, and pick up and close the lids from the lid loading mechanism onto the boxes located on the box unloading mechanism.
[0008] In a preferred embodiment of the automatic sheet straightening, stacking, and boxing device of the present invention, the top of the box feeding mechanism is provided with a through-hole groove, a first lifting cylinder is installed directly below the through-hole groove, a horizontal telescopic mechanism is installed on the top of the first lifting cylinder, a first baffle is provided at the end of the horizontal telescopic mechanism, a second baffle is provided at the front end of the box feeding mechanism to cooperate with the first baffle, and a box is placed between the first baffle and the second baffle.
[0009] As a preferred embodiment of the automatic sheet straightening and stacking boxing device of the present invention, the stacking and straightening mechanism includes a primary straightening component, a secondary stacking and straightening component, and a stacking and flipping component that clamps and flips the stacked sheets on the secondary stacking and straightening component by 90 degrees, arranged sequentially from front to back.
[0010] As a preferred embodiment of the automatic sheet straightening and stacking boxing device of the present invention, the primary straightening component includes a first support, a first sheet carrying platform installed on the top of the first support, a waste box installed on the side of the first support, and a first single-sided gripper cylinder and a second single-sided gripper cylinder installed on the side of the first sheet carrying platform and vertically distributed thereon, wherein the first single-sided gripper cylinder and the second single-sided gripper cylinder perform single-sided straightening of the vertical edge of the sheet.
[0011] As a preferred embodiment of the automatic sheet straightening and stacking boxing device of the present invention, the secondary stacking and straightening assembly includes a second support, a second sheet carrying platform installed on the top of the second support, a second lifting cylinder installed at the bottom of the second support to lift the second sheet carrying platform, and a first double-sided gripper cylinder and a second double-sided gripper cylinder installed on the side of the second sheet carrying platform and vertically distributed thereon, wherein the first double-sided gripper cylinder and the second double-sided gripper cylinder perform double-sided straightening of the vertical edge of the sheet.
[0012] As a preferred embodiment of the automatic sheet straightening stacking and boxing device of the present invention, the sheet clamping and flipping assembly includes a horizontal sliding drive component, a lifting sliding drive component mounted on the horizontal sliding drive component, a 90-degree rotation mechanism mounted vertically on the lifting sliding drive component, and clamping fingers mounted on the 90-degree rotation mechanism.
[0013] As a preferred embodiment of the automatic sheet straightening and stacking boxing device of the present invention, the sheet picking mechanism includes a third support, a reciprocating conveyor belt mounted on the third support, a lifting drive cylinder mounted on the reciprocating conveyor belt, and a first suction cup vertically mounted on the lifting drive cylinder.
[0014] As a preferred embodiment of the automatic sheet straightening and stacking boxing device of the present invention, the boxing robot includes a three-axis moving robot, a stacking boxing gripper finger that can rotate 90 degrees mounted on the three-axis moving robot, a box gripper, and a box lid suction cup.
[0015] In a preferred embodiment of the automatic sheet straightening and stacking boxing device of the present invention, the sheet feeding mechanism, the box feeding mechanism, the box cover feeding mechanism and the box unloading mechanism are all horizontal conveyor belts.
[0016] A boxing method for an automatic sheet straightening and stacking boxing device includes the following steps: S1. The sheet feeding mechanism, the box feeding mechanism, and the lid feeding mechanism start synchronously, respectively conveying the sheet, empty box, and lid forward along the horizontal conveyor belt; the sheet picking mechanism is in the standby picking position, and the boxing robot moves to the box feeding mechanism via the three-axis moving robot arm, grabs the empty box with the box gripper, and moves it above the through-hole slot of the box unloading mechanism. After the first lifting cylinder drives the horizontal telescopic mechanism and the first baffle to rise to the position, the horizontal telescopic mechanism drives the first baffle to move and cooperate with the second baffle to position and fix the box. S2. The sheet picking mechanism uses the first suction cup to pick up a single sheet from the sheet feeding mechanism. The sheet is then lifted by the lifting drive cylinder and moved horizontally by the reciprocating conveyor belt. The sheet is then accurately placed onto the primary correction component of the stacking correction and sorting mechanism. After each picking is completed, the sheet feeding mechanism automatically conveys the subsequent sheet forward one grid. S3. The sheet enters the first sheet carrying platform of the primary correction assembly. The first single-sided gripper cylinder and the second single-sided gripper cylinder perform single-sided preliminary correction on the side of the sheet from two mutually perpendicular directions. If an abnormal position of the sheet is detected, it is directly pushed into the waste box for rejection. S4. After the first correction, the sheet enters the second sheet carrying platform of the secondary stacking correction assembly. The first double-sided gripper cylinder and the second double-sided gripper cylinder move synchronously from four mutually perpendicular directions to perform double-sided four-sided fine correction on the sheet, so that the sheet is neatly stacked. When the sheet is stacked to the specified number, the second lifting cylinder lifts the platform and the sheet to the specified height. S5. The stacking and flipping assembly moves to the side of the secondary stacking and correction assembly via the horizontal sliding drive component and the lifting sliding drive component. The horizontal sliding drive component drives the clamping fingers to horizontally clamp the neatly stacked materials on the secondary stacking and correction assembly. Then, the 90-degree rotation mechanism drives the clamping fingers and the stacked materials to rotate 90 degrees to adjust to the posture suitable for boxing. S6. The boxing robot moves to the stacking and flipping component, uses the stacking boxing gripper to clamp the neatly stacked material after flipping, and then moves it to the top of the positioned empty box, and smoothly puts the stacked material into the box. S7. Repeat steps S2-S6 in sequence. When the box is full of sheets, the boxing robot moves to the lid feeding mechanism, uses the lid suction cup to pick up the lid, and then moves it to the top of the box with sheets, and accurately closes the lid at the opening of the box to complete the seal. S8. The material box positioning mechanism is released, and the finished material box that has been packed is conveyed backward through the material box unloading mechanism to complete the unloading. The device is reset and enters the next working cycle.
[0017] Compared with the prior art, the beneficial effects of the present invention are: A two-stage correction structure is adopted, consisting of a preliminary single-sided correction and a fine double-sided correction. The system first positions the material and then regularizes it, avoiding the chipping and deformation of the sheet caused by direct compression, thus significantly improving the yield rate.
[0018] The cartoning robot integrates stacking and cartoning grippers, box grippers, and box lid suction cups to simultaneously complete the actions of picking up boxes, stacking sheets, and closing the box lid. This reduces the number of drive and control units, resulting in a simpler structure, smaller footprint, and lower cost.
[0019] The entire process, from sheet feeding, unloading, secondary correction, box feeding, boxing, and closing to finished product unloading, is automated, eliminating manual intervention and significantly increasing production efficiency compared to traditional methods. The stacking correction and sorting mechanism, combined with position feedback and anomaly detection, can automatically send skewed or misaligned sheets into the waste box, preventing defective products from flowing into the finished product and improving packaging consistency. Attached Figure Description
[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the overall structure of an automatic sheet straightening and stacking boxing device according to the present invention; Figure 2 This is a partial structural diagram of the disassembly and packaging robot of the automatic sheet straightening stacking and packaging device of the present invention; Figure 3 This is a schematic diagram of the assembly structure of the sheet feeding mechanism, the stacking and straightening mechanism, and the sheet taking mechanism of the automatic sheet straightening and stacking boxing device of the present invention. Figure 4 This is a schematic diagram of the material box unloading mechanism of an automatic sheet straightening and stacking packaging device according to the present invention; Figure 5 This is a schematic diagram of the primary correction component of an automatic sheet straightening stacking and boxing device according to the present invention; Figure 6 This is a schematic diagram of the secondary stacking correction component of an automatic sheet straightening stacking and boxing device according to the present invention; Figure 7 This is a schematic diagram of the stacking and flipping component of an automatic sheet straightening and stacking packaging device according to the present invention; Figure 8 This is a schematic diagram of the sheet feeding mechanism of an automatic sheet straightening and stacking boxing device according to the present invention; Figure 9 This is a schematic diagram of the structure of a packing robot in an automatic sheet stacking and packing device according to the present invention. Detailed Implementation
[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0022] Figures 1-9 The diagram shown is a structural schematic of one embodiment of the automatic sheet straightening, stacking, and boxing device of the present invention. Please refer to [link / reference]. Figures 1-9 This embodiment of an automatic sheet stacking and packaging device includes a worktable 100 and several mechanisms mounted on the worktable 100, including a sheet feeding mechanism 200, a box feeding mechanism 300, a box lid feeding mechanism 400, a box unloading mechanism 500, a stacking and straightening mechanism 600, a sheet picking mechanism 700, and a packaging robot 800. These mechanisms are arranged sequentially according to the process flow to achieve fully automated operation.
[0023] The sheet feeding mechanism 200 is installed on the worktable 100 and is used to convey the sheet H forward; The material box feeding mechanism 300 is installed on the worktable 100 and is used to convey the material box L forward; The lid feeding mechanism 400 is installed on the worktable 100 and is used to convey the lids forward; The feeding mechanism 500 is installed on the workbench 100 and is used to feed the feeding box L, which is filled with thin film H and sealed by the box lid, to the rear. The feeding mechanism 500 has a through-hole groove 510 at the top. A first lifting cylinder 520 is installed directly below the through-hole groove 510. A horizontal telescopic mechanism 530 is installed on the top of the first lifting cylinder 520. A first baffle 540 is provided at the end of the horizontal telescopic mechanism 530. A second baffle that cooperates with the first baffle 540 is provided at the front end of the feeding mechanism 500. The feeding box L is limited between the first baffle 540 and the second baffle to achieve precise positioning. During operation, the first lifting cylinder 520 drives the first baffle 540 to rise to the feeding box support height. The horizontal telescopic mechanism 530 pushes the first baffle 540 to cooperate with the second baffle to clamp the feeding box L, ensuring that the feeding process does not shift or shake.
[0024] The stacking and straightening mechanism 600 is installed on the workbench 100 and is used to perform primary straightening, secondary stacking straightening, and stacking clamping and flipping on the sheet H conveyed by the sheet feeding mechanism 200. Specifically, the stacking and straightening mechanism 600 includes a primary straightening component 610, a secondary stacking straightening component 620, and a stacking clamping and flipping component 630 that flips the stacked sheets on the secondary stacking straightening component 620 by 90 degrees, arranged sequentially from front to back. The primary straightening component 610 includes a first support 610. a) A first sheet support platform 610b) A waste box 610c) A first single-sided gripper cylinder 610d) A second single-sided gripper cylinder 610e. The first single-sided gripper cylinder 610d and the second single-sided gripper cylinder 610e are perpendicularly distributed to each other, and perform preliminary single-sided correction of the sheet H from two vertical directions to avoid damage to the sheet due to strong compression. If an abnormal position or severe skew is detected in the sheet, it is directly pushed into the waste box 610c for rejection. The secondary stacking correction assembly 620 includes a second... Support 620a, second sheet support platform 620b, second lifting cylinder 620c, first double-sided gripper cylinder 620d, and second double-sided gripper cylinder 620e. The first double-sided gripper cylinder 620d and the second double-sided gripper cylinder 620e are perpendicular to each other and simultaneously clamp the sheet H from four directions, performing four-sided precision correction to ensure that multiple sheets are neatly stacked. After the stacked sheets reach the set quantity, the second lifting cylinder 620c lifts the second sheet support platform 620b and the stacked sheets together to the material removal position. The stacking and flipping assembly 630 includes a horizontal sliding drive component 630a, a lifting sliding drive component 630b, a 90-degree rotation mechanism 630c, and a clamping finger 630d. The horizontal sliding drive component 630a and the lifting sliding drive component 630b drive the clamping finger 630d to move to the stacking position, and the clamping finger 630d clamps the stacked materials neatly. The 90-degree rotation mechanism 630c drives the clamping finger 630d and the stacked materials to rotate 90°, adjusting it to the boxing posture suitable for the material box L.
[0025] The sheet feeding mechanism 700 includes a third support 710, a reciprocating conveyor belt 720 mounted on the third support 710, a lifting drive cylinder 730 mounted on the reciprocating conveyor belt 720, and a first suction cup 740 vertically mounted on the lifting drive cylinder 730. The first suction cup 740 descends under the action of the lifting drive cylinder 730 to absorb a single sheet H. After the lifting drive cylinder 730 is raised, the reciprocating conveyor belt 720 moves horizontally to accurately place the sheet H into the primary correction component 610. After each sheet is taken away, the sheet feeding mechanism 200 automatically conveys the subsequent sheet H forward one grid to achieve continuous feeding.
[0026] The cartoning robot 800 includes a three-axis moving robot 810, a stacking and cartoning gripper 820, a box gripper 830, and a lid suction cup 840. The three-axis moving robot 810 drives the entire unit to achieve three-dimensional movement in the XYZ directions. The stacking and cartoning gripper 820 can rotate 90° to grip neatly stacked pieces. The box gripper 830 is used to grasp and transfer empty boxes L. The lid suction cup 840 is used to pick up the lid and complete the sealing. The machine realizes three functions: box picking, piece loading, and lid sealing, with a highly integrated structure.
[0027] Combination Figures 1-9 The specific steps of the automatic sheet straightening stacking and boxing device of this embodiment are as follows: S1. The sheet feeding mechanism 200, the box feeding mechanism 300, and the lid feeding mechanism 400 start synchronously, respectively conveying the sheet H, the empty box L, and the lid forward along the horizontal conveyor belt; the sheet picking mechanism 700 is in the standby picking position, and the boxing robot 800 moves to the box feeding mechanism 300 via the three-axis moving robot 810, grabs the empty box L with the box gripper 830, and moves it above the through hole slot 510 of the box unloading mechanism 500. After the first lifting cylinder 520 drives the horizontal telescopic mechanism 530 and the first baffle 540 to rise to the position, the horizontal telescopic mechanism 530 drives the first baffle 540 to move and cooperate with the second baffle to position and fix the box L. S2. The sheet picking mechanism 700 picks up a single sheet H from the sheet feeding mechanism 200 through the first suction cup 740, lifts it with the lifting drive cylinder 730 and moves it horizontally with the reciprocating conveyor belt 720, and accurately places the sheet H onto the primary correction component 610 of the stacking correction and sorting mechanism 600. After each picking is completed, the sheet feeding mechanism 200 automatically conveys the next sheet H forward one grid. S3. Thin sheet H enters the first thin sheet carrying platform 610b of the primary correction component 610. The first single-sided gripper cylinder 610d and the second single-sided gripper cylinder 610e perform single-sided preliminary correction on the side of thin sheet H from two mutually perpendicular directions. If an abnormal position of thin sheet H is detected, it is directly pushed into the waste box 610c for rejection. S4. After the first correction, the sheet H enters the second sheet support platform 620b of the secondary stacking correction assembly 620. The first double-sided gripper cylinder 620d and the second double-sided gripper cylinder 620e move synchronously from four mutually perpendicular directions to perform double-sided four-sided fine correction on the sheet H, so that the sheet is stacked neatly. When the sheet is stacked to the specified number, the second lifting cylinder 620c lifts the platform and the sheet H to the specified height. S5. The stacking and flipping assembly 630 moves to the side of the secondary stacking and correction assembly 620 via the horizontal sliding drive component 630a and the lifting sliding drive component 630b. The horizontal sliding drive component 630a drives the clamping finger 630d to horizontally clamp the neatly stacked material on the secondary stacking and correction assembly 620. Then, the ninety-degree rotation mechanism 630c drives the clamping finger 630d and the stacked material as a whole to rotate ninety degrees and adjust to the posture suitable for boxing. S6. The boxing robot 800 moves to the stacking and flipping component 630, uses the stacking and boxing fingers 820 to clamp the neatly stacked material after flipping, and then moves it to the top of the positioned empty material box L, and smoothly puts the stacked material into the material box L. S7. Repeat steps S2-S6 in sequence. When the material box L is filled with thin film H, the boxing robot 800 moves to the box cover feeding mechanism 400, uses the box cover suction cup 840 to pick up the box cover, and then moves it to the material box L that has been filled with thin film H, and accurately closes the box cover at the opening of the material box L to complete the sealing. S8. The material box positioning mechanism is released, and the finished material box L, after being packed, is conveyed backward by the material box unloading mechanism 500 to complete the unloading. The device is reset and enters the next working cycle.
[0028] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the disclosed embodiments can be combined with each other in any manner. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
Claims
1. An automatic sheet straightening, stacking, and boxing device, characterized in that, include: Workbench (100); A sheet feeding mechanism (200), mounted on the worktable (100), is used to convey the sheet (H) forward; A material box feeding mechanism (300) is installed on the worktable (100) for conveying the material box (L) forward; A lid feeding mechanism (400) is installed on the worktable (100) for conveying lids forward; A feeding mechanism (500) is installed on the worktable (100) for feeding a box (L) filled with sheets (H) and sealed with a lid to the rear. The stacking correction and sorting mechanism (600) is installed on the workbench (100) and is used to perform primary correction, secondary stacking correction and stacking clamping and flipping on the sheet (H) conveyed by the sheet feeding mechanism (200). A sheet picking mechanism (700) is installed on the workbench (100) and located between the sheet feeding mechanism (200) and the stacking and straightening mechanism (600). It is used to sequentially transport the sheets (H) on the sheet feeding mechanism (200) to the stacking and straightening mechanism (600). Each time the sheet picking mechanism (700) picks up a sheet (H), the sheet feeding mechanism (200) drives the subsequent sheet (H) to be transported forward one grid. A boxing robot (800) is installed on the worktable (100) and is used to pick up and transfer the box (L) on the box loading mechanism (300) to the box unloading mechanism (500), pick up and transfer the stack of multiple thin sheets (H) on the stacking correction and sorting mechanism (600) to the box (L), and pick up and close the box lid on the box lid loading mechanism (400) to the box (L) located on the box unloading mechanism (500).
2. The automatic sheet straightening, stacking, and boxing device according to claim 1, characterized in that, The top of the material box feeding mechanism (500) is provided with a through hole groove (510). The material box feeding mechanism (500) is located directly below the through hole groove (510) and a first lifting cylinder (520) is installed. A horizontal telescopic mechanism (530) is installed on the top of the first lifting cylinder (520). A first baffle (540) is provided at the end of the horizontal telescopic mechanism (530). A second baffle that cooperates with the first baffle (540) is provided at the front end of the material box feeding mechanism (500). The material box (L) is placed between the first baffle (540) and the second baffle.
3. The automatic sheet straightening, stacking, and boxing device according to claim 1, characterized in that, The stacking correction and sorting mechanism (600) includes a primary correction component (610), a secondary stacking correction component (620), and a stacking clamping and flipping component (630) that clamps and flips the stacked pieces on the secondary stacking correction component (620) by 90 degrees.
4. The automatic sheet straightening, stacking, and boxing device according to claim 3, characterized in that, The primary correction assembly (610) includes a first support (610a), a first sheet support platform (610b) mounted on the top of the first support (610a), a waste box (610c) mounted on the side of the first support (610a), and a first single-sided gripper cylinder (610d) and a second single-sided gripper cylinder (610e) mounted on the side of the first sheet support platform (610b) and vertically distributed, wherein the first single-sided gripper cylinder (610d) and the second single-sided gripper cylinder (610e) perform single-sided correction on the vertical edge of the sheet (H).
5. The automatic sheet straightening, stacking, and boxing device according to claim 3, characterized in that, The secondary stacking correction assembly (620) includes a second support (620a), a second sheet support platform (620b) mounted on the top of the second support (620a), a second lifting cylinder (620c) mounted on the bottom of the second support (620a) to lift the second sheet support platform (620b), and a first double-sided gripper cylinder (620d) and a second double-sided gripper cylinder (620e) mounted on the side of the second sheet support platform (620b) and vertically distributed, wherein the first double-sided gripper cylinder (620d) and the second double-sided gripper cylinder (620e) perform double-sided correction on the vertical edge of the sheet (H).
6. The automatic sheet straightening, stacking, and boxing device according to claim 3, characterized in that, The stacking and flipping assembly (630) includes a horizontal sliding drive component (630a), a lifting sliding drive component (630b) mounted on the horizontal sliding drive component (630a), a 90-degree rotation mechanism (630c) vertically mounted on the lifting sliding drive component (630b), and a gripping finger (630d) mounted on the 90-degree rotation mechanism (630c).
7. The automatic sheet straightening, stacking, and boxing device according to claim 1, characterized in that, The sheet feeding mechanism (700) includes a third support (710), a reciprocating conveyor belt (720) mounted on the third support (710), a lifting drive cylinder (730) mounted on the reciprocating conveyor belt (720), and a first suction cup (740) vertically mounted on the lifting drive cylinder (730).
8. The automatic sheet straightening, stacking, and boxing device according to claim 1, characterized in that, The cartoning robot (800) includes a three-axis mobile robot (810), a stacking carton gripper (820) mounted on the three-axis mobile robot (810) and rotatable at ninety degrees, a box gripper (830), and a box lid suction cup (840).
9. The automatic sheet straightening, stacking, and boxing device according to claim 1, characterized in that, The sheet feeding mechanism (200), the box feeding mechanism (300), the lid feeding mechanism (400), and the box unloading mechanism (500) are all horizontal conveyor belts.
10. A boxing method for an automatic sheet straightening and stacking boxing device as described in any one of claims 1-9, characterized in that, The steps are as follows: S1. The sheet feeding mechanism (200), the box feeding mechanism (300), and the lid feeding mechanism (400) start synchronously, respectively conveying the sheet (H), empty box (L), and lid forward along the horizontal conveyor belt; the sheet picking mechanism (700) is in the standby picking position, and the boxing robot (800) moves to the box feeding mechanism (300) through the three-axis moving robot (810), grabs the empty box (L) with the box gripper (830), and moves it to the through hole slot (510) above the box unloading mechanism (500). After the first lifting cylinder (520) drives the horizontal telescopic mechanism (530) and the first baffle (540) to rise to the position, the horizontal telescopic mechanism (530) drives the first baffle (540) to move and cooperate with the second baffle to position and fix the box (L); S2. The sheet picking mechanism (700) uses the first suction cup (740) to pick up a single sheet (H) on the sheet feeding mechanism (200), lifts it with the lifting drive cylinder (730) and moves it horizontally with the reciprocating conveyor belt (720), and accurately places the sheet (H) on the primary correction component (610) of the stacking correction and sorting mechanism (600). After each picking is completed, the sheet feeding mechanism (200) automatically conveys the subsequent sheet (H) forward one grid. S3. The sheet (H) enters the first sheet carrying platform (610b) of the primary correction assembly (610). The first single-sided gripper cylinder (610d) and the second single-sided gripper cylinder (610e) perform single-sided preliminary correction on the side of the sheet (H) from two mutually perpendicular directions. If an abnormal position of the sheet (H) is detected, it is directly pushed into the waste box (610c) for rejection. S4. After the first correction, the sheet (H) enters the second sheet support platform (620b) of the secondary stacking correction assembly (620). The first double-sided gripper cylinder (620d) and the second double-sided gripper cylinder (620e) move synchronously from four mutually perpendicular directions to perform double-sided four-sided fine correction on the sheet (H) so that the sheet is stacked neatly. When the sheet is stacked to the specified number, the second lifting cylinder (620c) lifts the platform and the sheet (H) to the specified height. S5. The stacking and flipping assembly (630) moves to the side of the secondary stacking and correction assembly (620) via the horizontal sliding drive component (630a) and the lifting sliding drive component (630b). The horizontal sliding drive component (630a) drives the gripping fingers (630d) to horizontally grip the neatly stacked materials on the secondary stacking and correction assembly (620). Then, the ninety-degree rotation mechanism (630c) drives the gripping fingers (630d) and the stacked materials to rotate ninety degrees together, adjusting them to a posture suitable for boxing. S6. The boxing robot (800) moves to the stacking and flipping component (630), uses the stacking boxing gripper (820) to clamp the neatly stacked material after flipping, and then moves it to the top of the positioned empty material box (L) to place the stacked material smoothly into the material box (L). S7. Repeat steps S2-S6 in sequence. When the inside of the material box (L) is filled with thin sheets (H), the boxing robot (800) moves to the box cover feeding mechanism (400), uses the box cover suction cup (840) to pick up the box cover, and then moves it to the material box (L) that has been filled with thin sheets (H), and accurately closes the box cover at the opening of the material box (L) to complete the sealing. S8. The material box positioning mechanism is released, and the finished material box (L) that has been packed is conveyed backward through the material box unloading mechanism (500) to complete the unloading. The device is reset and enters the next working cycle.