A printing machine platform intelligent docking system and method

Abstract

The application discloses a printing machine table intelligent docking system and method, comprising the following steps: S1, obtaining the remaining height of the paper stack, and when the remaining height is lower than a threshold value, controlling the AGV to transport the tray carrying the new paper stack to the feeding side low-position conveying line; S2, conveying the tray to the first stop position after rough positioning and temporary storage; S3, after the original paper stack is consumed and the empty tray is formed, performing low-position integrated empty-full exchange: controlling the flying table surface to descend to the lowest docking height which is coplanar with the first stop position and the second stop position; under the state of maintaining the lowest docking height, first conveying the empty tray to the discharging side low-position conveying line through the second stop position. The application has the advantages of simple structure, and under the extreme space constraints that the headroom height is not more than 2000 mm and the conveying line height is not more than 220 mm, the full-process automation of the printing machine flying table continuous feeding and discharging is realized by using a simple hardware structure and strict timing logic, and a complete feeding and discharging closed-loop control scheme for the narrow-channel ultra-low-position scene is formed.

Description

Technical Field

[0001] This invention relates to the field of printing and packaging equipment technology, specifically to an intelligent docking system and method for printing presses. Background Technology

[0002] When the feeder of a printing press picks up paper, the paper stack must be accurately aligned with the feeder nozzle's pick-up position, and the rear of the paper stack should be neatly aligned. Otherwise, malfunctions such as skewing, double sheets, or empty sheets may occur during the feeder's paper feeding process, directly affecting the printing registration accuracy and product quality. The final alignment accuracy of the paper stack is a key factor determining whether the feeder can pick up paper stably.

[0003] Existing technologies include alignment solutions that use a conveyor line to directly transport the pallet to the stop position, allowing the rear of the paper stack to naturally impact a fixed baffle and stop. There are also solutions that use an independent alignment device to apply a single impact or push action from the rear after the paper stack has reached its position. These solutions are relatively mature in conventional space environments and can basically meet usage requirements.

[0004] However, the applicability of the aforementioned conventional solutions is constrained by the unique spatial conditions of printing workshops. The clearance in the side passages of printing presses is typically no more than 2000mm, and the height of the loading conveyor line is strictly limited to 220mm due to the height restrictions of the AGV or pallet jack bearing surfaces. In such ultra-low, narrow spaces, existing alignment devices are mostly independent frame structures with large height dimensions, making them impossible to embed. Furthermore, these devices are fixed to a certain horizontal plane and cannot move with the feeder table, easily causing interference when the table is at different heights. In addition, loading and unloading conveyor lines are arranged on both sides of the printing press, and the lateral gap between the two lines is extremely limited, making it difficult for existing standard-sized alignment mechanisms to effectively utilize this gap. When the paper stack is consumed to near the bottom, the top of the existing fixed baffle is often higher than the pallet surface, preventing the trailing edge of the bottom few sheets of paper from effectively contacting the baffle. This problem is particularly prominent in ultra-low spaces—the operating space is cramped, making manual intervention or the addition of auxiliary mechanisms difficult.

[0005] On the other hand, the automated front-end processes in ultra-low position scenarios also bring additional uncertainties to the final alignment accuracy of the paper stack. When the AGV places the pallet on the feeding conveyor line, due to its own positioning accuracy and random deviations in pallet placement, the pallet has a large initial position deviation (including X-axis, Y-axis, and angular deviations) when it enters the conveyor line. This deviation cannot be effectively eliminated in the subsequent low-position conveying process. The detection of the remaining height of the paper stack at the feeder mostly relies on manual visual inspection, making it difficult to detect in time that insufficient margin will lead to machine stoppage. Although some printing presses are equipped with laser rangefinders, their detection data is only used to control the feeder table lifting compensation and is not linked with the AGV scheduling system. In the empty and full pallet exchange process, the feeder table must first descend to a low position before an empty pallet can be removed and a full pallet can be added. However, the existing exchange mechanism lacks reliable position detection and interlocking logic, and mostly relies on independent reversing components or transfer trolleys to complete the task. The structure is complex and difficult to adapt to continuous ultra-low position operations. The combination of these factors further worsened the final alignment of the paper stack. Analysis revealed that, under the constraint of a clearance of ≤2000mm, there was an irreconcilable hard interference between the existing fixed device and the lifting stroke of the feeder table. If the fixed device was placed below the table, its own thickness within a height of 220mm could not accommodate the drive components; if it was placed on the side, it was limited by the less than 100mm side clearance between the loading and unloading sides. Therefore, the root cause of the failure of the existing solution was not a simple mismatch of dimensional parameters, but a fundamental conflict in physical space between the two motion states of fixed installation and table lifting.

[0006] It is evident that under ultra-low spatial constraints, conventional alignment schemes are difficult to apply due to size and installation limitations. The already limited lateral clearance between the feeding and unloading conveyor lines cannot be effectively utilized. Furthermore, AGV feeding deviations, lag in manual monitoring, and uncertainties in empty / full exchange further affect the final alignment accuracy of the paper stack. This raises the question of how to effectively implement alignment operations at the rear of the paper stack in ultra-low spatial scenarios, achieving consistent and neat alignment across the entire height range. To address this, an intelligent docking system and method for printing presses are proposed. Summary of the Invention

[0007] The purpose of this invention is to provide an intelligent docking system and method for printing presses to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a method for intelligent docking of a printing press, comprising the following steps: S1. Obtain the remaining height of the paper stack. When it is lower than the threshold, control the AGV to transport the pallet carrying the new paper stack to the low-level conveyor line on the feeding side. S2. After coarse positioning, the pallet is temporarily stored at the first stop position. S3. After the original paper stack is consumed and an empty pallet is formed, perform low-level integrated empty-full exchange: Control the feeder platform to descend to the lowest docking height that is coplanar with the first stop position and the second stop position; While maintaining the minimum docking height, the empty pallet is first discharged to the lower material side conveyor line via the second stop position; After confirming that the empty pallet has completely detached, while maintaining the minimum docking height, the new pallet temporarily stored at the first stop position is sent into the feeder table, and the new pallet is precisely positioned on the feeder table. S4. When the secondary precision positioning is completed and the feeder table is still at the lowest docking height, the new paper stack is lifted to the printing working height by the feeder table; after being lifted into place, the tray is driven to move backward relative to the feeder table so that the paper stack is aligned with the rear stop, thus completing the loading and positioning. S5. Empty pallets are transported to the receiving station via an empty pallet supply conveyor; the empty pallets receive the printed finished products at the receiving station and stack them one by one; after the stacking height or quantity reaches the preset full load threshold, the full load pallets are removed via a full load pallet removal conveyor.

[0009] As a further aspect of the present invention: in step S3, when the feeder platform descends to the same height as the first stop position and the second stop position, the feeder platform makes rigid contact with the end of the first stop position and the beginning of the second stop position respectively through a mechanical positioning structure.

[0010] As a further aspect of the present invention: In step S3, after the empty pallet is conveyed to the second stop position, the fourth positioning sensor set on the second stop position confirms that the empty pallet has been completely removed from the feeder table and feeds back the confirmation signal to the central control system; only after the central control system receives the confirmation signal does it allow the first stop position to send the pallet temporarily carrying the new paper stack into the feeder table.

[0011] As a further aspect of the present invention: In step S3, after the pallet carrying the new stack of paper is fed into the feeder table, the central control system controls the cylinder assemblies installed on both sides of the feeder table to drive the push plate to extend, and actively clamp and precisely position the two side walls of the pallet; when the second positioning sensor located at the cylinder assembly feeds back the clamping positioning signal, the push plate of the cylinder assembly retracts and releases the pallet.

[0012] As a further aspect of the present invention, step S5 specifically includes the following steps: S51. The central control system sends an empty pallet call command to the empty pallet supply and conveying mechanism; the empty pallet supply and conveying mechanism responds to the call command, transports the empty pallet to the receiving station and positions it, and at the same time sends an empty pallet positioning signal back to the central control system. S52. After receiving the empty pallet, the receiving station receives the printed finished products output by the printing machine. The printed finished products are stacked one by one on the empty pallet. During the stacking process, the height or quantity of the finished products stacked on the empty pallet is detected in real time, and the detection results are fed back to the central control system. S53. When the central control system determines that the stacking height or quantity has reached the preset full load threshold, it generates a full load removal command and sends it to the full load pallet removal conveyor; the full load pallet removal conveyor responds to the full load removal command and removes the full load pallet.

[0013] As a further aspect of the present invention, it also includes a fault-prevention alarm step: When the feeder platform descends to the same height as the first stop position and the second stop position, if the hard contact between the feeder platform and the first stop position or the second stop position is not in place, the central control system determines that the docking is abnormal, issues an alarm signal and prohibits the empty-full exchange operation. When the position sensor at the second stop position fails to detect the empty tray within a preset time, the central control system determines that the empty tray has been moved out abnormally and issues an alarm signal. If the feeder table does not reach the printing working height after it has lifted the new paper stack, the central control system will determine that the lifting is abnormal and issue an alarm signal.

[0014] A printing press intelligent docking system, wherein the printing press is equipped with a liftable feeder table, the feeder table being located between the first and second stop positions of the positioning conveyor line, and the printing press having a narrow passage with a clearance height not exceeding 2000mm on its side, comprising: A feeding system, located on the feed inlet side of the printing press, includes: Two ultra-low position roller conveyor lines are located on the feeding side and the unloading side of the printing machine feed port, respectively. The inlet end of the ultra-low position roller conveyor line on the feeding side is provided with an inclined guide structure for first-level coarse correction of the pallet placed by the AGV. The positioning conveyor line includes a first stop position and a second stop position. The first stop position corresponds to the ultra-low position roller conveyor line on the feeding side and is used to temporarily store the pallet. The second stop position is used to receive empty pallets. The first stop position, the second stop position, and the ultra-low position roller conveyor line on the feeding side are at the same height. The positioning sensor group includes a first positioning sensor located at the end of the ultra-low position roller conveyor on the feeding side, a second positioning sensor located at the cylinder assembly on the feeder table, a third positioning sensor located at the first stop position, and a fourth positioning sensor located at the second stop position. A fixed baffle is located at the rear end of the feeder platform; A rearward-moving cylinder, located on the feeder table, is used to pull the pallet backward relative to the feeder table until the rear of the entire stack of new paper on the pallet hits the fixed baffle. A laser rangefinder sensor is installed at the feeder of the printing press. A feeding system, located on the discharge port side of the printing press, includes: An empty pallet supply conveyor is used to transport empty pallets to the receiving station; A receiving and conveying mechanism is used to receive the empty pallet and allow the empty pallet to receive the printed finished products output by the printing press; A full-load pallet removal conveyor mechanism is used to remove full-load pallets stacked with printed finished products from the receiving station; The fifth positioning sensor is located at the receiving station and is used to detect the height or quantity of finished products stacked on the pallet. The central control system is electrically connected to the ultra-low position roller conveyor on the feeding side, the positioning conveyor, each of the positioning sensors, the feeder table, the rearward cylinder, the empty pallet supply conveyor, the full-load pallet removal conveyor, and the laser rangefinder, respectively, and is used to execute the intelligent docking method of the printing press.

[0015] As a further aspect of the present invention: the feeder table is provided with rollers, which are used to transport empty pallets to the second stop position and to connect pallets carrying new stacks of paper from the first stop position to the feeder table.

[0016] As a further aspect of the present invention: a conical positioning structure with a conical pin and a conical hole is provided between the feeder platform and the end of the first stop position, and between the feeder platform and the beginning of the second stop position.

[0017] As a further embodiment of the present invention: the loading-side ultra-low position roller conveyor line, the unloading-side ultra-low position roller conveyor line, the empty pallet supply conveyor mechanism, and the full-load pallet removal conveyor mechanism have the same composition structure, each including a ground track and a drive track arranged between the ground tracks. A conveyor body that can move along the ground track is installed on the drive track. The conveyor body is provided with rollers, and the rotation direction of the rollers is perpendicular to the movement direction of the conveyor body.

[0018] Compared with the prior art, the beneficial effects of the present invention are: This invention features a fixed baffle at the rear end of the feeder table. When a fully loaded pallet is fed onto the feeder table, a cylinder pulls the entire pallet backward by a preset stroke, causing the rear of the paper stack to actively impact the fixed baffle. This aligns the misaligned layers caused by stacking and conveying under controlled impact. The impact force is independently controlled by the cylinder stroke and air pressure, unaffected by conveying speed and inertial fluctuations. The fixed baffle is directly located at the rear end of the feeder table, and the cylinder is positioned below the feeder table, moving synchronously with the table. The entire mechanism occupies only the natural side gap between the two ultra-low-position roller conveyor lines. Under extreme space constraints of ≤2000mm clearance and ≤220mm conveyor line height, it can be installed and used normally without additional workshop floor space.

[0019] This invention utilizes the lifting function of the feeder table itself, which temporarily acts as a floating bridge between the loading and unloading sides when it descends to a coplanar position. Combined with the conical surface rigid contact structure of the conical pin and conical hole, it provides Z-axis positioning while relying on self-locking characteristics to provide X / Y-axis anti-offset constraint force. Thus, without the need for any independent reversing drive source, it solves the industry problem of empty and full pallet exchange in ultra-low space and greatly simplifies the system structure.

[0020] This invention uses a central control system to interlock the automatic feeding, two-level positioning, empty / full exchange, and rear-pull alignment processes. Adjacent actions are triggered by feedback signals from positioning sensors, and the next action is only allowed to start after the previous action is confirmed. This avoids equipment failures caused by misaligned actions. At the same time, the empty pallet supply conveyor and the full-load pallet removal conveyor in the unloading system are time-division multiplexed by the same conveyor operating in both directions, further reducing the equipment footprint. Thus, under extreme space constraints of a clearance height of no more than 2000mm and a conveyor line height of no more than 220mm, this invention achieves full automation of continuous loading and unloading of the printing press feeder with a simple hardware structure and rigorous timing logic, forming a complete closed-loop control scheme for loading and unloading in narrow-channel, ultra-low-position scenarios.

[0021] In summary, the components of this invention are not isolated and superimposed, but rather interdependent under the dual constraints of a clearance of ≤2000mm and a conveyor line height of ≤220mm: simply compressing the size of conventional devices cannot avoid interference between the fixed mechanism and the lifting stroke of the table; adding only auxiliary mechanisms still cannot achieve full height alignment of the bottom paper. To address this, this invention integrates the rearward cylinder and the fixed baffle on the feeder table and raises and lowers with the table, avoiding spatial conflicts with fixed installation; the fixed baffle sinks below the bearing surface via the tray alignment groove, achieving full height alignment of the paper stack; the timing of actions is controlled by feedback signals from the position sensor, and timing interlocks replace physical isolation that cannot be arranged in space. These three measures share the same conveyor plane and lifting mechanism. When faced with such spatial limitations, those skilled in the art usually choose to reduce the size or adjust the installation position, rather than disassembling the functional modules and integrating them into the moving parts. This invention adopts adjustments at the system architecture level, rather than conventional selection of known methods. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the docking method of the present invention; Figure 3 This is a simplified schematic diagram of the fixed baffle and the rearward displacement cylinder of the present invention; Figure 4 This is a simplified schematic diagram of the connection between the feeder platform and the first stop position of the present invention; Figure 5 This is a schematic diagram of the cylinder assembly of the present invention; Figure 6 This is a schematic diagram of the feeding system of the present invention; In the diagram: 1. Printing machine; 2. Feeding system; 21. Ultra-low position roller conveyor line; 22. Inclined guide structure; 23. Positioning conveyor line; 231. First stop position; 232. Second stop position; 24. Position sensor group; 241. First position sensor; 242. Second position sensor; 243. Third position sensor; 244. Fourth position sensor; 245. Fifth position sensor; 3. Unloading system; 31. Empty pallet supply conveyor mechanism; 32. Receiving conveyor mechanism; 33. Fully loaded pallet removal conveyor mechanism; 4. Central control system; 5. Feeder table; 6. Cylinder assembly; 7. Fixed baffle; 8. Reverse cylinder. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be noted that the accompanying drawings only show the core components related to the improvements of this invention and their positional relationships. The specific internal structures of each component can be implemented using conventional structures known in the art and are not the focus of this invention; therefore, they are not further detailed in the drawings and will not be elaborated upon here. Those skilled in the art, upon understanding the system architecture provided by this invention and the connection and cooperation relationships between the components, can implement each component based on common knowledge and conventional technical means in the art, without requiring creative effort.

[0025] Please see Figure 1-6 In this embodiment of the invention, a method for intelligent docking of a printing press includes the following steps: S1. Obtain the remaining height of the paper stack. When it is lower than the threshold, control the AGV to transport the pallet carrying the new paper stack to the low-level conveyor line on the feeding side. Specifically, during normal operation of the printing press 1, a laser rangefinder sensor installed at the feeder continuously monitors the remaining height of the paper stack on the feeder table 5 and transmits the monitoring data to the central control system 4 in real time. The central control system 4 compares the received remaining height value with a preset warning threshold. The warning threshold is preset by the operator based on process parameters such as paper thickness and printing speed, for example, set to a remaining paper stack height of 50mm~220mm. When the central control system 4 determines that the remaining height value is lower than the preset warning threshold, it automatically generates a feeding request and sends it to the AGV scheduling system. The AGV scheduling system receives... Upon receiving a material loading request, an idle AGV is assigned to travel to the designated material storage location. The AGV then picks up the pallet carrying the entire stack of new paper from the material storage location and travels along the planned path to the narrow passage on the printing press inlet side, placing the pallet at the entrance end of the ultra-low-position roller conveyor line on the loading side. Since the height of the ultra-low-position roller conveyor line on the loading side does not exceed 220mm, which matches the height of the AGV's bearing surface, the AGV can smoothly place the pallet W on the ultra-low-position roller conveyor line on the loading side. The entire process requires no manual intervention, solving the problem of machine downtime caused by the lag and distraction of manual visual material calling.

[0026] S2. After coarse positioning, the pallet is temporarily stored at the first stop position. Specifically, after the AGV places the pallet carrying the entire stack of new paper at the entrance of the ultra-low position roller conveyor on the loading side, the central control system 4 starts the ultra-low position roller conveyor on the loading side, conveying the pallet forward in the first direction. During the conveying process, when the pallet is conveyed to the inclined guide structure 22, the two side walls of the pallet gradually contact the guide surface of the V-shaped or figure-eight inclined plate. Under the guidance of the inclined surface of the guide surface, the pallet W is passively pushed to the center position of the ultra-low position roller conveyor on the loading side, thereby eliminating the large initial position deviation caused by the AGV's material release. Since the above correction process is entirely achieved by the physical inclined surface guidance of the inclined guide structure 22, no active actuator or sensor is required, which has the advantages of simple structure, high reliability, and no additional space occupation. When the pallet is conveyed to the ultra-low position roller conveyor on the loading side... When the first positioning sensor 241 is triggered at the end, the central control system 4 controls the ultra-low position roller conveyor on the feeding side to stop running. Subsequently, the central control system 4 controls the first stop position 231 and the rollers on the ultra-low position roller conveyor on the feeding side to rotate, so that the pallet is transferred from the end of the ultra-low position roller conveyor on the feeding side to the first stop position 231. At this time, the pallet carrying the new paper stack is temporarily stored at the first stop position 231 and waits until the feeder table 5 is empty. Since the pallet at the first stop position 231 is in a pre-loading state, it can be replenished immediately once the feeder table 5 is empty, which effectively shortens the empty-full exchange time and avoids the waiting time caused by starting the AGV feeding again after the feeder table 5 is empty. The above-mentioned pre-loading buffer mechanism solves the problem of untimely material supply during empty-full exchange and improves equipment utilization.

[0027] S3. After the original paper stack is consumed and an empty pallet is formed, perform low-level integrated empty-full exchange: Control the feeder platform to descend to the lowest docking height that is coplanar with the first and second stop positions; While maintaining this minimum docking height, the empty pallet is first discharged to the lower material side conveyor line via the second stop position; After confirming that the empty pallet has completely detached, while maintaining the minimum docking height, the new pallet temporarily stored at the first stop position is sent into the feeder table, and the new pallet is then precisely positioned on the feeder table. Specifically, when the original paper stack on the feeder table 5 is consumed and an empty pallet is formed, the central control system 4 begins to execute the empty-full exchange process. First, the central control system 4 controls the feeder table 5 to descend from its current height to its lowest position. The height of the lowest position is the same as the height of the first stop position 231 and the second stop position 232, both not exceeding 220mm. When the feeder table 5 descends to its lowest position, the positioning cone hole on the feeder table 5 and the positioning cone pin located at the end of the first stop position 231 and / or the beginning of the second stop position 232 form a cone surface engagement, achieving precise positioning and hard contact between the feeder table 5 and the first stop position 231 and the second stop position 232. The feeder platform 5, the first stop position 231, and the second stop position 232 are at the same height, forming a continuous conveying plane. Then, the central control system 4 controls the conveying roller on the feeder platform 5 to start. The conveying roller rotates and conveys the empty pallet on the feeder platform 5 laterally to the second stop position 232. When the fourth position sensor 244 set on the second stop position 232 is triggered, the central control system 4 determines that the empty pallet has reached the second stop position 232 and controls the conveying roller to stop rotating. At this time, the trigger signal of the fourth position sensor 244 is also used to confirm that the empty pallet has completely left the feeder platform 5 and feeds back the confirmation signal to the central control system 4. During this empty-to-full exchange process, due to the ultra-low position conveyor line height of only 220mm, conventional photoelectric anti-collision light curtains cannot be installed on the transition section facade; the trigger signal of the fourth positioning sensor 244 serves as the sole enabling condition for releasing the new tray at the first stop position 231; this first-out-then-in timing hard interlock uses the absolute temporal sequence to replace the physical isolation that cannot be achieved in space, ensuring the exchange safety in the extreme space without anti-collision light curtains. After the central control system 4 receives the confirmation signal that the empty tray has completely detached from the feeder platform 5, it performs the following two parallel operations: Firstly, the central control system 4 controls the conveying rollers on the second stop position 232 to rotate along the pallet conveying direction, conveying the empty pallet to the ultra-low position roller conveyor line on the unloading side that is connected to the second stop position 232, and the ultra-low position roller conveyor line on the unloading side continues to convey the empty pallet outward. Secondly, the central control system 4 controls the conveying rollers on the first stop position 231 to rotate along the pallet conveying direction, conveying the pallet from the first stop position 231 to the feeder table 5. When the pallet is completely in the feeder table 5, the central control system 4 controls the first stop position 231 to stop operating.

[0028] The above-mentioned first-out-then-in timing is interlocked by the confirmation signal of the fourth positioning sensor 244. The full-loaded pallet is only allowed to be replenished after the empty pallet has completely left the feeder table 5. This interlocking mechanism fundamentally avoids collision and interference between the empty pallet and the full-loaded pallet at the feeder table 5, and solves the safety problem caused by the lack of reliable positioning detection and timing interlocking in the empty-full exchange process.

[0029] When the pallet carrying the new paper stack is fed into the feeder table 5, the central control system 4 controls the cylinder assemblies 6 installed on both sides of the feeder table 5 to start. The push plate of the cylinder assembly 6 extends and performs active clamping and fine positioning of the pallet from both sides, eliminating the slight positional deviation that may remain after the pallet has been coarsely corrected by the inclined guide structure 22. When the second positioning sensor 242 located at the cylinder assembly 6 feeds back the clamping positioning signal, the central control system 4 controls the push plate of the cylinder assembly 6 to retract and release the pallet. Thus, the second-level fine positioning is completed. Through the timing coordination of the first-level coarse correction and the second-level fine positioning, the positional deviation of the pallet is eliminated step by step without increasing the space occupation, ensuring the positional accuracy of the pallet after entering the feeder table 5, and solving the defect that a single guide plate cannot meet the feeding accuracy requirements of the printing press 1.

[0030] S4. After completing the secondary precision positioning and the feeder table is still at the lowest docking height, the new paper stack is lifted to the printing working height by the feeder table; after being lifted into position, the drive tray moves backward relative to the feeder table so that the paper stack is aligned with the rear stop, thus completing the loading and positioning. Specifically, after completing the secondary precision positioning, the central control system 4 controls the feeder table 5 to rise to the printing working height, which refers to the height at which the feeder can normally pick up paper from the top of the paper stack. This height varies depending on the paper size and the thickness of the paper stack. After the feeder table 5 is in position, the central control system 4 controls the rearward cylinder 8 to start. The rearward cylinder 8 pulls the tray backward relative to the feeder table 5 by a preset stroke in a direction away from the printing press 1. During the backward movement of the tray, the rear of the entire stack of new paper on the tray gradually approaches and finally impacts the working surface of the fixed baffle 7 located at the rear of the feeder table 5. Because the paper stack will experience interlayer misalignment due to vibration, acceleration, deceleration, and other factors during stacking and conveying, the rear of the paper stack is not neat. When the rear of the paper stack impacts the fixed baffle 7 at a certain speed during the controllable backward movement, the interlayer misalignment of the paper stack is eliminated upon impact. The force is eliminated, and the layers of paper at the rear of the paper stack are completely aligned. Since the stroke of the rearward cylinder 8 is preset and controllable, the force and effect of each alignment are consistent and unaffected by fluctuations in conveying speed and inertia, thus exhibiting good stability and consistency. When the rear of the paper stack is aligned, the central control system 4 controls the rearward cylinder 8 to stop operating, completing the feeding. It should be noted that the pallet is provided with an alignment groove that matches the fixed baffle 7. When the fully loaded pallet enters the feeder table 5, the working end of the fixed baffle 7 passes through the alignment groove and extends below the pallet bearing surface. This allows the rearward cylinder 8 to reliably touch and adhere to the working surface of the baffle when applying the rearward pulling force, from the bottommost paper to the topmost paper. This sunken structure design eliminates the need for manual intervention in bottom alignment, fundamentally solving the problem of missing bottom paper alignment in ultra-low position fully automated scenarios. At this time, the feeder begins to pick up the paper sheet by sheet from the top of the paper stack and transport it to the printing press 1 for printing. The above-mentioned back-pull collision alignment method solves the defects of uncontrollable collision alignment effect and unstable guarantee of the neatness of the back of the paper stack caused by the natural impact of the inertia of the conveyor line. The empty pallets discharged during the empty-full exchange process are picked up by the AGV and transported to the buffer area.

[0031] S5. Empty pallets are transported to the receiving station via the empty pallet supply conveyor; the empty pallets receive the printed finished products at the receiving station and stack them one by one; after the stacking height or quantity reaches the preset full load threshold, the full load pallets are removed via the full load pallet removal conveyor.

[0032] S51. The central control system sends an empty pallet call command to the empty pallet supply and conveying mechanism; the empty pallet supply and conveying mechanism responds to the call command by transporting the empty pallet to the receiving station and positioning it, while simultaneously sending an empty pallet positioning signal back to the central control system. S52. After receiving the empty pallet, the receiving station receives the printed finished products output by the printing press and stacks them one by one on the empty pallet. During the stacking process, the height or quantity of the finished products stacked on the empty pallet is detected in real time and the detection results are fed back to the central control system. S53. When the central control system determines that the stacking height or quantity has reached the preset full load threshold, it generates a full load removal command and sends it to the full load pallet removal conveyor; the full load pallet removal conveyor responds to the full load removal command and removes the full load pallet.

[0033] In one embodiment, preferably, the method further includes a fault-prevention alarm step: When the feeder platform 5 descends to the same height as the first stop position 231 and the second stop position 232, if the hard contact between the feeder platform 5 and the first stop position 231 or the second stop position 232 is not in place, the central control system 4 determines that the docking is abnormal, issues an alarm signal and prohibits the empty-full exchange action. Specifically, the docking detection sensor is installed at the connection between the feeder table 5 and the first stop position 231 and the second stop position 232. If the docking detection sensor detects a hard contact signal within a preset time, the central control system 4 determines that the hard contact between the feeder table 5 and the first stop position 231 and the second stop position 232 is complete, allowing subsequent empty-full exchange operations to continue. If the docking detection sensor does not detect a hard contact signal within a preset time, the central control system 4 determines that the hard contact between the feeder table 5 and the first stop position 231 or the second stop position 232 is not complete, i.e., there is a docking abnormality. At this time, the central control system 4 immediately issues an audible and visual alarm signal to prompt the operator of the docking abnormality and prohibits the empty-full exchange operation until the operator manually resets it after troubleshooting the abnormality. The above-mentioned docking abnormality alarm mechanism solves the technical problem of tray jamming or overturning during empty-full exchange due to incomplete docking between the feeder table 5 and the positioning conveyor line 23.

[0034] When the fourth position sensor 244 of the second stop position 232 does not detect an empty tray within a preset time, the central control system 4 determines that the empty tray has been moved out abnormally and issues an alarm signal. Specifically, if the fourth positioning sensor 244 detects that the empty pallet has reached the second stop position 232 within a preset time, the central control system 4 determines that the empty pallet has been moved out normally, stops the timing, and continues to execute subsequent actions; if the fourth positioning sensor 244 does not detect that the empty pallet has reached the second stop position 232 within a preset time, the central control system 4 determines that the empty pallet has been moved out abnormally, issues an audible and visual alarm signal, and prompts the operator to check the empty pallet's transport path; the above-mentioned empty pallet timeout alarm mechanism solves the technical problem that the empty pallet fails to leave the feeder table 5 in time due to equipment failure or abnormality during the empty pallet's movement, thus affecting the timing of subsequent full-load pallet replenishment.

[0035] When the feeder table 5 rises carrying a new stack of paper, if the feeder table 5 does not reach the printing working height, the central control system 4 determines that the lifting is abnormal and issues an alarm signal.

[0036] Specifically, if the lifting position sensor detects that the feeder table 5 has reached the printing working height, it sends a positioning signal to the central control system 4. The central control system 4 determines that the lifting of the feeder table 5 is normal and allows subsequent back-pull alignment and feeder paper picking actions to continue. If the lifting position sensor does not detect that the feeder table 5 has reached the printing working height within a preset time, the central control system 4 determines that the lifting of the feeder table 5 is abnormal, immediately issues an audible and visual alarm signal, prompts the operator to check the lifting mechanism of the feeder table, and prohibits the feeder from starting to pick up paper. The above-mentioned abnormal lifting alarm mechanism of the feeder table 5 solves the technical problem that the feeder table 5 fails to reach the printing working height due to a malfunction of the lifting mechanism, but the feeder still starts to pick up paper, resulting in inaccurate distance between the feeder nozzle and the top of the paper stack, causing paper skew, double sheets, or blank sheets.

[0037] The three error-proofing alarm steps described above are arranged in chronological order, corresponding to different stages of the empty / full exchange process: Before the empty / full exchange is initiated, the docking anomaly alarm confirms whether the hard contact between the feeder table 5 and the first stop position 231 and the second stop position 232 is in place. Only after confirming that the docking is in place is the empty / full exchange stage allowed to proceed. This step ensures the foundation for the smooth operation of the empty / full exchange. In the first stage of the empty / full exchange, the empty tray removal timeout alarm monitors whether the empty tray reaches the second stop position 232 within a preset time. Only after confirming that the empty tray has arrived within the preset time is the second stage of the empty / full exchange allowed to proceed. This step ensures that the empty-full exchange first-out-then-in sequence can be reliably executed. In the second stage of empty-full exchange and the subsequent material loading and positioning stage, the feeder table 5 lifting abnormal alarm confirms whether the feeder table 5 has reached the printing working height. Only after confirming that the feeder table 5 has reached the printing working height is the feeder allowed to start picking up paper. This step ensures that the feeder can perform paper picking operation at the optimal height. The above three steps are sequentially connected and together constitute the safety protection chain of the error prevention alarm mechanism of this invention. Any abnormality in any link can be detected in time and alarmed to stop the machine, controlling the fault within the smallest range and avoiding chain failures caused by local abnormalities.

[0038] Please see Figure 1-6 A printing press intelligent docking system, wherein the printing press 1 is equipped with a liftable feeder table 5, the feeder table 5 is located between the first stop position 231 and the second stop position 232 of the positioning conveyor line 23, and the side of the printing press 1 has a narrow passage with a clearance height not exceeding 2000mm, including: The feeding system 2, located on the feed inlet side of the printing press 1, includes: Two ultra-low position roller conveyor lines 21 are located on the feeding side and the unloading side of the inlet side of the printing machine 1, respectively. The inlet end of the ultra-low position roller conveyor line 21 on the feeding side is provided with an inclined guide structure 22, which is used to perform primary coarse correction on the pallet placed by the AGV. The positioning conveyor line 23 includes a first stop position 231 and a second stop position 232. The first stop position 231 corresponds to the loading side ultra-low position roller conveyor line 21 and is used to temporarily store pallets. The second stop position 232 corresponds to the unloading side ultra-low position roller conveyor line 21 and is used to receive empty pallets. The first stop position 231, the second stop position 232 and the two ultra-low position roller conveyor lines 21 are at the same height. The positioning sensor group 24 includes a first positioning sensor 241 located at the end of the ultra-low position roller conveyor line 21 on the feeding side, a second positioning sensor 242 located at the cylinder assembly 6 at the feeder table 5, a third positioning sensor 243 located at the first stop position 231, and a fourth positioning sensor 244 located at the second stop position 232. Fixed baffle 7 is located at the rear end of feeder table 5; The rearward cylinder 8 is located on the feeder table 5 and is used to pull the pallet backward relative to the feeder table 5 until the rear of the entire stack of new paper on the pallet hits the fixed baffle 7. A laser rangefinder sensor is installed at the feeder of the printing press. The feeding system 3, located on the discharge port side of the printing press 1, includes: An empty pallet supply conveyor 31 is used to transport empty pallets to the receiving station. The material receiving and conveying mechanism 32 is used to receive empty pallets and allow the empty pallets to receive the printed finished products output by the printing press 1; Fully loaded pallet removal conveyor 33 is used to remove fully loaded pallets stacked with printed finished products from the receiving station; The fifth positioning sensor 245 is located at the receiving station and is used to detect the height or quantity of finished products stacked on the pallet. The central control system 4 is electrically connected to the ultra-low position roller conveyor 21 on the feeding side, the positioning conveyor 23, each positioning sensor, the feeder table 5, the rearward cylinder 8, the empty pallet supply conveyor 31, the full-load pallet removal conveyor 33, and the laser rangefinder sensor, respectively, to execute the intelligent docking method of the printing machine and coordinate the timing of the actions of each component.

[0039] Specifically, the feeding system 2 is located at the inlet side of the printing press 1. It automatically feeds a full-loaded pallet onto the feeder table 5 during printing press 1's operation and removes the empty pallet after the paper stack is used up. The feeding system 2 mainly includes: two ultra-low position roller conveyors 21, a positioning conveyor 23, a positioning sensor group 24, a fixed baffle 7, a backward movement cylinder 8, and a laser rangefinder sensor. The unloading system 3 is located at the outlet side of the printing press 1. It outputs the finished printed paper from the printing press outlet and stacks it onto an empty pallet to form a full-loaded pallet, then removes the full-loaded pallet. The unloading system 3 mainly includes: two ultra-low position roller conveyors 21, a positioning conveyor 23, a positioning sensor group 24, a fixed baffle 7, a backward movement cylinder 8, and a laser rangefinder sensor. It includes: an empty pallet supply conveyor 31, a receiving conveyor 32, a full-load pallet removal conveyor 33, and a fifth positioning sensor 245; the remaining height of the paper stack detected by the laser rangefinder installed at the feeder is used as the trigger signal for the feeding request. When the remaining height is lower than the preset warning threshold, the central control system automatically sends a feeding request to the AGV scheduling system without manual observation and intervention. This eliminates the waiting time and downtime caused by the lag and distraction of manual visual feeding, improves the overall efficiency of the equipment, and realizes the automatic linkage between the feeder paper stack remaining monitoring and the logistics scheduling system.

[0040] The loading-side ultra-low position roller conveyor line, the unloading-side ultra-low position roller conveyor line, the empty pallet supply conveyor mechanism 31 and the full-load pallet removal conveyor mechanism 33 have the same composition structure. They all include ground rails and drive rails set between the ground rails. The drive rails are equipped with conveyor body that can move along the ground rails. The conveyor body is equipped with rollers, and the rotation direction of the rollers is perpendicular to the movement direction of the conveyor body.

[0041] Two ultra-low position roller conveyors 21 are installed on the feed inlet side of the printing press 1. The height of the ultra-low position roller conveyors 21 on the loading and unloading sides does not exceed 220mm to accommodate the height of the pallet jacks and AGVs in the printing workshop, ensuring that the AGVs can place the pallets directly on the conveyor body. An inclined guide structure 22 is installed at the entrance end of the ultra-low position roller conveyor on the loading side. The inclined guide structure 22 is a V-shaped or figure-eight shaped inclined plate, and its guide surface gradually narrows from the outside to the inside. When a pallet carrying a whole stack of new paper is placed at the entrance end of the ultra-low position roller conveyor on the loading side, due to the limited positioning accuracy of the AGV itself and the random deviation when the pallet is placed on the AGV forks, the pallet... There may be a deviation from the centerline of the conveying mechanism body. As the ultra-low position roller conveyor on the loading side transports the pallet forward, the two side walls of the pallet gradually contact the guide surface of the inclined guide structure 22. Under the guidance of the inclined surface of the guide surface, the pallet is passively pushed to the center position of the conveying mechanism body. The end of the ultra-low position roller conveyor on the loading side is equipped with a first positioning sensor 241. The first positioning sensor 241 is used to detect whether the pallet has been transported to the end of the ultra-low position roller conveyor on the loading side. When the pallet triggers the first positioning sensor 241, the central control system 4 controls the ultra-low position roller conveyor on the loading side to stop running. The pallet waits at the end of the ultra-low position roller conveyor on the loading side to be transferred to the next station.

[0042] The positioning conveyor line 23 is located at the feeder table 5 of the printing press 1, along the pallet conveying direction. The feeder table 5 is located between the first stop position 231 and the second stop position 232. The first stop position 231 corresponds to the loading side ultra-low position roller conveyor line and is used to receive pallets carrying new paper stacks transferred from the loading side ultra-low position roller conveyor line and to temporarily store the pallets. The second stop position 232 corresponds to the unloading side ultra-low position roller conveyor line and is used to receive empty pallets removed from the feeder table 5. The third position sensor 243 is used to detect whether the pallet has reached the first stop position 231, and the fourth position sensor 245 is used to detect empty pallets. Has the tray reached the second stop position 232? The feeder table 5 is located below the feeder of the printing press 1 and is used to support the tray with stacked paper. The feeder table 5 has a lifting function and can be raised and lowered vertically under the control of the central control system 4. During the printing process, the feeder picks up paper one sheet at a time from the top of the paper stack. As the paper is consumed, the height of the paper stack gradually decreases. In order to maintain a constant relative height between the top of the paper stack and the feeder nozzle, the feeder table 5 gradually rises during the printing process to compensate for the height loss caused by paper consumption. When the paper stack on the feeder table 5 is consumed and forms an empty tray, the feeder table 5 is controlled by the central control system. When the feeder platform 5 descends to its lowest position under control 4, it makes rigid contact with the end of the first stop position 231 and the beginning of the second stop position 232 through a mechanical positioning structure. The mechanical positioning structure includes a positioning cone pin located at the end of the first stop position 231 and / or the beginning of the second stop position 232, and a positioning cone hole located at the corresponding position on the feeder platform 5. When the feeder platform 5 descends to its lowest position, the positioning cone pin is inserted into the corresponding positioning cone hole, achieving positioning and rigid contact between the feeder platform 5 and the first stop position 231 and the second stop position 232. The positioning cone pin and the positioning cone hole are fitted with a conical surface. When the feeder rises, the positioning cone pin can be smoothly pulled out of the positioning cone hole without interference. The feeder table 5 is equipped with multiple conveying rollers, which are arranged at intervals along the conveying direction and can be driven to rotate synchronously by a drive motor. They are used to convey empty pallets laterally from the feeder table 5 to the second stop position 232, and to connect pallets carrying new paper stacks laterally to the feeder table 5 from the first stop position 231. In addition, the feeder table 5 is also equipped with a cylinder assembly 6. The cylinder assembly 6 includes a push plate and a cylinder that drives the push plate to extend and retract. It is used to perform active clamping two-stage precision positioning of the two side walls of the pallet after the pallet is sent into the feeder table 5.When the cylinder assembly 6 is not in operation, the push plate is in a retracted state and located outside the pallet's movement path, so it will not interfere with the transport of the pallet and paper. The fixed baffle 7 has a working surface perpendicular to the conveying direction, which serves as a positioning reference for aligning the rear of the paper stack. The fixed baffle 7 is fixedly installed at the rear end of the feeder table 5 and rises and falls synchronously with the feeder table 5. The pallet has an alignment groove that matches the fixed baffle 7, allowing the fixed baffle 7 to enter the alignment groove and extend the effective alignment working surface of the baffle below the pallet's bearing surface. Even when the paper stack is consumed to the bottom and only a few sheets remain, the rear edge of the paper can still reliably contact the fixed baffle, achieving consistent and neat alignment across the entire height range from the top to the bottom of the paper stack. This solves the problem of misalignment of the bottom sheets due to the baffle top being higher than the pallet surface. Furthermore, since the baffle is not higher than the pallet's bearing surface, it will not interfere with or damage the paper stacking and conveying. The rearward cylinder 8 is located on the feeder table 5, and its telescopic end is equipped with a gripping component for gripping the pallet and pulling it. The pallet moves backward relative to the feeder table 5. When the telescopic end of the rearward cylinder 8 extends, the gripping component grips the pallet and moves it backward. When the rearward cylinder 8 is fully retracted, both the gripping component and the rearward cylinder 8 are outside the pallet's movement path and will not interfere with the normal transport of the pallet. The specific structure of the cylinder assembly and gripping component is a conventional design in the art. Those skilled in the art can select appropriate cylinder models and gripping methods (such as suction cups, grippers, or hooks) according to the actual installation space. These will not be elaborated here. The laser range sensor is installed at the feeder of the printing press 1, specifically near the feeder nozzle. It is used to detect the remaining height of the paper stack on the feeder table 5. The laser range sensor emits a laser beam toward the top of the paper stack and receives the laser beam reflected from the top of the paper stack. The remaining height value of the paper stack is calculated based on the time difference between the emission and reception of the laser beam. The laser range sensor transmits the detected remaining height value to the central control system 4 in real time. Each position sensor can be a proximity switch, photoelectric sensor, or pressure sensor, etc.

[0043] Although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0044] Therefore, the above description is only a preferred embodiment of this application and is not intended to limit the scope of this application; that is, all equivalent modifications made in accordance with the scope of the claims of this application shall be within the protection scope of the claims of this application.

Claims

1. A method for intelligent docking of a printing press, characterized in that, Includes the following steps: S1. Obtain the remaining height of the paper stack. When it is lower than the threshold, control the AGV to transport the pallet carrying the new paper stack to the low-level conveyor line on the feeding side. S2. After coarse positioning, the pallet is temporarily stored at the first stop position. S3. After the original paper stack is consumed and an empty pallet is formed, perform low-level integrated empty-full exchange: Control the feeder platform to descend to the lowest docking height that is coplanar with the first stop position and the second stop position; While maintaining the minimum docking height, the empty pallet is first discharged to the lower material side conveyor line via the second stop position; After confirming that the empty pallet has completely detached, while maintaining the minimum docking height, the new pallet temporarily stored at the first stop position is sent into the feeder table, and the new pallet is precisely positioned on the feeder table. S4. When the secondary precision positioning is completed and the feeder table is still at the lowest docking height, the new paper stack is lifted to the printing working height by the feeder table; after being lifted into place, the tray is driven to move backward relative to the feeder table so that the paper stack is aligned with the rear stop, thus completing the loading and positioning. S5. Empty pallets are transported to the receiving station via an empty pallet supply conveyor; the empty pallets receive the printed finished products at the receiving station and stack them one by one; after the stacking height or quantity reaches the preset full load threshold, the full load pallets are removed via a full load pallet removal conveyor.

2. The intelligent docking method for printing presses according to claim 1, characterized in that, In step S3, when the feeder platform descends to the same height as the first stop position and the second stop position, the feeder platform makes rigid contact with the end of the first stop position and the beginning of the second stop position through a mechanical positioning structure.

3. The intelligent docking method for printing presses according to claim 1, characterized in that, In step S3, after the empty pallet is conveyed to the second stop position, the fourth positioning sensor set on the second stop position confirms that the empty pallet has been completely removed from the feeder table and feeds back the confirmation signal to the central control system. Only after the central control system receives the confirmation signal does it allow the first stop position to send the pallet temporarily carrying the new paper stack into the feeder table.

4. The intelligent docking method for printing presses according to claim 1, characterized in that, In step S3, after the pallet carrying the new stack of paper is fed into the feeder table, the central control system controls the cylinder assemblies installed on both sides of the feeder table to drive the push plate to extend and perform active clamping and precise positioning of the two side walls of the pallet; when the second positioning sensor located at the cylinder assembly feeds back the clamping positioning signal, the push plate of the cylinder assembly retracts and releases the pallet.

5. The intelligent docking method for printing presses according to claim 1, characterized in that, Step S5 specifically includes the following steps: S51. The central control system sends an empty pallet call command to the empty pallet supply and conveying mechanism; the empty pallet supply and conveying mechanism responds to the call command, transports the empty pallet to the receiving station and positions it, and at the same time sends an empty pallet positioning signal back to the central control system. S52. After receiving the empty pallet, the receiving station receives the printed finished products output by the printing machine. The printed finished products are stacked one by one on the empty pallet. During the stacking process, the height or quantity of the finished products stacked on the empty pallet is detected in real time, and the detection results are fed back to the central control system. S53. When the central control system determines that the stacking height or quantity has reached the preset full load threshold, it generates a full load removal command and sends it to the full load pallet removal conveyor; the full load pallet removal conveyor responds to the full load removal command and removes the full load pallet.

6. The intelligent docking method for printing presses according to claim 1, characterized in that, It also includes error prevention alarm steps: When the feeder platform descends to the same height as the first stop position and the second stop position, if the hard contact between the feeder platform and the first stop position or the second stop position is not in place, the central control system determines that the docking is abnormal, issues an alarm signal and prohibits the empty-full exchange operation. When the position sensor at the second stop position fails to detect the empty tray within a preset time, the central control system determines that the empty tray has been moved out abnormally and issues an alarm signal. If the feeder table does not reach the printing working height after it has lifted the new paper stack, the central control system will determine that the lifting is abnormal and issue an alarm signal.

7. A printing press intelligent docking system, wherein the printing press is equipped with a liftable feeder table, the feeder table being located between the first stop and the second stop of the positioning conveyor line, and the printing press having a narrow passage with a clearance height not exceeding 2000mm on its side, characterized in that, include: A feeding system, located on the feed inlet side of the printing press, includes: Two ultra-low position roller conveyor lines are located on the feeding side and the unloading side of the printing machine feed port, respectively. The inlet end of the ultra-low position roller conveyor line on the feeding side is provided with an inclined guide structure for first-level coarse correction of the pallet placed by the AGV. The positioning conveyor line includes a first stop position and a second stop position. The first stop position corresponds to the ultra-low position roller conveyor line on the feeding side and is used to temporarily store the pallet. The second stop position is used to receive empty pallets. The first stop position, the second stop position, and the ultra-low position roller conveyor line on the feeding side are at the same height. The positioning sensor group includes a first positioning sensor located at the end of the ultra-low position roller conveyor on the feeding side, a second positioning sensor located at the cylinder assembly on the feeder table, a third positioning sensor located at the first stop position, and a fourth positioning sensor located at the second stop position. A fixed baffle is located at the rear end of the feeder platform; A rearward-moving cylinder, located on the feeder table, is used to pull the pallet backward relative to the feeder table until the rear of the entire stack of new paper on the pallet hits the fixed baffle. A laser rangefinder sensor is installed at the feeder of the printing press. A feeding system, located on the discharge port side of the printing press, includes: An empty pallet supply conveyor is used to transport empty pallets to the receiving station; A receiving and conveying mechanism is used to receive the empty pallet and allow the empty pallet to receive the printed finished products output by the printing press; A full-load pallet removal conveyor mechanism is used to remove full-load pallets stacked with printed finished products from the receiving station; The fifth positioning sensor is located at the receiving station and is used to detect the height or quantity of finished products stacked on the pallet. The central control system is electrically connected to the ultra-low position roller conveyor on the feeding side, the positioning conveyor, each of the positioning sensors, the feeder table, the rearward cylinder, the empty pallet supply conveyor, the full-load pallet removal conveyor, and the laser rangefinder, respectively, and is used to execute the intelligent docking method for printing presses as described in any one of claims 1 to 6.

8. The intelligent docking system for printing presses according to claim 7, characterized in that, The feeder table is equipped with rollers, which are used to transport empty pallets to the second stop position and to connect pallets carrying new stacks of paper from the first stop position to the feeder table.

9. The intelligent docking system for printing presses according to claim 7, characterized in that, A conical positioning structure with a conical pin and a conical hole is provided between the end of the feeder platform and the first stop position, and between the beginning of the feeder platform and the second stop position.

10. The intelligent docking system for printing presses according to claim 7, characterized in that, The loading-side ultra-low position roller conveyor line, the unloading-side ultra-low position roller conveyor line, the empty pallet supply conveyor mechanism, and the full-load pallet removal conveyor mechanism have the same composition structure. They all include ground tracks and drive tracks arranged between the ground tracks. A conveyor body that can move along the ground tracks is installed on the drive track. The conveyor body is provided with rollers, and the rotation direction of the rollers is perpendicular to the movement direction of the conveyor body.

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