A reel material automatic supply system

Abstract

The embodiment of the application discloses a reel material automatic supply system, relates to the material supply technical field, and is invented to improve the packaging production efficiency. The supply system comprises an automatic carrying device, a replenishing device and a feeding device. The automatic carrying device is used for carrying a tray to a tray storage position of the replenishing device. The tray is used for carrying a packaging material stack. The replenishing device comprises the tray storage position and a grabbing unit. The tray storage position is used for storing the tray. The grabbing unit is used for grabbing the packaging material on the packaging material stack and transferring the grabbed packaging material to a standby packaging material mounting position of the feeding device. The cyclic alternating assembly of the feeding device is used for driving the online packaging material mounting position and the standby packaging material mounting position to exchange positions in the case that the online packaging material mounting position of the feeding device needs the packaging material, so as to provide the packaging material for the production equipment. The application is suitable for providing the packaging material.

Description

Technical Field

[0001] This application relates to the field of material supply technology, and in particular to an automatic material supply system for reels. Background Technology

[0002] In the packaging production process, a variety of packaging materials are used to package products. The most common packaging material is a strip material that is wound into a reel. This type of material is generally called reel material, and it is usually placed on a pallet for storage and transportation.

[0003] In the existing technology, when transferring pallets, it is necessary to manually push the pallets to the automatic reel material supply system so that the supply system can use the packaging materials on the pallets to provide them to downstream production equipment. Because the pallets are manually pushed to the automatic reel material supply system, the level of automation of packaging material supply is low. Utility Model Content

[0004] In view of this, embodiments of this application provide an automatic reel material supply system to improve packaging production efficiency.

[0005] This application provides an automatic reel material supply system, including: an automatic handling device, a replenishment device, and a supply device; wherein, the automatic handling device is used to transport a pallet to the pallet storage position of the replenishment device; wherein, the pallet is used to carry stacked packaging materials; the replenishment device includes the pallet storage position and a gripping unit, the pallet storage position is used to store the pallet; the gripping unit is used to grip the packaging materials on the stacked packaging materials and transfer the gripped packaging materials to the spare packaging material installation position of the supply device; the circulating alternation component of the supply device is used to drive the online packaging material installation position and the spare packaging material installation position to exchange positions when the online packaging material installation position of the supply device needs packaging materials, so as to provide packaging materials to the production equipment.

[0006] In this embodiment of the automatic reel material supply system, the automatic handling device transports the pallet to the pallet storage position of the replenishment device. The pallet is used to carry the stacking of packaging materials. The gripping unit of the replenishment device grips the packaging materials on the pallet and transfers the gripped packaging materials to the spare packaging material installation position of the supply device. When the online packaging material installation position of the supply device needs packaging materials, the circulation alternation component of the supply device drives the online packaging material installation position and the spare packaging material installation position to exchange positions, so as to provide packaging materials to the production equipment. Since the automatic handling device transports the pallet to the pallet storage position of the replenishment device, it is convenient to improve the automation level of packaging material supply. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 A structural diagram of an automatic reel material supply system provided in an embodiment of this application; Figure 2 Structural diagram of an automated reel material supply system provided in another embodiment of this application Figure 3 A structural diagram of an automated reel material supply system provided in another embodiment of this application; Figure 4 A structural diagram of an automated reel material supply system provided in another embodiment of this application; Figure 5 A structural diagram of a supply device provided in another embodiment of this application; Figure 6 A structural diagram of an automatic reel material supply system provided in an embodiment of this application; Figure 7 A schematic flowchart illustrating an automatic reel material supply method according to an embodiment of this application; Figure 8 A schematic diagram of the operation of a supply device provided in an embodiment of this application; Figure 9 A structural diagram of an automatic reel material supply system provided in an embodiment of this application; Figure 10 A structural diagram of an automated reel material supply system provided in another embodiment of this application; Figure 11 A schematic flowchart illustrating an automatic reel material supply method according to an embodiment of this application; Figure 12 A structural diagram of an automatic reel material supply system provided in an embodiment of this application; Figure 13 A schematic flowchart illustrating an automatic reel material supply method according to an embodiment of this application; Figure 14 This is a schematic flowchart of an automatic reel material supply method provided in an embodiment of this application. Detailed Implementation

[0009] The embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are merely some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0010] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0011] To enable those skilled in the art to better understand the technical concept, implementation scheme and beneficial effects of the embodiments of this application, detailed descriptions are provided below through specific embodiments.

[0012] Figure 1 This is a structural diagram of an automatic reel material supply system provided in an embodiment of this application. Figure 2 This is a structural diagram of an automated reel material supply system provided in another embodiment of this application. Figure 3 This is a structural diagram of an automated reel material supply system provided in another embodiment of this application. Figure 4 A structural diagram of an automated reel material supply system provided in another embodiment of this application is shown below. Figures 1-4 As shown, the automatic reel material supply system of this embodiment may include: an automatic handling device, a replenishment device 1, and a supply device 2; wherein, the automatic handling device is used to transport the pallet 3 to the pallet storage position of the replenishment device 1; the pallet 3 is used to carry the stacking of packaging materials; the replenishment device 1 includes a pallet storage position and a gripping unit 11, the pallet storage position is used to store the pallet 3, and the pallet 3 is used to carry the stacking of packaging materials; the gripping unit 11 is used to grip the packaging materials on the stacking of packaging materials and transfer the gripped packaging materials to the standby packaging material installation position of the supply device 2; the circulating alternation component of the supply device 2 is used to drive the online packaging material installation position and the standby packaging material installation position to exchange positions when the online packaging material installation position of the supply device 2 needs packaging materials, so as to provide packaging materials 4 to the production equipment.

[0013] The automated handling device can be an automated guided vehicle (AGV) or a forklift, etc. The pallet 3 carries the stacking of packaging materials. For reel materials, the stacking can include multiple reels, and the multiple reels are stacked sequentially from low to high to form a stack.

[0014] The tray 3 carries reel-type packaging materials 4, which can be packaging materials of a single specification or packaging materials of multiple specifications 4.

[0015] The supply device includes an online packaging material mounting station. Packaging materials at the online packaging material mounting station are supplied to downstream production equipment. To ensure an uninterrupted supply of packaging materials to downstream production equipment, the supply device also includes a spare packaging material mounting station. Packaging materials can be installed at the spare packaging material mounting station. When the packaging materials at the online packaging material mounting station are used up or the remaining packaging materials are less than a preset value, the two positions are swapped. This allows the packaging materials originally at the spare packaging material mounting station to be supplied to the downstream production equipment.

[0016] In practical applications, according to the needs of the production process, the gripping unit 11 destacking the required reel materials and transferring them to the standby packaging material installation position. When the online packaging material installation position of the supply device 2 needs packaging materials, the online packaging material installation position and the standby packaging material installation position are exchanged by the cyclic alternation component, so that the original online packaging material installation position is converted into the standby packaging material installation position and the original standby packaging material installation position is converted into the online packaging material installation position, thereby providing packaging materials to the production equipment.

[0017] In this embodiment, the automatic handling device transports the pallet 3 to the pallet storage position of the supply device 1. The pallet 3 is used to carry the stacking of packaging materials. The gripping unit 11 of the supply device grips the packaging materials on the pallet 3 and transfers the gripped packaging materials to the spare packaging material installation position of the supply device 2. When the online packaging material installation position of the supply device 2 needs packaging materials, the circulating alternation component of the supply device 2 drives the online packaging material installation position and the spare packaging material installation position to exchange positions, so as to provide packaging materials to the production equipment. Since the automatic handling device transports the pallet 3 to the pallet storage position of the supply device 1, it is convenient to improve the automation level of packaging material supply. In addition, it improves production efficiency and avoids the problem of low automation level of packaging material supply caused by manually pushing the pallet 3 carrying packaging materials to the automatic reel material supply system in the prior art.

[0018] like Figure 4 In the illustrated embodiment, an automated guided vehicle (AGV) delivers a pallet 3 containing stacked reel materials to a pallet storage location.

[0019] like Figure 5The supply device 2 shown may include: an unsealing and winding unit 21, a circulating alternation unit 22 (circulating alternation assembly), an online unwinding unit 23 (online packaging material mounting position), a spare unwinding unit 24 (spare packaging material mounting position), a splicing unit 25, a front-end acceleration unit 26, a rear-end winding unit 27, an inner diameter ring recovery unit 28, and a waste material recovery unit 29. The structure and connection relationship of the above units can be referred to in "Automatic Packaging Tape Supply Machine" (application number: 201310197810.6, publication number CN103241570A).

[0020] The unsealing and winding unit 21 is used to unseal the reel material newly installed on the spare unwinding shaft 24 and wind its front end through the splicing unit 25 to the front acceleration unit 26.

[0021] The cyclic alternation unit 22 is used to drive the online unwinding unit 23 and the standby unwinding unit 24 to alternate cyclically.

[0022] The online unwinding unit 23 is used to unwind online reel materials to provide online packaging materials to packaging and other process equipment.

[0023] The spare unwinding unit 24 is used to receive spare reel materials from the replenishment device 1 according to the production schedule during the actual production process. The spare reel materials are installed on the spare unwinding unit 24 by the gripping unit 11 of the replenishment device 1 to provide spare packaging materials for unwinding.

[0024] The splicing unit 25 is used to splice the tail of the online packaging material and the head of the spare packaging material when the online reel material is about to run out, forming a continuous packaging material and ensuring the continuous production of packaging and other process equipment.

[0025] The front-end acceleration unit 26 is used, together with the spare unwinding unit 24, to accelerate the spare packaging material to the same or similar running speed as the online packaging material during the splicing process of the splicing unit 25 splicing the online packaging material and the spare packaging material, and to recycle the waste material at the head of the spare packaging material.

[0026] The rear winding unit 27 is used to recover the tail waste of the online packaging material during the splicing process of the splicing unit 25 splicing the online packaging material and the spare packaging material.

[0027] The inner diameter ring recycling unit 28 is used to centrally recycle the inner diameter rings of the online reel material after the splicing unit 25 has finished splicing the online packaging material and spare packaging material.

[0028] Waste recycling unit 29 is used to centrally recycle the head waste of spare packaging materials and the tail waste of online packaging materials collected from the front-end acceleration unit 26 and the rear-end winding unit 27, respectively.

[0029] The main process flow of supply device 2 is as follows: 1) The spare unwinding unit 24 requires reel materials; 2) The gripping unit 11 installs the reel material onto the standby unwinding unit 24; 3) When the cyclic alternation unit 22 rotates to the opening position, the opening and winding unit 21 completes the opening of the reel material and winds it through the splicing unit 25 to the front acceleration unit 26; 4) After the roll material is unsealed and threaded, the roll paper is unwound online. When the inner diameter of the roll paper on the online unwinding shaft 23 reaches the preset outer diameter, the splicing unit 25 splices the head of the new strip and the tail of the old strip to form a continuous packaging material. 5) Waste recycling: The front-end acceleration unit 26 recycles the waste at the head of the packaging material, the rear-end winding unit 27 recycles the waste at the tail of the packaging material, and the inner diameter ring recycling unit 28 recycles the inner diameter ring. 6) The alternating cycle unit 22 drives the unwinding units 23 and 24 to alternate positions; This cycle is repeated to ensure a continuous supply of packaging materials.

[0030] See Figure 3 In order to limit the pallet 3 to a certain range, facilitate subsequent operations, and improve production efficiency, in some examples, the pallet storage position is provided with a pallet limiting unit 12. The pallet limiting unit 12 is used to limit the pallet 3 to a specified range.

[0031] like Figure 4 In the embodiment shown, the tray limiting unit 12 can be a limiting rod.

[0032] A grating detection unit 5 is installed on one end of the pallet limiting unit 12 near the pallet storage position entrance. The grating detection unit 5 is used to stop the gripping unit 11 when it detects that a person or object is approaching the designated range.

[0033] To further improve the level of automation, in some examples, the gripping unit 11 includes an identification component 11a and a flexible robot 11b. The identification component 11a is located above the pallet storage position and is used to identify the positioning information of the packaging material to be gripped. The flexible robot 11b is used to grip the target packaging material according to the positioning information.

[0034] The identification component 11a is capable of identifying packaging materials placed on the pallet 3. In one embodiment, the identification component 11a is capable of identifying the size of the top layer of reel material placed on the pallet 3 and its center spatial coordinates (x, y, z) values, so that the gripping unit 11 can quickly locate and grip the reel material of the specified size.

[0035] In practical implementation, the identification component 11a can use 3D machine vision recognition and detection, which can quickly identify the center of the reel material, accurately locate the reel, and assist the flexible robot arm 11b in accurately and quickly positioning and picking up the reel.

[0036] After grasping packaging materials, the flexible robotic arm 11b can move the packaging materials horizontally and vertically, and can also flip them in any direction. The flexible robotic arm 11b includes a robotic arm 11ba and a gripping head 11bb, with the gripping head 11bb mounted on the robotic arm 11ba. The flexible robotic arm 11b can also be referred to as a depalletizing assembly.

[0037] After the identification component 11a identifies the packaging material to be grasped, the flexible robot arm 11b can quickly and flexibly destacking the required reel material and transferring it to the spare packaging material installation position.

[0038] If the packaging material installed at the packaging material installation position is substandard or cannot meet the packaging material requirements of the production equipment, and this is not detected in time, it may cause the entire production line to stop. To solve this problem, see [link to relevant documentation]. Figure 4 In some examples, the supply device 1 may further include: a detection unit 13; the detection unit 13 is used to detect whether the packaging material grasped by the grasping unit 11 meets the expected requirements after the grasping unit 11 grasps the packaging material on the packaging material stack and before transferring the grasped packaging material to the spare packaging material installation position of the supply device 2; the grasping unit 11 is specifically used to transfer the grasped packaging material to the spare packaging material installation position if the packaging material grasped by the grasping unit 11 meets the expected requirements.

[0039] The expected requirements are for packaging materials that meet the production needs of the production equipment.

[0040] Before the gripping unit 11 grips the packaging materials on the stack, the detection unit 13 detects the packaging materials to confirm whether they meet the production requirements of the production equipment. This can reduce the losses caused by the production equipment downtime due to the packaging materials not meeting the requirements.

[0041] In testing whether packaging materials meet expected requirements, see [reference needed]. Figure 4 In a specific example, the detection unit 13 includes a damage detection component 13a; the damage detection component 13a is used to detect whether the packaging material grasped by the gripping unit 11 is damaged; the gripping unit 11 is specifically used to transfer the gripped packaging material to the spare packaging material installation position when the packaging material grasped by the gripping unit 11 is not damaged.

[0042] Damaged packaging materials include defects such as partial damage or contamination of the packaging materials, which do not meet the requirements for production materials.

[0043] If no damage is detected in the packaging material, the gripping unit 11 will grab the packaging material from the pallet and move it to the spare packaging material installation position for subsequent use.

[0044] In testing whether packaging materials meet expected requirements, see [reference needed]. Figure 4 In another specific example, the detection device includes a material code detection component 13b; the material code detection component 13b is used to detect whether the material code of the packaging material grasped by the gripping unit 11 is the same as the expected material code; the gripping unit 11 is specifically used to transfer the gripped packaging material to the spare packaging material installation position when the material code of the packaging material grasped by the gripping unit 11 is the same as the expected material code.

[0045] Material codes are barcodes or QR codes affixed to the outer ring of reel materials to indicate their specifications.

[0046] By detecting the material code of the packaging material grabbed by the gripping unit 11, if the packaging material does not meet the requirements before it is transferred to the packaging material installation position, it can be detected in time, reducing the possibility of subsequent production equipment downtime, improving production efficiency and reducing economic losses.

[0047] The supply device 2 needs to unwind reels of packaging material. Depending on production requirements, the unwinding of the reels may be clockwise or counter-clockwise. In this embodiment, the supply system requires pre-identifying the unwinding direction of the reels to meet the unwinding direction (expected) of the supply device 2. To meet this requirement, during the inspection of whether the packaging material meets the expected requirements, see [reference needed]. Figure 4 In another specific example, the detection device includes an unwinding direction detection component 13c; the unwinding direction detection component 13c is used to detect whether the unwinding direction of the packaging material grasped by the gripping unit 11 is the same as the expected unwinding direction; the gripping unit 11 is specifically used to transfer the gripped packaging material to the spare packaging material installation position when the unwinding direction of the packaging material grasped by the gripping unit is the same as the expected unwinding direction.

[0048] It is understood that, in some embodiments, the detection device may further include at least two of the following: a breakage detection component 13a, a material bar detection component 13b, and an unwinding direction detection component 13c.

[0049] The order of testing can be arbitrary during the inspection of packaging materials. In one embodiment, the damage detection component 13a, the material code detection component 13b, and the unwinding direction detection component 13c can be used sequentially to inspect the packaging materials.

[0050] See Figure 4In the case where the unwinding direction of the packaging material grasped by the gripping unit 11 is different from the expected unwinding direction, in one embodiment of this application, when the detection device includes the unwinding direction detection component 13c, the supply device 1 further includes: a flipping unit 14 for flipping the packaging material to change the unwinding direction of the packaging material.

[0051] When the unwinding direction detection unit detects that the unwinding direction of the packaging material currently gripped by the gripping unit 11 is different from the expected unwinding direction, the gripping unit 11 grips the currently gripped packaging material to the flipping unit 14 for flipping, and then grips the packaging material flipped by the flipping unit 14 to the spare packaging material installation position.

[0052] The flipping unit 14 can flip the flat reel 180°, thereby changing the unwinding direction of the packaging material.

[0053] In order to achieve the flipping of the packaging material, in some other examples, the gripping unit 11 grips the currently gripped packaging material on the flipping unit 14 and holds it, and then grips the packaging material from the side of the flipping unit 14 opposite to the side where the packaging material is placed, and transfers the gripped packaging material to the spare packaging material installation position of the supply device 2.

[0054] When the unwinding direction detection unit detects that the unwinding direction of the packaging material gripped by the gripping unit is different from the expected unwinding direction, the gripping unit 11 grips the packaging material to the flipping unit, and the gripping unit 11 grips the packaging material from another direction of the flipping assembly, thereby achieving flipping.

[0055] During the operation of the automatic supply system, if there is packaging material at the spare packaging material installation position, the packaging material grabbed by the gripping unit from the packaging material stack cannot be transferred to the spare packaging material installation position. In this case, the supply device 2 of one embodiment of this application may further include a packaging material buffer position 2a. When the spare packaging material installation position does not require packaging material, the gripping unit 11 is specifically used to grip the gripped packaging material to the packaging material buffer position 2a if the packaging material gripped by the gripping unit 11 meets the expected requirements.

[0056] If packaging materials that do not meet the expected requirements are detected by the detection device, the non-conforming packaging materials can be placed in a specific location for subsequent processing. In some examples, the supply device 2 may also include: a non-conforming packaging material storage location 2b; and a gripping unit 11, which is also used to grip the non-conforming packaging materials to the non-conforming packaging material storage location 2b when the packaging materials gripped by the gripping unit 11 do not meet the expected requirements.

[0057] In the prior art, the supply system can only supply packaging materials to one downstream production equipment. If packaging materials need to be supplied to two downstream production equipment, two supply systems are required, resulting in a large overall equipment footprint and poor equipment layout flexibility. To overcome the shortcomings of the prior art, in some examples, the supply device 2 includes a first supply device 2c for supplying the first packaging material and a second supply device 2d for supplying the second packaging material. The first supply device 2c and the second supply device 2d are located on both sides of the replenishment device. The automatic handling device transports the first packaging material stack and the second packaging material stack to the pallet 3 of the pallet storage position.

[0058] See Figure 6 The gripping unit of the supply device 1 is specifically used to grip the first packaging material on the first packaging material stack and the second packaging material on the second packaging material stack, respectively; the spare packaging material mounting position of the first supply device 2c is used to install the first packaging material gripped by the gripping unit; the spare packaging material mounting position of the second supply device 2d is used to install the second packaging material gripped by the gripping unit.

[0059] The specifications for the first and second packaging material stacks can be the same or different.

[0060] In one embodiment, the pallet 3 carries two specifications of packaging materials, i.e., a single pallet with multiple auxiliary materials. In this case, the supply device needs to be equipped with a number of detection units equal to the number of packaging material specifications, with each detection unit detecting one specification of packaging material.

[0061] In another embodiment, the first supply device 2c and the second supply device 2d are arranged opposite to each other, and the replenishment device is located on the same side of the first supply device 2c and the second supply device 2d. The pallet storage position includes a first pallet storage position and a second pallet storage position. The automatic handling device transports the first pallet carrying the first packaging material stack to the first pallet storage position and transports the second pallet carrying the second packaging material stack to the second pallet storage position. The gripping unit of the replenishment device is specifically used to grip the first packaging material on the first packaging material stack and install it on the spare packaging material installation position of the first supply device 2c, and to grip the second packaging material on the second packaging material stack and install it on the spare packaging material installation position of the second supply device 2d.

[0062] The packaging material buffer bit 2aa corresponds to the first supply device 2c, and the packaging material buffer bit 2ab corresponds to the second supply device 2d.

[0063] In this embodiment, the specifications of the first packaging material stacking and the second packaging material stacking can be the same or different.

[0064] In one embodiment, two pallets each carry a packaging material of one specification, i.e., different pallets carry packaging materials of different specifications, i.e., multiple pallets and multiple auxiliary materials. In this case, the supply device needs to be equipped with a number of detection units and identification units equal to the number of packaging materials of each specification. Each detection unit detects a packaging material of one specification, and each identification unit identifies a packaging material of one specification.

[0065] Referring to Figure 4, in a specific example, if the damage detection component 13a detects damage to the packaging material, or the material code detection component 13b detects that the material code of the packaging material is inconsistent with the expected material code, the gripping unit 11 can grip the packaging material and place it in the unqualified packaging material storage position 2b. If the unwinding direction detection component 13c detects that the unwinding direction of the packaging material is inconsistent with the expected direction, the packaging material can also be gripped in the unqualified packaging material storage position, or the packaging material can be gripped in the flipping component and flipped over.

[0066] Figure 7 This is a schematic flowchart of an automatic reel material supply method according to an embodiment of this application, as shown below. Figure 7 As shown, the automatic reel material supply method of this embodiment, applied to an automatic reel material supply system, may include: S101, The automatic handling device moves the pallet to the pallet storage position of the supply device.

[0067] In this embodiment, the pallet carries stacked packaging materials.

[0068] S102, The gripping unit of the supply device grips the packaging material on the packaging material stack and transfers the gripped packaging material to the spare packaging material installation position of the supply device; S103. When the online packaging material installation position of the supply device needs packaging material, the circulation alternation component drives the online packaging material installation position and the standby packaging material installation position to exchange positions to provide packaging material to the production equipment.

[0069] In this embodiment, the automatic handling device transports the pallet to the pallet storage position of the supply device; wherein, the pallet 3 is used to carry the stacking of packaging materials; the gripping unit of the supply device grips the packaging materials on the pallet and transfers the gripped packaging materials to the spare packaging material installation position of the supply device, so as to provide packaging materials to the production equipment. Since the automatic handling device transports the pallet to the pallet storage position of the supply device, it is convenient to improve the automation level of packaging material supply. In addition, it improves production efficiency and avoids the problem of low automation level of packaging material supply caused by manually pushing the pallet carrying packaging materials to the automatic reel material supply system in the prior art.

[0070] An embodiment of the automatic supply method for reel materials according to this application may further include, before the gripping unit of the replenishment device grips the packaging materials on the stack of packaging materials: S104. Determine whether the spare packaging material installation location requires packaging materials.

[0071] If there is packaging material at the spare packaging material installation position, then no packaging material is needed at this position; if there is no packaging material at the spare packaging material installation position, then packaging material is needed at this position.

[0072] S105. If the spare packaging material installation location requires packaging materials, determine whether there is a pallet in the pallet storage location and whether there are packaging materials stacked on the pallet if the pallet exists.

[0073] If packaging materials are needed at the spare packaging material installation location, the packaging materials need to be installed at the spare packaging material installation location. The packaging materials should first be transferred from the packaging material stacking on the pallet to the spare packaging material installation location. For this purpose, it is necessary to determine whether there is a pallet in the pallet storage location and whether there is a stack of packaging materials on the pallet if the pallet exists.

[0074] The replenishment device includes a gripping unit that grips packaging materials on a stack of packaging materials and transfers the gripped packaging materials to the spare packaging material installation position (S102) of the supply device, comprising: S102a If a pallet is present in the pallet storage location and there is a stack of packaging materials on the pallet, the gripping unit grips the packaging materials on the stack of packaging materials and transfers the packaging materials gripped from the stack of packaging materials to the spare packaging material installation location.

[0075] See Figure 8 In a specific example, the automatic feeding method for reel materials includes: A1. Determine whether the spare packaging material installation location requires packaging materials; A2. If the spare packaging material installation position requires packaging material, the gripping unit will install the packaging material in the spare packaging material installation position. A3. Unseal and thread through.

[0076] The unsealing and winding unit unseals the packaging material on the new roll paper installation position and winds the head of the new strip material through the splicing unit to the front acceleration unit for later use.

[0077] A4. Unwinding and splicing.

[0078] After the paper roll is unwound and threaded, it is unwound online to provide packaging material to downstream equipment such as packaging machines. When the inner diameter of the paper roll on the unwound shaft reaches the preset outer diameter, the splicing unit splices the head of the new strip and the tail of the old strip to form a continuous packaging material.

[0079] A5. Waste recycling.

[0080] The front-end acceleration device recycles the waste material at the head of the packaging material, the rear-end winding device recycles the waste material at the tail of the packaging material, and the inner diameter ring recycling device recycles the inner diameter ring.

[0081] A6. Alternate cycles.

[0082] The cyclic alternation device drives the online packaging material mounting position and the standby packaging material mounting position to alternate cyclically, and then returns to execute A1. The cyclic alternation step swaps the online packaging material mounting position and the standby packaging material mounting position from the previous cycle, thereby moving the original standby packaging material mounting position to the original online packaging material mounting position and using it as the new online packaging material mounting position, while moving the original online packaging material mounting position to the original standby packaging material mounting position to await the next execution of A3. This cyclic alternation unwinding ensures a continuous supply of packaging material.

[0083] In some examples, after determining whether packaging material is needed at the spare packaging material installation location (S104), the method may further include: S106. If the spare packaging material installation position does not require packaging material, determine whether the quantity of packaging material in the packaging material buffer position of the supply device is less than the first threshold.

[0084] The packaging material buffer position can only hold a limited amount of packaging material. If the packaging material buffer position can hold more packaging material, the packaging material picked up from the pallet by the gripping unit can be buffered in the packaging material buffer position. When packaging material is needed in the spare packaging material installation position, the packaging material in the packaging material buffer position can be transferred to the spare packaging material installation position. This facilitates the uninterrupted supply of packaging material to downstream production equipment, improves supply efficiency, and avoids downtime caused by the inability to supply packaging material in a timely manner, which affects efficiency.

[0085] S107. If the quantity of packaging materials in the packaging material buffer position of the supply device is less than the first threshold, then determine whether there is a pallet in the pallet storage position and whether there is a stack of packaging materials on the pallet if the pallet exists.

[0086] If the number of packaging materials in the packaging material buffer position of the supply device is less than the first threshold, it indicates that the packaging material buffer position can continue to hold more packaging materials. In order to temporarily store the packaging materials on the pallet in the packaging material buffer position, it is necessary to determine whether there is a pallet and whether there are packaging materials stacked on the pallet.

[0087] S108. If there is a pallet in the pallet storage location and there are stacks of packaging materials on the pallet, then determine again whether the spare packaging material installation location needs packaging materials.

[0088] After determining whether the spare packaging material installation position needs packaging material in step S104, this embodiment also proceeds to steps S106 and S107. Since the packaging material supply system continuously supplies packaging material from the online packaging material installation position to downstream equipment, there are two situations during steps S106 and S107. The first situation is that the spare packaging material installation position and the online packaging material installation position with packaging material are swapped, so that the original spare packaging material installation position becomes the online packaging material installation position, and the original online packaging material installation position becomes the spare material installation position. In this case, there is no packaging material on the new spare material installation position, that is, the new spare material installation position needs packaging material. The second situation is that the spare material installation position still does not need packaging material. Thus, there are two situations: the spare material installation position needs packaging material or does not need to install packaging material. In order to determine whether the spare material installation position currently needs packaging material or not, it is necessary to determine whether the spare packaging material installation position needs packaging material again in this step.

[0089] S109. If the spare packaging material installation position does not require packaging material, the grabbing unit grabs the packaging material on the packaging material stack and transfers it to the packaging material buffer position.

[0090] If the backup packaging material installation position does not require packaging material after further evaluation, the gripping unit grabs the packaging material from the packaging material stack and transfers it to the packaging material buffer position. This ensures that even if there is no pallet or no packaging material stack on the pallet, the packaging material in the buffer position can be transferred to the backup packaging material installation position if packaging material is needed, thus enabling a continuous supply of packaging material to downstream production equipment.

[0091] In the absence of pallets or without packaging material stacks on the pallets, in order to continuously supply packaging materials to downstream production equipment, in some examples, after determining in step S105 whether a pallet exists in the pallet storage location and whether packaging material stacks exist on the pallets if they exist, the method may further include: S110. If there is no pallet in the pallet storage position or there is a pallet in the pallet storage position but no packaging material on the pallet, then determine whether there is packaging material in the packaging material buffer position of the supply device.

[0092] S111. If there is packaging material in the packaging material buffer position, determine whether the spare packaging material installation position needs packaging material.

[0093] S112. If the spare packaging material installation position requires packaging material, the grabbing unit will transfer the packaging material in the packaging material buffer position to the spare packaging material installation position.

[0094] In this embodiment, if there is no pallet in the pallet storage position or if there is a pallet in the pallet storage position but no packaging material on the pallet, the gripping unit grips the packaging material from the packaging material buffer position and transfers it to the spare packaging material installation position to continuously supply packaging materials to downstream production equipment.

[0095] If the packaging material installed at the packaging material installation position is substandard, meaning it cannot meet the packaging material requirements of the production equipment, and this is not detected in time, it may cause the entire production line to stop. To solve this problem, in some examples, the gripping unit in step S102a grips the packaging material on the packaging material stack and transfers the packaging material gripped from the packaging material stack to the spare packaging material installation position, which may include: The detection unit checks whether the packaging materials grasped by the grasping unit on the stack of packaging materials meet the expected requirements.

[0096] The expected requirements may be that the packaging material is undamaged, the material code of the packaging material is the same as the expected material code, and / or the unwinding direction of the packaging material is the same as the expected unwinding direction.

[0097] If the expected requirements are met, the packaging materials grabbed from the packaging material pallet will be transferred to the spare packaging material installation position.

[0098] If the expected requirements are not met, the packaging materials grabbed from the packaging material stack will be transferred to the non-conforming packaging material storage location of the supply unit.

[0099] Subsequently, packaging materials that do not meet the expected requirements and are stored in the non-compliant packaging material storage area can be recycled.

[0100] When production equipment downstream of the supply system stops production, packaging materials often need to be returned. For example, a buffer conveyor may be needed to return packaging materials from the packaging material supply position to the packaging material buffer position, or the automatic packaging material supply system provided by this invention may return packaging materials to the upstream packaging material supply end (e.g., packaging material warehouse). Furthermore, it is necessary to process packaging materials that do not meet the expected requirements in the non-conforming packaging material storage position. Correspondingly, in one embodiment of this application, the method may further include: S113. Determine whether the automatic reel material supply system needs to perform a material return.

[0101] S114. If the automatic reel material supply system needs to perform a return of material, determine whether there is packaging material in the non-conforming packaging material storage position of the supply device and / or whether there is packaging material in the packaging material buffer position of the replenishment device.

[0102] S115. If packaging materials are present in the unqualified packaging material storage location and / or the packaging material buffer location, then determine whether a pallet is present in the pallet storage location.

[0103] S116. If a pallet is present in the pallet storage location, determine whether the quantity of packaging materials in the pallet storage location reaches the maximum quantity of packaging materials that the pallet can bear.

[0104] S117. If the quantity of packaging materials in the pallet storage location does not reach the maximum quantity of packaging materials, the gripping unit will transfer the packaging materials in the non-conforming packaging material storage location and / or the packaging material buffer location to the pallet.

[0105] When the method of one embodiment of this application is used to supply two types of reel materials, the gripping unit of the replenishment device grips the packaging material on the packaging material stack and transfers the gripped packaging material to the spare packaging material mounting position of the supply device to provide packaging material to the production equipment (S102), which may include: S102a. Determine whether the first spare packaging material installation position of the first supply device requires the first packaging material.

[0106] S102b If the first spare packaging material installation position requires the first packaging material, then determine whether there is a pallet in the pallet storage position and whether there is a stack of the first packaging material on the pallet if the pallet exists; if there is a pallet in the pallet storage position and there is a stack of the first packaging material on the pallet, then the gripping unit of the supply device grips the first packaging material on the stack of the first packaging material and transfers the gripped first packaging material to the first spare packaging material installation position.

[0107] S102c. If the first spare packaging material installation position does not require the first packaging material, then determine whether the second spare packaging material installation position of the second supply device requires the second packaging material.

[0108] S102d If the second spare packaging material installation position requires the second packaging material, then determine whether there is a pallet in the pallet storage position and whether there is a second packaging material stack on the pallet if the pallet exists; if there is a pallet in the pallet storage position and there is a second packaging material stack on the pallet, then the gripping unit of the supply device grips the second packaging material on the second packaging material stack and transfers the gripped second packaging material to the second spare packaging material installation position.

[0109] In some examples, after determining in step S102b whether a pallet exists in the pallet storage location and, if the pallet exists, whether a first packaging material stack exists on the pallet, the method further includes: S102e If there is no pallet in the pallet storage position or no first packaging material stacking on the pallet, then determine whether the first packaging material exists in the packaging material buffer position of the first supply device.

[0110] S102f If the packaging material buffer position of the first supply device contains the first packaging material, the grasping unit grasps the first packaging material from the packaging material buffer position of the first supply device and transfers it to the first spare packaging material position.

[0111] S102g, after determining whether a pallet exists in the pallet storage location and whether a second packaging material is stacked on the pallet if a pallet exists, the method may further include: S102h: If there is no pallet in the pallet storage position or no second packaging material stacking on the pallet, then determine whether there is second packaging material in the packaging material buffer position of the second supply device.

[0112] S102i. If the packaging material buffer position of the second supply device contains the second packaging material, the grasping unit grasps the second packaging material from the packaging material buffer position of the second supply device and transfers it to the second spare packaging material installation position.

[0113] In a specific example of testing whether packaging materials meet expected requirements, the testing of whether the packaging materials gripped by the gripping unit meet expected requirements includes: The system detects whether the packaging materials being gripped by the gripping unit are damaged. If the expected requirements are met, the packaging materials grabbed from the packaging material pallet will be transferred to the spare packaging material installation position, including: If the packaging material being gripped by the gripping unit is undamaged, the packaging material gripped from the packaging material stack will be transferred to the spare packaging material installation position.

[0114] In another specific example of testing whether packaging materials meet expected requirements, the testing of whether the packaging materials gripped by the gripping unit meet expected requirements includes: The detection unit checks whether the material code of the packaging material on the stack of packaging material picked up by the gripping unit is the same as the expected material code; If the expected requirements are met, the packaging materials grabbed from the packaging material pallet will be transferred to the spare packaging material installation position, including: If the material code of the packaging material picked up by the gripping unit on the packaging material stack is the same as the expected material code, the packaging material picked up from the packaging material stack will be transferred to the spare packaging material installation position.

[0115] For coiled packaging materials, the packaging materials are wound in a certain direction. When the coil is laid flat, the packaging material may be wound clockwise or counterclockwise. However, in the supply system of this embodiment, the packaging material is required to be wound in a fixed direction. To meet this requirement, in the detection of whether the packaging material meets the expected requirements, in another specific example, the detection of whether the packaging material grasped by the gripping unit meets the expected requirements includes: The detection unit checks whether the unwinding direction of the packaging material being gripped on the stack of packaging material is the same as the expected unwinding direction. Wherein, if the expected requirements are met, the packaging materials grabbed from the packaging material stack will be transferred to the spare packaging material installation position, including: If the unwinding direction of the packaging material being gripped by the gripping unit on the packaging material stack is the same as the expected unwinding direction, the packaging material gripped from the packaging material stack will be transferred to the spare packaging material installation position.

[0116] In one embodiment of this application, when the unwinding direction detection component detects that the unwinding direction of the packaging material gripped by the gripping unit is different from the expected unwinding direction, the method further includes, in the case of detecting whether the unwinding direction of the packaging material on the stack gripped by the gripping unit is the same as the expected unwinding direction: If the unwinding direction of the packaging material being gripped by the gripping unit on the stack of packaging material is different from the expected unwinding direction, the gripping unit will grip the packaging material to the flipping unit of the replenishment device. The flipping unit flips the packaging material to change the unrolling direction of the packaging material; The gripping unit grips the packaging material whose unwinding direction has been changed on the flipping unit and places it into the packaging material buffer position of the buffer conveying device.

[0117] When packaging materials that do not meet expected requirements are detected by the detection device, the non-conforming packaging materials can be placed in a specific location to facilitate subsequent processing. In some examples, the method further includes: If the packaging material grasped by the grasping unit does not meet the expected requirements, the grasping unit will grasp the packaging material on the pallet and move it to the non-conforming packaging material storage position of the supply device.

[0118] In a specific example, if the damage detection component detects damage to the packaging material, or the material code detection component detects that the material code on the packaging material is inconsistent with the expected material code, the gripping component can grip the packaging material and place it in the non-conforming packaging material storage position. Similarly, if the unwinding direction detection component detects that the unwinding direction of the packaging material is inconsistent with the expected direction, it can also grip the packaging material and place it in the non-conforming packaging material storage position, or it can grip the packaging material and place it in the flipping component for flipping.

[0119] like Figure 9 and Figure 10 The supply system shown depicts a single reel of material (single pallet, single auxiliary material). The main workflow of the replenishment device applied to this system is as follows: Figure 11 As shown, it includes: B1. Should a material return be processed? If yes, proceed to B15; otherwise, proceed to B2.

[0120] B2. If material return is not required, check if a pallet exists in the pallet storage location. If a pallet exists in the pallet storage location, proceed to B4; otherwise, proceed to B3.

[0121] B3. Issue a request for the delivery of packaging materials, and then proceed with B6.

[0122] B4. Determine if the pallet contains packaging materials. If it does, proceed to B6; otherwise, proceed to B5.

[0123] B5. Issue an empty pallet recycling request, then execute B6.

[0124] B6. If the pallet contains packaging materials, determine whether the spare packaging material installation location requires packaging materials; if yes, proceed to B8; otherwise, proceed to B7.

[0125] B7. Determine whether the packaging material in the packaging material cache is less than the first threshold. If yes, execute B8; otherwise, return to execute B1.

[0126] B8. Determine if the pallet storage location exists and if, if the pallet exists, whether there is packaging material on the pallet; if yes, proceed to B9, otherwise proceed to B12.

[0127] B9. The gripping unit grips the packaging material on the pallet, and then executes B10.

[0128] B10. Inspect the packaging materials on the pallet gripped by the gripping unit to determine whether they meet the expected requirements.

[0129] This includes inspecting the packaging materials gripped by the gripping unit on the pallet to determine if they meet expected requirements, including: B10a. Determine whether the packaging material gripped by the gripping unit is undamaged and whether the material code of the packaging material is the same as the expected material code; if it is undamaged and the material code of the packaging material is the same as the expected material code, then execute B10b; if it is damaged and / or the material code of the packaging material is different from the expected material code, then execute B11.

[0130] B10b: Determine whether the unwinding direction of the packaging material is the same as the expected unwinding direction. If yes, proceed to B10d; otherwise, proceed to B10c.

[0131] B10c. If the unwinding direction of the packaging material is not the same as the expected unwinding direction, the gripping unit will transfer the packaging material to the flipping assembly for flipping, and then execute B10d.

[0132] B10d: Determine whether the spare packaging material installation location requires packaging materials. If yes, execute B10e; otherwise, execute B10f.

[0133] B10e: The gripping unit transfers the qualified packaging materials to the spare packaging material installation position, and then returns to execute B1.

[0134] B10f, the gripping unit transfers the qualified packaging materials to the packaging material buffer position.

[0135] B11. The gripping unit transfers the unqualified packaging materials to the unqualified packaging material storage location.

[0136] B12. Determine if there is packaging material in the packaging material cache. If yes, execute B13; otherwise, return to execute B1.

[0137] B13. Determine whether the spare packaging material installation location requires packaging materials. If yes, proceed to B14; otherwise, return to B1.

[0138] B14. The grabbing unit grabs the packaging material from the packaging material buffer position and transfers it to the spare packaging material installation position.

[0139] B15. Determine whether there is packaging material in the non-conforming packaging material storage location and / or packaging material buffer location; if yes, proceed to B16; if no, proceed to B19.

[0140] B16. Determine if a pallet exists in the pallet storage location; if yes, proceed to B17; otherwise, proceed to B21.

[0141] B17. Determine whether the quantity of packaging materials on the pallet has reached the maximum capacity of the pallet. If yes, proceed to B22; otherwise, proceed to B18.

[0142] B18. The gripping unit transfers the packaging materials from the non-conforming packaging material storage location and / or packaging material buffer location to the pallet and returns to execute B1.

[0143] B19. Does the pallet storage location contain a pallet? If yes, proceed to B20; otherwise, return to B1.

[0144] B20, Issue a pallet return request, then return to execute B1.

[0145] B21, Issue an empty pallet delivery request, then return to execute B1.

[0146] B22, Issue a full pallet return request, then return to execute B1.

[0147] like Figure 12 The supply system shown depicts two types of reel materials (single pallet, multiple accessories). The main workflow of the replenishment device applied to this system is as follows: Figure 13 As shown, it includes: C1. Determine whether a material return is required. If yes, execute C24; otherwise, execute C2.

[0148] C2. If material return is not required, check if a pallet exists in the pallet storage location. If it does, execute C3; otherwise, execute C4.

[0149] C3. If a pallet exists in the pallet storage location, determine if there is packaging material on the pallet. If yes, proceed to C5; otherwise, proceed to C6.

[0150] C4. Issue a request for the delivery of packaging materials.

[0151] C5. Determine whether the first backup packaging material installation position requires the first packaging material; if yes, execute C7; otherwise, execute C14.

[0152] C6. Issue an empty pallet recycling request, then return to execute C5.

[0153] C7. Determine whether a pallet exists in the pallet storage location and whether the first packaging material exists if a pallet exists in the pallet storage location. If yes, execute C8; otherwise, execute C11.

[0154] C8. If the pallet contains the first packaging material, the gripping unit grips the first packaging material on the pallet, and then executes C9.

[0155] C9. Inspect the first packaging material on the pallet gripped by the gripping unit to determine whether it meets the expected requirements.

[0156] The process includes inspecting the first packaging material on the pallet gripped by the gripping unit to determine if it meets the expected requirements, including: C9a. Determine whether the first packaging material grasped by the grasping unit is undamaged and whether the material code of the first packaging material is the same as the expected material code; if it is undamaged and the material code of the first packaging material is the same as the expected material code, then execute C9b; if it is damaged and / or the material code of the first packaging material is different from the expected material code, then execute C10.

[0157] C9b. Determine whether the unwinding direction of the first packaging material is the same as the expected unwinding direction. If yes, execute C9C; otherwise, execute C9c.

[0158] C9c. If the unwinding direction of the first packaging material is not the same as the expected unwinding direction, the gripping unit will transfer the first packaging material to the flipping assembly for flipping, and then execute C9d.

[0159] C9d: Determine whether the first backup packaging material installation position requires the first packaging material. If yes, execute C9e; otherwise, execute C9f.

[0160] C9e, the gripping unit transfers the qualified first packaging material to the first spare packaging material installation position, and then returns to execute C1.

[0161] C9f, the grabbing unit transfers the qualified first packaging material to the first packaging material buffer position.

[0162] C10. The gripping unit transfers the first packaging material that fails the inspection to the non-conforming packaging material storage location.

[0163] C11. Determine if the first packaging material cache bit contains the first packaging material. If yes, execute C12; otherwise, return to execute C1.

[0164] C12. Determine whether the first backup packaging material installation position requires the first packaging material. If yes, execute C13; otherwise, return to execute C1.

[0165] C13. The grabbing unit grabs the first packaging material from the first packaging material buffer position and transfers it to the first spare packaging material installation position.

[0166] C14. Determine whether the second backup packaging material installation position requires a second packaging material; if yes, execute C15; otherwise, execute C22.

[0167] C15. Determine whether a pallet exists in the pallet storage location and whether a second packaging material exists if a pallet exists in the pallet storage location. If yes, execute C16; otherwise, execute C19.

[0168] C16. If a second packaging material exists on the pallet, the gripping unit grips the second packaging material on the pallet, and then executes C17.

[0169] C17. Inspect the second packaging material on the pallet gripped by the gripping unit to determine whether it meets the expected requirements.

[0170] This includes inspecting the second packaging material on the pallet gripped by the gripping unit to determine if it meets the expected requirements, including: C17a. Determine whether the second packaging material grasped by the gripping unit is undamaged and whether the material code of the second packaging material is the same as the expected material code; if it is undamaged and the material code of the second packaging material is the same as the expected material code, then execute C17b; if it is damaged and / or the material code of the second packaging material is different from the expected material code, then execute C18.

[0171] C17b: Determine whether the unwinding direction of the second packaging material is the same as the expected unwinding direction. If yes, proceed to C17d; otherwise, proceed to C17c.

[0172] C17c. If the unwinding direction of the second packaging material is not the same as the expected unwinding direction, the gripping unit will grip the second packaging material to the flipping assembly for flipping, and then execute C1d.

[0173] C17d: Determine whether the second backup packaging material installation position requires the second packaging material. If yes, execute C17e; otherwise, execute C17f.

[0174] C17e: The gripping unit transfers the qualified second packaging material to the second spare packaging material installation position, and then returns to execute C1.

[0175] C17f, the gripping unit transfers the qualified second packaging material to the second packaging material buffer position.

[0176] C18. The gripping unit grips the second packaging material that fails the inspection and places it in the non-conforming packaging material storage position.

[0177] C19. Determine if there is a second packaging material in the second packaging material cache. If yes, execute C20; otherwise, return to execute C1.

[0178] C20. Determine whether the second backup packaging material installation position requires a second packaging material. If yes, execute C21; otherwise, return to execute C1.

[0179] C21. The grabbing unit grabs the second packaging material from the second packaging material buffer position and transfers it to the second spare packaging material installation position.

[0180] C22. Determine whether the quantity of the first packaging material in the first packaging material cache bit is less than the first threshold; if yes, return to execute C7; otherwise, execute C23.

[0181] C23. Determine whether the quantity of the second packaging material in the second packaging material cache is less than the second threshold; if yes, return to execute C15; otherwise, return to execute C1.

[0182] C24. Determine whether the non-conforming packaging material storage location contains the first packaging material and / or the second packaging material, whether the first packaging material buffer location contains the first packaging material, and whether the second packaging material buffer location contains the second packaging material. If at least one of the three conditions is met, proceed to C25; if none of the three conditions are met, proceed to C28. C25. Determine if a pallet exists in the pallet storage location. If yes, proceed to C26. If no, issue an empty pallet delivery request and return to execute C1.

[0183] C26. Determine whether the packaging materials on the pallet have reached the maximum quantity of packaging materials that the pallet can carry. If yes, issue a full pallet return request and return to execute C1. If no, execute C27.

[0184] C27. The gripping component grips the first and / or second packaging materials in the non-conforming packaging material storage location, and / or the first packaging material in the first packaging material buffer location, and / or the second packaging material in the second packaging material buffer location, onto the pallet.

[0185] C28. Determine if a pallet exists in the pallet storage location. If yes, issue a pallet return request. If no, return to execute C1.

[0186] like Figure 6 The supply system shown depicts two types of reel materials (multiple pallets and multiple accessories). The main workflow of the replenishment device applied to this system is as follows: Figure 14 As shown, it includes: D1. Determine whether a material return is required. If a material return is required, execute D24. If a material return is not required, execute D2.

[0187] D2. Determine if a pallet exists in the first pallet storage location. If it does, execute D3; otherwise, execute D4.

[0188] In this step, it can also be determined whether there is a pallet in the second pallet storage location. In the following process, the first pallet storage location will be replaced with the second pallet storage location as appropriate.

[0189] D3. Determine if there is packaging material in the first pallet. If yes, proceed to D5; otherwise, proceed to D6.

[0190] D4. Issue the first packaging material delivery request, then return to execute D1.

[0191] D5. Determine whether the first backup packaging material installation position requires the first packaging material; if yes, execute D7; otherwise, execute D14.

[0192] D6. If the first pallet does not contain packaging material, issue a first pallet recycling request, and then return to execute D1.

[0193] D7. Determine whether the first pallet exists in the first pallet storage location and whether the first packaging material exists if the first pallet exists in the first pallet storage location. If yes, execute D8; otherwise, execute D11.

[0194] D8. If the first pallet contains the first packaging material, the gripping unit grips the first packaging material on the first pallet, and then executes D9.

[0195] D9. Inspect the first packaging material on the first pallet gripped by the gripping unit to determine whether it meets the expected requirements.

[0196] The process includes inspecting the first packaging material grasped by the gripping unit from the first pallet to determine whether it meets the expected requirements, including: D9a. Determine whether the first packaging material grasped by the grasping unit is undamaged and whether the material code of the first packaging material is the same as the expected material code; if it is undamaged and the material code of the first packaging material is the same as the expected material code, then execute D9b; if it is damaged and / or the material code of the first packaging material is different from the expected material code, then execute D10.

[0197] D9b. Determine whether the unwinding direction of the first packaging material is the same as the expected unwinding direction. If yes, execute D9d; otherwise, execute D9c.

[0198] D9c. If the unwinding direction of the first packaging material is not the same as the expected unwinding direction, the gripping unit will transfer the first packaging material to the flipping assembly for flipping, and then execute D9d.

[0199] D9d: Determine whether the first backup packaging material installation position requires the first packaging material. If yes, execute D9e; otherwise, execute D9f.

[0200] D9e: The grabbing unit transfers the qualified first packaging material to the first spare packaging material installation position, and then returns to execute D1.

[0201] D9f, the grabbing unit transfers the qualified first packaging material to the first packaging material buffer position.

[0202] D10. The gripping unit transfers the first packaging material that fails the inspection to the non-conforming packaging material storage location.

[0203] D11. Determine if the first packaging material cache bit contains the first packaging material. If yes, execute D12; otherwise, return to execute D1.

[0204] D12. Determine whether the first backup packaging material installation position requires the first packaging material. If yes, execute D13; otherwise, return to execute D1.

[0205] D13. The grabbing unit grabs the first packaging material from the first packaging material buffer position and transfers it to the first spare packaging material installation position.

[0206] D14. Determine whether the second backup packaging material installation position requires the second packaging material; if yes, proceed to D15; otherwise, proceed to D22.

[0207] D15. Determine whether a pallet exists in the pallet storage location and whether a second packaging material exists if a pallet exists in the pallet storage location. If yes, proceed to D16; otherwise, proceed to D19.

[0208] D16. If a second packaging material exists on the pallet, the gripping unit grips the second packaging material on the pallet, and then executes D17.

[0209] D17. Inspect the second packaging material on the pallet gripped by the gripping unit to determine whether it meets the expected requirements.

[0210] This includes inspecting the second packaging material on the pallet gripped by the gripping unit to determine if it meets the expected requirements, including: D17a. Determine whether the second packaging material grasped by the gripping unit is undamaged and whether the material code of the second packaging material is the same as the expected material code; if it is undamaged and the material code of the second packaging material is the same as the expected material code, then execute D17b; if it is damaged and / or the material code of the second packaging material is different from the expected material code, then execute D18.

[0211] D17b: Determine whether the unwinding direction of the second packaging material is the same as the expected unwinding direction. If yes, proceed to D17d; otherwise, proceed to D17c.

[0212] D17c. If the unwinding direction of the second packaging material is not the same as the expected unwinding direction, the gripping unit will grip the second packaging material to the flipping assembly for flipping, and then execute D17d.

[0213] D17d: Determine whether the second backup packaging material installation position requires the second packaging material. If yes, execute D17e; otherwise, execute D17f.

[0214] D17e: The gripping unit transfers the qualified second packaging material to the second spare packaging material installation position, and then returns to execute D1.

[0215] D17f: The gripping unit transfers the qualified second packaging material to the second packaging material buffer position.

[0216] D18. The gripping unit grips the second packaging material that fails the inspection and places it in the non-conforming packaging material storage position.

[0217] D19. Determine if there is a second packaging material in the second packaging material cache. If yes, execute D20; otherwise, return to execute D1.

[0218] D20. Determine whether the second backup packaging material installation position requires the second packaging material. If yes, execute D21; otherwise, return to execute D1.

[0219] D21. The grabbing unit grabs the second packaging material from the second packaging material buffer position and transfers it to the second spare packaging material installation position.

[0220] D22. Determine whether the quantity of the first packaging material in the first packaging material cache bit is less than the first threshold; if yes, return to execute D7; otherwise, execute D23.

[0221] D23. Determine whether the quantity of the second packaging material in the second packaging material cache is less than the second threshold; if yes, return to execute D15; otherwise, return to execute D1.

[0222] D24. Determine whether the non-conforming packaging material storage location contains the first packaging material, and whether the first packaging material buffer location contains the first packaging material; if at least one of the two conditions is met, proceed to D25; if neither condition is met, proceed to D28. D25. Determine if the first pallet exists in the first pallet storage location. If yes, proceed to D26. If no, issue an empty pallet delivery request and return to execute D1.

[0223] D26. Determine whether the packaging material on the first pallet has reached the maximum capacity of the first pallet. If yes, issue a full pallet return request and return to execute D1. If no, execute D27.

[0224] D27. The gripping component grips the first packaging material in the non-conforming packaging material storage location and / or the first packaging material in the first packaging material buffer location onto the pallet.

[0225] D28. Determine if the first pallet exists in the first pallet storage location. If yes, issue a pallet return request. If no, return to execute D1.

[0226] If a pallet exists in the first pallet storage location, a first pallet return request is issued; if a pallet exists in the second pallet storage location, a second pallet return request is issued.

[0227] Figure 14 The " / " symbol in the text can represent an "or" relationship.

[0228] The above embodiments are similar to those in the supply system, and you can refer to the relevant content in the supply system embodiments for details.

[0229] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0230] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0231] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic material supply system for reels, characterized in that, include: Automated handling devices, replenishment devices, and supply devices; The automatic handling device is used to transport the pallet to the pallet storage position of the supply device; wherein the pallet is used to carry the stacking of packaging materials. The supply device includes a pallet storage position and a gripping unit. The pallet storage position is used to store the pallet. The gripping unit is used to grip the packaging materials on the packaging material stack and transfer the gripped packaging materials to the spare packaging material installation position of the supply device. The circulating alternation component of the supply device is used to drive the online packaging material mounting position to exchange positions with the standby packaging material mounting position when packaging material is needed at the online packaging material mounting position of the supply device, so as to provide packaging material to the production equipment.

2. The automatic supply system according to claim 1, characterized in that, The pallet storage location is equipped with a pallet limiting unit, which is used to limit the pallet to a specified range.

3. The automatic supply system according to claim 2, characterized in that, The gripping unit includes an identification component and a flexible robotic arm. The identification component is located above the tray storage position and is used to identify the positioning information of the packaging material to be gripped. The flexible robotic arm is used to grip the target packaging material according to the positioning information.

4. The automatic supply system according to claim 1, characterized in that, The supply device also includes: a detection unit; The detection unit is used to detect whether the packaging material grasped by the grasping unit meets the expected requirements after the grasping unit grasps the packaging material on the packaging material stack and before the grasped packaging material is transferred to the spare packaging material installation position of the supply device. The gripping unit is specifically used to transfer the gripped packaging material to the spare packaging material installation position when the packaging material gripped by the gripping unit meets the expected requirements.

5. The automatic supply system according to claim 4, characterized in that, The supply device also includes a packaging material buffer. When no packaging material is needed at the spare packaging material installation position, the gripping unit is specifically used to grip the gripped packaging material to the packaging material buffer position if the packaging material gripped by the gripping unit meets the expected requirements.

6. The automatic supply system according to claim 4, characterized in that, The detection unit includes a damage detection component; The damage detection component is used to detect whether the packaging material grasped by the grasping unit is damaged; The gripping unit is specifically used to transfer the gripped packaging material to the spare packaging material installation position, provided that the packaging material gripped by the gripping unit is undamaged; and / or, The detection device includes a material barcode detection component; The material code detection component is used to detect whether the material code of the packaging material grasped by the grasping unit is the same as the expected material code; The gripping unit is specifically used to transfer the gripped packaging material to the spare packaging material installation position when the material code of the packaging material gripped by the gripping unit is the same as the expected material code; and / or, The detection device includes an unwinding direction detection component; The unwinding direction detection component is used to detect whether the unwinding direction of the packaging material grasped by the gripping unit is the same as the expected unwinding direction. The gripping unit is specifically used to transfer the gripped packaging material to the spare packaging material installation position when the unwinding direction of the packaging material gripped by the gripping unit is the same as the expected unwinding direction.

7. The automatic supply system according to claim 6, characterized in that, If the detection device includes the unwinding direction detection component, the replenishment device further includes: a flipping unit for flipping the packaging material to change the unwinding direction of the packaging material; When the unwinding direction detection unit detects that the unwinding direction of the packaging material currently gripped by the gripping unit is different from the expected unwinding direction, the gripping unit grips the currently gripped packaging material to the flipping unit for flipping, and then grips the packaged material flipped by the flipping unit to the spare packaging material installation position. Alternatively, the gripping unit grips the currently gripped packaging material on the flipping unit and holds it there, and then grips the packaging material from the opposite side of the flipping unit to the side where the packaging material is placed, and then transfers the gripped packaging material to the spare packaging material installation position of the supply device.

8. The automatic supply system according to claim 4, characterized in that, The supply device also includes: a storage area for substandard packaging materials; The gripping unit is also used to grip the unqualified packaging material to the unqualified packaging material storage location if the gripped packaging material does not meet the expected requirements.

9. The automatic supply system according to claim 1, characterized in that, The supply device includes a first supply device for providing a first packaging material and a second supply device for providing a second packaging material; The first supply device and the second supply device are respectively located on both sides of the replenishment device. The automatic transport device transports the pallet to the pallet storage position, which simultaneously carries the first stack of packaging materials and the second stack of packaging materials. Alternatively, the first supply device and the second supply device are arranged opposite to each other, and the replenishment device is located on the same side of the first supply device and the second supply device. The pallet storage position includes a first pallet storage position and a second pallet storage position. The automatic transport device transports the first pallet carrying the first stack of packaging materials to the first pallet storage position and transports the second pallet carrying the second stack of packaging materials to the second pallet storage position. Specifically, the gripping unit of the supply device is used to grip the first packaging material on the first packaging material stack and install it on the spare packaging material installation position of the first supply device, and to grip the second packaging material on the second packaging material stack and install it on the spare packaging material installation position of the second supply device.

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