Efficient film roll suspension packaging system and method

Abstract

Disclosed in the present invention are an efficient film roll suspension packaging system and method. The film roll suspension packaging system comprises an auxiliary material conveying device for conveying auxiliary materials used for suspension packaging; the auxiliary material conveying device comprises a gripping mechanism; the gripping mechanism comprises a suction cup mount; the suction cup mount is provided with at least one group of suction cups; said group of suction cups consists of a plurality of large suction cups used for gripping large-size and / or heavy-weight auxiliary materials in an auxiliary material storage, or consists of a plurality of small suction cups used for gripping small-size and / or light-weight auxiliary materials in the auxiliary material storage, or consists of both a plurality of large suction cups and a plurality of small suction cups. The present solution significantly improves the packaging operation efficiency, the degree of automation, and the packaging quality.

Description

A High-Efficiency Film Roll Suspension Packaging System and Method Technical Field

[0001] This invention belongs to the technical field of film roll packaging equipment, specifically relating to a high-efficiency film roll suspension packaging system and method. Background Technology

[0002] Currently, after production, film materials are typically produced in cylindrical rolls, which require packaging before leaving the factory to protect them during subsequent transportation. Existing film roll suspension packaging systems, such as the Chinese invention patent with authorization publication number CN114313505B, can achieve fully automated suspension packaging of film rolls. However, with the increasing demands for quality and efficiency in film production and packaging from enterprises, and the continuous research and innovation of inventors, this existing patent solution still has room for further improvement and efficiency enhancement in several aspects. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a high-efficiency film roll suspension packaging system and method, which solves the problem that the packaging efficiency of the existing technical solutions still needs to be improved, realizes the optimization and improvement of film roll transportation and packaging equipment in many aspects, and significantly improves the operating efficiency.

[0004] According to the technical solution of the present invention, the present invention provides a high-efficiency film roll suspension packaging system, including an auxiliary material transport device for transporting auxiliary materials used in suspension packaging. The auxiliary material transport device includes a gripping mechanism, which includes a suction cup mounting frame. The suction cup mounting frame is provided with at least one set of suction cups, wherein the set of suction cups consists of several large suction cups for gripping auxiliary materials with relatively large size and / or relatively heavy weight in the auxiliary material library, or consists of several small suction cups for gripping auxiliary materials with relatively small size and / or relatively light weight in the auxiliary material library, or consists of several large suction cups and several small suction cups together.

[0005] Furthermore, in the auxiliary material conveying device, when at least one set of suction cups is composed of several large suction cups and several small suction cups, the small suction cups are distributed in the first area, and the large suction cups are distributed on the outer periphery or outer side of the first area, or the positions of the large suction cups and small suction cups are staggered.

[0006] Furthermore, the auxiliary material transport device also includes an auxiliary material transport frame, which has an auxiliary material transport beam. An auxiliary material moving frame is connected to the auxiliary material transport beam via an auxiliary material forward and backward moving mechanism. An auxiliary material lifting moving mechanism is connected to the auxiliary material moving frame via an auxiliary material lateral moving mechanism. A suction cup mounting frame is connected to the lower part of the auxiliary material lifting moving mechanism. An auxiliary material storage room for placing auxiliary materials is located below the auxiliary material transport beam. The auxiliary material storage room has at least two types and holds different auxiliary materials respectively.

[0007] Furthermore, the film roll suspension packaging system also includes a strapping device, which includes a strapping frame with a strapping crossbeam. A strapping moving frame is connected to the strapping crossbeam via a strapping forward and backward moving mechanism. Strapping lifting frames are fixedly installed at the left and right ends of the strapping moving frame. A longitudinal and downwardly extending strapping lifting moving mechanism is installed on the strapping lifting frame, and a strapping module is installed between the strapping lifting moving mechanisms.

[0008] Furthermore, the film roll suspension packaging system also includes a palletizing device, which includes a palletizing frame with a palletizing beam. A palletizing carriage that can move along the length of the palletizing beam is provided on the palletizing frame. Two palletizing suspension brackets that can move relatively close to each other are provided below the palletizing carriage. Each palletizing suspension bracket is provided with a flipping gripper assembly that can move up and down along the palletizing suspension bracket. The two flipping gripper assemblies are oriented opposite to each other.

[0009] Furthermore, in the palletizing device, the flip gripper assembly is connected to a palletizing lifting slider, which is slidably connected to the palletizing suspension bracket; the flip gripper assembly is also connected to a palletizing lifting transmission block, which has a threaded hole, and a palletizing screw is rotatably connected to the palletizing suspension bracket, which is threadedly connected to the threaded hole of the palletizing lifting transmission block, and the palletizing screw is driven by a palletizing lifting drive device; on each palletizing suspension bracket, there are two parallel palletizing screws, which are distributed on both sides of the palletizing lifting transmission block, and the two palletizing screws are driven by the same palletizing lifting drive device.

[0010] Furthermore, the film roll suspension packaging system also includes cable trays; several power lines and several signal lines are connected between several system devices and control cabinets in the film roll suspension packaging system. The cable trays are fixedly connected to the fixed structure of the frame and the control cabinet in the film roll suspension packaging system. The cable trays include power cable trays and signal cable trays, and the power lines and signal lines are placed separately in the power cable trays and signal cable trays.

[0011] Furthermore, the film roll suspension packaging system includes a suspension packaging frame, a film roll input device on the input side of the suspension packaging frame, and a film roll output device on the output side of the suspension packaging frame.

[0012] Along the production line direction, the frame beam of the suspended packaging machine is provided with a first transport assembly, a second transport assembly, a third transport assembly, a fourth transport assembly, and a fifth transport assembly. On the ground below the suspended packaging machine, along the production line direction between the film roll input device and the film roll output device, a weighing and wrapping device, a fastening device, and a film transport trolley are provided in sequence.

[0013] The first transport component is capable of moving and transporting the film roll between the film roll input device and the weighing and wrapping device;

[0014] The second conveying component can move and convey the film roll between the weighing and wrapping device and the fastening device; auxiliary material conveying devices are provided on both sides of the fastening device, and a centering mechanism is provided next to the auxiliary material conveying device; the gripping mechanism of the auxiliary material conveying device can grip, move the auxiliary material and place it on the centering mechanism.

[0015] The third transport assembly can move between the fastening device and the film transport trolley to transport the film roll; the film transport trolley can move between the fastening device and the film roll output device and stop in the middle below the fourth transport assembly;

[0016] The fourth transport component is a strapping device that can move along the strapping frame, which is part of the suspended packaging frame; the fourth transport component is located between the fastening device and the film roll output device.

[0017] The fifth handling component is a palletizing device that can move along the palletizing frame, which is part of the suspended packaging frame; the fifth handling component can move and handle film rolls between the film transport trolley and the film roll output device and flip the film rolls.

[0018] Furthermore, both the film roll input device and the film roll output device are conveyor belts; the suspended packaging machine frame is also equipped with a fixing component installation device above the film roll output device, and a vibratory feeder for conveying the fixing component is provided next to the fixing component installation device; a soundproof box is provided on the outside of the vibratory feeder, and the inner wall of the soundproof box is lined with sound insulation cotton. The side of the soundproof box facing the fixing component installation device is provided with a fixing component output port, and the output end of the vibratory feeder extends out from the fixing component output port. An inspection door is provided on the side of the soundproof box facing away from the fixing component installation device.

[0019] And / or, a first labeling machine is provided next to the weighing and wrapping device, a second labeling machine is provided next to the fastening device, and a third labeling machine is provided next to the output end of the film roll output device.

[0020] Based on the technical solution of the present invention, the present invention also provides a highly efficient film roll suspension packaging method, which adopts the highly efficient film roll suspension packaging system of the present invention, and includes the following steps:

[0021] Step S1: The film roll to be packaged is conveyed to the underside of the crossbeam of the suspended packaging machine frame through the film roll input device;

[0022] Step S2: The first conveying component picks up the film roll and moves it onto the weighing and wrapping device;

[0023] In step S3, the weighing and wrapping device weighs the film roll and wraps a protective film on the surface of the film roll; at the same time, the unloaded first conveying component moves back to the top of the film roll input device, waiting to grab the next film roll to be packaged.

[0024] In step S4, the second conveying component grabs the film roll that has been processed on the weighing and wrapping device and moves it to the fastening device; then, steps S2 and S3 are repeated to process the next film roll to be packaged, and so on continuously.

[0025] Step S5: The fastening device and the auxiliary material transport device work together to fasten the auxiliary materials at both ends of the film roll. The auxiliary materials include clamps, protective pads and plugs.

[0026] In step S6, the third transport component picks up the film roll processed in step S5 and moves it onto the film transport trolley; then the film transport trolley moves to the bottom of the fourth transport component.

[0027] In step S7, the fourth transport component bundles the membrane roll; then the membrane transport trolley continues to move closer to the membrane roll output device.

[0028] Step S8: The fifth transport component picks up the film roll, rotates it 90° along the film roll axis, and stacks it on the tray of the film roll output device;

[0029] Step S9: After the set number of stacking layers is completed on a pallet, the film roll output device transports the pallet and the stacked film rolls on it to the subsequent process.

[0030] Based on the technical solution of the present invention, the present invention also provides a control method for a high-efficiency film roll suspension packaging system, which is used in the high-efficiency film roll suspension packaging system of the present invention, and includes the following:

[0031] The auxiliary material conveying device, bundling device, and palletizing device are all driven by servo motors with absolute encoders. During driving, the corresponding mathematical model is used to calculate the actual working position of each axis driven by the servo motor according to the actual situation, and then the result is sent to the corresponding servo drive. After receiving the instruction, the servo drive quickly moves to the target point to perform the corresponding work. In addition, each axis has a torque protection function during movement. When the alarm torque is reached, the servo motor stops running and an alarm is triggered to check whether there are foreign objects causing the motor to stall. Furthermore, each axis is set with a mechanical absolute zero point. After running for a period of time or during maintenance, the zero-finding mode is activated, and the servo drive automatically returns the axis to the mechanical absolute zero point to eliminate errors.

[0032] In the auxiliary material transport device, the gripping mechanism is equipped with a laser detector. When gripping auxiliary materials, the gripping mechanism moves towards the auxiliary material storage. If the laser detector detects existing auxiliary materials before reaching the target position, the gripping mechanism stops moving and prepares for vacuum adsorption. If the laser detector does not detect auxiliary materials after the gripping mechanism reaches the target position, an alarm is triggered to check if there are no auxiliary materials. The large and small suction cups are connected to a vacuum generator to generate a vacuum negative pressure for vacuum adsorption. The vacuum generator is equipped with a vacuum detector to provide feedback on whether the current negative pressure value has reached the working value. If it has not reached the working value, an alarm is triggered to check if there is any air leakage in the suction cups.

[0033] The palletizing device includes a flip gripper assembly for handling film rolls, and the flip gripper assembly is equipped with a distance measuring sensor. During the process of the palletizing device placing the film roll on the tray of the film roll output device, before placement, the flip gripper assembly automatically descends to the measuring position, measures the distance from the edge of the tray, calculates the center position of the tray, and then the flip gripper assembly places the film roll in the center on the tray.

[0034] Compared with the prior art, the significant beneficial technical effects of the present invention are as follows:

[0035] 1. In the efficient film roll suspension packaging system and method of the present invention, the picking mechanism of the auxiliary material transport device can integrate auxiliary materials of various types and weights, achieving the effect of one claw for multiple uses; the auxiliary material warehouse preferably includes a clamping material warehouse and a protective padding material warehouse, and the space of the auxiliary material warehouse is increased by raising the frame above the ground to accommodate clamping material warehouses and protective padding warehouses of various specifications; and a forward and backward moving mechanism, a lateral moving mechanism, and a lifting moving mechanism with XYZ three-way moving function are provided. During operation, the gripping mechanism with different suction cups connected to the lower part of the lifting moving mechanism obtains characteristics such as size, weight, and material. Different auxiliary materials are transported to the centering mechanism or other required positions. The forward and backward moving mechanism, the lateral moving mechanism, and the lifting moving device each have independent active drive devices, so the gripping mechanism can maintain stability during transportation. Therefore, this solution has better applicability to stably grip auxiliary materials with different characteristics, realizes the automation of the protective pad installation process, and can ensure that the film roll will not be damaged by collision or friction with hard clamps during transportation by setting protective pads. Furthermore, the same gripping mechanism can grip clamps and protective pads of different sizes, hardness, and weights, and the operation process is simple and efficient.

[0036] 2. In the efficient film roll suspension packaging system and method of the present invention, five sets of handling components are provided on the frame. Compared with the existing solution, a third handling component is added, mainly to reduce packaging time and improve packaging efficiency. It can share some of the actions. The second handling component is used to grab the film roll from the weighing and wrapping device and move it to the fastening device. The third handling component is used to grab the film roll with the auxiliary materials assembled from the fastening device and move it to the film transport trolley. These two actions can be performed simultaneously, which greatly reduces the transportation time and improves the operating efficiency.

[0037] 3. In the efficient film roll suspension packaging system and method of the present invention, the structure of both the strapping device and the palletizing device has been improved. In the original device, the lifting mechanism frame would rise to a height of six or seven meters during operation, which faced the problem of insufficient factory height. In addition, due to the overall weight and high center of gravity of the lifting mechanism, it would sway and become unstable during operation, posing safety hazards and potentially negatively affecting packaging quality and efficiency, and also consuming a lot of energy. The improved device has significantly reduced the maximum height of the mechanism in the raised state and transferred a large part of the weight to the frame, reducing the energy consumption required to achieve lifting and lowering, and making the operation more stable and efficient.

[0038] 4. In the efficient film roll suspension packaging system and method of the present invention, the automatic feeding of the fixing parts is achieved by means of a vibratory feeder, and a soundproof box with an inspection door is provided outside the vibratory feeder, which greatly reduces noise and facilitates maintenance and other processes.

[0039] 5. In the efficient film roll suspension packaging system and method of the present invention, three labeling machines are provided at preferred key positions to realize the automatic labeling process, which can effectively play a role such as process and quality monitoring, and product anti-counterfeiting.

[0040] 6. In the efficient film roll suspension packaging system and method of the present invention, an improved integrated cable tray structure is adopted, which prevents the wires from interfering with each other and affecting the operation of the machine. For example, this solution can prevent signal loss or errors caused by interference from the magnetic field generated during power transmission when sending pulses, thus preventing alarms. In addition, this solution arranges the wires neatly and puts them into an entire cable tray, which is aesthetically pleasing and facilitates wire inspection and maintenance. For example, when a circuit problem occurs, it is possible to quickly and clearly identify which wire is faulty. Attached Figure Description

[0041] Figure 1 is a schematic diagram of the overall three-dimensional structure of a film roll suspension packaging system according to an embodiment of the present invention.

[0042] Figure 2 is a front view of the overall system shown in Figure 1.

[0043] Figure 3 is a top view of the overall system shown in Figure 1.

[0044] Figure 4 is a partial enlarged view of the auxiliary material transport device in the structure shown in Figure 1.

[0045] Figure 5 is a three-dimensional structural schematic diagram of an auxiliary material transport device according to an embodiment of the present invention.

[0046] Figure 6 is a front view of the auxiliary material transport device shown in Figure 5.

[0047] Figure 7 is a partial enlarged view of the gripping mechanism in the auxiliary material transport device shown in Figure 6.

[0048] Figure 8 is a three-dimensional structural diagram of the gripping mechanism shown in Figure 7.

[0049] Figure 9 is a top view of the auxiliary material transport device shown in Figure 5.

[0050] Figure 10 is a left view of the auxiliary material transport device shown in Figure 5.

[0051] Figure 11 is a three-dimensional structural diagram of a fourth transport assembly (i.e., a strapping device) according to an embodiment of the present invention.

[0052] Figure 12 is a partial enlarged view of the strapping lifting mechanism in the strapping device shown in Figure 11.

[0053] Figure 13 is a left view of the binding device shown in Figure 11.

[0054] Figure 14 is a partial enlarged view of the end of the strapping frame in the strapping device shown in Figure 11.

[0055] Figure 15 is a three-dimensional structural diagram of a fifth handling component (i.e., a palletizing device) according to an embodiment of the present invention.

[0056] Figure 16 is a three-dimensional structural diagram of the part of the palletizing device other than the frame shown in Figure 15.

[0057] Figure 17 is a partial enlarged view of the palletizing device shown in Figure 16.

[0058] Figure 18 is a partial enlarged view of the flipping gripper assembly in the palletizing device shown in Figure 15.

[0059] Figure 19 is a top view of the palletizing device shown in Figure 15.

[0060] Figure 20 is a right view of the palletizing device shown in Figure 15.

[0061] Figure 21 is a three-dimensional structural schematic diagram of a film roll suspension packaging system with an integral groove structure according to an embodiment of the present invention.

[0062] Figure 22 is a three-dimensional structural schematic diagram of an integral wire groove according to an embodiment of the present invention.

[0063] Figure 23 is a magnified view of part A in Figure 21.

[0064] Figure 24 is a magnified view of part B in Figure 21.

[0065] Figure 25 is a magnified view of the vibratory disk in the structure shown in Figure 1.

[0066] Figure 26 is a three-dimensional structural schematic diagram of a film roll suspension packaging system with a protective cover according to an embodiment of the present invention.

[0067] Explanation of reference numerals in the attached drawings: 1. Suspended packaging frame; 11. Frame beam; 2. Film roll input device; 3. Film roll output device; 4. Weighing and wrapping device; 5. Fastening device; 6. Film transport trolley; 7. Fixing component installation device; 8. Control cabinet; 1000. First handling assembly; 2000. Second handling assembly; 3000. Third handling assembly; 4000. Fourth handling assembly; 4001. Strapping moving frame; 4002. Strapping forward and backward moving mechanism; 4003. Strapping lifting frame; 4004. Bundling lifting and moving mechanism; 4005, Bundling machine module; 4006, Belt conveyor frame; 4007, Bundling machine head; 4008, Bundling connecting slider; 4009, Bundling lifting screw; 4010, Bundling lifting drive motor; 4011, Bundling lifting slide rail; 4012, Bundling synchronous pulley; 4013, Bundling forward and backward moving drive motor; 4014, Bundling transmission belt; 4015, Bundling forward and backward slide rail; 5000, Fifth handling component; 5001, Palletizing moving frame; 5002, Palletizing suspension bracket; 5003, Tilting gripper assembly; 5004. 5005. Palletizing lifting transmission block; 5006. Palletizing lifting screw; 5007. Palletizing lifting drive device; 5008. Palletizing connecting frame; 5009. Palletizing lifting slide rail; 5010. Palletizing sliding connecting block; 5011. Palletizing lifting slider; 5012. Grab bracket; 5013. Grab pressure plate; 5014. Grab tilting drive device; 5015. Grab positioning round head; 5016. Palletizing front and rear slide rails; 5017. Palletizing front and rear sliders; 5018. Palletizing transmission pulley assembly; 5019. Palletizing front and rear drive device; 5020. Palletizing lateral slide rail; 5021. Palletizing lateral drive device; 5022. Palletizing lateral slider; 5023. Palletizing detection device; 5024. Tilting anti-slip assembly; 6000. Auxiliary material conveying device; 6001. Centering mechanism; 6002. Gripping mechanism; 6003. Auxiliary material conveying frame; 6004. Auxiliary material conveying crossbeam; 6005. Auxiliary material forward and backward moving mechanism; 6006. Auxiliary material moving frame; 6007. Auxiliary material lateral moving mechanism; 6008. Auxiliary material lifting and moving mechanism; 6009. Clamping plate storage; 6010. Protective pad storage; 6011. Lateral feeding mechanism; 6012. Blocking Head material storage; 6013, suction cup mounting bracket; 6014, large suction cup; 6015, small suction cup; 6016, large suction cup connecting pipe; 6017, small suction cup connecting pipe; 6018, large suction cup mounting sleeve; 6019, small suction cup mounting sleeve; 6020, extension arm; 6021, first mounting component; 6022, second mounting component; 6023, auxiliary material transverse slide; 6024, auxiliary material lifting frame; 6025, auxiliary material lifting rod; 7000, integral cable tray; 7003, electrical cabinet connecting section; 7004, first crossbeam section; 7005, crossbeam span section; 7006, second crossbeam section; 7007, power cable tray; 7008, signal cable tray;7009. Support connector; 7010. Structural connecting beam; 7011. First longitudinal section; 7012. Second longitudinal section; 7013. Transverse section; 8000. Vibrating plate; 8001. Soundproof box; 8002. Inspection door. Detailed Implementation

[0068] This invention provides a highly efficient film roll suspension packaging system and method, which solves the problem that the packaging efficiency of existing technical solutions still needs to be improved, and realizes multi-faceted optimization and improvement of film roll transportation and packaging equipment, significantly improving operational efficiency.

[0069] Please refer to Figures 1 to 4. An embodiment of the present invention provides a high-efficiency film roll suspension packaging system, comprising a suspension packaging frame 1. The suspension packaging frame 1 has two parallel frame beams 11 at its top. A film roll input device 2 is provided on the input side of the production line of the suspension packaging frame 1, and a film roll output device 3 is provided on the output side of the production line of the suspension packaging frame 1. The film roll input device 2 is used to transport the film roll to be packaged to the front end of the production line at the suspension packaging frame 1, and the film roll output device 3 is used to transport the film roll after a series of packaging processes away from the suspension packaging frame 1. The film roll input device 2 and the film roll output device 3 are, for example, conveyor belts or conveyor trolleys.

[0070] On the frame beam 11 of the suspended packaging machine frame 1, a first transport assembly 1000, a second transport assembly 2000, a third transport assembly 3000, a fourth transport assembly 4000, and a fifth transport assembly 5000 are movably and sequentially arranged along the production line direction (x direction in Figure 1). The upper part of each of these five assemblies is a beam-like structure extending along the y direction and can move back and forth in the x direction. The lower part of each assembly has at least one robotic arm for gripping film rolls. On the ground below the suspended packaging machine frame 1, along the production line direction between the film roll input device 2 and the film roll output device 3, a weighing and wrapping device 4, a fastening device 5, and a film transport trolley 6 are arranged sequentially. Among them, the weighing and wrapping device 4, in addition to the same or similar wrapping and heat-sealing functions as the wrapping device in the background patent, also has a weighing function. It can complete the weighing before or during the wrapping process to ensure product quality requirements and can promptly detect abnormalities.

[0071] The first transport assembly 1000 is capable of moving and transporting the film roll between the film roll input device 2 and the weighing and wrapping device 4. More specifically, for example, the first transport assembly 1000 includes a first transport frame, which is mounted on the frame beam 11 via an x-axis moving mechanism (e.g., including a slide rail and a drive and transmission mechanism). Two downwardly extending robotic arms are connected to the first transport frame via a y-axis moving mechanism. The lower ends of the two robotic arms are each provided with gripping heads in opposite directions for simultaneously gripping both ends of the film roll. The gripping heads can move up and down in the z-axis direction, for example, the entire robotic arm can move up and down on the first transport frame, or only the gripping heads can move up and down on the robotic arms, preferably the latter. When the gripping heads move up and down, the upper height of the first transport assembly 1000 remains unchanged. This transport assembly is not the focus of this improvement; the relevant specific mechanical structure is easily implemented based on existing technology and the descriptions of other embodiments herein, and therefore will not be elaborated upon here.

[0072] The second transport assembly 2000 is capable of moving and transporting the film roll between the weighing and wrapping device 4 and the fastening device 5. The third transport assembly 3000 is capable of moving and transporting the film roll between the fastening device 5 and the film transport trolley 6. The second transport assembly 2000 and the third transport assembly 3000 may adopt the same or similar structure as the first transport assembly 1000.

[0073] Auxiliary material transport devices 6000 are provided on both sides (outside the two ends in the y-direction) of the fastening device 5. An auxiliary material storage container is located below each auxiliary material transport device 6000, containing a clamping plate of at least one size and a protective pad of at least one size. A centering mechanism 6001 is provided beside the auxiliary material transport device 6000. The auxiliary material transport device 6000 has a gripping mechanism 6002, which can grip, move, and place a matching clamping plate and a protective pad onto the centering mechanism 6001. Related technical details will be further described later.

[0074] The film transport trolley 6 can move between the fastening device 5 and the film roll output device 3 and stop in the middle below the fourth transport assembly 4000. The film transport trolley 6 is, for example, a rail-guided vehicle, which can move stably back and forth in the x-direction and brake via a track set on the ground. After the film transport trolley 6 stops braking, it can be used as a worktable for film roll packaging.

[0075] The fourth transport assembly 4000 is a strapping device, located between the fastening device 5 and the film roll output device 3. The fifth transport assembly 5000 is a palletizing device, capable of moving, transporting, and rotating the film roll between the film transport trolley 6 and the film roll output device 3. Related technical details will be further described later.

[0076] Please refer to Figures 4 to 10. In the preferred embodiment, a novel auxiliary material transport device is used to achieve the grabbing and transport of two or more auxiliary materials through a single set of equipment, effectively improving packaging efficiency and automation. The auxiliary material transport device includes a grabbing mechanism 6002 for grabbing auxiliary materials. The grabbing mechanism 6002 includes a suction cup mounting frame 6013, which is provided with at least one set of suction cups. The set of suction cups consists of several large suction cups 6014 for grabbing auxiliary materials that are relatively large in size and / or relatively heavy in weight in the auxiliary material library, or several small suction cups 6015 for grabbing auxiliary materials that are relatively small in size and / or relatively light in weight in the auxiliary material library, or a combination of several large suction cups 6014 and several small suction cups 6015. For example, in a preferred embodiment, the suction cup mounting bracket 6013 is provided with several large suction cups 6014 for gripping auxiliary materials that are relatively large in size and / or relatively heavy in weight from the auxiliary material library, and several small suction cups 6015 for gripping auxiliary materials that are relatively small in size and / or relatively light in weight from the auxiliary material library. Here, "large suction cup" and "small suction cup" are merely definitions used to distinguish components and should not be construed as limiting descriptions of the suction cups themselves. For example, suction cups of the same model can be used, or they can be distinguished into three specifications: "large," "medium," and "small," etc. In this embodiment, the large suction cups are used to pick up auxiliary materials that are "large" in size / weight, while the small suction cups are used to pick up auxiliary materials that are "small" in size / weight. Correspondingly, the large suction cups have a relatively larger total suction force / total power.

[0077] Preferably, when at least one set of suction cups consists of several large suction cups 6014 and several small suction cups 6015, the small suction cups 6015 are distributed within a first region, which can be adapted to the size of smaller auxiliary materials. The small suction cups 6015 can be distributed near the center of the radius of the smaller auxiliary material, arranged in a row or in a circle. The large suction cups 6014 are distributed on the outer periphery or periphery of the first region, specifically, they can be arranged in the same row or in a circle as the small suction cups, on the outer side or periphery of the small suction cups. It is conceivable that the suction effect is better when the suction cups are distributed and adsorbed near the edge of the auxiliary material (easy to apply force, rather than concentrated in a small area). Therefore, the distribution and coverage area of ​​the large / small suction cups can be selected to be adapted to the large / small auxiliary materials.

[0078] In other embodiments, the large suction cup 6014 and the small suction cup 6015 are staggered, for example, the large suction cup 6014 and the small suction cup 6015 are located on the same circumference (ring) and are alternately arranged. In still other embodiments, the large suction cup 6014 is located in the middle or on the inner side, while the small suction cup 6015 is located on the outer periphery or on the outer side. In yet another embodiment, the large suction cup 6014 and the small suction cup 6015 are distributed in a dot matrix pattern throughout the entire area with suction cups. Alternatively, the distribution of the large and small suction cups may be a combination of the above or other methods.

[0079] Specifically, in the embodiments shown in Figures 8 and 9, there are four small suction cups 6015, which are regularly distributed at the four ends of a rectangle. The geometric center of this rectangle basically corresponds to the geometric center of all the suction cup distribution positions, and also corresponds to the geometric center of the auxiliary material. The distance between the four small suction cups 6015 and the geometric center of the rectangle is about 25% to 50% of the radius of the corresponding smaller auxiliary material, and the four small suction cups 6015 are distributed on the outside of the central hole (if any) of the smaller auxiliary material. To facilitate installation and position adjustment, ten large suction cups 6014 are arranged in two rows, front and back. The large suction cup 6014 in the middle is positioned further outward compared to the other large suction cups 6014, thus generally distributed on the outer side of the central hole (if any) of larger auxiliary materials. The six large suction cups 6014 closest to the center are roughly concentric circles, the center of which basically coincides with the geometric center of the aforementioned rectangle, and the radius of which is approximately 25% to 50% of the radius of the larger auxiliary material. The remaining four large suction cups 6014 on the outer side are positioned approximately 70% to 90% of the radius of the larger auxiliary material (in short, closer to the edge of the auxiliary material), so as to adsorb and position large auxiliary materials on the outer side as well, which can further ensure the adsorption effect of larger / heavier auxiliary materials.

[0080] It should be noted that the specific number, layout, parameters, and other details of the suction cups are not limited to the embodiments given in this article. The improvement of the gripping mechanism in this solution focuses on having two or more suction cups with different parameters on one gripping mechanism, so as to enable the gripping of two or more materials through two or more working modes, and it is advisable to be able to stably adsorb and grip.

[0081] The overall structure of the auxiliary material transport device also includes an auxiliary material transport frame 6003, etc. The auxiliary material transport frame 6003 has auxiliary material transport beams 6004 arranged in the front-to-back direction (the front-to-back direction of the auxiliary material transport frame 6003 is the y-direction in Figure 1). There are two parallel auxiliary material transport beams 6004 (arranged side by side in the x-direction in Figure 1). An auxiliary material moving frame 6006 is connected to the auxiliary material transport beams 6004 through an auxiliary material front-to-back moving mechanism 6005. An auxiliary material lifting moving mechanism 6008 is connected to the auxiliary material moving frame 6006 through an auxiliary material lateral moving mechanism 6007. A suction cup mounting frame 6013 (gripping mechanism 6002) is connected to the lower part of the auxiliary material lifting moving mechanism 6008. Furthermore, the auxiliary material front-to-back moving mechanism 6005, the auxiliary material lateral moving mechanism 6007, and the auxiliary material lifting moving mechanism 6008 each have their own drive mechanism. Thus, the gripping mechanism 6002 can move stably in the XYZ directions in space.

[0082] Below the auxiliary material transport beam 6004, an auxiliary material storage area is provided for placing auxiliary materials. The auxiliary material storage area includes a clamping plate storage area 6009 and a protective pad storage area 6010. Clamping plates are stacked on the clamping plate storage area 6009, and protective pads are stacked on the protective pad storage area 6010. The clamping plates are, for example, square wooden boards, and the protective pads are, for example, round pearl cotton boards (gaskets). Both the clamping plates and the protective pads have through holes in the middle. The protective pad storage area 6010 can be optionally composed mainly of protective pad rods, with the protective pads fitted onto the protective pad rods; the clamping plates can be optionally stacked directly (or inserted into the rods, etc.). The clamping plate storage area 6009 and the protective pad storage area 6010 can be simple, immovable structures, or they can be optionally equipped with lifting pallets capable of raising the materials on them, forming an automatic lifting device. The materials are located on the lifting pallets and can be gradually raised as the auxiliary materials are consumed, so as to facilitate the gripping operation and simplify the operation of the gripping mechanism 6002. Alternatively, the auxiliary material storage can be rotated (e.g., rotated within the water surface) to change the position of the auxiliary materials (e.g., by rotating to move a desired auxiliary material storage to below the gripping mechanism 6002), facilitating the gripping operation and simplifying the action of the gripping mechanism 6002; furthermore, the mechanism used to drive the gripping mechanism to move in the XYZ three directions can be simplified, for example, omitting the lateral action and only being able to move forward and backward and lift.

[0083] Preferably, there are at least two plywood storage bins 6009, with plywood of the same size placed in the same plywood storage bin 6009, and plywood of different sizes placed in different plywood storage bins 6009; there are at least two protective pad storage bins 6010, with protective pads of the same size placed in the same protective pad storage bin 6010, and protective pads of different sizes placed in different protective pad storage bins 6010. Specifically, for example, there are two types of plywood: 6-inch wooden boards and 3-inch wooden boards; there are two types of protective pads: 6-inch pearl cotton sheets and 3-inch pearl cotton sheets. It should be noted that, compared with the prior art, this solution increases the space under the auxiliary material transport beams 6004 of the auxiliary material transport frame 6003 to meet the above placement requirements. This is achieved by increasing the height and spacing of the auxiliary material transport beams 6004, and also by designing the moving mechanisms on them. These moving mechanisms, especially the lifting moving mechanisms, cannot be too high, so as to facilitate installation in ordinary factory buildings. The relevant preferred structures will be described later.

[0084] Furthermore, at least two clamping plate storage bins 6009 are arranged side-by-side horizontally, and at least two protective pad storage bins 6010 are arranged side-by-side horizontally; all clamping plate storage bins 6009 are located in front of all protective pad storage bins 6010, or all are located behind (in the illustrated embodiment, they are located in front); the clamping plates and protective pads placed on a corresponding clamping plate storage bin 6009 and a protective pad storage bin 6010 are matched. In this preferred embodiment, during operation, the gripping mechanism 6002 can move forward and backward to above the clamping plate storage bins 6009, and can select different sizes of auxiliary materials by moving left and right; the gripping mechanism 6002 moves downward to grip a clamping plate and places it to the centering mechanism 6001 (or other required position) in front, and then moves and grips a protective pad of the corresponding size and places it to the centering mechanism 6001 (or other required position). During this process, the clamping plates and protective pads of the corresponding size are in the same direction, so the transportation process of matching clamping plates and protective pads can be completed quickly, and it is convenient for the design and control of automated programs. Meanwhile, the auxiliary materials in this solution are arranged horizontally, which allows for the placement of more auxiliary materials.

[0085] This solution enables the gripping of board / sheet materials of different sizes and textures using only a single gripping mechanism 6002. The challenge lies in handling situations where, for example, large, heavy wooden boards are handled by light, soft pearl cotton. Existing conventional techniques typically employ different gripping mechanisms for such cases. Using a single fixture presents several problems, including excessively large / small gripping forces (such as suction force), excessively large / small suction areas, and potential deformation of soft materials. This solution utilizes a structure with distributed large and small suction cups. For larger, heavier wooden boards, the large suction cup 6014 can be used for adsorption, or both the large and small suction cups 6014 can be used simultaneously. For smaller wooden boards or lighter pearl cotton, only the small suction cup 6015 is used, while the large suction cup 6014 remains inactive. The small suction cup 6015 provides a smaller suction force while maintaining stable gripping, preventing deformation of soft materials like pearl cotton and reducing energy consumption during adsorption.

[0086] More preferably, the large suction cup 6014 is connected to the suction cup mounting bracket 6013 via a rigid large suction cup connecting tube 6016. The small suction cup 6015 is retractably connected to the suction cup mounting bracket 6013 via a rigid small suction cup connecting tube 6017. Furthermore, in the unloaded state (natural state) of the gripping mechanism 6002, the distance between the small suction cup 6015 and the suction cup mounting bracket 6013 is greater than the distance between the large suction cup 6014 and the suction cup mounting bracket 6013. In other words, when the gripping mechanism 6002 is facing downwards, the height of the small suction cup 6015 is lower than that of the large suction cup 6014, and the small suction cup 6015 will contact the object first when moving downwards to grip. Therefore, during operation, when gripping a wooden board, the gripping mechanism 6002 descends a relatively large distance, compressing the small suction cup 6015 (or actively retracting it), allowing the large suction cup 6014 to contact and adhere to the wooden board. Conversely, when gripping pearl cotton, the gripping mechanism 6002 descends a relatively small distance, allowing the small suction cup 6015 to adhere immediately upon contact, without the pearl cotton contacting the large suction cup 6014. This design ensures effective contact and adhesion between both the large and small suction cups. It's conceivable that if the large and small suction cups were fixed on the same plane, issues such as different suction cup sizes or assembly precision might cause them to be out of sync during operation. For example, if the small suction cup 6015 is recessed relative to the plane of the large suction cup 6014, the recessed suction cup would not be able to fully contact and firmly adhere to the material, or soft materials might deform due to the obstruction of other protruding suction cups. This problem would be even more pronounced if the protective pad were made of more easily broken materials such as foam plastic.

[0087] More specifically, for example, the suction cup mounting bracket 6013 has mounting holes through which both the small suction cup connecting tube 6017 and the large suction cup connecting tube 6016 pass. A large suction cup mounting sleeve 6018 is fixedly mounted on the outside of the large suction cup connecting tube 6016. The large suction cup mounting sleeve 6018 is located above the suction cup mounting bracket 6013. Nuts are provided at the lower end of the large suction cup mounting sleeve 6018 and at the bottom of the suction cup mounting bracket 6013, thereby fixing the large suction cup connecting tube 6016 onto the suction cup mounting bracket 6013. The upper end of the large suction cup connecting tube 6016 is a connecting pipe connector for connecting to a negative pressure device (vacuum generator) to provide the required suction force. These required or optional conventional suction cup structures will not be described in detail here.

[0088] A small suction cup mounting sleeve 6019 is fitted onto the outer side of the small suction cup connecting tube 6017. The small suction cup mounting sleeve 6019 is located above the suction cup mounting bracket 6013. Nuts are provided at the lower end of the small suction cup mounting sleeve 6019 and below the suction cup mounting bracket 6013, thus fixing the small suction cup mounting sleeve 6019 onto the suction cup mounting bracket 6013. A spring is provided between the outer side of the small suction cup connecting tube 6017 and the inner side of the small suction cup mounting sleeve 6019. The two ends of the spring are connected to or abut against the small suction cup connecting tube 6017 and the small suction cup mounting sleeve 6019 respectively, thus achieving a telescopic effect. The dimensions of the small suction cup connecting tube 6017 and the small suction cup mounting sleeve 6019 are matched. The small suction cup mounting sleeve 6019 acts as a limiting guide, ensuring the stable vertical movement of the small suction cup 6015. The upper end of the small suction cup connecting tube 6017 is a connecting pipe connector for connecting to a negative pressure device (vacuum generator). It is understood that the present invention is not limited thereto. For example, other installation methods can be used, other elastic structures can be set in other ways, or the small suction cup connecting tube 6017 can be controlled to extend and retract by electric or piston means, etc., all of which can achieve the desired extension and retraction effect.

[0089] Preferably, the suction cup mounting bracket 6013 includes, for example, a first mounting member 6021 and a second mounting member 6022, both of which are elongated strips. The first mounting member 6021 is, for example, horizontally connected to the lower end of the auxiliary material lifting and moving mechanism 6008. Several second mounting members 6022 are mounted side by side on the first mounting member 6021, for example, the second mounting members 6022 are horizontal and perpendicular to the length direction of the first mounting member 6021. Furthermore, a large suction cup 6014 and a small suction cup 6015 are disposed on the first mounting member 6021 and / or the second mounting member 6022. More preferably, for example, it is only provided on the second mounting member 6022, and the first mounting member 6021 is only used to install and connect the second mounting member 6022; the second mounting member 6022 has the aforementioned mounting holes for mounting the suction cup, and the second mounting member 6022, the first mounting member 6021 and the components above them (auxiliary material lifting and moving mechanism 6008) are detachably connected, for example, by bolts, so that the structure is simpler and more flexible than the conventional integral mounting plate, and it is easier to adjust the installation position of the suction cup.

[0090] Furthermore, a centering mechanism 6001 is provided on the front side of the auxiliary material conveying frame 6003. A cross-shaped material platform is provided on the top of the centering mechanism 6001, and an adjustable clamping plate is provided on the outer edge of the platform. After the suction cup picks up the auxiliary material, it is moved to the top of the platform via a conveyor. After the auxiliary material is placed, the clamping plate is adjusted to center the position of the auxiliary material. This structure is prior art and will not be described in detail. The suction cup mounting bracket 6013 is connected to the lower part of the auxiliary material lifting and moving mechanism 6008 via an extension arm 6020, which extends forward. The extension arm 6020 allows the gripping mechanism 6002 to be positioned outside the auxiliary material conveyor frame 6003 and above the centering mechanism 6001 when the auxiliary material moving frame 6006 is at its foremost position. This helps to improve the overall layout of the auxiliary material conveyor frame 6003, the centering mechanism 6001, the transverse feeding mechanism 6011, and other structures, enabling better cooperation and non-conflict among the functions of each part of the overall system. It also results in higher space utilization and helps to expand the loading space of the auxiliary material warehouse.

[0091] Referring to Figure 4, a transverse feeding mechanism 6011 for auxiliary materials is provided next to the centering mechanism 6001 and the fastening device 5. A plug storage 6012 is also provided next to the transverse feeding mechanism 6011, for example, by stacking plugs using material rods. The size of the plugs matches the film roll. The plug storage 6012 may have at least two material rods to hold at least two sizes of plugs. The transverse feeding mechanism 6011 may be mounted on the frame beam 11 or a separate frame may be provided. The robotic arm of the transverse feeding mechanism 6011 can move along the production line direction (x direction in Figure 1), and the lower end of the robotic arm of the transverse feeding mechanism 6011 is an auxiliary material gripping robot. In Figure 4, the auxiliary material gripping robot on the left side of the robotic arm is located above the centering mechanism 6001 and the fastening device 5. The auxiliary material gripping robot can rotate and move up and down, enabling it to grip the centered auxiliary material (a clamping plate and a protective pad stacked from bottom to top) from the centering mechanism 6001 after centering and move and install it onto the fastening head of the fastening device 5. The transverse feeding mechanism 6011 (the robotic arm part on the right side of Figure 4) can pick up end caps from the end cap magazine 6012 and install them onto the fastening head of the fastening device 5. The auxiliary material transport device 6000 and other structures are symmetrically arranged beside the fastening heads on both sides of the fastening device 5, thus enabling the installation of the protective pad, clamping plate, and end cap at both ends of the film roll.

[0092] In a preferred embodiment, the auxiliary material forward and backward moving mechanism 6005 includes parallel front and rear slide rails and front and rear racks. The front and rear slide rails and front and rear racks are arranged on the auxiliary material transport beam 6004. The auxiliary material moving frame 6006 is slidably connected to the front and rear slide rails. A front and rear drive motor is installed on the auxiliary material moving frame 6006. The output end of the front and rear drive motor has a front and rear traveling gear that meshes with the front and rear racks. Thus, the auxiliary material moving frame 6006 is driven to move back and forth on the auxiliary material transport beam 6004 by the front and rear drive motors.

[0093] The auxiliary material lateral movement mechanism 6007 includes parallel lateral slide rails and a lateral rack; the auxiliary material moving frame 6006 is, for example, a square frame structure (with a hollow center), which includes a beam structure spanning between two auxiliary material transport beams 6004. The lateral slide rails and the lateral rack are mounted on the auxiliary material moving frame 6006 (on the square frame beam structure); an auxiliary material lateral slide table 6023 is slidably connected to the lateral slide rail. The auxiliary material lateral slide table 6023 is, for example, a square frame structure (with a hollow center), with a lateral slider at the bottom connected to the lateral slide rail. A lateral drive motor is mounted on the auxiliary material lateral slide table 6023, and the output end of the lateral drive motor has a lateral travel gear that meshes with the lateral rack; thereby, the lateral drive motor drives the auxiliary material lateral slide table 6023 to move left and right on the auxiliary material moving frame 6006.

[0094] The auxiliary material lifting and moving mechanism 6008 includes parallel lifting slide rails and lifting racks, and an auxiliary material lifting frame 6024 is provided on the auxiliary material transverse slide 6023; it also includes an auxiliary material lifting rod 6025, which is, for example, vertically arranged and with its lower end passing through the middle hollow structure of the auxiliary material transverse slide 6023 and the auxiliary material moving frame 6006 (or located outside the auxiliary material transverse slide 6023 and the auxiliary material moving frame 6006, etc.), and the gripping mechanism is fixedly installed at the lower end of the auxiliary material lifting rod 6025. The auxiliary material lifting frame 6024 is equipped with a lifting slider, and the lifting slide rail is set on the auxiliary material lifting rod 6025. The lifting slide rail and the lifting slider are slidably connected. The lifting rack is set on the auxiliary material lifting rod 6025. The auxiliary material lifting frame 6024 is equipped with a lifting drive motor. The output end of the lifting drive motor has a lifting travel gear that meshes with the lifting rack. Thus, the lifting drive motor drives the auxiliary material lifting rod 6025 to move up and down on the auxiliary material transverse slide table 6023 (on the auxiliary material lifting frame 6024).

[0095] It is understood that the mechanism of the present invention for realizing spatial XYZ three-way movement is not limited thereto; the above-mentioned sliding rail, slider and other cooperative structures can be similarly replaced; in the embodiments, the longer component is called the sliding rail and the shorter component is called the slider; preferably, a drag chain is also provided on the forward and backward movement mechanism, the lateral movement mechanism and the lifting movement mechanism.

[0096] In summary, the gripping mechanism of this solution can integrate various types and weights of auxiliary materials, achieving a multi-purpose gripper. Furthermore, this solution has improved components such as the frame and robotic arm, resulting in more space under the frame and greater operational flexibility, allowing for full utilization of the space to store more auxiliary materials. The auxiliary material storage includes a clamping plate storage and a protective pad storage. Raising the frame from the ground increases the storage space, accommodating various sizes of clamping plate and protective pad storage. By incorporating forward / backward movement, lateral movement, and lifting movement mechanisms with XYZ three-dimensional spatial movement capabilities, during operation, gripping mechanisms with different suction cups connected to the lower part of the lifting movement mechanism acquire auxiliary materials of different sizes, weights, and materials, transporting them to the centering mechanism or other required positions. Each of the forward / backward movement, lateral movement, and lifting movement mechanisms has an independent active drive, ensuring stability of the gripping mechanism during transport. Therefore, this solution has better applicability for stably gripping auxiliary materials with different characteristics.

[0097] The main working principle of the auxiliary material transport device 6000 in this scheme is as follows.

[0098] The auxiliary material conveying device uses a servo motor with an absolute encoder. Based on the actual situation, a corresponding mathematical model is used to calculate the actual working position of each axis and send it to the corresponding servo drive. After receiving the instruction, the servo drive quickly moves to the target point to perform tasks such as gripping or alignment. Each axis experiences significant impact due to high-speed movement. To protect against mechanical damage caused by external impacts, each axis has a torque protection function during movement. When the alarm torque is reached, the motor stops, an alarm is triggered, and the operator is prompted to check the site for any foreign objects causing motor stalling. Because all mechanical connections have accumulated operational errors or actual positional errors caused by load and drive during disassembly and assembly, each axis has a mechanical absolute zero point to ensure absolute positioning accuracy. After the machine has been running for a period of time, during maintenance, the zero-finding mode is activated, and the servo drive automatically finds the absolute zero point again. For the gripping mode, auxiliary material gripping uses vacuum negative pressure adsorption. After the gripping mechanism presses down to the target position, the vacuum generator creates negative pressure to adsorb the auxiliary material. After the gripping mechanism moves to the target, the vacuum negative pressure is released, and the auxiliary material is inserted into the central shaft, waiting for it to be fastened.

[0099] The main working process of the auxiliary material transport device 6000 in this scheme is as follows.

[0100] 1. Initialize the gripping mechanism and the three-axis spatial movement mechanism (XYZ). Each axis automatically moves to the waiting position and waits for commands.

[0101] 2. The auxiliary materials are diverse. Clamping plates are divided into large clamping plates and small clamping plates, and protective pads are also divided into large pads and small pads; according to the packaging requirements, the front-end station sends a packaging data specification request, and the auxiliary material warehouse automatically rotates to move the required clamping plates or protective pads to the waiting position for grabbing;

[0102] 3. After the auxiliary materials are grabbed, in order to save time for the next grabbing, the automatic lifting device of the auxiliary material warehouse will automatically move the auxiliary materials to the auxiliary material grabbing position to wait for the next grabbing; when all the auxiliary materials are taken, the laser sensor will detect that the materials are used up, the automatic lifting device will automatically lower to the lowest point, and indicate that a certain material is used up and please add more materials.

[0103] 4. Material Gripping: The gripping mechanism descends to the target position. A laser detector is installed on the gripping mechanism (e.g., suction cup mounting bracket). If material is detected by the laser before reaching the target position, the gripping mechanism stops descending and prepares for vacuum adsorption. If the laser detector does not detect material after the gripping mechanism reaches the target position, an alarm is triggered indicating that there is no material. Vacuum Adsorption: Before gripping material, the vacuum generator operates to create a vacuum negative pressure. A vacuum detector is installed on the vacuum generator to report whether the current negative pressure value has reached the working value. If it has not been reached, an alarm is triggered, reminding the operator to check for air leaks.

[0104] 5. Auxiliary material placement: After the gripping mechanism grips the clamping plate, it is lifted and moved to the material placement and centering mechanism; after reaching the target position, the vacuum is released and the auxiliary material falls onto the centering mechanism; the gripping mechanism returns to the waiting position to wait for the next work command; if it is necessary to grip the protective pad, the gripping mechanism receives the protective pad gripping command, continues to repeat the work, grips the protective pad and places it on the centering mechanism.

[0105] 6. After the centering mechanism receives the material and places it on the clamping plate, it starts centering and clamping. Based on the length and width of the material, it calculates the motor's moving distance and moves the centering motor. When the motor is centering the clamping plate, since there may be a slight dimensional error in the size of the clamping plate, the centering servo of the centering mechanism adds torque protection control. When the torque reaches the target value, it stops moving and issues a centering completion command.

[0106] 7. After the protective pad of the centering mechanism is fully unloaded, the entire auxiliary material station is completed.

[0107] Please refer to Figures 11 to 14. The fourth handling component 4000 is a strapping device. In the preferred embodiment, a novel strapping device is used to solve the problems of excessive height, instability, and high energy consumption in existing technical solutions. The strapping device includes a strapping frame, which is part of the suspended packaging frame 1. The strapping frame has two strapping crossbeams arranged in the front-to-back direction. A strapping moving frame 4001 is connected to the strapping crossbeams through a strapping front-to-back moving mechanism 4002. In other words, the strapping moving frame 4001 is set on the frame crossbeam 11 through the strapping front-to-back moving mechanism 4002. Strapping lifting frames 4003 are fixedly arranged at the left and right ends of the strapping moving frame 4001. A longitudinally extending, downwardly extending strapping lifting moving mechanism 4004 is arranged on the strapping lifting moving mechanism 4003. A strapping machine module 4005 is arranged between the strapping lifting moving mechanisms 4004. The strapping lifting and moving mechanism 4004 is used to drive the strapping machine module 4005 to move up and down within a range not exceeding the height of the strapping lifting frame 4003. The strapping machine module 4005 can move up and down along the strapping lifting and moving mechanism 4004, and move back and forth with the strapping moving frame 4001. The strapping machine module 4005 mainly includes a conveyor frame 4006 and a strapping head 4007 disposed around the conveyor frame 4006. The conveyor frame 4006 is connected to the strapping lifting and moving mechanism 4004. The strapping head 4007 is used to cooperate with the conveyor frame 4006 to strap the film rolls inside the conveyor frame 4006. It is stably connected to the strapping lifting and moving mechanism 4004 by strapping connecting sliders 4008 disposed on both sides of the conveyor frame 4006. Due to the installation of the strapping lifting frame 4003 and the strapping lifting moving mechanism 4004, this solution ensures that the overall height of the device remains unchanged during the lifting process of the strapping machine module 4005, and can always be kept at a relatively low level, which can meet the needs of most factory buildings.

[0108] More specifically, the strapping moving frame 4001 has a frame-like structure, such as a rectangular structure spanning two crossbeams, with a through-hole / clearance space in the middle. The strapping lifting moving mechanism 4004 extends longitudinally through the middle of the strapping moving frame 4001, and its top is connected to the strapping lifting frame 4003. The strapping lifting moving mechanism 4004 includes a strapping lifting screw 4009 and a strapping lifting drive motor 4010, with the drive motor 4010 located at the end of the screw 4009. The screw 4009 is longitudinally arranged and perpendicular to the strapping moving frame 4001, and is rotatably connected to the strapping moving frame 4001 and / or the strapping lifting frame 4003, for example, via bearings, allowing the screw 4009 to rotate in place under the drive of the drive motor 4010. The strapping lifting and moving mechanism 4004 also includes a strapping connecting slider 4008, which has a longitudinally penetrating threaded hole. A strapping lifting screw 4009 passes through this threaded hole and is threadedly connected to it. The strapping connecting slider 4008 is connected to the conveyor belt frame 4006. The strapping lifting and moving mechanism 4004 also has a longitudinal strapping lifting slide rail 4011 on its side, and the strapping connecting slider 4008 is slidably connected to the strapping lifting slide rail 4011. This allows the strapping connecting slider 4008 to move up and down, driven by the rotation of the strapping lifting screw 4009. This screw-driven mechanism provides sufficient longitudinal tension, ensuring the stable connection of the relatively heavy strapping machine module.

[0109] Preferably, the strapping lifting and moving mechanism 4004 includes two vertical frames, a strapping lifting screw 4009 located between the two vertical frames, and strapping lifting slide rails 4011 located on opposite sides of the two strapping lifting and moving mechanisms 4004 on the two crossbeams 11, with two parallel strapping lifting slide rails 4011 in each strapping lifting and moving mechanism 4004; this preferred embodiment has a compact structure and stable lifting. More preferably, the strapping lifting frame 4003 is located above the strapping moving frame 4001, thereby utilizing the space between the strapping lifting frame 4003 and the strapping moving frame 4001, allowing the strapping machine module 4005 to reach the required height without being completely limited by the height of the strapping frame, facilitating integration with the overall frame structure of the suspended packaging system, and also helping to improve space utilization.

[0110] In a preferred embodiment, the strapping forward and backward movement mechanism 4002 includes a strapping timing pulley 4012 rotatably mounted on a strapping crossbeam (a section of the frame crossbeam 11), for example, having two pulleys 4012 mounted at the front and rear ends of the strapping crossbeam; it also includes a strapping forward and backward movement drive motor 4013 mounted on the strapping crossbeam. The strapping timing pulley 4012 is driven by a strapping drive belt 4014, and the output end of the strapping forward and backward movement drive motor 4013 is driven by the strapping timing pulley 4012. The length direction of the strapping drive belt 4014 is consistent with the length direction of the strapping crossbeam. The left and right ends of the strapping moving frame 4001 are respectively fixedly connected to a horizontal section of the strapping transmission belt 4014 on the left and right sides via, for example, clamps. Thus, the strapping forward and backward movement drive motor 4013 drives the strapping transmission belt 4014 to move, and the portion of the strapping transmission belt 4014 between the front and rear strapping synchronous pulleys 4012 undergoes translational motion, providing drive control for the forward and backward movement of the strapping moving frame 4001. Furthermore, a strapping forward and backward slide rail 4015 is provided along the length direction above the strapping crossbeam, and front and rear sliders are located below the left and right ends of the strapping moving frame 4001 to slide and match the strapping forward and backward slide rail 4015. It is understood that, according to other embodiments, the drive for the forward and backward movement of the strapping moving frame 4001 may also be selected as other methods, such as gear racks or lead screws.

[0111] More preferably, the binding beam is made of I-beam, and the binding timing pulleys 4012 can be installed in the grooves of the I-beam, making the structure more compact. Each binding beam is provided with two binding timing pulleys 4012, located at the front and rear ends of the binding beam respectively. Each binding timing pulley 4012 is connected to a binding forward and backward movement drive motor 4013. The two binding forward and backward movement drive motors 4013 jointly drive the binding moving frame 4001 to move forward and backward, ensuring sufficient traction and improving the moving efficiency and reliability of the binding forward and backward movement mechanism 4002. In addition, a drag chain structure is preferably provided, which can neatly store the wires in the drag chain, effectively preventing the wires from being pulled apart or loosened, and avoiding interference with other components.

[0112] Preferably, the strapping head 4007 includes a housing, a strap pulling assembly, a conveyor belt assembly, a pressing assembly, a heat sealing assembly, and a cutter for cutting the strapping tape. The strap pulling assembly is located on one side of the conveyor belt assembly, and the pressing assembly and the heat sealing assembly are located on the other side of the conveyor belt assembly, at the break point of the conveyor belt frame 4006. The conveyor belt assembly is used to convey the strapping tape into the conveyor belt frame 4006. After the strapping tape head wraps around the conveyor belt frame 4006 once, the conveyor belt assembly retracts the tape, and the strap pulling assembly tightens the strapping tape. The pressing assembly is used to press down the strapping tape and the strapping tape head before heat sealing, and the heat sealing assembly is used to heat seal the strapping tape and the strapping tape head. The strapping tape first passes through the pull assembly and then enters the conveyor assembly. The conveyor assembly then feeds the strapping tape into the conveyor frame 4006, where it travels once along the conveyor channel. When the end of the strapping tape reaches the heat-sealing assembly, the conveyor assembly stops feeding the tape. The pressing assembly presses the strapping tape against the end, and then the conveyor assembly retracts the tape. The pull assembly then tightens the strapping tape, securing it to the clamp. Finally, the heat-sealing assembly heats the strapping tape to the end, ensuring a strong and secure bond. It should be noted that the specific structures of the pull assembly, conveyor assembly, pressing assembly, heat-sealing assembly, and cutter can utilize existing technology, and will not be elaborated upon here.

[0113] According to some embodiments, the binding device of this solution has the following working process. Upstream of the suspended packaging strapping device is a device for installing two clamps at both ends of the roll material. After the clamps are installed on both sides of the roll material, the roll material is transported to the strapping station by a transfer trolley to achieve suspended strapping. At this time, the conveyor frame is lifted to the highest position (i.e., the initial position) by the lifting and moving mechanism, and the roll material is located directly below the conveyor frame to avoid collision with the roll material. Then, the front and rear moving mechanism drives the moving frame and the components on the moving frame to move to the front of the roll material. Then, the lifting and moving mechanism drives the conveyor frame to descend to a suitable height according to the diameter of the roll material. Next, the front and rear moving mechanism drives the conveyor frame to move backward, so that the front ends of the two clamps pass through the conveyor frame. The strapping head is used to pull the strapping tape into the conveyor frame. After the strapping tape travels around the conveyor frame once, the overlapping part of the strapping tape and the strapping tape head are joined together, and the strapping tape is pulled back so that the strapping tape tightly binds the two clamps. The strapping head then heat-seals the overlapping part of the strapping tape and the strapping tape head. Finally, the strapping tape is cut to complete the automated strapping of the front side of the roll material. To further improve the reliability of bundling, the lifting and moving mechanism drives the conveyor frame to reset to its initial position. Then, the front and rear moving mechanism drives the moving frame and the components on the moving frame to the rear of the roll. Subsequently, the lifting and moving mechanism drives the conveyor frame to descend to a suitable height according to the diameter of the roll. Then, the front and rear moving mechanism drives the conveyor frame to move forward, so that the rear ends of the two clamps pass through the conveyor frame. The bundling head then automatically bundles the rear side of the roll. After the roll is bundled from both the front and rear sides, it is ensured that the clamps are tightly attached to the roll, preventing the clamps from detaching from the roll, and ensuring that the clamps remain vertical during subsequent handling, thus ensuring the stability of the stacking.

[0114] In summary, compared with existing structures, this invention features a high degree of automation, high adaptability to factory height, a low center of gravity, good stability, and high economy, specifically as follows: 1. Significantly reduced overall height: The device height has been reduced from over seven meters to just over five meters to meet the height requirements of most factories. 2. Significantly improved stability: Previously, the high center of gravity caused the mechanism to sway during operation. The improved design lowers the center of gravity, resulting in better stress distribution and improved stability. 3. Significantly reduced energy consumption: Previously, the lifting mechanism required lifting the heavy strapping machine and frame (or arm) structure together, resulting in high energy consumption. The improved design only requires lifting the strapping connecting slider and strapping machine module, with the remaining weight borne by the frame, significantly reducing energy consumption.

[0115] The main working principle of the strapping device (fourth handling component 4000) in this solution is as follows.

[0116] The binding device uses a servo motor with an absolute encoder. Based on the actual situation, a corresponding mathematical model is used to calculate the actual working position of each axis and then send it to the corresponding servo drive. Upon receiving the command, the servo drive quickly moves to the target position. A positioning command is then sent, and the process proceeds to the next step. Each axis experiences significant impact due to high-speed movement. To protect against mechanical damage caused by external impacts, each axis incorporates a torque protection function during movement. When the alarm torque is reached, the motor stops, an alarm is triggered, and the operator is prompted to check the site for any foreign objects causing motor stalling. Because all mechanical connections have accumulated operational errors or positional errors due to load and drive during assembly and disassembly, each axis has a mechanical absolute zero point to ensure absolute positioning accuracy. After the machine has been running for a period of time, during maintenance, the zero-finding mode is activated, and the servo drive automatically finds the absolute zero point again.

[0117] The main working process of the strapping device (fourth handling component 4000) in this solution is as follows.

[0118] 1. The strapping device is initialized, and each axis automatically moves to the waiting position, waiting for a command;

[0119] 2. Once the roll material reaches the bundling station, the bundling device starts the bundling action;

[0120] 3. The X-axis of the strapping device (the forward and backward movement mechanism of the strapping machine frame) calculates the position 300 mm outside the roll material according to the roll material diameter, and moves the X-axis to the position to be strapped.

[0121] 4. After the X-axis reaches its position, the Z-axis (the vertical lifting and moving mechanism) moves down to the roll material and bundling position, and the X-axis moves to the bundling position.

[0122] 5. After the X-axis reaches the strapping position, the Z-axis moves down to the strapping position and starts releasing the strapping tape;

[0123] 6. Once the Z-axis reaches the strapping position, start the strapping machine to begin strapping.

[0124] 7. After bundling is completed, the X-axis moves to a position 300 mm away from the roll material, and then the Z-axis rises to the standby position.

[0125] Please refer to Figures 15 to 20. The fifth handling component 5000 is a palletizing device. In a preferred embodiment, a novel palletizing device is used to reduce the energy consumption of the film roll handling device, lower the height requirements of the factory building, and achieve more stable handling. The palletizing device includes a palletizing frame, which is part of the suspended packaging frame 1. The palletizing frame has two parallel palletizing beams. A palletizing moving frame 5001 that can move along the length of the palletizing beams is provided on the palletizing frame. In other words, the palletizing moving frame 5001 is set on the frame beam 11 via a palletizing forward and backward moving mechanism 5002. Two palletizing suspension supports 5002 that can move relatively close to or away from each other are provided below the palletizing moving frame 5001. Two palletizing suspension brackets 5002 are located between two palletizing crossbeams and are close to the two palletizing crossbeams on both sides. The movable direction of the two palletizing suspension brackets 5002 is from one palletizing crossbeam to the other palletizing crossbeam, and more specifically, from one palletizing crossbeam to the middle of the two palletizing crossbeams. Each palletizing suspension bracket 5002 is equipped with a flipping gripper assembly 5003 that can move up and down along the palletizing suspension bracket 5002. The two flipping gripper assemblies 5003 are facing each other (in other words, facing inward). This allows the flip gripper assembly 5003 to move back and forth along the length of the palletizing beam (frame beam 11), as well as to lift, clamp, and release the film roll. The palletizing suspension bracket 5002, which simultaneously participates in translation and lifting functions, is integrated on the palletizing moving frame 5001. The load-bearing point is located above the frame beam 11, and the entire palletizing suspension bracket 5002 extends downward from the palletizing moving frame 5001. Thus, during the lifting and lowering of the flip gripper assembly 5003, the overall height of the device does not change and can be maintained at a low level. Furthermore, only the flip gripper assembly 5003 needs to be driven to lift and lower, which significantly improves energy consumption and stability.

[0126] Preferably, the flip gripper assembly 5003 is connected to a palletizing lifting slider 5011, which is slidably connected to the palletizing suspension bracket 5002, so that the flip gripper assembly 5003 can only move up and down, and ensures that the flip gripper assembly 5003 can move smoothly and stably. The flip gripper assembly 5003 is also connected to a palletizing lifting transmission block 5004. The palletizing lifting transmission block 5004 has a threaded hole. A palletizing lifting screw 5005 is rotatably connected to the palletizing suspension bracket 5002. The palletizing lifting screw 5005 is threadedly connected to the threaded hole of the palletizing lifting transmission block 5004. The palletizing lifting screw 5005 is driven by a palletizing lifting drive device 5006, such as a motor. Thus, the palletizing lifting drive device 5006 drives the palletizing lifting screw 5005 to rotate (while the position remains unchanged). Due to the threaded fit and the limiting effect of the flip gripper assembly 5003, which can only move up and down, the flip gripper assembly 5003 will rise and fall as the palletizing lifting screw 5005 rotates. This method has a better load-bearing effect while being stable and easy to control in lifting.

[0127] More preferably, each palletizing suspension bracket 5002 has two parallel palletizing lifting screws 5005, which are distributed on both sides of the palletizing lifting transmission block 5004 and are connected to the same palletizing lifting drive device 5006. The use of two palletizing lifting screws 5005 on both sides can further ensure the load-bearing and stability effect, and can better drive the larger and heavier flip gripper assembly. The flip gripper assembly is a heavy-duty mechanism that usually grabs materials weighing about 3 tons. Moreover, it is a "dual screw single motor drive" type, and the two palletizing lifting screws 5005 form a synchronous transmission screw to ensure the consistency of the lifting action and amplitude on both sides.

[0128] Preferably, each palletizing suspension bracket 5002 has two parallel palletizing vertical frames 5007, and the flipping gripper assembly 5003 is slidably connected to the two palletizing vertical frames 5007 on both sides, thereby further ensuring the stability of lifting. More specifically, each palletizing suspension bracket 5002 includes a palletizing connecting frame 5008 located at the top, which is movably connected to the palletizing moving frame 5001 at the top, and is fixedly connected to the palletizing vertical frame 5007 at the top. The length direction of the palletizing vertical frame 5007 and the palletizing lifting screw 5005 are both vertical. On the same palletizing suspension bracket 5002, two palletizing vertical frames 5007 are provided with palletizing lifting slide rails 5009 along the length direction on their respective inner sides. The palletizing lifting slide rails 5009 are one or two parallel (preferably two, for better stability). The flipping gripper assembly 5003 is connected to a palletizing sliding connecting block 5010, which is preferably square. The palletizing sliding connecting block 5010 is located between the two palletizing vertical frames 5007. Palletizing lifting sliders 5011 are provided on both sides of the palletizing sliding connecting block 5010 and are slidably connected to the palletizing lifting slide rails 5009 on the two palletizing vertical frames 5007. The palletizing lifting screw 5005 and the palletizing lifting transmission block 5004 are located on opposite sides of the two palletizing suspension brackets 5002. Both ends of the palletizing lifting screw 5005 are connected to the palletizing suspension bracket 5002 via bearing seats, thus enabling the palletizing lifting screw 5005 to rotate in its original position. The palletizing lifting drive device 5006 is located below the palletizing connecting frame 5008 and between the two palletizing suspension brackets 5002. The output end of the palletizing lifting drive device 5006 is connected to the two palletizing lifting screws 5005, for example, via a dual-shaft output reducer and a coupling, to achieve synchronous control. The palletizing lifting transmission block 5004 is connected to the palletizing sliding connecting block 5010, forming a complete lifting section together with the flipping gripper assembly 5003. Both the palletizing lifting transmission block 5004 and the palletizing sliding connecting block 5010 are located above the flipping gripper assembly 5003; in other words, the flipping gripper assembly 5003 is located at the bottom. The structural design of this preferred solution is compact and neat while ensuring the stability of lifting and lowering, and has a high space utilization rate. It helps to reduce the height of the palletizing suspension bracket 5002 and the overall device to meet the needs of the vertical suspension packaging system.

[0129] The flip gripper assembly 5003 includes a gripper bracket 5012, which is connected to or integrated with lifting components (such as the aforementioned palletizing lifting transmission block 5004 and palletizing sliding connecting block 5010). A gripper pressure plate 5013 is rotatably connected to one side of the gripper bracket 5012, and a gripper flipping drive device 5014 is provided on the other side of the gripper bracket 5012. The gripper flipping drive device 5014 is driven and connected to the gripper pressure plate 5013 via a drive shaft (rotation shaft). This allows the gripper pressure plate 5013 (and its components) of the flip gripper assembly 5003 to clamp the film roll located in the middle as the palletizing suspension bracket 5002 moves towards it. Then, the gripper flipping drive device 5014 controls the gripper pressure plate 5013 and the film roll to flip as a whole, for example, by 90 degrees, so that the strapping tape from the previous process is located on the side, and then moved and stacked. Furthermore, to ensure accurate flipping angle, it is preferable to have several circumferentially arranged flipping contact plates on the coupling of the gripper flipping drive device 5014, and a flipping sensor on the gripper bracket 5012 to achieve precise control of the flipping angle.

[0130] Furthermore, a gripper positioning head 5015 is provided in the middle of the gripper pressure plate 5013. The gripper positioning head 5015 can move axially relative to the drive shaft. The gripper positioning head 5015 and the gripper pressure plate 5013 are connected by an elastic limiting structure to limit the stroke of the gripper positioning head 5015. Multiple flip-and-slip components 5024 are provided on the outer side of the gripper pressure plate 5013. The end face of the flip-and-slip component 5024 is a pressure head, for example, with anti-slip protrusions, thereby increasing the gripping friction. A position sensor can also be provided on the gripper pressure plate 5013, and a position contact piece for triggering the position sensor can be provided on the gripper positioning head 5015.

[0131] More specifically, the elastic limiting structure may include a first guide sleeve fixedly mounted on the gripper pressure plate 5013, a first guide rod slidably connected to the first guide sleeve, and a first spring mounted on the first guide rod. The first spring is fixedly pressed between the gripper positioning round head 5015 and the first guide sleeve. The first guide rod passes through the pressure plate. Through the elastic force provided by the first spring, the membrane roll can be better clamped after the end cap of the membrane roll matches the gripper positioning round head 5015.

[0132] Furthermore, the anti-slip flipping assembly 5024 may also include a second guide sleeve fixedly mounted on the gripper pressure plate 5013, a second guide rod slidably connected to the second guide sleeve, and a second spring sleeved on the second guide rod. The second guide rod passes through the pressure plate, and a pressure head with friction is provided at one end of the second guide rod near the film roll. The second spring is fixedly pressed between the pressure head and the second guide sleeve. This anti-slip flipping assembly can prevent slippage when the film roll flips.

[0133] Additionally, a plug anti-detachment structure can be provided on the side of the gripper positioning round head 5015. This plug anti-detachment structure can be a third guide sleeve fixedly installed on the gripper pressure plate 5013, a third guide rod slidably connected to the third guide sleeve, and a third spring sleeved on the third guide rod. The third guide rod passes through the pressure plate, and a top head is provided at the end of the third guide rod near the film roll. The third spring is fixedly pressed between the top head and the third guide sleeve. The top head is used to hold the large plug in place, always pressing the plug against one end of the film roll, and fixing the plug to prevent it from detaching from the film roll during stacking.

[0134] The palletizing crossbeam is provided with a front and rear sliding rail 5016 along the length direction above it, and two sets of front and rear sliding blocks 5017 are provided below the palletizing moving frame 5001. The two sets of front and rear sliding blocks 5017 are slidably connected to the front and rear sliding rails 5016 on the two crossbeams, so that the palletizing moving frame 5001 and the connected overall structure can slide back and forth stably.

[0135] A palletizing drive pulley assembly 5018 is provided on the side of the palletizing beam. The palletizing drive pulley assembly 5018 includes at least two pulleys (one in front of the other) and a drive belt connected to the pulleys. The pulleys are rotatably connected to the side of the beam. At least one pulley is connected to a palletizing front-to-back drive device 5019 (preferably, both pulleys located at the front and rear ends of the beam are connected to drive motors). The length direction of the drive belt is consistent with the length direction of the beam. The palletizing moving frame 5001 is fixedly connected to a point on the drive belt via, for example, a clamp. Thus, the palletizing front-to-back drive device 5019 drives the drive belt to move, and the portion of the drive belt between the front and rear pulleys undergoes translational motion, providing drive control for the back-to-back movement of the palletizing moving frame 5001. It is understood that the drive for the back-to-back movement of the palletizing moving frame 5001 can also be other methods, such as gears and racks or lead screws.

[0136] The palletizing moving frame 5001 is horizontally mounted across two palletizing crossbeams. The palletizing moving frame 5001 is equipped with a palletizing transverse sliding rail 5020 extending along its length. Two sets of palletizing transverse sliding blocks 5022 are slidably connected to the palletizing transverse sliding rail 5020. Each set of palletizing transverse sliding blocks 5022 is respectively connected to the upper part of a palletizing suspension bracket 5002, thereby enabling the palletizing suspension bracket 5002 to slide stably left and right. The palletizing moving frame 5001 is also equipped with a palletizing transverse driving device 5021, which is drively connected to the palletizing transverse sliding blocks 5022. The drive connection method of the palletizing transverse driving device 5021 can be, for example, using the aforementioned drive pulley, or a gear rack, lead screw, etc. Optionally, as shown in Figure 16, transverse sliding rails are also connected to the lower sides of the front and rear sides of the palletizing moving frame 5001, slidably connected to the sides of the palletizing suspension bracket 5002, further improving stability.

[0137] In addition, to prevent the moving structure in this solution from dragging the wires during movement, a first cable chain structure is also provided on the palletizing moving frame 5001. One end of the first cable chain structure is connected to the palletizing moving frame 5001, and the other end is connected to the top of the palletizing hanging bracket 5002. A second cable chain structure is also provided on the palletizing hanging bracket 5002. One end of the second cable chain structure is connected to the palletizing hanging bracket 5002, and the other end is connected to the flipping gripper assembly 5003. By setting up this cable chain structure, the wires can be neatly stored in the cable chain, effectively preventing the wires from being pulled apart or loosened, and avoiding interference with other components.

[0138] Preferably, a palletizing detection device 5023, more specifically a set of detection cameras, such as Keyence cameras, is connected below the flip gripper assembly 5003.

[0139] It is understood that the aforementioned drive device can be driven by means of chain motion, and all drive devices, flip gripper assembly 5003, palletizing detection device 5023 and other sensors and inductors can be controlled by a PLC control system.

[0140] In one embodiment, the operation of the film roll handling device of this solution is as follows: after the film roll has undergone the suspension packaging process in the previous stage, it is transported to the bottom of the palletizing moving frame 5001. The flipping gripper assembly 5003 is controlled to move downward along the palletizing suspension bracket 5002. In conjunction with the position of the film roll detected by the palletizing detection device 5023, the flipping gripper assemblies 5003 on both sides reach the specified height. Then, the palletizing suspension brackets 5002 on both sides are further controlled to move towards the middle, so that the flipping gripper assemblies 5003 on both sides clamp the film roll. Finally, the palletizing moving frame 5001 is further controlled to move forward. The system moves the film roll to the stacking position. During / before / after the movement, the flip gripper assembly 5003 is controlled to rotate the film roll 90°, causing the binding straps to flip from their original top and bottom positions to the sides, preventing the binding straps from being squeezed and broken during stacking. After the film roll reaches the stacking position, the height of the film roll is adjusted by the lifting mechanism, and then the flip gripper assemblies 5003 on both sides are controlled to move outward to lower the film roll, completing the stacking of one film roll. Then, the stacking moving frame 5001 is controlled to return to the initial position to continue transporting the next film roll to the stacking position.

[0141] In summary, the original palletizing device has a relatively high overall height, making it unsuitable for installation in factories with insufficient height. Furthermore, its excessive height hinders equipment maintenance. Additionally, the overall lifting structure, including the lifting frame and lateral opening / closing mechanism, is very heavy, leading to unstable lifting and high energy consumption. This improved solution effectively solves these problems by optimizing the previous structure where the lifting frame and tilting device move vertically as a whole. The lifting frame moves laterally, while only the tilting gripper assembly moves vertically, with the remaining weight borne by the frame. This significantly reduces the weight of the vertical movement mechanism and the overall height, meeting the height requirements of most factories. Stability is significantly improved, and energy consumption is significantly reduced. Furthermore, a detection camera is used to detect the film roll position, controlling the error to within one millimeter, ensuring detection accuracy. Optionally, the first handling component 1000, the second handling component 2000, and the third handling component 3000 may adopt the same, partially the same, or similar structure as the fifth handling component 5000.

[0142] The main working principle of the palletizing device (fifth handling component 5000) in this scheme is as follows.

[0143] The palletizing device (film roll transport device) uses a servo motor with an absolute encoder. Based on the actual situation, a corresponding mathematical model is used to calculate the actual working position of each axis and send it to the corresponding servo drive. Upon receiving the instruction, the servo drive quickly moves to the target point to perform the corresponding work. Each axis experiences significant impact due to high-speed movement. To protect against mechanical damage caused by external impacts, each axis has a torque protection function during movement. When the alarm torque is reached, the motor stops, an alarm is triggered, and the operator is prompted to check the site for any foreign objects causing motor stalling. Because all mechanical connections have accumulated operational errors or actual positional errors caused by load and drive during disassembly and assembly, each axis has a mechanical absolute zero point to ensure absolute positioning accuracy. After the machine has been running for a period of time, during maintenance, the zero-finding mode is activated, and the servo drive automatically finds the absolute zero point again. The palletizing device adopts a gantry mode, with two-axis synchronous modes in both directions, such as X, Y, and Z. Using a relative position synchronization mode ensures that the two axes move the same distance throughout operation. The position is constantly monitored, and the slave axis follows the master axis with high precision, preventing positional errors that could cause mutual traction in the mechanical structure. It also prevents wear and tear on moving parts due to positional errors. The left and right flip-grip assemblies 5003 are equipped with Keyence photoelectric rangefinders (palletizing detection devices 5023) to provide feedback on the pallet position, thereby calculating the pallet's center point and ensuring the film roll is securely placed in the center of the pallet.

[0144] The main working process of the palletizing device (fifth handling component 5000) in this solution is as follows.

[0145] 1. Mechanism initialization: All synchronous axes are synchronized. If there is a slight positional error between the slave axis and the master axis, the slave axis will automatically track the master axis and move independently to the master axis position value. After the movement is completed, it will automatically synchronize. After all axes are synchronized, the slave axis will follow the master axis and automatically run to the waiting position, waiting for the command.

[0146] 2. After the upper process is completed, all packaging data is sent to the auxiliary material transport device to request the removal of materials; the flip gripper assembly automatically retracts to the target position according to the material width on the Y-axis (the direction of left and right opening and closing of the flip gripper assembly); the X-axis (the direction of front and back of the frame beam 11) moves to the material (film roll) gripping position; the Z-axis (the direction of up and down) descends to the center height of the material;

[0147] 3. Material gripping: The X, Y, and Z axis mechanisms complete their work and reach the material gripping position. The gripper assembly flips in the Y-axis direction to engage and clamp the material. If the Y-axis torque reaches the set value, the Y-axis will output a Y-axis engagement completion command even if it has not reached the working position, stopping the Y-axis movement to ensure that the membrane material is not damaged.

[0148] 4. Raise the Z-axis to a safe height;

[0149] 5. If the process requires rotating the membrane material at an angle, the rotating shaft in the flip gripper assembly will receive the rotation command and the target rotation angle, and the membrane roll will be automatically rotated again.

[0150] 6. Material Placement: The X-axis moves to the material placement position; before placement, the distance sensor (palletizing detection device 5023) on the left and right flip gripper assembly automatically descends to the measurement position to measure the distance to the edge of the pallet and calculate the center position of the pallet; after the measurement is completed, the left and right flip gripper assembly and the distance sensor automatically return to their original positions; the Y-axis automatically moves to the center position of the material.

[0151] 7. The Z-axis descends to the target position according to the diameter of the membrane roll, allowing the membrane roll to land steadily on the tray; the Y-axis opens to a safe distance.

[0152] 8. The Z-axis rises to the safe position; the XYZ axis mechanisms all rotate to the waiting position.

[0153] Please refer to Figures 21 to 24. In the preferred embodiment, the cable tray structure of the film roll suspension packaging system adopts an integral cable tray 7000. The film roll suspension packaging system includes a suspension packaging frame 1, several system devices, and a control cabinet 8. The system devices include, for example, servo motors for various handling components. Several power lines and several signal lines connect the control cabinet 8 to the system devices. An integral cable tray 7000 is provided on the fixed structure of the suspension packaging frame 1 and the control cabinet 8. The integral cable tray 7000 includes power cable trays and signal cable trays, which are separated and placed separately in the power cable tray and signal cable tray. One of the key points of this solution is that the lines outside the control cabinet 8 are set up in two ways, using a method of separating and distinguishing power lines and signal lines. Furthermore, a shielded functional cable tray is used, such as a galvanized cable tray (more specifically, a galvanized iron cable tray), thereby ensuring that the power lines and signal lines do not interfere with each other.

[0154] More specifically, optionally, the wire groove is provided along the frame beam 11 on the suspended packaging frame 1. It should be noted that the "fixed structure of the suspended packaging frame 1" described in this invention includes, but is not limited to, the inner side, outer side, and top of the beam structure (e.g., the frame beam 11) fixed on the suspended packaging frame 1. In embodiments where a protective cover is also fixed on the outer side of the beam structure of the suspended packaging frame 1 (e.g., as shown in Figure 26), the wire groove can also be provided inside the protective cover. In summary, there are many movable parts in the film roll suspended packaging system and on the suspended packaging frame 1. The wire groove in this solution is provided along the non-moving position in the system (i.e., the fixed structure).

[0155] Preferably, the control cabinets 8 are centrally located (e.g., side-by-side) on one side of the suspended packaging frame 1. Power and signal lines from the control cabinets 8 are first concentrated above, below, or to the side of the control cabinets 8, and then extend towards the suspended packaging frame 1 until they reach the frame beam 11. Only then do the power and signal lines diverge in all directions to connect to the various system devices. In other words, in this solution, all lines are centralized before entering each control cabinet, resulting in a neater and more orderly wiring arrangement.

[0156] The following description is based on a specific embodiment. A control cabinet 8 is provided on one side of the suspended packaging machine frame 1. The control cabinet 8 contains components such as drivers. The control cabinet 8 is connected to various system devices in the film roll suspended packaging system via several wires for power supply and control. The wires are divided into power lines and signal lines according to their function. Power lines are cables used to transmit power from the drivers to the servo motors, and signal lines are cables used to transmit pulses from the drivers to the servo motors.

[0157] An integrated cable tray 7000 is provided on the suspended packaging frame 1 and the control cabinet 8. The integrated cable tray 7000 includes a cabinet connection section 7003 connected to the control cabinet 8. The cabinet connection section 7003 extends from the control cabinet 8 to the suspended packaging frame 1 and is sequentially connected at its end to a first crossbeam section 7004, a crossbeam span section 7005, and a second crossbeam section 7006. The first crossbeam section 7004 and the second crossbeam section 7006 are respectively arranged along the two frame crossbeams 11 of the suspended packaging frame 1, specifically, for example, above or to the side of the frame crossbeams 11. The first crossbeam section 7004, the crossbeam span section 7005, and the second crossbeam section 7006 form, for example, an H-shaped structure; the first crossbeam section 7004, the second crossbeam section 7006, and the crossbeam span section 7005 can be connected substantially perpendicularly, or designed at a certain angle as needed. The overall cable tray 7000 (including the electrical cabinet connection section 7003, the first crossbeam section 7004, the crossbeam span section 7005, and the second crossbeam section 7006, etc.) all have power cable trays 7007 and signal cable trays 7008, thereby separating the power lines and signal lines.

[0158] Power cable trays 7007 contain power cables, one end of which is connected to the control cabinet 8, and the other end is connected to the servo motors of various devices in the film roll suspension packaging system. Signal cable trays 7008 contain signal cables, one end of which is connected to the control cabinet 8, and the other end is connected to the servo motors of various devices in the film roll suspension packaging system. Each complete power cable runs along the cable tray from the control cabinet 8 to the device. All power cable trays 7007 are interconnected to form a power cable arrangement channel, and all signal cable trays 7008 are interconnected to form a signal cable arrangement channel. Furthermore, the power cable arrangement channel and the signal cable arrangement channel are separated, for example, by a plate-like sidewall. In other words, in some other embodiments that are basically feasible, the same type of cable tray can be intermittent, providing only minimal limiting support for a portion of the wires, and / or, different types of cable trays can be separated by sidewalls without partitions, achieving minimal anti-interference effects solely through the wires themselves (e.g., the shielding structure inherent in the outer layer of the wires); while the preferred embodiments of the present invention are even better, focusing more on providing a more stable and reliable guarantee for high-quality processes.

[0159] Preferably, a fixed protective cover is provided on the outside of the rack and / or control cabinet 8, for example, as shown in Figure 26, the protective cover is located on the outside of the rack beam 11 in Figure 1. In other words, a protective cover is provided on the outside of at least the cabinet connection section 7003, the first beam section 7004, and the second beam section 7006. The protective cover is set on the periphery of the first beam section 7004 and the second beam section 7006, as well as the lower cabinet connection section 7003, effectively preventing damage to the wires therein; the opening of the cable tray in the cross section 4 between the beams faces upward and is located at the top of the height, close to the top of the factory building, so it is optional that a protective cover is not required for it.

[0160] More preferably, the crossbeam span 7005 has a bridge-shaped structure and is positioned above the first crossbeam segment 7004 and the second crossbeam segment 7006. Furthermore, a structural connecting beam 7010 is provided between the two frame crossbeams 11 of the suspended packaging frame 1, and the crossbeam span 7005 is connected to the structural connecting beam 7010 via a support connector 7009 (e.g., a support column). This arch-bridge configuration further ensures that the wire trough and its wires do not come into contact with or interfere with the film roll transport assembly (and its track) connected to the frame crossbeam 11.

[0161] Furthermore, both the power cable tray 7007 and the signal cable tray 7008 have a bottom surface and side walls. The two ends of the power cable tray 7007 in the crossbeam span 7005 extend above the power cable tray 7007 in the first crossbeam segment 7004 and the second crossbeam segment 7006, respectively. The two ends of the signal cable tray 7008 in the crossbeam span 7005 extend above the signal cable tray 7008 in the first crossbeam segment 7004 and the second crossbeam segment 7006, respectively. More specifically, for example, at the connection between the crossbeam span 7005 and the first crossbeam segment 7004 on the right side of Figure 23, the sidewall of the power cable trough 7007 of the crossbeam span 7005 extends to the sidewall of the power cable trough 7007 of the first crossbeam segment 7004, while the power cable trough 7007 of the first crossbeam segment 7004 is horizontally continuous. This arrangement allows some power lines to turn along the crossbeam span 7005, while the other part continues along the first crossbeam segment 7004; the other cable troughs are arranged similarly. Furthermore, the signal cable trough 7008 of the crossbeam span 7005 is shorter than the power cable trough 7007 and connects with the signal cable trough 7008 of the first crossbeam segment 7004, thus separating the power cable arrangement channel and the signal cable arrangement channel through the sidewall of the cable trough, further ensuring that the power cable and signal cable do not interfere with each other, and that the wiring arrangement is neat and intuitive.

[0162] Furthermore, the electrical cabinet connection section 7003 includes a first longitudinal section 7011, a transverse section 7013, and a second longitudinal section 7012 connected in sequence. The first longitudinal section 7011 is connected to the control cabinet 8 and is located on the side of the control cabinet 8 away from the suspended packaging frame 1. The connection point between the first longitudinal section 7011 and the control cabinet 8 is located at the bottom of the control cabinet 8, allowing for easy wiring installation and maintenance. The remaining portion of the first longitudinal section 7011 and the transverse section 7013 do not directly contact the control cabinet 8. The transverse section 7013 extends laterally (e.g., horizontally) towards the suspended packaging frame 1 above the control cabinet 8, and the second longitudinal section 7012 extends upward and connects to the first crossbeam section 7004.

[0163] Optionally, the first crossbeam segment 7004 and / or the second crossbeam segment 7006 have two or more trough-shaped structures with bottom surfaces and side walls, which are stacked vertically or arranged horizontally side by side; in other words, the trough is basically a trough-shaped structure, and can be selected as one or more with different height and / or horizontal positions as needed; for example, if a device only needs to transmit power, then only a power trough can be set to connect to the device, without setting a signal line; or, if the power lines and signal lines of multiple devices pass through a certain place, then these wires can be arranged in layers and / or side by side as needed.

[0164] The overall cable tray structure of the film roll suspension packaging system of this invention divides the overall circuitry into power lines and signal lines, placing them in their respective cable trays for separation. The power lines and signal lines each run through separate cable trays, ensuring that the two types of lines do not interfere with each other or affect machine operation. For example, this design prevents signal loss or errors caused by interference from the magnetic field generated during power transmission when sending pulses, thus avoiding alarms. Furthermore, this design neatly arranges the wiring within a single cable tray, resulting in an aesthetically pleasing overall appearance and facilitating wire inspection and repair. For instance, when a circuit problem occurs, it is possible to quickly and clearly identify which wire is faulty.

[0165] Referring to Figure 25, in the preferred embodiment, both the film roll input device 2 and the film roll output device 3 are conveyor belts, wherein the conveyor belt of the film roll output device 3 also serves as a palletizing platform. The suspended packaging frame 1 is also equipped with a fixing component mounting device 7 above the film roll output device 3, and a vibratory feeder 8000 for automatically arranging and conveying fixing components is provided next to the fixing component mounting device 7. A soundproof box 8001 is provided on the outside of the vibratory feeder, and sound-absorbing cotton is provided on each side of the inner wall of the soundproof box 8001. A fixing component output port is provided on the side of the soundproof box 8001 facing the fixing component mounting device 7, and the output end of the vibratory feeder extends from the fixing component output port. An inspection door 8002 is provided on the side of the soundproof box 8001 facing away from the fixing component mounting device 7. This solution achieves automatic feeding of fixing components through a vibratory feeder, significantly reduces noise through the soundproof box, and facilitates processes such as loading and maintenance.

[0166] Based on the efficient film roll suspension packaging system of the present invention, the present invention also provides an efficient film roll suspension packaging method, which includes the following steps:

[0167] Step S1: The film roll to be packaged is conveyed to the underside of the crossbeam of the suspended packaging frame 1 through the film roll input device 2.

[0168] Step S2: The first conveying component 1000 grabs the film roll and moves it onto the weighing and wrapping device 4;

[0169] In step S3, the weighing and wrapping device 4 weighs the film roll and wraps a protective film on the surface of the film roll; at the same time, the unloaded first conveying component 1000 moves back to above the film roll input device 2, waiting to grab the next film roll to be packaged.

[0170] In step S4, the second conveying component 2000 grabs the film roll that has been processed on the weighing and wrapping device 4 and moves it to the fastening device 5; then, steps S2 and S3 are repeated to process the next film roll to be packaged, and so on.

[0171] In step S5, the fastening device 5 and the auxiliary material transport device 6000 work together to fasten the auxiliary materials at both ends of the film roll. The auxiliary materials include clamps, protective pads and plugs.

[0172] In step S6, the third transport component 3000 picks up the film roll processed in step S5 and moves it onto the film transport trolley 6; then the film transport trolley 6 moves to a position below the fourth transport component 4000.

[0173] In step S7, the fourth transport component 4000 bundles the membrane roll, forming two binding straps at the top and bottom; then the membrane transport trolley 6 continues to move closer to the membrane roll output device 3.

[0174] In step S8, the fifth transport component 5000 grabs the film roll, rotates it 90° along the film roll axis, and stacks it on the tray of the film roll output device 3;

[0175] Step S9: After the set number of stacking layers is completed on a pallet, the film roll output device 3 transports the pallet and the stacked film rolls on it to the subsequent process.

[0176] Preferably, the film roll suspension packaging system also includes several labeling machines (not shown in the figure). Specifically, a first labeling machine is located next to the weighing and wrapping device 4, a second labeling machine is located next to the fastening device 5, and a third labeling machine is located next to the output end of the film roll output device 3. The labeling machines can be associated with adjacent equipment. For example, the label affixed by the first labeling machine contains information obtained from the weighing and wrapping device 4, the label affixed by the second labeling machine contains information about the fastened auxiliary materials, and the label affixed by the third labeling machine contains information about the subsequent additional packaging or the contents of the entire packaging.

[0177] For the preferred embodiment of the three labeling machines described above, the following steps are further preferred:

[0178] After wrapping the protective film on the surface of the film roll in step S3, the first labeling machine applies the first label to the curved surface of the film roll with the protective film.

[0179] After the fastening is completed in step S5, a second label is applied to the outside of the clamping plate using a second labeling machine;

[0180] In step S9, subsequent processes include additional packaging of the pallet and the stacked film rolls according to packaging process requirements, forming a complete pallet of film roll products. Additional packaging includes, for example, wrapping the entire pallet with an outer packaging film or covering the top with a moisture-proof film; these additional items are selected and determined according to relevant regulations or customer requirements. Then, a third labeling machine applies a third label to the entire pallet of film roll products. Finally, a forklift or AGV transport vehicle transports the entire pallet of film roll products away. This solution features three labeling machines at key locations, achieving an automated labeling process and effectively serving functions such as process and quality monitoring, and product anti-counterfeiting.

[0181] In summary, the efficient film roll suspension packaging system and method of the present invention has five sets of handling components on the frame. Compared with the existing solutions, a third handling component is added, mainly to reduce packaging time and improve packaging efficiency. This component can share some of the actions. The second handling component is used to grab the film roll from the weighing and wrapping device and move it to the fastening device. The third handling component is used to grab the film roll with the auxiliary materials assembled from the fastening device and move it to the film transport trolley. These two actions can be performed simultaneously, greatly reducing transportation time and improving operational efficiency. The auxiliary material transport device is equipped with clamping plate material magazines and protective pad material magazines of various sizes and models, realizing the automation of the protective pad installation process. The protective pads can ensure that the film roll is not damaged by collision or friction with the hard clamping plates during transportation. Furthermore, the same gripping mechanism can grip clamping plates and protective pads of different sizes, hardness, and weights, making the operation simple and efficient. Improvements to the strapping device, palletizing device, and other handling components have significantly reduced the overall maximum height of the film roll suspension packaging system, avoiding issues such as insufficient factory height, safety hazards, and potential negative impacts on packaging quality. Furthermore, they have significantly reduced energy consumption and made the operation more stable and efficient.

Claims

1. A high-efficiency film roll suspension packaging system, characterized in that, The device includes an auxiliary material transport device for transporting auxiliary materials used in suspended packaging. The auxiliary material transport device includes a gripping mechanism, which includes a suction cup mounting frame. The suction cup mounting frame is provided with at least one set of suction cups, wherein the set of suction cups consists of several large suction cups for gripping auxiliary materials that are relatively large in size and / or relatively heavy in weight in the auxiliary material library, or consists of several small suction cups for gripping auxiliary materials that are relatively small in size and / or relatively light in weight in the auxiliary material library, or consists of several large suction cups and several small suction cups together.

2. The high-efficiency film roll suspension packaging system according to claim 1, characterized in that, In the auxiliary material conveying device, when at least one set of suction cups is composed of several large suction cups and several small suction cups, the small suction cups are distributed in the first area, and the large suction cups are distributed on the outer periphery or outer side of the first area, or the positions of the large suction cups and the small suction cups are staggered. And / or, the auxiliary material transport device also includes an auxiliary material transport frame, the auxiliary material transport frame having an auxiliary material transport beam, an auxiliary material moving frame connected to the auxiliary material transport beam via an auxiliary material forward and backward moving mechanism, and an auxiliary material lifting moving mechanism connected to the auxiliary material moving frame via an auxiliary material lateral moving mechanism; a suction cup mounting frame connected to the lower part of the auxiliary material lifting moving mechanism; an auxiliary material storage for placing auxiliary materials is located below the auxiliary material transport beam, and the auxiliary material storage has at least two types and places different auxiliary materials in each.

3. The high-efficiency film roll suspension packaging system according to claim 1, characterized in that, The film roll suspension packaging system also includes a strapping device, which includes a strapping frame with a strapping crossbeam. A strapping moving frame is connected to the strapping crossbeam via a strapping forward and backward moving mechanism. Strapping lifting frames are fixedly installed at the left and right ends of the strapping moving frame. A strapping lifting moving mechanism is installed on the strapping lifting frame, which is longitudinally extended downward. A strapping module is installed between the strapping lifting moving mechanisms.

4. The high-efficiency film roll suspension packaging system according to claim 1, characterized in that, The film roll suspension packaging system also includes a palletizing device, which includes a palletizing frame with a palletizing beam. A palletizing carriage that can move along the length of the palletizing beam is provided on the palletizing frame. Two palletizing suspension brackets that can move relatively close to each other are provided below the palletizing carriage. Each palletizing suspension bracket is provided with a flipping gripper assembly that can move up and down along the palletizing suspension bracket. The two flipping gripper assemblies are oriented opposite to each other.

5. The high-efficiency film roll suspension packaging system according to claim 4, characterized in that, In the palletizing device, a flip gripper assembly is connected to a palletizing lifting slider, which is slidably connected to a palletizing suspension bracket. The flip gripper assembly is also connected to a palletizing lifting transmission block, which has a threaded hole. A palletizing screw is rotatably connected to the palletizing suspension bracket, and the palletizing screw is threadedly connected to the threaded hole of the palletizing lifting transmission block. The palletizing screw is driven by a palletizing lifting drive device. On each palletizing suspension bracket, there are two parallel palletizing screws, which are distributed on both sides of the palletizing lifting transmission block and are driven by the same palletizing lifting drive device.

6. The high-efficiency film roll suspension packaging system according to claim 1, characterized in that, The film roll suspension packaging system also includes cable trays; several power lines and several signal lines are connected between several system devices and control cabinets in the film roll suspension packaging system. The cable trays are fixedly connected to the fixed structure of the frame and the control cabinet in the film roll suspension packaging system. The cable trays include power cable trays and signal cable trays, and the power lines and signal lines are placed separately in the power cable trays and signal cable trays.

7. The efficient film roll suspension packaging system according to any one of claims 1-6, characterized in that, The film roll suspension packaging system includes a suspension packaging frame, a film roll input device on the input side of the production line of the suspension packaging frame, and a film roll output device on the output side of the production line of the suspension packaging frame. Along the production line direction, the frame beam of the suspended packaging machine is provided with a first transport assembly, a second transport assembly, a third transport assembly, a fourth transport assembly, and a fifth transport assembly. On the ground below the suspended packaging machine, along the production line direction between the film roll input device and the film roll output device, a weighing and wrapping device, a fastening device, and a film transport trolley are provided in sequence. The first transport component is capable of moving and transporting the film roll between the film roll input device and the weighing and wrapping device; The second conveying component can move and convey the film roll between the weighing and wrapping device and the fastening device; auxiliary material conveying devices are provided on both sides of the fastening device, and a centering mechanism is provided next to the auxiliary material conveying device; the gripping mechanism of the auxiliary material conveying device can grip, move the auxiliary material and place it on the centering mechanism. The third transport assembly can move between the fastening device and the film transport trolley to transport the film roll; the film transport trolley can move between the fastening device and the film roll output device and stop in the middle below the fourth transport assembly; The fourth handling component is a strapping device, which can move along the strapping frame, which is part of the suspended packaging frame; The fourth transport assembly is located between the fastening device and the film roll output device; The fifth handling component is a palletizing device, which can move along the palletizing frame, which is part of the suspended packaging frame; The fifth transport component is capable of moving, transporting, and flipping the film roll between the film transport trolley and the film roll output device.

8. The high-efficiency film roll suspension packaging system according to claim 7, characterized in that, Both the film roll input device and the film roll output device are conveyor belts; the suspended packaging machine frame is also equipped with a fixing component installation device above the film roll output device, and a vibratory feeder for conveying the fixing component is provided next to the fixing component installation device; a soundproof box is provided on the outside of the vibratory feeder, and the inner wall of the soundproof box is lined with sound insulation cotton. The side of the soundproof box facing the fixing component installation device is provided with a fixing component output port, and the output end of the vibratory feeder extends out from the fixing component output port. An inspection door is provided on the side of the soundproof box facing away from the fixing component installation device. And / or, a first labeling machine is provided next to the weighing and wrapping device, a second labeling machine is provided next to the fastening device, and a third labeling machine is provided next to the output end of the film roll output device.

9. A highly efficient film roll suspension packaging method, characterized in that, It employs the high-efficiency film roll suspension packaging system as described in claim 7 or 8, which includes the following steps: Step S1: The film roll to be packaged is conveyed to the underside of the crossbeam of the suspended packaging machine frame through the film roll input device; Step S2: The first conveying component picks up the film roll and moves it onto the weighing and wrapping device; In step S3, the weighing and wrapping device weighs the film roll and wraps a protective film on the surface of the film roll; at the same time, the unloaded first conveying component moves back to the top of the film roll input device, waiting to grab the next film roll to be packaged. In step S4, the second conveying component grabs the film roll that has been processed on the weighing and wrapping device and moves it to the fastening device; then, steps S2 and S3 are repeated to process the next film roll to be packaged, and so on continuously. Step S5: The fastening device and the auxiliary material transport device work together to fasten the auxiliary materials at both ends of the film roll. The auxiliary materials include clamps, protective pads and plugs. In step S6, the third transport component picks up the film roll processed in step S5 and moves it onto the film transport trolley; then the film transport trolley moves to the bottom of the fourth transport component. In step S7, the fourth transport component bundles the membrane roll; then the membrane transport trolley continues to move closer to the membrane roll output device. Step S8: The fifth transport component picks up the film roll, rotates it 90° along the film roll axis, and stacks it on the tray of the film roll output device; Step S9: After the set number of stacking layers is completed on a pallet, the film roll output device transports the pallet and the stacked film rolls on it to the subsequent process.

10. A control method for a high-efficiency film roll suspension packaging system, characterized in that, It is used in the high-efficiency film roll suspension packaging system as described in claim 7 or 8, and includes the following: The auxiliary material conveying device is driven by a servo motor with an absolute encoder. During operation, a corresponding mathematical model is used to calculate the actual working position of each axis driven by the servo motor based on the actual situation, and then the result is sent to the corresponding servo drive. After receiving the instruction, the servo drive quickly moves to the target point to perform the corresponding work. Furthermore, each axis has a torque protection function during movement. When the alarm torque is reached, the servo motor stops running and an alarm is triggered to check for foreign objects causing motor stall. Additionally, each axis is set with a mechanical absolute zero point. After running for a period of time or during maintenance, the zero-finding mode is activated, and the servo drive automatically returns the axis to the mechanical absolute zero point to eliminate errors. In the auxiliary material transport device, the gripping mechanism is equipped with a laser detector. When gripping auxiliary materials, the gripping mechanism moves towards the auxiliary material storage. If the laser detector detects existing auxiliary materials before reaching the target position, the gripping mechanism stops moving and prepares for vacuum adsorption. If the laser detector does not detect auxiliary materials after the gripping mechanism reaches the target position, an alarm is triggered to check if there are no auxiliary materials. The large and small suction cups are connected to a vacuum generator to generate a vacuum negative pressure for vacuum adsorption. The vacuum generator is equipped with a vacuum detector to provide feedback on whether the current negative pressure value has reached the working value. If it has not reached the working value, an alarm is triggered to check if there is any air leakage in the suction cups.

Images