CN112193841B - Paperboard stacking and unstacking method - Google Patents
Paperboard stacking and unstacking method Download PDFInfo
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- CN112193841B CN112193841B CN202011090178.1A CN202011090178A CN112193841B CN 112193841 B CN112193841 B CN 112193841B CN 202011090178 A CN202011090178 A CN 202011090178A CN 112193841 B CN112193841 B CN 112193841B
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- stack
- paper
- unstacking
- paper board
- paperboard
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/08—Stacking of articles by adding to the top of the stack articles being tilted or inverted prior to depositing
- B65G57/081—Stacking of articles by adding to the top of the stack articles being tilted or inverted prior to depositing alternate articles being inverted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pile Receivers (AREA)
Abstract
The invention discloses a paperboard stacking and unstacking method. When stacking, forming a gap at one axial end of each paperboard, and stacking a certain number of paperboards into a pile in a uniform direction according to the gaps; the paper boards are stacked on the tray layer by layer according to the mode that the height of one paper board stack is recorded as one layer, each paper board stack comprises a plurality of paper board stacks which are arranged in parallel, and the gaps of the upper paper board stack and the lower paper board stack are turned 180 degrees in the direction. When unstacking is carried out, automatic unstacking equipment comprising a controller, image recognition equipment, a shifting plate, a supporting plate and a hook plate is used, the shifting plate pushes the single stack of paper boards to move, the hook plate brings the paper boards to obliquely rise, the supporting plate enters the bottoms of the paper boards and supports the paper boards, and the automatic unstacking equipment finally brings the paper boards to an appointed position. The invention is suitable for an automatic operation mode, can reduce the working hours of workers, improve the quality of paperboards and improve the operability and stability of automatic unstacking equipment.
Description
Technical Field
The invention relates to the technical field of packaging, in particular to a paperboard stacking and unstacking method.
Background
The conventional paperboard stacking mode easily causes overall deflection, paperboard bending and deformation are easily generated, the number of the paperboards is not easy to count, the consumed time is long, and the operation of automatic unstacking equipment is not convenient.
The conventional paperboard unstacking mode can be divided into manual mode and automatic mode, when manual unstacking is used, the number of paper sheets is not easy to count, the labor intensity is high, when automatic equipment is used for unstacking, the number of single-pile paperboards cannot be identified, and the paperboards are easy to damage.
In conclusion, the existing paperboard stacking and unstacking method is easy to damage the paperboard quality, high in labor cost and not beneficial to automatic equipment operation.
Disclosure of Invention
The invention aims to provide a paperboard stacking and unstacking method, which is suitable for an automatic operation mode, can reduce the working hours of workers, improve the quality of paperboards and improve the operability and stability of automatic unstacking equipment.
In order to achieve the above purpose, the solution of the invention is:
a method of stacking paperboard comprising the steps of:
step A1, forming a notch at one axial end of each paperboard, and stacking a certain number of paperboards into a pile according to the uniform orientation of the notches;
step A2, stacking the paper boards on the tray layer by layer in a mode that the height of one paper board stack is recorded as one layer, wherein each paper board stack comprises a plurality of paper board stacks arranged in parallel, and the gaps of the upper paper board and the lower paper board are turned 180 degrees.
In step A1, the stack of sheets includes 2-100 sheets.
In the step a2, the notches of two adjacent stacks of cardboard sheets are oriented in the same direction in the cardboard sheets of the same layer.
In step a2, in the cardboard of the same layer, the notches of two adjacent piles of cardboard are turned 180 degrees.
In the step A2, partition boards are placed among the paper boards which are separated by a plurality of layers, and partition boards are placed among the paper boards at the bottom layer and the tray.
A paperboard unstacking method is used for disassembling a paperboard stack formed by the paperboard stacking method, and automatic unstacking equipment comprising a controller, image recognition equipment, a shifting plate, a supporting plate and a hook plate is used, and comprises the following steps:
step B1, judging the initial position of the paper board through the image recognition equipment, and rotating and descending the automatic unstacking equipment by the controller according to the recognition result so that the gaps of the hook plate and the paper board are positioned at different ends of the single stack of paper boards and the gaps of the pull plate and the paper board are positioned at the same end of the single stack of paper boards;
step B2, the controller controls the shifting plate to move transversely to push the single paper board pile to move for a distance H, so that the hook plate is attached to the lower end part of the paper board;
step B3, the controller controls the hook plate to ascend, and the hook plate hooks and drives the unnotched end part of the paper board to ascend, so that the single stack of paper boards is in an inclined state;
step B4, the controller controls the supporting plate to transversely move into the bottom of the single paper board stack, and then controls the hook plate to descend, so that the single paper board stack is restored to the horizontal state and is horizontally arranged on the supporting plate;
and step B5, the controller controls the automatic unstacking equipment to ascend to drive the single stack of paper boards to a specified position.
In step B2, the distance H that the stack of cardboard is pushed is similar to the horizontal width D of the cardboard gap.
In the step B3, the relation between the horizontal length L of the hook plate and the horizontal width D of the paperboard notch is L-1/2D.
After the technical scheme is adopted, the invention can achieve the following technical effects:
the paperboard stacking method can eliminate bending and deformation of the paperboards, and visual difference is caused by the gaps, so that manual counting is convenient and rapid, and the working hours of workers are greatly shortened; meanwhile, the arrangement of the gap enables the stacking method to be more suitable for the operation of automatic unstacking equipment than the traditional method;
the paperboard unstacking method realizes accurate grabbing and unstacking by utilizing the notch part of the paperboard, and avoids damage to the paperboard, thereby ensuring the quality of the paperboard and improving the accuracy and efficiency of an automatic operation mode.
Drawings
FIG. 1 is a schematic view of a first embodiment of the stacking method of the present invention;
FIG. 2 is an exploded view of FIG. 1;
FIG. 3 is a schematic view of a second embodiment of the stacking method of the present invention;
FIG. 4 is an exploded view of FIG. 3;
FIG. 5 is a schematic illustration of step B1 of the unstacking method of the present invention;
FIG. 6 is a schematic illustration of step B2 of the unstacking method of the present invention;
FIG. 7 is a schematic illustration of step B3 of the unstacking method of the present invention;
FIG. 8 is a schematic illustration of step B4 of the unstacking method of the present invention;
the reference numbers illustrate: a paperboard 1; a notch 11; a tray 2; a partition plate 3; a controller 4; an image recognition device 5; a dial plate 6; a support plate 7; a hook plate 8; an automated unstacking apparatus 9.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
Referring to fig. 1-4, the present invention comprises a method of stacking paperboard comprising the steps of:
step A1, forming a notch 11 at one axial end of each paperboard 1, and stacking a certain number of paperboards 1 into a stack in the same direction according to the notches 11;
step A2, stacking the paper boards 1 on the tray 2 layer by layer according to the height of the paper boards 1, wherein each layer of paper board 1 comprises a plurality of stacks of paper boards 1 arranged in parallel, and the gaps 11 of the upper layer of paper board 1 and the lower layer of paper board 1 face to fall 180 degrees.
In step a1, the stack of sheets 1 comprises 2-100 sheets 1.
In the step a2, in the cardboard 1 on the same layer, the directions of the notches 11 of two adjacent piles of cardboard 1 may be the same, or may be turned 180 °, wherein the setting mode of turning 180 ° may further improve the stability after the cardboard 1 is stacked, and facilitate the identification of different piles of cardboard 1 on the left and right, and facilitate the operation of the automation equipment.
In the step a2, the partition boards 3 are placed between the paper boards 1 spaced by several layers, and the partition boards 3 are placed between the bottom paper board 1 and the tray 2.
The paperboard stacking method can eliminate bending and deformation of the paperboard 1, and visual difference is caused by the notch 11, so that manual counting is convenient and rapid, and the working hours of workers are greatly shortened; meanwhile, the arrangement of the notch 11 makes the stacking method more suitable for the operation of the automatic unstacking equipment than the traditional method.
The invention also comprises a paperboard unstacking method for disassembling a paperboard stack formed by the paperboard stacking method, which uses an automatic unstacking device 9 comprising a controller 4, an image recognition device 5, a shifting plate 6, a supporting plate 7 and a hook plate 8, and comprises the following steps:
step B1, referring to fig. 5, judging the initial position of the cardboard 1 by the image recognition device 5, and rotating and lowering the automatic unstacking device 9 by the controller 4 according to the recognition result, so that the hook plate 8 and the gap 11 of the cardboard 1 are located at different ends of the single stack of cardboard 1, and the pull plate 6 and the gap 11 of the cardboard 1 are located at the same end of the single stack of cardboard 1;
step B2, referring to FIG. 6, the controller 4 controls the shifting board 6 to move horizontally to push the single stack of paper boards 1 to move a distance H, so that the hook board 8 sticks to the lower end of the paper board 1;
step B3, referring to fig. 7, the controller 4 controls the hook plate 8 to ascend, and the hook plate 8 hooks and drives the end of the paper board 1 without the notch 11 to ascend, so that the single stack of paper boards 1 is inclined;
step B4, referring to fig. 8, the controller 4 controls the supporting plate 7 to move horizontally into the bottom of the single stack of paper boards 1, and then controls the hook plate 8 to descend, so that the single stack of paper boards 1 returns to the horizontal state and is horizontally placed on the supporting plate 7;
and step B5, the controller 4 controls the automatic unstacking equipment 9 to ascend integrally and drives the single paper board pile 1 to a specified position.
In step B2, the single stack of sheets 1 is pushed by a distance H that is close to the horizontal width D of the notch 11 in the sheet 1.
In the step B3, the relationship between the horizontal length L of the hook plate 8 and the horizontal width D of the notch 11 of the cardboard 1 is: l is less than or equal to 1/2D. Considering that the lifting height of the poking plate 6 is not completely at the same level with the bottom sheet of the single stack of paper boards 1, the poking plate 6 may poke more or less than the number of the next stack of paper boards 1 after being transversely moved, especially when the poking plate 6 is more than the number of the stack of paper boards 1, in order to prevent the top part of the next stack of paper boards 1 from being brought up by the hook plate 8, after the horizontal length L of the hook plate 8 is limited, the hook plate 8 can not touch the top part of the next stack of paper boards 1, only the current stack of paper boards 1 can be hooked, and the accurate number of the paper boards 1 hooked each time can be ensured.
According to the method for unstacking the paperboards 1, the gaps 11 of the paperboards 1 are used for accurately grabbing and unstacking, and the paperboards 1 are prevented from being damaged, so that the quality of the paperboards 1 is ensured, and the accuracy and the efficiency of an automatic operation mode are improved.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.
Claims (7)
1. A method for unstacking paper boards is used for disassembling a paper board stack, wherein the paper board stack comprises a plurality of paper boards and trays; forming notches at the axial end parts of the paper boards, and stacking a plurality of paper boards into a pile in a uniform orientation according to the notches; stacking the paper boards on the tray layer by layer in a mode that the height of one paper board stack is recorded as one layer, wherein each paper board stack comprises a plurality of paper board stacks which are arranged in parallel, and the gaps of the upper paper board stack and the lower paper board stack face to fall 180 degrees; the automatic unstacking equipment comprises a controller, image recognition equipment, a shifting plate, a supporting plate and a hook plate, and is characterized by comprising the following steps:
step B1, judging the initial position of the paper board through the image recognition equipment, and rotating and descending the automatic unstacking equipment by the controller according to the recognition result so that the gaps of the hook plate and the paper board are positioned at different ends of the single stack of paper boards and the gaps of the pull plate and the paper board are positioned at the same end of the single stack of paper boards;
step B2, the controller controls the shifting plate to move transversely to push the single paper board pile to move for a distance H, so that the hook plate is attached to the lower end part of the paper board;
step B3, the controller controls the hook plate to ascend, and the hook plate hooks and drives the unnotched end part of the paper board to ascend, so that the single stack of paper boards is in an inclined state;
step B4, the controller controls the supporting plate to transversely move into the bottom of the single paper board stack, and then controls the hook plate to descend, so that the single paper board stack is restored to the horizontal state and is horizontally arranged on the supporting plate;
and step B5, the controller controls the automatic unstacking equipment to ascend integrally and drives the single paper board stack to the designated position.
2. A method of unstacking cardboard as in claim 1 wherein:
in step B2, the distance H that the stack of cardboard is pushed is similar to the horizontal width D of the cardboard gap.
3. A method of unstacking cardboard as in claim 1 wherein:
in the step B3, the relation between the horizontal length L of the hook plate and the horizontal width D of the paperboard notch is that L is less than or equal to 0.5D.
4. A method of unstacking cardboard as in claim 1 wherein:
in the paperboard pile, one stack of paperboards comprises 2-100 paperboards.
5. A method of unstacking cardboard as in claim 1 wherein:
in the paperboard pile, notches of two adjacent stacks of paperboards face the same direction in the paperboards of the same layer.
6. A method of unstacking cardboard as in claim 1 wherein:
in the paperboard pile, in the paperboards on the same layer, the notches of two adjacent stacks of paperboards are turned 180 degrees in the direction.
7. A method of unstacking cardboard as in claim 1 wherein:
in the paperboard stack, a partition board is arranged between the paperboards at intervals of a plurality of layers, and a partition board is arranged between the paperboard at the bottom layer and the tray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011090178.1A CN112193841B (en) | 2020-10-13 | 2020-10-13 | Paperboard stacking and unstacking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011090178.1A CN112193841B (en) | 2020-10-13 | 2020-10-13 | Paperboard stacking and unstacking method |
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| Publication Number | Publication Date |
|---|---|
| CN112193841A CN112193841A (en) | 2021-01-08 |
| CN112193841B true CN112193841B (en) | 2022-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011090178.1A Active CN112193841B (en) | 2020-10-13 | 2020-10-13 | Paperboard stacking and unstacking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117103320B (en) * | 2023-10-25 | 2024-01-16 | 哈尔滨学院 | Automatic grabbing manipulator for violin |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0888990A1 (en) * | 1997-07-02 | 1999-01-07 | Gerd Winter | Method of automatically moving or palletizing/depalletizing flat piles of paper, cardboard or paperboard sheets |
| CN202201545U (en) * | 2011-07-08 | 2012-04-25 | 上海汉铁机械有限公司 | Paperboard misplacing and stacking machine |
| CN202296503U (en) * | 2011-09-30 | 2012-07-04 | 赖木林 | Gantry-type lower-accumulating stacked paper stand used for corrugated boards |
| CN107250010A (en) * | 2014-12-18 | 2017-10-13 | 鲍勃斯脱格伦兴股份公司 | Transmission system for stackable flat element heap to be sent to processing unit (plant) |
| CN107792679A (en) * | 2017-11-27 | 2018-03-13 | 青岛正德信智能科技有限公司 | One kind dislocation paper stack device stacked side by side and stacking method |
| CN209367502U (en) * | 2018-09-30 | 2019-09-10 | 浙江博莱特纸容器有限公司 | A kind of stacking machine with automatic dislocation function |
-
2020
- 2020-10-13 CN CN202011090178.1A patent/CN112193841B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0888990A1 (en) * | 1997-07-02 | 1999-01-07 | Gerd Winter | Method of automatically moving or palletizing/depalletizing flat piles of paper, cardboard or paperboard sheets |
| CN202201545U (en) * | 2011-07-08 | 2012-04-25 | 上海汉铁机械有限公司 | Paperboard misplacing and stacking machine |
| CN202296503U (en) * | 2011-09-30 | 2012-07-04 | 赖木林 | Gantry-type lower-accumulating stacked paper stand used for corrugated boards |
| CN107250010A (en) * | 2014-12-18 | 2017-10-13 | 鲍勃斯脱格伦兴股份公司 | Transmission system for stackable flat element heap to be sent to processing unit (plant) |
| CN107792679A (en) * | 2017-11-27 | 2018-03-13 | 青岛正德信智能科技有限公司 | One kind dislocation paper stack device stacked side by side and stacking method |
| CN209367502U (en) * | 2018-09-30 | 2019-09-10 | 浙江博莱特纸容器有限公司 | A kind of stacking machine with automatic dislocation function |
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| CN112193841A (en) | 2021-01-08 |
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