CN112551209B - Feeding method of carton paper and label paper feeding system - Google Patents
Feeding method of carton paper and label paper feeding system Download PDFInfo
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- CN112551209B CN112551209B CN202011476032.0A CN202011476032A CN112551209B CN 112551209 B CN112551209 B CN 112551209B CN 202011476032 A CN202011476032 A CN 202011476032A CN 112551209 B CN112551209 B CN 112551209B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H1/00—Supports or magazines for piles from which articles are to be separated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
- B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/19—Specific article or web
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- Engineering & Computer Science (AREA)
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- De-Stacking Of Articles (AREA)
Abstract
The invention relates to the technical field of tobacco packaging, and discloses a feeding method of a carton paper and trademark paper feeding system. Carton paper and label paper feeding system includes the manipulator, is used for stacking stack district, carton paper cutting device, label paper cutting device and setting up the buffer memory platform between carton paper cutting device and label paper cutting device of label paper and carton paper, and carton paper and label paper feeding system's material loading method includes: the manipulator places the label paper on the cache table onto the label paper cutting device, and the label paper cutting device operates; the manipulator places the carton paper on the cache table onto a carton paper cutting device, and the carton paper cutting device operates; the manipulator grabs label paper from the stack area and places the label paper on the buffer platform; and/or the manipulator grabs the carton paper from the stacking area and places the carton paper on the buffer platform. The feeding method of the carton paper and label paper feeding system has the advantages of high feeding speed and high production efficiency of the label paper cutting device and the carton paper cutting device.
Description
Technical Field
The invention relates to the technical field of tobacco packaging, in particular to a feeding method of a carton paper and trademark paper feeding system.
Background
The package of tobacco includes trademark paper and carton paper, and usually, a plurality of trademark paper (or carton paper) are stacked into a pile, and then are surrounded and wrapped on the outer side of the trademark paper (or carton paper) in the pile by a piece of kraft paper to form a whole by a hoop, and are stacked in the stacking area.
Carton paper and label paper feeding system includes manipulator, carton paper cutting device and label paper cutting device, before packing the tobacco, needs the manipulator to carry the stack in the label paper and the carton paper of landing district to corresponding cutting device department respectively, and cutting device cuts open outside cladding's kraft paper to use when follow-up tobacco packing. The stacking area is big, apart from cutting device distance far away, if the manipulator all snatchs label paper or barrel paper from the stacking area at every turn and places the mechanism material loading that cuts to corresponding, then get material in-process cutting device and can wait for longer time, lead to material loading speed slow, production efficiency low. In order to improve the production efficiency, two manipulators are usually adopted in the prior art to respectively feed the label paper cutting device and the carton paper cutting device, and the mode can cause the cost of the whole feeding system to be high and the control method to be complicated.
Therefore, the invention is continued to provide a feeding method of a carton paper and label paper feeding system to solve the technical problems.
Disclosure of Invention
The invention aims to provide a feeding method of a carton paper and label paper feeding system, which has the advantages of high feeding speed and high production efficiency of a label paper cutting device and a carton paper cutting device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method of feeding a carton and label feeding system, the carton and label feeding system comprising: manipulator, be used for pile storehouse district, strip box paper cutting device, the label paper cutting device of stack label paper and strip box paper and set up at strip box paper cutting device with the buffer memory platform between the label paper cutting device, the material loading method of strip box paper and label paper feeding system includes the step:
the manipulator places the label paper on the cache table onto a label paper cutting device, and the label paper cutting device operates;
the manipulator places the carton paper on the cache table onto a carton paper cutting device, and the carton paper cutting device operates;
the manipulator grabs label paper from the stacking area and places the label paper on the cache table; and/or the manipulator grabs the carton paper from the stacking area and places the carton paper on the buffer platform.
Optionally, before the manipulator grabs the label paper on the cache table, it is determined whether the label paper cutting device needs the label paper, if the label paper is not needed, it is determined whether the carton paper cutting device needs the carton paper, and if the carton paper is not needed, the manipulator grabs the label paper from the stack area and places the label paper on the cache table; and/or the manipulator grabs the carton paper from the stacking area and places the carton paper on the buffer platform.
Optionally, after the manipulator finishes placing the label paper on the label paper cutting device, the manipulator places the carton paper on the carton paper cutting device, places the label paper in the stack area on the cache table, and places the carton paper in the stack area on the cache table, the manipulator returns to determine whether the label paper cutting device needs the label paper.
Optionally, if the label paper cutting device and the carton paper cutting device do not need materials, whether the carton paper on the cache platform is full is judged, and if the carton paper on the cache platform is not full, the manipulator grabs the carton paper from the stack area and places the carton paper on the cache platform.
Optionally, if the carton paper on the cache table is full, whether the label paper on the cache table is full is judged, and if the label paper on the cache table is not full, the manipulator grabs the label paper from the stacking area and places the label paper on the cache table.
Optionally, before the manipulator grabs the label paper on the cache table, judging whether the label paper exists on the cache table, if no label paper exists, the manipulator grabs the label paper from the stack area and places the label paper to the label paper cutting device;
before the manipulator grabs the carton paper on the cache platform, judging whether the carton paper exists on the cache platform or not, if the carton paper does not exist, the manipulator grabs the carton paper from the stack area and places the carton paper to the carton paper cutting device.
Optionally, before the manipulator grabs the label paper from the stack area, a 3D detection system detects the label paper in the stack area, and determines whether the label paper exists in the stack area, and if the label paper does not exist in the stack area, an alarm system alarms;
before the manipulator grabs the carton paper from the stack area, a 3D detection system detects the carton paper in the stack area and judges whether the carton paper exists in the stack area, and if the carton paper does not exist in the stack area, an alarm system gives an alarm.
Optionally, the 3D detection system detects the label paper in the stack area, determines whether the label paper that can be directly grasped exists in the stack area, if the label paper that can be directly grasped does not exist, continues to determine whether the label paper needs to be supplemented in the stack area, and if the label paper does not need to be supplemented, grasps the partition board covered on the label paper by the manipulator and places the partition board in the recycling bin;
the 3D detection system detects the carton paper in the stack area, judges whether the carton paper which can be directly grabbed exists in the stack area or not, if the carton paper which can be directly grabbed does not exist in the stack area, continuously judges whether the carton paper needs to be supplemented in the stack area or not, and if the carton paper does not need to be supplemented, the manipulator grabs a partition board covering the carton paper and places the partition board in a recycling bin.
Optionally, if the stack area needs to be supplemented with the label paper, the system alarms; and if the stack area needs to be supplemented with the label paper, the system alarms.
Optionally, before the manipulator grabs the label paper from the stack area, judging whether the label paper is flawed or reversed, and if so, giving an alarm by a system;
before the manipulator grabs the carton paper from the stack area, judging whether the carton paper has flaws or is placed reversely, and if so, giving an alarm by a system.
The invention has the beneficial effects that:
according to the feeding method of the carton paper and label paper feeding system, on one hand, when the label paper cutting device and the carton paper cutting device need to be fed, the manipulator directly grabs the buffer table, so that the waiting time of the label paper cutting device and the carton paper cutting device is greatly shortened, and only one manipulator is used, so that the fast feeding speed can be ensured, the structure is simple, and the cost is low; on the other hand, in the process that label paper cutting device and barrel paper cutting device carry out processing, the manipulator places barrel paper or label paper on the buffer memory platform from the far away stack district of distance, makes the manipulator can make full use of cutting device's processing clearance, for buffer memory platform prepares material, guarantees that there is sufficient material confession label paper cutting device and barrel paper cutting device to carry out the operation on the buffer memory platform. The feeding method of the carton paper and label paper feeding system is high in feeding speed and high in production efficiency.
Drawings
FIG. 1 is a top view of a carton and label feeding system according to an embodiment of the present invention;
fig. 2 is a flow chart of a feeding method of a carton and trademark paper feeding system according to an embodiment of the present invention.
In the figure:
100-label paper; 200-carton paper;
1-a manipulator; 2-a stack area; 3-carton paper cutting device; 4-label paper cutting device; 5-a cache platform; 6-a recycling bin; 7-linear guide rail.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The embodiment provides a feeding method of a carton paper and trademark paper feeding system, which can be used in the technical field of tobacco packaging. In this embodiment, the label paper 100 represents a stack of label paper integrated by a kraft paper hoop, and the carton paper 200 represents a stack of carton paper integrated by a kraft paper hoop. Specifically, as shown in fig. 1, the label paper and label paper feeding system includes a robot 1, a stacking area 2 for stacking label paper 100 and label paper 200, a label paper cutting device 3, a label paper cutting device 4, and a buffer stage 5 disposed between the label paper and label paper cutting devices 3 and 4. Specifically, strip box paper cutting device 3 and label paper cutting device 4 extend and parallel interval sets up along predetermineeing the direction, and buffer stage 5 sets up between strip box paper cutting device 3 and label paper cutting device 4, and the one side that is close to strip box paper cutting device 3 on the buffer stage 5 is used for keeping in strip box paper 200, and the one side that is close to label paper cutting device 4 on the buffer stage 5 is used for keeping in label paper 100, and buffer stage 5 can bear a plurality of strip box paper 200 and a plurality of label paper 100 simultaneously. The stacking area 2 is arranged at one end of the carton paper cutting device 3 and the trademark paper cutting device 4 in the preset direction, and the stacking area 2 is provided with a carton paper 200 stacking area and a trademark paper 100 stacking area in the preset direction. When the label paper 100 (or the carton paper 200) is stacked, the stack includes a plurality of layers from top to bottom, each layer includes a plurality of label paper 100 (or carton paper 200), and a partition (not shown) is disposed between two adjacent layers.
As shown in fig. 2, the feeding method of the carton paper and trademark paper feeding system comprises the following steps:
preparing materials and initializing a system;
the manipulator 1 places the label paper 100 on the cache table 5 on the label paper cutting device 4, and the label paper cutting device 4 operates;
the manipulator 1 places the carton paper 200 on the cache table 5 on the carton paper cutting device 3, and the carton paper cutting device 3 operates;
the manipulator 1 grabs the label paper 100 from the stack area 2 and places the label paper on the buffer table 5; the manipulator 1 grabs the carton paper 200 from the stack area 2 and places the carton paper on the buffer platform 5.
According to the feeding method of the carton paper and label paper feeding system, on one hand, when the label paper cutting device 4 and the carton paper cutting device 3 need to be fed, the manipulator 1 directly grabs the buffer table 5, so that the waiting time of the label paper cutting device 4 and the carton paper cutting device 3 is greatly reduced, and only one manipulator 1 is used, so that the fast feeding speed can be ensured, the structure is simple, and the cost is low; on the other hand, in the process of processing by the label paper cutting device 4 and the carton paper cutting device 3, the manipulator 1 places the carton paper 200 or the label paper 100 on the cache table 5 from the far-away stack area 2, so that the manipulator 1 can make full use of the processing gap of the cutting device to prepare materials for the cache table 5, and ensure that enough materials are provided for the label paper cutting device 4 and the carton paper cutting device 3 to operate on the cache table 5. The feeding method of the carton paper and label paper feeding system is high in feeding speed and high in production efficiency.
Specifically, as shown in fig. 1, in order to ensure that the manipulator 1 can smoothly grasp the carton and trademark paper 200 and 100 on the stack area 2, the carton and trademark paper feeding system further includes a linear guide 7, the linear guide 7 also extends in a preset direction, and the manipulator 1 can slide along the linear guide 7, so as to conveniently grasp the trademark paper 100 or carton paper 200 at any position on the stack area 2.
Preferably, as shown in fig. 2, before the manipulator 1 grabs the label paper 100 on the buffer platform 5, it is determined whether the label paper cutting device 4 needs the label paper 100, if the label paper 100 is not needed, it is determined whether the carton paper cutting device 3 needs the carton paper 200, if the carton paper 200 is not needed, the manipulator 1 grabs the label paper 100 from the stack area 2 and places the carton paper 200 on the buffer platform 5, and/or the manipulator 1 grabs the carton paper 200 from the stack area 2 and places the carton paper 200 on the buffer platform 5. Before the manipulator 1 feeds the carton paper cutting device 3 and the trademark paper cutting device 4, the requirements are judged firstly, and useless actions of the manipulator 1 are avoided; in addition, only when label paper cutting device 4 and carton paper cutting device 3 all do not need the material loading, just carry out the feed supplement to carton paper 200 and label paper 100 on the buffer memory platform 5, the normal use of priority assurance label paper cutting device 4 and carton paper cutting device 3 to avoid cutting device unnecessary to suspend, guarantee higher machining efficiency.
Further, after the manipulator 1 finishes placing the label paper 100 on the label paper cutting device 4, the manipulator 1 places the carton paper 200 on the carton paper cutting device 3, places the label paper 100 in the stack area 2 on the buffer table 5, and places the carton paper 200 in the stack area 2 on the buffer table 5, after any action, the system returns to the step of judging whether the label paper 100 is needed by the label paper cutting device 4, and the phenomenon that the feeding of the cutting device is delayed because the manipulator 1 continuously places the label paper 100 or the carton paper 200 in the stack area 2 on the buffer table 5 is avoided.
Specifically, when neither the label paper cutting device 4 nor the carton paper cutting device 3 needs a material, it is first determined whether the carton paper 200 on the buffer table 5 is full, and if not, the manipulator 1 grabs the carton paper 200 from the stack area 2 and places the carton paper 200 on the buffer table 5; if the carton paper 200 on the buffer table 5 is full, whether the trademark paper 100 on the buffer table 5 is full is judged, if the trademark paper 100 on the buffer table 5 is not full, the manipulator 1 grabs the trademark paper 100 from the stack area 2 and places the trademark paper on the buffer table 5, and if the trademark paper 100 on the buffer table 5 is full, the step of judging whether the trademark paper cutting device 4 needs to feed is returned. The trademark paper 100 and the carton paper 200 on the cache table 5 are judged one by one, so that the situation that only one material is full and the other material is not full on the cache table 5 is avoided.
In some cases, it may be possible that the robot 1 continuously places the label paper 100 or the carton paper 200 on the buffer table 5 onto the corresponding cutting device, resulting in no label paper 100 or carton paper 200 on the buffer table 5, and preferably, as shown in fig. 2, before the robot 1 grabs the label paper 100 on the buffer table 5, it is determined whether there is label paper 100 on the buffer table 5, and if there is no label paper 100, the robot 1 grabs the label paper 100 from the stack area 2 and places it onto the label paper cutting device 4. That is, when the condition that the trademark paper cutting device 4 is loaded from the closer buffer storage table 5 cannot be satisfied, the trademark paper 100 is grabbed from the stack area 2 and directly placed on the trademark paper cutting device 4, and the step of placing the trademark paper 100 on the buffer storage table 5 is not performed any more, so that the trademark paper cutting device 4 can be operated as soon as possible.
Similarly, before the robot 1 grasps the carton note 200 on the buffer table 5, it is determined whether or not the carton note 200 is on the buffer table 5, and if there is no carton note 200, the robot 1 grasps the carton note 200 from the stack area 2 and sets it to the carton note cutting device 3. That is, when the loading of the carton paper cutting device 3 from the closer buffer table 5 cannot be satisfied, the carton paper 200 is grasped from the stack area 2 and directly placed on the carton paper cutting device 3 without performing the step of placing the carton paper 200 on the buffer table 5, so that the carton paper cutting device 3 can be operated as soon as possible.
Preferably, before the manipulator 1 grabs the label paper 100 from the stack area 2 and places the label paper 100 to the label paper cutting device 4 or places the label paper to the buffer stage 5, the 3D detection system detects the label paper 100 of the stack area 2 and judges whether the stack area 2 has the label paper 100, if the label paper 100 does not exist, the alarm system gives an alarm, and the alarm is eliminated by manually feeding the stack area 2. Similarly, the manipulator 1 grabs the carton paper 200 from the stack area 2 and places the carton paper 200 in front of the trademark paper cutting device 4 or the cache platform 5, the 3D detection system detects the carton paper 200 in the stack area 2 and judges whether the carton paper 200 exists in the stack area 2, if the carton paper 200 does not exist in the stack area 2, the alarm system gives an alarm, and the alarm is eliminated by manually feeding the carton paper to the stack area 2. In this embodiment, after the alarm is manually removed, the system starts to operate again by one step after judging whether the label paper cutting device 4 needs to be fed.
The label paper 100 (or the carton paper 200) in the stack area 2 is provided with a plurality of layers from top to bottom, a partition is provided between two adjacent layers, when the 3D detection system detects that there is no label paper 100 (or carton paper 200) in the stack area 2, there is a possibility that the uppermost label paper 100 (or carton paper 200) is removed, and the 3D detection system considers that there is no corresponding label paper 100 (or carton paper 200) in the stack area 2.
Preferably, after the 3D detection system detects the label paper 100 in the stack area 2, it is determined whether the stack area 2 has the label paper 100 that can be directly grasped, if there is no label paper 100 that can be directly grasped, it is continuously determined whether the stack area 2 needs to be supplemented with the label paper 100, if not, it indicates that the uppermost layer of the label paper stack area in the stack area 2 at present is a partition, the manipulator 1 grasps the partition covering the label paper 100 and places the partition in the recycling box 6, and if so, the alarm system gives an alarm to perform manual feeding.
Similarly, after the 3D detection system detects the carton paper 200 in the stack area 2, it is determined whether the carton paper 200 capable of being directly grabbed exists in the stack area 2, if the carton paper 200 capable of being directly grabbed does not exist, it is continuously determined whether the carton paper 200 needs to be replenished in the stack area 2, if the carton paper does not need to be replenished, it indicates that the uppermost layer of the carton paper stacking area in the stack area 2 at present is a partition plate, the manipulator 1 grabs the partition plate covering the carton paper 200 and places the partition plate in the recycling bin 6, and if the carton paper needs to be replenished, the alarm system gives an alarm to perform manual replenishment. In this embodiment, by adding the step of determining whether the label paper 100 or the carton paper 200 in the stack area 2 needs to be supplemented, the system is prevented from alarming when the partition plate needs to be taken away, and the partition plate is taken away by the manipulator 1, so that the requirement for manpower is reduced, and the automation degree of the carton paper and label paper feeding system is improved. Specifically, the collection box 6 is disposed below one end of the linear guide 7 away from the buffer table 5 in the preset direction, and the manipulator 1 slides along the linear guide 7 to smoothly place the partition plate in the collection box 6.
The label paper 100 or the carton of paper 200 in the stack area 2 may be placed reversely, preferably, as shown in fig. 2, before the manipulator 1 picks the label paper 100 from the stack area 2 and places the label paper 100 to the label paper cutting device 4 or places the label paper to the buffer table 5, it is determined whether the label paper 100 has a defect or is placed reversely, if so, the system alarms, and the label paper is placed or removed manually, and if it is determined that there is no defect or reverse, the manipulator 1 performs the step of picking the label from the stack area 2 and placing the label paper on the label paper cutting device 4. Similarly, before the manipulator 1 grabs the carton paper 200 from the stack area 2 and places the carton paper 200 on the label paper cutting device 4 or the cache table 5, whether the carton paper 200 has a defect or is placed reversely is judged, if so, the system alarms, the carton paper is placed or removed manually, and if the manipulator 1 confirms that the carton paper 200 does not have the defect or is placed reversely, the manipulator 1 executes the step of grabbing the carton paper 200 from the stack area 2 and placing the carton paper on the carton paper cutting device 3.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the invention and are not to be construed as limitations of the embodiments of the present invention, but may be modified in various embodiments and applications by those skilled in the art according to the spirit of the present invention, and the content of the present description should not be construed as a limitation of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (8)
1. A loading method of a carton paper and trademark paper loading system is characterized in that the carton paper and trademark paper loading system comprises the following steps: manipulator (1), be used for pile storehouse district (2), strip box paper cutting device (3), label paper cutting device (4) and the setting of stack merchant label (100) and strip box paper (200) are in strip box paper cutting device (3) with buffer memory platform (5) between label paper cutting device (4), strip box paper and label paper feeding system's material loading method includes the step:
the manipulator (1) places the label paper (100) on the cache table (5) on the label paper cutting device (4), and the label paper cutting device (4) operates;
the manipulator (1) places the carton paper (200) on the cache table (5) on the carton paper cutting device (3), and the carton paper cutting device (3) operates;
the manipulator (1) grabs label paper (100) from the stacking area (2) and places the label paper on the buffer platform (5); and/or the manipulator (1) grabs carton paper (200) from the stacking area (2) and places the carton paper on the buffer platform (5);
before the manipulator (1) grabs the label paper (100) on the cache table (5), judging whether the label paper cutting device (4) needs the label paper (100) or not, if the label paper (100) is not needed, judging whether the carton paper cutting device (3) needs the carton paper (200) or not, and if the carton paper (200) is not needed, grabbing the label paper (100) from the stack area (2) by the manipulator (1) and placing the label paper on the cache table (5); and/or the manipulator (1) grabs carton paper (200) from the stacking area (2) and places the carton paper on the buffer platform (5);
the manipulator (1) finishes executing and places the label paper (100) on the label paper cutting device (4), the manipulator (1) places the carton paper (200) on the carton paper cutting device (3), places the label paper (100) in the stacking area (2) on the cache table (5), places the carton paper (200) in the stacking area (2) on the cache table (5), and after any action, returns to judge whether the label paper cutting device (4) needs the label paper (100).
2. The feeding method of carton and trademark paper feeding system as claimed in claim 1, characterized in that if neither the trademark paper cutting device (4) nor the carton paper cutting device (3) needs material, it is determined whether the carton paper (200) on the buffer storage platform (5) is full, if not, the manipulator (1) grabs the carton paper (200) from the stacking area (2) and places the carton paper (200) on the buffer storage platform (5).
3. The loading method of a carton and trademark paper loading system according to claim 2, characterized in that if the carton (200) on the buffer table (5) is full, it is determined whether the trademark paper (100) on the buffer table (5) is full, and if not, the manipulator (1) grabs the trademark paper (100) from the stacking area (2) and places the trademark paper on the buffer table (5).
4. A feeding method of a carton and trademark paper feeding system according to any of claims 1-3, characterized in that before the manipulator (1) grabs the trademark paper (100) on the buffer stage (5), it is determined whether the trademark paper (100) is on the buffer stage (5), if the trademark paper (100) is not on the buffer stage, the manipulator (1) grabs the trademark paper (100) from the stacking area (2) and places the trademark paper to the trademark paper cutting device (4);
before the manipulator (1) grabs the carton paper (200) on the cache table (5), judging whether the carton paper (200) exists on the cache table (5), if the carton paper (200) does not exist, the manipulator (1) grabs the carton paper (200) from the stack area (2) and places the carton paper to the carton paper cutting device (3).
5. The method of feeding carton and trademark paper feeding system as claimed in claim 4,
before the manipulator (1) grabs the label paper (100) from the stack area (2), a 3D detection system detects the label paper (100) in the stack area (2) and judges whether the label paper (100) exists in the stack area (2), and if the label paper (100) does not exist in the stack area (2), an alarm system gives an alarm;
before manipulator (1) followed stack district (2) snatch strip box paper (200), 3D detecting system detects strip box paper (200) of stack district (2) to judge stack district (2) have strip box paper (200), if do not have strip box paper (200), alarm system reports to the police.
6. The feeding method of a carton and trademark paper feeding system as claimed in claim 5, characterized in that when a 3D detection system detects the trademark paper (100) in the stack area (2), it determines whether the trademark paper (100) capable of being directly grabbed exists in the stack area (2), if the trademark paper (100) capable of being directly grabbed does not exist, it continues to determine whether the label paper (100) needs to be supplemented in the stack area (2), and if the label paper does not need to be supplemented, the manipulator (1) grabs the partition board covered on the trademark paper (100) and places the partition board in a recycling bin (6);
when the 3D detection system detects the carton paper (200) in the stack area (2), whether the carton paper (200) capable of being directly grabbed exists in the stack area (2) or not is judged, if the carton paper (200) capable of being directly grabbed does not exist, whether the carton paper (200) needs to be supplemented in the stack area (2) or not is continuously judged, and if the carton paper does not need to be supplemented, the mechanical arm (1) grabs the partition board covering the carton paper (200) and places the partition board in the recycling bin (6).
7. The feeding method of carton and trademark paper feeding system as claimed in claim 6, characterized in that if it is judged that the stack area (2) needs to be supplemented with the trademark paper (100), the system alarms; and if the stack area (2) needs to be supplemented with the trademark paper (100), the system alarms.
8. The feeding method of a carton and trademark paper feeding system as claimed in claim 7, characterized in that before the manipulator (1) grabs the trademark paper (100) from the stacking area (2), it is determined whether the trademark paper (100) is defective or placed reversely, if yes, the system alarms;
before the manipulator (1) grabs the carton paper (200) from the stack area (2), judging whether the carton paper (200) has defects or is placed reversely, and if so, giving an alarm by a system.
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| JP5704705B2 (en) * | 2011-03-10 | 2015-04-22 | 株式会社京都製作所 | Product supply / stacking apparatus and product supply / stacking method |
| JP6456543B1 (en) * | 2018-05-10 | 2019-01-23 | 宮川工機株式会社 | Work material moving device, control device for work material moving device, and work material moving program |
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