CN116142517A

CN116142517A - Automatic packaging sleeve feeding system and automatic packaging sleeve feeding method

Info

Publication number: CN116142517A
Application number: CN202111399363.3A
Authority: CN
Inventors: 李月明; 戈文华; 蔡荣阶; 汪长银
Original assignee: Kangmeibao Suzhou Co ltd
Current assignee: Kangmeibao Suzhou Co ltd
Priority date: 2021-11-19
Filing date: 2021-11-19
Publication date: 2023-05-23

Abstract

At least one embodiment of the present disclosure provides a packaging sleeve automatic feeding system and an automatic packaging sleeve feeding method for providing a packaging sleeve stock rail with a set of packaging sleeves, the packaging sleeve stock rail extending in a feed direction, the set of packaging sleeves including a plurality of packaging sleeves stacked together, and the set of packaging sleeves being provided into the packaging sleeve stock rail in a state in which a stacking direction of the plurality of packaging sleeves is parallel to the feed direction. The system comprises: a feed station for stacking a plurality of grouped packaging sleeves stacked together, each grouped packaging sleeve being coated with a film; a processing station comprising a film removal device that removes films from a set of packaging sleeves; a manipulator; and a controller configured to control the robot to take the group of packaging sleeves from the infeed station to the processing station and to control the robot to provide the group of packaging sleeves after removal of the film from the processing station into the packaging sleeve stock rail.

Description

Automatic packaging sleeve feeding system and automatic packaging sleeve feeding method

Technical Field

Embodiments of the present disclosure relate to packaging sleeve automatic feeding systems and packaging sleeve automatic feeding methods.

Background

The package is a box for holding the contents, which may be liquid contents such as milk, juice, etc., or solid contents. The package is formed, for example, from a sheet of material whose two ends are bonded together and then folded to form the package in a folded state. The package in the folded state is herein referred to as a packaging sleeve.

The package forming device is used to form the package sleeve into a final package, which for example separates the folded portions of the folded package sleeve, seals the bottom end, fills the contents, and then seals the top end to form the final product.

Currently, it is necessary to manually remove the film of the group of packaging sleeves covered with film and then provide the packaging sleeve stock rail in the correct orientation to the packaging sleeve forming device for use by the packaging sleeve forming device. As the labor costs increase in sections, an automatic feeding system for automatically providing packaging sleeves is required.

Disclosure of Invention

At least one embodiment of the present disclosure provides a packaging sleeve automatic feeding system for providing a packaging sleeve stock rail with a set of packaging sleeves, the packaging sleeve stock rail extending in a feed direction, the set of packaging sleeves including a plurality of packaging sleeves stacked together, and the set of packaging sleeves being provided into the packaging sleeve stock rail with the stacking direction of the plurality of packaging sleeves parallel to the feed direction. The system comprises: a feed station for stacking a plurality of grouped packaging sleeves stacked together, each grouped packaging sleeve being coated with a film; a processing station comprising a film removal device that removes films from a set of packaging sleeves; a manipulator; and a controller configured to control the robot to take the group of packaging sleeves from the infeed station to the processing station and to control the robot to provide the group of packaging sleeves after removal of the film from the processing station into the packaging sleeve stock rail.

For example, in some embodiments, the packaging sleeve automatic feeding system further comprises: and the buffer station is used for stacking groups of packaging sleeves wrapped by the film. The feed station includes a guard flap movable between a closed position in which the guard flap prevents the manipulator from entering the feed station and an open position in which the guard flap allows the manipulator to enter the feed station. The controller is configured to: when receiving a user command indicating material supplement, controlling the protective baffle plate of the feeding station to move to a closing position, and controlling the manipulator to take groups of packaging sleeves from the caching station to the processing station when the protective baffle plate is in the closing position; and when receiving a user command indicating that the feeding is completed, controlling the protective baffle of the feeding station to move to the open position, and when the protective baffle is in the open position, controlling the manipulator to take the group of packaging sleeves from the feeding station to the processing station.

For example, in some embodiments, the feed station further comprises a feed safety door through which feed is fed from outside the system, the controller being configured to allow the feed safety door to open only when the guard flap of the feed station is moved to the closed position.

For example, in some embodiments, the buffer station and the feed station are disposed side by side in a transverse direction perpendicular to the feed direction and opposite the packaging sleeve rail in a direction parallel to the feed direction. The processing stations and the bases of the manipulator are arranged side by side in a transverse direction perpendicular to the feeding direction and between the packaging sleeve material rail and the buffer station and the feeding station in a direction parallel to the feeding direction. In addition, in the transverse direction perpendicular to the feeding direction, the base and the feeding station of the manipulator are respectively arranged opposite to the processing station and the buffer station.

For example, in some embodiments, the robot is rotatably mounted to the base, and the feed station, the buffer station, the processing station, and the packaging sleeve track are sequentially disposed about the base on the motion trajectory of the robot.

For example, in some embodiments, the packaging sleeve automatic feeding system further comprises: a feed progress sensor configured to sense a number of packaging sleeves in a packaging sleeve stock rail; and a buffer number sensor configured to sense the number of film wrapped groups of packaging sleeves in the buffer station. The controller is configured to: when the number of packaging sleeves in the packaging sleeve material rail meets a first preset condition and the number of groups of packaging sleeves wrapped by the film in the buffer station meets a second preset condition, the manipulator is controlled to take the groups of packaging sleeves wrapped by the film from the feeding station to the buffer station.

For example, in some embodiments, the plurality of packaging sleeve rails comprises a greater than a first predetermined number of packaging sleeves in each of the plurality of packaging sleeve rails, and the second predetermined condition comprises fewer than a second predetermined number of film wrapped groups of packaging sleeves in the buffer station.

For example, in some embodiments, the robot includes a first end effector, the robot being configured to provide groups of packaging sleeves after removal of the film from the processing station to the packaging sleeve rails using the first end effector. The first end effector includes a first base and a pair of jaws, a pusher and a puller mounted to the first base. A pair of jaws extends in a first direction relative to the first base and is configured to move in a second direction perpendicular to the first direction between a gripping position and a release position, the pusher having a pushing surface perpendicular to the first direction, the puller being configured to be attachable to the set of packaging sleeves and to be movable in the first direction.

For example, in some embodiments, the controller is configured to: controlling the robot to move the first base such that the first direction is aligned with a stacking direction of a plurality of packaging sleeves in the set of packaging sleeves; controlling a pair of clamping jaws to clamp a group of packaging sleeves and placing the group of packaging sleeves on a packaging sleeve material rail; when the groups of packaging sleeves are placed on the packaging sleeve material rail, the pushing piece is controlled to push the groups of packaging sleeves in the stacking direction; and controlling the pulling member to pull the gate press block of the packing sleeve material rail to move in the stacking direction until the vicinity of the pushing surface of the pushing member while the pushing member pushes the group of packing sleeves so that the gate press block can be released to press the packing sleeves. The gate press block presses the packing sleeve in the packing sleeve material rail in the feeding direction, and the gate press block is configured to be pivotable about a vertical direction perpendicular to the feeding direction to a position where pressing of the packing sleeve is stopped when pulled by the pulling member.

For example, in some embodiments, the robot further comprises a second end effector, the robot configured to take the set of packaging sleeves from the infeed station to the processing station using the second end effector, the second end effector comprising a suction cup.

For example, in some embodiments, the processing station further comprises a dust removal device configured to remove dust from the group of packaging sleeves after removal of the film.

For example, in some embodiments, the processing station further comprises a positioning device that senses the orientation of the group of packaging sleeves and a flipping device for flipping the group of packaging sleeves to properly position them.

For example, in some embodiments, the packaging sleeve automatic feeding system further comprises: a film collection station that collects films removed from the set of packaging sleeves; a defective product recovery station that collects groups of packaging sleeves that cannot be positioned correctly; and a separator recovery station that collects the separator. The sets of packaging sleeves are stacked at the infeed station in a plurality of layers, each layer comprising a plurality of sets of packaging sleeves arranged in an array, and the plurality of layers being separated by a separator paper.

For example, in some embodiments, the controller is configured to: the control manipulator takes the removed films from the film detaching device to the film collecting station, the control manipulator takes the groups of packaging sleeves which cannot be positioned correctly from the turning device to the defective product recycling station, and the control manipulator takes the separating paper from the feeding station to the separating paper recycling station.

For example, in some embodiments, the buffer station and the feed station are disposed side by side in a transverse direction perpendicular to the feed direction and opposite the packaging sleeve stock rail in a direction parallel to the feed direction, and the processing station and the base of the robot are disposed side by side in a transverse direction perpendicular to the feed direction and between the packaging sleeve stock rail and the buffer station and the feed station in a direction parallel to the feed direction. And, in the transverse direction of perpendicular to the direction of feed, base and the feeding station of manipulator set up relatively with processing station and buffer station respectively, and the membrane is collected the station and is set up in the lateral direction of perpendicular to the direction of feed and keep away from the one side of base of manipulator at processing station, separates paper recovery station and sets up in the lateral direction of perpendicular to the direction of feed and keep away from the one side of feeding station at the buffer station, and membrane is collected station, defective products recovery station and separates paper recovery station and set gradually the periphery department of system in the direction parallel with the direction of feed.

At least one embodiment of the present disclosure provides an automatic feeding method of packaging sleeves for providing a packaging sleeve stock rail with a set of packaging sleeves, the packaging sleeve stock rail extending in a feed direction, the set of packaging sleeves comprising a plurality of packaging sleeves stacked together, and the set of packaging sleeves being provided into the packaging sleeve stock rail with the stacking direction of the plurality of packaging sleeves parallel to the feed direction. The method comprises the following steps: taking groups of packaging sleeves from a feeding station to a processing station by using a mechanical arm, wherein the feeding station is used for stacking a plurality of groups of packaging sleeves stacked together, each group of packaging sleeves is wrapped by a film, and the processing station comprises a film detaching device; removing the film from the set of packaging sleeves with a film removal device; and providing the group of packaging sleeves after removal of the film from the processing station into a packaging sleeve stock rail with a robot.

For example, in some embodiments, the automatic feeding method further comprises: in response to a user command indicating a feed, moving a protective barrier of the feed station to a closed position, taking groups of packaging sleeves from a buffer station for stacking groups of packaging sleeves wrapped by a film to a processing station by using a manipulator when the protective barrier is in the closed position; and moving the protective barrier of the feed station to an open position in response to a user command indicating completion of the replenishment, and taking groups of packaging sleeves from the feed station to the processing station with the manipulator while the protective barrier is in the open position.

For example, in some embodiments, the automatic feeding method further comprises: sensing the number of packaging sleeves in the packaging sleeve stock rail with a feed progress sensor; sensing the number of grouped packaging sleeves wrapped by the film in the buffer station by using a buffer number sensor; and taking the groups of packaging sleeves from the feeding station to the caching station by using a manipulator when the number of packaging sleeves in the packaging sleeve material rail meets a first preset condition and the number of groups of packaging sleeves wrapped by the film in the caching station meets a second preset condition.

For example, in some embodiments, the robot includes a first end effector that provides groups of packaging sleeves after removal of the film from the processing station to the packaging sleeve stock rail, and a second end effector that takes groups of packaging sleeves from the infeed station to the processing station. The method further comprises the steps of: switching is performed between the first end effector and the second end effector.

For example, in some embodiments, the processing station further comprises a positioning device and a flipping device. The method further comprises the steps of: the orientation of the group of packaging sleeves is sensed with the positioning means and when the orientation of the group of packaging sleeves is sensed as incorrect, the group of packaging sleeves is inverted with the inverting means for correct positioning and when the group of packaging sleeves is correctly positioned, the film is removed from the group of packaging sleeves with the film removing means.

For example, in some embodiments, the automatic feeding method further comprises: the packaging sleeve device which cannot be positioned correctly at the processing station is moved to a defective product recovery station by using a mechanical arm; moving the removed film to a film collection station using a robot; and moving the separator to a separator recovery station by using a manipulator. The sets of packaging sleeves are stacked at the infeed station in a plurality of layers, each layer comprising a plurality of sets of packaging sleeves arranged in an array, and each layer being separated by a separator paper.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present disclosure and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 illustrates a schematic top view of an automatic packaging sleeve loading system according to an embodiment of the present disclosure;

FIG. 2 shows a schematic block diagram of a packaging sleeve automatic feeding system according to an embodiment of the present disclosure;

FIG. 3 illustrates a schematic view of an end effector portion of a robot of an automatic packaging sleeve loading system according to an embodiment of the present disclosure;

FIG. 4 illustrates a schematic view of a first end effector of a robotic arm of an automatic packaging sleeve loading system according to an embodiment of the present disclosure;

5A-5C illustrate a schematic view of the operation of a first end effector of a robotic arm of an automatic packaging sleeve feeding system according to one embodiment of the present disclosure; and is also provided with

Fig. 6 illustrates an automated feeding method for packaging sleeves according to an embodiment of the disclosure.

Detailed Description

An automatic packaging sleeve feeding system and an automatic packaging sleeve feeding method according to an embodiment of the present disclosure are described in detail below with reference to the accompanying drawings. For the purposes of making the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments.

Accordingly, the following detailed description of the embodiments of the present disclosure, provided in connection with the accompanying drawings, is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.

The singular forms include the plural unless the context defines otherwise. Throughout the specification the terms "comprises," "comprising," "includes," "including," and the like are used herein to specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

In addition, even though ordinal terms such as "first," "second," and the like are used to describe various components, these components are not limited by these terms, and these terms are used merely to distinguish one element from other elements.

Currently, it is necessary to manually supply groups of packaging sleeves to the packaging sleeve rails of the packaging sleeve forming device for use by the packaging sleeve forming device. The group of packing sleeves comprises a plurality of packing sleeves stacked together, the group of packing sleeves being provided into the packing sleeve stock rail in a state in which the stacking direction of the packing sleeves is parallel to the feeding direction. For example, groups of packaging sleeves are coated with a film to prevent contamination during transport. Therefore, prior to providing it, the film covering the set of packaging sleeves needs to be manually removed and then provided to the packaging sleeve stock rail in the correct orientation. Although there are means for self-detaching the film covering the group of packaging sleeves, turning the group of packaging sleeves to the correct orientation, or dusting the group of packaging sleeves from which the film was removed. However, there is still a lack of an automated system for automatically performing the loading of packaging sleeves without the need for manual intervention.

At least one embodiment of the present disclosure provides a packaging sleeve automatic feeding system for providing a packaging sleeve stock rail with a set of packaging sleeves, the packaging sleeve stock rail extending in a feed direction, the set of packaging sleeves including a plurality of packaging sleeves stacked together, and the set of packaging sleeves being provided into the packaging sleeve stock rail in a state in which a stacking direction of the plurality of packaging sleeves is parallel to the feed direction. The system comprises: a feed station for stacking a plurality of said sets of packaging sleeves stacked together, each said set of packaging sleeves being wrapped with a film; a processing station comprising a film-removing device that removes the film from the group of packaging sleeves; a manipulator; and a controller configured to control the robot to take the groups of packaging sleeves from the infeed station to the processing station and to provide the groups of packaging sleeves after removal of the film from the processing station into the packaging sleeve stock rail.

This packaging sleeve automatic feeding system carries out automated processing through handling station to the packaging sleeve of group, and the manipulator is controlled through the controller and is shifted the packaging sleeve of group between feeding station, processing station and packaging sleeve stock rail automaticly. Thus, it allows to perform the loading of the packaging sleeve automatically without manual intervention.

The system further comprises a buffer station for stacking groups of packaging sleeves wrapped with film. The feeding station comprises a protective baffle which can move between a closed position and an open position, and when the protective baffle is in the closed position, the mechanical arm is prevented from entering the feeding station; in the open position, the guard shield allows the robot to enter the feed station. The controller is configured to: when receiving a user command indicating feeding, controlling the protective baffle of the feeding station to move to a closed position, and then controlling the manipulator to take groups of packaging sleeves from the caching station; when a user command is received indicating that the feeding is completed, the guard flap of the feeding station is controlled to move to an open position and then the manipulator is controlled to take the group of packaging sleeves from the feeding station.

Through setting up the buffer memory station, the manipulator can be incessantly follow one of buffer memory station and feeding station and take the packing sleeve of group to guaranteed when operating personnel's feed supplement, also can incessantly to carrying out the material loading to the packing sleeve of packing sleeve stock rail. In some embodiments, the buffer station only requires stacking a significantly smaller number of grouped packaging sleeves relative to the feed station, which occupies a smaller area than the feed station, thus saving the footprint of the automatic loading system and reducing production costs.

In addition, as the feeding station is provided with the protective baffle, operators for feeding are isolated from other parts of the system, so that the safety of the operators is ensured, and the safety of the system is improved.

In addition, the robot of the system includes a first end effector configured to provide the group of packaging sleeves after removal of the film from the processing station to the packaging sleeve stock rail using the first end effector. The first end effector includes: the device includes a first base, a pair of jaws extending in a first direction relative to the first base and configured to move between a gripping position and a release position in a second direction perpendicular to the first direction, a pusher, and a puller. The pushing member has a pushing surface perpendicular to the first direction. The pulling member is configured to move in a first direction.

Therefore, the packing sleeve stock rail is a rail extending in the feeding direction, and the packing sleeves stacked together are stacked in the feeding direction to be sequentially fed to the packing box forming device for forming processing. The packaging sleeve stock rail comprises a gate press which presses the packaging sleeve in the packaging sleeve stock rail in the feed direction in order to avoid tilting or collapsing thereof. Furthermore, the sluice press blocks place the packaging sleeves placed in the packaging sleeve rails next to each other, so that a continuous execution of the feeding is ensured. Thus, when a set of packing sleeves is provided into the packing sleeve stock rail, it is necessary to move the gate press block away from the existing packing sleeve in the packing sleeve stock rail, then to bring the set of packing sleeves against the existing packing sleeve, and then to restore the gate press block to press the updated packing sleeve in the packing sleeve stock rail. This complex operation may be performed automatically by the first end effector. The first end effector ensures full-automatic operation of the packaging sleeve automatic feeding system.

Fig. 1 shows a schematic top view of a packaging sleeve automatic feeding system according to an embodiment of the present disclosure, and fig. 2 shows a schematic block diagram of a packaging sleeve automatic feeding system according to an embodiment of the present disclosure.

As shown in fig. 1 and 2, the packaging sleeve automatic feeding system includes a feeding station 100, a processing station 200, a buffer station 400, a film collecting station 500, a defective product recycling station 600, a separator recycling station 700, a robot 300, and a controller 800. The controller 800 is configured to be communicatively coupled to one or more of the infeed station 100, the processing station 200, the buffer station 400, the film collection station 500, the reject recovery station 600, the separator recovery station 700, and the robot 300 to control the devices and robots 300 of some or all of these stations. The robot 300 moves under the control of the controller 800 to, for example, transport groups of packaging sleeves 920, films or webs, etc. between the stations. Therefore, by the arrangement of these stations, the robot 300 and the controller 800 controlling the robot 300, the packaging sleeve automatic feeding system achieves an automated feeding operation of the packaging sleeve material rail 910.

The controller 800 includes, for example, a microprocessor, a digital signal processor ("DSP"), an application specific integrated circuit ("ASIC"), a field programmable gate array ("FPGA"), or the like. The controller 800 may include a plurality of discrete sub-controllers. The controller 800 may also be connected to a remote server, for example, to monitor and control the operation of the system remotely. The controller 800 may store the operating parameters of the system on a local storage medium or upload to a remote server.

The infeed station 100 is for stacking a plurality of grouped packaging sleeves 920 stacked together. Each set of packaging sleeves 920 stacked at the infeed station 100 is wrapped with film. The sets of packaging sleeves 920 may be stacked at the infeed station 100 in a plurality of layers, each layer comprising a plurality of sets of packaging sleeves 920 arranged in an array, and the plurality of layers being separated by a separator. In some cases, the uppermost set of packaging sleeves 920 may not be arranged in an array, but in an arbitrary orientation. The infeed station 100 may include visual inspection means for inspecting the orientation of the set of packaging sleeves 920 to aid in the positioning of the set of packaging sleeves 920 and the gripping thereof by the robotic arm 300.

Further, the feed station 100 may include a guard shield 110 and a feed safety door 120. The guard shield 110 separates the infeed station 100 from the rest of the system and is movable between a closed position and an open position. In the closed position, the guard flap 110 prevents the robot 300 from entering the infeed station 100, and in the open position, the guard flap 110 allows the robot 300 to enter the infeed station 100. Since the protective barrier 110 in the closed position separates the operator from the rest of the system when the operator is fed, the safety of the operator is ensured and the safety of the system is improved. The feed safety door 120 is provided at the outer periphery of the system (i.e., the outer wall that isolates the system from the outside) through which an operator feeds from the outside of the system. For example, the controller 800 may be configured to control the feed safety door 120 to allow the feed safety door 120 to open only when the guard 110 of the feed station 100 is moved to the closed position. Thus, by configuring the actions of the feed safety door 120 and the guard shield 110, the safety of the operator is further ensured.

The processing station 200 is for processing a set of packaging sleeves 920, which may include a positioning device 220 that senses the orientation of the set of packaging sleeves 920, a flipping device 230 for flipping the set of packaging sleeves 920 to properly position them, a film removal device 210 that removes film from the set of packaging sleeves 920, and a dust removal device (not shown) that removes dust from the set of packaging sleeves 920 after the film has been removed.

The controller 800 is configured to control the robot 300 to take groups of packaging sleeves 920 from the infeed station 100 to the processing station 200 and to control the robot 300 to provide groups of packaging sleeves 920 after removal of the film from the processing station 200 into the packaging sleeve rails 910.

The buffer station 400 is also used to stack film wrapped groups of packaging sleeves 920 for replacing the feeding station 100 when an operator performs a feeding operation at the feeding station 100.

The controller 800 is further configured to control the guard flap 110 of the infeed station 100 to move to the closed position upon receiving a user command indicating a feed, and to control the robot 300 to take the set of packaging sleeves 920 from the caching station 400 when the guard flap 110 is in the closed position; and when receiving a user command indicating completion of the feeding, controlling the guard flap 110 of the feeding station 100 to move to the open position, and controlling the robot 300 to take the group of packaging sleeves 920 from the feeding station 100 when the guard flap 110 is in the open position.

Therefore, by providing the buffer station 400, the manipulator 300 can take the group of packaging sleeves 920 from one of the buffer station 400 and the feeding station 100 without interruption, thereby ensuring that the feeding to the packaging sleeve material rail 910 can be performed without interruption when the operator supplements materials. The controller 800 may be configured to take the set of packing sleeves 920 from the caching station 400 only when the guard 110 is moved to the open position without having to take the set of packing sleeves 920 from the caching station 400 until the number of sets of packing sleeves 920 of the caching station 400 is less than a predetermined margin, such as 1 set. The number of grouped packaging sleeves 920 stored in the buffer station is much smaller than the number of grouped packaging sleeves 920 stored in the feed station 100. Also, the protective barrier 110 need not be provided at the cache station 400. Thus, the buffer station 400 occupies a much smaller area than the feed station 100.

A positioning device 220 (not shown in fig. 1) is provided in the vicinity of the flipping device 230, configured to sense the orientation of the set of packaging sleeves 920, including for example an image sensor, a code scanner for identifying an identifier, such as a two-dimensional code or a bar code, provided on the set of packaging sleeves 920, or the like. The flipping unit 230 flips the set of packaging sleeves 920 to properly position them. For example, the flipping unit 230 includes a guide mechanism such that the set of packaging sleeves 920 can be positioned therein in only two orientations. The positioning device 220 may sense the orientation of the set of packaging sleeves 920 placed in the flipping device 230, and when its sensed signal indicates that the set of packaging sleeves 920 is properly positioned, the robot 300 may transport them to the film removal device 210; when its sensing signal indicates that the set of packaging sleeves 920 is not properly positioned, then the flipping means 230 flips the set of packaging sleeves 920 by 180 °; when its sensing signal indicates that the set of packaging sleeves 920 that has been flipped has not been properly positioned yet, it is determined that the set of packaging sleeves 920 is not properly positioned. This operation of the positioning device 220 and the flipping device 230 may be controlled by the controller 800 to be performed.

The film removal device 210 is used to remove the film from the set of packaging sleeves 920. For example, the film tearing apparatus 210 may include a cutter member to tear the film and a suction member to remove the slit film from the set of packaging sleeves 920. The film may be cut into left and right or upper and lower portions by a cutter member and then each portion of the film may be removed by a suction member.

The dust removing device is for removing dust from the set of packaging sleeves 920 after removal of the film, and includes, for example, an erasing portion for moving to erase dust and a dust sucking portion for sucking dust. The dust removing device may be provided near the film removing device 210 or integrally with the film removing device 210 to remove dust immediately after the film of the set of packing sleeves 920 is removed.

The film collection station 500 is used to collect the film removed from the group of packaging sleeves 920, the reject recovery station 600 is used to collect the group of packaging sleeves 920 that cannot be positioned correctly at the turning device 230, and the spacer recovery station 700 is used to collect the spacers disposed between the layers of the group of packaging sleeves 920 at the infeed station 100. For example, the film collecting station 500, the defective product recovering station 600, and the separator recovering station 700 may be provided with means for neatly placing or stacking the collected films, defective products, and separators, respectively. In addition, for example, the film collecting station 500, the reject collecting station 600, and the separator collecting station 700 may be provided at the outer periphery of the system, respectively, and provided with an opening capable of allowing an operator to perform a collecting operation from the outside of the system, for example, may be provided with a drawer-type or a door-closed opening. An operator may pull a drawer from outside the system or open a door to access the film collected at the film collection station 500, or reject recovered at the reject recovery station 600, or reject recovered at the reject recovery station 700 via an opening.

The controller 800 is configured to: the control robot 300 takes the separator from the feeding station 100 to the separator recovery station 700; the control robot 300 takes groups of packaging sleeves 920 from the infeed station 100 to the flipping means 230 at the processing station 200; the control manipulator 300 takes the group of packaging sleeves 920 which cannot be positioned correctly from the turning device 230 to the defective product recovery station 600; the control robot 300 takes the removed film from the film removal device 210 to the film collection station 500; the control robot 300 provides a set of packaging sleeves 920 after removal of the film at the film removal device 210 into a packaging sleeve stock rail 910.

In this embodiment, the processing station 200 further comprises transfer means for transferring the groups of packaging sleeves 920 at the turning means 230 to the removal means. By providing the transfer device, the operation load of the robot 300 is facilitated to be reduced. However, the present disclosure is not limited thereto, and in other embodiments, the controller 800 may control the robot 300 to perform the conveyance of the set of packaging sleeves 920 from the flipping device 230 to the film removing device 210. In other embodiments, other transport operations of the robot 300 may be performed instead by additional transfer devices.

Operations of the respective devices in the system, such as the reversing operation of the reversing device 230 and the film removing operation of the film removing device 210, may be performed in synchronization. By properly configuring the handling operation of the manipulator 300 for groups of packaging sleeves 920, the speed at which the system utilizes the manipulator 300 to feed can be greater than the speed at which the package forming device consumes packaging sleeves in the packaging sleeve rail 910. Thus, in addition to performing the shipping operation of the ganged packaging sleeves 920, the robot 300 may also replenish the ganged packaging sleeves 920 from the infeed station 100 to the buffer station 400 for use in replenishing the infeed station 100. For example, the system may also include a feed progress sensor (not shown) configured to sense the number of packaging sleeves in the packaging sleeve stock rail 910 and a number buffer quantity sensor (not shown) configured to sense the number of film wrapped groups of packaging sleeves 920 in the buffer station 400. The controller 800 is configured to: when the number of packing sleeves in the packing sleeve stock rail 910 meets a first predetermined condition and the number of film wrapped groups of packing sleeves 920 in the buffer station 400 meets a second predetermined condition, the control robot 300 takes the film wrapped groups of packing sleeves 920 from the infeed station 100 to the buffer station 400.

In the present embodiment, the packing sleeve stock rail 910 is plural, and the plural packing sleeve stock rails 910 are arranged side by side in the transverse direction H perpendicular to the feeding direction J and supply the packing sleeve to the packing box forming apparatus in parallel. The first predetermined condition is that the plurality of wrap sleeve rails 910 each include more than the first predetermined number of wrap sleeves, and the second predetermined condition is that the buffer station 400 includes fewer than the second predetermined number of film wrapped groups of wrap sleeves 920.

As shown in fig. 1, the buffer station 400 and the feed station 100 are arranged side by side in a transverse direction H perpendicular to the feed direction J and opposite the packaging sleeve rail 910 in a direction parallel to the feed direction J. The bases of the processing station 200 and the robot 300 are arranged side by side in a transverse direction H perpendicular to the feed direction J and between the packaging sleeve stock rail 910 and the buffer station 400 and the feed station 100 in a direction parallel to the feed direction J. In a transverse direction H perpendicular to the feeding direction J, the base of the robot 300 and the feeding station 100 are arranged opposite the processing station 200 and the buffer station 400, respectively. That is, from the upper part of fig. 1 to the lower part of fig. 1, the packing sleeve rail 910, both the processing station 200 and the base of the robot 300, and both the buffer station 400 and the feeding station 100 are sequentially arranged, with the processing station 200 and the buffer station 400 on the left side of fig. 1 and the base of the robot 300 and the feeding station 100 on the right side of fig. 1. The robot 300 is rotatably mounted to the base, which rotates about an axis perpendicular to the feed direction J and the transverse direction H. From the perspective of the motion trajectory of the robot 300, the feeding station 100, the buffer station 400, the processing station 200, and the packing sleeve rail 910 are sequentially disposed around the base on the motion trajectory of the robot 300. With the system thus arranged, the motion path of the manipulator 300 is optimized, so that the motion load of the manipulator 300 is reduced, and the operation efficiency of the system is improved. In addition, since the buffer station 400 is closer to the processing station 200 on the motion track of the manipulator 300, interference between the manipulator 300 and the protective baffle 110 when the manipulator 300 takes the group of packaging sleeves 920 from the buffer station 400 during material replenishment is avoided.

In addition, as shown in fig. 1, the film collecting station 500 is disposed on the side of the processing station 200 away from the base of the robot 300 in the transverse direction H, the separator recovery station 700 is disposed on the side of the buffer station 400 away from the feed station 100 in the transverse direction H, and the film collecting station 500, the defective recovery station 600, and the separator recovery station 700 are disposed in this order near the periphery of the system in a direction parallel to the feed direction J. That is, at the outer circumference of the left side of the system, the film collecting station 500, the reject recycling station 600, and the separator recycling station 700 are sequentially arranged from the upper portion of fig. 1 to the lower portion of fig. 1. Because the film collecting station 500 and the defective product recovering station 600 are arranged close to the processing station 200, and the separator recovering station 700 is arranged close to the buffer storage station 400 and the feeding station 100, the collecting operation on the corresponding articles at the corresponding stations can be facilitated, and the operation efficiency of the system is improved. Further, since the film collecting station 500, the defective product recovering station 600, and the separator recovering station 700 are provided at the outer periphery, the operator can conveniently take the respective articles collected at the respective stations from the outside.

Fig. 3 illustrates a schematic view of an end effector portion of a robot 300 of an automatic packaging sleeve feeding system according to an embodiment of the present disclosure, and fig. 4 illustrates a schematic view of a first end effector 310 of the robot 300 of the automatic packaging sleeve feeding system according to an embodiment of the present disclosure.

As shown in fig. 3 and 4, the end effector portion of the manipulator 300 includes a first end effector 310 and a second end effector 320. For example, the first end effector 310 is configured to provide a set of packaging sleeves 920 after removal of film from the processing station 200 (e.g., at the film removal device 210 or the de-dusting device) to the packaging sleeve rails 910. The second end effector 320 is used to perform other transport operations than providing groups of packaging sleeves 920 from the processing station 200 to the packaging sleeve rails 910, such as, for example, taking groups of packaging sleeves 920 from the infeed station 100 to the processing station 200, and so on. The first end effector 310 and the second end effector 320 each include a base mounted to an end of a robotic arm of the manipulator 300, and the controller 800 may control the manipulator 300 to switch between the first end effector 310 and the second end effector 320. For example, the first base 311 of the first end effector 310 and the second base 321 of the second end effector 320 are mounted at an angle to the base of the end of the robotic arm, switching between the first end effector 310 and the second end effector 320 by rotating the base of the end of the robotic arm.

The second end effector 320 includes suction cups 322 that may be attached to a set of packaging sleeves 920 to transport the set of packaging sleeves 920. At the film removal device 210, the slit film may also be transferred to the film collection station 500 using the suction cups 322 of the second end effector 320. The second end effector 320 is not limited to the form of a suction cup, and may also include a clamping jaw or the like.

As shown in fig. 4, the first end effector 310 includes a first base 311, a pair of jaws 312, a stacker 313, and a puller 314. The pair of jaws 312, the stacker 313 and the puller 314 are mounted to the first base 311. The pair of jaws 312 extends in a first direction Y with respect to the first base 311 and is configured to move in a second direction X perpendicular to the first direction Y between a gripping position and a release position to grip a group of packaging sleeves 920 for movement thereof. Since the pair of jaws 312 extend in the first direction Y and the gripping force is applied in the second direction X, the pair of jaws 312 can prevent the group of packaging sleeves 920 from being spread apart, from which the film has been removed, so that the group of packaging sleeves 920 can be gripped reliably. The stacker 313 has a pushing surface perpendicular to the first direction Y, and the puller 314 is configured to move in the first direction Y. The group of packaging sleeves 920 provided can be pressed by the stacker 313 and the puller 314 in the feed direction J against the existing packaging sleeves in the packaging sleeve rail 910 and the sluice press 911 against the end-most packaging sleeve remote from the pack forming device.

Fig. 5A-5C illustrate an operational schematic of a first end effector 310 of a robot 300 of an automatic packaging sleeve loading system according to an embodiment of the present disclosure. The robot 300 and its first end effector 310 may perform the following steps to provide groups of packaging sleeves 920 from the processing stations 200 into the packaging sleeve rails 910: step S11, the robot 300 moves the first base 311 so that the first direction Y is aligned with the stacking direction of the plurality of packing sleeves in the set of packing sleeves 920; step S12, a pair of jaws 312 grip a group of packaging sleeves 920 and place the group of packaging sleeves 920 to the packaging sleeve stock rail 910 such that the stacking direction of a plurality of packaging sleeves in the group of packaging sleeves 920 is aligned with the feeding direction J of the packaging sleeve stock rail 910; step S13, after the grouping of packaging sleeves 920 is placed on the packaging sleeve rail 910, the stacker 313 pushes the grouping of packaging sleeves 920 in the stacking direction; and step S14, while the stacker 313 pushes the grouping of the packing sleeves 920, the pulling member 314 pulls the shutter charge 911 of the packing sleeve stock rail 910 to move in the stacking direction (in this case, aligned with the feeding direction J and the first direction Y) until the vicinity of the pushing surface of the stacker 313 and then releases the shutter charge 911. In this embodiment, the pulling member 314 is a pair of hook-like elements engageable with the shutter charge 911, which are respectively fixed to the pair of jaws 312. The pair of jaws 312 are connected by a connection 315 to a 316 drive source, such as a drive motor, which drives the pair of jaws 312 in a first direction Y through the connection 315, which in turn drives the pulling member 314 in the first direction Y. The pulling member 314 then drives the sluice block 911 in the first direction Y towards the stacker 313 until it is in the vicinity of the stacker 313. As shown in fig. 3, 4, 5A and 5B, in step S13 and step S14, the stacker 313 stacks the group of packing sleeves 920 with its pushing surface in the stacking direction so that they abut against the original packing sleeves on the packing sleeve stock rail 910, while the pulling member 314 pulls the gate press block 911 in the first direction Y toward the endmost packing sleeve. The gate press 911 is pivotably mounted to the packaging sleeve stock rail 910 and is configured to be pivotable about a vertical direction Z perpendicular to the feed direction J to a position at which pressing of the packaging sleeve is stopped when pulled by the pulling member 314. As shown in fig. 5C, in step S14, the pulling member 314 finally pulls the shutter charge 911 to the vicinity of the pushing surface of the stacker 313, and then releases the shutter charge 911. The shutter charge 911 will be pressed back onto the renewed extreme packaging sleeve, for example, due to the restoring force of the elastic member, such as a torsion spring, after being released. The controller 800 may be configured to control the first base 311, the pair of jaws 312, the stacker 313, and the puller 314 of the first end effector 310 to perform the above-described operations.

In addition, the first end effector 310 may also be provided with various sensors, such as a sensor for sensing the positioning of the first end effector 310 with the set of packaging sleeves 920 on the packaging sleeve rails 910, a sensor for sensing the position of the pulling member 314, a sensor for sensing the position of the stacker mover 313, and the like. The controller 800 may receive signals from the various sensors to control the corresponding components to perform the operations described above.

In other embodiments, the first end effector 310 may have other configurations as well. For example, the first end effector 310 has only jaws that provide a set of packaging sleeves 920 to the packaging sleeve rail 910 by cooperating with other components of the packaging sleeve rail 910.

Fig. 6 shows a schematic top view of an automatic packaging sleeve loading system according to another embodiment of the present disclosure. The various components of fig. 6 may be referred to in the description of the automatic packaging sleeve loading system shown in fig. 1-5C. Unlike the automatic packaging sleeve feeding system of fig. 1, the automatic packaging sleeve feeding system of fig. 6 includes two feeding

stations

100a, 100b, but does not include a buffering station. The infeed station 100a includes an infeed gate 120a and the infeed station 100b includes an infeed gate 120b. Neither of the two

feed stations

100a, 100b is provided with a protective barrier. The robot 300 may take groups of packaging sleeves 920 from one

feeding station

100a, 100b after the groups of packaging sleeves 920 have been taken from the

other feeding station

100a, 100 b. The two

feed stations

100a, 100b may alternately feed. When the robot 300 takes a group of packaging sleeves 920 from a

particular infeed station

100a, 100b, the infeed security door 120a, 120b of that

infeed station

100a, 100b cannot be opened.

At least one embodiment of the present disclosure also provides an automatic packaging sleeve feeding method for providing groups of packaging sleeves to packaging sleeve rails. The method may be performed, for example, using a packaging sleeve automatic feeding system as described above.

In some embodiments, the method comprises: step S21, taking the groups of packaging sleeves 920 from the feeding station 100 to the turning device 230 of the processing station 200 by using the manipulator 300; step S22, sensing the orientation of the group of packaging sleeves 920 by the positioning device 220, and when the orientation of the group of packaging sleeves 920 is sensed to be incorrect, flipping the group of packaging sleeves 920 to be positioned correctly by the flipping device 230; step S23, conveying the correctly positioned group of packaging sleeves 920 to the film removing device 210 by using the manipulator 300 or the turning device 230; step S24, removing the film from the group of packaging sleeves 920 by means of the film tearing device 210; and step S25, providing the group of packaging sleeves 920 after the film is removed from the processing station 200 into the packaging sleeve stock rail 910 by means of the robot 300.

Furthermore, the method may further comprise: taking the separator from the feeding station 100 to the separator recovery station 700 by using the manipulator 300; the manipulator 300 is utilized to take the group of packaging sleeves 920 which cannot be positioned correctly from the turning device 230 to the defective product recovery station 600; and picking up the removed film from the film tearing apparatus 210 to the film collection station 500 using the robot 300.

Furthermore, the method comprises the following steps: in response to a user command indicating a feed, moving the guard flap 110 of the feed station 100 to a closed position; and moving the guard flap 110 of the infeed station 100 to the open position in response to a user command indicating that the replenishment is complete. With the guard 110 in the closed position, the method utilizes the robot 300 to take groups of packaging sleeves 920 from the buffer station 400. With the guard 110 in the open position, the group of packaging sleeves 920 is taken from the infeed station 100 using the robot 300. The packaging sleeve automatic loading system may comprise a user interface for interaction with an operator. The user interface may receive user commands from an operator and may, for example, transmit operational prompts to the operator. The user interface may include a keyboard, buttons, a display panel (e.g., a touch screen), and the like.

Furthermore, the method comprises the following steps: sensing the number of packaging sleeves in the packaging sleeve stock rail 910 with a feed progress sensor; sensing the number of film wrapped sets of packaging sleeves 920 in the buffer station 400 with a buffer number sensor; and taking out the groups of packing sleeves 920 from the feeding station 100 to the buffer station 400 using the robot 300 when the number of packing sleeves in the packing sleeve stock rail 910 satisfies a first predetermined condition and the number of film-wrapped groups of packing sleeves 920 in the buffer station 400 satisfies a second predetermined condition.

Further, in the method, the film-removed sets of packaging sleeves 920 are provided from the processing station 200 to the packaging sleeve rails 910 using the first end effector 310, and the second end effector 320 is used to take the sets of packaging sleeves 920 from the infeed station 100 to the processing station 200. The method further comprises the steps of: switching is performed between the first end effector 310 and the second end effector 320.

The various steps described above may be performed in the order described, in other orders, or in parallel without causing a conflict.

The scope of the present disclosure is defined not by the above-described embodiments but by the appended claims and their equivalents.

Claims

1. A packaging sleeve automatic feeding system for providing a packaging sleeve stock rail with a set of packaging sleeves, the packaging sleeve stock rail extending in a feed direction, the set of packaging sleeves comprising a plurality of packaging sleeves stacked together, and the set of packaging sleeves being provided into the packaging sleeve stock rail in a state in which a stacking direction of the plurality of packaging sleeves is parallel to the feed direction, the system comprising:

a feed station for stacking a plurality of said sets of packaging sleeves stacked together, each said set of packaging sleeves being wrapped by a film;

A processing station comprising a film-removing device that removes the film from the set of packaging sleeves;

a manipulator; and

a controller configured to control the robot to take the set of packaging sleeves from the infeed station to the processing station and to control the robot to provide the set of packaging sleeves after removal of the film from the processing station into the packaging sleeve stock rail.

2. The packaging sleeve automatic feeding system according to claim 1, further comprising:

a buffer station for stacking said groups of packaging sleeves wrapped by said film,

the infeed station includes a guard flap movable between a closed position in which the guard flap prevents the manipulator from entering the infeed station and an open position in which the guard flap allows the manipulator to enter the infeed station,

the controller is configured to:

when receiving a user command indicating feeding, controlling the protective baffle of the feeding station to move to the closing position, and when the protective baffle is in the closing position, controlling the manipulator to take groups of packaging sleeves from the caching station to the processing station; and

The protective barrier of the infeed station is controlled to move to the open position when a user command is received indicating completion of the feeding and the manipulator is controlled to take groups of packaging sleeves from the infeed station to the processing station when the protective barrier is in the open position.

3. The automatic packaging sleeve feeding system according to claim 2, wherein,

the feed station also comprises a feed safety gate through which the feed is fed from outside the system,

the controller is configured to allow the feed safety door to open only when the guard flap of the feed station is moved to the closed position.

4. The automatic packaging sleeve feeding system according to claim 2 or 3, wherein,

the buffer station and the feeding station are arranged side by side in a transverse direction perpendicular to the feeding direction and are arranged opposite to the packaging sleeve material rail in a direction parallel to the feeding direction,

the processing station and the base of the manipulator are arranged side by side in the transverse direction perpendicular to the feeding direction and between the packaging sleeve stock rail and the buffer station and the feeding station in a direction parallel to the feeding direction, and

In the transverse direction perpendicular to the feeding direction, the base of the manipulator and the feeding station are arranged opposite to the processing station and the buffering station respectively.

5. The automatic packaging sleeve feeding system according to claim 2 or 3, wherein,

the manipulator is rotatably mounted on the base, and the feeding station, the buffer storage station, the processing station and the packaging sleeve material rail are sequentially arranged on the movement track of the manipulator around the base.

6. The packaging sleeve automatic feeding system according to claim 2 or 3, further comprising:

a feed progress sensor configured to sense a number of packaging sleeves in the packaging sleeve stock rail; and

a buffer number sensor configured to sense the number of film wrapped groups of packaging sleeves in the buffer station,

the controller is configured to:

and when the number of the packaging sleeves in the packaging sleeve material rail meets a first preset condition and the number of the groups of packaging sleeves wrapped by the film in the buffer station meets a second preset condition, controlling the manipulator to take the groups of packaging sleeves wrapped by the film from the feeding station to the buffer station.

7. The packaging sleeve automatic feeding system according to claim 6, wherein

The plurality of packing sleeve material rails is provided, the first preset condition is that the plurality of packing sleeve material rails comprise more than the first preset number of packing sleeves,

the second predetermined condition is that the buffer station includes fewer than a second predetermined number of film wrapped groups of packaging sleeves.

8. The automatic packaging sleeve feeding system according to any one of claim 1 to 3, wherein,

the robot includes a first end effector configured to provide the set of packaging sleeves from which the film has been removed to the packaging sleeve stock rail from the processing station using the first end effector,

the first end effector includes:

a first base and a pair of jaws, a pusher and a puller mounted to the first base,

the pair of jaws extending in a first direction relative to the first base and being configured to move between a gripping position and a release position in a second direction perpendicular to the first direction,

the pusher has a pushing surface perpendicular to the first direction,

the pulling member is configured to be attachable to the set of packaging sleeves and to be movable in the first direction.

9. The packaging sleeve automatic feeding system according to claim 8, wherein,

the controller is configured to:

controlling the robot to move the first base such that the first direction is aligned with a stacking direction of the plurality of packaging sleeves in the set of packaging sleeves;

controlling the pair of jaws to grip the set of packaging sleeves and place the set of packaging sleeves to the packaging sleeve stock rail;

controlling the pushing member to push the group of packaging sleeves in the stacking direction after the group of packaging sleeves is placed on the packaging sleeve stock rail; and

controlling the pulling member to pull a gate press block of the packing sleeve stock rail to move in the stacking direction until the vicinity of the pushing surface of the pushing member while the pushing member pushes the group of packing sleeves to enable the gate press block to be released to press the packing sleeves,

the gate press block presses the packaging sleeve in the packaging sleeve material rail in the feeding direction, and the gate press block is configured to be pivotable about a vertical direction perpendicular to the feeding direction to a position where pressing of the packaging sleeve is stopped when pulled by the pulling member.

10. The packaging sleeve automatic feeding system according to claim 8, wherein,

the robot further includes a second end effector configured to take the set of packaging sleeves from the infeed station to the processing station with the second end effector, the second end effector including suction cups.

11. The automatic packaging sleeve feeding system according to any one of claim 1 to 3, wherein,

the processing station further comprises:

a dust removal device configured to remove dust from the set of packaging sleeves after removal of the film.

12. The automatic packaging sleeve feeding system according to any one of claim 1 to 3, wherein,

the processing station further comprises:

a positioning device that senses the orientation of the set of packaging sleeves and a flipping device for flipping the set of packaging sleeves to be properly positioned.

13. The packaging sleeve automatic feeding system according to claim 12, further comprising:

a film collection station that collects the films removed from the set of packaging sleeves;

a defective product recovery station that collects the set of packaging sleeves that cannot be positioned correctly; and

A separator recovery station that collects the separator,

the groups of packaging sleeves are stacked at the infeed station in a plurality of layers, each layer comprising a plurality of the groups of packaging sleeves arranged in an array, and the plurality of layers being separated by the separator paper.

14. The packaging sleeve automatic feeding system according to claim 13, wherein,

the controller is configured to:

controlling the manipulator to take the removed film from the film detaching device to the film collecting station,

controlling the manipulator to take the group of packaging sleeves which cannot be positioned correctly from the turnover device to the defective product recovery station, and

and controlling the manipulator to take the separator from the feeding station to the separator recovery station.

15. The packaging sleeve automatic feeding system according to claim 14, wherein,

In the transverse direction perpendicular to the feeding direction, the base of the manipulator and the feeding station are respectively arranged opposite to the processing station and the buffering station,

the film collecting station is arranged on the side of the processing station remote from the base of the robot in the transverse direction perpendicular to the feed direction,

the separator recovery station is arranged on one side of the buffer station away from the feeding station in the transverse direction perpendicular to the feeding direction,

the film collecting station, the defective product recycling station and the separator recycling station are sequentially arranged at the periphery of the system in the direction parallel to the feeding direction.

16. An automatic feeding method of packaging sleeves for providing a packaging sleeve stock rail with a set of packaging sleeves, the packaging sleeve stock rail extending in a feed direction, the set of packaging sleeves comprising a plurality of packaging sleeves stacked together, and the set of packaging sleeves being provided into the packaging sleeve stock rail with the stacking direction of the plurality of packaging sleeves parallel to the feed direction, the method comprising:

Taking the groups of packaging sleeves from the feeding station to the processing station by using a mechanical arm, wherein the feeding station is used for stacking a plurality of stacked groups of packaging sleeves, each group of packaging sleeves is wrapped by a film, and the processing station comprises a film detaching device;

removing the film from the set of packaging sleeves with the film tearing device; and

the group of packaging sleeves after removal of the film is provided from the processing station into the packaging sleeve stock rail with the manipulator.

17. The automatic feeding method of claim 16, further comprising:

moving a protective barrier of the infeed station to a closed position in response to a user command indicating a refill, the protective barrier being in the closed position, taking the set of packaging sleeves from a buffer station for stacking the set of packaging sleeves wrapped by the film to the processing station with the manipulator; and

in response to a user command indicating completion of a refill, the guard flap of the infeed station is moved to an open position, and the set of packaging sleeves is taken from the infeed station to the processing station with the manipulator while the guard flap is in the open position.

18. The automatic feeding method of claim 17, further comprising:

sensing the number of packaging sleeves in the packaging sleeve stock rail with a feed progress sensor;

sensing the number of said groups of packaging sleeves wrapped by said film in said buffer station with a buffer number sensor; and

when the number of packaging sleeves in the packaging sleeve material rail meets a first preset condition and the number of groups of packaging sleeves wrapped by the film in the buffer station meets a second preset condition, the groups of packaging sleeves are taken from the feeding station to the buffer station by the manipulator.

19. The automatic feeding method according to claim 17 or 18, wherein,

the robot includes a first end effector and a second end effector,

the group of packaging sleeves from which the film has been removed is provided from the processing station to the packaging sleeve stock rail by means of the first end effector,

taking the group of packaging sleeves from the feeding station to the processing station with the second end effector,

the method further comprises the steps of:

switching is performed between the first end effector and the second end effector.

20. The automatic feeding method according to claim 17 or 18, wherein,

the processing station also comprises a positioning device and a turnover device,

the method further comprises the steps of:

sensing the orientation of the set of packaging sleeves with the positioning device, and inverting the set of packaging sleeves with the inverting device to properly position when the orientation of the set of packaging sleeves is sensed to be incorrect,

when the set of packaging sleeves is properly positioned, the film is removed from the set of packaging sleeves using the film removal device.

21. The automatic feeding method of claim 20, further comprising

The packaging sleeve device which cannot be positioned correctly at the processing station is moved to a defective product recovery station by the manipulator;

moving the removed film to a film collection station with the manipulator; and

the mechanical arm is utilized to move the separating paper to a separating paper recovery station,

the sets of packaging sleeves are stacked at the infeed station in a plurality of layers, each layer comprising a plurality of sets of packaging sleeves arranged in an array, and each layer being separated by the separator paper.