CN117963280A - Cover folding system of random size paper box and control method thereof - Google Patents

Abstract

The invention relates to packaging machinery detection equipment, in particular to a cover folding system of a random-size carton and a control method thereof, which are arranged on a cover folding and carton pushing device and comprise the following steps: the system comprises a PLC control system, an auxiliary detection system and a man-machine interaction system; the cover folding and box pushing device is used for receiving a control command of the PLC control system and executing corresponding movement; the PLC control system is used for receiving parameters of the folding cover box pushing device regulated by the man-machine interaction system, controlling the folding cover box pushing device to execute corresponding movements, obtaining control commands according to detection results of detection equipment in the auxiliary detection system and a sensor of the folding cover box pushing device, sending the control commands to the folding cover box pushing device, and connecting the folding cover box pushing device with the man-machine interaction system through a bus; the invention judges whether the paper boxes are excessively filled to cause the bulge of the paper boxes through the mutual coordination of the visual, mechanical and non-contact sensors, thereby adjusting the folding cover position, realizing wider dynamic adjustment and adapting to the production working conditions of more paper boxes.

Description

Cover folding system of random size paper box and control method thereof

Technical Field

The invention relates to packaging machinery detection equipment, in particular to a cover folding system of a random-size carton and a control method thereof.

Background

Along with the development of packaging mechanical equipment and the widening of multiple industries, a simple single cover folding and box sealing machine cannot meet the industrial requirements, most of the equipment in the industry currently needs to preset equipment working flows according to the size of the paper boxes, and once the size of the paper boxes changes, the technological parameters of the equipment need to be readjusted, so that the production efficiency is poor and the production beat is slow. And a plurality of production lines can not ensure that all products can use cartons of the same specification, products produced by a plurality of industries can reach hundreds of carton mixed line production, and the traditional folding cover box sealing machine can not be suitable for the working scene, so that folding cover box sealing equipment for self-adaptive carton size adjustment is urgently needed in the industry.

The self-adaptation equipment that is used commonly used in the trade mostly uses machinery to realize the size adjustment of equipment in place at present, or utilizes the flexible pressure of low pressure to realize the self-adaptation of carton size, and this structure causes both sides mechanism to the box centre gripping too tight easily, and not only frictional force increases, causes the damage to the box easily moreover, and degree of automation is lower, often needs the manual work to handle, influences whole production efficiency. Meanwhile, as the intelligent degree of the equipment is low, the paper boxes can be directly damaged when the articles in the paper boxes are excessively filled, so that production waste, beat reduction and even accidents are caused.

Disclosure of Invention

The invention aims to provide a folding cover system of a random size paper box with high automation, high intellectualization and high efficiency through mutual matching of visual, mechanical and non-contact sensors and a control method thereof, so as to overcome the defects of equipment in the industry.

The technical scheme adopted by the invention for achieving the purpose is as follows: the folding cover system of the random size carton is arranged on a folding cover pushing device, and the folding cover pushing device comprises a frame body, a pressing box folding cover lifting mechanism, a pushing box conveying line body, a centering and aligning mechanism and a box sealing conveying line body, wherein the pushing box conveying line body and the box sealing conveying line body are arranged at the bottom of the frame body in front of and behind; the centering and aligning mechanism is arranged on the frame body and is used for centering the box body on the box pushing conveying line body; the box pressing and cover folding lifting mechanism is arranged on the frame body and is positioned above the box pushing conveying line body, and the box pressing and cover folding lifting mechanism is used for folding the cover of the box body.

The frame body comprises a main frame body and a lifting driving mechanism; a distance measuring sensor and a lifting synchronous guide rail sliding block arranged along the vertical direction are arranged on the main frame body; the lifting driving mechanism is arranged on the main frame body and is connected with the pressing box cover folding lifting mechanism, and the pressing box cover folding lifting mechanism is connected with the lifting synchronous guide rail sliding block.

The lifting driving mechanism comprises a folding cover lifting mechanism driving assembly, a driving synchronous wheel, a driven wheel and a lifting synchronous belt, wherein the folding cover lifting mechanism driving assembly is arranged at the top of the main frame body, the output end of the folding cover lifting mechanism driving assembly is connected with the driving synchronous wheel, the driven wheel is arranged at the bottom of the main frame body and is connected with the driving synchronous wheel through the lifting synchronous belt, and the lifting synchronous belt is connected with the pressing box folding cover lifting mechanism.

The box pressing cover folding lifting mechanism comprises a lifting machine framework body, a box pressing plate mechanism, a long arm cover folding mechanism, a short arm cover folding mechanism, a side cover folding mechanism and a guide pressing plate, wherein the lifting machine framework body is connected with the lifting driving mechanism through a synchronous belt locking block, one side of the lifting machine framework body is connected with the lifting synchronous guide rail sliding block, and the other side of the lifting machine framework body is connected with the main framework body through a guide wheel mechanism; the guide pressing plate is arranged at the bottom of the lifter framework, the long-arm cover folding mechanism is arranged at the front part of the lifter framework, and the short-arm cover folding mechanism is hinged at the tail end of the long-arm cover folding mechanism; the box pressing plate mechanism is arranged at the bottom of the long-arm cover folding mechanism; the side cover folding mechanisms are two groups and are respectively arranged at two sides of the rear end of the lifter framework body, and the two groups of side cover folding mechanisms are used for folding the side cover of the box body.

The long-arm cover folding mechanism comprises a long-arm cylinder and two long-arm side plates, wherein the two long-arm side plates are arranged in parallel and are connected through a long-arm side plate connecting shaft; the long arm cylinder is fixed between the two long arm side plates through the cylinder fixing seat, the output end of the long arm cylinder is hinged with the short arm cover folding mechanism through the long connecting block, and the rear end of the short arm cover folding mechanism is rotationally connected with the two long arm side plates through the long arm rotating shaft.

The short arm cover folding mechanism comprises a short arm side plate, a short arm cylinder, a cylinder fixing seat and a cover folding front arm, wherein the two short arm side plates are arranged in parallel and are connected through a short arm side plate connecting shaft; the rear ends of the two short arm side plates are connected with the long arm rotating shaft, the short arm air cylinder is arranged between the two short arm side plates through the air cylinder fixing seat, the output end of the short arm air cylinder is hinged with the folding cover front arm through the short connecting block, and the folding cover front arm is hinged with the short arm side plates through the front arm rotating shaft.

The box pressing plate mechanism comprises side support plates, in-place sensors, pressing plates, pressing plate fixing blocks and action cylinders, wherein the two side support plates are arranged in parallel and connected through side support plate connecting shafts, and the upper ends of the two side support plates are connected with the lifter framework; the action cylinder is arranged between the two side support plates, the output end of the action cylinder is connected with the pressing plate fixing block through a cylinder connecting plate, and the pressing plate fixing block is rotationally connected with the two side support plates through a pressing plate rotating shaft; the pressing plate is arranged at the bottom of the pressing plate fixing block; the side support plate is provided with an in-place sensor through a sensor fixing plate; the in-place sensor is positioned above the pressing plate fixing block and is used for detecting whether the pressing plate fixing block rotates in place.

The side cover folding mechanism comprises a side cover folding support, a rotating shaft support, a rotating plate, a side arm cylinder, a cylinder fixing shaft and a cover folding rod, wherein the side cover folding support is connected with the lifter framework body, the rotating shaft support is arranged at the top of the side cover folding support, a rotating shaft is arranged on the rotating shaft support, a rotating shaft bearing seat is arranged on the rotating shaft, the rotating shaft bearing seat is connected with the upper end of the rotating plate, and the lower end of the rotating plate is connected with the cover folding rod; the side arm cylinder is connected with the side folding cover support through the cylinder fixing shaft, the output end of the side arm cylinder is connected with the rotary plate, and the side arm cylinder is used for driving the rotary plate to open outwards or close inwards.

The pushing box conveying line body comprises line body side plates, conveying rollers, pushing plates, a pushing plate driving mechanism, a driving assembly I, a driving assembly II, a stopping mechanism I, a stopping mechanism II and a sensor, wherein a plurality of conveying rollers are arranged between two line body side plates which are arranged in parallel; the front and rear of the stop mechanism I and the stop mechanism II are arranged between the two line side plates at intervals; the driving assembly I and the driving assembly II are arranged on the side plate of the wire body, the driving assembly I is used for driving the conveying roller in front of the stop mechanism II to rotate, and the driving assembly II is used for driving the conveying roller positioned on the outer side of the stop mechanism II to rotate; the push plate driving mechanism is arranged between the stop stopping mechanism I and the stop stopping mechanism II, is connected with the driving assembly II and is used for pushing the box body along the conveying direction of the conveying roller; the sensor is arranged on the side plate of the wire body and corresponds to the stop mechanism I.

The centering and aligning mechanism comprises a left-right rotation ball screw sliding table module, a servo driving motor and two groups of aligning rod assemblies, wherein the left-right rotation ball screw sliding table module is arranged at the bottoms of the two wire body side plates and is vertical to the wire body side plates along the direction; the two groups of aligning rod assemblies are respectively connected with two side driving ends of the left-right rotating ball screw sliding table module, the servo driving motor is connected with the left-right rotating ball screw sliding table module, and the left-right rotating ball screw sliding table module drives the two groups of aligning rod assemblies to be close to or far away from each other.

A lid folding system for a random size carton, comprising: the system comprises a PLC control system, an auxiliary detection system and a man-machine interaction system;

The folding cover pushing device is used as folding cover executing equipment of the random size paper box, and is used for receiving a control command of the PLC control system and executing corresponding movement according to the control command of the PLC control system;

the PLC control system is used for receiving parameters of the folding cover box pushing device regulated by the human-computer interaction system, controlling the folding cover box pushing device to execute corresponding movements, obtaining control commands according to detection results of detection equipment in the auxiliary detection system and a ranging sensor and an in-place sensor in the folding cover box pushing device, sending the control commands to the folding cover box pushing device, and simultaneously connecting the folding cover box pushing device with the human-computer interaction system through a bus;

The auxiliary detection system is used for collecting and detecting equipment state signals, and simultaneously combining a ranging sensor and an in-place sensor of the cover folding and box pushing device to serve as detection results and feed back to the PLC control system;

And the man-machine interaction system is used for adjusting parameters of the cover folding and box pushing device, sending the parameters to the PLC control system and displaying detection results transmitted by the PLC control system.

A PLC control system, comprising: the PLC, a servo motor limiting and original point sensor, a cylinder position detection sensor, a carton position detection sensor and a push plate position detection sensor which are connected with the PLC;

The servo motor limiting and original point sensor is used for acquiring the maximum and minimum strokes of the motor and positioning the initial position of the motor;

The cylinder position detection sensor is used for detecting the movement position of the cylinder, and further acquiring the action execution condition of the cylinder;

The carton position detection sensor is used for feeding back a trigger signal of the carton reaching the detection position to the PLC;

The push plate position detection sensor is used for feeding back the acquired trigger signal to the PLC when the push plate reaches the detection point.

The servo motor limiting and original point sensor is a photoelectric sensor and is used for detecting the original point positioning and overload limiting of the servo motor and is positioned on the frame body of the folding cover box pushing device.

The carton position detection sensor is arranged on a line body side plate of the folding cover box pushing device and is arranged on the same horizontal line with the stop mechanism II.

The push plate position detection sensor is arranged below the conveying roller of the cover folding and box pushing device, is arranged in the running direction of the push plate chain, and is arranged right below the tail end of the short arm cover folding mechanism after the bending action is executed.

The auxiliary detection system comprises: the industrial personal computer, the height detection laser sensor and the width visual detection camera are connected with the industrial personal computer;

The height detection laser sensor is arranged on one side of the box pressing plate mechanism of the cover folding and box pushing device, and is used for acquiring the distance between the height detection laser sensor and the paper box and sending the distance to the industrial personal computer;

The mounting position of the width vision detection camera is the same as the mounting position of the ranging sensor in the folding cover box pushing device, and the width vision detection camera is used for visually imaging the paper box, obtaining the left-right distance between the centering and aligning mechanism and the paper box and the length dimension of the paper box, and sending the paper box to an industrial personal computer;

the industrial personal computer is connected with the PLC and used for inputting the distance between the height detection laser sensor and the carton, the left-right distance between the centering and aligning mechanism and the carton and the length dimension of the carton to the PLC.

The man-machine interaction system comprises: the structure box is provided with a touch screen, a starting button, a reset button and an emergency stop button which are arranged on the structure box;

The touch screen, the starting button, the reset button and the emergency stop button are respectively embedded on one side surface of the structural box;

The touch screen, the starting button, the reset button and the emergency stop button are connected with a PLC of the PLC control system through buses.

A method of controlling a folding system for a random size carton, comprising the steps of:

1) The PLC controls the push plate of the folding cover box pushing device, the folding cover lifting mechanism of the pressing box and the centering and aligning mechanism to return to zero; the return-to-zero positions of the box pressing cover folding lifting mechanism and the centering and aligning mechanism are acquired through a servo motor limit and original point sensor and fed back to the PLC;

2) The PLC records the maximum travel H of the height of the current pressing box cover folding lifting mechanism and the maximum travel W of the width of the centering and aligning mechanism according to the zeroing positions of the pressing box cover folding lifting mechanism and the centering and aligning mechanism;

3) When the paper box is put into a box pushing conveying line body of the box folding and box pushing device, and the paper box reaches a trigger position of a paper box position detection sensor, a height detection laser sensor group obtains the distance H1 between the height detection laser sensor and the paper box; meanwhile, the width vision detection camera performs vision imaging on the carton, and obtains left and right distances W1 and W2 between the centering mechanism and the carton and the length La of the carton;

4) The auxiliary detection system feeds back the obtained distance H1 between the height detection laser sensor and the carton, left and right distances W1 and W2 between the centering and aligning mechanism and the carton and the length La of the carton to the PLC as detection results; the PLC executes the height adjustment and the width adjustment of the paper box according to the detection result;

5) After the height adjustment is finished, starting a push plate to push the paper box to advance, after the push plate triggers a push plate position detection sensor, starting a long-arm cover folding mechanism and a short-arm cover folding mechanism to finish the front and back cover folding action of the paper box, and when the paper box advances below the side cover folding mechanism, starting the side cover folding mechanism to finish the side cover folding action of the paper box;

6) When the paper box leaves the folding cover box pushing device, the PLC control system controls all motors and the air cylinders to return to the original point for standby.

The PLC executes the height adjustment of the carton according to the detection result, and specifically comprises the following steps:

The PLC controls the pressing box folding cover lifting mechanism to descend to the triggering position of the in-place sensor, at the moment, the edge height H2 of the pressing box folding cover lifting mechanism from the carton is obtained from the PLC, and if the maximum error allowed by the height of the carton obtained by the defining height detection laser sensor and the in-place sensor is a, the maximum error is:

If the height (H2-H1) is less than or equal to 0 and less than or equal to a, the lifting mechanism for pressing the box and folding the cover is lifted, and the lifting distance is as follows: H2-H1;

If (H2-H1) is more than a, the height of the articles in the paper box exceeds a preset value, and the PLC controls the lifting mechanism of the folding cover of the pressing box to lift, wherein the lifting distance is a;

If (H2-H1) is less than 0, indicating that the articles in the paper box have gaps, and keeping the box pressing cover folding lifting mechanism still.

The width adjustment of carton is carried out to PLC according to the testing result, specifically does:

recording the maximum travel W of the width of the centering and aligning mechanism, acquiring left and right distances W1 and W2 between the centering and aligning mechanism and the carton through a width visual detection camera, and acquiring the advancing distance of the centering and aligning mechanism as follows: (W-W1-W2)/2;

After the PLC controls the centering and aligning mechanism to advance, the distance between the centering and aligning mechanism and the carton W0 is judged through a plurality of distance measuring sensors, the minimum allowable distance is defined as b, and then:

If W0 is more than b, the surface of the paper box is smooth, and the centering and aligning mechanism is kept motionless;

if W0 is less than or equal to b, the side surface of the paper box is proved to bulge, the PLC controls the centering and aligning mechanism to retreat by the following distance: b-W0.

The invention has the following beneficial effects and advantages:

1. according to the method, the non-contact sensor and the visual mechanism are used for obtaining accurate width and height information, so that the actuating mechanism can obtain more accurate action instructions;

2. the invention can judge whether the paper boxes are excessively filled to cause the bulge of the paper boxes through the mutual coordination of the visual, mechanical and non-contact sensors, thereby adjusting the folding cover position to realize the dynamic adjustment in a wider range so as to adapt to the production working conditions of more paper boxes;

3. According to the invention, the action completion degree of the actuating mechanism such as the air cylinder and the motor can be better known through the cooperation of the sensors, and the open-loop control means such as time delay and the like are avoided from being used in a program, so that the quicker response time and more accurate action feedback are realized, the efficiency is improved, and the controllability of the actuating mechanism is enhanced;

4. the invention can obtain the length, width and height information of the cartons, thereby better matching with production management systems such as MES and the like to realize capacity management of all types of cartons, and being more suitable for intelligent production compared with the traditional single folding equipment or mechanical self-adaptive equipment;

5. The invention can obtain the length, width and height information of the paper box, thereby providing guidance data for subsequent procedures such as bundling, frying, stacking and the like and providing an interface for the intellectualization of the production line.

6. The box pressing and cover folding lifting mechanism with the cover folding and box pushing device drives the synchronous belt to lift through servo drive, so that the positioning is more accurate, and the box pressing and cover folding lifting mechanism is more stable and reliable compared with a pneumatic structure.

7. The box pushing device with the folding cover can accurately measure the width of the box bodies with different sizes, the surface thickness of the object in the box bodies and the height of the box bodies by the box pressing plate through the distance measuring sensor, can accurately read the outer dimensions of the box bodies, and transmits data to the corresponding mechanism to finish centering and aligning and cover folding actions.

8. The box pressing and cover folding lifting mechanism with the cover folding and pushing device integrally forms a square mechanism, the box pressing plate completes the cover folding of the front cover of the box body, the long-arm cylinder action completes the rotation of the short-arm cover folding mechanism along the rotating shaft and can trigger the rear cover of the box body, the short-arm cylinder action enables the front arm of the cover folding to complete the cover folding of the rear cover along the rotating shaft action, the guide pressing plate plays roles of guiding and pressing the front cover and the rear cover, the cylinders on two sides can act more smoothly after the box body is in place, and the cover folding of the two side covers is completed.

9. The box pushing conveying line with the box folding and pushing device can be used for rapidly conveying the box to the appointed position, and can be matched with the ranging sensor and the box pressing and cover folding lifting mechanism to finish the outline dimension measurement of the box, and meanwhile, the large box and the small box can be accurately pushed to the appointed position for folding and covering.

10. The box pushing conveying line body with the cover folding box pushing device and the centering and aligning mechanism simultaneously use a servo motor to accurately control the walking position of the box body.

Drawings

Fig. 1 is a schematic general view of a folding system of a random size carton of the present invention;

wherein, the 10 folding cover box pushing device, the 20PLC control system, the 30 auxiliary detection system and the 40 man-machine interaction system;

FIG. 2 is a schematic diagram of a PLC control system of the present invention;

The device comprises a 2100PLC, a 2101 limit and original point sensor, a 2102 cylinder position detection sensor, a 2103 carton position detection sensor and a 2104 push plate position detection sensor;

FIG. 3 is a schematic diagram of an auxiliary detection system according to the present invention;

the 3100 industrial personal computer comprises a 3101 height detection laser sensor group and a 3102 width visual detection camera;

FIG. 4 is a schematic diagram of a human-machine interaction system of the present invention;

The device comprises a 4100 structural box, a 4101 touch screen, a 4102 start button, a 4103 reset button and a 4104 emergency stop button;

FIG. 5 is an overall flow chart of the control method of the present invention;

FIG. 6 is a flow chart of a height adjustment method of the present invention;

FIG. 7 is a flow chart of a width adjustment method of the present invention;

FIG. 8 is an isometric view of a push box device with a folding cover according to the present invention;

FIG. 9 is an isometric view of a frame of the present invention;

FIG. 10 is an isometric view of a medium pressure box folding cover lifting mechanism of the present invention;

FIG. 11 is a schematic view of the medium pressure boxboard mechanism of the present invention;

FIG. 12 is a schematic view of the long arm cover folding mechanism and the short arm cover folding mechanism according to the present invention;

FIG. 13 is a schematic view of a side cover folding mechanism according to the present invention;

FIG. 14 is an isometric view of a tote conveyor line body of the present invention;

FIG. 15 is an isometric view of an alignment mechanism in accordance with the present invention;

FIG. 16 is an isometric view of a box seal conveyor line body according to the present invention;

Wherein 1 is a frame body, 101 is a main frame body, 102 is a folding cover lifting mechanism driving assembly, 103 is a driving synchronous wheel, 104 is a lifting synchronous belt, 105 is a lifting synchronous guide rail slide block, and 106 is a ranging sensor;

2 is a press box folding cover lifting mechanism, 201 is a lifter framework body, 202 is a guide wheel mechanism, 203 is a synchronous belt locking block, 204 is a press box plate mechanism, 2041 is a side support plate, 2042 is an in-place sensor, 2043 is a sensor fixing plate, 2044 is a cylinder connecting plate, 2045 is a press plate rotating shaft, 2046 is a press plate, 2047 is a press plate fixing block, 2048 is an actuating cylinder, 2049 is a side support plate connecting shaft, 205 is a long arm folding cover mechanism, 2051 is a long arm side plate, 2052 is a long arm cylinder, 2053 is a cylinder fixing seat, 2054 is a long connecting block, 2055 is a long arm rotating shaft, 2056 is a long arm side plate connecting shaft, 206 is a short arm folding cover mechanism, 2061 is a short arm side plate, 2062 is a short arm cylinder, 2063 is a short arm fixing seat, 2064 is a short arm side plate connecting shaft, 2066 is a front arm rotating shaft, 207 is a side cover folding cover mechanism, 2071 is a side folding cover support, 2 is a side support, 205 is a rotating shaft, 2055 is a rotating shaft, 2078 is a guide rotating shaft, 2077 is a 2078 is a rotating shaft, and 2076 is a 2078 is a rotating shaft;

3 is a pushing box conveying line body, 301 is a line body side plate, 302 is a conveying roller, 303 is a push plate, 304 is a push plate chain, 305 is a push plate driving sprocket, 306 is a driving assembly I, 307 is a driving assembly II, 308 is a stopping mechanism I, 309 is a stopping mechanism II, 310 is a sensor, 311 is a bracket leg;

4 is a middle alignment mechanism, 401 is a left-right rotation ball screw sliding table module, 402 is a servo driving motor, 403 is a bracket fixing plate, 404 is an alignment rod bracket, and 405 is an alignment rod;

5 is a box sealing conveying line body, 501 is a line body side plate, 502 is a side plate cross brace, 503 is a conveying roller, 504 is a sensor bracket, and 501 is a bracket leg;

6 is an operation display platform; 7 is a distribution box assembly; 8 is a pneumatic assembly.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

As shown in fig. 1, the folding cover system of the present invention includes a folding cover pushing box device 10, a PLC control system 20, an auxiliary detection system 30, and a man-machine interaction system 40;

the folding cover box pushing device is used as folding cover executing equipment of the random size paper box, and is used for receiving a control command of the PLC control system 20 and executing corresponding movement according to the control command of the PLC control system 20;

The PLC control system 20 is configured to receive parameters of the lid-folding and box-pushing device adjusted by the man-machine interaction system 40, control the lid-folding and box-pushing device to perform corresponding movements, obtain a control command according to detection results of the detection device in the auxiliary detection system 30 and the ranging sensor 106 and the in-place sensor 2042 in the lid-folding and box-pushing device, and send the control command to the lid-folding and box-pushing device, and meanwhile connect with the man-machine interaction system 40 through a bus;

The auxiliary detection system 30 is used for acquiring a detection equipment state signal, and simultaneously combining a ranging sensor 106 and an in-place sensor 2042 of the cover folding and box pushing device 10 to be used as a detection result and fed back to the PLC control system 20;

the man-machine interaction system 40 is used for adjusting parameters of the cover folding and box pushing device, sending the parameters to the PLC control system 20, and displaying detection results received from the PLC control system 20.

As shown in fig. 2, the PLC control system 20 of the present invention includes a PLC2100, and a servo motor limit and home sensor 2101, a cylinder position detection sensor 2102, a carton position detection sensor 2103, and a pusher position detection sensor 2104 connected thereto; the servo motor limiting and original point sensor is used for acquiring the maximum and minimum strokes of the motor and positioning the starting position of the motor; the cylinder position detection sensor is used for detecting the execution condition of cylinder actions; the carton position detection sensor 2103 is arranged on the line body side plate 301 of the folding cover box pushing device and is arranged on the same horizontal line with the stop mechanism II 309; the push plate position detection sensor 2104 is positioned below the conveying roller 302 of the cover folding and box pushing device, is arranged at the side of the push plate 303, and corresponds to the position right below the short-arm cover folding mechanism 206 after the long-arm cover folding mechanism 205 acts.

As shown in fig. 3, the auxiliary detection system 30 of the present invention includes an industrial personal computer 3100, a height detection laser sensor group 3101, and a width vision detection camera 3102;

The height detection laser sensor 3101 is arranged at one side of the box pressing plate mechanism 204 of the cover folding and box pushing device, and is used for acquiring the distance between the height detection laser sensor 3101 and the paper box and sending the distance to the industrial personal computer 3100;

the installation position of the width vision detection camera 3102 is the same as the installation position of the ranging sensor 106 in the folding cover box pushing device, and is used for visually imaging the paper box, obtaining the left-right distance between the centering and aligning mechanism 4 and the paper box, and the length dimension of the paper box, and sending the paper box to the industrial computer 3100;

The industrial computer 3100 is connected to the PLC2100, and is configured to input the distance between the height detection laser sensor 3101 and the carton, the left-right distance between the centering and aligning mechanism 4 and the carton, and the length dimension of the carton to the PLC2100.

As shown in fig. 4, the man-machine interaction system 40 of the present invention includes a structural box 4100, a touch screen 4101, a start button 4102, a reset button 4103 and an emergency stop button 4104, wherein the touch screen and the buttons are embedded and mounted on a panel of the structural box;

The touch screen 4101, the start button 4102, the reset button 4103 and the emergency stop button 4104 are respectively embedded on one side surface of the structural box;

The touch panel 4101, the start button 4102, the reset button 4103, and the emergency stop button 4104 are connected to the PLC2100 of the PLC control system 20 via a bus.

As shown in fig. 5, the control method of the folding system of the random size carton according to the present invention can adjust the system control parameters through the man-machine interaction system 40, and execute operations such as start, stop, scram, fault reset, etc., and is executed by the folding system as described above, and the specific method is as follows:

1) The PLC2100 controls the push plate 303 of the cover folding and box pushing device to press the box cover folding lifting mechanism 2 and the centering and aligning mechanism 4 to return to zero; the return-to-zero positions of the box pressing cover folding lifting mechanism 2 and the centering and aligning mechanism 4 are acquired through a servo motor limiting and original point sensor 2101 and fed back to the PLC2100;

2) The PLC2100 records the maximum travel H of the height of the current box pressing cover folding lifting mechanism 2 and the maximum travel W of the width of the centering and aligning mechanism 4 according to the zeroing positions of the box pressing cover folding lifting mechanism 2 and the centering and aligning mechanism 4;

3) When the cartons are put into the carton pushing conveying line body 3 of the carton folding and pushing device 10 and reach the triggering position of the carton position detection sensor 2103, the height detection laser sensor group 3101 obtains the distance H1 from the height detection laser sensor 3101 to the cartons; meanwhile, the width vision detecting camera 3102 visually images the carton and obtains left and right distances W1, W2 between the centering and aligning mechanism 4 and the carton, and the length La of the carton;

4) The auxiliary detection system 30 feeds back the acquired distance H1 between the height detection laser sensor 3101 and the carton, the left and right distances W1 and W2 between the centering and aligning mechanism 4 and the carton, and the carton length La to the PLC2100 as detection results; the PLC2100 performs height adjustment of the carton and width adjustment of the carton according to the detection result;

5) After the height adjustment is completed, the push plate 303 is started to push the paper box to advance, after the push plate 303 triggers the push plate position detection sensor 2104, the long-arm cover folding mechanism 205 and the short-arm cover folding mechanism 206 are started to complete the front-back cover folding action of the paper box, and when the paper box advances below the side cover folding mechanism 207, the side cover folding mechanism 207 is started to complete the side cover folding action of the paper box;

6) When the paper box leaves the cover folding and box pushing device, the PLC control system 20 controls all motors and air cylinders to return to the original point for standby.

As shown in fig. 6, the PLC2100 performs height adjustment of the carton according to the detection result, specifically:

The PLC2100 controls the pressing-box cover lifting mechanism 2 to descend to the triggering position of the in-place sensor 2042, at this time, the edge height H2 of the pressing-box cover lifting mechanism 2 from the carton is obtained from the PLC2100, and if the maximum error allowed by the definition of the height detection laser sensor 3101 and the in-place sensor 2042 to obtain the height of the carton is a, then:

If the height (H2-H1) is less than or equal to 0 and less than or equal to a, the lifting mechanism 2 for pressing the box and folding the cover is lifted, and the lifting distance is as follows: H2-H1;

If (H2-H1) is more than a, the height of the articles in the paper box exceeds a preset value, and the PLC2100 controls the lifting mechanism 2 of the folding cover of the pressing box to lift, wherein the lifting distance is a;

if (H2-H1) is less than 0, indicating that the articles in the paper box have gaps, and keeping the box pressing and cover folding lifting mechanism 2 still.

As shown in fig. 7, the PLC2100 performs width adjustment of the carton according to the detection result, specifically:

The maximum travel W of the width of the centering and aligning mechanism 4 is recorded, the left and right distances W1 and W2 between the centering and aligning mechanism and the carton are obtained through the width visual detection camera 3102, and the advancing distance of the centering and aligning mechanism 4 is obtained as follows: (W-W1-W2)/2;

after the PLC2100 controls the centering and aligning mechanism 4 to advance, the distance between the centering and aligning mechanism 4 and the carton W0 is determined by the plurality of distance measuring sensors 106, and the minimum allowable distance is defined as b:

if W0 is more than b, the surface of the paper box is smooth, and the centering and aligning mechanism 4 is kept motionless;

If W0 is less than or equal to b, the side surface of the paper box is proved to bulge, and the PLC2100 controls the centering and aligning mechanism 4 to retreat by the following distance: b-W0.

As shown in fig. 8, the box pushing device with the folding cover provided by the invention comprises a frame body 1, a box pressing and folding cover lifting mechanism 2, a box pushing conveying line body 3, a centering and aligning mechanism 4 and a box sealing conveying line body 5, wherein the box pushing conveying line body 3 and the box sealing conveying line body 5 are arranged at the bottom of the frame body 1 in front and back; the centering and aligning mechanism 4 is arranged on the frame body 1 and is used for centering the box body on the box pushing conveying line body 3; the box pressing and cover folding lifting mechanism 2 is arranged on the frame body 1 and is positioned above the box pushing conveying line body 3, and the box pressing and cover folding lifting mechanism 2 is used for folding the cover of the box body.

As shown in fig. 9, in the embodiment of the present invention, the frame body 1 includes a main frame body 101 and a lifting drive mechanism; a distance measuring sensor 106 and a lifting synchronous guide rail slide block 105 which are arranged along the vertical direction are arranged on the main frame body 101; the lifting driving mechanism is arranged on the main frame body 101 and is connected with the pressing box cover folding lifting mechanism 2, and the pressing box cover folding lifting mechanism 2 is connected with the lifting synchronous guide rail slide block 105. The ranging sensor 106 is fixed on two sides of the front small frame body of the main frame body 101 through screws, and the ranging sensor 106 can be detached after the protective door is opened, so that the safety door is convenient and quick. Specifically, the width and height direction measurements are performed on different sized boxes by three sets of ranging sensors 106.

Specifically, the lifting driving mechanism comprises a folding cover lifting mechanism driving assembly 102, a driving synchronous wheel 103, driven wheels and a lifting synchronous belt 104, wherein the folding cover lifting mechanism driving assembly 102 is arranged at the middle position of the top of the main frame body 101, the output end of the folding cover lifting mechanism driving assembly is connected with a transmission shaft, the driving synchronous wheels 103 are arranged at two ends of the transmission shaft, the two driven wheels are arranged at the bottom of the main frame body 101 and are respectively connected with the two driving synchronous wheels 103 through the two lifting synchronous belts 104, the two lifting synchronous belts 104 are connected with the pressing box folding cover lifting mechanism 2, and the pressing box folding cover lifting mechanism 2 lifts up and down along with the lifting synchronous belt 104.

As shown in fig. 10, in the embodiment of the present invention, the box-pressing cover folding lifting mechanism 2 includes a lifting frame 201, a box-pressing plate mechanism 204, a long-arm cover folding mechanism 205, a short-arm cover folding mechanism 206, a side cover folding mechanism 207 and a guiding pressing plate 208, wherein the lifting frame 201 is connected with a lifting synchronous belt 104 of a lifting driving mechanism through a synchronous belt locking block 203, one side of the lifting frame 201 is connected with a lifting synchronous guide rail slide 105, and the other side is connected with the main frame 101 through a guiding wheel mechanism 202; the guide pressing plate 208 is arranged at the bottom of the lifter frame 201, the long-arm cover folding mechanism 205 is arranged at the front part of the lifter frame 201, and the short-arm cover folding mechanism 206 is hinged at the tail end of the long-arm cover folding mechanism 205; the long-arm cover folding mechanism 205 and the short-arm cover folding mechanism 206 cooperate to complete the cover folding of the front cover of the box body; the box pressing plate mechanism 204 is arranged at the bottom of the long-arm cover folding mechanism 205 and is used for realizing cover folding and in-place actions of the front cover of the box body; the two sets of side cover folding mechanisms 207 are respectively arranged at two sides of the rear end of the lifter frame 201, and the two sets of side cover folding mechanisms 207 are used for folding the side covers of the box.

As shown in fig. 11, in the embodiment of the present invention, the press box plate mechanism 204 includes a side support plate 2041, an in-place sensor 2042, a press plate 2046, a press plate fixing block 2047 and an actuating cylinder 2048, wherein two side support plates 2041 are arranged in parallel and connected by a side support plate connecting shaft 2049, and the upper ends of the two side support plates 2041 are connected with the lifter frame 201; the actuating cylinder 2048 is arranged between the two side support plates 2041, the output end of the actuating cylinder is connected with the pressing plate fixing block 2047 through the cylinder connecting plate 2044, and the pressing plate fixing block 2047 is rotationally connected with the two side support plates 2041 through the pressing plate rotating shaft 2045; the pressing plate 2046 is arranged at the bottom of the pressing plate fixing block 2047; the side support plate 2041 is provided with an in-place sensor 2042 through a sensor fixing plate 2043; an in-position sensor 2042 is located above the platen fixing block 2047 for detecting whether the platen fixing block 2047 is rotated in place.

As shown in fig. 12, in the embodiment of the present invention, the long-arm cover folding mechanism 205 includes a long-arm cylinder 2052 and two long-arm side plates 2051, wherein the two long-arm side plates 2051 are arranged in parallel and connected by a long-arm side plate connecting shaft 2056; the long-arm cylinder 2052 is fixed between the two long-arm side plates 2051 through a cylinder fixing base 2053, the output end of the long-arm cylinder 2052 is hinged with the short-arm cover folding mechanism 206 through a long connecting block 2054, and the rear end of the short-arm cover folding mechanism 206 is rotatably connected with the two long-arm side plates 2051 through a long-arm rotating shaft 2055.

The short arm cover folding mechanism 206 comprises a short arm side plate 2061, a short arm cylinder 2062, a cylinder fixing seat 2063 and a cover folding front arm 2066, wherein the two short arm side plates 2061 are arranged in parallel and are connected through a short arm side plate connecting shaft 2064; the rear ends of the two short arm side plates 2061 are connected with the long arm rotating shaft 2055, the short arm cylinder 2062 is mounted between the two short arm side plates 2061 through a cylinder fixing base 2063, and the output end is hinged with the folding cover front arm 2066 through a short connecting block 2065, and the folding cover front arm 2066 is hinged with the short arm side plates 2061 through a front arm rotating shaft 2067.

In operation, long arm cylinder 2052 drives short arm cover folding mechanism 206 to rotate about long arm shaft 2055; the short arm cylinder 2062 drives the flap forearm 2066 to rotate around the forearm rotation shaft 2067, thereby realizing the flap action of the case rear cover.

As shown in fig. 13, in the embodiment of the present invention, the two sets of side cover folding mechanisms 207 mainly complete the folding actions of the two side covers of the box. The side cover folding mechanism 207 comprises a side cover folding support 2071, a rotating shaft support 2072, a rotary plate 2075, a side arm air cylinder 2076, an air cylinder fixing shaft 2077 and a cover folding rod 2079, wherein the side cover folding support 2071 is connected with the lifter framework 201, the rotating shaft support 2072 is arranged at the top of the side cover folding support 2071, a rotating shaft is arranged on the rotating shaft support 2072, a rotating shaft bearing seat 2074 is arranged on the rotating shaft, the rotating shaft bearing seat 2074 is connected with the upper end of the rotary plate 2075, and the lower end of the rotary plate 2075 is connected with the cover folding rod 2079; the side arm cylinder 2076 is connected to the side folding cover support 2071 through a cylinder fixing shaft 2077, an output end of the side arm cylinder 2076 is connected to the rotary plate 2075, and the side arm cylinder 2076 is used to drive the rotary plate 2075 to open or close outwardly.

As shown in fig. 14, in the embodiment of the present invention, a box pushing and conveying line body 3 is fixed on a lower long beam of a frame body 1 through a bracket leg 311, the box pushing and conveying line body 3 includes a line body side plate 301, a conveying roller 302, a push plate 303, a push plate driving mechanism, a driving assembly i 306, a driving assembly ii 307, a stopping mechanism i 308, a stopping mechanism ii 309 and a sensor 310, wherein a plurality of conveying rollers 302 are arranged between two parallel line body side plates 301, and the conveying rollers 302 are connected by a chain so as to facilitate power transmission; the stop mechanism I308 and the stop mechanism II 309 are arranged between the two line body side plates 301 at intervals in the front-back direction, the stop mechanism I308 is used for distributing materials, and the stop mechanism II 309 is used for pressing the box folding cover; the driving assembly I306 and the driving assembly II 307 are arranged on the line body side plate 301, the driving assembly I306 is used for driving the conveying roller 302 in front of the stopping mechanism II 309 to rotate, and the driving assembly II 307 is used for driving the conveying roller 302 behind the stopping mechanism II 309 to rotate; the push plate driving mechanism is arranged between the stop mechanism I308 and the stop mechanism II 309 and is connected with the driving assembly II 307, and the push plate driving mechanism is used for pushing the box body along the conveying direction of the conveying roller 302; the sensor 310 is disposed on the wire body side plate 301 and corresponds to the stopping mechanism i 308.

Specifically, the push plate driving mechanism includes a push plate 303 and a push plate chain 304, the push plate chain 304 is disposed along the conveying direction of the conveying roller 302, and the push plate chain 304 is connected with the driving shaft of the driving assembly ii 307; the push plate 303 is fixed on the push plate chain 304 through a screw, and the drive assembly II 307 drives the conveying roller 302 behind the stop mechanism II 309 to rotate and simultaneously drives the push plate chain 304 to rotate, so that the push plate 303 completes pushing work of the box body. The push plate 303 is provided with a primary sensor and a long and short box positioning cover folding sensor, so that automatic cover folding of the long and short boxes can be realized, and damage to the box body is prevented.

As shown in fig. 15, in the embodiment of the present invention, the centering and aligning mechanism 4 includes a left-right-handed ball screw sliding table module 401, a servo driving motor 402, and two sets of aligning rod assemblies, wherein the left-handed ball screw sliding table module 401 is disposed at the bottoms of the two wire body side plates 301 and is perpendicular to the wire body side plates 301; the two groups of aligning rod assemblies are respectively connected with two side driving ends of the left-right rotating ball screw sliding table module 401, the servo driving motor 402 is connected with the left-right rotating ball screw sliding table module 401 through a coupler, and the left-right rotating ball screw sliding table module 401 drives the two groups of aligning rod assemblies to be close to or far away from each other.

Specifically, the alignment rod assembly comprises a bracket fixing plate 403, an alignment rod bracket 404 and an alignment rod 405, wherein the bracket fixing plate 403 is connected with the left-right-handed ball screw sliding table module 401, the two ends of the bracket fixing plate 403 are provided with the alignment rod brackets 404, and the tops of the two alignment rod brackets 404 are connected with the alignment rod 405. The alignment rod 405 slides back and forth on the left-right-handed ball screw slide module 401 by means of the gap of the conveying roller 302 on the pusher carriage conveyor line body 3. The centering and aligning mechanism 4 can realize centering and aligning of the box body according to the transmitted signals. The left-right rotation ball screw sliding table module 401 is provided with two groups of mechanical limit or sensor limit to prevent the centering and aligning mechanism 4 from being blocked or overmuch walking.

As shown in fig. 16, in the embodiment of the present invention, the box sealing conveyor line body 5 is fixed to the rear portion of the frame body 1 by means of bracket legs 505. The line body side plate 501 of the box sealing conveying line body 5 is fixed through the side plate cross brace 502, the conveying roller 503 is fixed on the line body side plate 501, the sensor bracket 504 is fixed on the line body side plate 501, and the bracket leg 505 is fixed on the side plate cross brace 502, so that box sealing on the line body can be realized.

As shown in fig. 8, in the embodiment of the invention, an operation display platform 6 is arranged at the upper part of the front end of the frame body 1, so that the operation of personnel is convenient, a distribution box assembly 7 is arranged at the rear part of the frame body 1, and a pneumatic assembly 8 is arranged at the front surface of the tail part of the frame body 1.

The operating principle of the folding cover box pushing device is as follows:

The box body sent by the box pushing conveying line body 3 is separated at a stop mechanism I308, and meanwhile, the distance measuring sensor 106 performs thickness measurement; when the box body reaches the stop mechanism II 309, the ranging sensor 106 on the frame body 1 measures the width of the box body, the data value is instantaneously transmitted to the centering and aligning mechanism 4 to realize centering and aligning actions, meanwhile, the box pressing cover folding lifting mechanism 2 moves downwards, the pressing plate fixing block 2047 in the box pressing plate mechanism 204 triggers the in-place sensor 2042, the in-place sensor 2042 detects that the pressing plate 2046 is in place, the front cover folding is completed, the data box pressing plate mechanism 204 is lifted to the surface of an object of the box body according to the ranging sensor 106, the stop mechanism II 309 releases the box body, the driving assembly II 307 drives the pushing plate 303 to act, and the box body is pushed to the fixed position of the large box and the small box. The long arm cylinder 2052 of the long arm cover folding mechanism 205 acts, the short arm cover folding mechanism 206 rotates around the long arm rotating shaft 2055, the short arm cylinder 2062 of the short arm cover folding mechanism 206 acts to drive the front arm rotating shaft 2067 around which the cover folding front arm 2066 winds to rotate, and the cover folding of the box back cover is completed. The box is pushed by the push plate 303 and pressed against the front and rear covers of the box by the guide pressing plate 208. When the box triggers the sensor, the side cover folding mechanism 207 realizes the folding action of the two side covers of the box through the rotating shaft, and all the folding actions of the box are completed, meanwhile, the guide pressing plate 208 plays a guide role, so that the box is prevented from tilting, and finally, the box is conveyed to the box sealing conveying line body 5 for box sealing operation.

The invention can judge whether the cartons are excessively filled to cause the bulging of the cartons or not through the mutual matching of the visual, mechanical and non-contact sensors and the application of the visual, mechanical and non-contact sensors to the folding and pushing device, thereby adjusting the folding and pushing position to realize the dynamic adjustment in a wider range so as to adapt to the production working conditions of more cartons;

according to the invention, through the cooperation of the sensors, the action completion degree of actuating mechanisms such as an air cylinder, a motor and the like of the cover-opening pushing device can be better, and open-loop control means such as time delay and the like are avoided from being used in a program, so that the quicker response time and more accurate action feedback are realized, the efficiency is improved, and the control performance of the actuating mechanism is enhanced;

the foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. A cover folding system of a random size carton arranged on a cover folding and pushing device, which is characterized by comprising: a PLC control system (20), an auxiliary detection system (30) and a man-machine interaction system (40);

The folding cover box pushing device is used as folding cover executing equipment of the random size paper box, and is used for receiving a control command of the PLC control system (20) and executing corresponding movement according to the control command of the PLC control system (20);

The PLC control system (20) is used for receiving parameters of the folding cover box pushing device regulated by the man-machine interaction system (40), controlling the folding cover box pushing device to execute corresponding movements, obtaining control commands according to detection results of detection equipment in the auxiliary detection system (30) and a ranging sensor (106) and an in-place sensor (2042) in the folding cover box pushing device, and sending the control commands to the folding cover box pushing device, and meanwhile, the control commands are connected with the man-machine interaction system (40) through a bus;

The auxiliary detection system (30) is used for acquiring and detecting equipment state signals, and simultaneously combining a ranging sensor (106) and an in-place sensor (2042) of the cover folding and box pushing device (10) to serve as detection results to be fed back to the PLC control system (20);

the man-machine interaction system (40) is used for adjusting parameters of the cover folding and box pushing device, sending the parameters to the PLC control system (20) and displaying detection results transmitted by the PLC control system (20).

2. The folding cover system of a random size carton according to claim 1, wherein the PLC control system (20) comprises: a PLC (2100) and a servo motor limit and original point sensor (2101), a cylinder position detection sensor (2102), a carton position detection sensor (2103) and a push plate position detection sensor (2104) which are connected with the PLC;

The servo motor limiting and original point sensor (2101) is used for acquiring the maximum and minimum strokes of the motor and positioning the initial position of the motor;

The cylinder position detection sensor (2102) is used for detecting the movement position of the cylinder, so as to obtain the action execution condition of the cylinder;

The carton position detection sensor (2103) is used for feeding back a trigger signal of the carton reaching the detection position to the PLC (2100);

The push plate position detection sensor (2104) is used for feeding back the acquired trigger signal to the PLC (2100) when the push plate (303) reaches the detection point.

3. The folding cover system of a random size carton according to claim 2, wherein the servo motor limiting and original point sensor (2101) is a photoelectric sensor for detecting the original point positioning and overload limiting of the servo motor, and is located on a frame body (1) of the folding cover pushing device.

4. The cover folding system of a random size carton according to claim 2, wherein the carton position detection sensor (2103) is arranged on a line side plate (301) of the cover folding and box pushing device (10) and is arranged on the same horizontal line with the stop mechanism ii (309).

5. The folding system of a random size carton according to claim 2, wherein the push plate position detection sensor (2104) is disposed below the conveying roller (302) of the folding and pushing device (10), in the running direction of the push plate chain (304), and directly below the end of the short arm folding mechanism (206) after performing the folding action.

6. A folding cover system for a random size carton according to claim 1, wherein the auxiliary detection system (30) comprises: an industrial personal computer (3100), a height detection laser sensor (3101) and a width visual detection camera (3102) which are connected with the industrial personal computer;

The height detection laser sensor (3101) is arranged on one side of a box pressing plate mechanism (204) of the cover folding and box pushing device (10) and is used for acquiring the distance between the height detection laser sensor (3101) and the paper box and sending the distance to the industrial personal computer (3100);

The mounting position of the width vision detection camera (3102) is the same as the mounting position of the ranging sensor (106) in the cover folding and box pushing device (10), and the width vision detection camera is used for visually imaging the paper box, obtaining the left-right distance between the centering and aligning mechanism (4) and the paper box, and the length dimension of the paper box, and sending the paper box to the industrial computer (3100);

The industrial computer (3100) is connected with the PLC (2100) and is used for inputting the distance between the height detection laser sensor (3101) and the carton, the left-right distance between the centering and aligning mechanism (4) and the carton and the length dimension of the carton to the PLC (2100).

7. The folding cover system of a random size carton according to claim 1, wherein the human-machine interaction system (40) comprises: a structure box (4100), a touch screen (4101) arranged on the structure box (4100), a start button (4102), a reset button (4103) and an emergency stop button (4104);

the touch screen (4101), the starting button (4102), the reset button (4103) and the emergency stop button (4104) are respectively embedded on one side surface of the structural box;

The touch screen (4101), the start button (4102), the reset button (4103) and the emergency stop button (4104) are connected with the PLC (2100) of the PLC control system (20) through buses.

8. A method of controlling a folding system for a random size carton according to claim 1, comprising the steps of:

1) The PLC (2100) controls the zero return motion of a push plate (303), a box pressing and cover folding lifting mechanism (2) and a centering and aligning mechanism (4) of the cover folding and box pushing device (10); the return-to-zero positions of the box pressing cover folding lifting mechanism (2) and the centering and aligning mechanism (4) are acquired through a servo motor limiting and original point sensor (2101) and fed back to a PLC (2100);

2) The PLC (2100) records the maximum travel H of the height of the current box pressing cover folding lifting mechanism (2) and the maximum travel W of the width of the centering mechanism (4) according to the zero return positions of the box pressing cover folding lifting mechanism (2) and the centering mechanism (4);

3) When the paper box enters the box pushing conveying line body (3) of the box folding and box pushing device (10), and the paper box reaches the trigger position of the paper box position detection sensor (2103), the height detection laser sensor group (3101) acquires the distance H1 between the height detection laser sensor (3101) and the paper box; meanwhile, a width visual detection camera (3102) performs visual imaging on the carton, and left and right distances W1 and W2 between the centering and aligning mechanism (4) and the carton and the length La of the carton are obtained;

4) The auxiliary detection system (30) feeds back the obtained distance H1 between the height detection laser sensor (3101) and the carton, left and right distances W1 and W2 between the centering and aligning mechanism (4) and the carton, and the carton length La to the PLC (2100) as detection results; the PLC (2100) performs height adjustment of the carton and width adjustment of the carton according to the detection result;

5) After the height adjustment is finished, a push plate (303) is started to push the paper box to advance, after the push plate (303) triggers a push plate position detection sensor (2104), a long-arm cover folding mechanism (205) and a short-arm cover folding mechanism (206) are started to finish the front and back cover folding action of the paper box, and when the paper box advances below a side cover folding mechanism (207), the side cover folding mechanism (207) is started to finish the side cover folding action of the paper box;

6) When the paper box leaves the cover folding and box pushing device (10), the PLC control system (20) controls all motors and the air cylinders to return to the original point for standby.

9. The control method of a folding cover system of a random size carton according to claim 8, wherein the PLC (2100) performs height adjustment of the carton according to the detection result, specifically:

The PLC (2100) controls the pressing box folding cover lifting mechanism (2) to descend to the triggering position of the in-place sensor (2042), at the moment, the edge height H2 of the pressing box folding cover lifting mechanism (2) from the carton is obtained from the PLC (2100), and if the maximum error allowed by the height of the carton obtained by the defining height detection laser sensor (3101) and the in-place sensor (2042) is a:

If the height (H2-H1) is more than or equal to 0 and less than or equal to a, the lifting mechanism (2) for pressing the box and folding the cover is lifted, and the lifting distance is as follows: H2-H1;

If (H2-H1) is more than a, the height of the articles in the paper box exceeds a preset value, and the PLC (2100) controls the lifting mechanism (2) for pressing the folding cover of the paper box to lift, wherein the lifting distance is a;

If (H2-H1) is less than 0, indicating that the articles in the paper box have gaps, and keeping the box pressing and cover folding lifting mechanism (2) still.

10. The control method of a folding cover system of a random size carton according to claim 8, wherein the PLC (2100) performs width adjustment of the carton according to the detection result, specifically:

The maximum travel W of the width of the centering and aligning mechanism (4) is recorded, the left and right distances W1 and W2 between the centering and aligning mechanism and the carton are obtained through a width visual detection camera (3102), and the advancing distance of the centering and aligning mechanism (4) is obtained as follows: (W-W1-W2)/2;

After the PLC (2100) controls the centering and aligning mechanism (4) to advance, the distance sensor (106) judges that the centering and aligning mechanism (4) is away from the carton W0, and the minimum allowable distance is defined as b, then:

if W0 is more than b, the surface of the paper box is smooth, and the centering and aligning mechanism (4) is kept motionless;

if W0 is less than or equal to b, the side surface of the paper box is proved to bulge, and the PLC (2100) controls the centering and aligning mechanism (4) to retreat by the following distance: b-W0.