Paper Tube Multi-Piece Handling Using Soft Gripper: An Automation Case Study
Challenges in Automated Paper Tube Handling
In packaging and manufacturing processes, paper tubes are commonly used as winding cores and packaging components. Due to their lightweight structure and thin walls, automated handling of paper tubes can be challenging.When using traditional gripping methods, several issues may occur:
- External clamping force can deform the paper tube;
- Vacuum suction may become unstable due to the porous paper surface;
- Single-piece handling limits production efficiency;
- Position deviation can affect the following packaging process.
For multi-piece handling applications, the gripper needs to provide stable support while avoiding damage to the paper tube structure.
Application Overview: Inner Expansion Handling of 49 Paper Tubes
This application involves transferring multiple paper tubes into packaging boxes through robotic automation.
Workpiece Information:
- Product: Paper tube
- Inner diameter: 73 mm
- Weight: Approximately 120 g per piece
- Handling method: Inner expansion gripping
- Quantity per pick: 49 pieces
- Cycle speed: 2 pick-and-place cycles per minute
The robot gripper enters the inner holes of the paper tubes and expands to create a stable internal support. This allows multiple tubes to be picked and placed simultaneously.
Why Inner Expansion Gripping is Suitable for Paper Tubes?
Paper tubes have a hollow structure and relatively low mechanical strength. Applying force from the outside may easily cause deformation or surface marks.Compared with external clamping, inner expansion gripping provides several advantages:
Reducing External Pressure on the Tube
The gripping force is transferred through the inner wall instead of squeezing the outer surface.This helps maintain:
- Tube roundness;
- Surface appearance;
- Product consistency after handling.
Adapting to Product Tolerances
During production, paper tubes may have small differences in inner diameter or wall thickness.The flexible structure of the soft robotic gripper can adapt to these variations, reducing the risk of:
- Failed gripping;
- Tube displacement;
- Manual adjustment requirements.
Improving Multi-Piece Handling Efficiency
For applications requiring large quantities of paper tubes, single-piece gripping increases robot movement frequency and reduces overall production efficiency.In this case, the soft robotic gripper is designed for multi-point inner support, allowing 49 paper tubes to be transferred in one cycle.At two pick-and-place cycles per minute, the system reduces repeated robot movements and improves the continuity of the packaging process.
Comparison with Traditional Gripping Methods
| Gripping Method | Common Issues | Soft Gripper Approach |
|---|---|---|
| Vacuum suction | Unstable on porous paper surfaces | Mechanical adaptive support from inside |
| External rigid gripper | May deform thin-wall tubes | Flexible contact reduces pressure |
| Single-piece gripping | Low handling efficiency | Multi-piece simultaneous handling |
Application Value in Paper Tube Automation
This case demonstrates how soft robotic grippers can be applied to lightweight cylindrical products that require gentle handling.By combining flexible materials with inner expansion gripping, the system can address common challenges in:
- Paper tube packaging;
- Paper core handling;
- Lightweight cylindrical product transfer;
- Robotic pick-and-place automation.
For industries looking to automate fragile or deformable products, soft robotic gripping provides another approach beyond traditional rigid gripping methods.