CN112978392A - Method for disassembling paperboard stack - Google Patents
Method for disassembling paperboard stack Download PDFInfo
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- CN112978392A CN112978392A CN201911280205.9A CN201911280205A CN112978392A CN 112978392 A CN112978392 A CN 112978392A CN 201911280205 A CN201911280205 A CN 201911280205A CN 112978392 A CN112978392 A CN 112978392A
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- dismantling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention discloses a method for disassembling a paperboard stack, and belongs to the technical field of paperboard production. In the method for disassembling the paperboard pile, firstly, the paperboard pile is vertically set into a plurality of layers of paperboard units, and each layer of paperboard unit comprises at least one minimum disassembling unit; secondly, determining the position information of the characteristic area of at least part of the minimum dismantling units, and determining the carrying sequence of each minimum dismantling unit; thirdly, disassembling the paperboard pile by carrying the minimum disassembling units to a preset position one by one; when carrying a single minimum disassembled unit: a jig lifts at least a part of the minimum disassembled unit at a certain height at a characteristic region of the minimum disassembled unit, inserts a handling device into a bottom of the minimum disassembled unit, and ships the minimum disassembled unit to a predetermined position. Therefore, the invention realizes operation by mechanical equipment at least on carrying a single minimum disassembling unit, saves labor and improves disassembling efficiency.
Description
Technical Field
The invention relates to the technical field of paperboard production, in particular to a method for disassembling a paperboard stack.
Background
The packaging forms of the products include a film package, a corrugated case, a half support and the like, wherein the corrugated case is applied to product packaging in a plurality of industries, such as beer and beverage industries, due to the characteristics of water resistance, moisture resistance, product protection, easy stacking and suitability for long-distance transportation.
In the production process of the corrugated carton, one link is to disassemble a paperboard stack formed by unfolded and tiled paperboards and convey the disassembled paperboards to a preset position. The paper boards can be divided into a flat paper board without a handle and a handle paper board with a handle according to the form of the corrugated carton, wherein the handle in the handle paper board can be a non-woven handle and a plastic handle. Among the prior art, the artifical cardboard of independently adjusting of accessible for the cardboard can get into the parcel machine with better mode, but, should disassemble the mode manpower based on the manual work and consume greatly, and inefficiency.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects in the prior art and provide a method for disassembling a paperboard stack.
The invention solves the technical problems through the following technical scheme:
the invention provides a method for disassembling a paperboard stack, which is characterized by comprising the following steps:
s1, the paperboard pile is vertically set to be a plurality of layers of paperboard units, and each layer of paperboard unit comprises at least one minimum dismantling unit;
s2, determining the position information of at least part of the characteristic areas of the minimum disassembling units, and determining the carrying sequence of each minimum disassembling unit;
s3, carrying the minimum disassembled units to a preset position one by one according to the carrying sequence determined in the S2; when carrying a single said minimum dismantling unit: and a clamp lifts at least part of the minimum disassembled unit to a certain height at the characteristic area of the minimum disassembled unit, inserts the bottom of the minimum disassembled unit by using conveying equipment, and conveys the minimum disassembled unit to the preset position.
Preferably, before S1, the method further comprises the steps of:
s0. collecting image information of the cardboard pile by a 3D camera;
in S1, the minimum dismantling means is identified or defined by the image information.
Preferably, in S1, the minimum disassembled units that are vertically adjacent are placed in different directions or are offset by a certain distance in the longitudinal direction, and each minimum disassembled unit is identified according to the image information.
Preferably, in S2, when a single minimum disassembled unit has a plurality of feature areas, determining one of the feature areas as a target feature area, and determining position information of the target feature area;
at S3, the fixture lifts the minimum un-mating unit at the target feature area.
Preferably, the edge of the minimum dismantling unit has a plurality of notches, and the position of the minimum dismantling unit located above, which corresponds to the notch of the minimum dismantling unit located below, is a characteristic region of the minimum dismantling unit located above.
Preferably, a single said cardboard unit comprises several said minimum dismantling units, wherein:
the minimum dismantling units are arranged in parallel, and vertically adjacent minimum dismantling units are reversely stacked; alternatively, the first and second electrodes may be,
the minimum dismantling units are arranged in a 'return' shape, two opposite minimum dismantling units are reversely placed, and the adjacent minimum dismantling units in the vertical direction are staggered by a certain distance in the length direction; alternatively, the first and second electrodes may be,
the number of the minimum dismantling units is three, wherein a first minimum dismantling unit and a second minimum dismantling unit are arranged in parallel, the arrangement direction of a third minimum dismantling unit is perpendicular to the arrangement direction of the first minimum dismantling unit, one end of the first minimum dismantling unit and one end of the second minimum dismantling unit are close to or abutted against the side part of the third minimum dismantling unit, the third minimum dismantling unit is positioned at the front end of the paperboard stack in odd layers, and the third minimum dismantling unit is positioned at the rear end of the paperboard stack in even layers.
Preferably, the cardboard of the pack is a flat cardboard or a handle cardboard.
Preferably, the paper boards of the paper board stack are flat paper boards, and the flat paper boards in the adjacent minimum dismantling units are placed in the same direction;
determining height information of the stack of boards before S1, the height information being measured by a 3D camera or sensor;
dividing the paperboard unit according to the height information in S1;
determining the characteristic region of each minimum disassembled unit according to the height information in S2; the characteristic region is located at a position close to the edge of the bottom surface of the minimum disassembled unit.
Preferably, in S3:
after all the minimum dismantling units in each layer of paperboard unit are dismantled, the paperboard unit enters the next layer of paperboard unit for dismantling; alternatively, the first and second electrodes may be,
and after the minimum dismantling units in the same column in the vertical direction are dismantled from top to bottom, dismantling the minimum dismantling units in the other column from top to bottom.
Preferably, the minimum dismantling unit located at the lowest layer is placed on a cardboard bracket, and the part of the edge of the minimum dismantling unit, which does not cover the cardboard bracket, is the characteristic area; alternatively, the first and second electrodes may be,
and setting the fixed position of the minimum dismantling unit at the lowest layer as a characteristic position.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
according to the invention, the paperboard stack is decomposed into a plurality of minimum disassembling units, each minimum disassembling unit is provided with a characteristic region, the characteristic regions of the minimum disassembling units are utilized, the minimum disassembling units are conveyed through a clamp and conveying equipment, and the minimum disassembling units are conveyed one by one to disassemble the paperboard stack, so that the operation of mechanical equipment is realized at least on the conveyance of a single minimum disassembling unit, the labor is saved, and the disassembling efficiency is improved.
Drawings
FIG. 1 is a schematic view of a prior art handle paperboard construction;
FIG. 2 is a first flow diagram of a method of de-stacking a sheet stack according to an embodiment of the invention;
FIG. 3 is a second flow diagram of a method of de-stacking a sheet stack according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a structure of a stack of paper boards according to an embodiment of the present invention;
FIG. 5 is a schematic view of a paperboard unit in an embodiment of the invention;
FIG. 6 is a side view of a stack of paperboard in accordance with one embodiment of the invention;
FIG. 7 is a schematic view of a stack of paperboard in accordance with one embodiment of the invention;
FIG. 8 is a side schematic view of a stack of paperboard in accordance with one embodiment of the invention;
FIG. 9 is a side schematic view of a stack of paperboard in accordance with one embodiment of the invention;
FIG. 10 is a schematic view of a paperboard unit in accordance with one embodiment of the invention;
fig. 11 is a schematic view of a paperboard unit in accordance with one embodiment of the invention.
Description of reference numerals:
carton pile 1
First minimum dismantling unit 114
Second minimum dismantling unit 115
Third minimum dismantling unit 116
Null region 117
Cardboard pallet 2
Handle paper board 3
Detailed Description
The present invention is further illustrated by the following examples, but is not limited thereby in the scope of the examples described below.
"S" in any of the embodiments described below is interpreted as "step", and the numeral immediately following "S" indicates the context between the steps, not the next step, and for example "S1" is interpreted as preceding "S2".
The direction of placement of the cardboard sheets in any of the following embodiments is based on the longitudinal direction of the cardboard sheets, for example, if the longitudinal direction of the cardboard sheets is in the left-right direction, the direction of placement of the cardboard sheets is in the left-right direction.
In any of the embodiments described below, it is preferable that the paper sheets in the individual minimum dismantling units 111 are placed in the same direction, and the direction in which the minimum dismantling units 111 are placed is understood to be the direction in which the paper sheets in the minimum dismantling units 111 are placed; two adjacent minimum dismantling units 111 are reversely stacked to understand: in the length direction of the minimum disassembled paper board, the head of one minimum disassembled unit 111 corresponds to the tail of the other minimum disassembled unit 111.
The position of the minimum dismantling unit 111 referred to in any of the embodiments described below is understood as the position of the minimum dismantling unit 111 in a certain reference frame in reality, not in the image information.
The feature region 113 of the minimum disassembled unit 111 in any of the embodiments described below is understood as a position in a certain reference frame in reality, not a position in the image information.
The notch of the minimum dismantling unit referred to in any of the embodiments described below is formed by the notch of the cardboard of the minimum dismantling unit, and the notch of the cardboard unit is formed by the notch of the minimum dismantling unit of the cardboard unit.
Before continuing to describe the embodiment of the present invention, the structure of the cardboard is described, and please refer to fig. 1, which illustrates a handle cardboard 3 with a handle 31, wherein the cardboard is unfolded and laid flat, the handle 31 is located at a position in the middle of the cardboard, and the left and right directions of the straight plane of fig. 1 are the length direction of the cardboard. The flat board differs from the handle board 3 in that the middle of the flat board is free of the handle 31.
Example 1
Referring to fig. 2, an embodiment of the present invention provides a method for disassembling a cardboard stack 1, including the following steps:
s1, the paperboard stack 1 is vertically set to be a plurality of layers of paperboard units 11, and each layer of paperboard unit 11 comprises at least one minimum dismantling unit 111;
s2, determining the position information of the characteristic region 113 of at least part of the minimum dismantling units 111, and determining the carrying sequence of each minimum dismantling unit 111;
s3, disassembling the paperboard pile 1 by carrying the minimum disassembling units 111 to a preset position one by one; when carrying a single minimum dismantling unit 111: a jig lifts at least a part of the minimum disassembled unit 111 at a certain height at the characteristic region 113 of the minimum disassembled unit 111, inserts the bottom of the minimum disassembled unit 111 with a handling device, and ships the minimum disassembled unit 111 to a predetermined position.
Specifically, the method for disassembling the cardboard stack 1 is used for disassembling the cardboard stack 1 placed on the cardboard bracket 2 to transport the cardboard constituting the cardboard stack 1 to a predetermined position.
In S1, the cardboard unit 11 can be understood as dividing the cardboard stack 1 into height sections connected in sequence in the vertical direction, and the collection of the cardboard stacked in one height section is one cardboard unit 11; indeed, the height of the individual cardboard units 11 may or may not be equal for the same cardboard stack 1.
In S1, the minimum dismantling unit 111 is understood to be the collection of sheets taken from the stack 1 at a time; the minimum dismantling unit 111 is a further setting of the cardboard sheet on the basis of the cardboard unit 11. In this embodiment, it is preferable that the paper boards in the same minimum dismantling unit 111 are placed in the same direction, and in the same layer of paper board unit 11, the minimum dismantling unit 111 can be distinguished by the direction and position of placing the paper boards, for example, the paper boards stacked in the same direction are the minimum dismantling unit 111, and if the paper boards are stacked in two spaces and the horizontal projections of the two spaces do not overlap, the two spaces correspond to one minimum dismantling unit 111.
In S1, there may be one or more minimum dismantling units 111 in the same layer of cardboard unit 11, and when there are a plurality of minimum dismantling units 111, the minimum dismantling units 111 may be placed in the same direction or in different directions.
In S1 several cardboard units 11 and minimum dismantling units 111 may have been distinguished in the cardboard stack 1 in such a way that each cardboard unit 11 and each minimum dismantling unit 111 is determined by identifying each cardboard unit 11 and each minimum dismantling unit 111. However, as an alternative solution, several cardboard units 11 and minimum dismantling units 111 may also be provided without distinction in the cardboard stack 1, in which step the cardboard units 11 and minimum dismantling units 111 are defined in a certain way.
In S2, at least some of the minimum dismantling units 111 correspond to the characteristic regions 113, and preferably, each of the minimum dismantling units 111 corresponds to a characteristic region 113.
The characteristic area 113 can be defined as the position on the bottom surface of the minimum dismantling unit 111 close to the edge and does not distinguish whether this position is superimposed on the surface of the minimum dismantling unit 111 below or on the cardboard pallet 2; as an alternative, the feature region 113 may be located as: vertically, the minimum dismantling unit 111 or cardboard pallet 2 located below has no horizontal projection, and the adjacent minimum dismantling unit 111 located above has a position projected horizontally, and these positions of the minimum dismantling unit 111 located above are the characteristic regions 113 thereof.
In S2, when the order in which the minimum dismantling units 111 are conveyed is determined, the external device may adaptively determine the conveying route of the jigs, wherein the order in which the minimum dismantling units 111 are conveyed may be written in the control program of the jigs to automatically control the movement trajectory of the jigs.
In S3, the minimum dismantling units 111 are transported one by one to a predetermined position, and finally dismantling of the cardboard pile 1 is realized. It is true that the individual conveyance means that when one minimum dismantling unit 111 is conveyed, there is no other minimum dismantling unit 111 above the minimum dismantling unit 111. The predetermined position is interpreted as a target position where the minimum dismantling unit 111 is placed, e.g. a wrapping machine.
In S3, specifically, when a certain minimum dismantling unit 111 is transported, the jig is moved to the characteristic region 113 of the minimum dismantling unit 111, and one end of the minimum dismantling unit 111 is lifted up by a certain height, or the entire minimum dismantling unit 111 is lifted up by a certain height.
For example, in order to realize transportation, the fork of the transportation device needs to be inserted into the bottom of the minimum disassembling unit 111 by a first depth, and the height of the minimum disassembling unit 111 that is raised enables the fork to be inserted into the bottom of the minimum disassembling unit 111 by the first depth, and the fork does not generate sliding friction with the cardboard.
As can be seen from the above, in the embodiment of the present invention, the cardboard stack 1 is decomposed into the plurality of minimum dismantling units 111, each minimum dismantling unit 111 has the characteristic region 113, the characteristic region 113 of the minimum dismantling unit 111 is utilized, the minimum dismantling unit 111 is carried by the fixture and the carrying equipment, and the dismantling of the cardboard stack 1 is realized by carrying the minimum dismantling units 111 one by one, so that at least the operation by mechanical equipment is realized on carrying a single minimum dismantling unit 111, manpower is saved, and dismantling efficiency is improved.
Further, in S3, after each minimum dismantling unit 111 in each layer of cardboard unit 11 is dismantled, the cardboard unit 11 in the next layer is dismantled; or after the minimum dismantling units 111 in the same column in the vertical direction are dismantled from top to bottom, the minimum dismantling units 111 in the other column are dismantled from top to bottom. In other words, the order of transportation of the minimum dismantling units 111 may have two different manners as described above, and different manners may be selected according to the characteristics of the paper sheet pile 1.
Further, for the characteristic area 113, two alternatives are given, specifically, for the minimum dismantling unit 111 located in the lowest layer of the cardboard unit 11, the minimum dismantling unit 111 of the layer is located on the cardboard bracket 2, and the characteristic area 113 can be defined by any one of the above manners, which can be applied to different working conditions, for example, in a working condition, the area close to the edge of the bottom of the minimum dismantling unit 111 is overlapped on the cardboard bracket 2, and the area close to the edge of the bottom of the minimum dismantling unit 111 is taken as the characteristic area 113; in another embodiment, a portion of the bottom edge of the minimum dismantling unit 111 protrudes beyond the edge of the cardboard holder 2 or is located in the gap 112 of the cardboard holder 2, and this portion can be defined as a characteristic area 113 corresponding to the minimum dismantling unit 111.
In addition, different from the above two modes, in other modes, as an alternative technical means, the position of the layer of minimum disassembled units 111 may be identified, and fixing positions may be set as the characteristic regions 113 of the minimum disassembled units 111 according to the position, and indeed, the fixing position(s) are located on the bottom surface of the minimum disassembled units 111.
Considering that the minimum dismantling units 111 adjacent to each other in the vertical direction in the cardboard stack 1 may be placed in different directions or may be staggered by a certain distance in the longitudinal direction, or may be placed in the same direction, the present invention will be described separately for these two cases by referring to different embodiments, wherein this embodiment (embodiment 1) and the following embodiments 2 to 3 are based on the fact that the minimum dismantling units 111 adjacent to each other are placed in different directions or may be staggered by a certain distance in the longitudinal direction, and indeed, this embodiment and the following embodiments 2 to 3 are applicable to both the flat cardboard and the handle cardboard 3.
The method of dismantling the cardboard pile 1 according to the embodiment will be further explained below by using different placing methods based on the adjacent minimum dismantling units 111.
Referring to fig. 3, the method for disassembling the cardboard stack 1 according to the embodiment of the invention further includes step S0: collecting image information of the paper board stack 1 by adopting a 3D camera; in S1, minimum parsing section 111 is identified or defined by the image information.
Therefore, the determination of the minimum disassembling unit 111 in the embodiment of the invention is not realized through manual operation, so that the manpower is further saved, the automation degree of disassembling the paperboard stack 1 is improved, and the efficiency of disassembling the paperboard stack 1 is correspondingly improved.
In S1, the minimum dismantling units 111 adjacent in the vertical direction are placed in different directions, and each minimum dismantling unit 111 is identified from the image information.
Specifically, the minimum disassembled units 111 adjacent in the vertical direction are placed in opposite directions and in different directions.
In this embodiment, the characteristics and the placement characteristics of the minimum dismantling unit 111 may be used for identification, for example, in the length direction, the head and the tail of the cardboard have different structures, so that the head and the tail of the cardboard have different characteristics in the image information, and at least the different characteristics may be used as effective information for identifying the minimum dismantling unit 111 from the image information.
The position information of the minimum dismantling unit 111 can be obtained by analyzing and calculating the image information. The characteristic region 113 of the minimum disassembly unit 111 in S2 can be determined by the color difference in the image information, and indeed, the determination of the characteristic region 113 and the determination of the position information of the characteristic region 113 can be obtained by analyzing and calculating the image information by an external algorithm.
Further, in S2, when the single minimum disassembled unit 111 has several feature areas 113, determining one of the feature areas 113 as the target feature area 1130; in S3, the fixture lifts the minimum un-mate unit 111 at the target feature area 1130.
Specifically, after the position information of the target feature area 1130 is determined in S2, the general direction of the movement of the jig, i.e., the adaptability is determined, and then the jig is moved to be close to the target feature area 1130 in S3, and the minimum dismantling unit 111 is lifted by lifting the target feature area 1130.
Referring to fig. 4, further, the edge of the minimum dismantling unit 111 has a plurality of notches 112, and the position of the minimum dismantling unit 111 above and corresponding to the notch 112 of the minimum dismantling unit 111 below is the feature area 113 of the minimum dismantling unit 111 above.
Specifically, since the adjacent minimum dismantling units 111 are placed in reverse, the position of the notch 112 on the upper minimum dismantling unit 111 covering the adjacent minimum dismantling unit 111 located therebelow forms a characteristic region 113 of the upper minimum dismantling unit 111. Indeed, since there are a plurality of notches 112 at the edge of the cardboard, the upper minimum dismantling unit 111 will have a plurality of feature areas 113, and preferably, the feature area 113 with a larger horizontal projection can be selected as the target feature area 1130, so as to provide a larger space for the lifting operation of the jig.
Referring to fig. 4-5, further, the single-layer cardboard unit 11 includes a plurality of minimum disassembled units 111, and the minimum disassembled units 111 in the same layer cardboard unit 11 may have different arrangement manners, and in this embodiment, it is preferable that the minimum disassembled units 111 are arranged in parallel and vertically adjacent minimum disassembled units 111 are reversely stacked. Here, the parallel arrangement is understood to mean that the minimum dismantling units 111 are juxtaposed in either one of the longitudinal direction and the width direction.
In fig. 4, a flat paperboard is taken as an example, in the same layer of paperboard unit 11, the minimum dismantling units 111 are arranged in parallel in the width direction, taking the paperboard units 11 of the 1 st to 2 nd layers from the top as an example, the position of the paperboard unit 11 of the 2 nd layer close to the edge is provided with a plurality of notches 112, the part of the paperboard unit 11 of the 1 st layer stacked at the notch of the paperboard unit 11 of the 2 nd layer is taken as a characteristic region, in step S2, any one of the characteristic regions can be selected as a target characteristic region 1130 of the paperboard unit 11 of the first layer, a clamp is inserted from the notch 112 of the paperboard unit 11 of the 2 nd layer corresponding to the target characteristic region 1130, and the paperboard unit 11 of the 1 st layer is further lifted from the target characteristic region 1130.
Fig. 5 shows an example of a handle sheet, and two lines of minimum dismantling units 111 are arranged in the longitudinal direction in the same layer of sheet unit 11. Due to the existence of the handle, one surface of each minimum dismantling unit 111 is inclined, and the reverse stacking of two vertically adjacent minimum dismantling units 111 eliminates the inclined angle. Taking the 1 st to 2 nd layer paperboard units 11 from the top as an example, the 2 nd layer paperboard unit 11 has a plurality of notches 112, the portion of the 1 st layer paperboard unit 11 overlapping the notch of the 2 nd layer paperboard unit 11 is a characteristic region, in step S2, any one of the characteristic regions can be selected as the target characteristic region 1130 of the first layer paperboard unit 11, the clamp is inserted from the notch 112 of the 2 nd layer paperboard unit 11 corresponding to the target characteristic region 1130, and the 1 st layer paperboard unit 11 is further lifted from the target characteristic region 1130.
In fig. 4 to 5, in order to visually represent the paper sheet unit 11 and the minimum dismantling unit 111, the minimum dismantling unit 111 is only illustrated in outline, and lines of a part of the paper sheet constituting the minimum dismantling unit 111 are hidden.
Example 2
Referring to fig. 6 to 9, the difference between this embodiment and embodiment 1 is that the minimum dismantling units 111 in the same layer of paperboard unit 11 are arranged in different ways, in this embodiment, the minimum dismantling units 111 are arranged in a "return" shape, two opposite minimum dismantling units 111 are placed in opposite directions, and vertically adjacent minimum dismantling units 111 are staggered by a certain distance in the length direction.
In fig. 6, an odd number of layers of cardboard units 11 and an even number of layers of cardboard units 11 are shown as an example, which are shown in a top view of the cardboard units 11.
Fig. 7-8 are illustrated by way of example in a flat sheet of paper, wherein fig. 8 can be understood as a partial side view of the plane a of fig. 7. In fig. 8, taking the cardboard unit 11 of the 1 st to 2 nd layers from the top as an example, the cardboard unit 11 of the 2 nd layer has a plurality of notches, wherein the notch corresponding to the critical position of the two minimum disassembled units 111 in the layer is the largest, so that the area corresponding to the notch on the minimum disassembled unit 111 of the cardboard unit 11 of the 1 st layer can be used as the target characteristic area 1130, and the clamp lifts the corresponding minimum disassembled unit 111 from the target characteristic area 1130.
Fig. 9 illustrates a handle paperboard, taking the paperboard unit 11 of the 1 st to 2 nd layers from the top as an example, the paperboard unit 11 of the 2 nd layer has a plurality of notches, wherein the notch corresponding to the critical position of two minimum disassembled units 111 in the layer is the largest, so that the area corresponding to the notch on the minimum disassembled unit 111 of the paperboard unit 11 of the 1 st layer can be used as a target characteristic area 1130, and the clamp lifts the corresponding minimum disassembled unit 111 from the target characteristic area 1130.
Other parts of this embodiment are the same as those of embodiment 1, and are not described again here.
Example 3
Referring to fig. 10-11, the difference between this embodiment and embodiment 1 is that the minimum dismantling units 111 in the same layer of paperboard unit 11 are arranged in different ways, in this embodiment, the same layer of paperboard unit 11 has three minimum dismantling units 111, wherein the first minimum dismantling unit 114 and the second minimum dismantling unit 115 are placed in parallel, the placing direction of the third minimum dismantling unit 116 is perpendicular to the placing direction of the first minimum dismantling unit 114, one end of the first minimum dismantling unit 114 and one end of the second minimum dismantling unit 115 are close to or abut against the side of the third minimum dismantling unit 116, in odd-numbered layers, the third minimum dismantling unit 116 is located at the front end of the paperboard pile 1, and in even-numbered layers, the third minimum dismantling unit 116 is located at the rear end of the paperboard pile 1.
The odd and even layers are illustrated separately in both fig. 10 and 11. In fig. 10-11, the notches 112 on the minimum disassembled unit 111 are illustrated, and the fixture can lift the upper minimum disassembled unit 111 at the notches 112. It should be noted that, when the cardboard units 11 are arranged in this way, when the boundary of one end of the third minimum cardboard unit 116 is misaligned with respect to the boundary of the upper minimum dismantling unit 111 at the corresponding position, the upper minimum dismantling unit 111 has a horizontal projection in the vacant region 117, and the third minimum dismantling unit 116 has no horizontal projection in the vacant region 117, then the region of the upper minimum dismantling unit 111 corresponding to the vacant region 117 is one of the characteristic regions 113.
In addition, the present embodiment does not limit the placing direction of the first minimum dismantling unit 114 and the second minimum dismantling unit 115 in the same layer of paperboard unit 11, and the two units can be placed in the same direction or in opposite directions, as shown in fig. 10 and 11.
In addition, in this embodiment, a backup plate 21 may be further disposed on the cardboard bracket 2, the backup plate 21 has a first baffle 211 and a second baffle 212 both disposed vertically, wherein the first baffle 211 and the second baffle 212 are disposed vertically, and the two baffles limit the minimum dismantling unit 111, so as to improve the stability of the cardboard stack 1. Other parts of this embodiment are the same as those of embodiment 1, and are not described again here.
Example 4
The present embodiment is different from embodiment 1 in that the adjacent minimum dismantling units 111 in the present embodiment are disposed in the same direction, and the dismantling method of the present embodiment will be further described based on the following.
The embodiment is applied to flat paper boards, and the flat paper boards in adjacent minimum dismantling units 111 are stacked in the same direction; in S0, height information of the sheet pile 1 is also determined, the height information of the sheet pile 1 may be measured by a sensor or a 3D camera, and indeed, the height information may also be obtained by analyzing and calculating image information collected by the 3D camera on the sheet pile 1; the respective sheet units 11 are divided based on the height information in S1, which can be realized via an external program, and the characteristic region 113 of each minimum disassembled unit 111 is determined based on the height information and the image information in S2, and the characteristic region 113 is located at a position close to the edge of the bottom surface of the minimum disassembled unit 111.
Other parts of this embodiment are the same as those of embodiment 1, and are not described again here.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A method of dismantling a cardboard pile, characterized in that it comprises the following steps:
s1, the paperboard pile is vertically set to be a plurality of layers of paperboard units, and each layer of paperboard unit comprises at least one minimum dismantling unit;
s2, determining the position information of at least part of the characteristic areas of the minimum disassembling units, and determining the carrying sequence of each minimum disassembling unit;
s3, carrying the minimum disassembled units to a preset position one by one according to the carrying sequence determined in the S2; when carrying a single said minimum dismantling unit: and a clamp lifts at least part of the minimum disassembled unit to a certain height at the characteristic area of the minimum disassembled unit, inserts the bottom of the minimum disassembled unit by using conveying equipment, and conveys the minimum disassembled unit to the preset position.
2. A method of dismantling a cardboard pile according to claim 1, characterised in that before S1, it further comprises the steps of:
s0. collecting image information of the cardboard pile by a 3D camera;
in S1, the minimum dismantling means is identified or defined by the image information.
3. A method of dismantling a pack as claimed in claim 2,
in S1, the minimum disassembled units adjacent in the vertical direction are placed in different directions or are staggered by a certain distance in the longitudinal direction, and each minimum disassembled unit is identified according to the image information.
4. A method of dismantling a pack as claimed in claim 2,
in S2, when a single minimum parsing unit has a plurality of feature areas, determining one of the feature areas as a target feature area, and determining position information of the target feature area;
at S3, the fixture lifts the minimum un-mating unit at the target feature area.
5. A method of dismantling a pack of cardboard according to any of claims 2-4, characterized in that the edges of the smallest dismantling unit have notches, and the position of the upper smallest dismantling unit corresponding to the notch of the lower smallest dismantling unit is the characteristic area of the upper smallest dismantling unit.
6. A method of dismantling a pack of cardboard as claimed in any of claims 2-4, wherein a single said cardboard unit comprises several said minimum dismantling units, wherein:
the minimum dismantling units are arranged in parallel, and vertically adjacent minimum dismantling units are reversely stacked; alternatively, the first and second electrodes may be,
the minimum dismantling units are arranged in a 'return' shape, two opposite minimum dismantling units are reversely placed, and the adjacent minimum dismantling units in the vertical direction are staggered by a certain distance in the length direction; alternatively, the first and second electrodes may be,
the number of the minimum dismantling units is three, wherein a first minimum dismantling unit and a second minimum dismantling unit are arranged in parallel, the arrangement direction of a third minimum dismantling unit is perpendicular to the arrangement direction of the first minimum dismantling unit, one end of the first minimum dismantling unit and one end of the second minimum dismantling unit are close to or abutted against the side part of the third minimum dismantling unit, the third minimum dismantling unit is positioned at the front end of the paperboard stack in odd layers, and the third minimum dismantling unit is positioned at the rear end of the paperboard stack in even layers.
7. A method of dismantling a pack as claimed in any of claims 2 to 4, wherein the sheets of said pack are either flat sheets or handle sheets.
8. A method of dismantling a pack of cardboard as claimed in claim 1, characterized in that the cardboard of said pack is flat, the flat cardboard of adjacent minimum dismantling units being positioned in the same direction;
determining height information of the stack of boards before S1, the height information being measured by a 3D camera or sensor;
dividing the paperboard unit according to the height information in S1;
determining the characteristic region of each minimum disassembled unit according to the height information in S2; the characteristic region is located at a position close to the edge of the bottom surface of the minimum disassembled unit.
9. A method of dismantling a pack as claimed in any one of claims 1 to 4 and 8, wherein in S3:
after all the minimum dismantling units in each layer of paperboard unit are dismantled, the paperboard unit enters the next layer of paperboard unit for dismantling; alternatively, the first and second electrodes may be,
and after the minimum dismantling units in the same column in the vertical direction are dismantled from top to bottom, dismantling the minimum dismantling units in the other column from top to bottom.
10. A method of dismantling a pack of cardboard according to any of claims 1-4 and 8, characterized in that said minimum dismantling unit located at the lowermost level is placed on a cardboard pallet, and the part of the edge of said minimum dismantling unit not covering said cardboard pallet is said characteristic area; alternatively, the fixed position of the lowest minimum dismantling unit is set as the characteristic position.
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