CN112978392B - Paperboard stack disassembling method - Google Patents
Paperboard stack disassembling method Download PDFInfo
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- CN112978392B CN112978392B CN201911280205.9A CN201911280205A CN112978392B CN 112978392 B CN112978392 B CN 112978392B CN 201911280205 A CN201911280205 A CN 201911280205A CN 112978392 B CN112978392 B CN 112978392B
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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 a method of breaking up a stack of sheets, first, the stack of sheets is vertically set up as a number of layers of sheet units, each layer of sheet units comprising at least one minimum breaking up 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 the minimum dismantling units; thirdly, the minimum disassembling units are conveyed to a preset position one by one to disassemble the paperboard stack; carrying a single minimum disassembly unit: a clamp lifts at least a portion of the minimum disassemble unit at a height at a characteristic region of the minimum disassemble unit, inserts a handling device into a bottom of the minimum disassemble unit, and carries the minimum disassemble unit to a predetermined position. Therefore, the invention realizes the operation by means of mechanical equipment at least on the basis of carrying a single minimum disassembly unit, saves manpower and improves the disassembly efficiency.
Description
Technical Field
The invention relates to the technical field of paperboard production, in particular to a paperboard stack disassembling method.
Background
The packaging forms of the products include film bags, corrugated cartons, semi-trays and the like, wherein the corrugated cartons are applied to product packaging in a plurality of industries, such as beer and beverage industries, because of the characteristics of water resistance, moisture resistance, product protection, easy stacking and suitability for long-distance transportation.
In the production process of corrugated cartons, one link is to disassemble a paperboard stack formed by stacking expanded and tiled paperboards, and convey the disassembled paperboards to a preset position. According to the form of the corrugated case, the cardboard can be divided into a flat cardboard without handles and a handle cardboard with handles, wherein the handles in the handle cardboard can be a non-woven handle and a plastic handle. In the prior art, the paper board can be automatically adjusted manually, so that the paper board can enter the wrapping machine in a better mode, and the manual disassembly mode is large in manpower consumption and low in efficiency.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for disassembling a paperboard stack.
The invention solves the technical problems by the following technical proposal:
the invention provides a method for disassembling a paperboard stack, which is characterized by comprising the following steps:
s1, vertically setting a plurality of layers of paperboard units in a paperboard stack, wherein each layer of paperboard units comprises at least one minimum dismantling unit;
s2, 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;
s3, conveying the minimum dismantling units to preset positions one by one according to the conveying sequence determined in the S2; handling a single said minimum dismantling unit: a clamp lifts at least part of the minimum dismantling unit at a certain height at a characteristic region of the minimum dismantling unit, inserts the bottom of the minimum dismantling unit with a conveying device, and conveys the minimum dismantling unit to the predetermined position.
Preferably, before S1, the method further comprises the step of:
s0. image information is acquired on the paperboard stack by adopting a 3D camera;
in S1 described above, the minimum disassembly unit is identified or defined by the image information.
Preferably, in S1, the placement directions of the vertically adjacent minimum disassembling units are different or staggered by a certain distance in the length direction, and each minimum disassembling unit is identified according to the image information.
Preferably, in S2, when a single minimum dismantling 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;
in S3, the fixture lifts the minimum disassembly unit at the target feature area.
Preferably, the edge of the minimum disassembly unit is provided with a plurality of notches, and the position on the upper minimum disassembly unit corresponding to the notch of the lower minimum disassembly unit is the characteristic area of the upper minimum disassembly unit.
Preferably, a single said cardboard unit comprises a number of said minimum dismantling units, wherein:
the minimum dismantling units are arranged in parallel, and vertically adjacent minimum dismantling units are stacked reversely; or alternatively, the process may be performed,
the minimum dismantling units are distributed in a 'back' way, two opposite minimum dismantling units are reversely placed, and vertically adjacent minimum dismantling units are staggered for a certain distance in the length direction; or alternatively, the process may be performed,
the number of the minimum disassembling units is three, wherein the first minimum disassembling unit and the second minimum disassembling unit are placed in parallel, the placing direction of the third minimum disassembling unit is perpendicular to the placing direction of the first minimum disassembling unit, one end of the first minimum disassembling unit and one end of the second minimum disassembling unit are close to or abutted to the side part of the third minimum disassembling unit, in an odd layer, the third minimum disassembling unit is located at the front end of the paperboard stack, in an even layer, and the third minimum disassembling unit is located at the rear end of the paperboard stack.
Preferably, the sheets of the stack are either flat sheets or handle sheets.
Preferably, the paperboards of the paperboard stack are flat paperboards, and the flat paperboards in adjacent minimum dismantling units are placed in the same direction;
determining also the height information of the cardboard stack, which is measured by a 3D camera or sensor, before S1;
s1, dividing the paperboard unit according to the height information;
s2, determining the characteristic area of each minimum dismantling unit according to the height information; the feature area is located near the edge of the bottom surface of the minimum disassembly unit.
Preferably, in S3:
after all the minimum disassembling units in each layer of the paperboard units are disassembled, the paperboard units enter the next layer of the paperboard units to be disassembled; or alternatively, the process may be performed,
and after the minimum dismantling units vertically positioned in the same row are dismantled from top to bottom, dismantling the minimum dismantling units in the other row from top to bottom.
Preferably, the smallest dismantling unit located at the lowest layer is placed on the paperboard bracket, and a part, which does not cover the paperboard bracket, at the edge of the smallest dismantling unit is the characteristic area; or alternatively, the process may be performed,
the fixed position of the minimum dismantling unit of the lowest layer is set as the characteristic position.
On the basis of conforming to the common knowledge in the field, the above preferred conditions can be arbitrarily combined to obtain the preferred examples of the invention.
The invention has the positive progress effects that:
in the invention, the paperboard stack is decomposed into a plurality of minimum disassembling units, each minimum disassembling unit is provided with a characteristic area, the characteristic area of the minimum disassembling unit is utilized, the minimum disassembling units are carried one by one through the clamp and the carrying equipment, and the disassembling of the paperboard stack is realized, so that the operation by means of mechanical equipment is realized at least on the carrying 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;
FIG. 2 is a first flow chart of a method of destacking a stack of paperboard in accordance with one embodiment of the invention;
FIG. 3 is a second flow chart of a method of destacking a stack of paperboard in accordance with one embodiment of the invention;
FIG. 4 is a schematic view of a stack of cardboard in an embodiment of the 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 paperboard stack in an embodiment of the invention;
FIG. 7 is a schematic view of a paperboard stack in accordance with an embodiment of the invention;
FIG. 8 is a schematic side view of a paperboard stack in accordance with an embodiment of the invention;
FIG. 9 is a schematic side view of a paperboard stack in accordance with an embodiment of the invention;
FIG. 10 is a schematic view of a paperboard unit according to an embodiment of the invention;
fig. 11 is a schematic view of a paperboard unit according to an embodiment of the invention.
Reference numerals illustrate:
cardboard stack 1
Cardboard unit 11
Target feature region 1130
First minimum dismantling unit 114
Second minimum dismantling unit 115
Third minimum disassembly unit 116
Cardboard carrier 2
Handle cardboard 3
Detailed Description
The present invention is further illustrated by way of the following examples, which are not, therefore, to be construed as limiting the scope of the invention.
The "S" in any of the following embodiments is interpreted as a "step", and the numerals immediately following the "S" indicate the front-rear relationship between the steps, and do not indicate what step is, for example, "S1" is interpreted as before "S2".
The direction of placement of the cardboard in any of the embodiments described below is based on the longitudinal direction of the cardboard, and for example, if the longitudinal direction of the cardboard is in the left-right direction, the direction of placement of the cardboard is in the left-right direction.
In any of the embodiments described below, it is preferable that the direction of placement of the cardboard in the single minimum dismantling unit 111 is the same, and the direction of placement of the minimum dismantling unit 111 is understood as the direction of placement of the cardboard in the minimum dismantling unit 111; two adjacent minimum dismantling units 111 are reversely stacked for understanding: in the length direction of the minimum disassembled paperboard, 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 area 113 of the minimum disassembly unit 111 referred to in any of the embodiments described below is understood as a position in a certain reference frame in reality, not a position in image information.
The notch of the smallest of the disassembled units referred to in any of the embodiments described below is formed by the notch of the cardboard of the smallest of the disassembled units, and the notch of the cardboard unit is formed by the notch of the smallest of the disassembled units of the cardboard unit.
Before continuing to explain the embodiment of the present invention, firstly, the structure of the board is described, please refer to fig. 1, in which a handle board 3 with a handle 31 is illustrated, the board is in an unfolded and flat shape, the handle 31 is located in a position in the middle of the board, and the left-right direction of the straight surface in fig. 1 is the length direction of the board. The flat paperboard differs from the handle paperboard 3 in that the middle portion of the flat paperboard has no 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, vertically setting the paperboard stack 1 into a plurality of layers of paperboard units 11, wherein each layer of paperboard unit 11 comprises at least one minimum dismantling unit 111;
s2, determining the position information of the characteristic area 113 of at least part of the minimum dismantling units 111, and determining the carrying sequence of the minimum dismantling units 111;
s3, disassembling the paperboard stacks 1 by conveying the minimum disassembling units 111 to preset positions one by one; when the single minimum disassembly unit 111 is carried: a jig lifts at least part of the minimum dismantling unit 111 at a certain height at the characteristic region 113 of the minimum dismantling unit 111, inserts the bottom of the minimum dismantling unit 111 with a handling device, and carries the minimum dismantling unit 111 to a predetermined position.
Specifically, the method of disassembling the cardboard stack 1 is used to disassemble the cardboard stack 1 placed on the cardboard carrier 2 to convey the cardboard constituting the cardboard stack 1 to a predetermined position.
In S1, the cardboard units 11 may be understood as dividing the cardboard stack 1 into sequentially connected height sections in the vertical direction, and the set of stacked cardboard in a height section is one cardboard unit 11; indeed, the height of each cardboard unit 11 may be equal or unequal for the same cardboard stack 1.
In S1, the minimum de-registering unit 111 is understood as a collection of cartons taken from the stack 1 each time; the minimum dismantling unit 111 is a further setting of the board on the basis of the board unit 11. In this embodiment, the directions of placing the paperboards in the same minimum disassembling unit 111 are preferably the same, and in the same layer of paperboard units 11, the minimum disassembling units 111 can be distinguished by the directions and positions of placing the paperboards, for example, the paperboards stacked in the same direction are a minimum disassembling unit 111, and if the paperboards are stacked in two spaces, and the horizontal projections of the two spaces do not overlap, the two spaces correspond to one minimum disassembling unit 111.
In S1, one or more minimum disassembling units 111 may be present in the same layer of cardboard unit 11, and when there are a plurality of minimum disassembling units 111, each minimum disassembling unit 111 may be placed in the same direction or in different directions.
In S1, a number of 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, the number of cardboard units 11 and the minimum dismantling unit 111 may also be such that the cardboard units 11 and the minimum dismantling unit 111 are defined in such a way that they are not distinguished in the cardboard stack 1.
In S2, at least a part of the minimum disassembling units 111 corresponds to the feature region 113, and preferably each of the minimum disassembling units 111 corresponds to the feature region 113.
The feature area 113 may be defined as a position on the bottom surface of the minimum dismantling unit 111 near the edge, and does not distinguish whether the position is overlapped on the surface of the minimum dismantling unit 111 below or whether it is overlapped on the cardboard carrier 2; and as an alternative technical means, the feature region 113 may be located as: in the vertical direction, the minimum disassembly unit 111 or the cardboard bracket 2 located below is not horizontally projected, and the adjacent minimum disassembly unit 111 located above has a position projected horizontally, and these positions of the minimum disassembly unit 111 located above are the characteristic areas 113 thereof.
In S2, when the order in which the minimum disassembling units 111 are carried is determined, the external device may adaptively determine the carrying route of the jig, where the order in which the minimum disassembling units 111 are carried may be written into the control program of the jig to automatically control the movement track of the jig.
In S3, the minimum disassembling units 111 are carried to predetermined positions one by one, and finally the disassembly of the cardboard stacks 1 is achieved. Indeed, handling one by one means that when a certain minimum dismantling unit 111 is handled, there is no other minimum dismantling unit 111 above that minimum dismantling unit 111. The predetermined position is interpreted as a target position where the minimum dismantling unit 111 is placed, such as a wrapping machine.
In S3, specifically, when a certain minimum dismantling unit 111 is conveyed, the jig is moved to the feature area 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 whole minimum dismantling unit 111 is lifted up by a certain height.
The height to which the minimum disassembly unit 111 is lifted by the clamp is specifically determined according to the requirement of the handling device, for example, in order to implement handling, the forks of the handling device need to be inserted into the bottom of the minimum disassembly unit 111 by a first depth, so that the height to which the forks are lifted by the minimum disassembly unit 111 enables the bottom of the minimum disassembly unit 111 to be inserted into the first depth, and the forks do not generate sliding friction with the cardboard.
As can be seen from the foregoing, in the embodiment of the present invention, the cardboard stack 1 is decomposed into the plurality of minimum disassembling units 111, each minimum disassembling unit 111 has the characteristic area 113, the minimum disassembling units 111 are carried by using the characteristic area 113 of the minimum disassembling unit 111, and the minimum disassembling units 111 are carried one by using the clamp and the carrying device, so that the operation by means of the mechanical device is realized at least on carrying a single minimum disassembling unit 111, the manpower is saved, and the disassembling efficiency is improved.
Further, in S3, after each minimum disassembling unit 111 in each layer of paper board units 11 is disassembled, the paper board units 11 enter the next layer of paper board units 11 for disassembly; or, after the minimum disassembling units 111 vertically in the same row are disassembled from top to bottom, the minimum disassembling units 111 in another row are disassembled from top to bottom. In other words, the carrying order of each minimum disassembling unit 111 may have the two different modes described above, and the different modes may be selected according to the characteristics of the sheet stack 1.
Further, as for the characteristic region 113, two alternative modes are given above, specifically, for the smallest dismantling unit 111 located in the lowest layer of cardboard units 11, the smallest dismantling unit 111 of the layer is located on the cardboard bracket 2, and the characteristic region 113 can be defined in any one of the modes, and the two defining modes can be applied to different working conditions, for example, in a working condition that the area, close to the edge, of the bottom of the smallest dismantling unit 111 is overlapped on the cardboard bracket 2, then the area, close to the edge, of the bottom of the smallest dismantling unit 111 is taken as the characteristic region 113; in another working condition, a partial area of the bottom edge of the minimum disassembling unit 111 protrudes from the edge of the cardboard bracket 2 or is located on the notch 112 of the cardboard bracket 2, and the partial area may be defined as a characteristic area 113 corresponding to the minimum disassembling unit 111.
In addition, in other ways, as an alternative technical means, the position of the minimum disassembling unit 111 may be identified, and the fixed position(s) may be set as the feature area 113 of the minimum disassembling unit 111 according to the position, where the fixed position(s) is/are located on the bottom surface of the minimum disassembling unit 111.
Considering that the minimum disassembling units 111 adjacent to each other in the vertical direction in the cardboard stack 1 may be placed in different directions or staggered by a certain distance in the length direction, and the same placing direction may also be used, the present invention is described in different embodiments for the two cases, wherein the present embodiment (embodiment 1) and the embodiments 2-3 described below are based on the fact that the minimum disassembling units 111 adjacent to each other are placed in different directions or staggered by a certain distance in the length direction, and the present embodiment and the embodiments 2-3 described below are applicable to both the cardboard sheet and the handle cardboard sheet 3.
The following description will further explain the method of disassembling the cardboard stack 1 of the present embodiment by using different placement methods based on the adjacent minimum disassembling 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: acquiring image information of the paperboard stack 1 by adopting a 3D camera; in S1 described above, the minimum disassembly unit 111 is identified or defined by the image information.
It can be seen that the determination of the minimum disassembling unit 111 according to the embodiment of the present invention is not performed by manual operation, thereby further saving labor, improving the automation degree of disassembling the cardboard stacks 1, and correspondingly improving the efficiency of disassembling the cardboard stacks 1.
In S1, the minimum dismantling units 111 vertically adjacent to each other are placed in different directions, and each minimum dismantling unit 111 is identified from the image information.
Specifically, the placement directions of the vertically adjacent minimum disassembling units 111 are opposite and the vertical directions are all the cases of different placement directions.
In this embodiment, the self-characteristics and the placement characteristics of the minimum disassembling unit 111 may be used for identification, for example, the head and the tail of the cardboard have different structures in the length direction, so that the head and the tail of the cardboard have different characteristics on the image information, and at least the different characteristics may be used as an effective information for identifying the minimum disassembling unit 111 from the image information.
The position information of the minimum disassembly unit 111 can be obtained by analyzing and calculating the image information. The feature area 113 of the minimum disassembling unit 111 in S2 may be determined by color difference in the image information, and the determination of the feature area 113 and the determination of the position information of the feature area 113 may be obtained by analyzing and calculating the image information through an external algorithm.
Further, in S2, when the single minimum disassembly unit 111 has a plurality of feature areas 113, one of the feature areas 113 is determined as the target feature area 1130; in S3, the jig lifts the minimum disassembly 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 operation of the jig is determined adaptively, and in S3, the jig is moved to a position close to the target feature area 1130, and the minimum disassembling unit 111 is lifted by lifting the target feature area 1130.
Referring to fig. 4, further, the edge of the minimum disassembling unit 111 has a plurality of notches 112, and the position on the upper minimum disassembling unit 111 corresponding to the notch 112 of the lower minimum disassembling unit 111 is the feature area 113 of the upper minimum disassembling unit 111.
Specifically, since the adjacent minimum disassembly units 111 are placed in reverse, the positions of the notches 112 on the upper minimum disassembly unit 111 that cover the adjacent minimum disassembly units 111 below the upper minimum disassembly unit 111 form the feature areas 113 of the upper minimum disassembly unit 111. Indeed, since the cardboard has a plurality of notches 112 at the edges, the minimum dismantling unit 111 located above will have a plurality of characteristic areas 113, preferably a characteristic area 113 with a larger projection in the horizontal direction can be chosen as the target characteristic area 1130, so as to provide a larger space for the lifting operation of the clamp.
Referring to fig. 4-5, further, the single-ply cardboard unit 11 includes a plurality of minimum disassembling units 111, and the minimum disassembling units 111 in the same ply cardboard unit 11 may have different arrangements, and in this embodiment, it is preferable that the minimum disassembling units 111 are arranged in parallel, and vertically adjacent minimum disassembling units 111 are stacked in opposite directions. Wherein juxtaposition in either the length direction or the width direction of the minimum dismantling unit 111 is understood to be a parallel arrangement.
In fig. 4, a flat board is taken as an example to illustrate, in the same layer of board units 11, the minimum disassembling units 111 are arranged in parallel in the width direction, taking the board units 11 of 1 st-2 nd layer from the previous number as an example, the position of the board unit 11 of 2 nd layer close to the edge is provided with a plurality of notches 112, the part of the board unit 11 of 1 st layer, which is overlapped at the notch of the board unit 11 of 2 nd layer, is taken as a characteristic area, any one of the characteristic areas can be selected as a target characteristic area 1130 of the board unit 11 of the first layer in step S2, and a clamp is inserted from the notch 112 of the board unit 11 of 2 nd layer corresponding to the target characteristic area 1130 and further lifts the board unit 11 of 1 st layer from the target characteristic area 1130.
Fig. 5 illustrates an example of a handle board, in which two rows of minimum detachable units 111 are arranged in the longitudinal direction in the same board unit 11. Because of the handle, each minimum dismantling unit 111 has a surface inclined, and two vertically adjacent minimum dismantling units 111 are overlapped reversely, so that the inclination angle is eliminated. Taking the 1 st-2 nd layer of cardboard units 11 as an example, the 2 nd layer of cardboard units 11 is provided with a plurality of notches 112, the part of the 1 st layer of cardboard units 11 overlapped at the notches of the 2 nd layer of cardboard units 11 is taken as a characteristic area, any one of the characteristic areas can be selected as a target characteristic area 1130 of the first layer of cardboard units 11 in the step S2, a clamp is inserted from the notch 112 of the 2 nd layer of cardboard units 11 corresponding to the target characteristic area 1130, and the 1 st layer of cardboard units 11 are further lifted from the target characteristic area 1130.
In fig. 4 to 5, for intuitively representing the cardboard unit 11 and the minimum dismantling unit 111, the minimum dismantling unit 111 is only schematically shown in outline, and a part of the lines of the cardboard constituting the minimum dismantling unit 111 is omitted.
Example 2
Referring to fig. 6-9, the difference between the present embodiment and embodiment 1 is that the arrangement manner of the minimum disassembling units 111 in the same layer of cardboard units 11 is different, in this embodiment, the minimum disassembling units 111 are arranged in a "back" manner, two opposite minimum disassembling units 111 are disposed in opposite directions, and vertically adjacent minimum disassembling units 111 are staggered by a certain distance in the length direction.
In fig. 6, an odd-numbered layer of cardboard units 11 and an even-numbered layer of cardboard units 11 are illustrated as examples, and the directions of illustration are all top views of cardboard units 11.
In fig. 7-8, a flat paperboard is illustrated, wherein fig. 8 is to be understood as a partial side view of the a-plane of fig. 7. In fig. 8, taking the 1 st-2 nd layer of cardboard units 11 as an example, the 2 nd layer of cardboard units 11 has a plurality of notches, wherein the notch corresponding to the critical position of the two minimum dismantling units 111 in the layer is the largest, the area corresponding to the notch on the minimum dismantling unit 111 of the 1 st layer of cardboard units 11 can be the target feature area 1130, and the fixture lifts the corresponding minimum dismantling unit 111 from the target feature area 1130.
In fig. 9, taking the example of the cardboard units 11 of the 1 st layer and the 2 nd layer from the top as the example, the cardboard units 11 of the 2 nd layer are provided with a plurality of notches, wherein the notches corresponding to the critical positions of the two minimum dismantling units 111 in the layer are the largest, the area corresponding to the notches on the minimum dismantling unit 111 of the 1 st layer cardboard unit 11 can be taken as a target feature area 1130, and the clamp lifts the corresponding minimum dismantling unit 111 from the target feature area 1130.
Other portions of this embodiment are the same as those of embodiment 1, and will not be described here again.
Example 3
Referring to fig. 10-11, the difference between the present embodiment and embodiment 1 is that the arrangement manner of the minimum disassembling units 111 in the same layer of cardboard units 11 is different, in this embodiment, the same layer of cardboard units 11 has three minimum disassembling units 111, wherein the first minimum disassembling unit 114 and the second minimum disassembling unit 115 are placed in parallel, the placement direction of the third minimum disassembling unit 116 is perpendicular to the placement direction of the first minimum disassembling unit 114, one end of the first minimum disassembling unit 114 and one end of the second minimum disassembling unit 115 are close to or abut against the side of the third minimum disassembling unit 116, in the odd layer, the third minimum disassembling unit 116 is located at the front end of the cardboard stack 1, and in the even layer, the third minimum disassembling unit 116 is located at the rear end of the cardboard stack 1.
The odd and even layers are each individually illustrated in fig. 10 and 11. The notches 112 in the minimum demounting unit 111 are shown in fig. 10-11, and the clamp can lift the minimum demounting unit 111 of the previous layer at the notches 112. When the cardboard units 11 are arranged in this way, when the boundary of one end of the third smallest cardboard unit 116 is offset with respect to the boundary of the smallest disassemble unit 111 of the upper layer at the corresponding position, the smallest disassemble unit 111 of the upper layer has a horizontal projection in the void area 117, and the third smallest disassemble unit 116 has no horizontal projection in the void area 117, the area of the smallest disassemble unit 111 of the upper layer corresponding to the void area 117 is one of the characteristic areas 113 thereof.
In addition, the present embodiment does not limit the placement direction of the first minimum disassembling unit 114 and the second minimum disassembling unit 115 in the same layer of cardboard unit 11, and both may be placed in the same direction or in opposite directions, as shown in fig. 10 and 11.
In addition, in the present embodiment, a backup plate 21 may be further disposed on the cardboard bracket 2, where the backup plate 21 has a first baffle 211 and a second baffle 212 that are vertically disposed, and the first baffle 211 and the second baffle 212 are vertically disposed, and the two baffles limit the minimum disassembling unit 111, so as to improve the stability of the cardboard stack 1. Other portions of this embodiment are the same as those of embodiment 1, and will not be described here again.
Example 4
The difference between this embodiment and embodiment 1 is that the adjacent minimum disassembling units 111 in this embodiment are disposed in the same direction, and the disassembling method of this embodiment will be further described below based on this.
The embodiment is applied to the flat paper boards, and the flat paper boards in the adjacent minimum disassembly units 111 are stacked in the same direction; in S0, the height information of the paperboard stack 1 is also determined, the height information of the paperboard stack 1 can be measured through a sensor or through a 3D camera, and the height information can be obtained through analysis and calculation of image information acquired by the paperboard stack 1 by combining a 3D camera; the respective cardboard units 11 are divided according to the height information in S1, which can be achieved through an external program, and the characteristic region 113 of each minimum disassembling unit 111 is determined according to the height information and the image information in S2, and the characteristic region 113 is located at a position near the edge of the bottom surface of the minimum disassembling unit 111.
Other portions of this embodiment are the same as those of embodiment 1, and will not be described here again.
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 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 principles and spirit of the invention, but such changes and modifications are intended to be within the scope of the invention.
Claims (4)
1. A method of breaking a stack of paperboard, wherein the paperboard of the stack of paperboard is a handle paperboard having an inclined surface, the method comprising the steps of:
s0. image information is acquired on the paperboard stack by adopting a 3D camera;
s1, vertically setting a paperboard stack into a plurality of layers of paperboard units, wherein each layer of paperboard unit comprises a plurality of minimum dismantling units; identifying or defining the minimum disassembly unit by the image information; in the length direction, the head and tail of the paperboard have different structures, the head and tail of the paperboard are embodied on the image information and have different characteristics, and at least the different characteristics are used as effective information for identifying the minimum dismantling unit from the image information;
s2, 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; the characteristic area of the minimum dismantling unit is judged through chromatic aberration in the image information;
s3, conveying the minimum dismantling units to preset positions one by one according to the conveying sequence determined in the S2; handling a single said minimum dismantling unit: a clamp lifts at least part of the minimum dismantling unit to a certain height at the characteristic area of the minimum dismantling unit, a conveying device is inserted into the bottom of the minimum dismantling unit, and the minimum dismantling unit is conveyed to the preset position;
wherein:
the minimum disassembling units are arranged in parallel, vertically adjacent minimum disassembling units are stacked reversely, the n+1th layer of paperboard units are provided with a plurality of gaps, and the part of the n layer of paperboard units stacked at the gaps of the n+1th layer of paperboard units is the characteristic area, wherein n is an integer greater than or equal to 1; or alternatively, the process may be performed,
the minimum disassembling units are distributed in a 'back' shape, two opposite minimum disassembling units are reversely placed, vertically adjacent minimum disassembling units are staggered for a certain distance in the length direction, the n+1th layer of paperboard units are provided with a plurality of notches, and the area, corresponding to the notch corresponding to the critical position of the two minimum disassembling units in the n+1th layer of paperboard units, on the minimum disassembling unit of the n+1th layer of paperboard units is the characteristic area, wherein n is an integer greater than or equal to 1; or alternatively, the process may be performed,
the number of the minimum dismantling units is three, wherein the first minimum dismantling unit and the second minimum dismantling unit are placed in parallel, the placing direction of the third minimum dismantling unit is perpendicular to the placing 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 abut against the side part of the third minimum dismantling unit, in an odd layer, the third minimum dismantling unit is located at the front end of the paperboard stack, in an even layer, and the third minimum dismantling unit is located at the rear end of the paperboard stack; when the boundary of one end part of the third minimum dismantling unit is staggered relative to the boundary of the last layer of minimum dismantling unit at the corresponding position, the last layer of minimum dismantling unit has horizontal projection in a vacancy area, the third minimum dismantling unit does not have horizontal projection in the vacancy area, and the area of the last layer of minimum dismantling unit corresponding to the vacancy area is one characteristic area.
2. A method of destacking a stack of paperboard as in claim 1,
s2, when a single minimum dismantling unit is provided with a plurality of characteristic areas, determining one characteristic area as a target characteristic area, and determining the position information of the target characteristic area;
in S3, the fixture lifts the minimum disassembly unit at the target feature area.
3. A method of destacking a stack of board as in any one of claims 1-2, wherein in S3:
after all the minimum disassembling units in each layer of the paperboard units are disassembled, the paperboard units enter the next layer of the paperboard units to be disassembled; or alternatively, the process may be performed,
and after the minimum dismantling units vertically positioned in the same row are dismantled from top to bottom, dismantling the minimum dismantling units in the other row from top to bottom.
4. A method of destacking a stack of cartons as claimed in any of claims 1 to 2 wherein the smallest destacking unit at the lowermost level is placed on a carton tray and the portion of the edge of the smallest destacking unit at the lowermost level not overlying the carton tray is the characteristic region; or alternatively, the process may be performed,
the fixed position of the minimum dismantling unit of the lowest layer is set as the characteristic position.
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| CN109436820A (en) * | 2018-09-17 | 2019-03-08 | 武汉库柏特科技有限公司 | A kind of the de-stacking method and de-stacking system of stacks of goods |
| CN109650292A (en) * | 2019-02-02 | 2019-04-19 | 北京极智嘉科技有限公司 | The location regulation method and medium of a kind of intelligent forklift and intelligent forklift |
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| IT244333Y1 (en) * | 1998-10-29 | 2002-03-11 | Ocme Srl | PALLETIZING DEVICE FOR GROUPS OF ASSOCIATED PRODUCTS DIFFERENT SIZE AND FORM |
| CN104669281A (en) * | 2015-03-16 | 2015-06-03 | 青岛海之晨工业装备有限公司 | Industrial robot automatic destacking system based on 3D (three-dimensional) machine vision guide |
| WO2017177393A1 (en) * | 2016-04-13 | 2017-10-19 | Abb Schweiz Ag | Gripper, de-palletizing system, searching method, gripping method and de-palletizing method |
| CN206108467U (en) * | 2016-11-01 | 2017-04-19 | 上海佳万智能科技有限公司 | A mechanical system that is used for flat -plate -shaped object of split transport |
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| CN109436820A (en) * | 2018-09-17 | 2019-03-08 | 武汉库柏特科技有限公司 | A kind of the de-stacking method and de-stacking system of stacks of goods |
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