CN113120359A

CN113120359A - Automatic unpacking line

Info

Publication number: CN113120359A
Application number: CN202110424980.8A
Authority: CN
Inventors: 杨晓明; 王宁; 张鹏; 陈伟; 杨洪义
Original assignee: Haier Digital Technology Qingdao Co Ltd; Haier Digital Technology Shanghai Co Ltd; Haier Caos IoT Ecological Technology Co Ltd; Qingdao Haier Industrial Intelligence Research Institute Co Ltd
Current assignee: Haier Digital Technology Qingdao Co Ltd; Haier Digital Technology Shanghai Co Ltd; Haier Caos IoT Ecological Technology Co Ltd; Qingdao Haier Industrial Intelligence Research Institute Co Ltd
Priority date: 2021-04-20
Filing date: 2021-04-20
Publication date: 2021-07-16

Abstract

The invention relates to the technical field of unpacking equipment, and particularly discloses an automatic unpacking line. The automatic unpacking line comprises a conveying mechanism, a box cutting device and a box taking device, wherein the conveying mechanism is used for bearing and conveying box bodies; the box cutting device is used for cutting the box body along the circumferential direction of the box body so as to cut the box body into an upper half box and a lower half box; the box taking device is used for taking down the upper half box and the lower half box on the conveying mechanism from the conveying mechanism. The box body is conveyed to the box cutting device and the box taking device through the conveying mechanism, and is divided into an upper half box and a lower half box through the box cutting device, and then the box body is taken down through the box taking device, so that all articles in the box body are exposed outside. The unpacking process is free from manual participation, so that potential safety hazards caused by opening the box body by workers are avoided, and the box taking device can perform centralized processing after taking the upper half box and the lower half box down, so that bacteria and virus on the box body are prevented from being spread.

Description

Automatic unpacking line

Technical Field

The invention relates to the technical field of unpacking equipment, in particular to an automatic unpacking line.

Background

In the prior art, imported cold chain food is often packaged by boxes, and food unloaded from a dock or the like is often directly transported to a warehouse or a truck, but since the boxes for packaging the cold chain food are exposed, and may be transported many times and stored in many places, viruses or bacteria may be carried outside the boxes, if the cold chain food with the boxes is directly transported or stored, the viruses or bacteria may be spread, and if the boxes are manually disassembled, workers may be infected by the viruses.

Therefore, there is a need for an automatic unpacking line to avoid the spread of viruses or bacteria and to avoid the potential safety hazard caused by the disassembly of the box by the worker.

Disclosure of Invention

The invention aims to provide an automatic unpacking line to avoid virus or bacteria propagation and avoid potential safety hazards caused by dismantling a box body by workers.

In order to achieve the purpose, the invention adopts the following technical scheme:

an automatic unpacking line comprising:

the conveying mechanism is used for bearing and conveying the box body;

the box cutting device is used for cutting the box body along the circumferential direction of the box body so as to cut the box body into an upper half box and a lower half box;

and the box taking device is arranged at the downstream of the box cutting device and is used for taking down the upper half box and the lower half box on the conveying mechanism from the conveying mechanism.

Preferably, the box taking device includes:

the upper box taking manipulator is used for taking down the upper half box and placing the upper half box on a collecting station;

the turnover mechanism is arranged at the downstream of the box taking-up manipulator and is used for turning the box body 180 degrees along the vertical direction;

and the box taking-off manipulator is arranged at the downstream of the turnover mechanism and is used for taking off the lower half box and placing the lower half box on the collecting station.

Preferably, the conveying mechanism comprises a first conveying section and a second conveying section; the turnover mechanism is arranged between the first conveying section and the second conveying section;

the turnover mechanism comprises:

a roll-over stand;

the turnover box is rotatably arranged on the turnover frame, an opening is formed in one side of the turnover box, the box body can be conveyed into the turnover box through the opening by the first conveying section, and after the turnover box is turned over, the box body partially slides out of the turnover box under the action of gravity and falls into the second conveying section;

and the overturning driving piece is arranged on the overturning frame and connected with the overturning box so as to drive the overturning box to overturn.

Preferably, the conveying mechanism comprises a first conveying section and a second conveying section, and the first conveying section is higher than the second conveying section; the turnover mechanism is arranged between the first conveying section and the second conveying section;

the turnover mechanism comprises:

a roll-over stand;

the bearing part comprises two baffles and four bearing plates, the two baffles are arranged at intervals along the width direction of the conveying mechanism and are rotatably connected to the turnover frame, the four bearing plates are uniformly distributed between the two baffles along the circumferential direction, the box body can be conveyed to the bearing plates by the first conveying section, the bearing part is turned over, and the box body can slide into the second conveying section from the bearing plates;

and the overturning driving piece is arranged on the overturning frame and is connected with the bearing part so as to drive the bearing part to overturn.

Preferably, the box taking-up robot and the box taking-down robot each include:

a base;

the mechanical arm mechanism and the adsorption component are connected to the tail end of the mechanical arm mechanism, the mechanical arm mechanism is rotatably arranged on the base, so that the adsorption component is located on the conveying mechanism in an adsorption mode through the upper half box or the lower half box and places the upper half box or the lower half box on the collection station in an adsorption mode.

Preferably, the robot arm mechanism includes a first robot arm and a second robot arm;

the lower end of the first mechanical arm is rotatably connected to the base, so that the adsorption assembly moves between the conveying mechanism and the collection station;

the adsorption assembly is connected to one end of the second mechanical arm, and the other end of the second mechanical arm is rotatably connected to the upper end of the second mechanical arm so as to adjust the height of the adsorption assembly.

Preferably, the suction assembly includes an elastic suction nozzle, an end surface of the elastic suction nozzle can be in sealing contact with the upper half box or the lower half box, and the elastic suction nozzle is used for sucking the upper half box or the lower half box.

As preferred, the box is the cuboid structure, cut the case device and include along conveying mechanism's direction of delivery sets gradually:

the first cutting mechanism is used for cutting two opposite sides of the box body;

a steering mechanism for rotating the box 90 ° on the conveyor;

and the second cutting mechanism is used for cutting the other two opposite sides of the box body.

Preferably, the first cutting mechanism and the second cutting mechanism each comprise a guide plate;

the guide plate comprises arc plates and a positioning flat plate, the arc plates are connected to the upstream end of the positioning flat plate, the distance between the two arc plates of the first cutting mechanism and the distance between the two arc plates of the second cutting mechanism are gradually reduced from upstream to downstream.

Preferably, the automatic unpacking line further includes:

and the band shearing mechanism is arranged at the upstream of the box taking device and is used for shearing the band bundled outside the box body.

The invention has the beneficial effects that:

the automatic unpacking device provided by the invention conveys the box body to the box cutting device and the box taking device through the conveying mechanism, divides the box body into the upper half box and the lower half box through the box cutting device, and then takes down the box body through the box taking device, so that all articles in the box body are exposed outside, and the subsequent processes can be conveniently carried out on the articles again. The automatic unpacking device provided by the invention has no manual work in the unpacking process, so that potential safety hazards caused by opening the box body by workers are avoided, and meanwhile, the box taking device can be used for carrying out centralized treatment after taking down the upper half box and the lower half box, so that the propagation of bacteria and viruses on the box body is avoided.

Drawings

FIG. 1 is a schematic structural diagram of an automatic unpacking line according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a strap shearing mechanism provided in accordance with an embodiment of the present invention;

FIG. 3 is a schematic view of a portion of a first cutting mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a turnover mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a box-taking robot according to an embodiment of the present invention;

FIG. 6 is a schematic view of a partial structure of an automatic unpacking line according to a second embodiment of the present invention;

fig. 7 is a schematic structural diagram of a supporting portion according to a second embodiment of the present invention;

fig. 8 is a sectional view of a support part according to a second embodiment of the present invention.

In the figure:

1. a conveying mechanism; 11. a first conveying section; 12. a second conveying section;

2. a sterilization and disinfection mechanism;

3. a band shearing mechanism; 31. a second support frame; 311. a column; 312. a cross beam; 32. a position adjustment assembly; 321. a vertical drive assembly; 322. a horizontal drive assembly;

4. taking a box-loading manipulator; 41. a base; 42. an adsorption component; 43. a first robot arm; 44. a second mechanical arm; 45. an adapter;

5. a turnover mechanism; 51. a roll-over stand; 52. turning over the box; 53. turning over the driving piece; 54. a first bearing plate; 55. a second carrier plate; 56. a third bearing plate; 57. a fourth bearing plate; 58. a baffle plate;

6. taking down the box manipulator;

7. a first cutting mechanism; 71. a guide plate; 711. an arc plate; 712. positioning the flat plate; 713. avoiding holes; 72. cutting the driving piece; 73. cutting the slices;

8. a steering mechanism; 81. a bogie; 82. a roller;

9. a second cutting mechanism; 10. a feeding manipulator; 20. a feeding manipulator; 30. a collection station; 40. and (4) a box body.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.

In the present invention, the directional terms such as "upper", "lower", "left", "right", "inner" and "outer" are used for easy understanding without making a contrary explanation, and thus do not limit the scope of the present invention.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The embodiment provides an automatic unpacking line, which is used for automatically disassembling a box body 40 packaged outside an article, wherein the article can be cold chain food or daily necessities and the like, so as to avoid the propagation of viruses or bacteria outside the box body 40 and avoid potential safety hazards caused by the disassembly of the box body 40 by workers.

As shown in fig. 1, the automatic unpacking machine according to the present embodiment includes a conveying mechanism 1, a box cutting device, and a box taking device. The conveying mechanism 1 is used for carrying and conveying a box body 40, and articles are contained in the box body 40. The box cutting device is used to cut the box body 40 in the circumferential direction of the box body 40 to cut the box body 40 into an upper half box and a lower half box. The box taking device is arranged at the downstream of the box cutting device and is used for taking down the upper half box and the lower half box on the conveying mechanism 1 from the conveying mechanism 1.

The automatic unpacking device that this embodiment provided carries box 40 to cutting box device and getting box device department through conveying mechanism 1 to divide into first half case and second half case with box 40 through cutting box device, then take off the box through getting box device again, make the article in the box all expose outside, pack article again in order to make things convenient for subsequent handling. The automatic unpacking device that this embodiment provided's unpacking process does not have artifical participation to avoid the staff to open the potential safety hazard that box 40 and cause, get the case device simultaneously and can carry out centralized processing after taking off first case and second case, thereby avoid bacterium and virus propagation on the box 40.

Preferably, the conveyor mechanism 1 comprises a conveyor frame, a conveyor belt and a conveyor drive. A conveyor belt is pivotally attached to the carriage and is used to carry and convey the boxes 40, the conveyor belt preferably conveying the boxes 40 in the direction indicated by the arrow in fig. 1. The conveying driving part is connected with the conveying belt and is used for driving the conveying belt to rotate. The box cutting device and the box taking device are arranged in sequence along the conveying direction of the conveying mechanism 1. It should be noted that, in this embodiment, the specific structure of the conveying mechanism 1 is not specifically limited, and a technician may set the structure according to actual use requirements, for example, the conveying mechanism 1 may be a conveying trolley storing a conveying route, and the like, and the specific structure of the conveying mechanism 1 may be changed without departing from the basic principle of the present invention.

Preferably, a feeding robot 10 may be disposed upstream of the box cutting device, and the feeding robot 10 may transport the box 40 onto the conveying mechanism 1 and then transport the box 40 to the box cutting device and the box taking device through the conveying mechanism 1, so as to avoid manual contact with the box 40.

Preferably, a sterilizing and disinfecting mechanism 2 may be further provided upstream of the box cutting device, that is, the box 40 is sterilized and disinfected and then the box 40 is cut, so as to prevent bacteria and viruses from adhering to the box cutting device and the box taking device.

The sterilizing and disinfecting mechanism 2 includes a first support frame and a sterilizing and disinfecting lamp (not shown in the figure) connected to the first support frame and located on the upper side of the conveying mechanism 1. The sterilamp is located at the upper side of the conveying mechanism 1 so as to prevent the box body 40 from being shielded. In the process of conveying the box body 40 by the conveying mechanism 1, the box body 40 passes through the sterilizing and disinfecting lamp step by step, so that the box body 40 is sterilized and disinfected comprehensively. The germicidal lamp is preferably an ultraviolet lamp. It should be noted that the sterilizing lamp is not limited to the ultraviolet lamp, and the technician can set the lamp according to the actual use requirement, as long as the purpose of sterilization and disinfection can be achieved.

As shown in fig. 2, the automatic unpacking wire preferably further comprises a shearing and binding band mechanism 3, and the shearing and binding band mechanism 3 is arranged at the upstream of the box taking device and is used for shearing the binding band bound outside the box body 40.

Preferably, the sterilizing and disinfecting mechanism 2 is located upstream of the band shearing mechanism 3, i.e., the case 40 is sterilized and disinfected before the band is cut, thereby preventing bacteria and viruses on the band from adhering to the band shearing mechanism 3. Of course, in other alternative embodiments, the sterilizing and disinfecting mechanism 2 may be located downstream of the band shearing mechanism 3, i.e., the band is sheared first, and then the box 40 is sterilized and disinfected, and if necessary, the band shearing mechanism 3 may be periodically sterilized and disinfected.

As shown in fig. 2, the band shearing mechanism 3 includes a second support frame 31, a shearing assembly (not shown) for shearing the band, and a position adjusting assembly 32, the position adjusting assembly 32 being connected to the second support frame 31. The position adjusting assembly 32 is used for adjusting the position of the cutting assembly in the vertical direction and the width direction of the conveying mechanism 1 (the direction perpendicular to the conveying direction of the conveying mechanism 1), so that the shearing and binding belt mechanism 3 can be suitable for boxes 40 with different sizes and binding belts with different binding modes.

The second support frame 31 is preferably a gantry structure, which includes two vertical columns 311 and a cross beam 312, the two vertical columns 311 are respectively located at two sides of the width direction of the conveying mechanism 1, the cross beam 312 is connected to the upper ends of the two vertical columns 311, and the position adjusting assembly 32 is connected to the cross beam 312. It should be noted that the present invention does not limit the specific structure of the second support frame 31, and a technician may set the structure according to actual requirements, and only needs to position the position adjusting assembly 32 at the upper side of the conveying mechanism 1, so that the box 40 passes through the lower side of the position adjusting assembly 32.

The position adjustment assembly 32 includes a vertical driving assembly 321 and a horizontal driving assembly 322, and an output end of the vertical driving assembly 321 is connected with the shearing assembly to adjust the position of the shearing assembly in a vertical direction. The output end of the horizontal driving assembly 322 is connected with the vertical driving assembly 321 to adjust the position of the vertical driving assembly 321 in the horizontal direction. The vertical driving assembly 321 and the horizontal driving assembly 322 can be selected as linear modules, and it should be noted that the invention does not limit the specific structures of the vertical driving assembly 321 and the horizontal driving assembly 322, and technicians can set the modules according to actual use requirements, and only need to adjust the position of the shearing assembly along the vertical direction and the horizontal direction.

The cutting assembly may include a cutting driving member, a fixed blade and a rotating blade, the rotating blade is rotatably connected to the fixed blade and forms an X-shaped structure, the cutting driving member is fixed to the position adjusting assembly 32, and an output shaft thereof is connected to the rotating blade so as to drive the rotating blade to rotate, thereby enabling the rotating blade to cooperate with the fixed blade to cut the ribbon. It should be noted that, the invention does not limit the specific structure of the shearing assembly, and the technician can set the shearing assembly according to the actual use requirement, and only needs to cut the ribbon automatically.

As shown in fig. 1, the box body 40 is a rectangular parallelepiped structure, and the box cutting device includes a first cutting mechanism 7, a steering mechanism 8, and a second cutting mechanism 9, which are sequentially arranged along the conveying direction of the conveying mechanism 1. The first cutting means 7 are intended to cut opposite sides of the box 40 and the diverting means 8 are intended to rotate the box 40 by 90 on the conveyor 1, i.e. the box 40 by 90 in a horizontal plane. The second cutting mechanism 9 is used to cut the other opposite sides of the case 40. That is, first, opposite sides of the case 40 are cut by the first cutting mechanism 7, then the case 40 is turned by 90 ° by the steering mechanism 8, and finally, the other sides of the case 40 are cut by the second cutting mechanism 9, thereby cutting the case 40 into divided upper and lower cases.

As shown in fig. 1 and 3, the first cutting mechanism 7 and the second cutting mechanism 9 have the same structure, and each of them includes a cutting driving member 72 and a cutting blade 73, the cutting driving member 72 may be a motor, etc., the cutting blade 73 is connected to an output shaft of the cutting driving member 72, and the cutting driving member 72 drives the cutting blade 73 to rotate, thereby cutting the box 40.

Preferably, the first cutting mechanism 7 and the second cutting mechanism 9 each further include a guide plate 71, the guide plate 71 includes an arc plate 711 and a positioning flat plate 712, the arc plate 711 is connected to an upstream end of the positioning flat plate 712, a distance between the two arc plates 711 of the first cutting mechanism 7 and the two arc plates 711 of the second cutting mechanism 9 decreases from upstream to downstream, and the cutting blade 73 can cut the box 40 when the box 40 moves between the two positioning flat plates 712. When the box 40 is turned when the cutting blade 73 cuts the box 40, the side wall of the box 40 may abut against the two positioning plates 712 of the first cutting mechanism 7 (or the two positioning plates 712 of the second cutting mechanism 9) to limit the position of the box 40, so that the first cutting mechanism 7 or the second cutting mechanism 9 can continuously cut the box 40.

Preferably, the positioning plate 712 is provided with an avoiding hole 713, and the cutting blade 73 penetrates through the avoiding hole 713 to cut the box body 40. In other alternative embodiments, the cutting blade 73 may also be located on the upper side of the positioning plate 712, and protrudes from the cutting positioning plate 712 to the side where the other cutting positioning plate 712 is located, so as to cut the box 40.

As shown in fig. 1, the steering mechanism 8 includes a bogie 81 and rollers 82, the bogie 81 is connected to the carriage, the rollers 82 are rotatably connected to the bogie 81 about a vertical axis, and the downstream end of the casing 40 can abut on the peripheral surfaces of the rollers 82. When the box 40 is conveyed to the roller 82, the roller 82 stops one end of the box 40 located at the conveying downstream, and limits one end of the box 40 to continue moving, and simultaneously the other end of the box 40 continues moving, when the box 40 rotates 90 degrees, a tangent of the roller 82 is parallel to a side surface of the box 40, and the box 40 can be separated from the roller 82 along with the rotation of the roller 82, namely, the roller 82 can not stop the box 40 any more, so that the rotation angle of the box 40 is ensured to be 90 degrees. The rotated box 40 enters the second cutting mechanism 9 to be cut under the action of the guide plate 71 of the second cutting mechanism 9.

With continued reference to fig. 1, the case removing device includes a case removing robot 4, a turnover mechanism 5, and a case removing robot 6. The top box taking manipulator 4 is used for taking down the top half box and placing the top half box at the collecting station 30 to perform centralized processing on the top half box. The turnover mechanism 5 is provided downstream of the box taking-up robot 4, and is used to turn over the box 40 by 180 ° in the up-down direction. The box taking-off manipulator 6 is arranged at the downstream of the turnover mechanism 5, and the box taking-off manipulator 6 is used for taking off the lower half box and placing the lower half box in the collecting station 30 so as to perform centralized processing on the lower half box. The lower half box that tilting mechanism 5 will hold article overturns 180 promptly, also makes the lower half box upset of bottom down become the lower half box of bottom up promptly to conveniently take off box manipulator 6 and take off the lower half box.

As shown in fig. 6, in particular, the conveying mechanism 1 comprises a first conveying section 11 and a second conveying section 12; the turning mechanism 5 is arranged between the first conveying section 11 and the second conveying section 12.

As shown in fig. 4, the turnover mechanism 5 includes a turnover frame 51, a turnover box 52 and a turnover driving member 53, the turnover box 52 is rotatably disposed on the turnover frame 51, one side of the turnover box 52 has an opening, the first conveying section 11 can convey the box 40 into the turnover box 52 through the opening, and after the turnover box 52 is turned over, the box 40 partially slides out of the turnover box 52 under the action of gravity and falls onto the second conveying section 12. The turnover driving member 53 is disposed on the turnover frame 51 and connected to the turnover box 52 to drive the turnover box 52 to turn over. That is, the box 40 with the upper half removed is pushed into the turnover box 52 by the first conveying section 11, the turnover box 52 is turned over until the opening of the turnover box 52 is inclined downward and faces the second conveying section 12, at this time, the box 40 partially slides out from the opening by the self gravity and slides the second conveying section 12, and the box 40 is continuously conveyed by the friction force of the second conveying section 12 until the box is completely conveyed into the second conveying section 12.

Optionally, the heights of the first conveying section 11 and the second conveying section 12 are the same, the turnover box 52 is slightly higher than the first conveying section 11 and the second conveying section 12, and when the opening of the turnover box 52 faces the first conveying section 11 and the second conveying section 12, the turnover box 52 forms a small included angle with the horizontal plane, so that the opening faces slightly downwards, and the box body 40 can conveniently enter or leave the turnover box 52.

As shown in fig. 5, each of the box taking-up robot 4 and the box taking-down robot 6 includes a base 41, a robot arm mechanism, and a suction unit 42. The base 41 is provided on one side of the conveying mechanism 1. The adsorption component 42 is connected to the end of the mechanical arm mechanism, and the mechanical arm mechanism is rotatably disposed on the base 41, so that the adsorption component 42 adsorbs the upper half box or the lower half box of the box body 40 on the conveying mechanism 1, and the adsorbed upper half box or the lower half box is placed on the collection station 30. It should be noted that, the present invention does not limit the specific structure of the box taking-up manipulator 4 and the box taking-down manipulator 6, and technicians can set the structure according to actual use requirements, and only need to take and place the upper half box or the lower half box. Alternatively, the loading robot 10 is the same structure as the box taking robot 4.

Alternatively, in order to enable the box taking-up robot 4 and the box taking-down robot 6 to be adapted to boxes 40 of different sizes, the robot mechanism includes a first robot arm 43 and a second robot arm 44. The lower end of the first robot arm 43 is pivotally connected to the base 41. The suction assembly 42 is connected to one end of a second robot arm 44, and the other end of the second robot arm 44 is rotatably connected to the upper end of the first robot arm 43 to adjust the height of the suction assembly 42. Specifically, the first robot arm 43 is rotatably connected to the base 41 about a vertical axis to move the suction assembly 42 between the conveying mechanism 1 and the collecting station 30, thereby carrying the upper half box or the lower half box. The second robot arm 44 rotates about a horizontal axis relative to the first robot arm 43, thereby achieving the purpose of adjusting the height of the adsorption assembly 42. It will be appreciated that rotation of the second robot arm 44 can cause the suction assembly 42 to suck the cases 40 of different heights, and can cause the suction assembly 42 to descend to suck the upper half case or the lower half case, and cause the suction assembly 42 to ascend to lift the sucked upper half case or lower half case, thereby taking away the upper half case or lower half case.

Because adsorption component 42 absorbs first half case or second half case through vacuum adsorption's mode, again because adsorption component 42 need be supported on first half case or second half case sealedly just can adsorb first half case or second half case, second arm 44 rotates around the horizontal axis and can change adsorption component 42's adsorption plane angle, for making second arm 44 rotate the back, adsorption component 42 still can adsorb first half case or second half case, get first case manipulator 4 and get off case manipulator 6 and still all include adaptor 45.

The first mechanical arm 43 is rotatably connected to the base 41 through the adapter 45, the first mechanical arm 43 is rotatably connected to the adapter 45 around a horizontal axis to adjust an included angle between the adsorption component 42 and a horizontal plane, so that after the second mechanical arm 44 changes the height of the adsorption component 42 and the angle of the adsorption surface, the first mechanical arm 43 can continuously adjust the angle of the adsorption surface, and the adsorption component 42 can adsorb the upper half box or the lower half box. The adaptor 45 is rotatably connected to the base 41 about a vertical axis to rotate the first robot arm 43 and the second robot arm 44 about the vertical axis.

In order to make the suction assembly 42 capable of accommodating the above-mentioned errors, it is preferable that the suction assembly 42 includes an elastic suction nozzle having an end surface capable of being in sealing abutment with the upper half casing or the lower half casing, and the elastic suction nozzle is used for sucking the upper half casing or the lower half casing. Further, the elastic mouthpiece is made of rubber.

As further shown in fig. 1, the automatic unpacking line optionally also comprises a blanking robot 20, the blanking robot 20 being located downstream of the box removing robot 6 and being used to remove the articles from the conveyor 1 and transfer them to a collection area where the articles are collected. Alternatively, the loading robot 10 is the same structure as the box taking robot 4.

The automatic unpacking line provided by the embodiment sequentially sterilizes and sterilizes the box body 40, cuts off a ribbon for bundling the box body 40, cuts the box body 40 into an upper half box and a lower half box, takes down the upper half box, turns the box body 40 by 180 degrees in the vertical direction, takes down the lower half box, and takes down the articles of the box body 40.

Example two

As shown in fig. 6 and 7, the automatic unpacking wire according to the second embodiment is substantially the same as that of the first embodiment, and differs therefrom in that the specific structure of the turnover mechanism 5 is slightly different.

As shown in fig. 6, the conveying mechanism 1 includes a first conveying section 11 and a second conveying section 12, and the first conveying section 11 is higher than the second conveying section 12. The turning mechanism 5 is arranged between the first conveying section 11 and the second conveying section 12.

As shown in fig. 7 and 8, the turnover mechanism 5 includes a turning frame 51, a bearing portion and a turnover driving member 53, the bearing portion includes two baffles 58 and four bearing plates, the two baffles 58 are arranged at intervals along the width direction of the conveying mechanism 1 and rotatably connected to the turning frame 51, and the four bearing plates are uniformly distributed between the two baffles 58 along the circumferential direction, that is, the included angle between two adjacent bearing plates is 90 °. The first conveying section 11 can convey the box body 40 to the bearing plate, the bearing part is turned over, and the box body 40 can slide into the second conveying section 12 from the bearing plate; the turnover driving member 53 is disposed on the turnover frame 51 and connected to the carrying portion to drive the carrying portion to turn over. The baffle plate 58 can prevent the box body 40 from sliding off from the width direction of the conveying mechanism 1, and can also play a role in connecting the bearing plates.

As shown in fig. 8, the four bearing plates are a first bearing plate 54, a second bearing plate 55, a third bearing plate 56 and a fourth bearing plate 57 in sequence, wherein the first bearing plate 54, the second bearing plate 55, the third bearing plate 56 and the fourth bearing plate 57 may be separate structures, or the first bearing plate 54 and the third bearing plate 56 may be an integral structure, and the second bearing plate 55 and the fourth bearing plate 57 are an integral structure.

As shown in fig. 6, assuming that the tilting mechanism 5 is just tilted to the position where the first carrying plate 54 is butted with the first conveying section 11, the third carrying plate 56 is just butted with the second conveying section 12 at this time because the included angle between the two adjacent carrying plates is 90 °. At this time, the first carrying section 11 can carry the magazine 40 to the first carrying plate 54, and the third carrying plate 56 can provide the magazine 40 to the second carrying section 12, thereby effectively providing the working efficiency. And because the first conveying section 11 is higher than the second conveying section 12, at this time, the first bearing plate 54 and the third bearing plate 56 are both obliquely arranged, and the height of the first conveying section 11 is gradually reduced towards the side of the second conveying section 12, at this time, after the first conveying section 11 conveys the box body 40 to the first bearing plate 54, the box body 40 automatically moves to the first bearing plate 54 under the action of self gravity, and because the second bearing plate 55 is arranged between the first bearing plate 54 and the third bearing plate 56, in the overturning process of the overturning mechanism 5, the box body 40 can be effectively prevented from directly falling into the second conveying section 12 without overturning. At the same time, the box 40 on the third carrying floor 56 is turned 180 ° in the vertical direction with respect to the box 40 on the first carrying floor 54, and the box 40 automatically slides under its own weight onto the second conveying section 12.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An automatic unpacking line, comprising:

the conveying mechanism (1) is used for carrying and conveying the box body (40);

a box cutting device for cutting the box body (40) along the circumferential direction of the box body (40) to cut the box body (40) into an upper half box and a lower half box;

and the box taking device is arranged at the downstream of the box cutting device and is used for taking down the upper half box and the lower half box on the conveying mechanism (1) from the conveying mechanism (1).

2. The automatic unpacking line of claim 1, wherein the unpacking device comprises:

a box taking manipulator (4) for taking down the upper half box and placing the upper half box on a collecting station (30);

the turnover mechanism (5) is arranged at the downstream of the box taking-up mechanical hand (4) and is used for turning the box body (40) for 180 degrees along the vertical direction;

the box taking-off manipulator (6) is arranged at the downstream of the turnover mechanism (5), and the box taking-off manipulator (6) is used for taking off the lower half box and placing the lower half box on the collecting station (30).

3. The automatic unpacking line according to claim 2, characterized in that the conveying mechanism (1) comprises a first conveying section (11) and a second conveying section (12); the turnover mechanism (5) is arranged between the first conveying section (11) and the second conveying section (12);

the turning mechanism (5) comprises:

a roll-over stand (51);

the overturning box (52) is rotatably arranged on the overturning frame (51), an opening is formed in one side of the overturning box (52), the box body (40) can be conveyed into the overturning box (52) from the opening by the first conveying section (11), and after the overturning box (52) is overturned, part of the box body (40) slides out of the overturning box (52) under the action of gravity and falls onto the second conveying section (12);

and the overturning driving piece (53) is arranged on the overturning frame (51) and is connected with the overturning box (52) so as to drive the overturning box (52) to overturn.

4. The automatic unpacking line according to claim 2, characterized in that the conveying mechanism (1) comprises a first conveying section (11) and a second conveying section (12), the first conveying section (11) being higher than the second conveying section (12); the turnover mechanism (5) is arranged between the first conveying section (11) and the second conveying section (12);

the turning mechanism (5) comprises:

a roll-over stand (51);

the bearing part comprises two baffles (58) and four bearing plates, the two baffles (58) are arranged at intervals along the width direction of the conveying mechanism (1) and are rotatably connected to the overturning frame (51), the four bearing plates are uniformly distributed between the two baffles (58) along the circumferential direction, the first conveying section (11) can convey the box body (40) to the bearing plates, the bearing part is overturned, and the box body (40) can slide into the second conveying section (12) from the bearing plates;

and the overturning driving piece (53) is arranged on the overturning frame (51) and is connected with the bearing part so as to drive the bearing part to overturn.

5. The automatic unpacking line according to claim 2, characterized in that the box-taking-up robot (4) and the box-taking-down robot (6) each comprise:

a base (41);

mechanical arm mechanism and adsorption component (42), adsorption component (42) connect in mechanical arm mechanism's end, mechanical arm mechanism rotate set up in on base (41), so that adsorption component (42) adsorb to be located conveying mechanism (1) first half case or second half case, and will adsorb first half case or second half case place in collect station (30).

6. The automated unpacking line according to claim 5, wherein the robotic mechanism comprises a first robotic arm (43) and a second robotic arm (44);

the lower end of the first mechanical arm (43) is rotatably connected to the base (41) so as to enable the adsorption component (42) to move between the conveying mechanism (1) and the collection station (30);

the adsorption assembly (42) is connected to one end of the second mechanical arm (44), and the other end of the second mechanical arm (44) is rotatably connected to the upper end of the second mechanical arm (44) so as to adjust the height of the adsorption assembly (42).

7. The automatic unpacking line according to claim 6, characterized in that the suction assembly (42) comprises an elastic suction nozzle, the end face of which can be in sealing abutment with the upper half-box or the lower half-box, the elastic suction nozzle being used for sucking the upper half-box or the lower half-box.

8. The automatic unpacking line according to claim 1, characterized in that the box body (40) is of a rectangular parallelepiped structure, and the box cutting device comprises, arranged in sequence along the conveying direction of the conveying mechanism (1):

a first cutting mechanism (7) for cutting opposite sides of the box (40);

-a steering mechanism (8) for rotating the box (40) on the conveyor (1) by 90 °;

a second cutting mechanism (9) for cutting the other two opposite sides of the box body (40).

9. The automatic unpacking line according to claim 8, characterized in that the first cutting mechanism (7) and the second cutting mechanism (9) each comprise a guide plate (71);

the guide plate (71) comprises an arc plate (711) and a positioning flat plate (712), the arc plate (711) is connected to the upstream end of the positioning flat plate (712), and the distance between the two arc plates (711) of the first cutting mechanism (7) and the distance between the two arc plates (711) of the second cutting mechanism (9) are gradually reduced from upstream to downstream.

10. The automatic unpacking line of any one of claims 1-9, further comprising:

and the band shearing mechanism (3) is arranged at the upstream of the box taking device and is used for shearing the band bundled outside the box body (40).