CN117104898A - High-speed cardboard buttress machine of unloading of manipulator - Google Patents
High-speed cardboard buttress machine of unloading of manipulator Download PDFInfo
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- CN117104898A CN117104898A CN202311173638.0A CN202311173638A CN117104898A CN 117104898 A CN117104898 A CN 117104898A CN 202311173638 A CN202311173638 A CN 202311173638A CN 117104898 A CN117104898 A CN 117104898A
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- 239000011111 cardboard Substances 0.000 title claims description 45
- 239000011087 paperboard Substances 0.000 claims abstract description 105
- 230000000007 visual effect Effects 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 239000000123 paper Substances 0.000 claims description 42
- 238000009966 trimming Methods 0.000 claims description 25
- 238000004458 analytical method Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 230000000875 corresponding effect Effects 0.000 claims description 6
- 238000003475 lamination Methods 0.000 claims description 6
- 241000252254 Catostomidae Species 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0225—Orientation of the article
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Landscapes
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention discloses a manipulator high-speed paperboard destacking machine, which comprises an upper stacking position, a unpacking position, a splitting position, a conveyor, a lower stacking position, a visual detection device and a controller, wherein the splitting position is provided with a splitting manipulator, and the splitting manipulator is provided with a splitting device, and the machine is characterized in that: the splitting device comprises a frame rotationally connected with the tail end of the splitting manipulator, the frame comprises a cross beam, the left end of the cross beam is provided with a mounting frame, and the right end of the cross beam is provided with a push plate; a sliding plate is arranged in the mounting frame in a sliding manner, a baffle is arranged on the sliding plate in a sliding manner, and a lifting plate hook is hinged to the lower part of the baffle; the bottom of the mounting frame is provided with a plugboard for being inserted into the bottom of the paperboard stack; a limit sensor is arranged on the side part of the mounting frame; the side part of the mounting frame is provided with a sucker. The invention provides a high-speed paperboard destacking machine with a manipulator, which can accurately split paperboard stacks stacked alternately and stacked together, and can grasp the whole stacks of the same paperboard quantity and stacking direction each time.
Description
Technical Field
The invention relates to the field of stacking manipulators, in particular to a manipulator high-speed paperboard destacking machine.
Background
The prior Chinese patent publication No. CN110902380A discloses a stacking manipulator, and for example, the prior Chinese patent publication No. CN104858861A discloses a stacking manipulator. However, the stacking manipulator can only grasp a single paperboard, but cannot grasp a certain number of paperboard stacks at a time, and at the same time, it is more difficult to ensure that the paperboard stacks grasped at each time have the same paperboard number.
The manipulator high-speed paperboard stacking machine is mainly suitable for the separation and the disassembly of the whole stacked paperboard instead of manual work before a carton forming machine and a packaging machine, and the separated cartons are sent to a carton waiting position of the forming machine or a carton waiting position of the packaging machine according to the required direction through a conveying system, so that the labor force of operators is reduced. The difficulty in unstacking is that the sizes of the stacking plates are consistent due to the irregular shapes of the stacking plates caused by the different sizes of the cartons of different varieties, and meanwhile, the cartons of the stacking plates are manually stacked, so that the positions of the cartons on the stacking plates are different.
Disclosure of Invention
Aiming at the current situation of the prior art, the invention provides the manipulator high-speed paperboard stack unloading machine which can accurately split the paperboard stacks stacked alternately, and each time, the whole stack of the paperboards with the same paperboard quantity and stacking direction are grabbed, so that the splitting efficiency is improved, and the labor intensity is reduced.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a high-speed cardboard buttress machine of unloading of manipulator, includes buttress position, unpacking position, split position, conveyer, lower buttress position, vision detection device and controller, and split position department is provided with the split manipulator, is provided with the split device on the split manipulator, and the conveyer is used for carrying the cardboard buttress of dismantling, is provided with the pallet storehouse that is used for collecting the tray on the lower buttress position, its characterized in that: the visual inspection device comprises a left camera, a right camera and an upper camera, wherein the left camera, the right camera and the upper camera are used for detecting the position of a paperboard stack, the left camera and the right camera are respectively arranged on lifting sliding tables on two sides of a split position, the upper camera is arranged on the split manipulator, and the controller comprises a visual control module and a manipulator control module; the splitting device comprises a frame rotationally connected with the tail end of the splitting manipulator, the frame comprises a cross beam, the left end of the cross beam is provided with a mounting frame, the right end of the cross beam is provided with a push plate, the cross beam is provided with a lead screw, the lead screw is provided with a nut, the nut is connected with the push plate, and the lead screw is connected with a servo motor; a sliding plate is arranged in the mounting frame in a sliding manner, a pushing cylinder is arranged between the sliding plate and the mounting frame, a baffle plate which is arranged opposite to the pushing plate is arranged on the sliding plate in a sliding manner, a clamping space which is downwards opened is formed between the pushing plate and the baffle plate, a lifting plate hook is hinged to the lower part of the baffle plate, and a lifting hook cylinder is arranged between the back of the baffle plate and the lifting plate hook; the bottom of the mounting frame is provided with a plugboard cylinder, and the output end of the plugboard cylinder is provided with a plugboard for being inserted into the bottom of the paperboard stack; a limiting cylinder is arranged at the side part of the mounting frame, and a limiting sensor is arranged at the output end of the limiting cylinder; the side part of the mounting frame is provided with a paper sucking cylinder, and the output end of the paper sucking cylinder is provided with a sucker; the left side of the cross beam is provided with a paper pressing cylinder, and the output end of the paper pressing cylinder is provided with a paper pressing plate; the right side of the cross beam is provided with a pressing cylinder, and the output end of the pressing cylinder is provided with a pressing plate.
As an improvement, be provided with on the crossbeam and be used for carrying out orderly neat mechanism around the cardboard buttress, neat mechanism includes that the biax stretches the motor, biax stretches motor both ends output and is connected with the screw shaft that revolves to opposite directions, be provided with the connecting block on every screw shaft, it is provided with neat board to rotate on every connecting block, be provided with interior pivot in the top of crossbeam, be provided with outer gyro wheel respectively at the both ends of interior pivot, be equipped with outer pivot respectively at the both ends of interior pivot, be provided with interior gyro wheel in the outer pivot, be provided with interior axle gear in the middle part of interior pivot, be provided with outer axle gear respectively in two outer pivots, two outer axle gears mesh with a drive gear simultaneously, drive gear and interior axle gear mesh with a roller motor drive connection, the upper portion of one of them neat board is connected on interior gyro wheel through the stay cord, the upper portion synchronous stay cord of another neat board is connected on outer gyro wheel.
Still further, the control method of the vision control module comprises the following steps:
step S1, collecting pictures, wherein a left camera, a right camera and an upper camera respectively collect corresponding pictures;
step S2, visual identification is carried out, and the position of the target object is identified by extracting the characteristic value and the gray value of the picture;
s3, positioning and detecting the split manipulator, adjusting the position according to the target position and the self coordinates to aim at the target, enabling a limit sensor on the rack to extend out, and stopping the split manipulator when the limit sensor contacts with the target;
and S4, the disassembling mechanical arm executes the paper board stack unloading, and the controller drives the disassembling device on the disassembling mechanical arm to take out the box, suck the box and put the box according to the position state of the disassembling mechanical arm.
Still further, the control flow of the vision control system comprises the following steps:
step S11, visual acquisition judges whether the last layer is adopted, if not, a normal analysis method is adopted for analysis, and if so, the last layer analysis method is adopted for analysis;
step S12, visual acquisition is carried out to judge whether left or right is grasped;
step S13, visually judging the positions of lamination boundaries of two vertically adjacent paperboard stacks;
s14, requesting a disassembly manipulator to grasp a cardboard stack;
step S15, requesting vision to adopt secondary judgment to judge whether a box is leaked, if so, requesting to detach a sucking disc box on the manipulator, and requesting to detach the manipulator to put the box, and if not, entering step S16;
step S16, requesting a visual judgment direction, requesting forward playing or requesting reverse playing;
step S17, requesting the disassembly manipulator to put boxes according to the direction in step S16;
step S18, re-entering steps S11 to S17.
The method for controlling the splitting robot to unload the paperboard stack by the manipulator control module comprises the following steps of:
s21, positioning, namely acquiring side images of the paperboard stacks by a visual detection device, judging a laminated boundary line of the side images, performing corresponding actions by a splitting manipulator according to signals judged by the images, performing actions of a pressing cylinder after the splitting manipulator reaches a vertical height position of a target position, leveling and pressing the paperboard stacks on the rear side by a pressing plate, avoiding shielding the laminated boundary line, ensuring that the bottom end of a pushing plate is in a flush state with the laminated boundary line of the target paperboard stacks, performing actions of a limiting cylinder, enabling a limiting sensor to extend out a certain distance, and stopping moving by the splitting manipulator when the limiting sensor is in contact with the side wall of the target paperboard stacks;
step S22, the lifting plate hook is inserted, the servo motor drives the screw rod to rotate, the push plate pushes the target paperboard stack to move towards the direction of the mounting frame, meanwhile, the push plate in the mounting frame pushes the sliding plate to move towards the direction of the target paperboard stack, the push plate moves and drives the target paperboard stack to be slightly extruded onto the lifting plate hook, the lifting plate hook acts, one side of the target paperboard stack is lifted, a gap is formed between the target paperboard stack and the paperboard stack at the lower layer, and then the inserting plate cylinder drives the inserting plate to extend forwards and be inserted into the gap between the target paperboard stack and the paperboard stack at the lower layer, so that the target paperboard stack and the paperboard stack at the lower layer are separated from each other.
Step S23, pressing neatly, wherein the servo motor drives the push plate to move so as to press the target paperboard stack on the baffle plate, so that the pressing of the target paperboard stack in the left-right direction is realized, the paper pressing cylinder drives the paper pressing plate to press downwards, the paper pressing plate slightly presses the supported target paperboard stack, and the paperboard stack is pressed between the paper pressing plate and the plugboard in the up-down direction;
step S24, sucking the remaining cartons, grabbing the target paperboard stack, detecting whether the remaining non-grabbed cartons exist by a visual detection device, if so, enabling the suction cylinders to act, enabling the suction cups to pick up the remaining non-grabbed cartons, and if not, enabling the step S25 to be carried out;
step S25, the posture of the target paperboard stack is changed and transferred, the visual detection device judges the current posture of the target paperboard stack, the separating manipulator adjusts the placement posture of the target paperboard stack according to the judging result, then the separating manipulator moves to enable the target paperboard stack to be placed on the conveyor according to the correct posture, and meanwhile, the paperboard boxes adsorbed on the suckers are uniformly placed at the paperboard collector;
step S26, the stack turntable rotates 90 degrees, and the lifting sliding table drives the left camera and the right camera to move according to the height position of the next target cardboard stack;
step S27, repeating steps S21 to S26 until the stack of sheets on the tray is completed.
In step S23, the trimming mechanism trims the target cardboard stack, the trimming mechanism adjusts the trimming plates to an initial state according to the front-rear width of the cardboard stack, the trimming plates are located on the front side and the rear side of the target cardboard stack and are in an open state, the roller motor drives the driving gear to rotate, the driving gear drives the inner rotating shaft to rotate anticlockwise through the inner shaft gear, the outer roller synchronously rotates anticlockwise along with the inner rotating shaft, meanwhile, the driving gear drives the driving gear to rotate, the driving gear drives the two outer rotating shafts to rotate clockwise through the outer shaft gear, the inner roller synchronously rotates along with the outer rotating shaft, the pull rope drives the two trimming plates to rotate, the trimming plates are in a vertical state, then the roller motor rotates positively and negatively, the two trimming plates collide with each other on the front side and the rear side of the target cardboard stack, and simultaneously, the two trimming plates can move forwards and backwards, the target cardboard stack is beaten by the double shafts.
Still improve, cardboard collector includes the conveying roller group, is provided with first regulating plate, second regulating plate, third regulating plate and fourth regulating plate in the one end of conveying roller group, and the distance size between the first regulating plate and the second regulating plate is adjustable about arranging, and the third regulating plate and fourth regulating plate arrange around, and the third regulating plate is adjustable for the distance between the fourth regulating plate, and the fourth regulating plate rotates the entrance that sets up in conveying roller group.
In step 25, the four adjusting plates are adjusted according to the size of the cardboard stacks, and after waiting for the number of cardboard boxes in the cardboard collecting machine to reach the required number, the fourth adjusting plate is opened, and the conveying roller group conveys the cardboard stacks reaching a certain number onto the conveyor.
Compared with the prior art, the invention has the advantages that: the invention cooperates with the splitting manipulator and the vision detection system, the vision detection system detects according to the stacked paperboard stacks on the splitting position, the detected data is transmitted to the controller, the splitting manipulator splits each paperboard stack according to the unstacking position signal sent by the control system, the number of cartons of each split paperboard stack is about 40, meanwhile, in order to ensure the consistency of the feeding direction after splitting the paperboard stack, one vision is arranged on the splitting manipulator to judge the direction and ensure the consistency of the feeding direction, in addition, in order to prevent missing grabbing, secondary judgment is carried out after grabbing the paperboard stacks, if missing grabbing phenomenon exists, the suction cup is used for sucking; and after the carton is sucked, the carton is placed into a carton collector to achieve a certain number of post-finishing forming and is delivered to the next procedure, the empty trays are collected by a pallet bin, and the collected empty trays are output by a lower stacking position, so that the continuity and reliability of the splitting manipulator are ensured.
Drawings
FIG. 1 is a schematic view of the overall structure of a high-speed robot destacking machine in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a split position in an embodiment of the present invention;
FIG. 3 is a schematic view of the stack carousel of FIG. 2 in another rotated position;
FIG. 4 is a schematic view of the structure of the limit sensor in a state of approaching a target stack of boards according to an embodiment of the present invention;
FIG. 5 is a schematic view of the structure of the push plate on the frame according to the embodiment of the present invention;
FIG. 6 is a schematic view of a mounting frame in an embodiment of the invention;
FIG. 7 is a schematic view of the internal structure of the mounting frame of FIG. 6;
FIG. 8 is a schematic view of the structure of the paper pressing plate on the cross beam in the embodiment of the invention;
FIG. 9 is a schematic view of the structure of the pressing plate on the cross beam in the embodiment of the invention;
FIG. 10 is a schematic view of the structure of the suction cup on the mounting frame according to the embodiment of the invention;
FIG. 11 is a schematic view of the structure of a stack carousel in an embodiment of the invention;
FIG. 12 is a schematic view of the structure of a paperboard collector in accordance with an embodiment of the invention;
FIG. 13 is a schematic diagram of a control flow of a vision control system in an embodiment of the present invention;
FIG. 14 is a schematic view of the alignment mechanism in the practice of the present invention;
fig. 15 is a schematic view of the transmission structure of the two trimming plates of fig. 14.
Detailed Description
The invention is described in further detail below with reference to the embodiments of the drawings.
As shown in fig. 1 to 15, the manipulator high-speed unstacking machine in the present embodiment includes an upper stacking position 11, a unpacking position 12, a separating position, a conveyor 16, a lower stacking position 18, a visual inspection device, and a controller.
As shown in fig. 1 to 11, a disassembling manipulator 13 is arranged at a disassembling position, a disassembling device 2 is arranged on the disassembling manipulator 13, a conveyor 16 is used for conveying a disassembled paperboard stack 3, a pallet bin 17 used for collecting pallets is arranged on a lower stacking position 18, a stack turntable 14 used for driving the pallets to rotate is arranged below the disassembling manipulator 13, a paperboard collector 15 is arranged beside the conveyor 16, a visual detection device comprises a left camera, a right camera and an upper camera used for detecting the position of the paperboard stack 3, the left camera and the right camera are respectively arranged on lifting sliding tables 19 on two sides of the disassembling position, the upper camera is arranged on the disassembling manipulator 13, and a controller comprises a visual control module and a manipulator control module; the splitting device 2 comprises a frame rotationally connected with the tail end of the splitting manipulator 13, the frame comprises a beam 21, the left end of the beam 21 is provided with a mounting frame 22, the right end of the beam 21 is provided with a push plate 213, the beam 21 is provided with a lead screw 211, the lead screw 211 is provided with a nut, the nut is connected with the push plate 213, and the lead screw 211 is connected with a servo motor 212; a sliding plate 23 is arranged in the mounting frame 22 in a sliding manner, a pushing cylinder 25 is arranged between the sliding plate 23 and the mounting frame 2, a baffle plate 24 which is arranged opposite to the push plate 213 is arranged on the sliding plate 23 in a sliding manner, a clamping space which is opened downwards is formed between the push plate 213 and the baffle plate 24, a lifting plate hook 241 is hinged at the lower part of the baffle plate 24, and a lifting hook cylinder 26 is arranged between the back of the baffle plate 24 and the lifting plate hook 241; the bottom of the mounting frame 22 is provided with a plugboard cylinder 29, and the output end of the plugboard cylinder 29 is provided with a plugboard 291 for being inserted into the bottom of the paper board stack 3; a limit cylinder is arranged on the side part of the mounting frame 22, and a limit sensor 221 is arranged at the output end of the limit cylinder; the side part of the mounting frame 22 is provided with a paper sucking cylinder 20, and the output end of the paper sucking cylinder 20 is provided with a sucking disc 201; a paper pressing cylinder 27 is arranged on the left side of the beam 21, and a paper pressing plate 271 is arranged at the output end of the paper pressing cylinder 27; the right side of the cross beam 21 is provided with a pressing cylinder 28, and an output end of the pressing cylinder 28 is provided with a pressing plate 281. When the upper layer object is removed by separating the cardboard stack 3 at the rear side thereof, the removed cardboard stack 3 will rebound upward and block the object boundary of the current cardboard stack 3 under the influence of the elastic deformation of the cardboard stack 3 itself, so that the push plate 213 cannot be aligned with the object boundary of the current cardboard stack 3 for extrusion operation, and therefore, the rear cardboard stack 3 needs to be pressed to push the push plate 213 for pushing and pulling operation.
Further, in order to achieve the alignment of the sheet pile 3, as shown in fig. 14 and 15, an alignment mechanism for aligning the sheet pile 3 is provided on the cross beam 21, the alignment mechanism includes a dual shaft extension motor 4, two output ends of the dual shaft extension motor 4 are connected with screw shafts 41 with opposite rotation directions, each screw shaft 41 is provided with a connection block 42, each connection block 42 is rotatably provided with an alignment plate 43, an inner shaft 45 is provided above the cross beam 21, two ends of the inner shaft 45 are respectively provided with an outer roller 49, two ends of the inner shaft 45 are respectively sleeved with an outer shaft 46, an inner roller 48 is provided on the outer shaft 46, an inner shaft gear 451 is provided in the middle of the inner shaft 15, two outer shaft gears 47 are respectively provided with an outer shaft gear 47, two outer shaft gears 47 are simultaneously meshed with one transmission gear 453, the transmission gear 453 is simultaneously meshed with one inner shaft gear 451, the driving gear 452 is in transmission connection with one roller motor, the upper part of one alignment plate 43 is connected to the inner roller 48 through a pull rope 44, and the upper synchronization roller 44 of the other alignment plate 43 is connected to the outer roller 49.
In the embodiment of the invention, the control method of the vision control module comprises the following steps:
step S1, collecting pictures, wherein a left camera, a right camera and an upper camera respectively collect corresponding pictures;
step S2, visual identification is carried out, and the position of the target object is identified by extracting the characteristic value and the gray value of the picture;
step S3, positioning and detecting the split manipulator 13, adjusting the position according to the target position and the self coordinates to aim at the target, wherein a limit sensor 221 on the rack extends out, and the split manipulator 13 stops when contacting with the target;
step S4, the separating and separating manipulator 13 executes the depacketizing and stacking 3, and the controller drives the separating and separating device 2 on the separating and separating manipulator 13 to take out different instruction actions of the box, the suction box and the box placing according to the position state of the separating and separating manipulator 13.
Specifically, during use, the control flow of the vision control system includes the following steps:
step S11, visual acquisition judges whether the last layer is adopted, if not, a normal analysis method is adopted for analysis, and if so, the last layer analysis method is adopted for analysis;
step S12, visual acquisition is carried out to judge whether left or right is grasped;
step S13, visually judging the positions of the lamination boundary lines of two vertically adjacent paper board stacks 3;
step S14, requesting the disassembling manipulator 13 to grasp the cardboard stack 3;
step S15, requesting vision to adopt secondary judgment to judge whether a box is leaked, if so, requesting to disassemble a sucking disc suction box on the manipulator 13, and requesting to disassemble the manipulator 13 to put the suction box, and if not, entering step S16;
step S16, requesting a visual judgment direction, requesting forward playing or requesting reverse playing;
step S17, requesting the disassembly manipulator 13 to put boxes according to the direction in step S16;
step S18, re-entering steps S11 to S17.
In addition, in the embodiment of the invention, the method for controlling the splitting robot to unload the paperboard stack by the robot control module comprises the following steps:
step S21, positioning, namely acquiring side images of the paperboard stack 3 by a visual detection device and judging a laminated boundary line of the side images, performing corresponding actions by a splitting manipulator 13 according to signals judged by the images, enabling a pressing cylinder 28 to act after the splitting manipulator 13 reaches a vertical height position of a target position, leveling and pressing the paperboard stack 3 on the rear side by a pressing plate 281, avoiding shielding of the laminated boundary line, ensuring that the bottom end of a push plate 213 and the laminated boundary line of the target paperboard stack 3 are in a flush state, enabling a limiting cylinder to act, enabling a limiting sensor 221 to extend out a certain distance, enabling the splitting manipulator 13 to transversely move, and stopping moving by the splitting manipulator 13 when the limiting sensor 221 contacts with the side wall of the target paperboard stack 3;
in step S22, the lifting hook is inserted, the servo motor 212 drives the screw 211 to rotate, the push plate 213 pushes the target stack 3 to move towards the mounting frame 22, meanwhile, the push cylinder 25 in the mounting frame 22 pushes the sliding plate 23 to move towards the target stack 3, the push plate 213 moves and drives the target stack 3 to be slightly extruded onto the lifting hook 241, the lifting hook cylinder 26 acts, the lifting hook 241 moves upwards, one side of the target stack 3 is lifted, a gap is generated between the target stack 3 and the lower stack 3, and then the inserting plate cylinder 29 drives the inserting plate 291 to extend forwards and insert into the gap between the target stack 3 and the lower stack 3, so that the target stack 3 and the lower stack 3 are separated from each other.
Step S23, the pressing is tidy, the servo motor 212 drives the push plate 213 to move so as to press the target paperboard stack 3 on the baffle 24, the pressing of the target paperboard stack 3 in the left-right direction is realized, the paper pressing cylinder 27 drives the paper pressing plate 271 to press downwards, the paper pressing plate 271 slightly presses the supported target paperboard stack 3, and the paperboard stack 3 is pressed between the paper pressing plate 3 and the inserting plate 291 in the up-down direction;
step S24, sucking the remaining cardboard box, picking up the target cardboard stack 3, detecting whether there is remaining cardboard box not picked up by the visual detecting device, if yes, actuating the suction cylinder 20, picking up the remaining cardboard box not picked up by the suction cup 201, if not, proceeding to step S25;
step S25, the posture of the target paperboard stack 3 is changed and transferred, the visual detection device judges the current posture of the target paperboard stack 3, the separating manipulator 13 adjusts the placement posture of the target paperboard stack 3 according to the judging result, and then the separating manipulator 13 moves, so that the target paperboard stack 3 is placed on the conveyor 16 according to the correct posture, and meanwhile, the paperboard boxes adsorbed on the suckers 201 are uniformly placed on the paperboard collector 15;
step S26, the stack turntable 14 rotates 90 degrees, and the lifting sliding table 19 drives the left camera and the right camera to move according to the height position of the next target cardboard stack 3;
step S27, repeating steps S21 to S26 until the stack 3 of sheets on the tray is completely removed.
Further, referring to fig. 14 and 15, in step S23, the trimming mechanism is further included to trim the target paper sheet stack 3, the trimming plates 43 are located at the front and rear sides of the target paper sheet stack 3 and are in an open state according to the front and rear width adjustment of the paper sheet stack 3, the roller motor drives the driving gear 452 to rotate, the driving gear 452 drives the inner rotating shaft 45 to rotate counterclockwise through the inner shaft gear 451, the outer roller 49 synchronously rotates counterclockwise along with the inner rotating shaft 45, meanwhile, the driving gear 452 drives the transmission gear 453 to rotate, the transmission gear 453 drives the two outer rotating shafts 46 to rotate clockwise through the outer shaft gear 47, the inner roller 48 synchronously rotates clockwise along with the outer rotating shaft 46, the pull rope 44 drives the two trimming plates 43 to rotate, the trimming plates 43 are in a vertical state, and then the roller motor rotates in a forward and backward circulation mode, so that the two trimming plates collide with each other at the front and rear sides of the target paper sheet stack 3, and simultaneously, the two trimming plates 43 can move forward and backward through the forward and backward rotation of the double-shaft motor 4, so that the target paper sheet stack 3 can be beaten forward and backward, and the target paper sheet stack 3 can be beaten. After trimming and discharging, the double shaft extension motor 4 and the roller motor are reset, and the trimming plate 43 is opened for resetting.
Still further, in the embodiment of the present invention, as shown in fig. 12, the cardboard collecting machine 15 includes a conveying roller set, a first adjusting plate 151, a second adjusting plate 152, a third adjusting plate 153 and a fourth adjusting plate 154 are provided at one end of the conveying roller set, the first adjusting plate 151 and the second adjusting plate 152 are disposed right and left with an adjustable distance therebetween, the third adjusting plate 153 and the fourth adjusting plate 154 are disposed back and forth, the third adjusting plate 153 is adjustable with respect to the distance between the fourth adjusting plates 154, and the fourth adjusting plate 154 is rotatably provided at an inlet of the conveying roller set.
At the same time, in step 25, the four regulating plates are positioned according to the size of the sheet stack 3, and after waiting for the number of cartons in the sheet collector 15 to reach the required number, the fourth regulating plate 154 is opened, and the conveying roller group conveys the sheet stack 3 reaching the certain number onto the conveyor 16.
In summary, the invention cooperates the disassembling manipulator 13 and vision detection system, the vision detection system detects according to the cardboard pile 3 piled on the disassembling position, the detected data is transmitted to the controller, the disassembling manipulator 13 disassembles each cardboard pile 3 according to the disassembling position signal sent by the control system, the number of cartons of each disassembling cardboard pile 3 is about 40, meanwhile, in order to ensure the consistency of the feeding direction after disassembling the cardboard pile 3, a vision is arranged on the disassembling manipulator 13 to judge the direction, ensure the consistency of the feeding direction, in addition, in order to prevent the missing grabbing, the second judgment is carried out after grabbing the cardboard pile 3, if the missing grabbing phenomenon exists, the suction disc 201 absorbs the cardboard pile; the paper box is placed into a paper box collector 15 after being sucked, a certain number of finished forming is achieved, the next working procedure is carried out, the empty trays are collected by a pallet bin 17, and the empty trays are output by a lower stack position 18 after the collection is finished, so that the continuity and the reliability of the splitting manipulator 13 are ensured.
Claims (8)
1. The utility model provides a high-speed cardboard buttress machine of unloading of manipulator, including last buttress position (11), unpacking position (12), split position, conveyer (16), lower buttress position (18), vision detection device and controller, split position department is provided with split manipulator (13), is provided with on split manipulator (13) and breaks apart device (2), and conveyer (16) are used for carrying to the cardboard buttress (3) of breaking apart, are provided with on lower buttress position (18) and are used for carrying out pallet storehouse (17) of collecting, its characterized in that: a stack turntable (14) for driving the tray to rotate is arranged below the splitting manipulator (13), a paperboard collector (15) is arranged beside the conveyor (16), the visual detection device comprises a left camera, a right camera and an upper camera for detecting the position of the paperboard stack (3), the left camera and the right camera are respectively arranged on lifting sliding tables (19) at two sides of the splitting position, the upper camera is arranged on the splitting manipulator (13), and the controller comprises a visual control module and a manipulator control module; the splitting device (2) comprises a frame rotationally connected with the tail end of the splitting manipulator (13), the frame comprises a cross beam (21), the left end of the cross beam (21) is provided with a mounting frame (22), the right end of the cross beam (21) is provided with a push plate (213), the cross beam (21) is provided with a screw rod (211), the screw rod (211) is provided with a nut, the nut is connected with the push plate (213), and the screw rod (211) is connected with a servo motor (212); a sliding plate (23) is arranged in the mounting frame (22), a pushing cylinder (25) is arranged between the sliding plate (23) and the mounting frame (22), a baffle plate (24) which is opposite to the push plate (213) is arranged on the sliding plate (23) in a sliding manner, a clamping space which is downwards opened is formed between the push plate (213) and the baffle plate (24), a lifting plate hook (241) is hinged at the lower part of the baffle plate (24), and a lifting hook cylinder (26) is arranged between the back of the baffle plate (24) and the lifting plate hook (241); the bottom of the mounting frame (22) is provided with a plugboard cylinder (29), and the output end of the plugboard cylinder (29) is provided with a plugboard (291) for being inserted into the bottom of the paperboard stack (3); a limit cylinder is arranged at the side part of the mounting frame (22), and a limit sensor (221) is arranged at the output end of the limit cylinder; the side part of the mounting frame (22) is provided with a paper sucking cylinder (20), and the output end of the paper sucking cylinder (20) is provided with a sucker (201); a paper pressing cylinder (27) is arranged on the left side of the cross beam (21), and a paper pressing plate (271) is arranged at the output end of the paper pressing cylinder (27); the right side of the cross beam (21) is provided with a pressing cylinder (28), and the output end of the pressing cylinder (28) is provided with a pressing plate (281).
2. A manipulator high speed destacking machine as in claim 1 wherein: the utility model provides a be provided with on crossbeam (21) and be used for carrying out orderly neat mechanism around cardboard buttress (3), neat mechanism includes biax stretching motor (4), biax stretching motor (4) both ends output is connected with screw shaft (41) opposite in rotation, be provided with connecting block (42) on every screw shaft (41), it is provided with orderly board (43) to rotate on every connecting block (42), top at crossbeam (41) is provided with interior pivot (45), both ends at interior pivot (45) are provided with outer gyro wheel (49) respectively, be equipped with outer pivot (46) at the both ends of interior pivot (45) respectively in the cover, be provided with interior gyro wheel (48) on outer pivot (46), be provided with interior spindle gear (451) at the middle part of interior pivot (45), be provided with outer spindle gear (47) on two outer pivot (46) respectively, two outer spindle gear (47) mesh with a drive gear (453) simultaneously, drive gear (453) and interior spindle gear (451) mesh simultaneously, drive gear (452) and a gyro wheel motor transmission are connected, the upper portion of one orderly board (43) is connected in interior gyro wheel (44) on the interior gyro wheel (44) through the interior gyro wheel (44).
3. A manipulator high speed destacking machine as in claim 2 wherein: the control method of the vision control module comprises the following steps:
step S1, collecting pictures, wherein a left camera, a right camera and an upper camera respectively collect corresponding pictures;
step S2, visual identification is carried out, and the position of the target object is identified by extracting the characteristic value and the gray value of the picture;
s3, positioning and detecting the split manipulator (13), adjusting the position according to the target position and the self coordinates to aim at the target, enabling a limit sensor (221) on the rack to extend out, and stopping moving the split manipulator (13) when the split manipulator is in contact with the target;
and S4, the separating manipulator (13) executes the paper unloading pile (3), and the controller drives the separating device (2) on the separating manipulator (13) to take out boxes, suck boxes and put boxes according to the position state of the separating manipulator (13).
4. A manipulator high speed destacking machine as in claim 3 wherein: the control flow of the vision control system comprises the following steps:
step S11, visual acquisition judges whether the last layer is adopted, if not, a normal analysis method is adopted for analysis, and if so, the last layer analysis method is adopted for analysis;
step S12, visual acquisition is carried out to judge whether left or right is grasped;
s13, visually judging the positions of lamination boundaries of two vertically adjacent paperboard stacks (3);
s14, requesting a disassembling manipulator (13) to grasp the paperboard stack;
step S15, requesting vision to adopt secondary judgment to judge whether a box is leaked, if so, requesting to disassemble a sucking disc (201) on the manipulator (13) to suck the box, and requesting to disassemble the manipulator (13) to put the sucking box, and if not, entering step S16;
step S16, requesting a visual judgment direction, requesting forward playing or requesting reverse playing;
step S17, requesting the disassembly manipulator (13) to put boxes according to the direction in the step S16;
step S18, re-entering steps S11 to S17.
5. The robotic high speed destacking machine of claim 4 wherein: the method for controlling the splitting robot to unload the paperboard stacks by the manipulator control module comprises the following steps of:
s21, positioning, namely acquiring side images of the paperboard stack (3) by a visual detection device, judging a lamination boundary line of the side images, performing corresponding actions by a splitting manipulator (13) according to signals judged by the images, enabling a pressing cylinder (28) to act after the splitting manipulator (13) reaches a vertical height position of a target position, leveling and pressing the paperboard stack (3) at the rear side by a pressing plate (281), avoiding shielding the lamination boundary line, ensuring that the lamination boundary line between the bottom end of a push plate (213) and the target paperboard stack (3) is in a flush state, enabling a limiting cylinder to act, enabling a limiting sensor (221) to extend out a certain distance, enabling the splitting manipulator (13) to transversely move, and stopping moving when the limiting sensor (221) is in contact with the side wall of the target paperboard stack (3);
in the step S22, the lifting plate hook (241) is inserted, the servo motor (212) drives the screw rod (211) to rotate, the push plate (213) pushes the target paperboard stack (3) to move towards the direction of the mounting frame (22), meanwhile, the push cylinder (25) in the mounting frame (22) pushes the sliding plate (23) to move towards the direction of the target paperboard stack (3), the push plate (213) moves and drives the target paperboard stack (3) to be slightly extruded onto the lifting plate hook (241), the lifting plate hook (26) acts, the lifting plate hook (241) moves upwards, one side of the target paperboard stack (3) is lifted, a gap is formed between the target paperboard stack (3) and the paperboard stack (3) at the lower layer, and then the inserting plate cylinder (29) drives the inserting plate (291) to extend forwards and be inserted into the gap between the target paperboard stack (3) and the paperboard stack (3) at the lower layer, so that the target paperboard stack (3) and the paperboard stack (3) at the lower layer are separated from each other.
Step S23, pressing neatly, wherein a servo motor (212) drives a push plate to move so as to press a target paperboard stack (3) on a baffle plate (24), so that the target paperboard stack (3) is pressed in the left-right direction, a paper pressing cylinder (27) drives a paper pressing plate (271) to press downwards, the paper pressing plate (271) is slightly pressed on the lifted target paperboard stack (3), and the paperboard stack (3) is pressed between the paper pressing plate (271) and a plugboard (291) in the up-down direction;
step S24, sucking the left-over cardboard box, grabbing the target cardboard stack (3), detecting whether the left-over cardboard box is left or not by a visual detection device, if yes, enabling the paper sucking cylinder (20) to act, enabling the sucking disc (201) to pick up the left-over cardboard box, and if not, entering step S25;
step S25, the posture of the target paperboard stack (3) is changed and transferred, the visual detection device judges the current posture of the target paperboard stack (3), the disassembly manipulator (13) adjusts the placement posture of the target paperboard stack (3) according to the judging result, and then the disassembly manipulator (13) moves, so that the target paperboard stack (3) is placed on the conveyor (16) according to the correct posture, and meanwhile, the cartons adsorbed on the suckers (201) are uniformly placed on the paperboard collector (15);
step S26, rotating the stack turntable (14) by 90 degrees, and driving the left camera and the right camera to move by the lifting sliding table (19) according to the height position of the next target paperboard stack (3);
step S27, repeating steps S21 to S26 until the cardboard stack (3) on the tray is taken out.
6. The robotic high speed destacking machine of claim 5, wherein: in step S23, the system further includes a trimming mechanism for trimming the target paper sheet stack, the trimming plates (43) are located at the front side and the rear side of the target paper sheet stack (3) and are in an open state according to the width adjustment of the front and the rear sides of the paper sheet stack (3), the roller motor drives the driving gear (452) to rotate, the driving gear (452) drives the inner rotating shaft (45) to rotate anticlockwise through the inner shaft gear (451), the outer roller (49) synchronously rotates anticlockwise along with the inner rotating shaft (45), meanwhile, the driving gear (452) drives the transmission gear (453) to rotate, the transmission gear (453) drives the two outer rotating shafts (46) to rotate clockwise through the outer shaft gear (47), the inner roller (48) synchronously rotates clockwise along with the outer rotating shafts (46), the pull rope (44) drives the two trimming plates (43) to rotate, the trimming plates (43) are in a vertical state, and then the roller motor rotates clockwise and reversely, so that the two trimming plates (43) collide with each other at the front side and the rear sides of the target paper sheet stack (3) in a reciprocating manner, and simultaneously, the motor (4) also can drive the two trimming plates (4) to rotate clockwise, so that the front and the two trimming plates (3) can be trimmed.
7. The robotic high speed depacketizer as set forth in claim 6, further characterized in that: the cardboard collector (15) comprises a conveying roller set, a first adjusting plate (151), a second adjusting plate (152), a third adjusting plate (153) and a fourth adjusting plate (154) are arranged at one end of the conveying roller set, the distance between the first adjusting plate (151) and the second adjusting plate (152) is adjustable, the third adjusting plate (153) and the fourth adjusting plate (154) are arranged front and back, the distance between the third adjusting plate (153) and the fourth adjusting plate (154) is adjustable, and the fourth adjusting plate (154) is rotatably arranged at the inlet of the conveying roller set.
8. A manipulator high speed destacking machine as in claim 7 wherein: in the step 25, the four adjusting plates are used for position adjustment according to the size of the paperboard stacks (3), after waiting for the number of cartons in the paperboard collector (15) to reach the required number, the fourth adjusting plates (154) are opened, and the conveying roller sets are used for conveying the paperboard stacks (3) reaching a certain number to the conveyor (16).
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| CN202311173638.0A CN117104898B (en) | 2023-09-12 | 2023-09-12 | High-speed cardboard buttress machine of unloading of manipulator |
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