CN117775443A - Unboxing robot and working method - Google Patents
Unboxing robot and working method Download PDFInfo
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- CN117775443A CN117775443A CN202410053524.0A CN202410053524A CN117775443A CN 117775443 A CN117775443 A CN 117775443A CN 202410053524 A CN202410053524 A CN 202410053524A CN 117775443 A CN117775443 A CN 117775443A
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Abstract
The disclosure provides an unpacking robot and a working method thereof, at least comprising: the device comprises a conveying mechanism, a disassembling platform, a first mechanical arm and a second mechanical arm; the disassembly platform is arranged at the end part of the conveying mechanism, and a first pushing mechanism is arranged at the butt joint position of the conveying mechanism and the disassembly platform; the disassembly platform is provided with at least one through groove along the moving direction of the box body, and the bottom of the through groove is provided with a second pushing mechanism which can extend out of the through groove and move along the through groove; two sides of the disassembling platform are provided with symmetrical clamping mechanisms, the bottom of the disassembling platform is provided with a lifting mechanism close to the conveying mechanism, and one side of the disassembling platform is movably connected with the platform supporting frame; the first mechanical arm is arranged on one side of the disassembly platform, the second mechanical arm is arranged on the other side of the disassembly platform, the tail end of the first mechanical arm is provided with a box disassembling cutter body, and the tail end of the second mechanical arm is provided with a sucking disc; the problem of artifical unpacking inefficiency has been solved to this disclosure, has realized the multi-shape multi-size box self-adaptation adjustment of unpacking.
Description
Technical Field
The disclosure relates to the technical field of electric robots, in particular to an unpacking robot and a working method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
After the materials to be delivered are packaged in the box body, the box body needs to be unpacked and opened, and the materials in the box body are taken out. At present, the box is opened manually and the materials in the box are taken out, so that the operation personnel waste time and energy, and in order to realize unmanned storage, the box body unloading robot needs to be researched and disassembled, and the operations of opening the box and taking out the materials in the box are finished instead of manual work.
The inventor finds that in the distribution and storage processes of electric power materials, the unpacking and storage of electric power components are mostly realized by manpower, the type identification and registration and storage of the electric power components are needed to be carried out manually, the working efficiency is low, and the condition that registration information errors occur easily occurs; most of the existing automatic unpacking production lines are used for directly disassembling the box body, cannot be suitable for various and high-precision conditions of electric components, and cannot realize safe unpacking and accurate storage of the electric components; the existing automatic unpacking production line is used for unpacking the box body with fixed size and fixed shape, and cannot realize self-adaptive unpacking adjustment of the box body with multiple sizes aiming at electric power materials.
Disclosure of Invention
In order to solve the defects of the prior art, the disclosure provides an unpacking robot and a working method, solves the problem of low manual unpacking efficiency, and realizes safe unpacking and accurate storage of electric components; the self-adaptive unpacking adjustment of the multi-shape and multi-size box body of the electric power materials is realized.
In order to achieve the above purpose, the present disclosure adopts the following technical scheme:
the first aspect of the present disclosure provides an unpacking robot.
An unpacking robot comprising at least: the device comprises a conveying mechanism, a disassembling platform, a first mechanical arm and a second mechanical arm;
the disassembly platform is arranged at the end part of the conveying mechanism, and a first pushing mechanism is arranged at the butt joint position of the conveying mechanism and the disassembly platform; the disassembly platform is provided with at least one through groove along the moving direction of the box body, and the bottom of the through groove is provided with a second pushing mechanism which can extend out of the through groove and move along the through groove;
two sides of the disassembling platform are provided with symmetrical clamping mechanisms, the bottom of the disassembling platform is provided with a lifting mechanism close to the conveying mechanism, and one side of the disassembling platform is movably connected with the platform supporting frame;
the first mechanical arm is arranged on one side of the disassembly platform, the second mechanical arm is arranged on the other side of the disassembly platform, the tail end of the first mechanical arm is provided with a box disassembly cutter body, and the tail end of the second mechanical arm is provided with a sucker.
Further, the method further comprises the following steps: the visual sensing device is in communication connection with the control terminal, the visual sensing device is arranged above a conveying channel of the conveying mechanism, and the control terminal controls the correction mechanisms on two sides of the conveying mechanism to adjust the pose of the box according to the box image data collected by the visual sensing device.
Further, the conveying mechanism is a roller conveying mechanism, and the visual sensing element is arranged above the roller conveying mechanism through a bracket.
Further, one side of the butt joint position of the conveying mechanism and the disassembling platform is provided with a first sliding rail, the other side of the butt joint position of the conveying mechanism and the disassembling platform is provided with a second sliding rail, the first pushing mechanism comprises a first telescopic part and a second telescopic part, the first telescopic part is in sliding connection with the first sliding rail, and the second telescopic part is in sliding connection with the second sliding rail.
Further, the second pushing mechanism comprises at least one third telescopic piece, a third sliding rail is arranged at the bottom of the disassembling platform, and the third telescopic piece is in sliding connection with the third sliding rail.
Further, a positioning mechanism for blocking the box body on the disassembling platform is arranged on the platform supporting frame and comprises at least one fourth telescopic piece.
Further, the disassembling platform is provided with a conveyor belt on one side far away from the conveying mechanism, the conveyor belt comprises a first conveyor belt and a second conveyor belt which are adjacent, the first conveyor belt and the disassembling platform are at a preset angle, and the second conveyor belt is lower than the disassembling platform and is parallel to the disassembling platform.
Further, the clamping mechanism is two clamping plates with opposite positions, and the clamping plates are fixedly connected with the platform support frame through the rotating shaft.
A second aspect of the present disclosure provides a method of operating an unpacking robot.
An operating method of an unpacking robot, using the unpacking robot of the first aspect of the disclosure, includes the following steps:
the box body is conveyed to the end part of the dismantling platform through a conveying mechanism, the size and the pose of the box body are identified through machine vision in the conveying process, and the pose of the box body is adjusted through correction mechanisms on two sides of the conveying mechanism;
pushing the box body to a disassembling platform through a first pushing mechanism, and positioning the box body at a preset position of the disassembling platform through a positioning mechanism;
the first mechanical arm drives the cutter body to saw along the periphery of the upper surface of the box body, the upper cover of the box body is cut off, the second mechanical arm drives the sucker to absorb the upper cover and move the upper cover onto the second conveyor belt, and the visual sensing element on the second mechanical arm identifies the objects in the box body;
if the articles need to be dumped, the first mechanical arm is used for driving the cutter body to cut two vertical edges along the front end face of the box body, the lifting mechanism behind the dismantling platform is lifted, the articles in the box body slowly topple over onto the first conveyor belt along with the lifting of the dismantling platform, the sweeping plate of the second mechanical arm is used for sweeping the interior of the box body, after all the articles in the box body are subjected to box unloading operation, the lifting plate descends, the box body returns to the original position, the second pushing mechanism arranged below the dismantling platform stretches out of the dismantling platform, and the empty box body is pushed to the first conveyor belt;
if the articles in the box do not need to be dumped, a second pushing mechanism arranged below the disassembling platform pushes the box body after the cover is cut to the first conveyor belt.
Further, after the second mechanical arm completes shearing of the side edge of the upper cover of the box body, which is close to the side of the first mechanical arm;
the first mechanical arm presses the upper cover of the box body, and the second mechanical arm continuously completes the shearing of the other three sides of the upper cover of the box body;
the sucker of the first mechanical arm sucks the upper cover and puts the upper cover on the second conveyor belt;
after the upper cover of the box body is taken away, the second mechanical arm continues to suck the liner plate in the box body which is cut off in the box body, and the liner plate is placed on the second conveyor belt.
Further, according to the box visual data acquired by the visual sensing element;
obtaining shape and size data of the box body according to the obtained box body visual data;
setting the clamping force of the clamping mechanism according to the obtained shape and size data;
and setting the expansion and contraction amounts of the movable ends of the first pushing mechanism, the second pushing mechanism, the positioning mechanism and the jacking mechanism according to the obtained shape and size data.
Compared with the prior art, the beneficial effects of the present disclosure are:
1. the invention innovatively provides a convenient design method of the unpacking robot, develops the unpacking robot for the electric components, solves the problem of low manual unpacking efficiency through the cooperation of the first mechanical arm and the second mechanical arm, realizes the safe unpacking and accurate storage of the electric components, and avoids data errors caused by manual unpacking registration; through the cooperation of first pushing mechanism, second pushing mechanism and positioning mechanism, realized the quick location of box and the quick forward propulsion, improved the work efficiency that the box was disassembled.
2. The invention creatively provides a self-adaptive operation technology of the unpacking robot, which carries out the size and the pose recognition of the box body through machine vision, further carries out the recognition of components through the machine vision, further releases the labor cost in combination with the machine vision, and improves the control precision of the disassembly and the storage of the electric components; the size and the size of the box body are identified through the visual sensing element, the clamping force of the clamping device is set according to the size and the size of the box body obtained through identification, and meanwhile, the moving end expansion amount of the first pushing mechanism, the second pushing mechanism, the positioning mechanism and the jacking mechanism is set according to the size and the size of the box body obtained through identification, so that the self-adaptive box-opening adjustment of the multi-shape and multi-size box body for electric power materials is realized, and the accuracy of box-opening control is improved.
Additional aspects of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the exemplary embodiments of the disclosure and together with the description serve to explain the disclosure, and do not constitute an undue limitation on the disclosure.
Fig. 1 is a front view of an unpacking robot provided in embodiment 1 of the present disclosure.
Fig. 2 is a top view of the unpacking robot provided in embodiment 1 of the present disclosure.
Fig. 3 is a left side view of the unpacking robot provided in embodiment 1 of the present disclosure.
Fig. 4 is a schematic diagram of a software and hardware architecture provided in embodiment 1 of the present disclosure.
1-a conveying mechanism; 2-a visual sensing element; 3-a first pushing mechanism; 4-a second pushing mechanism; 5-a clamping mechanism; 6-a second mechanical arm; 7-a first conveyor belt; 8-a second conveyor belt; 9-a first mechanical arm; 10-a positioning mechanism; 11-a lifting mechanism; 12-disassembling the platform.
Detailed Description
The disclosure is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
Example 1:
as shown in fig. 1, 2 and 3, embodiment 1 of the present disclosure provides an unpacking robot, which includes at least: the device comprises a conveying mechanism 1, a dismantling platform 12, a first mechanical arm 9 and a second mechanical arm 6;
the disassembling platform 12 is arranged at the end part of the conveying mechanism 1, and a first pushing mechanism 3 is arranged at the butt joint position of the conveying mechanism 1 and the disassembling platform 12; the disassembly platform is provided with at least one through groove along the moving direction of the box body, and the bottom of the through groove is provided with a second pushing mechanism 4 which can extend out of the through groove and move along the through groove;
symmetrical clamping mechanisms 5 are arranged on two sides of the disassembling platform, a lifting mechanism 11 is arranged at the bottom of the disassembling platform close to the conveying mechanism, and one side of the disassembling platform is movably connected with the platform supporting frame;
the first mechanical arm 9 is arranged on one side of the disassembling platform 12, the second mechanical arm 6 is arranged on the other side of the disassembling platform, the tail end of the first mechanical arm is provided with a box disassembling cutter body, and the tail end of the second mechanical arm is provided with a sucking disc.
And a visual sensing element is further arranged on the second mechanical arm, the type of the electric components in the box body is identified through the visual sensing element, and the judgment of dumping or direct transportation is carried out according to the identification result.
In the embodiment, the disassembly platform is provided with two mutually parallel through grooves along the moving direction of the box body, and the telescopic rod piece of the second pushing mechanism extends out of the through grooves to push the box body; it can be appreciated that in other embodiments, the number of the through slots may be one, three or more, so long as the pushing of the box body can be achieved, and those skilled in the art may select according to specific working conditions, which will not be described herein.
The unpacking robot further includes: the visual sensing device comprises a visual sensing element 2 and a control terminal, wherein the visual sensing element 2 is in communication connection with the control terminal, the visual sensing element 2 is arranged above a conveying channel of the conveying mechanism, and the control terminal controls correction mechanisms on two sides of the conveying mechanism to adjust the pose of the box according to box image data acquired by the visual sensing element.
In the embodiment, the conveying mechanism 1 is a roller conveying mechanism, the visual sensing elements 2 are symmetrically arranged above the roller conveying mechanism through a bracket, and a binocular camera is preferably adopted; it will be appreciated that in other embodiments, the conveying mechanism may be a conveyor belt structure, and the number of the visual sensing elements 2 may be one, three, four or more, and those skilled in the art may select the conveying mechanism according to specific working conditions, which will not be described herein.
One side of the butt joint position of the conveying mechanism 1 and the dismantling platform 12 is provided with a first sliding rail, the other side of the butt joint position of the conveying mechanism and the dismantling platform is provided with a second sliding rail, the first pushing mechanism 3 comprises a first telescopic piece and a second telescopic piece, the first telescopic piece is in sliding connection with the first sliding rail, and the second telescopic piece is in sliding connection with the second sliding rail.
In this embodiment, the first telescopic member and the second telescopic member are telescopic members with driving, which can be understood that electric driving may be adopted, hydraulic driving or other driving modes may also be adopted, so long as the telescopic members of the members can be realized for pushing the box body, and no description is repeated here.
The second pushing mechanism 4 comprises at least one third telescopic member, a third sliding rail is arranged at the bottom of the disassembling platform, the third telescopic member is in sliding connection with the third sliding rail, the third telescopic member is a telescopic rod with a driving function, it can be understood that the telescopic rod can be driven electrically, hydraulically or in other driving modes, and only the telescopic pushing of the rod can be realized, so that the telescopic pushing of the box is used, and the repeated description is omitted here.
The positioning mechanism 10 for blocking the box on the disassembly platform is arranged on the platform supporting frame and comprises at least one fourth telescopic member, the fourth telescopic member is a telescopic rod member with a drive, and it can be understood that the telescopic rod member can be electrically driven or hydraulically driven or driven in other driving modes, so long as the telescopic pushing of the rod member for the box can be realized, and details are omitted here.
One side of the disassembly platform, which is far away from the conveying mechanism, is provided with a conveying belt, the conveying belt comprises a first conveying belt 7 and a second conveying belt 8 which are adjacent, the first conveying belt 7 and the disassembly platform 12 are at a preset angle, and the second conveying belt 8 is lower than the disassembly platform and is parallel to the disassembly platform 12.
The clamping mechanism 5 is two clamping plates with opposite positions, and the clamping plates are fixedly connected with the platform support frame through a rotating shaft.
In this embodiment, the unpacking robot preferably includes four main parts of an HMI, a control system, a vision module, and a robot arm.
The HMI hardware platform is an industrial personal computer, receives image data of 2 cameras based on strong communication and operation capability, and is connected with control system hardware through PCI;
the control system takes a bus type motion controller as a master control core, interacts with 2 robots in an Ethernet or serial port communication mode to send and receive relevant data of cutting and removing waste materials, and can control a plurality of servo drives to drive a servo motor to execute process actions through the communication of an Ehter CAT bus;
the visual module at least comprises two cameras, wherein 1 camera is used for identifying the appearance size and the gesture of the box body from the box body, the appearance size is matched with the box body characteristic information in the database, the gesture data is used for guiding and adjusting the direction of the box body subsequently, and the other 1 camera is used for identifying the internal characteristics of the box body after the cover is cut, so as to determine whether the toppling action is needed;
one for performing the actual cutting pass, comprising a cover and a side part, and the other for taking away the cut-apart box waste.
The four main parts are connected in a communication mode so as to facilitate interaction of data and working states before, during and after working, and other sensors, RFID and other auxiliary parts can be connected through serial communication and IO, ADC, DAC and the like.
In order to facilitate development and maintenance, software parts of the four main components are designed in a modularized mode, for example, an image recognition algorithm can be compatible based on an MFC, development such as process control and motion inverse solution of a robot body can be independently completed, only a communication part data interface is needed to be interacted with a motion controller, a motion control part is respectively connected with logic and sequential control of each execution part, and an HMI part completes functions such as man-machine interaction display, parameter setting, data import and export, system assistance and the like needed by each component module.
The system power supply part takes AC380V as the total input, converts the total input into AC220V and DC24V through a filter, a transformer, a switching power supply and the like, and supplies power to each hardware platform in an isolated mode, as shown in figure 4.
Example 2:
embodiment 2 of the present disclosure provides a working method of an unpacking robot, including the following procedures:
after the unpacking robot conveys the box body packed with the products to a designated position on a conveying belt through a transfer trolley, the size and the position of the box body are recognized through a machine vision technology, a roller conveyor is started, the box body is conveyed to a disassembling platform, and the box body is positioned and clamped by the disassembling workbench based on vision auxiliary guide in the conveying process;
then, a first mechanical arm provided with a saw blade or a cutter body makes saw cutting along the periphery of the upper surface of the box body, and the upper cover of the box body is cut off; a second mechanical arm provided with a sucker sucks the upper cover and moves the upper cover to a lower conveying belt;
the visual sensor is arranged on the second mechanical arm and used for identifying the objects in the box body;
if the article is the article to be dumped, then a first mechanical arm with a saw blade is used for cutting two vertical edges along the front end face of the box body, a lifting device at the rear of the disassembly platform is lifted, the article in the box body is slowly dumped onto a delivery conveying belt along with the lifting of the disassembly platform, then a second mechanical arm with a sweeping plate is used for sweeping the interior of the box body, the article delivery operation is assisted to be completed, then the lifting plate descends, the box body returns to the original position, and a first pushing mechanism arranged below the platform pushes the empty box body to the conveying belt;
if the articles in the box do not need to be dumped, a second pushing mechanism arranged below the platform pushes the box body after the cover is cut to the conveying belt.
The detailed steps are as follows:
s1: the box body is transported to a conveyor belt
The box body is transported to the conveying belt, the direction of placement is noted to ensure that two cover flap lines of the box body and the box cover are perpendicular to the movement direction of the roller conveyor, the size and the position of the box body are identified through machine vision, and if the position is not right, the box body is guided by the guide device in the forward conveying process of the conveying belt.
S2: the box body enters the tail end of the roller conveyor, and the first pushing mechanism pushes the box body into the disassembling station
The front end of the disassembly platform extends out of the positioning device to position the pushed box body, the first pushing mechanism pushes the box body onto the disassembly platform, and the clamping device clamps the rear side face of the box body. The clamping devices on the left side surface and the right side surface of the box body clamp the side surface of the box body.
S3: cutting and taking cover
The second mechanical arm completes the shearing of the side edge of the upper cover of the box body, which is close to the side of the first mechanical arm, in order to prevent the upper cover of the box body from shaking during the shearing, the first mechanical arm presses the upper cover of the box body, and the second mechanical arm continues to complete the shearing of the other three sides of the upper cover of the box body. The first mechanical arm sucks the upper cover and puts the upper cover on a conveying belt of a subsequent station. After the upper cover of the box body is taken away, the first mechanical arm continues to suck the liner plate in the box body which is cut off in the box body and is placed on a conveying belt of a subsequent station.
S4: identifying the push box entering the conveyor belt
The visual sensor arranged on the first mechanical arm recognizes and verifies the articles in the box body, if the articles do not need to be dumped, the clamping devices on the left side and the right side of the box body are loosened, the first pushing mechanism is retracted, the positioning device in front of the box body is retracted, and the second pushing mechanism below the platform pushes the box body filled with the articles onto the subsequent conveying belt.
S5: cutting the side edges of the box body and pouring
The visual sensor arranged on the first mechanical arm identifies and verifies the articles in the box body, and if the articles need to be dumped, the second mechanical arm completes shearing of the edges at the two sides in front of the box body. The first pushing mechanism is retracted, the positioning device in front of the box body is retracted, the lifting device below the platform is lifted, the rear side of the platform is lifted under the action of the lifting device, and the goods to be dumped are slowly dumped onto the subsequent conveying belt.
S6: empty box pushing-in conveying belt
After the articles in the box are dumped, the lifting device arranged below the working platform is retracted, the platform returns, the clamping device on the side face of the box body is loosened, and the second pushing mechanism below the platform pushes the empty box body to the conveying belt.
In this embodiment, according to the case visual data obtained by the visual sensing element, the shape and size data of the case are obtained according to the obtained case visual data, the clamping force setting of the clamping mechanism is performed according to the obtained shape and size data, and the setting of the moving end expansion and contraction amounts of the first pushing mechanism, the second pushing mechanism, the positioning mechanism and the jacking mechanism is performed according to the obtained shape and size data, so that the self-adaptive case disassembly of the multi-shape multi-size case is realized.
The foregoing description of the preferred embodiments of the present disclosure is provided only and not intended to limit the disclosure so that various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410053524.0A CN117775443A (en) | 2024-01-12 | 2024-01-12 | Unboxing robot and working method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410053524.0A CN117775443A (en) | 2024-01-12 | 2024-01-12 | Unboxing robot and working method |
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| CN117775443A true CN117775443A (en) | 2024-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410053524.0A Pending CN117775443A (en) | 2024-01-12 | 2024-01-12 | Unboxing robot and working method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118254149A (en) * | 2024-04-30 | 2024-06-28 | 环晟光伏(江苏)有限公司 | A graphite boat disassembly equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2238912A1 (en) * | 1998-05-28 | 1999-11-28 | Rupert Hubert Liehs | Automatic system for un-packing boxes |
| CN111689013A (en) * | 2020-06-29 | 2020-09-22 | 聚龙股份有限公司 | Automatic box opening method |
| CN113291567A (en) * | 2021-05-28 | 2021-08-24 | 海尔数字科技（上海）有限公司 | Automatic unpacking equipment |
| CN116715022A (en) * | 2023-08-03 | 2023-09-08 | 星猿哲科技(深圳)有限公司 | Packing and unpacking methods in containers |
-
2024
- 2024-01-12 CN CN202410053524.0A patent/CN117775443A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2238912A1 (en) * | 1998-05-28 | 1999-11-28 | Rupert Hubert Liehs | Automatic system for un-packing boxes |
| CN111689013A (en) * | 2020-06-29 | 2020-09-22 | 聚龙股份有限公司 | Automatic box opening method |
| CN113291567A (en) * | 2021-05-28 | 2021-08-24 | 海尔数字科技（上海）有限公司 | Automatic unpacking equipment |
| CN116715022A (en) * | 2023-08-03 | 2023-09-08 | 星猿哲科技(深圳)有限公司 | Packing and unpacking methods in containers |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118254149A (en) * | 2024-04-30 | 2024-06-28 | 环晟光伏(江苏)有限公司 | A graphite boat disassembly equipment |
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