CN214566712U

CN214566712U - Package dismounting device

Info

Publication number: CN214566712U
Application number: CN202120366205.7U
Authority: CN
Inventors: 沈岗; 龙洪锋; 马溢斌
Original assignee: Yinghe Shenzhen Robot and Automation Technology Co Ltd
Current assignee: Yinghe Shenzhen Robot and Automation Technology Co Ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-11-02
Anticipated expiration: 2031-02-08

Abstract

The utility model provides a packing dismounting device, includes AI vision module, multiaxis arm and cutting executor, and AI vision module is used for shooing other packing boxes of waiting to cut to according to the content design cutting path of shooing, multiaxis arm and AI vision module electric connection, multiaxis arm are used for butt joint cutting executor, and the cutting path that multiaxis arm designed according to AI vision module orders about cutting executor cutting packing boxes. The utility model discloses a packing dismounting device can realize full automation cutting packing box, and is fast, dismantles efficiently.

Description

Package dismounting device

Technical Field

The utility model relates to a technical field is dismantled to the packing box, in particular to packing dismounting device.

Background

Containers are used to carry items and multiple layers of tape are typically applied to the containers to seal the containers in order to enclose the items within the containers. When the goods need to be taken out from the container, the container needs to be disassembled manually, so that the disassembling speed of the container is low, and the efficiency is low.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a packing dismounting device realizes full automation cutting packing box, and is fast, dismantles efficiently.

The utility model provides a packing dismounting device, includes AI vision module, multiaxis arm and cutting executor, and AI vision module is used for shooing other packing boxes of waiting to cut to according to the content design cutting path of shooing, multiaxis arm and AI vision module electric connection, multiaxis arm are used for butt joint cutting executor, and the cutting path that multiaxis arm designed according to AI vision module orders about cutting executor cutting packing boxes.

The utility model discloses an in the embodiment, above-mentioned cutting executor includes butt joint structure, cutting driver, cutting piece and dust catcher, butt joint structure be used for with the butt joint of multiaxis arm, the cutting driver is fixed in butt joint structure, the cutting piece with the cutting driver is connected, the cutting driver is used for ordering about the cutting piece cutting the packing box, the dust catcher with the cutting piece corresponds the setting, the dust catcher is used for adsorbing the material that the cutting produced.

The utility model discloses an in the embodiment, above-mentioned packing dismounting device still includes vacuum chuck and mechanical the grabbing, the multiaxis arm can be based on AI vision module shoot content selection with vacuum chuck or the butt joint is grabbed to machinery.

The utility model discloses an in the embodiment, above-mentioned packing dismounting device still includes the base, the end fixing of multiaxis arm is in on the base, be equipped with a plurality of screens grooves on the base, the cutting executor vacuum chuck mechanical grab respectively the card establish respectively in the screens groove.

In an embodiment of the utility model, above-mentioned packing dismounting device still includes packing box transport mechanism, packing box transport mechanism includes support frame, conveyer belt and first transmission driver, the conveyer belt with first transmission driver is installed on the support frame, first transmission driver is used for ordering about the conveyer belt conveying the packing box, the base set up in one side of packing box transport mechanism, the AI vision module set up in packing box transport mechanism's top.

The utility model discloses an in the embodiment, above-mentioned packing box transport mechanism still includes the erection column, the one end of erection column is fixed on the support frame, the other end of erection column is located the top of conveyer belt, AI vision module is installed on the erection column.

The utility model discloses an in the embodiment, be equipped with first guide beam and second guide beam on the above-mentioned support frame, first guide beam with the second guide beam sets up relatively, first guide beam with form the confession between the second guide beam the passageway of packing box conveying, packing box transport mechanism still includes the location driver, the location driver is fixed on the first guide beam, the drive end of location driver is fixed with the locating piece, the location driver passes through the locating piece will the packing box supports and leans on the second guide beam.

The utility model discloses an in the embodiment, above-mentioned packing box transport mechanism still includes the sensor, the sensor with first transmission driver AI vision module electric connection, the sensor is used for controlling first transmission driver opens or closes, works as the conveyer belt will the goods conveying to when AI vision module below, sensor control first transmission driver closes.

The utility model discloses an in the embodiment, above-mentioned packing dismounting device still includes holding case transport mechanism, holding case transport mechanism with goods transport mechanism sets up side by side, holding case transport mechanism includes mount, a plurality of transfer roller and second conveying driver, and is a plurality of the transfer roller is connected with spacing each other on the mount, second conveying driver installs on the mount, second conveying driver is used for ordering about the transfer roller rotates the conveying the holding case, the multiaxis arm passes through mechanical grabbing will goods in the packing box snatch to in the holding case.

The utility model discloses an in the embodiment, above-mentioned packing dismounting device still includes the garbage collection case, the garbage collection case set up in one side of packing box transport mechanism, the garbage collection case is used for holding after the cutting the packing box.

The utility model discloses a packing dismounting device can realize full automation cutting packing box according to the content design cutting route that AI vision module shot, and not only cutting speed is fast, can adapt to the packing box of different kind sizes moreover, has stronger adaptability, has improved efficiency greatly.

Drawings

Fig. 1 is a schematic perspective view of the package disassembling device of the present invention.

Fig. 2 is a schematic structural diagram of the base and the multi-axis robot arm of the present invention.

Fig. 3 is a schematic structural view of the container conveying mechanism of the present invention.

Detailed Description

The application provides a packing dismounting device.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to facilitate understanding of those skilled in the art, the present application provides a specific implementation process of the technical solution provided by the present application through the following embodiments.

Fig. 1 is the utility model discloses a packaging and disassembling device's spatial structure sketch map, as shown in fig. 1, packaging and disassembling device includes AI vision module 11, multiaxis arm 12 and cutting executor 13, AI vision module 11 is used for shooing other packing boxes of waiting to cut to according to the content design cutting path of shooing, multiaxis arm 12 and AI vision module 11 electric connection, multiaxis arm 12 is used for butt joint cutting executor 13, multiaxis arm 12 orders about cutting executor 13 according to the cutting path of AI vision module 11 design and cuts the packing box.

The utility model discloses a packing dismounting device can realize full automation cutting packing box according to the content design cutting route that AI vision module 11 was shot, and not only cutting speed is fast, can adapt to the packing box of different kind sizes moreover, has stronger adaptability, has improved efficiency greatly.

Further, the AI vision module 11 adopts an AI vision algorithm, which includes an AI model training method and an inference method; the model training method comprises the steps of acquiring images of common goods packages, storing image data, labeling to form a training set and test set data, performing off-line training on the training set data to obtain an AI model, performing model testing by combining the test set data, and preferentially screening out the AI model; and subsequently, reasoning is realized by using the AI model, and operations such as identification of goods packaging materials, cutting path planning and the like are completed in an auxiliary manner.

Further, the AI vision module 11 can capture 2D or 3D color images of the cargo box, and the control system of the packaging and unpacking device makes further decisions, such as planning cutting routes or picking vegetables, fruits, etc., based on the data provided by the AI vision module 11.

Further, the multi-axis robot arm 12 is, for example, a four-axis robot arm or a six-axis robot arm, and can be selected by the user according to actual needs.

Further, the cutting actuator 13 includes a docking structure 131, a cutting driver (not shown), a cutting member 132 and a dust collector (not shown), the docking structure 131 is used for docking with the multi-axis robot arm 12, the cutting driver is fixed to the docking structure 131, the cutting member 132 is connected with the cutting driver, the cutting driver is used for driving the cutting member 132 to cut the cargo box, the dust collector is arranged corresponding to the cutting member 132, and the dust collector is used for adsorbing substances generated by cutting. In this embodiment, when the cutting actuator 13 cuts the container, the dust collector sucks the fine dust waste while the cutter 132 cuts the container, thereby achieving dust-free operation.

Further, the cutting actuator 13 includes a rotary suction cutting driver and a thermal suction cutting driver, and the multi-axis robot arm 12 rotates the docking rotary suction cutting driver or the thermal suction cutting driver according to the photographed result of the AI vision module 11.

Further, the packaging and unpacking device further includes a vacuum chuck 14 and a mechanical gripper 15, and the multi-axis robot arm 12 can selectively interface with the vacuum chuck 14 or the mechanical gripper 15 according to the shot content of the AI vision module 11. After the top cover of the container is cut, the multi-axis mechanical arm 12 is automatically replaced by a vacuum suction cup 14 or a mechanical claw 15 to grab the top cover of the container, and when the goods in the container are emptied, the vacuum suction cup 14 or the mechanical claw 15 is used for judging the process according to the weight of the waste materials.

Further, AI vision module 11 still can be used to supplementary melon and fruit vegetables class preliminary quality control of goods, sets up the scope according to the colour of melon and fruit vegetables's color image, according to rotten fruit and vegetable in the categorised discernment fruit of scope, utilizes multiaxis arm 12 to dock vacuum chuck 14 and mechanical 15 of grabbing to screen.

Further, fig. 2 is a schematic structural diagram of the base and the multi-axis mechanical arm of the present invention, as shown in fig. 1 and fig. 2, the package disassembling apparatus further includes a base 16, the end of the multi-axis mechanical arm 12 is fixed on the base 16, the base 16 is provided with a plurality of clamping grooves 101, and the cutting actuator 13, the vacuum chuck 14 and the mechanical gripper 15 are respectively clamped in each clamping groove 101.

Further, fig. 3 is a schematic structural diagram of the container conveying mechanism of the present invention, as shown in fig. 1 and fig. 3, the package disassembling device further includes the container conveying mechanism 17, the container conveying mechanism 17 includes a support frame 171, a conveyor belt 172 and a first conveying driver (not shown), the conveyor belt 172 and the first conveying driver are installed on the support frame 171, the first conveying driver is used for driving the conveyor belt 172 to convey a container, the base 16 is disposed on one side of the container conveying mechanism 17, and the AI vision module 11 is disposed above the container conveying mechanism 17. In this embodiment, the supporting frame 171 is provided with a first roller and a second roller connected to the belt 172, the first roller and the second roller are rotatably connected to the supporting frame 171, and the belt 172 is sleeved on the first roller and the second roller.

Further, the cargo box transfer mechanism 17 further includes a mounting post 173, one end of the mounting post 173 is fixed to the support frame 171, the other end of the mounting post 173 is located above the conveyor belt 172, and the AI vision module 11 is mounted on the mounting post 173.

Furthermore, a first guide beam 174 and a second guide beam 175 are arranged on the support frame 171, the first guide beam 174 and the second guide beam 175 are arranged oppositely, a channel for conveying the containers is formed between the first guide beam 174 and the second guide beam 175, the container conveying mechanism 17 further comprises a positioning driver 176, the positioning driver 176 is fixed on the first guide beam 174, a positioning block 177 is fixed at a driving end of the positioning driver 176, and the containers are abutted against the second guide beam 175 through the positioning block 177 by the positioning driver 176.

Further, the container conveying mechanism 17 further includes a sensor 178, the sensor 178 is electrically connected to the first conveying driver and the AI vision module 11, the sensor 178 is used for controlling the first conveying driver to open or close, and when the conveyor belt 172 conveys the goods to the lower side of the AI vision module 11, the sensor 178 controls the first conveying driver to close. When the conveyor belt 172 conveys the container to a position right below the AI vision module 11, the sensor 178 controls the first conveying driver to close, the positioning driver 176 abuts the container against the second guide beam 175 through the positioning block 177 to position the container, then the multi-axis mechanical arm 12 selects to butt the cutting actuator 13 according to the shooting content of the AI vision module 11, and the multi-axis mechanical arm 12 drives the cutting actuator 13 to cut the container according to the cutting path designed by the AI vision module 11.

Further, the packaging and disassembling device further includes a container box conveying mechanism 18, the container box conveying mechanism 18 and the container box conveying mechanism 17 are arranged side by side, the container box conveying mechanism 18 includes a fixing frame 181, a plurality of conveying rollers 182 and a second conveying driver (not shown), the plurality of conveying rollers 182 are connected to the fixing frame 181 at intervals, the second conveying driver is installed on the fixing frame 181, the second conveying driver is used for driving the conveying rollers 182 to rotate and convey the container box 183, and the multi-axis mechanical arm 12 grabs the goods in the container box into the container box 183 through the mechanical claw 15.

Further, the packing and unpacking device further comprises a waste recycling box 19, the waste recycling box 19 is arranged on one side of the container conveying mechanism 17, and the waste recycling box 19 is used for containing the cut containers. After the top cover of the container is cut, the multi-shaft mechanical arm 12 is butted with the vacuum suction cup 14 or the mechanical claw 15, and the top cover waste is placed in the waste recycling bin 19; then the vacuum suction cup 14 or the mechanical gripper 15 grabs the goods with good quality inspection to the accommodating box 183 and grabs the unqualified goods to the waste recycling box 19; after emptying the goods, the remaining containers can optionally be cut completely and laid flat in a waste collection bin 19, or the containers can be placed directly in the waste collection bin 19.

The present application is not limited to the details of the above-described embodiments, and various simple modifications may be made to the technical solution of the present application within the technical idea of the present application, and these simple modifications are all within the protection scope of the present application. The various features described in the foregoing detailed description may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations are not described separately in this application.

Claims

1. The utility model provides a packing dismounting device, its characterized in that, includes AI vision module, multiaxis arm and cutting executor, the AI vision module is used for shooing other packing boxes of waiting to cut to according to the content design cutting path of shooing, the multiaxis arm with AI vision module electric connection, the multiaxis arm is used for the butt joint the cutting executor, the multiaxis arm according to the cutting path of AI vision module design orders about the cutting executor cutting the packing box.

2. The package removal device of claim 1, wherein the cutting actuator includes a docking structure for docking with the multi-axis robotic arm, a cutting actuator secured to the docking structure, a cutting member coupled to the cutting actuator, the cutting actuator configured to actuate the cutting member to cut the cargo container, and a vacuum cleaner disposed in correspondence with the cutting member, the vacuum cleaner configured to absorb material resulting from the cutting.

3. The packaging detachment apparatus according to claim 1, further comprising a vacuum chuck and a mechanical gripper, the multi-axis robot being selectively engageable with the vacuum chuck or the mechanical gripper according to the AI vision module photographing contents.

4. The package removal apparatus as claimed in claim 3, further comprising a base, wherein the end of the multi-axis robot is fixed to the base, the base is provided with a plurality of locking grooves, and the cutting actuator, the vacuum chuck, and the mechanical gripper are respectively locked in the locking grooves.

5. The packaging removal device of claim 4, further comprising a container transport mechanism, wherein the container transport mechanism comprises a support frame, a conveyor belt and a first transport actuator, the conveyor belt and the first transport actuator are mounted on the support frame, the first transport actuator is configured to actuate the conveyor belt to transport the container, the base is disposed on one side of the container transport mechanism, and the AI vision module is disposed above the container transport mechanism.

6. The package removal device of claim 5, wherein the container transport mechanism further comprises a mounting post, one end of the mounting post is secured to the support frame, the other end of the mounting post is positioned above the conveyor belt, and the AI vision module is mounted on the mounting post.

7. The packaging and unpacking device according to claim 5, wherein a first guide beam and a second guide beam are arranged on the support frame, the first guide beam and the second guide beam are arranged oppositely, a channel for conveying the container is formed between the first guide beam and the second guide beam, the container conveying mechanism further comprises a positioning driver, the positioning driver is fixed on the first guide beam, a positioning block is fixed at a driving end of the positioning driver, and the positioning driver abuts against the container on the second guide beam through the positioning block.

8. The package disassembling apparatus according to claim 7, wherein the container transferring mechanism further includes a sensor electrically connected to the first transferring driver and the AI vision module, the sensor controlling the first transferring driver to be turned on or off, and the sensor controlling the first transferring driver to be turned off when the conveyer belt transfers the goods to the lower side of the AI vision module.

9. The packaging and unpacking device recited in claim 5, further comprising a container conveying mechanism, wherein the container conveying mechanism is arranged side by side with the container conveying mechanism, the container conveying mechanism comprises a fixing frame, a plurality of conveying rollers and a second conveying driver, the conveying rollers are connected to the fixing frame at intervals, the second conveying driver is mounted on the fixing frame, the second conveying driver is used for driving the conveying rollers to rotate to convey the container, and the multi-shaft mechanical arm grabs the goods in the container into the container through the mechanical gripper.

10. The package removal apparatus of claim 5, further comprising a scrap bin disposed on a side of the container transport mechanism for containing the cut containers.