CN216443949U - Device for automatically identifying and grabbing unsealed cartons - Google Patents
Device for automatically identifying and grabbing unsealed cartons Download PDFInfo
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- CN216443949U CN216443949U CN202123302638.5U CN202123302638U CN216443949U CN 216443949 U CN216443949 U CN 216443949U CN 202123302638 U CN202123302638 U CN 202123302638U CN 216443949 U CN216443949 U CN 216443949U
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Abstract
The utility model discloses a device for automatically identifying and grabbing an unsealed carton, which is used for automatically identifying the unsealed carton, grabbing the unsealed carton according to a set direction and placing the unsealed carton in a set area as required; specifically, the apparatus includes: the grabbing component is used for grabbing the unsealed carton; the robot assembly is used for setting a grabbing assembly; the image acquisition component is used for acquiring image information of the unsealed carton; the control component is used for processing the image information and controlling the robot component to drive the grabbing component to grab the unsealed carton according to the determined direction according to the information processing result; the grabbing component comprises two negative pressure adsorption parts which are perpendicular to each other and used for adsorbing two adjacent side faces of the unsealed carton to realize grabbing of the unsealed carton.
Description
Technical Field
The application belongs to the technical field of the commodity circulation, concretely relates to a device that is used for automatic identification and snatchs unsealed carton.
Background
In the logistics industry, particularly in the process of transferring materials in factory logistics or workshops, two problems are often encountered, one is that after products are boxed, a packing box cannot be immediately sealed, and the packing box needs to go through a plurality of process links and a plurality of transferring processes; the other type is that the packing boxes need to be stacked in a certain direction due to certain special requirements.
SUMMERY OF THE UTILITY MODEL
In view of the above, some embodiments disclose an apparatus for automatically identifying and grasping an unsealed carton, for automatically identifying the unsealed carton, grasping the unsealed carton according to a set direction, and placing the unsealed carton in a set area as required; specifically, the apparatus includes:
the grabbing component is used for grabbing the unsealed carton;
the robot assembly is used for setting a grabbing assembly;
the image acquisition component is used for acquiring image information of the unsealed carton;
the control component is used for processing the image information and controlling the robot component to drive the grabbing component to grab the unsealed carton according to the determined direction according to the information processing result;
the grabbing component comprises two negative pressure adsorption parts which are perpendicular to each other and used for adsorbing two adjacent side faces of the unsealed carton to realize grabbing of the unsealed carton.
Some embodiments disclose an apparatus for automatically identifying and grasping unsealed cartons, the grasping assembly comprising:
a fixing plate;
the first negative pressure adsorption component is arranged and vertically connected with the fixing plate;
the second negative pressure adsorption component is positioned on the side surface of the first negative pressure adsorption component, is connected with the fixed plate through the air cylinder and is vertical to the fixed plate and the first negative pressure adsorption component;
wherein, the cylinder is used for controlling the position of the second negative pressure adsorption component.
Some embodiments disclose an apparatus for automatically identifying and grasping unsealed cartons, the robotic assembly comprising:
the multi-axis robot is used for arranging and installing the grabbing component;
the robot base is used for arranging the multi-axis robot.
Some embodiments disclose an apparatus for automatically identifying and grasping unsealed cartons, the image acquisition assembly comprising:
a camera for acquiring image information containing unsealed cartons;
the camera support is used for arranging a camera.
Some embodiments disclose an apparatus for automatically identifying and grasping an unsealed carton, the apparatus adapted to be disposed at a side of a production line, a camera disposed above the production line to acquire image information of the unsealed carton disposed on the production line.
Some embodiments disclose an apparatus for automatically identifying and grasping unsealed cartons, wherein a carton conveying mechanism is configured to be disposed downstream of the apparatus for placing unsealed cartons grasped by a grasping assembly.
Some embodiments disclose an apparatus for automatically identifying and grasping unsealed cartons, wherein a transfer table is disposed upstream of a carton conveying mechanism for temporarily placing unsealed cartons grasped by a grasping assembly.
Some embodiments disclose an apparatus for automatically identifying and grasping unsealed cartons, wherein a negative pressure suction component is disposed in communication with a vacuum pump for providing a negative pressure.
Some embodiments disclose an apparatus for automatically identifying and grasping an unsealed carton, the camera being a 3D digital camera.
Some embodiments disclose the device for automatically identifying and grabbing the unsealed carton, wherein the air cylinder for connecting the second negative pressure adsorption part and the fixing plate is multiple.
The device for automatically identifying and grabbing the unsealed carton, disclosed by the embodiment of the application, can automatically acquire the image information of the unsealed carton, identify and process the image information, control the direction required by the installation of the grabbing component to grab the unsealed carton, and stack the direction set by the installation of the unsealed carton in the carton placement area; the image acquisition assembly and the grabbing assembly can work independently and step by step, the working time is not influenced mutually, and the grabbing working efficiency is improved.
Drawings
FIG. 1 is a schematic view of the structural configuration of an apparatus for automatically identifying and grasping an unsealed carton;
FIG. 2 is a schematic view of a grasping element;
FIG. 3 is a schematic view of various states of the grasping element.
Reference numerals
1 robot assembly 2 grabbing assembly
3 image acquisition assembly 4 carton transport mechanism
5 transfer platform 11 multiaxis robot
12 robot base 21 fixed plate
22 first negative pressure suction member 23 second negative pressure suction member
24 cylinder 25 connecting rod
31 camera 32 camera support
100 production line 101 unsealed carton
Detailed Description
The word "embodiment" as used herein, is not necessarily to be construed as preferred or advantageous over other embodiments, including any embodiment illustrated as "exemplary". Performance index tests in the examples of this application, unless otherwise indicated, were performed using routine experimentation in the art. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; other test methods and techniques not specifically mentioned in the present application are those commonly employed by those of ordinary skill in the art.
In this document, including the claims, conjunctions such as "comprising," including, "" carrying, "" having, "" containing, "" involving, "" containing, "and the like are understood to be open-ended, i.e., to mean" including but not limited to. Only the conjunctions "consisting of … …" and "consisting of … …" are closed conjunctions.
In the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present application may be practiced without some of these specific details. In the examples, some methods, means, instruments, apparatuses, etc. known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.
On the premise of no conflict, the technical features disclosed in the embodiments of the present application may be combined arbitrarily, and the obtained technical solution belongs to the content disclosed in the embodiments of the present application.
The technical details are further illustrated in the following description with reference to the examples and the accompanying fig. 1, 2 and 3.
Some embodiments disclose an apparatus for automatically identifying and grasping an unsealed carton, comprising a grasping assembly 2 for grasping the unsealed carton, a robot assembly 1 for arranging the grasping assembly 2, an image acquiring assembly 3 for acquiring image information of the unsealed carton; the control component can be used for processing image information and controlling the robot component 1 to drive the grabbing component 2 to grab the unsealed carton 101 according to the determined direction according to the information processing result;
the grabbing component 2 comprises two negative pressure adsorption parts which are perpendicular to each other and used for adsorbing two adjacent side faces of the unsealed carton to realize grabbing of the unsealed carton. Usually, the negative pressure adsorption part comprises an adsorption panel provided with negative pressure adsorption ports, the negative pressure adsorption ports are uniformly distributed on the adsorption panel, and when the negative pressure adsorption part contacts an unsealed carton, the negative pressure adsorption ports adsorb the side faces of the carton. Generally, the negative pressure adsorption part is provided with a vacuum supply device, such as a vacuum pump, for supplying a required negative pressure to the negative pressure adsorption part in real time.
Generally, cartons are stacked on a tray by a robot or a worker, the tray is placed on a production line for conveying, a camera of an image acquisition assembly shoots the cartons below the image acquisition assembly to acquire the carton information of the uppermost layer, a control assembly calculates the acquired image information to determine the three-dimensional coordinate of each carton and the relative position and direction of the pattern on the surface of each carton, then the calculation result is sent to the robot assembly, the robot assembly drives a grabbing assembly to move to the vicinity of a target carton, the grabbing assembly generates a negative pressure adsorption function, a first negative pressure adsorption part is close to the side face of each carton, and a second negative pressure adsorption part is close to the adjacent side face of each carton under the action of an air cylinder; first negative pressure adsorption component and second negative pressure adsorption component adsorb the carton simultaneously, realize snatching the operation to it.
As an alternative embodiment, as shown in fig. 2, the grasping assembly includes: a fixing plate 21, wherein the first negative pressure adsorption part 22 is vertically connected with the fixing plate 21; the upper side surface of the first negative pressure adsorption part 22 is fixedly connected with the fixing part 21, and the adsorption panel of the first negative pressure adsorption part 22 is vertical to the fixing plate 21; the second negative pressure adsorption part 23 is arranged at the right side end of the first negative pressure adsorption part 22, the air cylinder 24 is arranged to movably connect the second negative pressure adsorption part 23 with the fixing plate 21, the second negative pressure adsorption part 23 is perpendicular to the fixing plate 21 and the first negative pressure adsorption part 22, and the air cylinder 24 keeps perpendicular to the first negative pressure adsorption part 22 and the fixing plate 21 when driving the second negative pressure adsorption part 23 to move; the suction panel of the first negative pressure suction member 22 is disposed opposite to the suction panel of the second negative pressure suction member 23 so as to form adjacent sides perpendicular to each other to match with the sides of the unsealed carton.
The fixed plate 21 is provided with a connecting rod 25 outside for fixedly mounting the fixed plate 21 on the robot assembly 1, and the robot assembly 1 is used for controlling the grabbing assembly 2 to grab. As shown in fig. 3, the left side of fig. 3 shows that there is a certain distance between the second negative pressure adsorption member 23 and the first negative pressure adsorption member 21, and when the second negative pressure adsorption member 23 is moved leftward by the air cylinder, the distance between the second negative pressure adsorption member 23 and the first negative pressure adsorption member 22 can be shortened until the two contact, as shown in the right side of fig. 3. By adjusting the distance between the first negative pressure adsorption part 22 and the second negative pressure adsorption part 23, cartons with different specifications can be grabbed. Optionally, a plurality of air cylinders are provided for connecting the second negative pressure adsorption part 23 and the fixing plate 21, and the plurality of air cylinders can better control the movement of the second negative pressure adsorption part 23, so that the second negative pressure adsorption part 23 is in close contact with the carton 101, and the adsorption capacity is improved.
As an alternative embodiment, the robot assembly 1 comprises: the multi-axis robot 11 is used for arranging and installing a grabbing component; and a robot base 12 for setting the multi-axis robot 11.
As an alternative embodiment, the image acquisition assembly 3 comprises: a camera 31 for acquiring image information containing unsealed cartons; and a camera support 32 for setting the camera 31.
As an alternative embodiment, the device for automatically identifying and grasping the unsealed carton is adapted to be disposed at the side of the assembly line 100, and the camera 31 is disposed above the assembly line 100 to acquire image information of the unsealed carton 101 disposed on the assembly line 100. The camera 31 is located above the assembly line 100, which generally means that the cartons 101 stacked on the assembly line 100 can be located within the field of view and depth of field of the camera 31, and precise positioning of the cartons is not strictly required.
As an alternative embodiment, a carton conveying mechanism 4 is configured downstream of the device for automatically identifying and grabbing the unsealed cartons and is used for placing the unsealed cartons 101 grabbed and transferred by the grabbing component 2.
As an alternative embodiment, a transfer table 5 is provided upstream of the carton conveying mechanism 4 for temporarily placing the unsealed cartons 101 gripped by the gripper assembly. Generally, in the grabbing and transferring process of the unsealed cartons, the situation that the robot cannot place the cartons at the preset position may occur, at the moment, the robot assembly can temporarily place the grabbed cartons on the transfer table 5 for temporary storage and grab again when appropriate.
As an alternative embodiment, the camera is a 3D digital camera.
As an optional embodiment, the control assembly comprises an image information processing part, processes image information obtained by photographing with a 3D digital camera, identifies the position and posture of the carton, and identifies the direction of the image on the surface of the carton by using a deep learning model which is trained and perfected at an earlier stage; carton coordinate information and pattern direction information convey to the robot subassembly, and the robot drives and snatchs the subassembly and carry out snatching, carrying and placing of carton according to the definite direction of snatching. In actual operation, after the robot assembly controls the grabbing assembly to grab the carton, the image acquisition assembly can shoot again to perform visual recognition calculation, the operation information of next carton grabbing operation is determined, after the robot assembly is carried out to place the carton at a set position, the robot assembly directly performs carton grabbing operation again according to the determined operation information, and the visual processing process does not need to be waited. So carry out carton discernment, snatch the operation, the image snatchs the beat and does not occupy the carton and snatchs the beat, has improved the operating efficiency.
The device for automatically identifying and grabbing the unsealed carton, disclosed by the embodiment of the application, can automatically acquire the image information of the unsealed carton, identify and process the image information, control the direction required by the installation of the grabbing component to grab the unsealed carton, and stack the direction set by the installation of the unsealed carton in the carton placement area; the image acquisition component and the grabbing component can operate independently and step by step, the grabbing component transports the in-process of the carton, the image acquisition component can shoot again, image recognition is carried out, the next grabbing direction is determined, the operation time is not influenced mutually, the grabbing operation efficiency is improved, the device can recognize and grab the carton placed randomly, the success rate is high, and the carton transporting operation field has a good application prospect.
The technical solutions and the technical details disclosed in the embodiments of the present application are only examples to illustrate the inventive concept of the present application, and do not constitute a limitation on the technical solutions of the present application, and all the conventional changes, substitutions or combinations made on the technical details disclosed in the present application have the same inventive concept as the present application and are within the protection scope of the claims of the present application.
Claims (10)
1. Apparatus for automatically identifying and grasping unsealed cartons, characterized in that it comprises:
the grabbing component is used for grabbing the unsealed carton;
the robot assembly is used for setting and controlling the grabbing assembly;
the image acquisition component is used for acquiring image information of the unsealed carton;
the control component is used for processing the image information and controlling the robot component to drive the grabbing component to grab the unsealed carton according to the determined direction according to the information processing result;
the grabbing component comprises two negative pressure adsorption parts which are perpendicular to each other and used for adsorbing two adjacent side faces of the unsealed carton to realize grabbing of the unsealed carton.
2. The apparatus for automatically identifying and grasping unsealed cartons according to claim 1, wherein said grasping assembly comprises:
a fixing plate;
the first negative pressure adsorption component is arranged and vertically connected with the fixing plate;
the second negative pressure adsorption component is positioned on the side surface of the first negative pressure adsorption component, is connected with the fixed plate through an air cylinder and is perpendicular to the fixed plate and the first negative pressure adsorption component;
wherein the cylinder is used for controlling the position of the second negative pressure adsorption component.
3. The apparatus for automatically identifying and grasping unsealed cartons according to claim 1 and wherein said robotic assembly comprises:
the multi-axis robot is used for arranging and installing the grabbing component;
and the robot base is used for arranging the multi-axis robot.
4. The apparatus for automatically identifying and grasping unsealed cartons according to claim 1, wherein said image acquisition assembly comprises:
a camera for acquiring image information containing the unsealed carton;
a camera mount for mounting the camera.
5. Apparatus for automatically identifying and grasping unsealed cartons according to claim 4 and characterized in that it is adapted to be arranged at the side of the production line and said camera is arranged above the production line to acquire the image information of the unsealed cartons arranged on the production line.
6. The apparatus according to claim 1, wherein a carton conveying mechanism is provided downstream of the apparatus for placing the unsealed cartons gripped by the gripper assembly.
7. The apparatus for automatically identifying and grasping unsealed cartons according to claim 6, wherein a transfer station is provided upstream of said carton conveying mechanism for temporarily placing unsealed cartons grasped by said grasping assemblies.
8. An apparatus for automatically identifying and grasping unsealed cartons according to claim 1, wherein said negative pressure suction means is provided in communication with a vacuum pump for providing negative pressure.
9. The apparatus for automatically identifying and grasping unsealed cartons according to claim 4, wherein said camera is a 3D digital camera.
10. The apparatus for automatically identifying and grasping unsealed cartons according to claim 2, wherein said pneumatic cylinder is a plurality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123302638.5U CN216443949U (en) | 2021-12-24 | 2021-12-24 | Device for automatically identifying and grabbing unsealed cartons |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123302638.5U CN216443949U (en) | 2021-12-24 | 2021-12-24 | Device for automatically identifying and grabbing unsealed cartons |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216443949U true CN216443949U (en) | 2022-05-06 |
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ID=81377375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123302638.5U Active CN216443949U (en) | 2021-12-24 | 2021-12-24 | Device for automatically identifying and grabbing unsealed cartons |
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| Country | Link |
|---|---|
| CN (1) | CN216443949U (en) |
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2021
- 2021-12-24 CN CN202123302638.5U patent/CN216443949U/en active Active
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