CN220200716U - Carton unstacker with positioning and guiding functions - Google Patents

Abstract

The application relates to a carton unstacker with location guide function, including frame, rolling table and manipulator subassembly, the top fixed mounting of frame has the rolling table, and one side fixed mounting of rolling table has the support, and the inside of rolling table is provided with the master arm, and the top of master arm is provided with the auxiliary arm, and the bottom of auxiliary arm is provided with the manipulator subassembly, and the bottom of manipulator subassembly is provided with the location camera, and the bottom both sides of manipulator subassembly are provided with two sets of millimeter wave radar sensor. According to the utility model, through the arrangement of the millimeter wave radar sensor and the positioning camera, real-time phase picking can be carried out through the positioning camera, data are transmitted back to the host machine for processing, so that the manipulator assembly is controlled by the host machine to move to the carton region, the millimeter wave radar sensor can accurately detect the distance between the manipulator assembly and the carton, and the manipulator assembly is conveniently and accurately positioned and guided to the upper part of the carton through cooperation, so that the carton is grabbed, and the operation precision is higher.

Description

Carton unstacker with positioning and guiding functions

Technical Field

The utility model relates to the technical field of unstackers, in particular to a carton unstacker with a positioning and guiding function.

Background

The unstacking machine is a machine for loading and unloading cartons, is key equipment on a production line, can be used for layered unstacking of various packaging cartons, replaces manual destacking operation, is widely used in modern society, is controlled by a complete machine PLC, and runs fully automatically.

Through retrieving, patent publication No. CN218319501U discloses a carton unstacking and is used for vision transmission's location guiding device, relates to location guiding device technical field, specifically is including base and crossbeam, the crossbeam is located the top of base, the inside wall swing joint of base has first bi-directional screw, one side fixed mounting of base has first motor, the output and the first bi-directional screw fixed connection of first motor, the surface threaded connection of first bi-directional screw has the thread bush, the upper surface fixedly connected with first engaging lug of thread bush, the inner wall swing joint of first engaging lug has the bracing piece.

In the related art, CN218319501U and most of the devices on the market have a positioning and guiding function based on visual transmission, but there is a certain error in positioning due to the independent visual sensing information of the camera, so that in order to further improve the positioning accuracy of the device on the cartons during unstacking, we propose a carton unstacking machine with the positioning and guiding function to solve the existing problems.

Disclosure of Invention

The utility model aims to provide a carton unstacker with a positioning and guiding function, so as to solve the problems in the prior art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a carton unstacker with location guide function, includes frame, rolling table and manipulator subassembly, the top fixed mounting of frame has the rolling table, one side fixed mounting of rolling table has the support, the top fixed mounting of support has panoramic camera, the inside of rolling table is provided with the master arm, the top of master arm is provided with the auxiliary arm, the bottom of auxiliary arm is provided with the manipulator subassembly, the bottom of manipulator subassembly is provided with location camera, and the bottom both sides of manipulator subassembly are provided with two sets of millimeter wave radar sensor, the host computer has been placed to one side of frame, the front top of host computer is provided with the display screen.

When the device is used, a worker can set operation parameters of the device through a host machine and control the device to operate, an existing numerical control technology is adopted, a machine base can drive a rotating table to rotate, the rotating table can drive a main arm to move in an arc line, an auxiliary arm can move around one end of the main arm in an arc line so as to adjust a manipulator component to a designated position, a paper box can be grabbed through the manipulator component, the device is convenient to unstacking operation, the manipulator component can conduct real-time phase picking through a positioning camera in the unstacking process and returns data to the host machine for processing, so that the manipulator component can be controlled by the host machine to move to a paper box area, a millimeter wave radar sensor can accurately detect the distance between the manipulator component and the paper box and returns information to the host machine in real time, the manipulator component can be conveniently and accurately positioned and guided to the upper part of the paper box through cooperation, the paper box can be grabbed operation, the panoramic camera can pick up and return the operation range of the machine base to the host machine, the device can be sent out through the host machine in the process of being close to the device, the safety accident can be effectively avoided, and the safety of the device is improved when the device is in the automatic operation.

Preferably, the front of the host is provided with a mouse key drawer, and the host is electrically connected with the stand, the rotating table, the servo motor, the positioning camera and the millimeter wave radar sensor. The mouse key drawer can provide the placement position of mouse and keyboard, and the host computer adopts current computer control technique, and the staff can control the operation through host computer to frame, rolling table, servo motor, location camera, millimeter wave radar sensor to can control the inside electrical equipment cooperation operation of device, so that the device carries out the unstacking operation.

Preferably, a servo motor is arranged on the front face of the main arm, and the output end of the servo motor is in transmission connection with one end of the auxiliary arm. The servo motor can provide power for driving the auxiliary arm, so that the auxiliary arm is convenient to use, and the existing manipulator technology is adopted.

Preferably, a fixing seat is fixedly arranged at the bottom of the base, and bolts are installed in the fixing seat in a penetrating manner. The device is stably installed at the designated position by a worker through the cooperation of the fixing seat and the bolt.

Preferably, a protection frame is fixedly arranged at the bottom of the manipulator assembly. The millimeter wave radar sensor and the positioning camera can be protected through the manipulator assembly, and collision between the carton and the millimeter wave radar sensor and between the carton and the positioning camera can be avoided when the device is used for unstacking objects.

In summary, the present application includes the following beneficial technical effects:

1. according to the utility model, through the arrangement of the millimeter wave radar sensor and the positioning camera, real-time image capturing can be carried out through the positioning camera, data are transmitted back to the host for processing, so that the manipulator assembly is controlled by the host to move to the carton region, the millimeter wave radar sensor can accurately detect the distance between the manipulator assembly and the carton, positioning errors are reduced, information is transmitted back to the host in real time, and the manipulator assembly is conveniently and accurately positioned and guided to be positioned above the carton to grasp the carton, so that the operation precision is high.

2. According to the utility model, through the arrangement of the panoramic camera, the panoramic camera can pick up the running range of the engine base and transmit the phase to the host machine, and when a person approaches the device, the host machine can send a stop instruction to stop the device, so that the safety accident is effectively avoided, and the safety of the device during automatic operation is improved.

Drawings

FIG. 1 is a front view of the present utility model;

FIG. 2 is a schematic diagram of the front structure of the present utility model;

fig. 3 is a schematic view showing a bottom partial structure of the manipulator assembly according to the present utility model.

In the figure: 1. a base; 101. a fixing seat; 102. a bolt; 2. a rotating table; 201. a main arm; 202. a secondary arm; 203. a servo motor; 3. a manipulator assembly; 301. positioning a camera; 302. a millimeter wave radar sensor; 303. a protective frame; 4. a bracket; 401. a panoramic camera; 5. a host; 501. a display screen; 502. a mouse button drawer.

Detailed Description

The technical scheme of the utility model is further described below with reference to the attached drawings and specific embodiments.

Example 1

As shown in fig. 1, fig. 2 and fig. 3, the carton unstacking machine with the positioning and guiding functions provided by the utility model comprises a machine base 1, a rotating table 2 and a manipulator assembly 3, wherein the rotating table 2 is fixedly installed at the top of the machine base 1, a support 4 is fixedly installed at one side of the rotating table 2, a panoramic camera 401 is fixedly installed at the top of the support 4, a main arm 201 is arranged in the rotating table 2, an auxiliary arm 202 is arranged at the top of the main arm 201, the manipulator assembly 3 is arranged at the bottom of the auxiliary arm 202, a positioning camera 301 is arranged at the bottom of the manipulator assembly 3, two groups of millimeter wave radar sensors 302 are arranged at two sides of the bottom of the manipulator assembly 3, a host 5 is placed at one side of the machine base 1, and a display screen 501 is arranged above the front surface of the host 5.

The working principle of the carton unstacker with the positioning and guiding functions based on the first embodiment is as follows: when the device is used, an operator can set operation parameters of the device through the host computer 5 and control the device to operate, the existing numerical control technology is adopted, the machine base 1 can drive the rotating table 2 to rotate when the device is unstacked, the rotating table 2 can drive the main arm 201 to move in an arc line, the auxiliary arm 202 can move around one end of the main arm 201 in a mechanical arc line so as to adjust the mechanical arm assembly 3 to a designated position, the mechanical arm assembly 3 can grasp a paper box, the unstacking operation is convenient, the mechanical arm assembly 3 can pick up a phase in real time through the positioning camera 301 and transmit data back to the host computer 5 for processing, the mechanical arm assembly 3 can control the mechanical arm assembly 3 to move to a paper box area through the host computer 5, the millimeter wave radar sensor 302 can accurately detect the distance between the mechanical arm assembly 3 and the paper box and transmit information back to the host computer 5 in real time, the mechanical arm assembly 3 can be conveniently and accurately positioned and guided to the upper part of the paper box through the matching, the panorama camera 401 can pick up an image of the operation range of the machine base 1 and transmit the paper box to the host computer 5 in the operation process, stop instructions can be transmitted through the host computer 5 when personnel are close to the device, the host computer 5, the safety accident can be effectively avoided when the device is safe, and the safety accident can be effectively prevented.

Example two

As shown in fig. 1, 2 and 3, the present utility model provides a carton unstacking machine with positioning and guiding functions, and compared with the first embodiment, the present embodiment further includes: the front of host computer 5 is provided with mouse key drawer 502, and host computer 5 and frame 1, rolling table 2, servo motor 203, location camera 301, millimeter wave radar sensor 302 electric connection, the front of master arm 201 is provided with servo motor 203, and servo motor 203's output and the one end transmission of auxiliary arm 202 are connected, and the bottom fixed mounting of frame 1 has fixing base 101, and the inside of fixing base 101 runs through and installs bolt 102, and the bottom fixed mounting of manipulator subassembly 3 has fender bracket 303.

In this embodiment, as shown in fig. 1, a mouse drawer 502 can provide the placement positions of a mouse and a keyboard, a host 5 adopts the existing computer control technology, and a worker can control and operate a base 1, a rotating table 2, a servo motor 203, a positioning camera 301 and a millimeter wave radar sensor 302 through the host 5, and can control the electric equipment in the device to operate cooperatively, so that the device can perform the unstacking operation; as shown in fig. 1 and 2, the servo motor 203 can provide power for driving the auxiliary arm 202, so that the auxiliary arm 202 is convenient to use, and the existing manipulator technology is adopted; as shown in fig. 1 and 2, the device is conveniently and stably installed at a specified position by a worker through the cooperation of the fixing seat 101 and the bolt 102; as shown in fig. 3, the millimeter wave radar sensor 302 and the positioning camera 301 can be protected by the manipulator assembly 3, so that the carton is prevented from transmitting collision with the millimeter wave radar sensor 302 and the positioning camera 301 when the device unstacks objects.

The above-described embodiments are merely a few preferred embodiments of the present utility model, and many alternative modifications and combinations of the above-described embodiments will be apparent to those skilled in the art based on the technical solutions of the present utility model and the related teachings of the above-described embodiments.

Claims (5)

1. The utility model provides a carton unstacker with location guide function, includes frame (1), rolling table (2) and manipulator subassembly (3), its characterized in that: the mobile phone comprises a machine base (1), wherein a rotating table (2) is fixedly arranged at the top of the machine base (1), a support (4) is fixedly arranged at one side of the rotating table (2), a panoramic camera (401) is fixedly arranged at the top of the support (4), a main arm (201) is arranged in the rotating table (2), an auxiliary arm (202) is arranged at the top of the main arm (201), a manipulator assembly (3) is arranged at the bottom of the auxiliary arm (202), positioning cameras (301) are arranged at the bottom of the manipulator assembly (3), two groups of millimeter wave radar sensors (302) are arranged at two sides of the bottom of the manipulator assembly (3), a host (5) is arranged at one side of the machine base (1), and a display screen (501) is arranged above the front side of the host (5).

2. A carton unstacking machine with positioning and guiding functions according to claim 1, characterized in that: the front of the host (5) is provided with a mouse button drawer (502), and the host (5) is electrically connected with the machine base (1), the rotating table (2), the servo motor (203), the positioning camera (301) and the millimeter wave radar sensor (302).

3. A carton unstacking machine with positioning and guiding functions according to claim 1, characterized in that: the front of the main arm (201) is provided with a servo motor (203), and the output end of the servo motor (203) is in transmission connection with one end of the auxiliary arm (202).

4. A carton unstacking machine with positioning and guiding functions according to claim 1, characterized in that: the bottom of the base (1) is fixedly provided with a fixing seat (101), and bolts (102) are arranged in the fixing seat (101) in a penetrating manner.

5. A carton unstacking machine with positioning and guiding functions according to claim 1, characterized in that: the bottom of the manipulator assembly (3) is fixedly provided with a protection frame (303).