An unpacking device and an unpacking method

Abstract

The present invention provides an unpacking device and an unpacking method. The unpacking device includes a suction cup assembly, a positioning assembly disposed on the suction cup assembly, and a control assembly. The suction cup assembly is used to suck and unpack a packaging box, and includes a box-sucking structure, an unpacking structure, and a driving structure. The unpacking structure is rotatably connected to the box-sucking structure, and the driving structure is disposed on the box-sucking structure and is used to drive the unpacking structure to rotate. The positioning assembly includes a sensing unit and a photographing unit disposed on the box-sucking structure. The sensing unit includes a positioning member and a sensor. The positioning member is movably disposed on the box-sucking structure and is used to abut against the packaging box. When the positioning member abuts against the packaging box, displacement occurs, and the sensor detects the displacement amount of the positioning member and transmits the detection signal to the control assembly. The photographing unit is used to photograph an image of the packaging box and send it to the control assembly. The present invention can accurately determine the position of the packaging box, suck and unpack the packaging box, so as to solve the problem that the packaging box cannot be sucked when the placement position is greatly offset.

Description

Technical Field

[0001] The present invention relates to the technical field of case opening devices for case packers, and particularly to a case opening device and method. Background Art

[0002] At present, most of the traditional case opening mechanisms of case packers use servo-driven suction cup swing arms to open cases, and a complete set of case opening mechanisms need to be replaced to adapt to various case specifications. It is very difficult to apply to cases with a large deviation in the placement position of the incoming materials.

[0003] The utility model with the publication number CN212606177U discloses a case opening mechanism for a case packer, including: a steering mechanism fixed on the frame of the case packer, a case taking arm connected to the rotating shaft of the steering mechanism, the case taking arm moving axially along the rotating shaft driven by a cylinder, a plurality of first suction cups arranged at the end of the case taking arm, and a plurality of second suction cups connected to the case taking arm through a connecting rod. The first suction cups are used to suck or release the bottom of the case, and the second suction cups are used to suck or release the upper part of the case. The case is opened through the cooperation of the first suction cups and the second suction cups. However, the case opening mechanism of this utility model drives the case taking arm to perform case taking, case opening and case placing actions through a servo motor. When the placement position of the incoming case deviates greatly, it is very difficult for this case opening mechanism to apply. Summary of the Invention

[0004] The main purpose of the present invention is to provide a case opening device and a case opening method, which can accurately determine the position of the case, suck and open the case, so as to solve the problem that the case cannot be sucked when the placement position deviates greatly.

[0005] To achieve the above purpose, the present invention provides a case opening device, including a suction cup assembly, a positioning assembly and a control assembly arranged on the suction cup assembly;

[0006] The suction cup assembly is used to suck and open the case, including a case sucking structure, a case opening structure and a driving structure. The case opening structure is rotatably connected to the case sucking structure, and the driving structure is arranged on the case sucking structure and used to drive the case opening structure to rotate;

[0007] The positioning assembly includes an induction unit and a shooting unit arranged on the case sucking structure. The induction unit and the shooting unit are connected to the control assembly; the induction unit includes a positioning member and a sensor. The positioning member is movably arranged on the case sucking structure and used to touch the case; when the positioning member touches the case, it generates a displacement, and the sensor detects the displacement amount of the positioning member and transmits the detection signal to the control assembly; the shooting unit is used to shoot an image of the case and send it to the control assembly.

[0008] Optionally, the case sucking structure further includes a first case sucking structure and a second case sucking structure, and the second case sucking structure is detachably arranged on the first case sucking structure.

[0009] Optionally, both the first suction box structure and the second suction box structure include a suction box structure body and suction cups arranged on the suction box structure body, and the suction cups are used to hold or release the packaging box.

[0010] Optionally, the first suction box structure and the second suction box structure further include a limiting plate arranged on the suction box structure body for limiting the descending height of the box-opening device.

[0011] Optionally, the limiting plate is arranged below the suction box structure body, and the suction cup passes through the limiting plate to suck the packaging box.

[0012] Optionally, the positioning member is a positioning pin elastically arranged on the suction box structure body.

[0013] Optionally, a shooting hole is arranged on the suction box structure, and the shooting end of the shooting unit determines the position for sucking the packaging box through the shooting hole.

[0014] Optionally, the suction cup assembly further includes a vacuum structure arranged on the suction box structure, and the vacuum structure is used to provide the suction force required for the suction cup assembly to suck the packaging box.

[0015] Optionally, the driving structure is a cylinder, and the power output end of the cylinder is connected to the box-opening structure.

[0016] The present invention also provides a box-opening method based on the above box-opening device, including the following steps:

[0017] S1. Set the distance of the shooting unit;

[0018] S2. The suction box structure and the box-opening structure are parallel, the box-opening device descends, and the positioning member generates displacement when touching the packaging box. When the displacement amount of the positioning member is detected by the inductor, the box-opening device stops descending;

[0019] S3. The box-opening device rises by the distance set in step S1, and adjusts the position of the box-opening device through the image taken by the shooting unit to determine the suction box position of the box-opening device;

[0020] S4. The box-opening device descends to suck the packaging box. After sucking the packaging box, the driving structure drives the box-opening structure to move to open the packaging box.

[0021] Beneficial effects:

[0022] 1. The present invention sets an induction component and a shooting unit on the suction box structure. The positioning member is movably arranged on the suction box structure. When the positioning member touches the packaging box and is compressed, the displacement of the positioning member is detected by the inductor, and it can be determined that the unpacking device has contacted the packaging box. The position of the unpacking device is adjusted by the image captured by the shooting unit to determine the suction box position of the unpacking device, and then the packaging box is sucked and unpacked. Even if the incoming position of the packaging box deviates greatly, it can accurately suck and unpack the packaging box.

[0023] 2. The suction box structure of the present invention is provided with a first suction box structure and a second suction box structure. The second suction box structure is detachably arranged on the first suction box structure; when the packaging box is large, multiple second suction box structures can be installed on both sides of the first suction box structure to ensure that the suction force of the suction box structure is sufficient to suck the packaging box; when the packaging box is small, the second suction box structure can be detached from the first suction box structure. By setting the detachable second suction box structure, it can be compatible with more size specifications of packaging boxes, save the time for replacing the unpacking device, and save costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0025] Figure 1 It is a schematic structural diagram of an unpacking device of the present invention;

[0026] Figure 2 It is a schematic structural diagram of an unpacking device of the present invention.

[0027] Explanation of the reference numerals in the drawings:

[0028] 1 Driving structure; 2 Shooting unit; 3 Vacuum structure; 4 Unpacking structure; 5 First suction box structure, 6 Second suction box structure; 7 Positioning member; 8 Inductor; 9 Suction box structure body; 10 Limiting plate; 11 Suction cup; 12 Unpacking structure body; 13 Shooting hole.

[0029] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that all directional indications (such as up, down,...) in the embodiments of the present invention are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0032] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature.

[0033] Moreover, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0034] Embodiment 1:

[0035] Refer to Figure 1 and Figure 2 , an unpacking device according to an aspect of the present invention includes a suction cup assembly, a positioning assembly provided on the suction cup assembly, and a control assembly;

[0036] The suction cup assembly is used to suck and unpack the packaging box, including a box suction structure, an unpacking structure 4, and a driving structure 1. The unpacking structure 4 is rotatably connected to the box suction structure, and the driving structure 1 is provided on the box suction structure for driving the unpacking structure 4 to rotate;

[0037] The positioning assembly includes a sensing unit and a photographing unit 2 provided on the box suction structure. The sensing unit and the photographing unit 2 are connected to the control assembly; the sensing unit includes a positioning member 7 and a sensor 8. The positioning member 7 is movably provided on the box suction structure for abutting against the packaging box; when the positioning member 7 abuts against the packaging box, it generates a displacement, and the sensor 8 detects the displacement amount of the positioning member 7 and transmits the detection signal to the control assembly. The photographing unit 2 is used to photograph the image of the packaging box and send it to the control assembly.

[0038] Specifically, before sucking the packaging box, the driving structure 1 is in a contracted state. At this time, the box sucking structure is parallel to the box opening structure 4. The control component controls the multi-joint robot to drive the box opening device to descend, and the lower end of the positioning member 7 is used to detect the horizontal height position of the packaging box. The positioning member 7 touches the packaging box. At this time, the positioning member 7 moves, and the upper end of the positioning member 7 slowly approaches the sensor 8 until it is detected by the sensor 8. The sensor 8 transmits the signal of detecting the positioning member 7 to the control component. When the control component receives the detection signal, the multi-joint robot drives the box opening device to rise, takes an image of the packaging box through the photographing unit 2, and determines the box sucking position of the box opening device, ensuring accurate positioning of the packaging box, realizing accurate sucking of the packaging box, and ensuring the success rate of box opening. After the packaging box is sucked, the driving structure 1 drives the box opening structure 4 to move, thereby opening the packaging box. A frame structure is further arranged on the box sucking structure, and the driving structure 1 is arranged in the frame structure. The multi-joint robot grabs the frame structure and drives the movement of the box opening device.

[0039] See Figure 1 , in some embodiments of the present invention, the box sucking structure further includes a first box sucking structure 5 and a second box sucking structure 6, and the second box sucking structure 6 is detachably arranged on the first box sucking structure 5.

[0040] In this embodiment, the first box sucking structure 5 is the main box sucking structure, and the second box sucking structure 6 is the auxiliary box sucking structure. A plurality of auxiliary box sucking structures can be sequentially arranged on the two opposite long sides of the main box sucking structure, and the number of the auxiliary box sucking structures arranged on each long side can be adjusted according to the size of the packaging box, so that the box opening device can be compatible with more sizes and specifications of packaging boxes, saving the time for replacing the box opening device and saving costs.

[0041] See Figure 1 and Figure 2 , in some embodiments of the present invention, both the first box sucking structure 5 and the second box sucking structure 6 include a box sucking structure body 9 and a suction cup 11 arranged on the box sucking structure body 9. The suction cup 11 is used to suck or release the packaging box.

[0042] In this embodiment, a plurality of suction cups 11 are arranged on the lower surface of the box sucking structure body 9, and the number of the suction cups 11 can be flexibly adjusted according to requirements. The box opening structure 4 is similar to the box sucking structure in structure, and includes a box opening structure body 12 and a plurality of suction cups 11 arranged on the lower surface of the box opening structure body 12. The suction cups 11 on the box opening structure 4 are used to suck or release the packaging box.

[0043] See Figure 1 and Figure 2 , in some embodiments of the present invention, the first box sucking structure 5 and the second box sucking structure 6 further include a limiting plate 10 arranged on the box sucking structure body 9, which is used to limit the descending height of the box opening device.

[0044] In this embodiment, a limiting plate 10 is also provided on the unpacking structure body 12. The limiting plate 10 can be vertically arranged on the suction box structure body 9 / unpacking structure body 12, and the limiting plate 10 is perpendicular to the suction box structure body 9 / unpacking structure body 12; the limiting plate 10 can also be horizontally arranged below the suction box structure body 9 / unpacking structure body 12 and is connected to the suction box structure body 9 / unpacking structure body 12 through a connecting member. Through the limiting plate, the descending height of the unpacking device can be restricted, preventing the descending height of the unpacking device from being too low and damaging the suction cups 11 below the suction box structure body 9 / unpacking structure body 12.

[0045] See Figure 1 and Figure 2 , in some embodiments of the present invention, the limiting plate 10 is arranged below the suction box structure body 9, and the suction cup 11 passes through the limiting plate 10 to suck the packaging box.

[0046] In this embodiment, the limiting plate 10 is horizontally arranged below the suction box structure body 9 / unpacking structure body 12. The limiting plate 10 is provided with a plurality of suction cup holes, and the suction cup holes correspond to the suction cups 11 arranged on the suction box structure body 9 / unpacking structure body 12. The suction cups 11 suck the packaging box through the suction cup holes.

[0047] See Figure 2 , in some embodiments of the present invention, the positioning member 7 is a positioning pin elastically arranged on the suction box structure body 9.

[0048] In this embodiment, one end of the positioning pin passes downward through the limiting plate 10 and extends beyond one end of the limiting plate 10 for detecting the position of the packaging box. When the packaging box contacts the limiting plate 10, the positioning pin moves and is detected by the sensor 8.

[0049] See Figure 2 , in some embodiments of the present invention, a shooting hole 13 is provided on the suction box structure, and the shooting end of the shooting unit 2 shoots a picture of the packaging box through the shooting hole 13 and determines the position for sucking the packaging box.

[0050] In this embodiment, the shooting unit 2 is arranged on the first suction box structure 5, the shooting end of the shooting unit 2 is arranged between the suction box structure body 9 and the limiting plate 10, the shooting hole 13 is arranged on the limiting plate 10, and the shooting end of the shooting unit 2 shoots the packaging box below the limiting plate 10 through the shooting hole 13.

[0051] See Figure 1 , in some embodiments of the present invention, the suction cup assembly further includes a vacuum structure 3 arranged on the suction box structure. The vacuum structure 3 is used to provide the suction force required for the suction cup assembly to suck the packaging box. The vacuum structure 3 is arranged on the first suction box structure 5, and the vacuum structure 3 is connected to the suction cups 11 arranged on the suction box structure and the unpacking structure.

[0052] See Figure 1 , in some embodiments of the present invention, the driving structure is a cylinder, and the power output end of the cylinder is connected to the case opening structure 4. When the cylinder contracts, the case opening structure 4 is parallel to the case sucking structure, and when the cylinder extends, the case opening structure 4 rotates.

[0053] Embodiment 2:

[0054] See Figure 1 and Figure 2 , according to an unpacking method based on the above unpacking device according to another aspect of the present invention, the method includes the following steps:

[0055] S1. Set the distance of the photographing unit 2;

[0056] S2. The case sucking structure and the case opening structure 4 are parallel, the unpacking device descends, and the positioning member 7 generates a displacement when touching the packaging box. When the displacement amount of the positioning member 7 is detected by the sensor 8, the unpacking device stops descending;

[0057] S3. The unpacking device rises by the distance set in step S1, and adjusts the position of the unpacking device through the image captured by the photographing unit 2 to determine the case sucking position of the unpacking device;

[0058] S4. The unpacking device descends to suck the packaging box. After sucking the packaging box, the driving structure 1 drives the case opening structure 4 to move to open the packaging box.

[0059] Since the implementation of the above unpacking method depends on the above unpacking device, the above unpacking method also has the above beneficial effects of the above unpacking device. At the same time, in the actual use process of the packaging box, multiple packaging boxes are stacked. Each time a packaging box is taken away, the height of taking the box will change. If shooting is performed at the same position each time, errors will be caused due to different shooting distances. If an offset value of the shooting position is set for the unpacking device each time, errors will also be caused due to the influence of the thickness error of the packaging box. By means of the positioning member, it can be ensured that the shooting distance is the same each time, improving the shooting accuracy and thus improving the box-taking accuracy.

[0060] In the above embodiments, those skilled in the art can adopt the prior art for software control, and the present invention only protects the structure of the display device and the mutual connection relationship.

[0061] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An unpacking device, characterized in that, It includes a suction cup assembly, a positioning assembly arranged on the suction cup assembly, and a control assembly; The suction cup assembly is used for sucking and opening a packing box, and includes a box suction structure, an opening structure (4) and a driving structure (1). The opening structure (4) is rotatably connected to the box suction structure. The driving structure (1) is arranged on the box suction structure and is used for driving the opening structure (4) to rotate; The positioning assembly includes a sensing unit and a photographing unit (2) arranged on the box suction structure. The sensing unit and the photographing unit (2) are connected to the control assembly; the sensing unit includes a positioning member (7) and a sensor (8). The positioning member (7) is movably arranged on the box suction structure and is used for abutting against the packing box; when the positioning member (7) abuts against the packing box, displacement occurs, and the sensor (8) detects the displacement amount of the positioning member (7) and transmits the detection signal to the control assembly; the photographing unit (2) is used for photographing an image of the packing box and sending it to the control assembly; the position of the box opening device is adjusted through the image of the photographing unit (2).

2. The unpacking device according to claim 1, characterized in that, The box suction structure further includes a first box suction structure (5) and a second box suction structure (6). The second box suction structure (6) is detachably arranged on the first box suction structure (5).

3. The unpacking device according to claim 2, wherein, Both the first box suction structure (5) and the second box suction structure (6) include a box suction structure body (9) and suction cups (11) arranged on the box suction structure body (9). The suction cups (11) are used for sucking or disengaging from the packing box.

4. The unpacking device according to claim 3, wherein, The first box suction structure (5) and the second box suction structure (6) further include a limiting plate (10) arranged on the box suction structure body (9) and are used for limiting the descending height of the box opening device.

5. The unpacking device according to claim 4, characterized in that, The limiting plate (10) is arranged below the box suction structure body (9), and the suction cups (11) pass through the limiting plate (10) to suck the packing box.

6. The unpacking device according to any one of claims 3-5, characterized in that The positioning member (7) is a positioning pin elastically arranged on the box suction structure body (9).

7. The unpacking device according to any one of claims 1-5, characterized in that, A photographing hole (13) is arranged on the box suction structure, and the photographing end of the photographing unit (2) determines the position for sucking the packing box through the photographing hole (13).

8. The unpacking device according to any one of claims 1-5, characterized in that, The suction cup assembly further includes a vacuum structure (3) arranged on the box suction structure. The vacuum structure (3) is used for providing the suction force required for the suction cup assembly to suck the packing box.

9. The unpacking device according to any one of claims 1-5, characterized in that, The driving structure is a cylinder, and the power output end of the cylinder is connected to the opening structure (4).

10. An unpacking method for an unpacking device according to any one of claims 1-9, characterized in that, It includes the following steps: S1. Set the distance of the photographing unit (2); S2. The box suction structure and the opening structure (4) are parallel. The box opening device descends. When the positioning member (7) abuts against the packing box and displacement occurs, when the displacement amount of the positioning member (7) is detected by the sensor (8), the box opening device stops descending; S3. The box opening device rises by the distance set in step S1, and adjusts the position of the box opening device through the image photographed by the photographing unit (2) to determine the box suction position of the box opening device; S4. The unpacking device descends to suck the packing box. After sucking the packing box, the driving structure (1) drives the unpacking structure (4) to move and opens the packing box.

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