Paper sheet removing device and method for tobacco stem packaging box unpacking process

Abstract

The application discloses a paper sheet removing device and method in a tobacco stem packaging box unpacking process, which comprises a mechanical arm, a visual identification module, a paper taking mechanism, a paper removing mechanism and a paper storing mechanism; the visual identification module is arranged at a fixed position on the mechanical arm or outside, and a camera of the visual identification module is arranged correspondingly to an unpacking station for identifying kraft paper; the paper taking mechanism comprises a sticking head fixed to a moving end of the mechanical arm; the paper removing mechanism comprises an inclined slope, a plurality of air suction holes are arranged on a surface of the slope, and an air suction channel and a channel switch are arranged on a back surface of the slope; and the paper storing mechanism comprises a paper storing frame connected to a bottom end of the slope. The application solves the problem that kraft paper easily causes paper jam in the folding device in the current work, collects the kraft paper in the unpacking process in time, ensures unmanned operation of the process, and improves the automation efficiency.

Description

Technical Field

[0001] The present invention relates to the field of tobacco production lines, in particular to tobacco stem packaging and transporting technology, and in particular to a paper sheet removing device during the unpacking process of tobacco stem packaging boxes. Background Art

[0002] At the stage of feeding tobacco stems into cigarette production lines, automated equipment has replaced manual labor in feeding tobacco stems, reducing workers' labor intensity, improving the environment at the feeding site, and increasing production orderliness, laying the foundation for unmanned production workshops.

[0003] The premise for the automated feeding of tobacco stems is that the tobacco stems have an automated foundation. The currently designed tobacco stem packaging includes an outer packaging box and an inner wrapping layer. The inner wrapping layer is also box-shaped and wraps the tobacco stems. In order to achieve complete closure of the inner wrapping layer and the outer packaging box, two pieces of kraft paper are usually laid at the upper and lower opening and sealing positions of the packaging box.

[0004] The current specific process of removing stems includes a simple process of transporting the tobacco stem box with the outer packaging box to the downstream stem washing and rehumidification process through a conveyor belt, which includes opening the outer box, removing the outer box, turning over the inner box, and then removing the outer box. The purpose of removing the outer box is to transfer the outer box to the folding device, where the outer box will be flattened, folded, stacked, stored, and reused to avoid waste.

[0005] However, one of the current problems is that the two pieces of kraft paper in the upper and lower layers of the inner and outer boxes are often taken away together with the outer box. After entering the folding device, the folding device may experience paper jams and other problems, which may seriously lead to machine downtime and interfere with the continuity of unpacking production. The cleaning process must be manually participated in. The frequent cleaning of kraft paper is contrary to the upgrading and transformation ideas of unmanned factories.

[0006] In addition, during the process of disassembling the outer box and taking out the inner box, the kraft paper will be carried out with these actions and fall into the working area near the outer box. The location is uncertain, and it is difficult to solve this problem through simple automation.

[0007] In order to solve the problem of removing kraft paper, those skilled in the art are studying solutions. Summary of the Invention

[0008] The purpose of the present invention is to provide a paper sheet removal device and method during the unpacking process of tobacco stem packaging boxes, so as to solve the problems in the above-mentioned background technology.

[0009] According to one aspect of the present invention, a paper removal device for a tobacco stem packaging box during unpacking is provided, comprising a robotic arm, a visual recognition module, a paper picking mechanism, a paper removing mechanism, and a paper storing mechanism;

[0010] The visual recognition module is provided at a fixed position on or outside the robotic arm, and a camera of the visual recognition module is provided corresponding to the unpacking station for identifying kraft paper;

[0011] The paper picking mechanism includes a gluing head, which is fixed to the action end of the robotic arm;

[0012] The paper removal mechanism includes an inclined surface, a plurality of air suction holes are provided on the surface of the inclined surface, and an air suction channel and a channel switch are provided on the back of the inclined surface;

[0013] The paper storage mechanism includes a paper storage frame connected to the bottom end of the inclined surface.

[0014] Optionally, according to the paper sheet removal device for the tobacco stem packaging box unpacking process of the present invention, the robotic arm is a robotic arm product having at least two arms and three degrees of freedom.

[0015] Optionally, according to the paper removal device for the tobacco stem packaging box unpacking process of the present invention, the robotic arm used for removing kraft paper and the robotic arm used for unpacking are the same robotic arm or different robotic arms.

[0016] Optionally, according to the paper removal device for the unpacking process of the tobacco stem packaging box described in the present invention, a training model for kraft paper is preset in the visual recognition module, and the training model is constructed by constraining the distinction between the color of kraft paper and the carton and combining the shape recognition of kraft paper as training objects.

[0017] Optionally, according to the paper sheet removal device for the unpacking process of tobacco stem packaging boxes of the present invention, the visual recognition module includes two groups of cameras, the position of the first group of cameras is relatively fixed to the working position, and the second group of cameras is installed at the action end of the robotic arm;

[0018] The first set of cameras cooperates with the visual recognition module to obtain the coordinate position of the kraft paper after capturing the image;

[0019] The second set of cameras cooperates with the visual recognition module to adjust the position of the robotic arm so that the kraft paper recognized by the second set of cameras is rectangular;

[0020] The second set of cameras also cooperates with the visual recognition module to calculate the boundary coordinates and center point coordinates of the kraft paper to calculate the detailed coordinates of each position of the kraft paper;

[0021] The robotic arm drives the gluing head to move to one edge line of the kraft paper to obtain the kraft paper.

[0022] Optionally, according to the paper removal device in the tobacco stem packaging box unpacking process of the present invention, the basis for selecting the edge line is: not blocking the current position of the second group of cameras.

[0023] Optionally, according to the paper removal device for the unpacking process of the tobacco stem packaging box of the present invention, a marking point is set on the inclined surface corresponding to the second group of cameras, and the robotic arm controls the gluing head to move to the position of the marking point.

[0024] Optionally, according to the paper sheet removal device for the unpacking process of the tobacco stem packaging box described in the present invention, the base of the paper storage frame is a vibrating base, which is used to shake the stacked kraft paper evenly by shaking.

[0025] Optionally, according to the paper sheet removal device for the tobacco stem packaging box unpacking process of the present invention, a pressure sensor is provided inside the gluing head, and the pressure sensor cooperates with the robotic arm to complete contact recognition.

[0026] According to a second aspect of the present invention, a method for removing paper sheets during the unpacking process of a tobacco stem packaging box is provided, using the paper sheet removal device described in any one of the above embodiments, and the following steps are performed:

[0027] Step 1: After the outer box unpacking action is completed, the visual recognition module starts the first detection, captures the image, obtains the kraft paper in the image, and then calculates the actual coordinates of the kraft paper based on the current coordinate position relationship between the visual recognition module and the workstation and sends them to the robotic arm;

[0028] Step 2: After obtaining the coordinate information of the kraft paper, the robotic arm drives the gluing head to move to the target position and stick the kraft paper;

[0029] Step 3: The robotic arm controls the gluing head to move to the inclined surface, places the kraft paper on the inclined surface, opens the channel switch, separates the kraft paper from the gluing head by negative pressure adsorption, and the robotic arm returns to its original position;

[0030] Step 4. Turn off the channel switch, the negative pressure adsorption force disappears, and the kraft paper moves to the paper storage frame under its own weight and stacks together, completing the storage of a piece of kraft paper;

[0031] Step 5. After the inner box is taken out, the visual recognition module starts the second detection, captures the image, obtains the kraft paper in the image, and then calculates the real coordinates of the kraft paper based on the coordinate position relationship between the current recognition module and the working position and sends it to the robotic arm. Repeat steps 2 to 4 to complete the storage of the second piece of kraft paper.

[0032] The present invention has outstanding substantial features and significant progress compared to the prior art. Specifically, the present invention has the following advantages:

[0033] 1. It solves the problem of kraft paper easily causing paper jams in the folding device during current work. The kraft paper in the unpacking process is collected in time, ensuring unmanned operation of this process and improving automation efficiency.

[0034] 2. Since kraft paper easily shifts during the process of removing the outer and inner boxes, a fixed device is difficult to overcome. Therefore, visual recognition technology and a robotic arm are used to identify and locate the kraft paper before grabbing it. The positioning process utilizes the difference in color between the kraft paper and the packaging box, combined with the kraft paper's contour features, to build a training model, which can quickly complete the identification and positioning of the kraft paper.

[0035] 3. The process of grabbing kraft paper is to use the adhesive head. The adhesive head is used to lift the kraft paper and transfer it to the paper removal mechanism. The negative pressure suction force is used to separate the kraft paper and the adhesive head. Finally, after the suction force is removed, the paper is moved to the paper storage frame by its own weight and stacked.

[0036] 4. Due to the large area of ​​kraft paper, once the gluing head sticks to the kraft paper, it is easy for the camera on the gluing head to be unable to capture images. Therefore, it is necessary to locate the edge of the kraft paper and determine the gluing position in an area that does not block the camera. This avoids the obstruction problem and makes the transfer process and the kraft paper removal process smoother.

[0037] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0039] Figure 1 This is a diagram showing the position of the paper sheet removal device during the unpacking process of the tobacco stem packaging box in the present invention.

[0040] Figure 2 It is a structural schematic diagram of the paper sheet removal device during the unpacking process of the tobacco stem packaging box of the present invention.

[0041] Figure 3 It is a flow chart of the process of unpacking the tobacco stem packaging box of the present invention.

[0042] Figure 4 This is a schematic diagram of the tobacco stem packaging box of the present invention in a disassembled state.

[0043] Explanation of reference numerals: 1-robot arm; 2-visual recognition module; 3-paper picking mechanism; 4-paper removing mechanism; 5-paper storing mechanism; 6-first camera group; 7-second camera group;

[0044] 8-Conveyor belt; 9-Packing box; 10-Kraft paper; 11-Folder; 41-Suction hole. DETAILED DESCRIPTION

[0045] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0046] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0047] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0048] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0049] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0050] according to Figures 1 to 4 As shown, the present invention provides a paper sheet removal device for the unpacking process of a tobacco stem packaging box 9, comprising a robotic arm 1, a visual recognition module 2, a paper picking mechanism 3, a paper removing mechanism 4 and a paper storing mechanism 5;

[0051] The robotic arm 1 is a robotic arm 1 product having at least two arms and three degrees of freedom. In this embodiment, a Kuka robot is used, and a camera and a paper picking mechanism 3 are installed at the end position.

[0052] The visual recognition module 2 is set at a fixed position on or outside the robot arm 1, and the camera of the visual recognition module 2 is set corresponding to the unpacking station for identifying the kraft paper 10.

[0053] The paper removal mechanism 3 includes a gluing head fixed to the operating end of the robotic arm 1. The paper removal mechanism 4 comprises an inclined surface with a plurality of suction holes 41 disposed on its surface and a suction channel and channel switch disposed on its back. The negative pressure generated by the suction holes 41 is greater than the adhesive force of the gluing head, effectively separating the paper from the gluing head.

[0054] The paper storage mechanism 5 includes a paper storage frame connected to the bottom end of the inclined surface to receive the kraft paper 10 that slides down the inclined surface and stack the kraft paper 10 in the paper storage frame. The base of the paper storage frame is a vibrating base for shaking the stacked kraft paper 10 evenly.

[0055] Furthermore, the robotic arm 1 for removing the kraft paper 10 and the robotic arm 1 for unpacking are the same robotic arm 1 or different robotic arms 1. In other embodiments, the same robotic arm 1 is used to save costs.

[0056] Furthermore, a training model for the kraft paper 10 is preset in the visual recognition module 2. The training model is constructed by constraining the distinction between the kraft paper 10 and the carton color and combining the shape recognition of the kraft paper 10 as training objects.

[0057] The principle of the training model is that kraft paper 10 is usually darker in color than ordinary cardboard boxes, and has a fixed size and shape, so it is best recognized by shape and color. The original image in the training model needs to be trained and recognized for images taken at different angles, because the final image presented by kraft paper 10 is very diverse, especially the shape, which can easily lead to insufficient recognition due to tilt.

[0058] Of course, since the kraft paper 10 is relatively thick, there is no need to consider the possibility of folding of the kraft paper 10. Even if there is folding, it is very rare and can be ignored. Manual intervention can be performed when necessary to avoid cost waste.

[0059] Furthermore, the visual recognition module 2 includes two groups of cameras, the position of the first group of cameras 6 is relatively fixed to the working position, and the second group of cameras 7 is installed at the action end of the robot arm 1;

[0060] The first group of cameras 6 cooperates with the visual recognition module 2 to obtain the coordinate position of the kraft paper 10 after capturing the image; the visual recognition module 2 is set at a fixed position outside in this embodiment, and the first group of cameras 6 of the visual recognition module 2 corresponds to the unpacking station setting. By presetting the distance and orientation from the work station environment, a three-dimensional coordinate system is constructed to facilitate the calculation of the specific coordinates of the target object in the space.

[0061] The second camera group 7 cooperates with the visual recognition module 2 to adjust the position of the robot arm 1 so that the kraft paper 10 recognized by the second camera group 7 is rectangular; the gluing head cooperates with the second camera group 7 to achieve target acquisition.

[0062] The second set of cameras 7 also cooperates with the visual recognition module 2 to calculate the boundary coordinates and center point coordinates of the kraft paper 10 to calculate the detailed coordinates of each position of the kraft paper 10;

[0063] The robotic arm 1 drives the gluing head to move to one edge of the kraft paper 10 to obtain the kraft paper 10 .

[0064] Furthermore, the basis for selecting the edge line is: not blocking the current position of the second group of cameras 7, so as to avoid blocking the second group of cameras 7.

[0065] Furthermore, a marking point is set on the inclined surface corresponding to the second group of cameras 7, and the robotic arm 1 controls the gluing head to move to the position of the marking point.

[0066] Furthermore, the base of the paper storage frame is a vibrating base, which is used to shake the stacked kraft paper 10 evenly.

[0067] Furthermore, a pressure sensor is provided inside the gluing head, and the pressure sensor cooperates with the robot arm 1 to complete contact recognition, that is, to determine whether the target object is contacted based on the change in the pressure value.

[0068] According to a second aspect of the present invention, a method for removing paper sheets during the unpacking process of a tobacco stem packaging box 9 is provided. Using the paper sheet removal device of any one of the above embodiments, the following steps are performed:

[0069] Step 1: After the outer box unpacking action is completed, the visual recognition module 2 starts the first detection, captures the image, obtains the kraft paper 10 in the image, and then calculates the real coordinates of the kraft paper 10 based on the current coordinate position relationship between the visual recognition module 2 and the work position and sends it to the robotic arm 1.

[0070] Step 2: After obtaining the coordinate information of the kraft paper 10 , the robot arm 1 drives the gluing head to move to the target position and sticks the kraft paper 10 .

[0071] Step 3: The robot arm 1 controls the gluing head to move to the inclined surface, places the kraft paper 10 on the inclined surface, opens the channel switch, separates the kraft paper 10 from the gluing head through the negative pressure adsorption force, and the robot arm 1 returns to its original position.

[0072] Step 4: Close the channel switch, the negative pressure adsorption force disappears, and the kraft paper 10 moves to the paper storage frame under its own weight and stacks together, completing the storage of a piece of kraft paper 10.

[0073] Step 5. After the inner box removal action is completed, the visual recognition module 2 starts the second detection, captures the image, obtains the kraft paper 10 in the image, and then calculates the real coordinates of the kraft paper 10 based on the coordinate position relationship between the current recognition module and the working position and sends it to the robotic arm 1, and repeats steps 2 to 4 to complete the storage of the second piece of kraft paper 10.

[0074] Working principle:

[0075] The packaging box 9 is transported by the conveyor belt 8 to the unpacking work station. The robot arm 1 first opens the outer box. After opening, the kraft paper 10 is generally placed on the top of the inner box. However, due to slight changes in the position of the kraft paper 10 during packing, and other factors such as the contacts of the robot arm 1 easily contacting the kraft paper 10 during the unpacking process, the kraft paper 10 is not in the preset position, but is moved to the side during the unpacking action.

[0076] The first group of cameras 6 takes images, the number of which can be 1-3. By identifying each image, the position of the kraft paper 10 in the current coordinate system is calculated. After mutual comparison and confirmation, the coordinate points are sent to the robotic arm 1, and the robotic arm 1 performs the action of grabbing the paper.

[0077] The robotic arm 1 first approaches the location of the kraft paper 10, and then the second group of cameras 7 on the robotic arm 1 also obtains a group of images. After identifying the kraft paper 10, it determines the positional relationship between the robotic arm 1 and the kraft paper 10, and then further adjusts the robotic arm 1 so that the action end of the robotic arm 1 is changed as much as possible to be perpendicular to the surface of the kraft paper 10, so as to more easily determine the grasping point.

[0078] According to the aforementioned grab point setting principle, the grab point is set on one of the side lines, and the position of the second group of cameras 7 is ensured to be located outside the side line to prevent it from being blocked by the kraft paper 10.

[0079] The robot arm 1 contacts the kraft paper 10, and the pressure sensor reaches the set pressure value, determining the grasping contact, and then moves to the corresponding point on the inclined surface, opens the negative pressure air duct, and realizes the separation of the kraft paper 10 and the gluing head.

[0080] The negative pressure wind is cancelled, and the kraft paper 10 slides into the paper storage frame for storage.

[0081] After the paper removal is completed, the unpacking robot 1 can continue to perform the action of taking out the inner box. The unpacked packaging box 9 is folded and stored by the subsequent folding machine 11.

[0082] It should be noted that the execution of the entire process needs to be coordinated with the unpacking action, so it is necessary to connect to the original device and obtain the corresponding execution signal; a single unpacking requires performing the above actions twice, removing and storing the paper at the top and bottom of the box. Generally, the position of the paper in the second execution is generally fixed at the bottom of the outer box, which is easier than the first case.

[0083] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A paper sheet removal device for unpacking tobacco stem packaging boxes, characterized in that: It includes a robotic arm, a visual recognition module, a paper picking mechanism, a paper removing mechanism and a paper storing mechanism; The visual recognition module is provided at a fixed position on or outside the robotic arm, and a camera of the visual recognition module is provided corresponding to the unpacking station for identifying kraft paper; The paper picking mechanism includes a gluing head, which is fixed to the action end of the robotic arm; The paper removal mechanism includes an inclined surface, a plurality of air suction holes are provided on the surface of the inclined surface, and an air suction channel and a channel switch are provided on the back of the inclined surface; The paper storage mechanism includes a paper storage frame connected to the bottom end of the inclined surface; The visual recognition module includes two sets of cameras, the position of the first set of cameras is relatively fixed to the working position, and the second set of cameras is installed at the action end of the robotic arm; The first set of cameras cooperates with the visual recognition module to obtain the coordinate position of the kraft paper after capturing the image; The second set of cameras cooperates with the visual recognition module to adjust the position of the robotic arm so that the kraft paper recognized by the second set of cameras is rectangular; The second set of cameras also cooperates with the visual recognition module to calculate the boundary coordinates and center point coordinates of the kraft paper to calculate the detailed coordinates of each position of the kraft paper; The robotic arm drives the gluing head to move to one edge of the kraft paper to obtain the kraft paper; A training model for kraft paper is preset in the visual recognition module. The training model is constructed by constraining the distinction between the colors of kraft paper and carton and combining the shape recognition of kraft paper as training objects.

2. The paper sheet removal device for unpacking tobacco stem packaging boxes according to claim 1, characterized in that: The robotic arm is a robotic arm product having at least two arms and three degrees of freedom.

3. The paper sheet removal device for unpacking tobacco stem packaging boxes according to claim 2, characterized in that: The robotic arm for removing the kraft paper and the robotic arm for unpacking the boxes may be the same robotic arm or different robotic arms.

4. The paper sheet removal device for unpacking tobacco stem packaging boxes according to claim 1, characterized in that: The basis for selecting the edge line is: not blocking the current position of the second group of cameras.

5. The paper sheet removal device for unpacking tobacco stem packaging boxes according to claim 1, characterized in that: The second group of cameras are correspondingly provided with marking points on the inclined surface, and the robotic arm controls the gluing head to move to the marking point positions.

6. The paper sheet removal device for unpacking tobacco stem packaging boxes according to claim 1, characterized in that: The base of the paper storage frame is a vibrating base, which is used to shake the stacked kraft paper evenly.

7. The paper sheet removal device for unpacking tobacco stem packaging boxes according to claim 1, characterized in that: A pressure sensor is provided inside the gluing head, and the pressure sensor cooperates with the robotic arm to complete contact recognition.

8. A method for removing paper sheets during the unpacking process of tobacco stem packaging boxes, characterized in that: Using the paper removal device according to any one of claims 1 to 7, the following steps are performed: Step 1: After the outer box unpacking action is completed, the visual recognition module starts the first detection, captures the image, obtains the kraft paper in the image, and then calculates the actual coordinates of the kraft paper based on the current coordinate position relationship between the visual recognition module and the workstation and sends them to the robotic arm; Step 2: After obtaining the coordinate information of the kraft paper, the robotic arm drives the gluing head to move to the target position and stick the kraft paper; Step 3: The robotic arm controls the gluing head to move to the inclined surface, places the kraft paper on the inclined surface, opens the channel switch, separates the kraft paper from the gluing head by negative pressure adsorption, and the robotic arm returns to its original position; Step 4. Turn off the channel switch, the negative pressure adsorption force disappears, and the kraft paper moves to the paper storage frame under its own weight and stacks together, completing the storage of a piece of kraft paper; Step 5. After the inner box is taken out, the visual recognition module starts the second detection, captures the image, obtains the kraft paper in the image, and then calculates the real coordinates of the kraft paper based on the coordinate position relationship between the current recognition module and the working position and sends it to the robotic arm. Repeat steps 2 to 4 to complete the storage of the second piece of kraft paper.

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