A box opening and sample sealing integrated robot and method

Abstract

The application provides a box opening and sample sealing integrated robot and method, which comprises a robot body, the robot body comprising a controller and a mechanical arm, the mechanical arm of the robot body being used for being connected with a lifting clamp or a buckle clamp, the controller being capable of controlling the mechanical arm to switch the actions of the lifting clamp and the buckle clamp according to received instructions, and performing box opening and box sealing operations; a vision module in communication with the controller is mounted on the robot body, the controller being capable of performing nameplate identification according to image / or video data collected by the vision module, and controlling a corresponding nameplate printing device to print a nameplate after sensitive information is covered; the mechanical arm of the robot body is also used for being connected with a suction cup clamp, and the controller is capable of controlling the mechanical arm to drive the suction cup clamp to act according to received instructions, and pasting the nameplate to a preset position; the application realizes integrated operations of box opening, sample sealing and packing of electric power materials, guarantees the continuity of a work flow, and avoids damage caused by manual operations.

Description

Technical Field

[0001] This invention relates to the field of power material robot technology, and in particular to an integrated robot and method for unpacking and sealing samples. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Due to their inherent characteristics, important power materials have specific requirements for transportation protection and securing. Manufacturers will take protective and securing measures such as standardized wooden crates for transportation. The standardized wooden crates need to be disassembled and installed when entering and leaving the warehouse.

[0004] Meanwhile, since the nameplates on the materials contain information such as the manufacturer, it is necessary to seal the samples in a timely manner and cover up the manufacturer's name, trademark, and other distinctive markings and information in order to ensure the fairness and impartiality of subsequent quality inspections.

[0005] Currently, the assembly and disassembly of standardized wooden crates are entirely done manually. Manual labor, combined with tools, is used to open and close the crates, using clips and other fasteners. While the operation is relatively simple, disassembling and assembling a single crate requires multiple squatting and bending movements, along with arm exertion. Prolonged work can lead to occupational injuries for workers. Furthermore, the direction and point of force applied manually can be inaccurate, potentially damaging the clips and other fasteners. Damage to these devices requires time-consuming and labor-intensive replacement and repair by professionals. Sample sealing is also primarily done manually. While the operation itself is not difficult, the presence of human error makes it difficult to completely guarantee the fairness and impartiality of subsequent quality inspections. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an integrated robot and method for unpacking and sealing samples, which realizes the integrated operation of unpacking, sealing, and packing of power materials, ensuring the continuity of the workflow and avoiding damage caused by manual operation.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The first aspect of this invention provides an integrated robot for unpacking and sealing samples.

[0009] An integrated unpacking and sealing robot includes: a robot body, the robot body including a controller and a robotic arm, the robotic arm of the robot body is used to connect with a lifting clamp or a snap clamp, and the controller can control the robotic arm to switch the lifting clamp and snap clamp actions according to the received instructions to perform unpacking and sealing operations.

[0010] The robot body is equipped with a vision module that communicates with the controller. The controller can identify the nameplate based on the image / or video data collected by the vision module, and control the corresponding nameplate printing device to print the nameplate after covering sensitive information.

[0011] The robot's robotic arm is also used to connect with a suction cup gripper. The controller can control the robotic arm to move the suction cup gripper according to the received instructions, and affix the nameplate to the preset position.

[0012] A second aspect of the present invention provides an integrated robot for unpacking and sealing samples.

[0013] An integrated unpacking and sealing robot includes: a robot body, the robot body including a controller and a robotic arm, the robotic arm of the robot body is used to connect with a lifting clamp or a snap clamp, and the controller can control the robotic arm to switch the lifting clamp and snap clamp actions according to the received instructions to perform unpacking and sealing operations.

[0014] The robot body is equipped with a vision module and a nameplate printing module that communicate with the controller. The controller can identify the nameplate based on the image / or video data collected by the vision module, and control the nameplate printing module to print the nameplate after covering sensitive information.

[0015] The robot's robotic arm is also used to connect with a suction cup gripper. The controller can control the robotic arm to move the suction cup gripper according to the received instructions, and affix the nameplate to the preset position.

[0016] The third aspect of this invention provides an integrated robot for unpacking and sealing samples.

[0017] An integrated unpacking and sealing robot includes: a robot body, the robot body including a controller and a robotic arm, the robotic arm of the robot body is used to connect with a lifting clamp or a snap clamp, and the controller can control the robotic arm to switch the lifting clamp and snap clamp actions according to the received instructions to perform unpacking and sealing operations.

[0018] The robot body is equipped with a vision module and a spraying module that communicate with the controller. The controller can identify the nameplate based on the image / or video data collected by the vision module, and after confirming the location of the sensitive information on the nameplate, it controls the spraying module to spray and cover the sensitive information.

[0019] Furthermore, the controller is also used to communicate with the remote control terminal. Based on the image / or video data acquired by the vision module, the controller identifies the size and specifications of the enclosure, compares the identification results with the information sent by the remote control terminal, or directly sends the identification results to the remote control terminal.

[0020] Furthermore, the box consists of two parts: a bottom plate and a top cover. The bottom plate and the top cover are connected by snap-fit. The controller can control the robotic arm to drive the snap-fit ​​clamps to perform opening and sealing operations according to the received instructions.

[0021] A fourth aspect of the present invention provides an integrated method for unpacking and sealing samples, utilizing the aforementioned integrated robot for unpacking and sealing samples, comprising the following processes:

[0022] The controller receives instructions from the remote control terminal and begins the unpacking process;

[0023] The controller identifies the packaging code on the outside of the box. If it finds that the code does not match the information given by the remote control terminal, it reports an error message and waits for manual processing or a new command.

[0024] If an error, accident, or inability to operate normally occurs during the operation, the information will be fed back to the remote control terminal, and manual handling or new instructions will be required. Manual personnel will enter the work area to perform the unpacking operation or dispatch a transport vehicle to transport the equipment to the designated location for operation.

[0025] After the robot completes the unpacking operation, it sends a notification to the remote control terminal, informing it that the unpacking operation is complete.

[0026] The robot pushes the porcelain insulator materials out of the workstation, then informs the remote control terminal to complete the unpacking operation. The remote control terminal then issues a manual sample retrieval instruction. After the sample is retrieved, the remote control terminal instructs the robot to begin the next step.

[0027] Furthermore, if the porcelain insulator material only needs to be unpacked and not sealed, the remote control terminal issues a manual sampling instruction. When the controller detects that the personnel have left the unpacking area, it completes the packing operation according to the instruction obtained from the remote control terminal.

[0028] Furthermore, for switch-type materials that require both unpacking and sample sealing, the sample sealing operation should be performed before packing. The sample sealing operation includes:

[0029] Receive sealing instructions from the remote control terminal;

[0030] The controller controls the robotic arm's movements and uses a vision module to locate nameplates.

[0031] The information on the nameplate is compared with the information on the remote control terminal. If they match, the sample is sealed; otherwise, the remote control terminal issues an instruction to return the material to its original location in the warehouse.

[0032] The control system performs subtraction based on the nameplate information, removing sensitive information and retaining parameter and model information;

[0033] Affix the printed nameplate, after removing sensitive information, to the original nameplate location and cover it.

[0034] Furthermore, the vision module, driven by the robotic arm, searches for positioning nameplates on the surface around the materials.

[0035] First, locate the nearest side and carefully search for the nameplate using the vision module. If the search fails, rotate the workstation 90 degrees and continue searching for the nameplate on the new side until the material nameplate is found.

[0036] If the nameplate cannot be found on any of the four sides of the material, or if the side where the nameplate is located is obscured by soft packaging accessories, making it impossible to find and subsequently affix the label, a message is sent to the remote control terminal indicating that the nameplate search has failed. The remote control terminal then generates a manual processing instruction or resends the search instruction.

[0037] Further, the packing process includes:

[0038] Based on the records of the placement of the box lid during the previous unpacking operation and the information on the temporary storage location, combined with the information on the delivered materials provided by the remote control terminal, and by detecting the bottom dimensions of the box and the dimensions of the box lid in the temporary storage area using the vision module, the correct box lid is selected in the temporary storage area.

[0039] The controller directs the robotic arm to lift the top cover of the box using a lifting clamp. The vision module and the actuator work in precise coordination to accurately align, fasten, and fit the top cover with the bottom of the box.

[0040] Pick up the clips and install them at the connection points between the bottom of the box and the top cover.

[0041] Compared with the prior art, the beneficial effects of the present invention are:

[0042] 1. This invention innovatively proposes an integrated method for unpacking and sealing electrical materials, and develops an integrated robot for unpacking and sealing. The robot's robotic arm is used to connect with a lifting clamp or a snap clamp. The controller can control the robotic arm to switch the lifting clamp and snap clamp actions according to the received instructions to perform unpacking and sealing operations. This realizes the integrated operation of unpacking, sealing, and packing electrical materials, ensuring the continuity of the workflow and avoiding damage caused by manual operation.

[0043] 2. The present invention innovatively proposes an integrated method for unpacking and sealing samples. It uses a visual recognition module to identify nameplate information, extracts the corresponding sensitive information, and then performs a sealing operation to cover the sensitive information, thereby improving the sealing efficiency and accuracy. Attached Figure Description

[0044] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0045] Figure 1 This is a schematic diagram of the robot body provided in Embodiment 1 of the present invention.

[0046] Figure 2 This is a schematic diagram of the integrated unpacking and sealing robot station setup provided in Embodiment 1 of the present invention.

[0047] The components include: 1. Chain conveyor line; 2. Turntable; 3. Auxiliary support; 4. Robot body; 5. Fixture; 6. Fixture library; 7. Buckle storage platform; 8. Box cover positioning assembly; 9. Label printing device; 10. Protective net; 11. Buckle; 12. Buckle seat.

[0048] Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 This is a schematic diagram of the arrangement of materials on a wooden box according to Embodiment 1 of the present invention.

[0049] Figure 8 This is a schematic diagram of the buckle and buckle seat provided in Embodiment 1 of the present invention. Detailed Implementation

[0050] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0051] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0052] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0053] Example 1:

[0054] like Figure 1 and 2 As shown, Embodiment 1 of the present invention provides a first aspect of the present invention, which provides an integrated unpacking and sealing robot, including: a robot body, the robot body including a controller and a robotic arm, the robotic arm of the robot body is used to connect with a lifting clamp or a snap clamp, and the controller can control the robotic arm to switch the lifting clamp and snap clamp actions according to the received instructions to perform unpacking and sealing operations.

[0055] The robot body is equipped with a vision module that communicates with the controller. The controller can identify the nameplate based on the image / or video data collected by the vision module, and control the corresponding nameplate printing device to print the nameplate after covering sensitive information.

[0056] The robot's robotic arm is also used to connect with a suction cup gripper. The controller can control the robotic arm to move the suction cup gripper according to the received instructions, and affix the nameplate to the preset position.

[0057] Specifically, the integrated unpacking and sealing robot is equipped with: 1. chain conveyor line, 2. turntable, 3. auxiliary support, 4. robot body, 5. fixture, 6. fixture library, 7. buckle storage platform, 8. box lid positioning assembly, 9. label printing device and 10. protective net.

[0058] Specifically, the work process is as follows:

[0059] S1: Unboxing Preparation

[0060] In this implementation, the types and sources of materials include five types of boxed materials. Among them, there are three types of switchgear equipment, namely, integrated primary and secondary pole-mounted circuit breakers, 10kV pole-mounted circuit breakers (air insulation), and 10kV load switches (SF6 insulation), which require both unpacking and automatic sample sealing. The other two types are porcelain insulators and AC through-wall bushings, which only require unpacking and do not require automatic sample sealing.

[0061] The transportation equipment and loading method are as follows: AGV forklift, carrying 2*1.4m steel pallets, and loading wooden crates and boxed goods. The bottom of the goods is fixed to the bottom of the wooden crates, and the goods are placed on the wooden crates as follows. Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown.

[0062] The AGV forklift enters from one side of the integrated unpacking and sealing equipment area, accurately placing the wooden crates and pallets of materials at the designated location and height. Reflectors can be installed to assist in positioning; the height is set at 800mm.

[0063] The specific information flow includes:

[0064] S1.1: The remote control terminal asks the robot if it can accept the new "unboxing" task, and the robot automatically judges and responds;

[0065] S1.2: The remote control terminal informs the robot of the material standard information, which refers to the information previously entered into the system;

[0066] S1.3: The remote control terminal informs the robot of information such as the size and specifications of the wooden crate;

[0067] S1.4: The AGV forklift confirms that it has been delivered to the designated location and sends the information back to the remote control terminal. The robot does not participate in this step of information interaction.

[0068] S1.5: The AGV forklift has retreated outside the robot's working area. It is located in the adjacent passageway, which informs the remote control terminal that it has retreated from the robot's working area.

[0069] S1.6: The remote control terminal asks the robot if it is "ready". The robot checks its own condition and the environment, confirms that the AGV forklift has exited through the north gate light grid, confirms that the temporary storage area on the top of the wooden box is not full, and responds to the remote control terminal.

[0070] S1.7: The remote control terminal confirms that the robot is ready, issues instructions to the robot, and begins the subsequent unpacking work.

[0071] S2: Unpacking and removing clips

[0072] The wooden crate consists of a bottom and a top cover. The top cover is a single unit comprising the top and four sides, totaling five surfaces. The two parts are connected and secured by snap fasteners, as shown in the example of snap fastener 11 and snap fastener seat 12. Figure 8 As shown.

[0073] The appearance and dimensions of the wooden crates are inspected using a vision system, and if there is a discrepancy between the crate information and the information provided by the remote control terminal, an error message is reported.

[0074] The materials must be recycled without damaging the clips or wooden crates. The clips must be usable, the wooden crates must not show obvious deformation or damage, and the clips and wooden crates must be usable before the materials arrive at the actual site.

[0075] For temporary storage of clips, the robot must be equipped with a temporary collection device to temporarily store the removed clips, facilitating subsequent retrieval and installation.

[0076] After disassembling clip 11, the bottom of the wooden crate is detached from its top cover. The robot lifts the top cover and transfers it to one of the 3-4 pre-set temporary storage positions for wooden crates behind its large robotic arm. Simultaneously, the robot records the accurate information of the top cover at each position to ensure that the top cover aligns precisely with its bottom and the materials during subsequent packing.

[0077] After the porcelain insulators are unpacked, manual labor is required to enter the designated area to collect and deliver samples. Once this is completed manually, a robot receives instructions to pack the samples. After packing, an AGV forklift transports the samples back to the warehouse.

[0078] The specific information flow steps include:

[0079] S2.1: Receive instruction information from the remote control terminal and begin the unpacking operation;

[0080] S2.2: The robot identifies the packaging code on the outside of the wooden crate. If it finds that the code does not match the information previously given by the remote control terminal, it reports an error message and waits for manual processing or a new command to dispatch a transport vehicle to return the material to its previous location.

[0081] S2.3: If an error, accident, or inability to operate normally occurs during operation, the information will be fed back to the remote control terminal, awaiting manual handling or new instructions. Manual personnel will enter the work area to perform unpacking operations or dispatch a transport vehicle to transport the equipment to the designated location for operation.

[0082] S2.4: After the robot completes the unpacking operation, it sends a notification to the remote control terminal, informing it that the unpacking operation is complete.

[0083] For porcelain insulators that only require unpacking and not resealing, information is relayed via a remote control terminal to dispatch personnel to the area for sampling. After the personnel complete their task, the unpacking and sealing robot has finished its inspection and the personnel have left. The remote control terminal then issues a packing command, the robot completes the packing operation, and an AGV forklift is dispatched to transport the materials back to the warehouse.

[0084] The robot pushes the porcelain insulator materials out of the workstation and then informs the remote control terminal that the unpacking operation is complete and that a person needs to be called to retrieve the sample. After the sample is retrieved, the remote control terminal informs the robot to begin the next operation, which is usually a packing instruction.

[0085] If the three types of switch materials require both unpacking and sealing, continue to complete the subsequent sealing operations locally.

[0086] S2.5: The remote control terminal decides whether to issue a sealing instruction, whether to allocate transport vehicles, what type of transport vehicles to allocate, and where to transport the materials based on the material information and its corresponding business processes.

[0087] S3: Sample sealing preparation

[0088] S3.1: Since there was no unpacking step before, the remote control terminal needs to ask the robot if it can accept the new task of "sealing the sample", and the robot will automatically judge and reply.

[0089] S3.2: The AGV forklift confirms that it has been delivered to the designated location and sends the information back to the remote control terminal. The robot does not participate in this step of information interaction.

[0090] S3.3: The AGV forklift has moved out of the robot's working area and is located at a position in the adjacent passageway, informing the remote control terminal that it has left the robot's working area.

[0091] S3.4: The remote control terminal asks the robot if it is "ready". The robot checks its own condition and the environment, confirms that the forklift has withdrawn through the north gate light grid, confirms that the temporary storage area on the top of the wooden box is not full, and responds to the remote control terminal.

[0092] S3.5: The remote control terminal confirms that the robot is ready, issues instructions to the robot, and begins the subsequent sealing work; the remote control terminal informs the robot of the standard information of the sealing materials—a long line of numbers in a QR code; the robot scans the QR code to obtain the long line of numbers, compares it with the relevant information given by the remote control terminal, and confirms that the materials are correct.

[0093] S4: Sealing Operation

[0094] S4.1: Receive sealing instructions from remote control terminal.

[0095] S4.2: Locate the nameplate, specifically including:

[0096] The vision system automatically coordinates with the rotating workstation to locate the nameplate on the surface of the material. It first locates the nearest side, carefully searching for the nameplate. If the search fails, the workstation rotates 90 degrees to continue searching on the new side until the nameplate is found. If the nameplate is not found on any of the four sides, or if the side containing the nameplate is obscured by soft packaging or other accessories, preventing the search and subsequent labeling, a notification is sent to the remote control terminal indicating a nameplate search failure. Manual intervention or waiting for new instructions is required. A manual sample is then performed in the work area, or a transport vehicle is dispatched to transport the sample to the manual sealing area.

[0097] S4.3: Identify and compare information, specifically including:

[0098] The vision system reads as much nameplate information as possible, identifies RFID and QR codes, and compares the collected information with the information previously provided by the remote control terminal to verify the accuracy of the goods. If any discrepancies are found, feedback is sent to the remote control terminal, which then dispatches a transport vehicle to return the goods to their original warehouse location.

[0099] S4.4: Reduce the amount of information on the nameplate. Remove words and trademarks that can show the manufacturer's information, and retain all other information, including important information such as parameters and model.

[0100] S4.5: Print and affix sample codes

[0101] During manual sample sealing, sample workers affix sample code information, which cannot be directly communicated to quality inspectors via the information system. A remote control terminal informs the robot of the sample code information. This product prints out this code information and affixes it to a easily visible location on the device.

[0102] S4.6: Expand the types of materials to be sealed, including other switchgear, other sizes and shapes, and dry-type transformers. Expand the scope to include materials where the nameplate is located on the vertical surface or top of the device, with no obvious obstructions or cover around it, facilitating easy location and application.

[0103] Specific information flow for sample sealing:

[0104] (1) The robot receives the sealing instruction from the remote control terminal and begins the sealing operation.

[0105] (2) The remote control terminal informs the robot of the sample code and the planned code information.

[0106] (3) If the nameplate search and nameplate affixing operation fails or there is an unexpected outage, feedback will be sent to the remote control terminal for manual handling or waiting for instructions.

[0107] (4) If the identified equipment information does not match the information given by the remote control terminal, feedback is sent to the remote control terminal, and a transport vehicle is dispatched to transport the materials back to the original location of the warehouse.

[0108] (5) After the robot completes the sealing operation, it sends a message to the remote control terminal to inform it that the sealing operation is complete.

[0109] S5: Packing Preparation

[0110] S5.1: The remote control terminal asks the robot if it can accept the new "packing" task, and the robot automatically judges and replies.

[0111] S5.2: The remote control terminal informs the robot of the material standard information—the material code, which refers to the information previously entered into the system.

[0112] S5.3: The AGV forklift confirms that it has been delivered to the designated location and sends the information back to the remote control terminal. The robot does not participate in this step of information interaction.

[0113] S5.4: The AGV forklift has moved out of the robot's working area and is located at a position in the adjacent passageway, informing the remote control terminal that it has left the robot's working area.

[0114] S5.5: The remote control terminal asks the robot if it is "ready". The robot checks its own condition and the environment, confirms that the forklift has withdrawn through the north gate light grid, confirms that the temporary storage area on the top of the wooden crate is not full, and responds to the remote control terminal.

[0115] S5.6: The remote control terminal confirms that the robot is ready, issues instructions to the robot, and begins the subsequent packing work.

[0116] S6: Packing Preparation

[0117] Based on the records of the placement of the wooden crate lids during the previous unpacking operation and the information on the temporary storage location, combined with the information on the delivered materials provided by the remote control terminal, and by using the vision system to detect the bottom dimensions of the wooden crates and the dimensions of the wooden crate lids in the temporary storage area, a comprehensive judgment is made to select the correct wooden crate lid in the temporary storage area.

[0118] The top cover of the wooden crate is lifted, and the vision system and the actuator work together precisely to align, fasten, and fit the top cover of the crate with the bottom.

[0119] Pick up the clips from the clip collection device, and attach them to the connection between the bottom and top of the wooden crate, ensuring they are secure and the contents are intact before the crate arrives at the site.

[0120] The specific information flow is as follows:

[0121] S6.1: The robot receives the packing instruction from the remote control terminal and begins the packing operation.

[0122] S6.2: If the top and bottom of the wooden crate are not properly aligned, the buckle should be sent to the remote control terminal for manual handling or to await instructions.

[0123] S6.3: After the robot completes the packing operation, it sends a notification to the remote control terminal, informing it that the packing operation is complete.

[0124] Example 2:

[0125] Embodiment 2 of the present invention provides an integrated unpacking and sealing robot, comprising: a robot body, the robot body including a controller and a robotic arm, the robotic arm of the robot body being used to connect with a lifting clamp or a snap clamp, the controller being able to control the robotic arm to switch the lifting clamp and snap clamp actions according to the received instructions to perform unpacking and sealing operations;

[0126] The robot body is equipped with a vision module and a nameplate printing module that communicate with the controller. The controller can identify the nameplate based on the image / or video data collected by the vision module, and control the nameplate printing module to print the nameplate after covering sensitive information.

[0127] The robot's robotic arm is also used to connect with a suction cup gripper. The controller can control the robotic arm to move the suction cup gripper according to the received instructions, and affix the nameplate to the preset position.

[0128] Example 2:

[0129] Embodiment 2 of the present invention provides an integrated unpacking and sealing robot, comprising: a robot body, the robot body including a controller and a robotic arm, the robotic arm of the robot body being used to connect with a lifting clamp or a snap clamp, the controller being able to control the robotic arm to switch the lifting clamp and snap clamp actions according to the received instructions to perform unpacking and sealing operations;

[0130] The robot body is equipped with a vision module and a spraying module that communicate with the controller. The controller can identify the nameplate based on the image / or video data collected by the vision module, and after confirming the location of the sensitive information on the nameplate, it controls the spraying module to spray and cover the sensitive information.

[0131] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for integrating unpacking and sealing of samples, characterized in that: Includes the following processes: The controller receives instructions from the remote control terminal and begins the unpacking process; The controller identifies the packaging code on the outside of the box. If it finds that the code does not match the information given by the remote control terminal, it reports an error message and waits for manual processing or a new command. If an error, accident, or inability to operate normally occurs during the operation, the information will be fed back to the remote control terminal, and manual handling or new instructions will be required. Manual personnel will enter the work area to perform the unpacking operation or dispatch a transport vehicle to transport the equipment to the designated location for operation. After the robot completes the unpacking operation, it sends a notification to the remote control terminal, informing it that the unpacking operation is complete. The robot pushes the porcelain insulator material out of the workstation, then informs the remote control terminal to complete the unpacking operation. The remote control terminal then issues a manual sample retrieval instruction. After the sample is retrieved, the remote control terminal instructs the robot to begin the next step. If the porcelain insulator material only needs to be unpacked and does not need to be sealed, the remote control terminal issues a manual sampling instruction. When the controller detects that the personnel have left the unpacking area, it completes the packing operation according to the instruction obtained from the remote control terminal. For switch-type materials that require both unpacking and sample sealing, the sample sealing operation should be performed before packing. The sample sealing operation includes: Receive sealing instructions from the remote control terminal; The controller controls the robotic arm's movements and uses a vision module to locate nameplates. The information on the nameplate is compared with the information on the remote control terminal. If they match, the sample is sealed; otherwise, the remote control terminal issues an instruction to return the material to its original location in the warehouse. The control system performs subtraction based on the nameplate information, removing sensitive information and retaining parameter and model information; Affix the printed nameplate, after removing sensitive information, to the original nameplate location and cover it. Driven by the robotic arm, the vision module searches for positioning nameplates on the surface around the materials. First, locate the nearest side and carefully search for the nameplate using the vision module. If the search fails, rotate the workstation 90 degrees and continue searching for the nameplate on the new side until the material nameplate is found. If the nameplate cannot be found on any of the four sides of the material, or if the side where the nameplate is located is covered by soft packaging accessories, making it impossible to find and subsequently label, the remote control terminal will be notified that the nameplate search has failed. The remote control terminal will then generate a manual processing instruction or resend the search instruction. Packing operations include: Based on the records of the placement of the box lid during the previous unpacking operation and the information on the temporary storage location, combined with the information on the delivered materials provided by the remote control terminal, and by detecting the bottom dimensions of the box and the dimensions of the box lid in the temporary storage area using the vision module, the correct box lid is selected in the temporary storage area. The controller controls the robotic arm to lift the box cover with the lifting clamp. The vision module and the actuator work together precisely to accurately align, fasten, and fit the box cover with the bottom. Pick up the clips and install them at the connection points between the bottom of the box and the top cover.

Images