A box-unpacking robot and its working method

Abstract

This disclosure provides a box-unpacking robot and its working method, comprising at least: a conveying mechanism, a disassembly platform, a first robotic arm, and a second robotic arm; the disassembly platform is disposed at the end of the conveying mechanism, and a first pushing mechanism is provided at the docking position between the conveying mechanism and the disassembly platform; the disassembly platform has at least one through groove along the direction of box movement, and a second pushing mechanism is provided at the bottom of the through groove that can extend out of the through groove and move along the through groove; symmetrical clamping mechanisms are provided on both sides of the disassembly platform, and a lifting mechanism is provided at the bottom of the disassembly platform near the conveying mechanism; one side of the disassembly platform is movably connected to a platform support frame; the first robotic arm is disposed on one side of the disassembly platform, and the second robotic arm is disposed on the other side of the disassembly platform; the end of the first robotic arm is provided with a box-unpacking blade, and the end of the second robotic arm is provided with a suction cup; this disclosure solves the problem of low efficiency in manual box unpacking and realizes adaptive box unpacking adjustment for boxes of various shapes and sizes.

Description

Technical Field

[0001] This disclosure relates to the field of electric robot technology, and in particular to an unpacking robot and its working method. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] After the goods sealed in boxes are picked, the boxes need to be opened and the goods removed. Currently, this is mainly done manually, which is time-consuming and labor-intensive. To achieve unmanned warehousing, it is necessary to research and develop a robot to disassemble boxes and remove goods, replacing manual labor in these operations.

[0004] The inventors discovered that in the distribution and warehousing of electrical materials, the unpacking and storage of electrical components are mostly done manually, requiring manual identification and registration of the types of electrical components, which is inefficient and prone to errors in registration information. Existing automated unpacking production lines mostly disassemble the boxes directly, which is not suitable for situations involving a wide variety of high-precision electrical components, and cannot achieve safe unpacking and accurate storage of electrical components. Existing automated unpacking production lines are used for unpacking boxes of fixed size and shape, and cannot achieve adaptive unpacking adjustments for boxes of various shapes and sizes of electrical materials. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this disclosure provides an unpacking robot and its working method, which solves the problem of low efficiency in manual unpacking, and enables the safe unpacking and accurate storage of power components; it also enables adaptive unpacking and adjustment of boxes of various shapes and sizes for power materials.

[0006] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0007] The first aspect of this disclosure provides an unpacking robot.

[0008] A box-unpacking robot includes at least: a conveying mechanism, a disassembly platform, a first robotic arm, and a second robotic arm;

[0009] The disassembly platform is located at the end of the conveying mechanism, and a first pushing mechanism is provided at the docking position between the conveying mechanism and the disassembly platform; the disassembly platform has at least one through groove along the moving direction of the box, and a second pushing mechanism is provided at the bottom of the through groove that can extend out of the through groove and move along the through groove.

[0010] The disassembly platform has symmetrical clamping mechanisms on both sides, and a lifting mechanism is located at the bottom of the disassembly platform near the conveying mechanism. One side of the disassembly platform is movably connected to the platform support frame.

[0011] The first robotic arm is located on one side of the disassembly platform, and the second robotic arm is located on the other side of the disassembly platform. The end of the first robotic arm is equipped with a box-opening knife, and the end of the second robotic arm is equipped with a suction cup.

[0012] Furthermore, it also includes: a visual sensing element and a control terminal. The visual sensing element is communicatively connected to the control terminal. The visual sensing element is set above the conveying channel of the conveying mechanism. The control terminal controls the correction mechanisms on both sides of the conveying mechanism to adjust the position and posture of the box based on the box image data collected by the visual sensing element.

[0013] Furthermore, the conveying mechanism is a roller conveyor, and the vision sensing element is mounted above the roller conveyor via a bracket.

[0014] Furthermore, a first slide rail is provided on one side of the docking position between the conveying mechanism and the disassembly platform, and a second slide rail is provided on the other side of the docking position between the conveying mechanism and the disassembly platform. The first pushing mechanism includes a first telescopic component and a second telescopic component. The first telescopic component is slidably connected to the first slide rail, and the second telescopic component is slidably connected to the second slide rail.

[0015] Furthermore, the second pushing mechanism includes at least one third telescopic component, and the bottom of the disassembly platform is provided with a third slide rail, with the third telescopic component slidably connected to the third slide rail.

[0016] Furthermore, the platform support frame is equipped with a positioning mechanism for blocking the box on the disassembly platform, and the positioning mechanism includes at least one fourth telescopic member.

[0017] Furthermore, a conveyor belt is provided on the side of the disassembly platform away from the conveying mechanism. The conveyor belt includes an adjacent first conveyor belt and a second conveyor belt. The first conveyor belt is at a preset angle to the disassembly platform, and the height of the second conveyor belt is lower than that of the disassembly platform and parallel to the disassembly platform.

[0018] Furthermore, the clamping mechanism consists of two clamping plates positioned opposite each other, which are fixedly connected to the platform support frame via a pivot.

[0019] The second aspect of this disclosure provides a method for operating an unpacking robot.

[0020] A method for operating an unpacking robot, utilizing the unpacking robot described in the first aspect of this disclosure, includes the following process:

[0021] The box is delivered to the end of the dismantling platform via a conveying mechanism. During the conveying process, the size and position of the box are identified by machine vision, and the position of the box is adjusted by the correction mechanisms on both sides of the conveying mechanism.

[0022] The first pushing mechanism pushes the box onto the disassembly platform, and the positioning mechanism positions the box at a preset position on the disassembly platform.

[0023] The first robotic arm drives the blade to saw along the upper surface of the box to cut off the top cover. The second robotic arm drives the suction cup to pick up the top cover and move it to the second conveyor belt. The visual sensing element on the second robotic arm identifies the items inside the box.

[0024] If the item needs to be dumped, the first robotic arm drives the blade to cut two vertical edges along the front face of the box. The lifting mechanism behind the disassembly platform rises, and the items inside the box are slowly dumped onto the first conveyor belt as the disassembly platform rises. The sweeping plate of the second robotic arm sweeps the inside of the box horizontally. After all the items inside the box have been dumped, the lifting plate descends, the box returns to its original position, and the second pushing mechanism installed below the disassembly platform extends out of the disassembly platform to push the empty box onto the first conveyor belt.

[0025] If the contents of the box do not need to be emptied, the second pushing mechanism installed below the disassembly platform will push the box, which has already had its lid cut off, to the first conveyor belt.

[0026] Furthermore, after the second robotic arm completes the shearing of the side of the box cover closest to the first robotic arm;

[0027] The first robotic arm presses down on the top cover of the box, while the second robotic arm continues to cut the other three sides of the top cover of the box.

[0028] The suction cup of the first robotic arm picks up the top cover and places it onto the second conveyor belt;

[0029] After the top cover of the box is removed, the second robotic arm continues to hold the cut-off inner lining plate inside the box and places it onto the second conveyor belt.

[0030] Furthermore, based on the visual data of the enclosure acquired by the visual sensing element;

[0031] The shape and size data of the box are obtained based on the acquired visual data of the box.

[0032] Based on the obtained shape and size data, the clamping force of the clamping mechanism is set;

[0033] Based on the obtained shape and size data, the extension and retraction of the moving ends of the first pushing mechanism, the second pushing mechanism, the positioning mechanism, and the lifting mechanism are set.

[0034] Compared with the prior art, the beneficial effects of this disclosure are:

[0035] 1. This invention innovatively proposes a convenient design method for unpacking robots and develops a robot for unpacking power components. By cooperating with the first and second robotic arms, the problem of low efficiency in manual unpacking is solved, and the safe unpacking and accurate storage of power components are achieved, avoiding data errors caused by manual disassembly and registration. Through the cooperation of the first pushing mechanism, the second pushing mechanism and the positioning mechanism, the rapid positioning and forward propulsion of the box are achieved, improving the work efficiency of box disassembly.

[0036] 2. This invention innovatively proposes an adaptive operation technology for unpacking robots. It uses machine vision to identify the size and posture of the boxes, and further uses machine vision to identify components. This combination of machine vision further reduces labor costs and improves the control accuracy of disassembling and storing power components. By identifying the size and dimensions of the boxes through visual sensing elements, the clamping force of the clamping device is set based on the identified box dimensions. Simultaneously, based on the identified box dimensions, the extension and retraction of the moving ends of the first pushing mechanism, the second pushing mechanism, the positioning mechanism, and the lifting mechanism are set. This achieves adaptive unpacking and adjustment for boxes of various shapes and sizes of power materials, improving the accuracy of unpacking control.

[0037] Advantages of this disclosure in some respects will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0038] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure.

[0039] Figure 1 This is a front view of the unpacking robot provided in Embodiment 1 of this disclosure.

[0040] Figure 2 This is a top view of the unpacking robot provided in Embodiment 1 of this disclosure.

[0041] Figure 3 This is a left view of the unpacking robot provided in Embodiment 1 of this disclosure.

[0042] Figure 4 This is a schematic diagram of the hardware and software architecture provided in Embodiment 1 of this disclosure.

[0043] 1-Conveying mechanism; 2-Vision sensing element; 3-First pushing mechanism; 4-Second pushing mechanism; 5-Clamping mechanism; 6-Second robotic arm; 7-First conveyor belt; 8-Second conveyor belt; 9-First robotic arm; 10-Positioning mechanism; 11-Lifting mechanism; 12-Disassembly platform. Detailed Implementation

[0044] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0045] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of this disclosure. 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 disclosure pertains.

[0046] Where there is no conflict, the embodiments and features described herein can be combined with each other.

[0047] Example 1:

[0048] like Figure 1 , Figure 2 and Figure 3 As shown, Embodiment 1 of this disclosure provides an unpacking robot, which includes at least: a conveying mechanism 1, a disassembly platform 12, a first robotic arm 9, and a second robotic arm 6;

[0049] The disassembly platform 12 is located at the end of the conveying mechanism 1. A first pushing mechanism 3 is provided at the docking position between the conveying mechanism 1 and the disassembly platform 12. The disassembly platform has at least one through groove along the moving direction of the box body. A second pushing mechanism 4 is provided at the bottom of the through groove that can extend out of the through groove and move along the through groove.

[0050] The disassembly platform is equipped with symmetrical clamping mechanisms 5 on both sides, and a lifting mechanism 11 is provided at the bottom of the disassembly platform near the conveying mechanism. One side of the disassembly platform is movably connected to the platform support frame.

[0051] The first robotic arm 9 is located on one side of the disassembly platform 12, and the second robotic arm 6 is located on the other side of the disassembly platform. The end of the first robotic arm is equipped with a box-opening knife, and the end of the second robotic arm is equipped with a suction cup.

[0052] The second robotic arm is also equipped with a vision sensor, which identifies the types of electrical components in the box and determines whether to tilt or transport them directly based on the identification results.

[0053] In this embodiment, the disassembly platform has two parallel through slots along the direction of movement of the box. The telescopic rod of the second pushing mechanism extends through the through slots to push the box. It is understood that in some other embodiments, there may be one, three or more through slots, as long as the box can be pushed. Those skilled in the art can choose according to the specific working conditions, which will not be elaborated here.

[0054] The unpacking robot also includes a visual sensing element 2 and a control terminal. The visual sensing element 2 is communicatively connected to the control terminal. The visual sensing element 2 is set above the conveying channel of the conveying mechanism. The control terminal controls the correction mechanisms on both sides of the conveying mechanism to adjust the position and posture of the box according to the box image data collected by the visual sensing element.

[0055] In this embodiment, the conveying mechanism 1 is a roller conveyor mechanism, and the visual sensing elements 2 are two symmetrical ones, which are set above the roller conveyor mechanism by a bracket. Preferably, a binocular camera is used. It can be understood that in some other embodiments, the conveying mechanism can also be a conveyor belt structure, and the number of visual sensing elements 2 can be one, three, four or more. Those skilled in the art can choose according to the specific working conditions, which will not be elaborated here.

[0056] A first slide rail is provided on one side of the docking position between the conveying mechanism 1 and the disassembly platform 12, and a second slide rail is provided on the other side of the docking position between the conveying mechanism and the disassembly platform. The first pushing mechanism 3 includes a first telescopic member and a second telescopic member. The first telescopic member is slidably connected to the first slide rail, and the second telescopic member is slidably connected to the second slide rail.

[0057] In this embodiment, both the first telescopic member and the second telescopic member are telescopic rods with drive. It can be understood that electric drive, hydraulic drive or other drive methods can be used, as long as the rod can be extended and retracted for pushing the box. This will not be elaborated here.

[0058] The second pushing mechanism 4 includes at least one third telescopic member. The bottom of the disassembly platform is provided with a third slide rail. The third telescopic member is slidably connected to the third slide rail. The third telescopic member is a telescopic rod with a drive. It can be understood that it can be electrically driven, hydraulically driven, or other driving methods, as long as the rod can be telescopic for pushing the box. This will not be elaborated further here.

[0059] The platform support frame is equipped with a positioning mechanism 10 for blocking the box on the disassembly platform. The positioning mechanism includes at least one fourth telescopic member, which is a telescopic rod with a drive. It can be understood that it can be electrically driven, hydraulically driven, or driven by other means, as long as the rod can be telescopic for pushing the box. This will not be elaborated here.

[0060] A conveyor belt is provided on the side of the disassembly platform away from the conveying mechanism. The conveyor belt includes an adjacent first conveyor belt 7 and a second conveyor belt 8. The first conveyor belt 7 is at a preset angle to the disassembly platform 12, and the height of the second conveyor belt 8 is lower than that of the disassembly platform and parallel to the disassembly platform 12.

[0061] The clamping mechanism 5 consists of two clamping plates positioned opposite each other, which are fixedly connected to the platform support frame via a rotating shaft.

[0062] In this embodiment, preferably, the unpacking robot comprises four main parts: HMI, control system, vision module, and robotic arm.

[0063] The HMI hardware platform is an industrial computer. Based on its powerful communication and computing capabilities, it receives image data from two cameras and connects to the control system hardware via PCI.

[0064] The control system uses a bus-type motion controller as the central control core and interacts with two robots via Ethernet or serial communication to send and receive relevant data on cutting and removing waste materials. At the same time, it can control multiple servo drives to drive servo motors to perform process actions via Ethernet CAT bus communication.

[0065] The vision module includes at least two cameras. One camera is used to identify the external dimensions and posture of the incoming material box. The external dimensions are matched with the box feature information in the database, and the posture data is used for subsequent guidance and adjustment of the box direction. The other camera is used to identify the internal features of the box after the lid is cut off to determine whether a tilting action is required.

[0066] One robotic arm performs the actual cutting process, including the lid and side sections, while another robotic arm removes the cut and split box scrap.

[0067] The four main components are connected via communication methods to facilitate data and work status interaction before, during, and after work. Other auxiliary components, such as sensors and RFID, can be connected via serial communication or via IO, ADC, DAC, etc.

[0068] For ease of development and maintenance, the software components of the four main parts are designed in a modular fashion. For example, the image recognition algorithm can be compatible with MFC, and the development of the robot body's process control and motion inverse kinematics can be completed independently. Only the data interface of the communication part needs to be connected to the motion controller. The motion control part is connected to the logic and sequence control of each execution part. The HMI part completes the human-machine interaction display, parameter setting, data import and export, system assistance and other functions required by each component module.

[0069] The system power supply section uses AC380V as the main input, which is converted to AC220V and DC24V through filters, transformers, and switching power supplies to provide isolated power to each hardware platform, such as... Figure 4 As shown.

[0070] Example 2:

[0071] Embodiment 2 of this disclosure provides a method for operating a box-unpacking robot, including the following process:

[0072] After the unpacking robot transports the boxes containing the products to the designated position on the conveyor belt via a transfer vehicle, it first identifies the size and position of the box using machine vision technology. Then, the roller conveyor starts and sends the box to the disassembly platform. During the transportation process, it uses vision-assisted guidance to position and clamp the box at the disassembly workbench.

[0073] Next, the first robotic arm equipped with a saw blade or cutter cuts around the upper surface of the box to remove the top cover; the second robotic arm equipped with a suction cup picks up the top cover and moves it onto the conveyor belt below.

[0074] The vision sensors installed on the second robotic arm identify the items inside the box;

[0075] If the item needs to be dumped, the first robotic arm equipped with a saw blade cuts two vertical edges along the front face of the box. The lifting device at the rear of the disassembly platform rises, and the items inside the box are slowly dumped onto the outgoing conveyor belt as the disassembly platform rises. Then, the second robotic arm equipped with a sweeping plate sweeps the inside of the box horizontally to assist in completing the item dumping operation. Afterward, the lifting plate descends, the box returns to its original position, and the first pushing mechanism installed under the platform pushes the empty box onto the conveyor belt.

[0076] If the contents of the box do not need to be emptied, the second pushing mechanism installed below the platform will push the box, which has already been covered, onto the conveyor belt.

[0077] The detailed steps are as follows:

[0078] S1: The container is transported to the conveyor belt.

[0079] The container is transported to the conveyor belt. Note that the orientation of the container must be such that the line between the two flaps of the container lid is perpendicular to the direction of movement of the roller conveyor. The size and position of the container are identified by machine vision. If the position is incorrect, it is corrected by a guiding device during the forward transport of the container on the conveyor belt.

[0080] S2: The box enters the end of the roller conveyor, and the first pushing mechanism pushes the box into the disassembly station.

[0081] A positioning device extends from the front of the disassembly platform to position the pushed-in box. The first pushing mechanism pushes the box onto the disassembly platform, and the clamping device clamps the rear side of the box. Clamping devices on the left and right sides of the box clamp the sides of the box.

[0082] S3: Cutting and removing the lid

[0083] The second robotic arm completes the shearing of the side of the box cover closest to the first robotic arm. To prevent the box cover from shaking during shearing, the first robotic arm holds the box cover down, while the second robotic arm continues to shear the other three sides of the box cover. The first robotic arm then picks up the box cover and places it onto the conveyor belt at the next workstation. After the box cover is removed, the first robotic arm continues to pick up the cut-off inner lining plate from inside the box and places it onto the conveyor belt at the next workstation.

[0084] S4: Identify the pushbox entering the conveyor belt

[0085] The vision sensor mounted on the first robotic arm identifies and verifies the items inside the box. If the items do not need to be tilted, the clamping devices on the left and right sides of the box are released, the first pushing mechanism retracts, the positioning device at the front of the box retracts, and the second pushing mechanism below the platform pushes the box containing the goods onto the subsequent conveyor belt.

[0086] S5: Cut the side edges of the box and tilt it.

[0087] A vision sensor mounted on the first robotic arm identifies and verifies the items inside the container. If the items need to be dumped, the second robotic arm cuts the two front edges of the container. The first pushing mechanism retracts, the positioning device at the front of the container lowers, the lifting device under the platform rises, and the rear of the platform is lifted by the lifting device, slowly pouring the goods to be dumped onto the subsequent conveyor belt.

[0088] S6: Empty container pushed into conveyor belt

[0089] After the contents of the box are emptied, the lifting device installed below the work platform retracts, the platform returns to its original position, the clamping device on the side of the box is released, and the second pushing mechanism below the platform pushes the empty box onto the conveyor belt.

[0090] In this embodiment, the shape and size data of the box are obtained based on the visual data of the box obtained by the visual sensing element, the clamping force of the clamping mechanism is set based on the obtained shape and size data, and the extension and retraction of the moving ends of the first pushing mechanism, the second pushing mechanism, the positioning mechanism and the lifting mechanism are set based on the obtained shape and size data, thereby realizing adaptive unpacking of boxes with multiple shapes and sizes.

[0091] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for operating a box-unpacking robot, characterized in that: A box-unpacking robot is used, wherein the box-unpacking robot: It includes at least: a conveying mechanism, a disassembly platform, a first robotic arm, and a second robotic arm; The disassembly platform is located at the end of the conveying mechanism, and a first pushing mechanism is provided at the docking position between the conveying mechanism and the disassembly platform; the disassembly platform has at least one through groove along the moving direction of the box, and a second pushing mechanism is provided at the bottom of the through groove that can extend out of the through groove and move along the through groove. The disassembly platform has symmetrical clamping mechanisms on both sides, and a lifting mechanism is located at the bottom of the disassembly platform near the conveying mechanism. One side of the disassembly platform is movably connected to the platform support frame. The first robotic arm is located on one side of the disassembly platform, and the second robotic arm is located on the other side of the disassembly platform. The end of the first robotic arm is equipped with a box-opening knife, and the end of the second robotic arm is equipped with a suction cup. The working method of the unpacking robot includes the following process: The box is delivered to the end of the dismantling platform via a conveying mechanism. During the conveying process, the size and position of the box are identified by machine vision, and the position of the box is adjusted by the correction mechanisms on both sides of the conveying mechanism. The first pushing mechanism pushes the box onto the disassembly platform, and the positioning mechanism positions the box at a preset position on the disassembly platform. The first robotic arm drives the blade to saw along the upper surface of the box to cut off the top cover. The second robotic arm drives the suction cup to pick up the top cover and move it to the second conveyor belt. The visual sensing element on the second robotic arm identifies the items inside the box. If the item needs to be dumped, the first robotic arm drives the blade to cut two vertical edges along the front face of the box. The lifting mechanism behind the disassembly platform rises, and the items inside the box are slowly dumped onto the first conveyor belt as the disassembly platform rises. The sweeping plate of the second robotic arm sweeps the inside of the box horizontally. After all the items inside the box have been dumped, the lifting plate descends, the box returns to its original position, and the second pushing mechanism installed below the disassembly platform extends out of the disassembly platform to push the empty box onto the first conveyor belt. If the contents of the box do not need to be emptied, the second pushing mechanism installed below the disassembly platform will push the box, which has already had its lid cut off, to the first conveyor belt.

2. The working method as described in claim 1, characterized in that: Also includes: The system includes a visual sensing element and a control terminal. The visual sensing element is connected to the control terminal and is positioned above the conveying channel of the conveying mechanism. The control terminal controls the correction mechanisms on both sides of the conveying mechanism to adjust the position and posture of the box based on the box image data collected by the visual sensing element.

3. The working method as described in claim 2, characterized in that: The conveying mechanism is a roller conveyor, and the vision sensing element is mounted above the roller conveyor via a bracket.

4. The working method as described in claim 1, characterized in that: A first slide rail is provided on one side of the docking position between the conveying mechanism and the disassembly platform, and a second slide rail is provided on the other side of the docking position between the conveying mechanism and the disassembly platform. The first pushing mechanism includes a first telescopic component and a second telescopic component. The first telescopic component is slidably connected to the first slide rail, and the second telescopic component is slidably connected to the second slide rail.

5. The working method as described in claim 1, characterized in that: The second pushing mechanism includes at least one third telescopic component, and the bottom of the disassembly platform is provided with a third slide rail, with the third telescopic component slidably connected to the third slide rail.

6. The working method as described in claim 1, characterized in that: The platform support frame is equipped with a positioning mechanism for blocking the box on the disassembly platform. The positioning mechanism includes at least one fourth telescopic member.

7. The working method as described in claim 1, characterized in that: A conveyor belt is provided on the side of the disassembly platform away from the conveying mechanism. The conveyor belt includes an adjacent first conveyor belt and a second conveyor belt. The first conveyor belt is at a preset angle to the disassembly platform, and the height of the second conveyor belt is lower than that of the disassembly platform and parallel to the disassembly platform. or, The clamping mechanism consists of two clamping plates positioned opposite each other, which are fixedly connected to the platform support frame via a rotating shaft.

8. The working method as described in claim 1, characterized in that: After the second robotic arm completes the cutting of the side of the box cover closest to the first robotic arm; The first robotic arm presses down on the top cover of the box, while the second robotic arm continues to cut the other three sides of the top cover; the suction cup of the first robotic arm picks up the top cover and places it on the second conveyor belt; After the top cover of the box is removed, the second robotic arm continues to hold the cut-off inner lining plate inside the box and places it onto the second conveyor belt.

9. The working method as described in claim 1, characterized in that: Based on visual data of the enclosure acquired by visual sensing elements; The shape and size data of the box are obtained based on the acquired visual data of the box. Based on the obtained shape and size data, the clamping force of the clamping mechanism is set; Based on the obtained shape and size data, the extension and retraction of the moving ends of the first pushing mechanism, the second pushing mechanism, the positioning mechanism, and the lifting mechanism are set.

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