A smart unpacking device and method for electric power metering instrument tray cargo

Abstract

The application discloses a kind of for electric power metering device tray goods intelligent unpacking device and method, it is related to automatic unpacking field;Traditional unpacking mode needs manual operation, efficiency is low and easy to damage goods.The present application includes tray conveying mechanism, tray rotating mechanism, cutting mechanism, clamping mechanism, visual mechanism, mechanical arm and control system;The technical scheme is combined by tray conveying mechanism, tray rotating mechanism, cutting mechanism, clamping mechanism, visual mechanism and mechanical arm, realizes the automatic unpacking process.The whole device can be according to preset program and image recognition result, independently complete the unpacking operation of tray goods, without manual intervention, improve work efficiency;Visual mechanism can quickly and accurately identify tray, tray goods and binding belt, control system can quickly respond and guide the action of mechanical arm, realize efficient and fast unpacking operation.Cutting mechanism and hot melting knife cooperate to complete unpacking, work reliably and stably.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic unpacking, in particular to an intelligent unpacking device and method for power metering appliance tray goods. BACKGROUND

[0002] In the manufacturing and logistics process of power metering appliances, goods need to be packaged and protected to prevent damage to the goods during transportation and storage. Usually, goods are packaged with bundling tapes and wrapping films, but these packaging materials need to be removed before use. The traditional unpacking method requires manual operation, which is inefficient and easy to damage the goods. Therefore, how to realize automatic unpacking has become a problem to be solved. SUMMARY

[0003] The technical problem to be solved by the present application and the technical task proposed are to perfect and improve the prior art, provide an intelligent unpacking device and method for power metering appliance tray goods, to improve the unpacking efficiency and avoid damage to the goods. To this end, the present application adopts the following technical scheme.

[0004] An intelligent unpacking device for power metering appliance tray goods, comprising:

[0005] a tray conveying mechanism for conveying the tray;

[0006] a tray rotating mechanism for rotating the tray located at the unpacking station;

[0007] a cutting mechanism for automatically cutting the bundling tape and the wrapping film, the cutting mechanism comprising scissors and a hot melting knife;

[0008] a clamping mechanism for flexible taking and fixing of the packaging material, the clamping mechanism comprising a first clamping mechanism and a second clamping mechanism;

[0009] a vision mechanism for image recognition, including recognition of the tray, tray goods and bundling tape, and feeding the recognition result to the control system;

[0010] a robot arm for realizing forward and backward, up and down, left and right, and rotating movement; the cutting mechanism and the clamping mechanism are provided on the robot arm;

[0011] a control system connected to the tray conveying mechanism, the tray rotating mechanism, the cutting mechanism, the clamping mechanism, the vision mechanism and the robot arm, for controlling the operation of the entire device, including tray conveying, rotating, cutting and clamping; the tray loaded with goods is conveyed to the unpacking station by the tray conveying mechanism, the vision mechanism performs image recognition, the scissors and the clamping mechanism cooperate to remove the bundling tape, and the hot melting knife, the clamping mechanism and the tray rotating mechanism cooperate to remove the wrapping film, to realize intelligent unpacking.

[0012] The technical scheme realizes the automatic unpacking process through the combination of the tray conveying mechanism, the tray rotating mechanism, the cutting mechanism, the clamping mechanism, the visual mechanism and the mechanical arm. The entire device can automatically complete the unpacking operation of the tray goods according to the preset program and the image recognition result, without manual intervention, thereby improving the work efficiency. Since the automatic operation is adopted, the unpacking process can be completed in a short time. The visual mechanism can quickly and accurately identify the tray, the tray goods and the binding belt. The control system can quickly respond and guide the action of the mechanical arm, thereby realizing the efficient and rapid unpacking operation. The mechanical arm can realize the movement in multiple directions such as front and back, up and down, left and right and rotation, which makes the device adapt to tray goods of different sizes and shapes, and has strong flexibility and adaptability. The clamping mechanism, the cutting mechanism and the hot melting knife cooperate to complete the unpacking, and the work is reliable and stable. The technical scheme realizes the advantages of automation, efficient and rapid, accurate identification, multi-function and safety and reliability, and can improve the efficiency and accuracy of the unpacking of the power metering instrument tray goods, save the labor cost and improve the work efficiency.

[0013] As a preferred technical means: the tray lifting mechanism located on the unpacking station is further included, which is used for lifting the tray conveyed by the tray conveying mechanism. The tray rotating mechanism is arranged on the tray lifting mechanism. The tray lifting mechanism enables the device to adjust the height of the tray as needed, adapt to tray goods of different heights, and enhance the adaptability of the device. Through the lifting mechanism, the tray can be adjusted to a suitable position, so that the cutting mechanism and the clamping mechanism are more easily operated, and the unpacking efficiency is improved.

[0014] As a preferred technical means: the scissors and hot melt knife are respectively arranged on the same knife holder through the movement driving member, the knife holder is provided with a linear guide rail, and the scissors and hot melt knife correspondingly move on the linear guide rail through the movement driving member. By arranging the scissors and hot melt knife on the same knife holder and moving them on the linear guide rail through the movement driving member, the structure of the device is simplified, which helps to improve the stability and reliability of the device, reduce the failure points and maintenance cost. The linear guide rail provides a stable moving track, and the scissors and hot melt knife can move accurately on the guide rail, which enables the cutting and hot melting operations to be accurately controlled, ensuring accurate cutting and removal of the bundling belt and wrapping film and improving the effect and quality of unpacking. By moving the scissors and hot melt knife on the linear guide rail, fast and continuous cutting and hot melting operations can be realized, the unpacking speed is improved, the operation time is reduced, and the work efficiency is improved. Since the scissors and hot melt knife move on the linear guide rail through the movement driving member, their positions and moving ranges can be flexibly adjusted as needed to adapt to pallet goods of different sizes and shapes, improving the adaptability and universality of the device. The design of the linear guide rail and the movement driving member can realize accurate movement of the scissors and hot melt knife, reducing energy waste. The intelligent unpacking device scheme of arranging the scissors and hot melt knife on the same knife holder through the movement driving member and setting the linear guide rail on the knife holder has the advantages of simplified structure, accurate control, efficient operation, flexible adjustment, and reduced energy consumption. It helps to improve the efficiency and accuracy of unpacking and optimizes the unpacking process of the electric power metering instrument pallet goods.

[0015] As a preferred technical means: the scissors are crescent-shaped, and the tip of the scissors is away from the hot melt knife. By arranging the tip of the scissors away from the hot melt knife, interference between the scissors and the hot melt knife can be avoided. The scissors and the hot melt knife have different functions in the unpacking process, and their separate design can ensure that their operations do not interfere with each other, improving the accuracy and efficiency of unpacking. The tip of the scissors is away from the hot melt knife, reducing the possibility of contact between the scissors and the hot melt knife and increasing the safety of the operation. The crescent-shaped design of the scissors can optimize the shearing effect, and the crescent-shaped blade can better adapt to the shape of the bundling belt, providing more uniform and accurate cutting and avoiding the problems of incomplete cutting or excessive cutting, improving the quality and effect of unpacking.

[0016] As a preferred technical means: the cutting mechanism further comprises a first rotating member and a first telescopic member, the knife holder is in a strip shape, the middle part of the knife holder is arranged on a main frame through the first rotating member and the first telescopic member, the first rotating member drives the knife holder to rotate, and the first telescopic member drives the knife holder to move forward and backward. Through the design of the first rotating member and the first telescopic member, the knife holder can realize the operations of rotation and forward and backward movement, which makes the cutting mechanism have flexibility in multiple directions and can adapt to the unpacking requirements of different angles and positions, improving the flexibility and adaptability of the operation. The first rotating member and the first telescopic member provide accurate control over the rotation and forward and backward movement of the knife holder, so that the position and angle of the knife holder can be accurately adjusted as needed to realize accurate cutting operation and improve the accuracy and effect of unpacking. The knife holder is in a strip shape and is arranged on the main frame, so that the cutting mechanism has a large operation range, and the forward and backward movement of the knife holder can cover a wider unpacking area, improving the coverage area and work efficiency of the operation. Since the knife holder is arranged on the main frame through the first rotating member and the first telescopic member, the position and posture of the knife holder can be flexibly adjusted as needed, so that the cutting mechanism can adapt to tray goods of different sizes and shapes, improving the adaptability and universality of the device.

[0017] As a preferred technical means: the first clamping mechanism and the second clamping mechanism each comprise a finger capable of opening and closing, a second telescopic member and a sliding block, the finger and the main frame are provided with the second telescopic member and the sliding block, the two ends of the main frame are provided with sliding rails matched with the sliding blocks, the main frame is in a strip shape, the middle part of the main frame is connected with the mechanical arm, one end of the second telescopic member is connected with the finger, and the other end is connected with the sliding block, the second telescopic member controls the forward and backward movement of the finger, and the sliding block drives the second telescopic member and the finger to move along the length direction of the main frame. The finger can open and close to realize flexible grabbing of packages of different shapes and materials, and the opening and closing operation of the finger can be adjusted according to the condition of the package to improve the adaptability and accuracy of grabbing. The second telescopic member controls the forward and backward movement of the finger, and the sliding block drives the second telescopic member and the finger to move along the length direction of the main frame to realize accurate positioning and adjustment of the goods. Through the forward and backward movement of the finger, different positions of the goods can be adapted to improve the accuracy and stability of grabbing. The design of the second telescopic member and the sliding block provides accurate control over the forward and backward movement of the finger, controls the movement distance of the finger, realizes accurate control over the grabbing process, and improves the accuracy and stability of grabbing. The cooperation of the second telescopic member and the sliding block between the finger and the main frame makes the movement of the finger more smooth and efficient, which helps to improve the grabbing speed and operation efficiency, reduce the operation time, and improve the work efficiency.

[0018] As a preferred technical means: the middle part of the main frame is connected with the mechanical arm. By connecting the middle part of the main frame with the mechanical arm, the high integration of the unpacking device and the mechanical arm is realized, the structure of the whole system is simplified, and the reliability and stability of the device are improved. The mechanical arm has the function of automatic operation and can automatically unpack according to the preset program and instructions. The main frame connected with the mechanical arm can be controlled by the mechanical arm. The mechanical arm usually has multiple degrees of freedom and flexible movement ability, and can perform complex operations and adjustments. The main frame connected with the mechanical arm can fully utilize the multifunctionality of the mechanical arm to realize unpacking operation on goods of different shapes and sizes, and improve the adaptability and versatility of the device.

[0019] As a preferred technical means: the fingers include two fingers, a finger driving element for driving the two fingers to move, a fixing seat for fixing the finger driving element, and a fixing seat driving element for driving the fixing seat to move. The design of the fingers is in the form of two fingers, which can realize clamping and grabbing of the goods. The distance between the two fingers can be adjusted according to the size and shape of the goods to adapt to goods of different sizes. This flexible grabbing design enables the unpacking device to handle various shapes and sizes of packaging materials, improving the adaptability and flexibility of grabbing. The finger driving element is used to drive the movement of the two fingers, which can accurately control the opening and closing of the fingers to ensure the accuracy and stability of grabbing. Through the accurate positioning of the fingers, the sliding or falling of the goods can be avoided, and the success rate of grabbing can be improved. The fixing seat driving element is used to drive the movement of the fixing seat to control the overall position of the fingers. Through the movement of the fixing seat driving element, the position and angle of the fingers relative to the goods can be adjusted to achieve more accurate grabbing and improve the flexibility and accuracy of grabbing.

[0020] An intelligent unpacking method for power metering device tray goods, which adopts the intelligent unpacking device described above, the intelligent unpacking method comprises the following steps:

[0021] 1) The goods tray is transferred to the docking port of the unpacking work station, and enters the unpacking station through the tray conveying mechanism;

[0022] 2) After the control system determines the position of the tray through the vision mechanism, the tray rotating mechanism is raised; the mechanical arm moves to keep the clamping mechanism and the cutting mechanism on the same working surface.

[0023] 3) According to the positioning of the vision mechanism, the scissors cut the bundling belt at one end, at the same time, the clamping mechanism clamps the upper part of the cutting point, after cutting, the mechanical arm moves backward to make the bundling belt separate, and the step is repeated to remove the bundling belt in turn;

[0024] 4) The hot melt knife moves downward along the top end of the wrapping film to cut the wrapping film, the first clamping mechanism located at the upper part clamps and fixes the cut edge, after the cutting is completed, the second clamping mechanism located at the lower part clamps and fixes the cut edge, the rotating table of the tray rotating mechanism rotates 360°, the mechanical arm retreats, and the wrapping film is separated. Through the cooperation of the control system and the visual mechanism, the automatic unpacking operation is realized, the automatic operation can reduce manual intervention, improve the efficiency and accuracy of the operation, and reduce the labor cost and labor intensity. Through the positioning of the visual mechanism, the position of the goods tray can be accurately determined, the clamping mechanism and the cutting mechanism are ensured to be on the same operation surface, the accuracy of cutting and clamping is ensured, damage to the goods or misoperation is avoided. During the cutting process of the bundling belt, the mechanical arm is clamped on the upper part of the cutting point, moves backward after cutting to make the bundling belt separate, realizes quick and effective cutting of the bundling belt, improves the cutting efficiency and speed, and reduces the unpacking time. Through the hot melt knife moving downward along the top end of the wrapping film to cut the wrapping film, the first clamping mechanism located at the upper part clamps and fixes the cut edge, after the cutting is completed, the second clamping mechanism located at the lower part clamps and fixes the cut edge, this cutting method can quickly and accurately cut the wrapping film to make it separate from the goods tray. The rotating table of the tray rotating mechanism rotates 360°, so that the mechanical arm retreats and the wrapping film separates, the design of the tray rotation can conveniently remove the wrapping film from the goods tray, reducing the complexity and time consumption of the operation.

[0025] As a preferred technical means: the cutting mechanism is provided with a first rotating part and a first telescopic part, so that the cutter holder can rotate 360° and move along the Z-axis direction to drive the scissors and hot melt knife to approach or move away from the tray working surface; the moving drive part drives the scissors or hot melt knife to translate along the Y-axis direction to cut or shear the packaging material; the clamping mechanism is provided with a second telescopic part to drive the fingers to approach or move away from the tray working surface along the Z-axis direction; the clamping mechanism is provided with a finger drive part to drive the fingers to move along the X-axis direction to clamp or loosen the bundling tape or wrapping film on the cutting surface. The cutting mechanism realizes the 360° rotation of the cutter holder and the movement along the Z-axis direction through the design of the first rotating part and the first telescopic part, so that the scissors and hot melt knife can flexibly approach or move away from the tray working surface to adapt to the cutting requirements of different positions and angles. The moving drive part drives the scissors and hot melt knife to move along the Y-axis direction for cutting or shearing operation, which ensures accurate cutting of the cutter on the packaging material and improves the efficiency and accuracy of cutting. The clamping mechanism realizes the approach or movement of the fingers to the tray working surface along the Z-axis direction through the design of the second telescopic part, and the clamping mechanism also drives the fingers to move along the X-axis direction through the finger drive part to clamp or loosen the bundling tape or wrapping film on the cutting surface. The scheme can flexibly adapt to bundling tapes or wrapping films of different positions and shapes, and improve the accuracy and stability of clamping. Through the multi-axis movement of the cutting mechanism and the clamping mechanism and the control of the drive part, the cutting and clamping process can be accurately controlled to ensure the accuracy and stability of cutting and clamping, and to avoid damage to the goods or misoperation. Multi-axis movement, translational cutting and multi-dimensional clamping reduce operation time and labor intensity, and improve operation efficiency and speed.

[0026] Beneficial effects: the technical scheme realizes the automatic unpacking process through the combination of the tray conveying mechanism, the tray rotating mechanism, the cutting mechanism, the clamping mechanism, the visual mechanism and the mechanical arm. The entire device can automatically complete the unpacking operation of the tray goods according to the preset program and image recognition result without manual intervention, improving the work efficiency. Since automatic operation is adopted, the unpacking process can be completed in a short time; the visual mechanism can quickly and accurately identify the tray, the tray goods and the bundling tape, the control system can quickly respond and guide the movement of the mechanical arm to realize efficient and rapid unpacking operation. The mechanical arm can realize forward and backward, up and down, left and right, rotation and other multidirectional movements, which makes the device adapt to tray goods of different sizes and shapes, and has strong flexibility and adaptability. The clamping mechanism, the cutting mechanism and the hot melt knife cooperate to complete unpacking, which is reliable and stable in work. The technical scheme realizes the advantages of automation, high efficiency, rapidity, accurate identification, multifunction and safety, etc., and can improve the efficiency and accuracy of the unpacking of the electric power metering device tray goods, save labor cost and improve work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1is a structural schematic diagram of the present application.

[0028] Figure 2 is a partial structural schematic diagram of the present application.

[0029] Figure 3 is a structural schematic diagram of the cutting mechanism and the clamping mechanism of the present application.

[0030] Figure 4 is a structural schematic diagram of another state of the cutting mechanism and the clamping mechanism of the present application.

[0031] Figure 5 is a partial enlarged view of the present application. Figure 3

[0032] Figure 6 is a motion direction diagram of the cutting mechanism and the clamping mechanism of the present application.

[0033] In the figure: 1, tray; 2, goods; 3, tray conveying mechanism; 4, tray rotating mechanism; 5, tray lifting mechanism; 6, cutting mechanism; 601, scissors; 602, hot melt knife; 603, knife holder; 604, linear guide rail; 605, first rotating piece; 606, first telescopic piece; 607, main frame; 7, clamping mechanism; 701, finger; 702, second telescopic piece; 703, sliding block; 704, sliding rail; 705, finger driving piece; 706, fixed seat; 707, fixed seat driving piece; 8, mechanical arm. DETAILED DESCRIPTION

[0034] The technical solutions of the present application are further described in detail below in combination with the accompanying drawings of the specification.

[0035] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation. Since the disclosed embodiments of the present application can be arranged in different directions, these orientation-indicating terms are only used as illustrations and should not be regarded as limitations. For example, "upper", "lower" are not necessarily limited to directions opposite or consistent with the direction of gravity.

[0036] As shown in Figure 1 ,

[0037] An intelligent unpacking device for electric power metering appliance tray goods, comprising:​

[0038] I. Tray conveying mechanism 3 for conveying trays 1; the tray conveying mechanism 3 can adopt different conveying modes such as roller conveying, chain conveying, belt conveying, etc. According to the specific application requirements and the characteristics of the goods 2, the appropriate conveying mode can be selected. For example, roller conveying is suitable for smooth conveying of trays 1, chain conveying is suitable for heavy goods 2, and belt conveying is suitable for flexible goods 2. In this embodiment, the roller input mode is adopted to realize the smooth conveying of the tray 1 loaded with the electric power metering appliance.

[0039] II. Tray rotating mechanism 4 for rotating the tray 1 located at the unpacking station; the tray rotating mechanism 4 rotates the tray 1 in the horizontal direction, and in this embodiment, a rotating platform is adopted to realize the rotation of the tray 1. The tray rotating mechanism 4 can be composed of a platform and a rotating device; the platform can be a circular or square plane that can carry the goods 2 tray 1. The rotating device can be a motor-driven bearing or a rotary device that allows the platform to rotate in the horizontal direction.

[0040] III. Tray lifting mechanism 5 for lifting the tray 1 conveyed by the tray conveying mechanism 3, and the tray rotating mechanism 4 is arranged on the tray lifting mechanism 5. The tray lifting mechanism 5 allows the device to adjust the height of the tray 1 as needed, adapting to trays 1 of different heights, enhancing the adaptability of the device. Through the lifting mechanism, the tray 1 can be adjusted to the appropriate position, making it easier for the cutting mechanism 6 and the clamping mechanism 7 to operate, improving the unpacking efficiency.

[0041] The structure of the tray lifting mechanism 5 can be:

[0042] Chain lifting mechanism: chain lifting machine is a common tray lifting mechanism 5, which is composed of a group of vertically arranged chains and a lifting platform. The chains are driven by a motor or the power of a hydraulic system to lift or lower the lifting platform to realize the lifting of the goods 2 tray 1. The chain lifting machine has simple structure, reliable and is suitable for lifting small and medium-sized goods 2 tray 1.

[0043] Hydraulic lifting mechanism: hydraulic lifting machine uses hydraulic system to realize the lifting of the goods 2 tray 1. It includes a hydraulic cylinder and a lifting platform. By controlling the flow of hydraulic oil of the hydraulic cylinder, the lifting platform can be raised or lowered, thereby realizing the lifting of the tray 1. The hydraulic lifting machine has large carrying capacity and smooth lifting movement, and is suitable for lifting large or heavy goods 2 tray 1.

[0044] Screw lifting mechanism: Screw lifters use a combination of screws and nuts to achieve the lifting of goods 2 pallets 1. The screw is driven to rotate by a motor, while the nut is fixed on the lifting platform. When the screw rotates, the nut moves accordingly, causing the lifting platform to rise or fall. Screw lifters are simple, compact, and suitable for lifting small goods 2 pallets 1.

[0045] Pneumatic lifting mechanism: Pneumatic lifters use a pneumatic system to achieve the lifting of goods 2 pallets 1. It includes a pneumatic cylinder and a lifting platform. By controlling the air pressure of the pneumatic cylinder, the lifting platform can be raised or lowered, thereby achieving the lifting of the pallet 1. Pneumatic lifters are suitable for some special environments, such as explosion-proof places or occasions that require spark-free operation.

[0046] When selecting the structure of the pallet lifting mechanism 5, factors such as the size and weight of the goods 2 pallets 1, the lifting height requirement, and the precision, speed and safety of the operation need to be considered. In addition, the appropriate mechanism structure needs to be selected according to the specific application scene and demand to ensure the smooth lifting process. In this embodiment, a hydraulic lifter mechanism is used to provide a stable lifting process and ensure the safety of the pallet 1.

[0047] IV. Cutting mechanism 6 for automatically cutting the bundling tape and the wrapping film, which can be a knife, a laser or other cutting device for cutting or processing objects. In this embodiment, the cutting mechanism 6 includes scissors 601 and hot melt knife 602; the scissors 601 and the hot melt knife 602 are respectively arranged on the same knife holder 603 through the movement driving part, and the knife holder 603 is provided with a linear guide rail 604, and the scissors 601 and the hot melt knife 602 correspondingly move on the linear guide rail 604 through the movement driving part. By arranging the scissors 601 and the hot melt knife 602 on the same knife holder 603 and moving them on the linear guide rail 604 through the movement driving part, the structure of the device is simplified, which helps to improve the stability and reliability of the device, reduce the failure points and maintenance cost. The linear guide rail 604 provides a stable moving track, and the scissors 601 and the hot melt knife 602 can move accurately on the guide rail, which makes the cutting and hot melt operations controllable accurately, ensures the accurate cutting and removal of the bundling tape and the wrapping film, and improves the effect and quality of unpacking. By moving the scissors 601 and the hot melt knife 602 on the linear guide rail 604, fast and continuous cutting and hot melt operations can be realized, the unpacking speed is improved, the operation time is reduced, and the work efficiency is improved. Since the scissors 601 and the hot melt knife 602 move on the linear guide rail 604 through the movement driving part, their positions and moving ranges can be flexibly adjusted as needed, which improves the adaptability and universality of the device. The design of the linear guide rail 604 and the movement driving part can realize the accurate movement of the scissors 601 and the hot melt knife 602, and reduce the waste of energy consumption. The intelligent unpacking device scheme of arranging the scissors 601 and the hot melt knife 602 on the same knife holder 603 through the movement driving part and setting the linear guide rail 604 on the knife holder 603 has the advantages of simplified structure, accurate control, efficient operation, flexible adjustment and reduced energy consumption. It helps to improve the efficiency and accuracy of unpacking, and optimizes the unpacking process of the electric power metering appliance tray 1 and the goods 2.

[0048] To realize reliable cutting and improve safety, the scissors 601 are crescent-shaped, and the tip of the scissors 601 faces away from the hot melt knife 602. By arranging the tip of the scissors 601 to face away from the hot melt knife 602, interference between the scissors 601 and the hot melt knife 602 can be avoided. The scissors 601 and the hot melt knife 602 undertake different functions in the unpacking process, and their separate design can ensure that their operations do not interfere with each other, improving the accuracy and efficiency of unpacking. The tip of the scissors 601 faces away from the hot melt knife 602, reducing the possibility of contact between the scissors 601 and the hot melt knife 602, and increasing the safety of operation. The crescent-shaped design of the scissors 601 can optimize the cutting effect, and the crescent-shaped blade can better adapt to the shape of the bundling tape, providing more uniform and accurate cutting, avoiding the problems of incomplete cutting or excessive cutting, and improving the quality and effect of unpacking.

[0049] To improve the efficiency, accuracy and stability of unpacking, the cutting mechanism 6 further comprises a first rotating member 605 and a first telescopic member 606. The knife holder 603 is in a strip shape, and the middle part of the knife holder 603 is arranged on a main frame 607 through the first rotating member 605 and the first telescopic member 606. The first rotating member 605 drives the knife holder 603 to rotate, and the first telescopic member 606 drives the knife holder 603 to move forward and backward. Through the design of the first rotating member 605 and the first telescopic member 606, the knife holder 603 can realize the operations of rotation and forward and backward movement, which makes the cutting mechanism 6 have multi-directional flexibility and can adapt to the unpacking requirements of different angles and positions, improving the flexibility and adaptability of operation. The first rotating member 605 and the first telescopic member 606 provide accurate control of the rotation and forward and backward movement of the knife holder 603, so that the position and angle of the knife holder 603 can be accurately adjusted according to needs to realize accurate cutting operation and improve the accuracy and effect of unpacking. The knife holder 603 is in a strip shape and is arranged on the main frame 607, so that the cutting mechanism 6 has a larger operation range, and the forward and backward movement of the knife holder 603 can cover a wider unpacking area, improving the operation coverage area and work efficiency. Since the knife holder 603 is arranged on the main frame 607 through the first rotating member 605 and the first telescopic member 606, the position and posture of the knife holder 603 can be flexibly adjusted according to needs, so that the cutting mechanism 6 can adapt to pallets 1 and goods 2 of different sizes and shapes, improving the adaptability and universality of the device.

[0050] V. The clamping mechanism 7 is used for flexible taking and fixing of the packaging material. The clamping mechanism 7 comprises a first clamping mechanism 7 and a second clamping mechanism 7.

[0051] The clamping mechanism 7 can be a clamping jaw, a suction cup or other clamping device for grabbing and manipulating objects; in the present embodiment, the first clamping mechanism 7 and the second clamping mechanism 7 each include a finger 701 that can open and close, a second telescopic member 702 and a sliding block 703; the finger 701 is provided with the second telescopic member 702 and the sliding block 703 between the main frame 607; the main frame 607 is provided with a sliding rail 704 matched with the sliding block 703 at both ends; the main frame 607 is in the shape of a long strip, the middle part of the main frame 607 is connected with the mechanical arm 8, one end of the second telescopic member 702 is connected with the finger 701, and the other end is connected with the sliding block 703; the second telescopic member 702 controls the forward and backward movement of the finger 701, and the sliding block 703 drives the second telescopic member 702 and the finger 701 to move along the length direction of the main frame 607. The finger 701 can open and close to achieve flexible grabbing of bales of different shapes and materials, and the opening and closing operation of the finger 701 can be adjusted according to the condition of the bale to improve the adaptability and accuracy of grabbing. The second telescopic member 702 controls the forward and backward movement of the finger 701, and the sliding block 703 drives the second telescopic member 702 and the finger 701 to move along the length direction of the main frame 607 to achieve accurate positioning and adjustment of the goods 2. Through the forward and backward movement of the finger 701, the goods 2 in different positions can be adapted to improve the accuracy and stability of grabbing. The design of the second telescopic member 702 and the sliding block 703 provides accurate control of the forward and backward movement of the finger 701, controls the movement distance of the finger 701, and achieves accurate control of the grabbing process to improve the accuracy and stability of grabbing. The cooperation of the second telescopic member 702 and the sliding block 703 between the finger 701 and the main frame 607 makes the movement of the finger 701 more smooth and efficient, which helps to improve the grabbing speed and operation efficiency, reduce the operation time and improve the work efficiency.

[0052] The sliding block 703 can move on the sliding rail 704 through the way of ball screw, rotate the screw to make the sliding block 703 move on the sliding rail 704, of course, other ways can also be used, such as gear transmission, linear motor, etc.

[0053] In order to simplify the structure of the whole device, the middle part of the main frame 607 is connected with the mechanical arm 8. By connecting the middle part of the main frame 607 with the mechanical arm 8, the high integration of the unpacking device and the mechanical arm 8 is realized, and the reliability and stability of the device are improved. The mechanical arm 8 has the function of automatic operation and can automatically unpack according to the preset program and instructions; the main frame 607 connected with the mechanical arm 8 can be controlled by the mechanical arm 8; the mechanical arm 8 usually has multiple degrees of freedom and flexible movement ability, and can perform complex operations and adjustments; the main frame 607 connected with the mechanical arm 8 can fully utilize the multifunctionality of the mechanical arm 8 to realize unpacking operation of goods 2 of different shapes and sizes, and improve the adaptability and versatility of the device.

[0054] To further realize flexible grabbing and accurate positioning of the intelligent unpacking device, the fingers 701 include two fingers, a finger driving member 705 for moving the two fingers, a fixing seat 706 for fixing the finger driving member 705, and a fixing seat driving member 707 for driving the fixing seat 706 to move. The design of the fingers 701 is in the form of two fingers, which can realize clamping and grabbing of the goods 2. The distance between the two fingers can be adjusted according to the size and shape of the goods 2 to adapt to goods 2 of different sizes. This flexible grabbing design enables the unpacking device to handle various shapes and sizes of packaging materials, improving the adaptability and flexibility of grabbing. The finger driving member 705 is used to drive the movement of the two fingers and can accurately control the opening and closing of the fingers 701, ensuring the accuracy and stability of grabbing. Through accurate positioning of the fingers 701, sliding or falling of the goods 2 can be avoided, improving the success rate of grabbing. The fixing seat driving member 707 is used to drive the movement of the fixing seat 706, thereby controlling the overall position of the fingers 701. Through the movement of the fixing seat driving member 707, the position and angle of the fingers 701 relative to the goods 2 can be adjusted to achieve more accurate grabbing, improving the flexibility and accuracy of grabbing.

[0055] In this example, the second telescopic member 702 can adopt a pneumatic or hydraulic telescopic member. In this embodiment, a servo electric cylinder is adopted.

[0056] The finger driving member 705 can be:

[0057] Servo motor drive: A servo motor is a precision motor that can provide high-precision position and speed control. In the driving of the fingers 701, the servo motor can convert rotary motion into opening and closing motion of the fingers 701 through transmission devices such as gears, belts, etc. The servo motor drive structure is suitable for applications with high requirements for the movement precision and control of the fingers 701.

[0058] Pneumatic drive: Pneumatic drive is a way to realize the movement of the fingers 701 by using compressed air. Through the control of pneumatic elements such as air cylinders or pneumatic motors, the fingers 701 can realize opening and closing motion. The pneumatic drive structure usually has large driving force and fast response speed, and is suitable for some applications that require large force and fast action.

[0059] Hydraulic drive: Hydraulic drive is a way to realize the movement of the fingers 701 by using the pressure of liquid. Through the control of hydraulic elements such as hydraulic cylinders or hydraulic motors, the fingers 701 can realize opening and closing motion. The hydraulic drive structure usually has large driving force and smooth motion characteristics, and is suitable for some applications that require large force and smooth motion.

[0060] In this embodiment, the finger driving member 705 and the fixing seat driving member 707 both adopt servo motor drive.

[0061] VI. Vision mechanism for image recognition, including identification of tray 1, tray 1 goods 2, and bundling tape, and feedback of identification results to the control system. The vision mechanism can use the following schemes to achieve the identification of tray 1, tray 1 goods 2, and bundling tape, and feedback of identification results to the control system in terms of image recognition:

[0062] Camera + image processing algorithm: Use a camera to capture images of the tray 1 area, and analyze and process the images through image processing algorithms. Computer vision techniques such as edge detection, color analysis, shape matching, etc. can be used to extract features of tray 1, tray 1 goods 2, and bundling tape, and then identify and classify them. Image processing algorithms can be implemented on embedded systems or computers, and appropriate solutions can be selected according to the required real-time performance and computing power.

[0063] Deep learning neural network: Using deep learning technology, a neural network model can be trained to identify tray 1, tray 1 goods 2, and bundling tape. By training with a large amount of labeled image data, the neural network can learn the features and patterns of different objects and accurately classify and identify them. Deep learning models can be deployed on embedded devices or cloud servers, and appropriate deployment solutions can be selected according to actual needs.

[0064] 3D vision system: For scenarios that require three-dimensional information of objects, a 3D vision system can be used for identification. For example, use a depth camera to obtain three-dimensional point cloud data of the tray 1 area, and then use point cloud processing algorithms for object segmentation and identification. 3D vision systems can provide more geometric information, which helps to more accurately identify tray 1, tray 1 goods 2, and bundling tape.

[0065] Hybrid solution: According to specific needs and complexity, a combination of multiple vision technologies can be used to achieve more comprehensive and accurate identification. For example, combining laser sensors and depth cameras, and using image processing algorithms and deep learning models simultaneously, can improve the accuracy and robustness of identification.

[0066] When selecting a specific vision mechanism solution, the following factors need to be considered:

[0067] Identification requirements: Determine the types and features of objects to be identified, as well as the requirements for identification accuracy and real-time performance.

[0068] System cost: Consider the cost of hardware devices, algorithm development and deployment, and choose a solution that fits the budget.

[0069] Environmental conditions: Consider the impact of environmental factors such as lighting conditions, noise interference, etc. on image quality and identification results.

[0070] System integration: interface and communication method with control system, as well as data transmission and result feedback requirements.

[0071] According to the above considerations, a suitable visual mechanism scheme can be selected to realize the recognition of the tray 1, the tray 1 goods 2 and the bundling belt, and the recognition result is fed back to the control system.

[0072] Seven, mechanical arm 8, for realizing front and back, up and down, left and right, rotation movement; the cutting mechanism 6 and the clamping mechanism 7 are arranged on the mechanical arm 8;

[0073] The mechanical arm 8 is a mechanical device for realizing multi-degree-of-freedom motion, which is usually composed of multiple joints and connecting rods. According to the specific application requirements and design requirements, the structure of the mechanical arm 8 is different, but generally includes the following main components:

[0074] Base: The base of the mechanical arm 8 is the part fixed on the working platform or the ground, which provides stable support for the mechanical arm 8. The base usually has a rotational degree of freedom, so that the mechanical arm 8 can rotate in the horizontal direction.

[0075] Joint: The mechanical arm 8 is usually connected by multiple joints, each joint provides a degree of freedom, so that the mechanical arm 8 can move forward and backward, up and down, left and right, etc. Common joint types include rotary joints and linear joints. Rotary joints allow the mechanical arm 8 to rotate in a certain axial direction, while linear joints allow the mechanical arm 8 to move linearly in a certain axial direction.

[0076] Connecting rod: The connecting rod is a connecting component between the joints of the mechanical arm 8, which makes the mechanical arm 8 form a multi-section structure to realize a larger range of motion. The length and shape of the connecting rod can be adjusted according to the specific design to meet the requirements of the motion range and the working space.

[0077] In this embodiment, the cutting mechanism 6 and the clamping mechanism 7 are installed on the end flange of the mechanical arm 8, so as to realize specific cutting and clamping operations.

[0078] Eight, control system, connected with tray conveying mechanism 3, tray rotating mechanism 4, cutting mechanism 6, clamping mechanism 7, visual mechanism, mechanical arm 8, for controlling the operation of the whole device, including tray 1 conveying, rotating, cutting, clamping; the tray 1 loaded with goods 2 is conveyed to the unpacking station by the tray conveying mechanism 3, the visual mechanism performs image recognition, the scissors 601 and the clamping mechanism 7 cooperate to realize the removal of the bundling belt, the hot melting knife 602, the clamping mechanism 7 and the tray rotating mechanism 4 cooperate to realize the removal of the wrapping film, so as to realize intelligent unpacking.

[0079] The technical scheme realizes an automatic unpacking process through the combination of the tray conveying mechanism 3, the tray rotating mechanism 4, the cutting mechanism 6, the clamping mechanism 7, the visual mechanism and the mechanical arm 8. The entire device can automatically complete the unpacking operation of the tray 1 and the goods 2 according to the preset program and the image recognition result, without manual intervention, thereby improving the work efficiency. Since the automatic operation is adopted, the unpacking process can be completed in a short time; the visual mechanism can quickly and accurately identify the tray 1, the tray 1 goods 2 and the bundling belt, the control system can quickly respond and guide the action of the mechanical arm 8, and the high-efficiency and rapid unpacking operation is realized. The mechanical arm 8 can realize the movement in multiple directions such as front and back, up and down, left and right and rotation, which makes the device adapt to the trays 1 and goods 2 of different sizes and shapes, and has strong flexibility and adaptability. The clamping mechanism 7, the cutting mechanism 6 and the hot melting knife 602 cooperate to complete the unpacking, and the work is reliable and stable. The technical scheme realizes the advantages of automation, high efficiency, rapidness, accurate identification, multifunction and safety and reliability, can improve the efficiency and accuracy of the unpacking of the power metering appliance tray 1 and goods 2, save the labor cost and improve the work efficiency.

[0080] Embodiment two

[0081] An intelligent unpacking method for power metering appliance tray goods, adopts the foregoing intelligent unpacking device, and the intelligent unpacking method comprises the following steps:

[0082] S1: the tray 1 with goods 2 is transported to the docking port of the unpacking work station, and enters the unpacking work station through the tray conveying mechanism 3;

[0083] S2: after the control system determines the position of the tray 1 through the visual mechanism, the tray rotating mechanism 4 is raised; the mechanical arm 8 acts to keep the clamping mechanism 7 and the cutting mechanism 6 on the same working surface.

[0084] S3: according to the positioning of the visual mechanism, the scissors 601 are used to cut the bundling belt at one end, at the same time, the clamping mechanism 7 is clamped on the upper part of the cutting point, after cutting, the mechanical arm 8 moves backward to make the bundling belt separate, and the step is repeated to remove the bundling belt in sequence;

[0085] S4: The hot melting knife 602 moves downward along the top end of the wrapping film to cut the wrapping film, the first clamping mechanism 7 located at the upper part clamps and fixes the cut edge, after the cutting is completed, the second clamping mechanism 7 located at the lower part clamps and fixes the cut edge, the rotating table of the tray rotating mechanism 4 rotates 360°, the mechanical arm 8 retreats, and the wrapping film is separated. Through the cooperation of the control system and the visual mechanism, the automatic unpacking operation is realized, the automatic operation can reduce manual intervention, improve the efficiency and accuracy of the operation, and reduce the labor cost and labor intensity. Through the positioning of the visual mechanism, the position of the goods 2 tray 1 can be accurately determined, the clamping mechanism 7 and the cutting mechanism 6 are ensured to be on the same operation surface, the accuracy of cutting and clamping is ensured, damage to the goods 2 or misoperation is avoided. During the cutting process of the bundling belt, the mechanical arm 8 is clamped on the upper part of the cutting point, moves backward after cutting to make the bundling belt separate, realizes the rapid and effective cutting of the bundling belt, improves the cutting efficiency and speed, and reduces the unpacking time. Through the hot melting knife 602 moving downward along the top end of the wrapping film to cut the wrapping film, the first clamping mechanism 7 located at the upper part clamps and fixes the cut edge, after the cutting is completed, the second clamping mechanism 7 located at the lower part clamps and fixes the cut edge, this cutting method can quickly and accurately cut the wrapping film to make it separate from the goods 2 tray 1. The rotating table of the tray rotating mechanism 4 rotates 360°, the mechanical arm 8 retreats, so that the wrapping film separates, and the design of the tray 1 rotating can conveniently remove the wrapping film from the goods 2 tray 1, reduces the complexity and time consumption of the operation.

[0086] The cutting mechanism 6 is provided with a first rotating part 605 and a first telescopic part 606, so that the cutter holder 603 can rotate by 360 degrees and move along the Z-axis direction, thereby driving the scissors 601 and the hot melt knife 602 to approach or move away from the tray working surface; the moving drive part drives the scissors 601 and the hot melt knife 602 to translate along the Y-axis direction, so as to cut or shear the packaging material; the clamping mechanism 7 is provided with a second telescopic part 702 to drive the fingers 701 to approach or move away from the tray working surface along the Z-axis direction; the clamping mechanism 7 is provided with a finger drive part 705 to drive the fingers 701 to move along the X-axis direction, so as to clamp or loosen the bundling tape or wrapping film on the cutting surface. The cutting mechanism 6 realizes the 360-degree rotation of the cutter holder 603 and the movement along the Z-axis direction through the design of the first rotating part 605 and the first telescopic part 606, so that the scissors 601 and the hot melt knife 602 can flexibly approach or move away from the tray working surface, adapting to the cutting requirements of different positions and angles. The moving drive part drives the scissors 601 or the hot melt knife 602 to translate along the Y-axis direction, which is used for cutting or shearing the packaging material, ensuring the accurate cutting of the cutter on the packaging material and improving the efficiency and accuracy of the cutting. The clamping mechanism 7 realizes the approach or movement of the fingers 701 to the tray working surface along the Z-axis direction through the design of the second telescopic part 702, and the clamping mechanism 7 also drives the fingers 701 to move along the X-axis direction through the finger drive part 705, which is used for clamping or loosening the bundling tape or wrapping film on the cutting surface. The scheme can flexibly adapt to bundling tapes or wrapping films of different positions and shapes, and improve the accuracy and stability of clamping. Through the multi-axis movement of the cutting mechanism 6 and the clamping mechanism 7 and the control of the drive part, the accurate control of the cutting and clamping process can be realized, the accuracy and stability of cutting and clamping are ensured, and damage or misoperation to the goods 2 is avoided. Multi-axis movement, translational cutting and multi-dimensional clamping reduce the operation time and labor intensity, and improve the efficiency and speed of operation.

[0087] The first rotating part 605 can be a rotating air cylinder, and the first telescopic part 606 is a servo electric cylinder, which are assembled together as a connecting arm of the cutter holder 603 and the main frame 607. The front and back movement and 360-degree rotation of the cutter holder 603 relative to the main frame 607 are realized.

[0088] The above-mentioned intelligent unpacking device and method for power metering appliance tray goods are specific embodiments of the present application, which have embodied the substantial characteristics and progress of the present application. According to the actual use needs, equivalent modifications can be made to the shape, structure, etc. of the present application under the inspiration of the present application, which are all within the protection scope of the present scheme.

Claims

1. An intelligent unpacking device for electric power metering instrument pallet cargo, characterized in that: include: A pallet conveying mechanism (3) for conveying the pallet (1); A pallet rotating mechanism (4) for rotating the pallet (1) located at the unpacking station; A cutting mechanism (6) for automatically cutting the strapping tape and the wrapping film, the cutting mechanism (6) comprising scissors (601) and a hot melt knife (602); A clamping mechanism (7) is used for flexibly taking and fixing the strapping tape and the wrapping film, wherein the clamping mechanism (7) comprises a first clamping mechanism (7) and a second clamping mechanism (7); A visual mechanism for image recognition, including recognition of the pallet (1), goods (2) on the pallet (1), and strapping, and feeding back the recognition results to a control system; A mechanical arm (8) is used to achieve forward and backward, upward and downward, left and right, and rotational movements; the cutting mechanism (6) and the clamping mechanism (7) are arranged on the mechanical arm (8); A control system is connected to the pallet conveying mechanism (3), the pallet rotating mechanism (4), the cutting mechanism (6), the clamping mechanism (7), the visual mechanism, and the robotic arm (8), and is used to control the operation of the entire device, including conveying, rotating, cutting, and clamping the pallet (1); the pallet (1) loaded with goods (2) is conveyed to the unpacking station by the pallet conveying mechanism (3), the visual mechanism performs image recognition, the scissors (601) and the clamping mechanism (7) cooperate to remove the strapping tape, and the hot melt knife (602), the clamping mechanism (7) and the pallet rotating mechanism (4) cooperate to remove the stretch film, thereby realizing intelligent unpacking; The scissors (601) and the hot melt knife (602) are respectively arranged on the same knife holder (603) through a movable driving member, and the knife holder (603) is provided with a linear guide rail (604). The scissors (601) and the hot melt knife (602) move on the linear guide rail (604) through the movable driving member; the cutting mechanism (6) also includes a first rotating member (605) and a first telescopic member (606), and the knife holder (603) is in the shape of an elongated strip. The middle part of the knife holder (603) is arranged on a main frame (607) through the first rotating member (605) and the first telescopic member (606), and the first rotating member (605) drives the knife holder (603) to rotate, and the first telescopic member (606) drives the knife holder (603) to move forward and backward; The first clamping mechanism (7) and the second clamping mechanism (7) both comprise a finger (701) that can be opened and closed, a second telescopic member (702) and a slider (703); the second telescopic member (702) and the slider (703) are provided between the finger (701) and the main frame (607); both ends of the main frame (607) are provided with slide rails (704) that match the slider (703); the main frame (607) is in the shape of an elongated strip, the middle part of the main frame (607) is connected to the robotic arm (8), one end of the second telescopic member (702) is connected to the finger (701), and the other end is connected to the slider (703); the second telescopic member (702) controls the finger (701) to move forward and backward, and the slider (703) drives the second telescopic member (702) and the finger (701) to move along the length direction of the main frame (607).

2. The intelligent unpacking device for palletized cargo of electric power metering instruments according to claim 1, characterized in that: It also includes a pallet lifting mechanism (5) located at the unpacking station, which is used to lift and lower the pallet (1) transported by the pallet conveying mechanism (3), and the pallet rotating mechanism (4) is arranged on the pallet lifting mechanism (5).

3. The intelligent unpacking device for palletized cargo of electric power metering instruments according to claim 1, characterized in that: The scissors (601) are crescent-shaped, and the tips of the scissors (601) are facing away from the hot melt knife (602).

4. The intelligent unpacking device for palletized cargo of electric power metering instruments according to claim 1, characterized in that: The middle portion of the main frame (607) is connected to the mechanical arm (8).

5. The intelligent unpacking device for palletized cargo of electric power metering instruments according to claim 1, characterized in that: The finger (701) comprises two fingers, a finger driving member (705) for driving the two fingers to move, a fixing seat (706) for fixing the finger driving member (705), and a fixing seat driving member (707) for driving the fixing seat (706) to move.

6. An intelligent unpacking method for palletized cargo of electric power metering instruments, characterized by: The intelligent unpacking device for electric power metering instrument pallet cargo according to any one of claims 1 to 5 is used, and the intelligent unpacking method comprises the following steps: 1) The pallet (1) with the goods is transferred to the docking port of the unpacking workstation and enters the unpacking station through the pallet conveying mechanism (3); 2) After the control system determines the position of the pallet (1) through the visual mechanism, the pallet rotating mechanism (4) is raised; the robotic arm (8) moves to keep the clamping mechanism (7) and the cutting mechanism (6) on the same working surface; 3) Based on the positioning of the visual mechanism, the scissors (601) cut one end of the strapping tape, and at the same time, the clamping mechanism (7) clamps the upper part of the shearing point. After cutting, the mechanical arm (8) moves backward to separate the strapping tape. Repeat this step to remove the strapping tape in sequence; 4) The hot melt knife (602) moves downward along the top of the stretch film to cut the stretch film, and the first clamping mechanism (7) located at the upper part clamps the fixed incision edge. After the cutting is completed, the second clamping mechanism (7) located at the lower part clamps the fixed incision edge, the turntable of the pallet rotating mechanism (4) rotates 360 degrees, the robot arm (8) retreats, and the stretch film is detached.

7. The intelligent unpacking method for electric power metering instrument pallet cargo according to claim 6, characterized in that: The cutting mechanism (6) is provided with a first rotating member (605) and a first telescopic member (606), so that the knife holder (603) can rotate 360 ​​degrees and move along the Z-axis direction, thereby driving the scissors (601) and the hot-melt knife (602) to approach or move away from the working surface of the pallet; the moving driving member drives the scissors (601) or the hot-melt knife (602) to move horizontally along the Y-axis direction, thereby cutting or cutting the strapping tape and the stretch film; the clamping mechanism (7) is provided with a second telescopic member (702), so as to drive the finger (701) to approach or move away from the working surface of the pallet along the Z-axis direction; the clamping mechanism (7) is provided with a finger driving member (705), which drives the finger (701) to move along the X-axis direction, thereby clamping or releasing the strapping tape or stretch film on the cutting surface.

Images