Electromagnet-controlled robot empty carton strapping tape shearing system and control method thereof

Abstract

The invention relates to an electromagnet control robot empty carton strapping tape shearing system and a control method thereof. The electromagnet control robot empty carton strapping tape shearing system is characterized by comprising a robot, an electromagnet type strapping tape shearing mechanism and a 3D visual camera; double electromagnets are adopted, control is simple, and action is rapid; simultaneous electrification and simultaneous power loss can be realized, so that the failure caused by overheating of an electromagnet coil due to long-time electrification of a single electromagnet is avoided; a 3D visual camera is adopted, so that the actual position of the ribbon can be accurately recognized, and the actual position is fed back to the PLC to control the movement of the robot; the clamping action of the cable tie is realized by adopting the electromagnet, so that the influence of air source pressure on the cable tie shearing mechanism is reduced; the pressing plate and the base plate are meshed for clamping, so that the binding belt is separated from the binding belt shearing mechanism in the pulling-out process; the blade which is rapidly installed in a pluggable mode is adopted, and replacement is easy; the robot is adopted to drive the cable tie shearing mechanism to move, the direction and angle of the cable tie shearing mechanism can be changed at will, and it is guaranteed that the cable tie is sheared off stably and efficiently.

Description

Technical Field

[0001] The present invention relates to the technical field of control systems, and in particular to an electromagnet-controlled robot-cutting carton strapping system and a control method thereof. Background Art

[0002] The invention of the carton unpacking machine and the carton unpacking and packing machine has solved the problem of manual unpacking and packing automation. However, the carton loading part of the carton unpacking machine and the carton unpacking and packing machine still needs to be handled manually. For a long time in the past, this labor must exist and cannot be reduced. The cartons on the pallet need to be unpacked manually, and then transported to the carton rack of the carton unpacking machine or the carton unpacking and packing machine, and then the cable ties that tie the cartons need to be cut and pulled out. This series of actions need to be completed manually. The manual actions are frequent and the labor intensity is relatively high. As long as the equipment is running, personnel must be arranged at the equipment carton rack. The robot automatic carton loading machine solves the problem of manual emptying of cartons. The equipment uses two robots to complete the action of emptying cartons. The first robot is responsible for the transportation of bundled cartons, grabbing the bundled cartons on the full pallet and placing them on the carton rack. The second robot is responsible for cutting the cable ties on the bundled cartons, and using the cable tie cutting mechanism installed at the end of the robot to cut and pull out the cable ties tied to the cartons.

[0003] The carton cutting and strapping system is an important core component of the robot automatic carton loading machine. The stability and efficiency of the system directly determines the working efficiency of the equipment. Due to the particularly high safety requirements, pneumatic devices cannot be used in many places. Therefore, it is necessary to develop an electromagnet-controlled robot cutting and strapping system to electrically control the clamping and release of the strap. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an electromagnet-controlled robot-cut carton strapping system and a control method thereof, which can solve the problem that the conventional carton strapping is cut manually, which is time-consuming, labor-intensive and costly.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: an electromagnet-controlled robot cutting carton strapping system, the innovation of which is: comprising a robot, an electromagnet-type strapping cutting mechanism and a 3D vision camera; The electromagnet type strapping cutting mechanism is installed at the end of the robot and is driven by the robot to change its position; the 3D vision camera is arranged on the side of the position where the strapping of the carton is cut, and a 3D vision area is formed at the position where the strapping of the carton is cut; The electromagnet type shearing strapping mechanism comprises a U-shaped frame, a first electromagnet, a second electromagnet, a bottom plate, a pressing plate, a scissor unit and a guide piece; The first electromagnet is arranged on the inner side wall of one side of the U-shaped frame, and the second electromagnet is arranged on the inner side wall of the other side of the U-shaped frame; one end of the bottom plate is connected to one end of the opening of the U-shaped frame, and a gap is formed between the other end of the bottom plate and the other end of the U-shaped frame; the pressing plate is hingedly arranged on the upper surface of the bottom plate, and a seesaw structure is formed on the bottom plate; the output end of the first electromagnet and the output end of the second electromagnet are respectively located above the two ends of the pressing plate; the first electromagnet cooperates with the second electromagnet to drive the pressing plate to rotate around the hinge; The scissors unit comprises a blade holder and a blade; the blade holder is mounted on a bottom plate, and a blade slot is provided on the blade holder at an angle of 45°; the blade is arranged in the blade slot, and the cutting edge of the blade forms an angle of 45° with the horizontal direction; the side opening of the blade slot is a cutting opening that is connected to the inner cavity of the blade slot; The guide piece is arranged at the end of the bottom plate and extends to the cutting opening of the blade groove, and is used for guiding the strapping belt.

[0006] Furthermore, the first electromagnet is an energized spring self-resetting electromagnet; and the second electromagnet is a de-energized electromagnet.

[0007] Furthermore, the pressing plate and the bottom plate are designed to match each other, the pressing plate is designed with a protrusion, and the bottom plate is designed with a groove. The pressing plate and the bottom plate are designed to engage with each other, so that the cable tie can be firmly clamped therebetween.

[0008] A control method for an electromagnet-controlled robot cutting a carton strapping system, the innovation of which is as follows: The specific position of the cable tie is detected through camera imaging. When the cable tie gradually enters the detection area, the 3D vision camera starts working and feeds back the specific position information of the cable tie to the PLC in real time. The specific position information includes the length L of the cable tie entering the detection area, the distance B between the cable tie and the border of the carton, the height of the upper plane of the cable tie from the bottom of the carton, and the angle between the cable tie and the direction of travel; The thickness of the bundled cartons is recorded as H. When the 3D vision camera detects that the length L of the cable tie entering the detection area is greater than H-50mm, the 3D vision camera immediately feeds back the four position information of the cable tie to the PLC, and the PLC controls the robot to drive the cable tie cutting mechanism to complete the action of cutting the cable tie and pulling out the carton.

[0009] Furthermore, when the bundle of cartons just enters the 3D vision inspection area, the cable tie cutting mechanism is located at position I, the first electromagnet and the second electromagnet are both in a power-off state, and the pressing plate and the bottom plate are in an engaged and closed state; After the 3D vision camera detects the position of the cable tie, it feeds back the information to the PLC. The PLC controls the robot to drive the cable tie cutting mechanism to move to position II. At this time, the guide piece just touches the plane on the knife carton close to the position of the cable tie. The first electromagnet and the second electromagnet are energized at the same time, and the pressing plate and the bottom plate are separated into an open state. When the robot drives the electromagnet type strapping cutting mechanism to move from position II to position III, the strap is embedded in the strapping cutting mechanism under the action of the guide plate and just touches the blade. At this time, the first electromagnet and the second electromagnet are both de-energized, and the pressure plate is reset to be in meshing state with the bottom plate, clamping the strap in the meshing groove; When the robot drives the electromagnetic strapping cutting mechanism to continue moving from position III to position IV, the strapping tie is completely cut off by the cross-cutting of the blade. At this time, due to the engagement and clamping of the pressure plate and the bottom plate, one end of the broken strapping tie is clamped in the strapping cutting mechanism. The robot then moves diagonally upward until the strapping tie is completely pulled out of the carton.

[0010] The advantages of the present invention are: 1) The present invention adopts a double electromagnet design, and the two electromagnets are used in combination, one is responsible for pulling and the other is responsible for sucking, which is simple to control and quick in action; one energized and one de-energized electromagnet are used in combination, which can be energized and de-energized at the same time, avoiding the failure caused by overheating of the electromagnet coil due to long-term energization of a single electromagnet; the design of a 3D visual camera can accurately identify the actual position of the cable tie and feed it back to the PLC to control the movement of the robot.

[0011] 2) The present invention adopts an electromagnet to realize the clamping action of the cable tie, thereby reducing the influence of the air source pressure on the cable tie cutting mechanism; adopts a clamping type of meshing between a pressure plate and a base plate to ensure that the cable tie is detached from the cable tie cutting mechanism during the pulling process; adopts a plug-in quick-installation blade design, which is easy to replace; adopts a design in which a robot is used to drive the movement of the cable tie cutting mechanism, which can arbitrarily change the direction and angle of the cable tie mechanism, thereby ensuring stable and efficient cutting of the cable tie. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0013] Figure 1 The present invention is a structural diagram of an electromagnet-controlled robot cutting carton strapping system.

[0014] Figure 2 The present invention is a diagram of an electromagnet type strapping cutting mechanism for an electromagnet controlled robot to cut carton strapping system structure.

[0015] Figure 3 This is another angled view of the electromagnetic type strapping cutting mechanism of the electromagnetic controlled robot cutting carton strapping system structure of the present invention.

[0016] Figure 4 This is a structural diagram of a scissor unit of a system structure of an electromagnet-controlled robot for cutting carton strapping straps according to the present invention.

[0017] Figures 5 to 7 This is a control state diagram of a system for cutting carton strapping straps with an electromagnet-controlled robot according to the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] like Figures 1 to 4 The electromagnet-controlled robot-cutting carton strapping system shown includes a robot 1 , an electromagnet-type strapping cutting mechanism 2 and a 3D vision camera 3 .

[0021] The electromagnetic strapping cutting mechanism 2 is installed at the end of the robot 1 and is driven by the robot 1 to change its position; the 3D vision camera 3 is set on the side of the position for cutting the strapping of the carton, and forms a 3D vision area at the position for cutting the strapping of the carton.

[0022] The electromagnetic strapping shearing mechanism 2 comprises a U-shaped frame 21 , a first electromagnet 22 , a second electromagnet 23 , a bottom plate 24 , a pressing plate 25 , a scissor unit 26 and a guide piece 27 .

[0023] The first electromagnet 22 is arranged on the inner wall of one side of the U-shaped frame 21, and the second electromagnet 22 is arranged on the inner wall of the other side of the U-shaped frame 21; one end of the bottom plate 2 is connected to one end of the opening of the U-shaped frame, and a gap is formed between the other end of the bottom plate 24 and the other end of the U-shaped frame; the pressing plate 25 is hingedly arranged on the upper surface of the bottom plate 24, and a seesaw structure is formed on the bottom plate 24; the output end of the first electromagnet 22 and the output end of the second electromagnet 23 are respectively located above the two ends of the pressing plate; the first electromagnet 22 and the second electromagnet 23 cooperate to drive the pressing plate 25 to rotate around the hinge.

[0024] The scissors unit 26 includes a blade holder 261 and a blade 262; the blade holder 261 is installed on the base plate 24, and a blade slot is opened on the blade holder 261 at an angle of 45°; the blade 262 is arranged in the blade slot, and the cutting edge of the blade 22 forms an angle of 45° with the horizontal direction; the side opening of the blade slot is a cutting opening that is connected to the inner cavity of the blade slot.

[0025] The guide piece 27 is disposed at the end of the bottom plate 24 and extends to the cutting opening of the blade groove 262 for guiding the strapping belt.

[0026] The first electromagnet 22 is an energized spring self-resetting electromagnet; the second electromagnet 23 is a de-energized electromagnet.

[0027] The pressing plate 25 and the bottom plate 24 are designed to match each other. The pressing plate 25 is designed with a protrusion, and the bottom plate 24 is designed with a groove. The pressing plate 25 and the bottom plate 24 are designed to mesh with each other, so that the cable tie can be firmly clamped therebetween.

[0028] like Figures 5 to 7 As shown: A control method for an electromagnet-controlled robot to cut a carton strapping system, the specific control method is as follows: The specific position of the cable tie is detected through camera imaging. When the cable tie gradually enters the detection area, the 3D vision camera starts working and feeds back the specific position information of the cable tie to the PLC in real time. The specific position information includes the length L of the cable tie entering the detection area, the distance B between the cable tie and the border of the carton, the height of the upper plane of the cable tie from the bottom of the carton, and the angle between the cable tie and the direction of travel; The thickness of the bundled cartons is recorded as H. When the 3D vision camera detects that the length L of the cable tie entering the detection area is greater than H-50mm, the 3D vision camera immediately feeds back the four position information of the cable tie to the PLC, and the PLC controls the robot to drive the cable tie cutting mechanism to complete the action of cutting the cable tie and pulling out the carton.

[0029] When the bundled cartons just enter the 3D vision inspection area, the cable tie cutting mechanism is located at position I, the first electromagnet and the second electromagnet are both in a power-off state, and the pressure plate and the bottom plate are in an engaged and closed state.

[0030] After the 3D vision camera detects the position of the cable tie, it feeds back the information to the PLC. The PLC controls the robot to drive the cable tie cutting mechanism to move to position II. At this time, the guide piece just touches the plane on the knife carton close to the position of the cable tie. The first electromagnet and the second electromagnet are energized at the same time, and the pressure plate and the bottom plate are separated into an open state.

[0031] When the robot drives the electromagnet type strap cutting mechanism to move from position II to position III, the strap is embedded in the strap cutting mechanism under the action of the guide plate and just touches the blade. At this time, the first electromagnet and the second electromagnet are both de-energized, and the pressure plate is reset to engage with the bottom plate, clamping the strap in the engagement groove.

[0032] When the robot drives the electromagnetic strapping cutting mechanism to continue moving from position III to position IV, the strapping tie is completely cut off by the cross-cutting of the blade. At this time, due to the engagement and clamping of the pressure plate and the bottom plate, one end of the broken strapping tie is clamped in the strapping cutting mechanism. The robot then moves diagonally upward until the strapping tie is completely pulled out of the carton.

[0033] Those skilled in the art should understand that the present invention is not limited to the above-mentioned embodiments. The above-mentioned embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, and these changes and improvements shall all fall within the scope of the present invention claimed for protection.

Claims

1. An electromagnet-controlled robot-cutting carton strapping system, characterized in that: It includes a robot, an electromagnetic strapping cutting mechanism and a 3D vision camera; The electromagnet type strapping cutting mechanism is installed at the end of the robot and is driven by the robot to change its position; the 3D vision camera is arranged on the side of the position where the strapping of the carton is cut, and a 3D vision area is formed at the position where the strapping of the carton is cut; The electromagnet type shearing strapping mechanism comprises a U-shaped frame, a first electromagnet, a second electromagnet, a bottom plate, a pressing plate, a scissor unit and a guide piece; The first electromagnet is arranged on the inner side wall of one side of the U-shaped frame, and the second electromagnet is arranged on the inner side wall of the other side of the U-shaped frame; one end of the bottom plate is connected to one end of the opening of the U-shaped frame, and a gap is formed between the other end of the bottom plate and the other end of the U-shaped frame; the pressing plate is hingedly arranged on the upper surface of the bottom plate, and a seesaw structure is formed on the bottom plate; the output end of the first electromagnet and the output end of the second electromagnet are respectively located above the two ends of the pressing plate; the first electromagnet cooperates with the second electromagnet to drive the pressing plate to rotate around the hinge; The scissors unit comprises a blade holder and a blade; the blade holder is mounted on a bottom plate, and a blade slot is provided on the blade holder at an angle of 45°; the blade is arranged in the blade slot, and the cutting edge of the blade forms an angle of 45° with the horizontal direction; the side opening of the blade slot is a cutting opening that is connected to the inner cavity of the blade slot; The guide piece is arranged at the end of the bottom plate and extends to the cutting opening of the blade groove, and is used for guiding the strapping belt.

2. The electromagnet-controlled robot-cutting carton strapping system according to claim 1, characterized in that: The first electromagnet is an energized spring self-resetting electromagnet; the second electromagnet is a de-energized electromagnet.

3. The electromagnet-controlled robot-cutting carton strapping system according to claim 1, characterized in that: The pressing plate and the bottom plate are designed to match each other, the pressing plate is designed with a protrusion, the bottom plate is designed with a groove, and the pressing plate and the bottom plate are designed to mesh with each other, so that the cable tie can be firmly clamped therebetween.

4. A control method for an electromagnet-controlled robot cutting a carton strapping system, characterized in that: The specific control methods are as follows: The specific position of the cable tie is detected through camera imaging. When the cable tie gradually enters the detection area, the 3D vision camera starts working and feeds back the specific position information of the cable tie to the PLC in real time. The specific position information includes the length L of the cable tie entering the detection area, the distance B between the cable tie and the border of the carton, the height of the upper plane of the cable tie from the bottom of the carton, and the angle between the cable tie and the direction of travel; The thickness of the bundled cartons is recorded as H. When the 3D vision camera detects that the length L of the cable tie entering the detection area is greater than H-50mm, the 3D vision camera immediately feeds back the four position information of the cable tie to the PLC, and the PLC controls the robot to drive the cable tie cutting mechanism to complete the action of cutting the cable tie and pulling out the carton.

5. The control method of the electromagnet-controlled robot cutting carton strapping system according to claim 4, characterized in that: When the bundled cartons just enter the 3D vision inspection area, the cable tie cutting mechanism is at position I, the first electromagnet and the second electromagnet are both in a power-off state, and the pressing plate and the bottom plate are in an engaged and closed state; After the 3D vision camera detects the position of the cable tie, it feeds back the information to the PLC. The PLC controls the robot to drive the cable tie cutting mechanism to move to position II. At this time, the guide piece just touches the plane on the knife carton close to the position of the cable tie. The first electromagnet and the second electromagnet are energized at the same time, and the pressing plate and the bottom plate are separated into an open state. When the robot drives the electromagnet type strapping cutting mechanism to move from position II to position III, the strap is embedded in the strapping cutting mechanism under the action of the guide plate and just touches the blade. At this time, the first electromagnet and the second electromagnet are both de-energized, and the pressure plate is reset to be in meshing state with the bottom plate, clamping the strap in the meshing groove; When the robot drives the electromagnetic strapping cutting mechanism to continue moving from position III to position IV, the strapping tie is completely cut off by the cross-cutting of the blade. At this time, due to the engagement and clamping of the pressure plate and the bottom plate, one end of the broken strapping tie is clamped in the strapping cutting mechanism. The robot then moves diagonally upward until the strapping tie is completely pulled out of the carton.

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