Double-robot automatic empty box system based on 3D vision

Abstract

The invention relates to a double-robot automatic empty carton feeding system based on 3D vision. The system is characterized by comprising a tray positioning frame, a carton plate frame, a partition plate collecting frame, a turnover frame, an unstacking robot, an unstacking 3D vision camera, a carton temporary storage frame, an arrangement mechanism, a belt shearing robot, a belt shearing 3D vision camera and a laser radar; the problems that according to a common box opening and boxing all-in-one machine, cartons on a tray are unstacked manually, then the cartons are carried to a box plate frame of a box opening machine or the box opening and boxing all-in-one machine, and binding belts for binding the cartons are cut off and drawn out through scissors, a series of actions need to be completed manually, the manual actions are frequent, and the labor intensity is relatively large are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of carton production, and in particular to a dual-robot automatic empty box loading system based on 3D vision. Background Art

[0002] The invention of the carton unpacker and the carton unpacker solves the automation problem of manual unpacking and packing. However, the loading of cartons by the carton unpacker and the carton unpacker still needs to be handled manually. For a long time in the past, this labor must exist and cannot be reduced. Manual workers need to unstack the cartons on the pallet, then move them to the carton rack of the carton unpacker or the carton unpacker, and then use scissors to cut and pull out the tie bands that tie the cartons. This series of actions needs to be completed manually, and 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. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a dual-robot automatic empty box loading system based on 3D vision, which can solve the problem that general carton opening and packing machines use manual labor to destacker the cartons on the pallet, and then transport them to the carton opening machine or the carton board rack of the carton opening and packing machine, and then use scissors to cut and pull out the cable ties that tie the cartons. This series of actions need to be completed manually, and the manual actions are frequent and the labor intensity is relatively high.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a dual-robot automatic empty box loading system based on 3D vision, the innovation of which is: including a pallet positioning rack, a box plate rack, a partition collecting rack, a turning rack, a depalletizing robot, a depalletizing 3D vision camera, a carton buffer rack, a sorting mechanism, a belt cutting robot, a belt cutting 3D vision camera and a laser radar; The pallet positioning frame and the depalletizing 3D vision camera are arranged at a full pallet carton stacking position; the pallet positioning frame is installed on the ground, and the depalletizing 3D vision camera is installed at the center of the pallet positioning frame, and the depalletizing 3D vision camera can accurately detect the front, back, left, right, and height of each bundle of cartons, as well as the front and back conditions of each bundle of cartons; The depalletizing robot is arranged at one side of the carton stack of the full pallet and is used for grabbing and depalletizing the carton stack; The turning frame is arranged on one side of the depalletizing robot and is used for turning over the cartons. If the cartons need to be turned over, the depalletizing robot grabs the bundled cartons and places them on the turning frame first, and the bundled cartons are neatly arranged by the arranging and beating cylinders on the turning frame. The box-plate rack is arranged on one side of the depalletizing robot, and is used to convey cartons; a detection electronic eye is arranged on the box-plate rack; the detection data can be fed back to the PLC through the detection electronic eye, and the PLC calculates the state of the bundled carton stack at the carton release position to determine whether the carton stack is released in place, and if the state is abnormal, the PLC can promptly alarm and control the equipment to stop; The carton buffer rack is arranged on one side of the turning rack, and is used to realize that when the detection electric eye detects that the bundled cartons at the carton release position on the box-board rack have not been conveyed to the tie cutting position, the depalletizing robot can move the turned-over cartons to the carton buffer rack; or when the full pallet of cartons is disassembled and needs to be replaced with a new full pallet, because it takes a certain amount of time to replace the pallet, and the equipment is operating normally, the depalletizing robot can grab the cartons on the buffer rack and move them to the box-board rack, thereby ensuring that the operation of the equipment is not affected by the replacement of the pallet; The partition collecting rack is arranged on one side of the depalletizing robot, and the depalletizing robot places the partitions between the full stacks of cartons; The arranging mechanism includes a side arranging mechanism and a top arranging mechanism, and both adopt a cylinder to drive the side arranging mechanism to arranging and push the cartons on the box and board rack conveying table to the fixed side of the retaining edge, and the top arranging mechanism flattens the uneven cartons to avoid the failure of cutting the cable tie due to the uneven cartons; The strap cutting robot and the strap cutting 3D vision camera are both arranged on one side of the box frame; by arranging a strapping scissors on the strap cutting robot, the strap cutting 3D vision camera is used to cut the packaging strap of the carton; The laser radar is used to detect the surrounding area to prevent people from approaching.

[0005] Furthermore, the pallet positioning frame adopts an AGV trolley to accurately transport the full pallet carton stack to the full pallet carton stack position.

[0006] Furthermore, the depalletizing robot is provided with a vacuum suction cup, which provides vacuum through a vacuum pump. The vacuum suction cup is also equipped with a vacuum detection meter, which can detect the vacuum degree in real time to predict whether the grabbing is successful or whether there is vacuum leakage during the movement after grabbing, resulting in the box falling; the depalletizing 3D vision camera feeds back the position information of each bundle of cartons on the carton stack to the PLC, and the PLC controls the depalletizing robot to accurately grab each bundle of cartons.

[0007] Furthermore, the depalletizing robot places the bundled cartons on the turning frame at an angle of 45° from above. After being sorted by the sorting cylinder, the depalletizing robot sucks and lifts the sorted bundled cartons from the bottom of the cartons, and the depalletizing robot rotates itself 180°, and the bundled cartons are turned over and over.

[0008] Furthermore, when the bundled cartons are transported to the tie cutting position, the 3D vision camera immediately starts detection. The 3D vision camera can detect the height of the instantaneous position of the carton and the distance of the tie relative to the boundary of the carton, and feed the information back to the PLC, which then outputs the information to the tie cutting robot through the PLC.

[0009] Furthermore, the cable tie scissors are composed of a cylinder and a blade. The cylinder includes two clamping cylinders and a scissor cylinder. The blade is fixed on the scissor cylinder and can move linearly forward and backward with the cylinder. A guide piece is designed on the front lower part of the scissors; the movable ends of the clamping cylinders are installed with clamping plates, the clamping plates are designed with protrusions, and the base plate is designed with grooves. The clamping plates and the base plate form a state of mutual engagement to ensure the firmness of the cable tie clamping; the guide pieces are made of spring steel sheet material and have sufficient elasticity; the function of the guide pieces is to guide the cable tie into the clamping clamping plates during the movement of the scissors. Since the guide pieces need to be close to the upper surface of the carton bundle, the elasticity of the guide pieces can allow a certain deviation in the height of the upper surface of the carton bundle, and can protect the upper surface of the carton bundle from being scratched by the guide pieces; the blade is installed and fixed at the movable end of the scissor cylinder, the blade is installed at a 45° angle to the direction of travel, and the blade moves back and forth with the scissor cylinder.

[0010] The advantages of the present invention are: 1) The dual-robot automatic carton loading machine based on 3D vision of the present invention is mainly suitable for the automatic emptying of carton actions of carton opening machines and carton opening and packing machines for carton products, and realizes mechanical automation of the manual action of adding carton; the robot first depallets the whole pallet of bundled cartons delivered by AGV, that is, the robot accurately grabs the cartons on the pallet and transports them to the box plate rack of the carton opening machine or the carton opening and packing machine, and then the robot cuts the carton strapping belt, pulls out the carton and throws it into the collection bucket; 2) The present invention adopts PLC control and comprehensively adopts 3D vision technology, laser radar detection technology, and collaborative robot technology. Through touch screen operation, the collaborative robot and various detection technologies are connected through PLC to achieve precise motion control of the equipment and facilitate customer operation to meet customer needs. Among them, laser radar technology is a peripheral detection and protection device of the equipment, which can detect whether people or other objects enter the equipment operation area during the movement of the equipment. Once it is detected that people or other objects enter the equipment operation area, the detection device can feedback to the equipment PLC and trigger an alarm at the same time, and the PLC controls the equipment to shut down; 3) The present invention uses dual robots and dual 3D visual inspection. The robots and 3D vision work together. The dual 3D vision respectively detects the position height and positive and negative state of the bundled cartons on the pallet, the left and right front and back positions of the bundled cartons' tie straps, and the height of the bundled cartons. The dual robots are responsible for accurately grabbing the bundled cartons from the pallet, cutting the tie straps on the box rack of the carton unpacker or the carton unpacker, pulling the tie straps out, and throwing them into the designated collection bucket. The reliability of 3D visual inspection and the accuracy of robot movement well ensure the stability and efficiency of the equipment operation, replacing manual carton loading and eliminating the uncertainty of manual carton loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0012] Figure 1 This is a structural diagram of a dual-robot automatic emptying carton machine system based on 3D vision of the present invention.

[0013] Figure 2 This is a working state diagram of a depalletizing robot of a dual-robot automatic emptying carton machine system based on 3D vision of the present invention.

[0014] Figure 3 This is a working state diagram of the box rack of the dual-robot automatic emptying carton machine system based on 3D vision of the present invention.

[0015] Figure 4 This is a working state diagram of the overturning frame of the dual-robot automatic emptying carton machine system based on 3D vision of the present invention.

[0016] Figure 5 This is a sorting mechanism diagram of a dual-robot automatic emptying carton machine system based on 3D vision of the present invention.

[0017] Figure 6 This is a diagram of the ribbon cutting robot of the dual-robot automatic emptying carton machine system based on 3D vision of the present invention.

[0018] Figure 7 This is a working state diagram of the ribbon cutting robot of the dual-robot automatic emptying carton machine system based on 3D vision of the present invention.

[0019] Figure 8 This is an exploded view of the cable tie scissors of the dual-robot automatic emptying carton machine system based on 3D vision of the present invention. DETAILED DESCRIPTION

[0020] 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.

[0021] 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.

[0022] like Figures 1 to 8 The shown system is a dual-robot automatic empty box loading system based on 3D vision, comprising a pallet positioning rack 1, a box board rack 2, a partition collection rack 3, a turning rack 4, a depalletizing robot 5, a depalletizing 3D vision camera 6, a carton buffer rack 7, a sorting mechanism 8, a strap cutting robot 9, a strap cutting 3D vision camera 10 and a laser radar.

[0023] The pallet positioning frame 1 and the depalletizing 3D vision camera 6 are arranged at a stacking position of a full pallet of cartons; the pallet positioning frame 1 is installed on the ground, and the depalletizing 3D vision camera 6 is installed at the center of the pallet positioning frame. The depalletizing 3D vision camera 6 can accurately detect the front and back positions and heights of each bundle of cartons, as well as the front and back conditions of each bundle of cartons.

[0024] The depalletizing robot 5 is arranged at one side of the carton stack of the full pallet, and is used for grabbing and depalletizing the carton stack.

[0025] The turning frame 4 is arranged on one side of the depalletizing robot 5 and is used for turning over the cartons. If the cartons need to be turned over, the depalletizing robot 5 grabs the bundled cartons and places them on the turning frame 4 first, and the bundled cartons are arranged neatly by the arranging and beating cylinders on the turning frame 4.

[0026] The box-plate rack 2 is arranged on one side of the depalletizing robot and is used to convey cartons. A detection electronic eye is arranged on the box-plate rack 2. The detection data can be fed back to the PLC through the detection electronic eye. The PLC calculates the state of the bundled carton stack at the carton release position to determine whether the carton stack is released in place. If the state is abnormal, the PLC can give an alarm in time and control the equipment to stop. The carton buffer rack 7 is arranged on one side of the turning rack, and is used to realize that when the detection electric eye detects that the bundled cartons at the carton release position on the box board rack have not been transported to the tie cutting position, the depalletizing robot 5 can move the turned cartons to the carton buffer rack 7; or when a full pallet of cartons has been disassembled and a new full pallet needs to be replaced, because it takes a certain amount of time to replace the pallet, and the equipment is operating normally, the depalletizing robot 5 can grab the cartons on the buffer rack and move them to the box board rack 2 to ensure that the operation of the equipment is not affected by the replacement of the pallet.

[0027] The partition collecting rack 3 is arranged on one side of the depalletizing robot 5 , and the depalletizing robot 5 is used to place the partitions between the full stacks of cartons.

[0028] The sorting mechanism 8 includes a side sorting mechanism 81 and a top sorting mechanism 82, and both adopt a cylinder to drive the side sorting mechanism to push the cartons on the box rack conveying table to the fixed side of the guard wall, and the top sorting mechanism pats the uneven cartons to make them flat to avoid failure of cutting the cable tie due to uneven cartons.

[0029] The strap cutting robot 9 and the strap cutting 3D vision camera 10 are both arranged on one side of the box frame; by arranging the strap cutting robot 9 with the strap cutting scissors 91, the strap cutting 3D vision camera 10 is used to cut the packaging strap of the carton.

[0030] LiDAR is used to detect surrounding areas and prevent people from approaching.

[0031] The pallet positioning frame 1 adopts an AGV trolley to accurately transport the full pallet carton stack to the full pallet carton stack position.

[0032] The depalletizing robot 5 is provided with a vacuum suction cup, which provides vacuum through a vacuum pump. The vacuum suction cup is also equipped with a vacuum detection meter, which can detect the vacuum degree in real time to predict whether the grasping is successful or whether there is a vacuum leakage during the movement after grasping, resulting in the box falling; the depalletizing 3D vision camera feeds back the position information of each bundle of cartons on the carton stack to the PLC, and the PLC controls the depalletizing robot to accurately grasp each bundle of cartons.

[0033] The depalletizing robot 5 places the bundled cartons on the turning frame 4 at an angle of 45° from above. After being sorted by the sorting cylinder, the depalletizing robot sucks and lifts the sorted bundled cartons from the bottom of the cartons, and the depalletizing robot rotates 180° itself, that is, the bundled cartons are turned over.

[0034] When the bundled cartons are transported to the tie cutting position, the depalletizing 3D vision camera immediately starts detection. The depalletizing 3D vision camera can detect the height of the instantaneous position of the carton and the distance of the tie relative to the boundary of the carton, and feed the information back to the PLC, which then outputs the information to the tie cutting robot through the PLC.

[0035] The cable tie scissors 91 are composed of a cylinder and a blade. The cylinder includes two clamping cylinders and a scissor cylinder. The blade is fixed on the scissor cylinder and can move straightly forward and backward with the cylinder. A guide piece is designed on the front lower part of the scissors; a clamping plate is installed on the movable end of the clamping cylinder, a protrusion is designed on the clamping plate, and a groove is designed on the base plate. The clamping plate and the base plate form a state of mutual engagement to ensure the firmness of the cable tie clamping; the guide piece is made of spring steel sheet material and has sufficient elasticity; the function of the guide piece is to guide the cable tie into the clamping clamping plate during the movement of the scissors. Since the guide piece needs to be close to the upper surface of the carton bundle, the elasticity of the guide piece can allow a certain deviation in the height of the upper surface of the carton bundle, and can protect the upper surface of the carton bundle from being scratched by the guide piece; the blade is installed and fixed at the movable end of the scissor cylinder, the blade is installed at a 45° angle to the direction of travel, and the blade moves back and forth with the scissor cylinder.

[0036] The working principle of the present invention is as follows: the AGV transports the bundled cartons on a full pallet to the full pallet position; the depalletizing robot grabs the bundled cartons on the pallet; if the cartons do not need to be turned over, the depalletizing robot grabs the bundled cartons and carries them to the buffer position or directly carries them to the bundled cartons release position of the box rack; if the cartons need to be turned over, the depalletizing robot grabs the bundled cartons and carries them to the bundled cartons turning position; the bundled cartons are sorted at the turning position; after the bundled cartons are sorted, the depalletizing robot sucks the bundled cartons from the bottom Lift up and flip the carton through the robot; the flipped carton can go to two positions under the transportation of the depalletizing robot. First, it can be directly transported to the bundled carton release position on the box rack; second, it can be transported to the bundled carton buffer position, and then grabbed from the bundled carton buffer position and transported to the bundled carton release position on the box rack; the bundled carton at the bundled carton release position moves with the box rack to the cable tie cutting position, and the cable tie is cut and pulled out by the cable tie cutting robot; the cable tie cutting robot throws the pulled cable tie into the designated collection bin.

[0037] 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. A dual-robot automatic empty box loading system based on 3D vision, characterized by: Including pallet positioning rack, box and board rack, partition collection rack, turning rack, depalletizing robot, depalletizing 3D vision camera, carton buffer rack, sorting mechanism, tape cutting robot, tape cutting 3D vision camera and laser radar; The pallet positioning frame and the depalletizing 3D vision camera are arranged at a full pallet carton stacking position; the pallet positioning frame is installed on the ground, and the depalletizing 3D vision camera is installed at the center of the pallet positioning frame, and the depalletizing 3D vision camera can accurately detect the front, back, left, right, and height of each bundle of cartons, as well as the front and back conditions of each bundle of cartons; The depalletizing robot is arranged at one side of the carton stack of the full pallet and is used for grabbing and depalletizing the carton stack; The turning frame is arranged on one side of the depalletizing robot and is used for turning over the cartons. If the cartons need to be turned over, the depalletizing robot grabs the bundled cartons and places them on the turning frame first, and the bundled cartons are neatly arranged by the arranging and beating cylinders on the turning frame. The box-plate rack is arranged on one side of the depalletizing robot, and is used to convey cartons; a detection electronic eye is arranged on the box-plate rack; the detection data can be fed back to the PLC through the detection electronic eye, and the PLC calculates the state of the bundled carton stack at the carton release position to determine whether the carton stack is released in place, and if the state is abnormal, the PLC can promptly alarm and control the equipment to stop; The carton buffer rack is arranged on one side of the turning rack, and is used to realize that when the detection electric eye detects that the bundled cartons at the carton release position on the box-board rack have not been conveyed to the tie cutting position, the depalletizing robot can move the turned-over cartons to the carton buffer rack; or when the full pallet of cartons is disassembled and needs to be replaced with a new full pallet, because it takes a certain amount of time to replace the pallet, and the equipment is operating normally, the depalletizing robot can grab the cartons on the buffer rack and move them to the box-board rack, thereby ensuring that the operation of the equipment is not affected by the replacement of the pallet; The partition collecting rack is arranged on one side of the depalletizing robot, and the depalletizing robot places the partitions between the full stacks of cartons; The arranging mechanism includes a side arranging mechanism and a top arranging mechanism, and both adopt a cylinder to drive the side arranging mechanism to arranging and push the cartons on the box and board rack conveying table to the fixed side of the retaining edge, and the top arranging mechanism flattens the uneven cartons to avoid the failure of cutting the cable tie due to the uneven cartons; The strap cutting robot and the strap cutting 3D vision camera are both arranged on one side of the box frame; by arranging a strapping scissors on the strap cutting robot, the strap cutting 3D vision camera is used to cut the packaging strap of the carton; The laser radar is used to detect the surrounding area to prevent people from approaching.

2. The dual-robot automatic empty box loading system based on 3D vision according to claim 1 is characterized by: The pallet positioning frame adopts an AGV trolley to accurately transport a full pallet of carton stacks to a full pallet of carton stacks.

3. The dual-robot automatic empty box loading system based on 3D vision according to claim 1 is characterized by: The depalletizing robot is provided with a vacuum suction cup, which provides vacuum through a vacuum pump. The vacuum suction cup is also equipped with a vacuum detection meter, which can detect the vacuum degree in real time to predict whether the grasping is successful or whether there is a vacuum leakage during the movement after grasping, resulting in the box falling; the depalletizing 3D vision camera feeds back the position information of each bundle of cartons on the carton stack to the PLC, and the PLC controls the depalletizing robot to accurately grasp each bundle of cartons.

4. The dual-robot automatic empty box loading system based on 3D vision according to claim 1 is characterized by: The depalletizing robot places the bundled cartons on the turning frame at an angle of 45° from above. After being sorted by the sorting cylinder, the depalletizing robot sucks and lifts the sorted bundled cartons from the bottom of the cartons. The depalletizing robot rotates 180° itself, and the bundled cartons are turned over and over.

5. The dual-robot automatic empty box loading system based on 3D vision according to claim 1 is characterized by: When the bundled cartons are transported to the tie cutting position, the 3D vision camera immediately starts detection. The 3D vision camera can detect the height of the instantaneous position of the carton and the distance of the tie relative to the boundary of the carton, and feed the information back to the PLC, which then outputs the information to the tie cutting robot through the PLC.

6. The dual-robot automatic empty box loading system based on 3D vision according to claim 1 is characterized by: The cable tie scissors are composed of a cylinder and a blade. The cylinder includes two clamping cylinders and a scissor cylinder. The blade is fixed on the scissor cylinder and can move straightly forward and backward with the cylinder. A guide piece is designed on the front lower part of the scissors; the movable ends of the clamping cylinders are installed with clamping plates, the clamping plates are designed with protrusions, and the base plate is designed with grooves. The clamping plates and the base plate form a state of mutual engagement to ensure the firmness of the cable tie clamping; the guide piece is made of spring steel sheet material and has sufficient elasticity; the function of the guide piece is to guide the cable tie into the clamping clamping plate during the movement of the scissors. Since the guide piece needs to be close to the upper surface of the carton bundle, the elasticity of the guide piece can allow a certain deviation in the height of the upper surface of the carton bundle, and can protect the upper surface of the carton bundle from being scratched by the guide piece; the blade is installed and fixed at the movable end of the scissor cylinder, and the blade is installed at a 45° angle to the travel direction, and the blade moves back and forth with the scissor cylinder.

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