Automatic destacking machine based on visual inspection and paperboard destacking method

Abstract

The invention discloses an automatic destacking machine based on visual inspection, which comprises a paper stack conveying line, a centering correcting and stacking structure, a paperboard discharging mechanism and a destacking and material taking structure, and the destacking and material taking structure comprises a material taking mounting frame, a paperboard clamping mechanism, a material taking driving mechanism, a lifting piece movably arranged on the material taking mounting frame and a lifting driving mechanism. When the front faces of the paperboards stacked in the upper layer and the lower layer face the opposite directions, the folding notches in the side edges of the paperboards in the upper layer and the lower layer are staggered, during destacking, the mechanical arm moves the material taking installation frame to the lifting piece to be aligned with the folding notches of the paperboards in the lower layer, and the lifting piece is driven by the lifting driving mechanism to stretch into the folding notches of the paperboards in the X-axis direction; and then the lifting piece is driven to lift the upper-layer paperboard in the Z-axis direction, at the moment, the paperboard clamping mechanism is driven by the material taking driving mechanism to smoothly stretch into the position between the upper-layer paperboard and the lower-layer paperboard in the X-axis direction to clamp the upper-layer paperboard, material taking is more convenient, the front faces and the back faces of the paperboards can be placed separately, and the production efficiency is improved.

Description

[Technical field]

[0001] The invention belongs to the technical field of cardboard depalletizing production equipment, and in particular relates to an automatic depalletizing machine based on visual detection and a cardboard depalletizing method. [Background technology]

[0002] Cardboards are stacked into piles for easy transportation. When stacking, the front and back sides of the cardboards are stacked. When the front sides of the upper and lower stacked cardboards face opposite directions, the folding notches on the sides of the cardboards will be misaligned. During the packaging production process, the paper stacks need to be unloaded. Generally, a robot is used to insert a clamp into the stacked cardboards, and the cardboards are clamped and removed from top to bottom in sequence. However, existing equipment cannot distinguish the front and back sides of the paper stacks for unloading and placement, and generally requires manual processing, resulting in low production efficiency. [Summary of the invention]

[0003] The object of the present invention is to provide an automatic depalletizer and cardboard depalletizing method based on visual detection, which can automatically distinguish the front and back sides of paper stacks, pick and place them, and improve production efficiency.

[0004] The present invention is achieved by the following technical solutions:

[0005] The automatic depalletizer based on visual detection comprises a paper stack conveying line for conveying paper stacks, a centering correction stacking structure arranged on both sides of the paper stack conveying line for centering correction of the paper stacks, a cardboard unloading mechanism for receiving cardboards, and a depalletizing and fetching structure for sequentially taking away the paper stacks on the paper stack conveying line after centering correction by the centering correction stacking structure from top to bottom, wherein the depalletizing and fetching structure comprises:

[0006] A material taking mounting frame, wherein a clamping clearance groove and a lifting clearance groove are provided on one side surface of the material taking mounting frame;

[0007] A cardboard clamping mechanism, which is movably arranged on the material taking mounting frame along the X-axis direction and is used to clamp the cardboard;

[0008] The material taking driving mechanism is arranged on the material taking mounting frame and is used to drive the paperboard clamping mechanism to move along the X-axis direction until the clamping end passes through the clamping clearance groove;

[0009] A lifting member, which is movably arranged on the material taking mounting frame along the X-axis and Z-axis directions;

[0010] The lifting drive mechanism is arranged on the material taking mounting frame and is used to drive the lifting member to move along the X-axis direction through the lifting clearance groove and move along the Z-axis direction.

[0011] As described above, the automatic depalletizer based on visual inspection, the centering and correcting stacking structure includes:

[0012] Whole stack of brackets;

[0013] A whole stack mounting plate, wherein two whole stack mounting plates are arranged oppositely on the whole stack bracket;

[0014] Left and right correction pieces are movably arranged on the whole stack mounting plate in the horizontal direction;

[0015] The left and right correction driving mechanism is arranged between the whole stack of mounting plates and the left and right correction pieces, and is used to drive the left and right correction pieces to move toward each other or move away from each other.

[0016] As described above, in the automatic depalletizer based on visual detection, the left and right correction drive mechanism comprises:

[0017] Left and right correction guide sleeves, which are arranged on the whole stack mounting plate;

[0018] Left and right correction guide posts, one end of which is connected to the left and right correction pieces, and the other end of which movably passes through the left and right correction guide sleeves;

[0019] The left and right correction driving members are arranged on the whole stack mounting plate and the telescopic ends are connected with the left and right correction members.

[0020] As described above, in the automatic depalletizer based on visual inspection, front and rear correction pieces are hinged at the front and rear ends of the left and right correction pieces, a front and rear correction plane is provided on the front and rear correction pieces, a front and rear correction driving mechanism for driving the front and rear correction pieces to flip is provided between the front and rear correction pieces and the left and right correction pieces, and the front and rear correction driving mechanism can drive the front and rear correction pieces to flip in the horizontal direction until the front and rear correction plane is perpendicular to the left and right correction pieces.

[0021] As described above, in the automatic depalletizer based on visual detection, the stacking bracket is provided with a stacking lifting drive mechanism for driving the stacking mounting plate to move up and down in a vertical direction, and the stacking lifting drive mechanism includes:

[0022] A whole stack lifting slide rail is arranged on the whole stack support in a vertical direction;

[0023] A whole stack lifting slide block, one end of which is connected to the whole stack mounting plate, and the other end of which is movably arranged on the whole stack lifting slide rail;

[0024] The whole stack lifting drive assembly is arranged on the whole stack support and is used for driving the whole stack mounting plate to move.

[0025] As described above, in the automatic depalletizer based on visual detection, the cardboard clamping mechanism comprises:

[0026] A clamping mounting plate, which is arranged on the material taking mounting frame;

[0027] A first clamping driving member, which is arranged on the clamping mounting plate along the Z-axis direction;

[0028] A first clamping member, which is disposed on a driving end of a first clamping driving member, and the first clamping driving member is used to drive the first clamping member to move along a Z-axis direction;

[0029] A second clamping driving member is arranged on the clamping mounting plate along the Z-axis direction;

[0030] A second clamping member, which is arranged on the driving end of the second clamping driving member and is arranged opposite to the first clamping member in the Z-axis direction, and the second clamping driving member is used to drive the second clamping member to move along the Z-axis direction to cooperate with the first clamping member to clamp the paperboard;

[0031] A first clamping slide rail, which is arranged on the first clamping member along the Z-axis direction;

[0032] A first clamping slide block, one end of which is connected to the first clamping driving member, and the other end of which is movably disposed on the first clamping slide rail;

[0033] A second clamping slide rail, which is arranged on the second clamping member along the Z-axis direction;

[0034] The second clamping slide block has one end connected to the second clamping driving member and the other end movably arranged on the second clamping slide rail.

[0035] As described above, in the automatic depalletizer based on visual detection, the material picking mounting frame is provided with a material picking suction cup for picking up cardboard.

[0036] The automatic depalletizer based on visual detection as described above further includes a cardboard lifting mechanism, wherein the cardboard lifting mechanism includes:

[0037] A clearance hole is provided on the left and right correction pieces in a vertical direction;

[0038] The stacking lifting member is movably arranged in the clearance hole;

[0039] A first lifting driving member, whose telescopic end is connected to the stacking lifting member, and is used to drive the stacking lifting member to pass through the clearance hole and enter between the left and right correction members;

[0040] The second lifting driving member is arranged on the left and right correction members, and the output end of the second lifting driving member is connected with the first lifting driving member, and is used for driving the first lifting driving member and the destacking lifting member to move up and down in the vertical direction.

[0041] As described above, in the automatic depalletizer based on visual detection, the cardboard unloading mechanism comprises:

[0042] A cardboard unloading mounting frame is provided with a cardboard unloading slide rail arranged in a vertical direction;

[0043] A cardboard support bracket is movably arranged on a cardboard unloading slide rail;

[0044] The support frame lifting driving component is arranged on the cardboard unloading mounting frame and is used for driving the cardboard support frame to move.

[0045] A cardboard depalletizing method, comprising the automatic depalletizing machine based on visual detection as described above, the cardboard depalletizing method comprising the following steps:

[0046] S. Loading the paper stack, after removing the film, place the paper stack on the paper stack conveyor line, and transport it to the center of the paper stack structure processing position for correction;

[0047] S. Stacking: The stacking structure is used to perform centering correction and stacking on the left and right sides and the front and back sides of the stack from top to bottom;

[0048] S. The front and back cardboards are placed separately. The visual inspection camera detects the folding notch between the cardboards with different front faces on the front side of the paper stack. The manipulator drives the material picking mounting frame to move to the lifting member to align with the folding notch. The lifting driving mechanism drives the lifting member to move along the X-axis direction to extend into the folding notch, and then drives the lifting member to move along the Z-axis direction to lift the cardboard. The material picking driving mechanism drives the cardboard clamping mechanism to move along the X-axis direction to extend between the cardboards with different front faces. Finally, the cardboard clamping mechanism clamps the upper cardboard and takes it to the cardboard placement area.

[0049] Compared with the prior art, the present invention has the following advantages:

[0050] The present invention provides an automatic depalletizer based on visual detection, comprising a paper stack conveying line for conveying paper stacks, a centering correction stacking structure arranged on both sides of the paper stack conveying line for centering correction of the paper stacks, a cardboard unloading mechanism for receiving cardboards, and a depalletizing and fetching structure for sequentially fetching the paper stacks on the paper stack conveying line that have been center-corrected by the centering correction stacking structure from top to bottom, wherein the depalletizing and fetching structure comprises a fetching mounting frame provided with a clamping clearance groove and a lifting clearance groove, a cardboard clamping mechanism movably arranged on the fetching mounting frame along the X-axis direction, a fetching driving mechanism arranged on the fetching mounting frame, and a lifting member movably arranged on the fetching mounting frame along the X-axis and Z-axis directions. , and a lifting drive mechanism arranged on the material picking mounting frame. When the front sides of the upper and lower stacked cardboards face oppositely, the folding notches on the sides of the upper and lower cardboards will be misaligned. When unloading, the robot moves the material picking mounting frame until the lifting member is aligned with the folding notch of the lower cardboard, and drives the lifting member through the lifting drive mechanism to extend into the folding notch of the lower cardboard along the X-axis direction, and then drives the lifting member to lift the upper cardboard along the Z-axis direction. At this time, the cardboard clamping mechanism is driven by the material picking drive mechanism to smoothly extend into between the upper and lower cardboards along the X-axis direction to clamp the upper cardboard, making material picking more convenient, and the front and back sides of the cardboards can be distinguished and placed, thereby improving production efficiency.

Brief Description of the Drawings

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0052] Figure 1 It is a structural schematic diagram of an automatic depalletizer based on visual detection in a specific embodiment of the present invention;

[0053] Figure 2 It is a schematic diagram of the partial structure of an automatic depalletizer based on visual detection in a specific embodiment of the present invention;

[0054] Figure 3 It is a structural schematic diagram of the unloading and material taking structure in a specific embodiment of the present invention;

[0055] Figure 4 It is a partial structural schematic diagram of the unloading and material taking structure in a specific embodiment of the present invention;

[0056] Figure 5 It is a structural schematic diagram of a paperboard clamping mechanism in a specific embodiment of the present invention;

[0057] Figure 6 It is a structural schematic diagram of the unloading and material taking structure applied to a manipulator in a specific embodiment of the present invention;

[0058] Figure 7 It is a schematic diagram of the partial structure of an automatic depalletizer based on visual detection in a specific embodiment of the present invention;

[0059] Figure 8 It is a structural schematic diagram of a centering correction stacking structure in a specific implementation manner of the present invention;

[0060] Fig. 9 It is a schematic diagram of the local structure of the centering correction whole stack structure in a specific implementation manner of the present invention;

[0061] Fig.10 It is a schematic diagram of the local structure of the centering correction whole stack structure in a specific implementation manner of the present invention;

[0062] Fig.11 The figure is a flow chart of the cardboard depalletizing method in a specific embodiment of the present invention. [Specific implementation method]

[0063] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0064] When the embodiments of the present invention mention ordinal numbers such as "first" and "second", unless they do express the meaning of order according to the context, they should be understood as being merely for the purpose of distinction.

[0065] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] Specific embodiments, such as Figure 1-11 The automatic depalletizer based on visual inspection shown in the figure includes: a paper stack conveyor line 29, which is used to convey paper stacks; a centering correction stacking structure 2, which is arranged on both sides of the paper stack conveyor line 29, and is used to push the left and right sides of the paper stack placed on the paper stack conveyor line 29 to perform centering correction and fixation on the paper stack; a depalletizing and picking structure 3, which is used to take away the paper stacks on the paper stack conveyor line 29 from top to bottom after centering correction and fixation by the centering correction stacking structure 2. During production and use, the paper stack after film removal is placed on the paper stack conveyor line, and the paper stack conveyor line transports the paper stack to the centering correction stacking structure for stacking, and then the manipulator 1 drives the depalletizing and picking structure to take away the stacked paper stack from top to bottom in sequence, so as to realize automatic depalletizing, with high production efficiency and low labor cost, and the centering correction stacking structure pushes the left and right sides of the paper stack on the paper stack conveyor line to perform centering correction and fixation on the paper stack, so as to ensure the accurate picking of the depalletizing and picking structure for subsequent depalletizing.

[0067] Specifically, the centering correction stacking structure includes: a stacking support 21; a stacking mounting plate 22, two stacking mounting plates 22 are relatively arranged on the stacking support 21; left and right correction pieces 23, which are arranged on the stacking mounting plate 22 in a horizontal direction; and left and right correction driving mechanisms 24, which are arranged between the stacking mounting plate 22 and the left and right correction pieces 23, and are used to drive the two left and right correction pieces 23 to move toward each other, or move away from each other. During production and processing, the paper stack is transported to the two stacking mounting plates in the stacking support through the conveyor line after the film is removed, and the two left and right correction pieces are driven by the left and right correction driving mechanisms to move toward each other and approach the two sides of the paper stack to perform centering correction stacking on the paper stack, and then the robot takes away the upper part of the paper stack after the stacking is completed. After the robot takes away part of the paperboard, the centering correction stacking structure of the present application stacks the remaining part of the paper stack, and the paperboard unstacking is completed in this way, so as to ensure that the robot can accurately pick up the subsequent unstacking and improve the material picking efficiency.

[0068] Specifically, a visual detection device 6 is provided on the stacking support 21, and the visual detection device 6 includes a visual camera and an illuminating lamp. The visual detection device 6 detects the paper stack to drive the centering correction stacking structure to stack the paper stack.

[0069] Specifically, the left and right correction drive mechanism 24 includes: left and right correction guide sleeves 241, which are arranged on the stacking mounting plate 22; left and right correction guide pillars 242, one end of which is connected to the left and right correction members 23, and the other end of which moves through the left and right correction guide sleeves 241; left and right correction drive members 243, which are arranged on the stacking mounting plate 22 and the telescopic end is connected to the left and right correction members 23. Optionally, the left and right correction drive members 243 use telescopic cylinders, which drive the left and right correction members 23 to move through the telescopic end to achieve automatic stacking of the paper stack.

[0070] In addition, front and rear correction pieces 25 are hinged at the front and rear ends of the left and right correction pieces 23, and a front and rear correction plane 251 is provided on the front and rear correction pieces 25. A front and rear correction driving mechanism 26 for driving the front and rear correction pieces 25 to flip is provided between the front and rear correction pieces 25 and the left and right correction pieces 23. The front and rear correction driving mechanism 26 can drive the front and rear correction pieces 25 to flip in the horizontal direction until the front and rear correction plane 251 is perpendicular to the left and right correction pieces 23. The front and rear ends of the paper stack are stacked by the front and rear correction pieces 25 at the front and rear ends of the left and right correction pieces 23, so as to realize the centering correction stacking of the paper stack, so as to ensure the accurate material picking of the subsequent unstacking by the manipulator and improve the material picking efficiency.

[0071] Further, the front-to-back correction driving mechanism 26 comprises: a correction hinge 261, one end of which is connected to the front-to-back correction member 25, and the other end is hinged to the left-right correction member 23; a front-to-back correction driving member 262, one end of which is hinged to the left-to-right correction member 23, and the telescopic end is hinged to the correction hinge 261, and the front-to-back correction driving member 262 can push the correction hinge 261 to rotate on the left-to-right correction member 23, so as to drive the front-to-back correction member 25 to flip in the horizontal direction until the front-to-back correction plane 251 is perpendicular to the left-to-right correction member 23. Optionally, the front-to-back correction driving member 262 can adopt a telescopic cylinder, which pushes the correction hinge 261 to flip through the telescopic end, so as to realize the front-to-back correction plane 251 to adjust the entire stack of the front and rear ends of the paper stack, and the structure is reasonable and the degree of automation is high.

[0072] More specifically, in order to make the stack of the front and rear correction pieces 25 more stable, one end of the two correction hinges 261 is hinged relatively to the upper and lower sides of the left and right correction pieces 23, and the other end is connected to the front and rear correction pieces 25 respectively.

[0073] Furthermore, the stacking support 21 is provided with a stacking lifting drive mechanism 27 for driving the stacking mounting plate 22 to move up and down in the vertical direction. During production and processing, the upper part of the paper stack is first centered and corrected by the left and right correction pieces 23 and the front and rear correction pieces 25, and the upper part of the paper stack is removed and unstackered by the manipulator, and then the stacking lifting drive mechanism 27 drives the stacking mounting plate 22 to move down a distance, and the lower part of the paper stack is stacked, so as to realize segmented stacking, so that the manipulator can take the materials for subsequent unstacking more accurately and efficiently.

[0074] Furthermore, the whole stack lifting drive mechanism 27 includes: a whole stack lifting rail 271, which is arranged on the whole stack bracket 21 along the vertical direction; a whole stack lifting slider 272, one end of which is connected to the whole stack mounting plate 22, and the other end is movably arranged on the whole stack lifting rail 271; a whole stack lifting drive assembly 273, which is arranged on the whole stack bracket 21 and is used to drive the whole stack mounting plate 22 to move. The lifting drive is more stable.

[0075] Specifically, the whole stack lifting drive assembly 273 includes: a lifting rotating rod 2731, the two lifting rotating rods 2731 are relatively and rotatably arranged on the whole stack bracket 21, and the lifting rotating rod 2731 is provided with a first transmission gear 2732 and a second transmission gear 2733; a whole stack lifting drive motor 2734, and the two rotating output ends of the whole stack lifting drive motor 2734 are provided with a third transmission gear 2735 meshing with the second transmission gear 2733; a fourth transmission gear 2736, which is rotatably arranged on the whole stack bracket 21 and is located below the whole stack mounting plate 22; a lifting drive chain 2737, which is sleeved on the first transmission gear 2732 and the fourth transmission gear 2736, and the two ends are connected to the whole stack mounting plate 22, and the whole stack lifting drive motor 2734 can drive the two lifting rotating rods 2731 to rotate synchronously, and then drive the two whole stack brackets 21 to move synchronously up and down through the lifting drive chain 2737.

[0076] In addition, the material picking mounting frame 31 is provided with a material picking suction cup 41 for sucking cardboard. Specifically, the material picking suction cup 41 includes a suction nozzle 411 and a suction nozzle driving member 412 provided on the material picking mounting frame 31 for driving the suction nozzle 411 to move along the Z-axis direction. The suction nozzle 411 is connected to the vacuum pumping device, and the suction nozzle driving member 412 is a telescopic cylinder. When in use, it drives the suction nozzle 411 to move along the Z-axis direction and extend out of the material picking mounting frame 31 through the telescopic end, so as to suck the ribbed plate.

[0077] In addition, there are four material taking suction cups 41, and the four material taking suction cups 41 are arranged circumferentially along the material taking mounting frame 31. Preferably, the four material taking suction cups 41 are distributed at the four corners of the material taking mounting frame 31, so as to more stably suck the reinforcement plate.

[0078] More specifically, the centering correction and stacking structure also includes a cardboard lifting mechanism 28, which includes: a clearance hole 281, which is arranged on the left and right correction parts 23 in the vertical direction; a destacking lifting member 282, which is movably inserted into the clearance hole 281; a first lifting driving member 283, whose telescopic end is connected to the destacking lifting member 282, and is used to drive the destacking lifting member 282 to pass through the clearance hole 281 and enter between the two left and right correction parts 23; a second lifting driving member 284, which is arranged on the left and right correction parts 23, and the output end is connected to the first lifting driving member 283, and is used to drive the first lifting driving member 283 and the destacking lifting member 282 to move up and down in the vertical direction. When unstacking, the paper stack is placed in the whole stack support and between the two whole stack mounting plates. The detection camera detects that there is a gap on the left and right sides of the paper stack. The first lifting drive member 283 drives the unstacking lifting member 282 to pass through the clearance hole 281 and enter between the two left and right correction members 23 and extend into the gap between the upper cardboard and the lower cardboard of the ribbed plate. The second lifting drive member 284 drives the two unstacking lifting members 282 to lift in the vertical direction to lift the cardboard stacked on the ribbed plate, that is, the ribbed plate and the upper cardboard are layered. Then, the manipulator drives the material picking mounting frame to move to the clamping end of the cardboard clamping mechanism to extend between the cardboard and the ribbed plate so as to clamp and take away the cardboard above the ribbed plate. When the visual detection device 6 detects the ribbed plate, the manipulator drives the material picking mounting frame to move to the material picking suction cup to be located above the ribbed plate, and the material picking suction cup sucks the ribbed plate to realize automatic removal of the cardboard and the ribbed plate, saving labor and high efficiency.

[0079] Furthermore, the centering correction stacking structure also includes: a stack base recovery line 210, which is arranged on one side of the stacking support 21, and is used to receive and convey the recovered stack base 211. The stack conveying line 29 realizes automatic stack loading, and pushes the unloaded stack base 211 onto the stack base recovery line 210, and is conveyed and recycled by the stack base recovery line 210, which has a higher degree of automation.

[0080] Specifically, the unloading and material picking structure includes: a material picking mounting frame 31, and a clamping clearance groove 311 and a lifting clearance groove 312 are provided on one side surface of the material picking mounting frame 31; a cardboard clamping mechanism 32, which is movably arranged on the material picking mounting frame 31 along the X-axis direction and is used to clamp the cardboard; a material picking driving mechanism 33, which is arranged on the material picking mounting frame 31 and is used to drive the cardboard clamping mechanism 32 to move along the X-axis direction until the clamping end passes through the clamping clearance groove 311; a lifting member 34, which is movably arranged on the material picking mounting frame 31 along the X-axis and Z-axis directions; a lifting driving mechanism 35, which is arranged on the material picking mounting frame 31 and is used to drive the lifting member 34 to move along the X-axis direction through the lifting clearance groove 312 and move along the Z-axis direction. When the front sides of the upper and lower stacked cardboards face opposite directions, the folding notches on the sides of the upper and lower cardboards will be misaligned. During unloading, the robot 1 moves the material picking mounting frame until the lifting member is aligned with the folding notch of the lower cardboard, and drives the lifting member through the lifting drive mechanism to extend into the folding notch of the lower cardboard along the X-axis direction, and then drives the lifting member to lift the upper cardboard along the Z-axis direction. At this time, the cardboard clamping mechanism is driven by the material picking drive mechanism to smoothly extend into between the upper and lower cardboards along the X-axis direction to clamp the upper cardboard, making material picking more convenient and enabling the front and back sides of the cardboards to be distinguished and placed.

[0081] Specifically, the lifting drive mechanism 35 includes: a first lifting drive member 351, which is provided on the material taking mounting frame 31 and is used to drive the lifting member 34 to pass through the lifting clearance groove 312 along the X-axis direction; a second lifting drive member 352, which is provided on the driving end of the first lifting drive member 351, and the driving end of the second lifting drive member 352 is connected to the lifting member 34, and is used to drive the lifting member 34 to move along the Z-axis direction. The first lifting drive member 351 and the second lifting drive member 352 are both telescopic cylinders.

[0082] In addition, in order to clamp and transfer the cardboard more stably, there are two cardboard clamping mechanisms 32 , and the two cardboard clamping mechanisms 32 are arranged on both sides of the lifting member 34 opposite to each other.

[0083] Further, the material picking drive mechanism 33 includes: a material picking drive slide rail 331, which is arranged on the material picking mounting frame 31 along the X-axis direction; a material picking drive slider 332, one end of which is connected to the paperboard clamping mechanism 32, and the other end is movably arranged on the material picking drive slide rail 331; a material picking drive member 333, which is arranged on the material picking mounting frame 31 and is used to drive the two paperboard clamping mechanisms 32 to move along the X-axis direction. Specifically, the material picking drive member 333 includes two rodless cylinders 3331 relatively arranged on the material picking mounting frame 31, and a solenoid valve 3332 connected to the two rodless cylinders 3331, and the two paperboard clamping mechanisms 32 are respectively arranged on the output ends of the two rodless cylinders 3331. The two rodless cylinders 3331 are driven to work by the solenoid valve 3332 to drive the two paperboard clamping mechanisms 32 to move synchronously along the X-axis direction.

[0084] More specifically, the cardboard clamping mechanism 32 includes: a clamping mounting plate 321, which is connected to the driving end of the material picking driving mechanism 33; a first clamping driving member 322, which is arranged on the clamping mounting plate 321 along the Z-axis direction; a first clamping member 323, which is arranged on the driving end of the first clamping driving member 322, and the first clamping driving member 322 is used to drive the first clamping member 323 to move along the Z-axis direction; a second clamping driving member 324, which is arranged on the clamping mounting plate 321 along the Z-axis direction; a second clamping member 325, which is arranged on the driving end of the second clamping driving member 324 and is arranged opposite to the first clamping member 323 in the Z-axis direction, and the second clamping driving member 324 is used to drive the second clamping member 325 to move along the Z-axis direction to cooperate with the first clamping member 323 to clamp the cardboard. Optionally and non-limitingly, the first clamping drive member 322 and the second clamping drive member 324 both adopt telescopic cylinders, and the telescopic ends of the first clamping drive member 322 and the second clamping drive member 324 are oriented in opposite directions, and the first clamping member 323 and the second clamping member 325 are driven by the telescopic ends to move toward or away from each other in the Z-axis direction.

[0085] Furthermore, the paperboard clamping mechanism 32 further includes: a first clamping rail 326, which is arranged on the first clamping member 323 along the Z-axis direction; a first clamping slider 327, one end of which is connected to the first clamping driving member 322, and the other end is movably arranged on the first clamping rail 326; a second clamping rail 328, which is arranged on the second clamping member 325 along the Z-axis direction; and a second clamping slider 329, one end of which is connected to the second clamping driving member 324, and the other end is movably arranged on the second clamping rail 328. This makes the driving of the first clamping member 323 and the second clamping member 325 more stable.

[0086] Furthermore, the lifting member 34 includes a mounting portion 341 and a lifting portion 342, and the lifting portion 342 has a triangular cross section. The mounting portion is connected to the driving end of the lifting drive mechanism through a mounting hole and a bolt, and can be disassembled and replaced through the mounting portion to facilitate unloading of cardboards of different sizes, and the lifting portion 342 has a triangular cross section, which facilitates the lifting portion 342 to extend into the folding notch on the side of the cardboard.

[0087] Specifically, a visual detection device is provided on the material taking mounting frame 31. Optionally, the visual detection device can be a detection camera, which detects the position of the notch for folding the cardboard through the detection camera, so as to drive the manipulator to drive the material taking mounting frame 31 to move until the lifting member is aligned with the folding notch of the lower cardboard.

[0088] More specifically, it also includes a cardboard unloading mechanism 5, which includes: a cardboard unloading mounting frame 51, on which a cardboard unloading slide rail 52 is arranged in the vertical direction; a cardboard support frame 53, which is movably arranged on the cardboard unloading slide rail 52; and a support frame lifting driving member 54, which is arranged on the cardboard unloading mounting frame 51 and is used to drive the cardboard support frame 53 to move. The support frame lifting driving member 54 adopts a telescopic cylinder. During production, when the robot takes and places the cardboard on the cardboard support frame 53, the cardboard support frame 53 is driven downward by the support frame lifting driving member 54 to ensure the position of the robot to take and place the cardboard each time, thereby improving production efficiency. Specifically, a conveying chain is arranged on the cardboard support frame 53. The cardboard unloading mechanism 5 is provided with an unloading conveying line 7 at one end away from the robot 1, and the cardboard is conveyed to the unloading conveying line 7 by the conveying chain on the cardboard support frame 53, and is conveyed by the unloading conveying line 7.

[0089] The cardboard depalletizing method using the automatic depalletizing machine of the present invention comprises the following steps:

[0090] S1, paper stack loading, after removing the film from the paper stack, placing it on the paper stack conveyor line 29, and conveying it to the center correction and whole stack structure 2 processing position by the paper stack conveyor line 29;

[0091] S2, stacking, using the centering correction stacking structure 2 to perform centering correction stacking on the left and right sides and the front and back sides of the paper stack from top to bottom; before stacking, a visual inspection device 6 is used to inspect the paper stack.

[0092] S3. The front and back paperboards are placed separately. The visual detection camera detects the folding notches between the paperboards with different front faces on the front side of the paper stack. The manipulator drives the material picking mounting frame 31 to move to the lifting member 34 to align with the folding notch. The lifting driving mechanism 35 drives the lifting member 34 to move along the X-axis direction and extend into the folding notch. The lifting member 34 is then driven to move along the Z-axis direction to lift the paperboard. The material picking driving mechanism 33 then drives the paperboard clamping mechanism 32 to move along the X-axis direction and extend between the paperboards with different front faces. Finally, the paperboard clamping mechanism 32 clamps the upper paperboard and takes it to the paperboard placement area.

[0093] S4, pick up and place the ribbed plate. The visual inspection camera detects the gap between the stacked paperboards on the left and right sides of the paper stack. The whole stack lifting drive mechanism 27 drives the whole stack mounting plate 22 to move up and down in the vertical direction until the unloading lifting member 282 is aligned with the gap between the stacked paperboards on the left and right sides of the paper stack. The first lifting drive member 283 drives the unloading lifting member 282 to pass through the clearance hole 281 and enter between the two left and right correction members 23. Then the second lifting drive member 284 drives the first lifting drive member 283 and the unloading lifting member 282 to move up and down in the vertical direction to lift the upper paperboard. At this time, the manipulator drives the material picking mounting frame 31 to move, and the paperboard clamping mechanism 32 clamps the upper paperboard and picks and places it in the paperboard placement area. The ribbed plate is detected by the visual inspection device 6, and then the manipulator drives the material picking mounting frame 31 to move, and the material picking suction cup 41 sucks the ribbed plate onto the paperboard unloading mechanism 5. Automatically distinguish and place the front and back paperboards, and automatically pick up and place the ribbed plate, so as to realize automatic unloading of paper stacks.

[0094] The above is an implementation method provided in combination with specific contents, and any method, structure, etc. similar to or identical to the present invention should be deemed as within the protection scope of the present invention.

Claims

1. Automatic depalletizer based on visual inspection, characterized in that: The invention comprises a paper stack conveying line (29) for conveying paper stacks, a centering correction stacking structure (2) arranged on both sides of the paper stack conveying line (29) for centering the paper stacks, a cardboard unloading mechanism (5) for receiving cardboards, and a stacking and material removal structure (3) for sequentially removing the paper stacks on the paper stack conveying line (29) from top to bottom after being center-corrected by the centering correction stacking structure (2), wherein the stacking and material removal structure (3) comprises: A material taking mounting frame (31), wherein a clamping clearance groove (311) and a lifting clearance groove (312) are provided on one side surface of the material taking mounting frame (31); A paperboard clamping mechanism (32) is movably arranged on the material taking mounting frame (31) along the X-axis direction and is used for clamping paperboard; A material taking drive mechanism (33) is arranged on the material taking mounting frame (31) and is used to drive the paperboard clamping mechanism (32) to move along the X-axis direction until the clamping end passes through the clamping clearance groove (311); A lifting member (34) is movably arranged on the material taking mounting frame (31) along the X-axis and Z-axis directions; The lifting drive mechanism (35) is arranged on the material taking mounting frame (31) and is used to drive the lifting member (34) to move along the X-axis direction through the lifting clearance groove (312) and move along the Z-axis direction.

2. The automatic depalletizer based on visual detection according to claim 1, characterized in that: The centering and correcting stacking structure (2) comprises: A whole stack of brackets (21); A stack of mounting plates (22), wherein two stack of mounting plates (22) are disposed opposite to each other on the stack of brackets (21); Left and right correction members (23) are movably arranged on the whole stack of mounting plates (22) in a horizontal direction; The left and right correction driving mechanism (24) is arranged between the whole stack mounting plate (22) and the left and right correction members (23) and is used to drive the left and right correction members (23) to move towards each other or move away from each other.

3. The automatic depalletizer based on visual detection according to claim 2, characterized in that: The left and right correction drive mechanism (24) comprises: Left and right correction guide sleeves (241) are arranged on the whole stack mounting plate (22); Left and right correction guide posts (242), one end of which is connected to the left and right correction members (23), and the other end of which movably passes through the left and right correction guide sleeves (241); The left and right correction driving members (243) are arranged on the whole stack mounting plate (22) and the telescopic ends are connected to the left and right correction members (23).

4. The automatic depalletizer based on visual detection according to claim 2, characterized in that: Front and rear correction members (25) are hingedly provided at the front and rear ends of the left and right correction members (23); a front and rear correction plane (251) is provided on the front and rear correction members (25); a front and rear correction driving mechanism (26) for driving the front and rear correction members (25) to flip is provided between the front and rear correction members (25) and the left and right correction members (23); the front and rear correction driving mechanism (26) can drive the front and rear correction members (25) to flip in a horizontal direction until the front and rear correction plane (251) is perpendicular to the left and right correction members (23).

5. The automatic depalletizer based on visual detection according to claim 2, characterized in that: The stacking support (21) is provided with a stacking lifting drive mechanism (27) for driving the stacking mounting plate (22) to move up and down in a vertical direction. The stacking lifting drive mechanism (27) comprises: A whole stack lifting slide rail (271) is arranged on the whole stack support (21) in a vertical direction; A whole stack lifting slide block (272), one end of which is connected to the whole stack mounting plate (22), and the other end of which is movably arranged on the whole stack lifting slide rail (271); The whole stack lifting drive assembly (273) is arranged on the whole stack support (21) and is used to drive the whole stack mounting plate (22) to move.

6. The automatic depalletizer based on visual detection according to claim 1, characterized in that: The paperboard clamping mechanism (32) comprises: A clamping mounting plate (321) is arranged on the material taking mounting frame (31); A first clamping driving member (322) is arranged on the clamping mounting plate (321) along the Z-axis direction; A first clamping member (323) is arranged on a driving end of the first clamping driving member (322), wherein the first clamping driving member (322) is used to drive the first clamping member (323) to move along a Z-axis direction; A second clamping driving member (324) is arranged on the clamping mounting plate (321) along the Z-axis direction; A second clamping member (325) is arranged on the driving end of the second clamping driving member (324) and is arranged opposite to the first clamping member (323) in the Z-axis direction, and the second clamping driving member (324) is used to drive the second clamping member (325) to move along the Z-axis direction to cooperate with the first clamping member (323) to clamp the paperboard; A first clamping slide rail (326) disposed on the first clamping member (323) along the Z-axis direction; A first clamping slider (327), one end of which is connected to the first clamping driving member (322), and the other end of which is movably disposed on the first clamping slide rail (326); A second clamping slide rail (328) disposed on the second clamping member (325) along the Z-axis direction; The second clamping slide block (329) has one end connected to the second clamping driving member (324) and the other end movably disposed on the second clamping slide rail (328).

7. The automatic depalletizer based on visual detection according to claim 2, characterized in that: The material taking mounting frame (31) is provided with a material taking suction cup (41) for sucking up the cardboard.

8. The automatic depalletizer based on visual detection according to claim 7, characterized in that: It also includes a paperboard lifting mechanism (28), wherein the paperboard lifting mechanism (28) includes: A clearance hole (281) is provided on the left and right correction members (23) along the vertical direction; A stacking lifting member (282) is movably inserted into the clearance hole (281); A first lifting driving member (283), whose telescopic end is connected to the stacking lifting member (282), and is used to drive the stacking lifting member (282) to pass through the clearance hole (281) and enter between the two left and right correction members (23); The second lifting driving member (284) is arranged on the left and right correction members (23), and the output end is connected to the first lifting driving member (283), and is used to drive the first lifting driving member (283) and the destacking lifting member (282) to move up and down in the vertical direction.

9. The automatic depalletizer based on visual detection according to claim 1, characterized in that: The paperboard unloading mechanism (5) comprises: A cardboard unloading mounting frame (51) is provided with a cardboard unloading slide rail (52) arranged in a vertical direction; A paperboard support bracket (53) is movably arranged on the paperboard unloading slide rail (52); The support frame lifting driving member (54) is arranged on the paperboard unloading mounting frame (51) and is used to drive the paperboard support frame (53) to move.

10. A cardboard unstacking method, characterized in that: The method for depalletizing a cardboard comprises the following steps: S1, loading the paper stack, removing the film from the paper stack and placing it on the paper stack conveyor line (29), and transporting it to the center correction and stacking structure (2) processing position by the paper stack conveyor line (29); S2, stacking, using the centering correction stacking structure (2) to perform centering correction stacking on the left and right sides and the front and back sides of the paper stack from top to bottom; S3, the front and back paperboards are placed separately, the visual detection camera detects the folding notches between the paperboards with different front faces on the front side of the paper stack, the manipulator drives the material taking mounting frame (31) to move to the lifting member (34) to align with the folding notch, the lifting driving mechanism (35) drives the lifting member (34) to move along the X-axis direction to extend into the folding notch, and then drives the lifting member (34) to move along the Z-axis direction to lift the paperboard, and then the material taking driving mechanism (33) drives the paperboard clamping mechanism (32) to move along the X-axis direction to extend between the paperboards with different front faces, and finally the paperboard clamping mechanism (32) clamps the upper paperboard and takes it to the paperboard placement area.

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