Automatic unstacker based on visual detection and method for unstacking paperboard

Abstract

The application discloses an automatic unstacking machine based on visual detection, which comprises a paper stack conveying line, a centering and correcting whole stack structure, a paperboard discharging mechanism and an unstacking and taking mechanism. The unstacking and taking mechanism comprises a taking mechanism mounting frame, a paperboard clamping mechanism, a taking mechanism driving mechanism, a lifting piece movably arranged on the taking mechanism mounting frame and a lifting driving mechanism. When the front surfaces of the upper and lower layers of paperboard are opposite to each other, the folding notches on the side edges of the upper and lower layers of paperboard are misaligned. During unstacking, the taking mechanism mounting frame is moved to the folding notch of the lower layer of paperboard by the manipulator, the lifting piece is driven to extend into the folding notch of the lower layer of paperboard along the X-axis direction by the lifting driving mechanism, and then the lifting piece is driven to lift the upper layer of paperboard along the Z-axis direction. At this time, the paperboard clamping mechanism is driven to extend into the space between the upper and lower layers of paperboard along the X-axis direction by the taking mechanism driving mechanism, and the upper layer of paperboard is clamped. The taking is more convenient, the front surface and the back surface of the paperboard can be distinguished and placed, and the production efficiency is improved.

Description

[Technical Field]

[0001] This invention belongs to the technical field of cardboard depalletizing equipment, and particularly relates to an automatic depalletizer based on vision detection and a cardboard depalletizing method. [Background Technology]

[0002] To facilitate transportation, cardboard is stacked. However, during stacking, cardboard may be stacked with opposite sides facing each other. When the front sides of stacked cardboard are facing opposite directions, the folding notches on the sides of the cardboard will be misaligned. During the packaging production process, the cardboard stacks need to be unstacked. Generally, a robotic arm is used to insert clamps into the stacked cardboard and pick up the cardboard from top to bottom. However, existing equipment cannot distinguish between the front and back sides of the cardboard stack for handling and unstacking, which generally requires manual processing and results in low production efficiency. [Summary of the Invention]

[0003] The purpose of this invention is to provide an automatic depalletizer and paperboard depalletizing method based on vision detection that can automatically distinguish the front and back of paper stacks, pick up, place, and unpile them, thereby improving production efficiency.

[0004] This invention is achieved by the following technical solution:

[0005] The vision-based automatic depalletizer includes a paper stack conveyor line for conveying paper stacks, a centering and straightening stacking structure located on both sides of the paper stack conveyor line for centering and straightening the paper stacks, a paperboard unloading mechanism for receiving paperboard, and a depalletizing and material-retrieving structure for sequentially removing the paper stacks from the conveyor line after they have been centered and straightened by the centering and straightening stacking structure from top to bottom. The depalletizing and material-retrieving structure includes:

[0006] A material handling mounting frame, wherein one side of the material handling mounting frame is provided with a clamping clearance groove and a lifting clearance groove;

[0007] A cardboard clamping mechanism is movably mounted on a material handling frame along the X-axis and is used to clamp cardboard.

[0008] The material handling drive mechanism is located on the material handling mounting frame and is used to drive the cardboard clamping mechanism to move along the X-axis until the clamping end passes through the clamping relief groove.

[0009] The lifting component is movably mounted on the material handling frame along the X and Z axes;

[0010] The lifting drive mechanism, which is mounted on the material handling frame, is used to drive the lifting component to move along the X-axis direction through the lifting clearance groove and along the Z-axis direction.

[0011] As described above, in the vision-based automatic depalletizer, the centering and straightening stacking structure includes:

[0012] Whole stack of support frames;

[0013] Two stack mounting plates are positioned opposite each other on the stack support.

[0014] Left and right alignment components are movably mounted on the stack mounting plate in a horizontal direction;

[0015] The left and right correction drive mechanism is located between the stack mounting plate and the left and right correction components, and is used to drive the two left and right correction components to move closer to each other or move away from each other.

[0016] As described above, in the vision-based automatic depalletizer, the left and right correction drive mechanism includes:

[0017] Left and right correction guide sleeves are mounted on the stack mounting plate;

[0018] The left and right correction guide posts have one end connected to the left and right correction components, and the other end movably passes through the left and right correction guide sleeves.

[0019] The left and right correction drive is mounted on the stack mounting plate and its telescopic end is connected to the left and right correction component.

[0020] As described above, in the vision-based automatic depalletizer, the front and rear ends of the left and right correction components are hinged with front and rear correction components. The front and rear correction components are provided with front and rear correction planes. A front and rear correction drive mechanism is provided between the front and rear correction components and the left and right correction components to drive the front and rear correction components to flip. The front and rear correction drive mechanism can drive the front and rear correction components to flip horizontally until the front and rear correction planes are perpendicular to the left and right correction components.

[0021] As described above, in the vision-based automatic depalletizer, the stacking support is equipped with a stacking lifting drive mechanism for driving the stacking mounting plate to move vertically up and down. The stacking lifting drive mechanism includes:

[0022] The stack lifting slide rail is installed vertically on the stack support;

[0023] The stack lifting slider has one end connected to the stack mounting plate and the other end movably mounted on the stack lifting slide rail.

[0024] A stack lifting drive assembly, which is mounted on the stack support, is used to drive the stack mounting plate to move.

[0025] As described above, in the vision-based automatic depalletizer, the cardboard clamping mechanism includes:

[0026] A clamping mounting plate is provided on the material handling mounting frame;

[0027] The first clamping drive component is disposed on the clamping mounting plate along the Z-axis direction;

[0028] A first clamping member is disposed on the 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 the Z-axis direction.

[0029] The second clamping drive component is disposed on the clamping mounting plate along the Z-axis direction;

[0030] The second clamping member is disposed on the driving end of the second clamping drive member and is disposed opposite to the first clamping member in the Z-axis direction. The second clamping drive member is used to drive the second clamping member to move along the Z-axis direction so as to cooperate with the first clamping member to clamp the cardboard.

[0031] The first clamping slide rail is disposed on the first clamping member along the Z-axis direction;

[0032] The first clamping slider has one end connected to the first clamping drive member and the other end movably mounted on the first clamping slide rail.

[0033] The second clamping slide rail is disposed on the second clamping member along the Z-axis direction;

[0034] The second clamping slider has one end connected to the second clamping drive member and the other end movably mounted on the second clamping slide rail.

[0035] As described above, in the vision-based automatic depalletizer, the material-picking mounting frame is equipped with a material-picking suction cup for picking up cardboard.

[0036] The vision-based automatic depalletizer described above also includes a cardboard lifting mechanism, which comprises:

[0037] The clearance hole is provided vertically on the left and right correction parts;

[0038] The unloading lifting component is movably inserted into the clearance hole;

[0039] The first lifting drive component has its telescopic end connected to the unloading lifting component, which is used to drive the unloading lifting component through the clearance hole and into the space between the two left and right correction components.

[0040] The second lifting drive is located on the left and right correction components, and its output end is connected to the first lifting drive. It is used to drive the first lifting drive and the unloading lifting component to move up and down in the vertical direction.

[0041] As described above, in the vision-based automatic depalletizer, the cardboard unloading mechanism includes:

[0042] A cardboard feeding mounting frame is provided with a cardboard feeding slide rail arranged vertically.

[0043] The cardboard support frame is movably mounted on the cardboard feeding slide rail;

[0044] The support frame lifting drive is located on the cardboard unloading mounting frame and is used to drive the cardboard support frame to move.

[0045] A cardboard depalletizing method includes a vision-based automatic depalletizer as described above, the cardboard depalletizing method comprising the following steps:

[0046] S. Paper stack loading: After removing the film from the paper stack, place it on the paper stack conveyor line, and the paper stack conveyor line will transport it to the centrally aligned and corrected processing position of the stack structure.

[0047] S. Stacking: The stacking structure is centered and aligned from top to bottom, with the left and right sides and the front and back sides of the paper stack aligned sequentially.

[0048] S. The front and back cardboard are placed separately. The visual inspection camera detects the folding notch between cardboards with different front faces on the front side of the cardboard stack. The robotic arm drives the picking and mounting frame to move to the lifting component, which is aligned with the folding notch. The lifting drive mechanism drives the lifting component to move along the X-axis and extend into the folding notch. Then, the lifting component is driven to move along the Z-axis to lift the cardboard. The picking drive mechanism then drives the cardboard clamping mechanism to move along the X-axis and extend between cardboards with different front faces. Finally, the cardboard clamping mechanism clamps the upper cardboard and picks it up and places it in the cardboard placement area.

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

[0050] This invention provides an automatic depalletizer based on vision detection, comprising a paper stack conveyor line for conveying paper stacks, a centering and straightening stacking structure disposed on both sides of the paper stack conveyor line for centering and straightening the paper stacks, a paperboard unloading mechanism for receiving paperboard, and a depalletizing and material-retrieving structure for sequentially removing the paper stacks centered and straightened by the centering and straightening stacking structure from top to bottom on the paper stack conveyor line. The depalletizing and material-retrieving structure includes a material-retrieving mounting frame with clamping clearance grooves and lifting clearance grooves, a paperboard clamping mechanism movably disposed on the material-retrieving mounting frame along the X-axis direction, a material-retrieving driving mechanism disposed on the material-retrieving mounting frame, and a lifting member movably disposed on the material-retrieving mounting frame along the X-axis and Z-axis directions. The system includes a lifting drive mechanism mounted on the picking rack. When the front sides of the stacked cardboard are facing opposite directions, the folding notches on the sides of the upper and lower cardboard will be misaligned. During unstacking, the robot moves the picking rack until the lifting component aligns with the folding notch of the lower cardboard. The lifting drive mechanism then drives the lifting component to extend into the folding notch of the lower cardboard along the X-axis. The robot then drives the lifting component to lift the upper cardboard along the Z-axis. At this point, the picking drive mechanism drives the cardboard clamping mechanism to smoothly extend between the upper and lower cardboard along the X-axis to clamp the upper cardboard. This makes picking up the cardboard more convenient and allows for the differentiation of the front and back sides of the cardboard, improving production efficiency. [Attached Image Description]

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0052] Figure 1 This is a schematic diagram of the structure of an automatic depalletizer based on vision detection in a specific embodiment of the present invention;

[0053] Figure 2 This is a partial structural diagram of an automatic depalletizer based on vision detection in a specific embodiment of the present invention;

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

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

[0056] Figure 5 This is a schematic diagram of the cardboard clamping mechanism in a specific embodiment of the present invention;

[0057] Figure 6 This is a schematic diagram of the unloading and material handling structure applied to a robotic arm in a specific embodiment of the present invention;

[0058] Figure 7 This is a partial structural diagram of an automatic depalletizer based on vision detection in a specific embodiment of the present invention;

[0059] Figure 8 This is a schematic diagram of the centering and straightening stacking structure in a specific embodiment of the present invention;

[0060] Figure 9 This is a partial structural diagram of the centering and straightening stacking structure in a specific embodiment of the present invention;

[0061] Figure 10 This is a partial structural diagram of the centering and straightening stacking structure in a specific embodiment of the present invention;

[0062] Figure 11 This is a flowchart of the cardboard unloading method in a specific embodiment of the present invention.

Detailed Implementation Methods

[0063] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0064] When ordinal numbers such as "first" and "second" are mentioned in the embodiments of the present invention, unless they actually express the meaning of order according to the context, they should be understood as being used only for differentiation.

[0065] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0066] Specific embodiments, such as Figure 1-11 An automated depalletizer based on vision detection is shown, comprising: a paper stack conveyor line 29 for conveying paper stacks; a centering and aligning stacking structure 2 located on both sides of the paper stack conveyor line 29 for pushing the left and right sides of the paper stack placed on the paper stack conveyor line 29 to center, align, and fix the paper stack; and a depalletizing and picking structure 3 for sequentially picking up the paper stacks from top to bottom on the paper stack conveyor line 29 after being centered, aligned, and fixed by the centering and aligning stacking structure 2. In production, the de-wrapped paper stacks are placed on the paper stack conveyor line, which transports them to the centering and aligning stacking structure for alignment. Then, a robotic arm 1 drives the depalletizing and picking structure to sequentially pick up the aligned paper stacks from top to bottom, achieving automated depalletizing. This results in high production efficiency, low labor costs, and the centering and aligning stacking structure pushes the left and right sides of the paper stack on the paper stack conveyor line to center, align, and fix the paper stack, ensuring accurate picking up of subsequent paper stacks by the depalletizing and picking structure.

[0067] Specifically, the centering and straightening stacking structure includes: a stacking support 21; two stacking mounting plates 22, which are disposed opposite each other on the stacking support 21; left and right straightening members 23, which are movably disposed on the stacking mounting plates 22 in a horizontal direction; and a left and right straightening drive mechanism 24, which is disposed between the stacking mounting plates 22 and the left and right straightening members 23, for driving the two left and right straightening members 23 to move towards each other or away from each other. During production, after the paper stack is unwrapped, it is conveyed to the two stacking mounting plates in the stacking support through a conveyor line. The left and right straightening drive mechanism drives the two left and right straightening members to move towards each other and move towards the two sides of the paper stack to center and straighten the paper stack. After the paper stack is straightened, a robot arm removes the upper part of the paper stack. After the robot arm removes part of the paper stack, the centering and straightening stacking structure of this application straightens the remaining part of the paper stack. This operation completes the unloading of the paper stack, so as to ensure the robot arm's accurate material picking for subsequent unloading and improve material picking efficiency.

[0068] Specifically, the stacking support 21 is equipped with a visual inspection device 6, which includes a visual camera and a lighting lamp. The visual inspection device 6 detects the paper stack to drive the centering and correction of the stacking structure to stack the paper stack.

[0069] Specifically, the left and right correction drive mechanism 24 includes: a left and right correction guide sleeve 241, which is disposed on the stacking mounting plate 22; a left and right correction guide post 242, one end of which is connected to the left and right correction component 23, and the other end of which movably passes through the left and right correction guide sleeve 241; and a left and right correction drive component 243, which is disposed on the stacking mounting plate 22 and whose telescopic end is connected to the left and right correction component 23. Optionally, the left and right correction drive component 243 is a telescopic cylinder, which drives the left and right correction component 23 to move through the telescopic end to realize automated stacking of paper stacks.

[0070] In addition, front and rear correction members 25 are hinged at both ends of the left and right correction members 23. The front and rear correction members 25 have front and rear correction planes 251. A front and rear correction drive mechanism 26 is provided between the front and rear correction members 25 and the left and right correction members 23 to drive the front and rear correction members 25 to rotate. The front and rear correction drive mechanism 26 can drive the front and rear correction members 25 to rotate horizontally until the front and rear correction planes 251 are perpendicular to the left and right correction members 23. By using the front and rear correction members 25 at both ends of the left and right correction members 23 to align the front and rear ends of the paper stack, the paper stack is centered and aligned, ensuring accurate material handling by the robotic arm for subsequent unloading and improving material handling efficiency.

[0071] Further, the front and rear correction drive mechanism 26 includes: a correction hinge 261, one end of which is connected to the front and rear correction member 25, and the other end of which is hinged to the left and right correction member 23; and a front and rear correction drive member 262, one end of which is hinged to the left and right correction member 23, and the telescopic end of which is hinged to the correction hinge 261. The front and rear correction drive member 262 can push the correction hinge 261 to rotate on the left and right correction member 23, so as to drive the front and rear correction member 25 to flip horizontally until the front and rear correction plane 251 is perpendicular to the left and right correction member 23. Optionally, the front and rear correction drive member 262 can be a telescopic cylinder, which pushes the correction hinge 261 to flip through the telescopic end, so as to realize the overall stacking adjustment of the front and rear ends of the paper stack by the front and rear correction plane 251. The structure is reasonable and the degree of automation is high.

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

[0073] Furthermore, the stacking support 21 is equipped with a stacking lifting drive mechanism 27 for driving the stacking mounting plate 22 to move vertically up and down. During production, the upper part of the paper stack is first centered and stacked by the left and right correction components 23 and the front and rear correction components 25. After the robot arm removes the stacked upper part of the paperboard, the stacking lifting drive mechanism 27 drives the stacking mounting plate 22 to move down a certain distance to stack the lower part of the paper stack, realizing segmented stacking. This makes the robot arm more accurate and efficient in picking up materials for subsequent unloading.

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

[0075] Specifically, the stack lifting drive assembly 273 includes: lifting rotating rods 2731, two lifting rotating rods 2731 being opposite to and rotatably mounted on the stack support 21, the lifting rotating rods 2731 being provided with a first transmission gear 2732 and a second transmission gear 2733; a stack lifting drive motor 2734, the two rotating output ends of the stack lifting drive motor 2734 being provided with a third transmission gear 2735 meshing with the second transmission gear 2733; a fourth transmission gear 2736, which is rotatably mounted on the stack support 21 and located below the stack mounting plate 22; and a lifting drive chain 2737, which is sleeved on the first transmission gear 2732 and the fourth transmission gear 2736, and both ends are connected to the stack mounting plate 22. The stack lifting drive motor 2734 can drive the two lifting rotating rods 2731 to rotate synchronously, thereby driving the two stack supports 21 to move synchronously up and down through the lifting drive chain 2737.

[0076] In addition, the material-picking mounting frame 31 is equipped with a material-picking suction cup 41 for picking up cardboard. Specifically, the material-picking suction cup 41 includes a suction nozzle 411 and a suction nozzle drive 412 mounted on the material-picking mounting frame 31 for driving the suction nozzle 411 to move along the Z-axis. The suction nozzle 411 is connected to a vacuum pump, and the suction nozzle drive 412 is a telescopic cylinder. In use, it drives the suction nozzle 411 to move along the Z-axis and extend out of the material-picking mounting frame 31 through its telescopic end to pick up the reinforcing plate.

[0077] In addition, there are four material-grabbing suction cups 41, which are arranged circumferentially along the material-grabbing mounting frame 31. Preferably, the four material-grabbing suction cups 41 are distributed at the four corners of the material-grabbing mounting frame 31, which can more stably pick up the tie rod plate.

[0078] More specifically, the centering and straightening stacking structure also includes a cardboard lifting mechanism 28, which includes: a clearance hole 281, which is vertically disposed on the left and right straightening members 23; a destabilizing lifting member 282, which is movably disposed in the clearance hole 281; a first lifting drive member 283, whose telescopic end is connected to the destabilizing lifting member 282, for driving the destabilizing lifting member 282 through the clearance hole 281 and into the space between the two left and right straightening members 23; and a second lifting drive member 284, which is disposed on the left and right straightening members 23 and whose output end is connected to the first lifting drive member 283, for driving the first lifting drive member 283 and the destabilizing lifting member 282 to move up and down in the vertical direction. During destacking, the paper stack is placed in the stack support and positioned between two stack mounting plates. A detection camera detects gaps on the left and right sides of the paper stack. The first lifting drive 283 drives the destacking lifting component 282 through the clearance hole 281 and into the gap between the two left and right correction components 23, extending into the gap between the upper and lower cardboard of the tie plate. The second lifting drive 284 drives the two destacking lifting components 282 to lift vertically, thereby lifting the cardboard stacked above the tie plate, thus separating the tie plate and the cardboard above it. Then, the robotic arm drives the material picking mounting frame to move to the clamping end of the cardboard clamping mechanism and extend it between the cardboard and the tie plate to clamp and remove the cardboard above the tie plate. When the vision detection device 6 detects the tie plate, the robotic arm drives the material picking mounting frame to move to the position of the material picking suction cup above the tie plate, where the material picking suction cup picks up the tie plate, realizing automatic removal of the cardboard and tie plate, saving labor and increasing efficiency.

[0079] Furthermore, the centering and straightening stacking structure also includes a paper stack base recycling line 210, which is located on one side of the stacking support 21 and is used to receive and transport the recycled paper stack base 211. Automated paper stack feeding is achieved through the paper stack conveyor line 29, and the unstacked paper stack base 211 is pushed onto the paper stack base recycling line 210 for transportation and recycling, resulting in a higher degree of automation.

[0080] Specifically, the destacking and material handling structure includes: a material handling mounting frame 31, on one side of which is provided a clamping clearance groove 311 and a lifting clearance groove 312; a cardboard clamping mechanism 32, which is movably mounted on the material handling mounting frame 31 along the X-axis direction for clamping cardboard; a material handling drive mechanism 33, which is mounted on the material handling mounting frame 31 for driving 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 mounted on the material handling mounting frame 31 along the X-axis and Z-axis directions; and a lifting drive mechanism 35, which is mounted on the material handling mounting frame 31 for driving the lifting member 34 to move along the X-axis direction through the lifting clearance groove 312 and along the Z-axis direction. When the front sides of the stacked cardboard are opposite, the folding notches on the sides of the upper and lower cardboard will be misaligned. During unstacking, the robot 1 moves the picking and mounting frame to align the lifting component with the folding notch of the lower cardboard, and drives the lifting component to extend into the folding notch of the lower cardboard along the X-axis through the lifting drive mechanism. Then, it drives the lifting component to lift the upper cardboard along the Z-axis. At this time, the picking and holding mechanism drives the cardboard clamping mechanism to smoothly extend between the upper and lower cardboard along the X-axis to clamp the upper cardboard. Picking is more convenient, and the front and back sides of the cardboard can be placed separately.

[0081] Specifically, the lifting drive mechanism 35 includes: a first lifting drive member 351, which is disposed on the material handling mounting frame 31 and is used to drive the lifting member 34 through the lifting clearance groove 312 along the X-axis direction; and a second lifting drive member 352, which is disposed on the drive end of the first lifting drive member 351 and the drive 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. Both the first lifting drive member 351 and the second lifting drive member 352 are telescopic cylinders.

[0082] In addition, in order to hold the transferred cardboard more securely, there are two cardboard clamping mechanisms 32, which are arranged opposite each other on both sides of the lifting member 34.

[0083] Further, the material picking drive mechanism 33 includes: a material picking drive slide rail 331, which is disposed on the material picking mounting frame 31 along the X-axis; a material picking drive slider 332, one end of which is connected to the cardboard clamping mechanism 32, and the other end is movably disposed on the material picking drive slide rail 331; and a material picking drive component 333, which is disposed on the material picking mounting frame 31 and is used to drive the two cardboard clamping mechanisms 32 to move along the X-axis. Specifically, the material picking drive component 333 includes two rodless cylinders 3331 disposed opposite to each other on the material picking mounting frame 31, and a solenoid valve 3332 connected to the two rodless cylinders 3331. The two cardboard clamping mechanisms 32 are respectively disposed 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 cardboard clamping mechanisms 32 to move synchronously along the X-axis.

[0084] More specifically, the cardboard clamping mechanism 32 includes: a clamping mounting plate 321 connected to the driving end of the material picking drive mechanism 33; a first clamping drive member 322 disposed on the clamping mounting plate 321 along the Z-axis; a first clamping member 323 disposed on the driving end of the first clamping drive member 322, the first clamping drive member 322 being used to drive the first clamping member 323 to move along the Z-axis; a second clamping drive member 324 disposed on the clamping mounting plate 321 along the Z-axis; and a second clamping member 325 disposed on the driving end of the second clamping drive member 324 and disposed opposite to the first clamping member 323 in the Z-axis direction, the second clamping drive member 324 being used to drive the second clamping member 325 to move along the Z-axis to cooperate with the first clamping member 323 to clamp the cardboard. Optionally, and not limited to, both the first clamping drive member 322 and the second clamping drive member 324 are 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 to move towards each other or away from each other in the Z-axis direction through the telescopic ends.

[0085] Furthermore, the cardboard clamping mechanism 32 further includes: a first clamping slide rail 326, which is 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 drive member 322, and the other end is movably disposed on the first clamping slide rail 326; a second clamping slide rail 328, which is disposed 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 drive member 324, and the other end is movably disposed on the second clamping slide 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 part 341 and a lifting part 342, the lifting part 342 having a triangular cross-section. The mounting part is connected to the drive end of the lifting drive mechanism through mounting holes and bolts. The mounting part is detachable and replaceable to facilitate the unstacking of cardboard of different sizes. The triangular cross-section of the lifting part 342 facilitates its insertion into the folding notch on the side of the cardboard.

[0087] Specifically, the material handling mounting frame 31 is equipped with a vision inspection device. Optionally, the vision inspection device may be a detection camera, which detects the position of the folding notch of the cardboard to drive the robot arm to move the material handling mounting frame 31 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 provided in a vertical direction; a cardboard support frame 53, which is movably mounted on the cardboard unloading slide rail 52; and a support frame lifting drive 54, which is mounted on the cardboard unloading mounting frame 51 and is used to drive the cardboard support frame 53 to move. The support frame lifting drive 54 is a telescopic cylinder. During production, when the robot arm picks up and places cardboard onto the cardboard support frame 53, the support frame lifting drive 54 drives the cardboard support frame 53 to move downward, so as to ensure the position of the cardboard picked up and placed by the robot arm each time, thereby improving production efficiency. Specifically, the cardboard support frame 53 is provided with a conveyor chain. The end of the cardboard unloading mechanism 5 away from the robot arm 1 is provided with a unloading conveyor line 7, which transports the cardboard to the unloading conveyor line 7 through the conveyor chain on the cardboard support frame 53, and is then transported by the unloading conveyor line 7.

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

[0090] S1. Paper stack loading: After removing the film from the paper stack, place it on the paper stack conveyor line 29, and the paper stack conveyor line 29 will transport it to the processing position of the centrally aligned and corrected stack structure 2.

[0091] S2. Stacking: The stacking structure 2 is used to center and correct the paper stack from top to bottom, and then to center and correct the left and right sides and front and back sides. Before stacking, a visual inspection device 6 is used to inspect the paper stack.

[0092] S3. The front and back cardboard are placed separately. The visual inspection camera detects the folding notch between cardboards with different front faces on the front side of the cardboard stack. The robotic arm drives the picking and mounting frame 31 to move to the lifting member 34 to align with the folding notch. The lifting drive mechanism 35 drives the lifting member 34 to move along the X-axis and extend into the folding notch. Then, the lifting member 34 is driven to move along the Z-axis to lift the cardboard. The picking drive mechanism 33 drives the cardboard clamping mechanism 32 to move along the X-axis and extend between cardboards with different front faces. Finally, the cardboard clamping mechanism 32 clamps the upper cardboard and picks it up and places it in the cardboard placement area.

[0093] S4. The gap between the stacked cardboard on the left and right sides of the paper stack is detected by a vision inspection camera. The stack lifting drive mechanism 27 drives the stack mounting plate 22 to move vertically up and down until the unloading lifting component 282 aligns with the gap between the stacked cardboard on the left and right sides of the paper stack. The first lifting drive component 283 drives the unloading lifting component 282 through the clearance hole 281 and into the space between the two left and right correction components 23. Then, the second lifting drive component 284 drives the first lifting drive component 283 and the unloading lifting component 282 to move vertically up and down to lift the upper cardboard. At this time, the robot arm drives the material picking and mounting frame 31 to move, and the cardboard clamping mechanism 32 clamps the upper cardboard and picks it up and places it in the cardboard placement area. The vision inspection device 6 detects the tie plate, and the robot arm drives the material picking and mounting frame 31 to move, and the material picking suction cup 41 picks up the tie plate and places it onto the cardboard unloading mechanism 5. This automated process distinguishes between front and back cardboard placement and automatically picks up and places the tie plate, achieving automated paper stack unloading.

[0094] The above description is one implementation method provided in conjunction with specific content. Any method or structure that is similar or identical to that of the present invention should be considered within the scope of protection of the present invention.

Claims

1. An automatic depalletizer based on vision detection, characterized in that, The system includes a paper stack conveyor line (29) for conveying paper stacks, a centering and straightening stacking structure (2) located on both sides of the paper stack conveyor line (29) for centering and straightening the paper stacks, a paperboard unloading mechanism (5) for receiving paperboard, and a destacking and material handling structure (3) for removing the paper stacks that have been centered and straightened by the centering and straightening stacking structure (2) from top to bottom on the paper stack conveyor line (29). The destacking and material handling structure (3) includes: Material picking mounting frame (31), one side of which is provided with clamping relief groove (311) and lifting relief groove (312). The cardboard clamping mechanism (32) is movably mounted on the material handling frame (31) along the X-axis and is used to clamp the cardboard; The material picking drive mechanism (33) is mounted 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 relief groove (311). The lifting component (34) is movably mounted on the material handling mounting frame (31) along the X and Z axes; The lifting drive mechanism (35) is mounted on the material mounting frame (31) and is used to drive the lifting component (34) to move along the X-axis direction through the lifting clearance groove (312) and along the Z-axis direction; The cardboard clamping mechanism (32) includes: A clamping mounting plate (321) is provided on the material handling mounting frame (31); The first clamping drive unit (322) is disposed on the clamping mounting plate (321) along the Z-axis direction; The first clamping member (323) is disposed 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; The second clamping drive unit (324) is disposed on the clamping mounting plate (321) along the Z-axis direction; The second clamping member (325) is disposed on the driving end of the second clamping drive member (324) and is disposed opposite to the first clamping member (323) in the Z-axis direction. The second clamping drive member (324) is used to drive the second clamping member (325) to move in the Z-axis direction so as to cooperate with the first clamping member (323) to clamp the cardboard. The first clamping slide rail (326) is disposed on the first clamping member (323) along the Z-axis direction; The first clamping slider (327) has one end connected to the first clamping drive (322) and the other end movably mounted on the first clamping slide rail (326); The second clamping slide rail (328) is provided on the second clamping member (325) along the Z-axis direction; The second clamping slider (329) has one end connected to the second clamping drive (324) and the other end movably mounted on the second clamping slide rail (328).

2. The automatic depalletizer based on vision detection according to claim 1, characterized in that, The centering and straightening stacking structure (2) includes: Stacking support (21); Two stack mounting plates (22) are mounted opposite each other on the stack support (21); Left and right correction components (23) are movably mounted on the stack mounting plate (22) in the horizontal direction; The left and right correction drive mechanism (24) is located between the stack mounting plate (22) and the left and right correction components (23) for driving the two left and right correction components (23) to move closer to each other or move further away from each other.

3. The automatic depalletizing machine based on vision detection according to claim 2, characterized in that, The left and right correction drive mechanism (24) includes: Left and right correction guide sleeves (241) are provided on the whole stack mounting plate (22); The left and right correction guide post (242) has one end connected to the left and right correction component (23) and the other end movably passes through the left and right correction guide sleeve (241). The left and right correction drive (243) is located on the whole stack mounting plate (22) and its telescopic end is connected to the left and right correction (23).

4. The automatic depalletizing machine based on vision detection according to claim 2, characterized in that, The left and right correction members (23) are hinged with front and rear correction members (25) at their front and rear ends. The front and rear correction members (25) are provided with front and rear correction planes (251). A front and rear correction drive 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 drive mechanism (26) can drive the front and rear correction members (25) to flip in the horizontal direction until the front and rear correction planes (251) are perpendicular to the left and right correction members (23).

5. The automatic depalletizing machine based on vision 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 the vertical direction. The stacking lifting drive mechanism (27) includes: The stack lifting slide rail (271) is installed vertically on the stack support (21); The whole stack lifting slider (272) has one end connected to the whole stack mounting plate (22) and the other end movably mounted on the whole stack lifting slide rail (271); A stack lifting drive assembly (273) is mounted on the stack support (21) and is used to drive the stack mounting plate (22) to move.

6. The automatic depalletizer based on vision detection according to claim 2, characterized in that, The material handling mounting frame (31) is equipped with a material handling suction cup (41) for picking up cardboard.

7. The automatic depalletizer based on vision detection according to claim 6, characterized in that, It also includes a paperboard lifting mechanism (28), which includes: A clearance hole (281) is provided vertically on the left and right correction members (23); The unloading lifting component (282) is movably inserted into the clearance hole (281); The first lifting drive (283) has its telescopic end connected to the unloading lifting component (282) for driving the unloading lifting component (282) through the clearance hole (281) and into the space between the two left and right correction components (23); The second lifting drive (284) is located on the left and right correction members (23) and its output end is connected to the first lifting drive (283) for driving the first lifting drive (283) and the unloading lifting member (282) to move up and down in the vertical direction.

8. The automatic depalletizing machine based on vision detection according to claim 1, characterized in that, The cardboard feeding mechanism (5) includes: A cardboard unloading mounting frame (51) is provided with a cardboard unloading slide rail (52) arranged in a vertical direction. The cardboard support frame (53) is movably mounted on the cardboard feeding slide rail (52); The support frame lifting drive (54) is located on the cardboard unloading mounting frame (51) and is used to drive the cardboard support frame (53) to move.

9. A method for unpacking cardboard, characterized in that, Including the vision-based automatic depalletizer as described in any one of claims 1-8, the cardboard depalletizing method includes the following steps: S1. Paper stack loading: After removing the film from the paper stack, place it on the paper stack conveyor line (29) and convey it to the processing position of the centering and straightening stack structure (2) by the paper stack conveyor line (29); S2, stacking, and centering the stack structure (2) from top to bottom, centering and correcting the left and right sides and front and back sides of the paper stack. S3. The front and back cardboard are placed separately. The folding gap between the cardboards facing different directions on the front side of the stack is detected by the visual inspection camera. The picking and mounting frame (31) is driven by the robot to move to the lifting member (34) and align it with the folding gap. The lifting drive mechanism (35) drives the lifting member (34) to move along the X-axis and extend into the folding gap. Then, the lifting member (34) is driven to move along the Z-axis to lift the cardboard. The picking drive mechanism (33) drives the cardboard clamping mechanism (32) to move along the X-axis and extend between the cardboards facing different directions. Finally, the cardboard clamping mechanism (32) clamps the upper cardboard and picks it up and places it in the cardboard placement area.

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