Film grabbing and tearing equipment

Abstract

The invention relates to the technical field of grabbing and film tearing equipment, in particular to grabbing and film tearing equipment. The film grabbing and tearing equipment comprises a grabbing device, a film tearing device and a controller, the grabbing device comprises a grabbing mechanical arm, a grabbing manipulator and a grabbing handle, and the grabbing manipulator is installed at the tail end of the grabbing mechanical arm and used for grabbing and releasing products; the grabbing handle is fixedly arranged on the grabbing manipulator; the film tearing device comprises a film tearing mechanical arm, a film tearing manipulator, a film tearing part and a film tearing handle, the film tearing manipulator is installed at the tail end of the film tearing mechanical arm, and the film tearing part is installed at the tail end of the film tearing manipulator and used for tearing off waste films of the grabbed products; the film tearing handle is fixedly arranged on the film tearing manipulator; and the grabbing mechanical arm, the grabbing manipulator, the film tearing mechanical arm and the film tearing manipulator are respectively in communication connection with the controller. According to the film grabbing and tearing equipment, the test range can be narrowed, and the time cost of manual debugging is reduced; in addition, the manual simulation process is rapid and accurate, and the consumed time is short.

Description

Technical Field

[0001] The present invention relates to the technical field of film grabbing and tearing equipment, and in particular to a film grabbing and tearing equipment. Background Art

[0002] With the vigorous development of AI technology, more and more industries are putting AI into production, hoping to reduce labor costs through AI and quickly complete task requirements in a short period of time. In the field of automation, more and more companies are combining robots with AI, hoping that AI can enable robots to quickly and intelligently complete the intended actions according to the environment and operation requirements, which can not only reduce the time cost of manual debugging, but also enable a large number of robots to complete the intended action requirements in a short period of time in batches through database data sharing.

[0003] However, the existing equipment that uses AI technology to peel off the film on mobile phones requires the operator to train the AI ​​through a lot of simulation and trial and error in order for the robotic arm to perform the actions of grabbing and peeling the film, which consumes a lot of time. Summary of the invention

[0004] The purpose of the present invention is to provide a film grabbing and tearing device to alleviate the technical problem that the devices for tearing film from mobile phones using AI technology in the prior art require a lot of time and cost.

[0005] The film grabbing and tearing device provided by the present invention comprises:

[0006] The grabbing device comprises a grabbing mechanical arm, a grabbing mechanical hand and a grabbing handle, wherein the grabbing mechanical hand is installed at the end of the grabbing mechanical arm and is used to grab and release the product; the grabbing handle is fixed to the grabbing mechanical hand;

[0007] The film-tearing device comprises a film-tearing mechanical arm, a film-tearing mechanical arm, a film-tearing piece and a film-tearing handle. The film-tearing mechanical arm is installed at the end of the film-tearing mechanical arm, and the film-tearing piece is installed at the end of the film-tearing mechanical arm to tear off and discard the waste film of the grasped product; the film-tearing handle is fixedly arranged on the film-tearing mechanical arm;

[0008] A controller is communicatively connected with the grabbing robot arm and the grabbing robot hand respectively, and is used for obtaining the position and posture of the grabbing robot hand and the posture of the grabbing robot arm as a first data model in a training mode, and is also used for controlling the movement of the grabbing robot arm and the grabbing robot hand according to the first data model in a working mode, so that the grabbing robot hand grabs and releases the product; a controller is communicatively connected with the film-tearing robot arm and the film-tearing robot hand respectively, and is used for obtaining the position and posture of the film-tearing robot hand and the posture of the film-tearing robot hand as a second data model in a training mode, and is also used for controlling the movement of the film-tearing robot arm and the film-tearing robot hand according to the second data model in a working mode, so that the film-tearing robot hand tears off the waste film of the grabbed product.

[0009] Preferably, as an implementable embodiment, the grabbing device further includes a grabbing tracking component, the grabbing tracking component includes a grabbing follower and a first grabbing collecting component, the grabbing follower is fixedly mounted on the grabbing manipulator, the first grabbing collecting component is fixedly mounted on the equipment frame, and is used to collect the position of the grabbing follower; the first grabbing collecting component is communicatively connected to the controller; the controller is used to send an alarm signal and / or adjust the speed of the grabbing manipulator when the distance between the grabbing follower and the grabbing manipulator exceeds a first preset range;

[0010] And / or, the film tearing device also includes a film tearing tracking component, the film tearing tracking component includes a film tearing follower and a first film tearing collecting component, the film tearing follower is fixedly mounted on the film tearing robot, the first film tearing collecting component is fixedly mounted on the equipment frame, and is used to collect the position of the film tearing follower; the first film tearing collecting component is communicatively connected to the controller; the controller is used to send an alarm signal and / or adjust the speed of the film tearing robot arm when the distance between the film tearing follower and the film tearing robot exceeds a second preset range.

[0011] Preferably, as an implementable embodiment, the grab follower includes a grab tracker, the grab tracker can emit two light rays intersecting at a first intersection, and the first grab collection component includes a grab tracking camera, the grab tracking camera is used to photograph the first intersection to obtain the position of the grab tracker;

[0012] And / or, the film tearing follower includes a film tearing tracker, which can emit two light rays intersecting at a second intersection point, and the first film tearing collection part includes a film tearing tracking camera, which is used to photograph the second intersection point to obtain the position of the film tearing tracker.

[0013] Preferably, as an implementable embodiment, the gripping device further comprises a second gripping and collecting member, which is fixedly mounted on the gripping manipulator and is used to collect the distance between the second gripping and collecting member and the gripped product; the controller is communicatively connected with the second gripping and collecting member and is used to send out an alarm signal and / or adjust the motion parameters of the gripping manipulator when the distance between the second gripping and collecting member and the gripped product exceeds a third preset range;

[0014] And / or, the film tearing device also includes a second film tearing collection piece, which is fixed to the film tearing robot and is used to collect the distance between the second film tearing collection piece and the film tearing piece; the controller is communicatively connected with the second film tearing collection piece, and is used to send an alarm signal and / or adjust the motion parameters of the film tearing robot when the distance between the second film tearing collection piece and the film tearing piece exceeds a fourth preset range.

[0015] Preferably, as an implementable embodiment, the second grabbing and collecting component includes a grabbing depth camera;

[0016] And / or, the second film tearing collection component includes a film tearing depth camera.

[0017] Preferably, as an implementable embodiment, the grabbing and tearing film equipment also includes a conveying device and an in-place sensing device, the conveying device is used to convey a material tray containing the product, and the in-place sensing device can sense the material tray in place; the controller is communicatively connected with the in-place sensing device, and can control the conveying device to stop conveying when the material tray is in place.

[0018] Preferably, as an implementable embodiment, the grabbing and tearing film device further comprises a product positioning device, which can detect whether there is a product in the material tray, and can obtain the precise position of the product when the presence of the product in the material tray is detected.

[0019] The controller is communicatively connected to the product positioning device, and can send out an alarm signal when the product positioning device detects that there is no product in the tray; the controller can control the movement of the grabbing robot arm and the grabbing robot hand according to the precise position of the product.

[0020] Preferably, as an implementable embodiment, the gripping device further comprises a gripping arm positioning assembly, the gripping arm positioning assembly being fixedly mounted on the gripping manipulator and used for locking the arm to the gripping manipulator;

[0021] And / or, the film tearing device comprises a film tearing arm positioning assembly, and the film tearing arm positioning assembly is fixedly mounted on the film tearing robot and is used to lock the arm to the film tearing robot.

[0022] Preferably, as an implementable embodiment, the grabbing arm positioning assembly includes a grabbing arm sleeve and a grabbing locking assembly, the grabbing arm sleeve is used to surround the arm, and the grabbing locking assembly is used to lock the grabbing arm sleeve to the arm.

[0023] The film tearing handle positioning assembly comprises a film tearing arm sleeve and a grabbing and locking assembly. The film tearing arm sleeve is used to wrap around the arm, and the film tearing locking assembly is used to lock the film tearing arm sleeve to the arm.

[0024] Preferably, as an implementable embodiment, the grabbing mechanical arm and the film tearing mechanical arm are both installed on a robot mobile frame, and casters are installed at the bottom of the robot mobile frame, and the robot mobile frame can be pushed into the corresponding space of the equipment frame;

[0025] and / or, casters are mounted on the bottom of the equipment rack;

[0026] And / or, the grabbing and film-tearing device further comprises a material unloading trolley, and the material unloading trolley is used to receive the product after film-tearing;

[0027] And / or, the film grabbing and tearing device further comprises a waste film collecting box, and the waste film collecting box is used for collecting the torn waste film.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The film grabbing and tearing device provided by the present invention can run a training mode before being put into use, and then run a working mode after completing the AI ​​training.

[0030] In the training mode, the operator first holds the grab handle and moves the grab robot to the position of the product; then, the operator controls the grab robot to grab the product, and moves the grab robot to drive the grabbed product to the film-tearing station; then, the operator holds the film-tearing handle and moves the film-tearing robot to the film-tearing station; then, the operator controls the film-tearing robot to tear off the waste film on the product. During this process, the film-tearing robot can be adaptively moved to cooperate with the film-tearing robot to smoothly tear off the waste film on the product. After completing the film-tearing, the operator can hold the grab handle, move the grab robot to the unloading position, and control the grab robot to release the product; the operator can also hold the film-tearing handle, move the film-tearing robot to the waste film collection position, and control the film-tearing robot to discard the waste film. During the training process, the gripping robot arm can change its posture adaptively with the movement of the gripping robot hand. At the same time, the film-tearing robot arm can change its posture adaptively with the movement of the film-tearing robot hand, producing a simulation effect similar to the robot arm driving the robot hand to move. Therefore, the controller can obtain the posture of the gripping robot hand and the posture of the gripping robot arm as the first data model, and can also obtain the posture of the film-tearing robot hand and the posture of the film-tearing robot arm as the second data model. Repeat the training many times to collect enough data for the database for AI learning.

[0031] In working mode, the controller can be operated by AI, and the movements of the grabbing robot arm and the grabbing robot hand are controlled according to the first data model. First, the grabbing robot arm is controlled to drive the grabbing robot hand to move to the position where the product is located; then, the grabbing robot hand is controlled to move to grab the product; then, the grabbing robot arm is controlled to drive the grabbing robot hand to drive the grabbed product to move to the film tearing station. After the grabbed product is moved into place, the movements of the film tearing robot arm and the film tearing robot hand are controlled according to the second data model. First, the film tearing robot arm is controlled to drive the film tearing robot hand to move to the film tearing station; then, the film tearing robot arm and the film tearing robot hand are controlled to work together to tear off the waste film on the product. After the film tearing is completed, the grabbing robot arm is controlled to drive the grabbing robot hand to move to the unloading position, and then the grabbing robot hand is controlled to release the product; at the same time, the film tearing robot arm is controlled to drive the film tearing robot hand to move to the waste film collection position, and then the film tearing robot hand is controlled to discard the waste film.

[0032] Therefore, the film grabbing and tearing equipment provided by the present invention can narrow the test scope and reduce the time cost of manual debugging by comparing different actions of running the manual training mode and the AI ​​working mode; in addition, the manual simulation process is fast, accurate and time-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0034] Figure 1 A schematic diagram of the structure of a film grabbing and tearing device provided in an embodiment of the present invention;

[0035] Figure 2 A schematic structural diagram of a film grabbing and tearing device from another perspective provided by an embodiment of the present invention;

[0036] Figure 3 A schematic diagram of the structure of a grabbing device in a grabbing and film tearing device provided in an embodiment of the present invention;

[0037] Figure 4 A schematic diagram of a portion of the structure of a grabbing device in a grabbing and film tearing device provided in an embodiment of the present invention;

[0038] Figure 5 A schematic diagram of the structure of a film-tearing device in a film-tearing device for grabbing and tearing film provided in an embodiment of the present invention;

[0039] Figure 6 A partial structural schematic diagram of a film tearing device in the film grabbing and tearing equipment provided in an embodiment of the present invention.

[0040] Description of reference numerals:

[0041] 100-grasping device; 110-grasping mechanical arm; 120-grasping mechanical hand; 130-grasping handle; 140-grasping tracker; 150-grasping tracking camera; 160-grasping depth camera;

[0042] 200-film tearing device; 210-film tearing robot arm; 220-film tearing robot; 230-film tearing handle; 240-film tearing piece; 250-film tearing tracker; 260-film tearing tracking camera; 270-film tearing depth camera; 280-film tearing arm sleeve;

[0043] 300- conveying device;

[0044] 400- surveillance camera;

[0045] 500-products;

[0046] 600-equipment rack;

[0047] 700-Robot mobile rack;

[0048] 800-Unloading trolley. DETAILED DESCRIPTION

[0049] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The present invention is further described in detail below through specific implementation examples in conjunction with the accompanying drawings.

[0051] See also Figure 1-Figure 6 , this embodiment provides a film grabbing and tearing device, which includes:

[0052] The grabbing device 100 includes a grabbing mechanical arm 110, a grabbing mechanical hand 120 and a grabbing handle 130. The grabbing mechanical hand 120 is installed at the end of the grabbing mechanical arm 110 and is used to grab and release the product; the grabbing handle 130 is fixed to the grabbing mechanical hand 120;

[0053] The film-tearing device 200 includes a film-tearing robot arm 210, a film-tearing robot arm 220, a film-tearing member 240 and a film-tearing handle 230. The film-tearing robot arm 220 is installed at the end of the film-tearing robot arm 210. The film-tearing member 240 is installed at the end of the film-tearing robot arm 220 and is used to tear off the waste film of the grasped product; the film-tearing handle 230 is fixedly arranged on the film-tearing robot arm 220;

[0054] The controller is communicatively connected to the grabbing robot arm 110 and the grabbing robot arm 120 respectively, and is used for obtaining the position and posture of the grabbing robot arm 120 and the posture of the grabbing robot arm 110 as a first data model in a training mode, and is also used for controlling the movement of the grabbing robot arm 110 and the grabbing robot arm 120 according to the first data model in a working mode, so that the grabbing robot arm 120 grabs and releases the product; the controller is communicatively connected to the film-tearing robot arm 210 and the film-tearing robot arm 220 respectively, and is used for obtaining the position and posture of the film-tearing robot arm 220 and the posture of the film-tearing robot arm 210 as a second data model in a training mode, and is also used for controlling the movement of the film-tearing robot arm 210 and the film-tearing robot arm 220 according to the second data model in a working mode, so that the film-tearing robot arm 220 tears off the waste film of the grabbed product.

[0055] The film grabbing and tearing device provided in this embodiment can run the training mode before being put into use, and then run the working mode after completing the AI ​​training.

[0056] In the training mode, the operator first holds the grabbing handle 130 and moves the grabbing manipulator 120 to the position of the product; then, the operator controls the grabbing manipulator 120 to grab the product, and moves the grabbing manipulator 120 to drive the grabbed product to move to the film-tearing station; then, the operator holds the film-tearing handle 230 and moves the film-tearing manipulator 220 to the film-tearing station; then, the operator controls the film-tearing manipulator 220 to tear off the waste film on the product. During this process, the film-tearing manipulator 220 can be adaptively moved to cooperate with the film-tearing manipulator 220 to smoothly tear off the waste film on the product. After completing the film-tearing, the operator can hold the grabbing handle 130, move the grabbing manipulator 120 to the unloading position, and control the grabbing manipulator 120 to release the product; the operator can also hold the film-tearing handle 230, move the film-tearing manipulator 220 to the waste film collection position, and control the film-tearing manipulator 220 to discard the waste film. During the training process, the gripping robot arm 110 can change its posture adaptively with the movement of the gripping robot hand 120, and at the same time, the film-tearing robot arm 210 can change its posture adaptively with the movement of the film-tearing robot hand 220, producing a simulation effect similar to that of the robot arm driving the robot hand to move. Therefore, the controller can obtain the posture of the gripping robot hand 120 and the posture of the gripping robot arm 110 as the first data model, and can also obtain the posture of the film-tearing robot hand 220 and the posture of the film-tearing robot arm 210 as the second data model. Repeat the training multiple times to collect enough data for the database for AI learning.

[0057] In the working mode, the controller can be operated by AI, and the grabbing robot arm 110 and the grabbing robot hand 120 are controlled to move according to the first data model. First, the grabbing robot arm 110 is controlled to drive the grabbing robot hand 120 to move to the position where the product is located; then, the grabbing robot hand 120 is controlled to move to grab the product; then, the grabbing robot arm 110 is controlled to drive the grabbing robot hand 120 to drive the grabbed product to move to the film tearing station. After the grabbed product is moved to the position, the film tearing robot arm 210 and the film tearing robot hand 220 are controlled to move according to the second data model. First, the film tearing robot arm 210 is controlled to drive the film tearing robot hand 220 to move to the film tearing station; then, the film tearing robot arm 210 and the film tearing robot hand 220 are controlled to work together to tear off the waste film on the product. After the film tearing is completed, the grabbing robot arm 110 is controlled to drive the grabbing robot 120 to move to the unloading position, and then the grabbing robot 120 is controlled to release the product; at the same time, the film tearing robot arm 210 is controlled to drive the film tearing robot 220 to move to the waste film collection position, and then the film tearing robot 220 is controlled to discard the waste film.

[0058] Therefore, the film grabbing and tearing equipment provided in this embodiment can narrow the test scope and reduce the time cost of manual debugging by comparing different actions of running manual training mode and AI working mode; in addition, the manual simulation process is fast, accurate and time-saving.

[0059] In the specific structure of the grasping device 100, a grasping tracking component can be provided, and the grasping tracking component includes a grasping follower and a first grasping acquisition component. The grasping follower is fixed to the grasping manipulator 120 so that the grasping follower can move synchronously with the grasping manipulator 120; the first grasping acquisition component is fixed to the equipment frame so that the position of the grasping follower can be acquired in real time by using the first grasping acquisition component, thereby indirectly acquiring the position of the grasping manipulator 120. The first grasping acquisition component can transmit the acquired position information of the grasping follower to the controller, and the position of the grasping manipulator 120 can also be acquired by the controller. The controller can obtain the distance between the grasping follower and the first grasping acquisition component by analyzing and calculating the position of the grasping follower and the position of the grasping manipulator 120. As one feasible implementation method, when the distance between the grabbing follower and the first grabbing and collecting member exceeds the first preset range, the controller can send out an alarm signal to remind the staff to adjust the momentum (speed) of the grabbing robot arm 110 during movement, so that the distance between the grabbing follower and the first grabbing and collecting member can be within the first preset range, thereby reducing the error, improving the grabbing accuracy and the placement accuracy of the grabbed product; as another feasible implementation method, when the distance between the grabbing follower and the first grabbing and collecting member exceeds the first preset range, the controller can automatically adjust the momentum (speed) of the grabbing robot arm 110 during movement, which has a high degree of intelligence and saves time and effort.

[0060] The grabbing tracker 140 can be used as the above-mentioned grabbing follower, and the grabbing tracking camera 150 can be used as the above-mentioned first grabbing collecting component. The grabbing tracker 140 can emit two light rays intersecting at a first intersection point, and the grabbing tracking camera 150 can shoot the first intersection point of the two light rays to obtain the position of the first intersection point, and then obtain the position of the grabbing tracker 140 with high accuracy.

[0061] Similarly, a film-tearing tracking component can be provided in the specific structure of the film-tearing device 200, and the film-tearing tracking component includes a film-tearing follower and a first film-tearing collecting component. The film-tearing follower is fixed to the film-tearing manipulator 220 so that the film-tearing follower can move synchronously with the film-tearing manipulator 220; the first film-tearing collecting component is fixed to the equipment frame so that the position of the film-tearing follower can be collected in real time by using the first film-tearing collecting component, thereby indirectly collecting the position of the film-tearing manipulator 220. The first film-tearing collecting component can transmit the collected position information of the film-tearing follower to the controller, and the position of the film-tearing manipulator 220 can also be acquired by the controller. The controller can obtain the distance between the film-tearing follower and the first film-tearing collecting component by analyzing and calculating the position of the film-tearing follower and the position of the film-tearing manipulator 220. As an implementable embodiment, when the distance between the film tearing follower and the first film tearing collection part exceeds the second preset range, the controller can send out an alarm signal to remind the staff to adjust the momentum (speed) of the film tearing robot 210 during movement, so that the distance between the film tearing follower and the first film tearing collection part can be within the second preset range, thereby reducing the error, improving the film tearing accuracy and the accuracy of discarding waste film; as another implementable embodiment, when the distance between the film tearing follower and the first film tearing collection part exceeds the second preset range, the controller can automatically adjust the momentum (speed) of the film tearing robot 210 during movement, which has a high degree of intelligence and saves time and effort.

[0062] The film tearing tracker 250 can be used as the above-mentioned film tearing follower, and the film tearing tracking camera 260 can be used as the above-mentioned first film tearing collection component. The film tearing tracker 250 can emit two light rays intersecting at a second intersection point, and the film tearing tracking camera 260 can shoot the second intersection point of the two light rays to obtain the position of the second intersection point, and then, obtain the position of the film tearing tracker 250 with high accuracy.

[0063] In the specific structure of the grasping device 100, a second grasping and collecting piece can also be set, and the second grasping and collecting piece is fixed to the grasping manipulator 120, so that the second grasping and collecting piece can collect the distance between it and the grasped product (under ideal conditions, the distance is a fixed value); the controller is connected to the second grasping and collecting piece for communication, and the second grasping and collecting piece can transmit the collected distance information between it and the grasped product to the controller. As an implementable embodiment, when the distance between the second grasping and collecting piece and the grasped product exceeds the third preset range, the controller can issue an alarm message to remind the staff to adjust the motion parameters of the grasping manipulator 120, so that the distance between the grasped product and the second grasping and collecting piece can enter the third preset range, reduce errors, and improve grasping accuracy and reliability; as another implementable embodiment, when the distance between the second grasping and collecting piece and the grasped product exceeds the third preset range, the controller can automatically adjust the motion parameters of the grasping manipulator 120, which has a high degree of intelligence and saves time and effort.

[0064] The grabbing depth camera 160 can be used as the second grabbing collection component. The grabbing depth camera 160 can photograph the grabbed product and obtain the distance between the grabbing depth camera 160 and the grabbed product with high accuracy.

[0065] In the specific structure of the film-tearing device 200, a second film-tearing collecting piece can also be provided, and the second film-tearing collecting piece is fixed to the film-tearing manipulator 220, so that the second film-tearing collecting piece can collect the distance between it and the film-tearing member 240 (in an ideal state, the distance is a fixed value); the controller is connected to the second film-tearing collecting piece in communication, and the second film-tearing collecting piece can transmit the collected distance information between it and the film-tearing member 240 to the controller. As an implementable embodiment, when the distance between the second film-tearing collecting piece and the film-tearing member 240 exceeds the third preset range, the controller can issue an alarm message to remind the staff to adjust the motion parameters of the film-tearing manipulator 110, so that the distance between the film-tearing member 240 and the second film-tearing collecting piece can enter the third preset range, reduce the error, and improve the film-tearing accuracy; as another implementable embodiment, when the distance between the second film-tearing collecting piece and the film-tearing member 240 exceeds the third preset range, the controller can automatically adjust the motion parameters of the film-tearing manipulator 220, which has a high degree of intelligence and saves time and effort.

[0066] The film-tearing depth camera 270 can be used as the second film-tearing collection part. The film-tearing depth camera 270 can photograph the film-tearing part 240 to obtain the distance between the film-tearing depth camera 270 and the film-tearing part 240 with high accuracy. At this time, the film-tearing depth camera 270 can also photograph the waste film area of ​​the captured product. The controller can analyze whether the waste film of the captured product has been torn off through the captured picture. When it is determined that the waste film of the captured product has been torn off, it indicates that the film-tearing action is completed. At this time, the controller controls the grabbing robot arm 110 to drive the grabbing robot hand 120 to move to the unloading position, and controls the grabbing robot hand 120 to release the product to complete the unloading. When it is determined that the waste film of the captured product has not been torn off, it indicates that the film-tearing is unsuccessful. At this time, the controller controls the film-tearing robot hand 220 and the film-tearing robot arm 210 to tear the film again until the film-tearing is completed.

[0067] Before tearing the film, the grabbing depth camera 160 can take a picture to locate the product, and the controller can control the film tearing robot 220 to move to a suitable posture to tear off the waste film of the product according to the positioning information sent by the grabbing depth camera 160.

[0068] The grabbing robot 120 can be mounted on the grabbing robot arm 110 via a grabbing flange, and the grabbing follower and the second grabbing collecting member can both be mounted on the grabbing flange.

[0069] The film-tearing robot 120 can be installed on the film-tearing robot arm 210 via a film-tearing flange, and the film-tearing follower and the second film-tearing collecting member can both be installed on the film-tearing flange.

[0070] In this embodiment, a conveying device 300 and an in-place sensing device are also provided, wherein the conveying device 300 can convey a tray containing products, and when the tray is conveyed to a certain position, the in-place sensing device can sense the tray and send a signal of in-place; the controller is connected to the in-place sensing device for communication, and when the controller receives the signal of in-place sent by the in-place sensing device, the conveying device 300 can be controlled to stop conveying, so that the tray and the products contained therein stay at the current position, so that the subsequent grasping mechanical arm 110 drives the grasping mechanical hand 120 to grasp the products smoothly. Among them, an in-place sensor can be used as the above-mentioned in-place sensing device.

[0071] Furthermore, a product positioning device can be provided to detect whether there is a product in the tray. When the product positioning device detects that there is a product in the tray, the product positioning device can accurately position the product to obtain the precise position of the product. The controller is connected to the product positioning device for communication. When the product positioning device detects that there is no product in the tray, the controller sends an alarm signal to remind the staff to handle it; when the product positioning device detects that there is a product in the tray, the controller can control the movement of the grabbing robot arm 110 and the grabbing robot hand 120 according to the precise position of the product, so that the grabbing robot hand 120 can accurately grab the product, which can improve the success rate of grabbing and further improve the grabbing efficiency. Among them, the product positioning device can be a monitoring camera 400.

[0072] A grasping arm positioning component can be set in the specific structure of the grasping device 100, and the grasping arm positioning component can be fixed to the grasping robot 120, so that the arm can be locked to the grasping robot 120 by utilizing the grasping arm positioning component, so as to fix the relative position of the arm and the grasping robot 120, which is beneficial to the training effect of AI.

[0073] Specifically, a grabbing arm sleeve and a grabbing locking assembly can be set in the specific structure of the grabbing arm positioning assembly. When in use, the grabbing arm sleeve can be put on the arm, and the grabbing arm sleeve can be locked to the arm using the grabbing locking assembly, which has a better positioning effect.

[0074] Correspondingly, a film tearing arm positioning component can be set in the specific structure of the film tearing device 200, and the film tearing arm positioning component can be fixed to the film tearing robot 220, so that the arm can be locked to the film tearing robot 220 by utilizing the film tearing arm positioning component, thereby fixing the relative position of the arm and the film tearing robot 220, which is beneficial to the training effect of AI.

[0075] Specifically, a film tearing arm sleeve 280 and a film tearing locking assembly can be set in the specific structure of the film tearing arm positioning assembly. When in use, the film tearing arm sleeve 280 can be put on the arm, and the film tearing arm sleeve 280 can be locked to the arm using the film tearing locking assembly, which has a better positioning effect.

[0076] The grabbing robot arm 110 and the film tearing robot arm 210 can be installed on the robot mobile frame, and casters can be installed at the bottom of the robot mobile frame to facilitate the movement of the robot mobile frame. During maintenance, the robot mobile frame can be pulled out from the corresponding space of the equipment frame for maintenance, which can reduce the difficulty of maintenance; during assembly, the robot mobile frame can be pushed into the corresponding space of the equipment frame to save manpower.

[0077] Casters can be installed at the bottom of the equipment rack to facilitate the movement of the equipment rack. The equipment rack can limit the working range of the robot arm to ensure the safety of workers.

[0078] In this embodiment, a material unloading trolley 800 may be provided to receive the product after film tearing, and the material unloading trolley 800 may be pushed to transfer the product.

[0079] A waste film collection box may also be provided to collect the torn waste film.

[0080] The above-mentioned grasping device 100 and film tearing device 200 are both six-axis robots with high degrees of freedom. They can make various postures to complete task requirements and provide rich and diverse data models for AI.

[0081] Both the grabbing robot 120 and the film-tearing robot 220 may include a rotating electric claw and a clamping claw.

[0082] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" 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 an indirect connection 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.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A film grabbing and tearing device, characterized in that: include: The grabbing device comprises a grabbing mechanical arm, a grabbing mechanical hand and a grabbing handle, wherein the grabbing mechanical hand is installed at the end of the grabbing mechanical arm and is used to grab and release the product; the grabbing handle is fixed to the grabbing mechanical hand; The film-tearing device comprises a film-tearing mechanical arm, a film-tearing mechanical arm, a film-tearing piece and a film-tearing handle. The film-tearing mechanical arm is installed at the end of the film-tearing mechanical arm, and the film-tearing piece is installed at the end of the film-tearing mechanical arm to tear off and discard the waste film of the grasped product; the film-tearing handle is fixedly arranged on the film-tearing mechanical arm; A controller is communicatively connected with the grabbing robot arm and the grabbing robot hand respectively, and is used for obtaining the position and posture of the grabbing robot hand and the posture of the grabbing robot arm as a first data model in a training mode, and is also used for controlling the movement of the grabbing robot arm and the grabbing robot hand according to the first data model in a working mode, so that the grabbing robot hand grabs and releases the product; a controller is communicatively connected with the film-tearing robot arm and the film-tearing robot hand respectively, and is used for obtaining the position and posture of the film-tearing robot hand and the posture of the film-tearing robot hand as a second data model in a training mode, and is also used for controlling the movement of the film-tearing robot arm and the film-tearing robot hand according to the second data model in a working mode, so that the film-tearing robot hand tears off the waste film of the grabbed product.

2. The film grabbing and tearing device according to claim 1, characterized in that: The grabbing device further includes a grabbing tracking component, the grabbing tracking component includes a grabbing follower and a first grabbing collecting component, the grabbing follower is fixedly mounted on the grabbing manipulator, the first grabbing collecting component is fixedly mounted on the equipment frame, and is used to collect the position of the grabbing follower; the first grabbing collecting component is communicatively connected to the controller; the controller is used to send an alarm signal and / or adjust the speed of the grabbing manipulator when the distance between the grabbing follower and the grabbing manipulator exceeds a first preset range; And / or, the film tearing device also includes a film tearing tracking component, the film tearing tracking component includes a film tearing follower and a first film tearing collecting component, the film tearing follower is fixedly mounted on the film tearing robot, the first film tearing collecting component is fixedly mounted on the equipment frame, and is used to collect the position of the film tearing follower; the first film tearing collecting component is communicatively connected to the controller; the controller is used to send an alarm signal and / or adjust the speed of the film tearing robot arm when the distance between the film tearing follower and the film tearing robot exceeds a second preset range.

3. The film grabbing and tearing device according to claim 2, characterized in that: The grab follower comprises a grab tracker, and the grab tracker can emit two light rays intersecting at a first intersection point. The first grab collection component comprises a grab tracking camera, and the grab tracking camera is used to photograph the first intersection point to obtain the position of the grab tracker. And / or, the film tearing follower includes a film tearing tracker, which can emit two light rays intersecting at a second intersection point, and the first film tearing collection part includes a film tearing tracking camera, which is used to photograph the second intersection point to obtain the position of the film tearing tracker.

4. The film grabbing and tearing device according to claim 1, characterized in that: The grabbing device further comprises a second grabbing and collecting member, which is fixedly mounted on the grabbing manipulator and is used to collect the distance between the second grabbing and collecting member and the grabbed product; the controller is in communication connection with the second grabbing and collecting member and is used to send out an alarm signal and / or adjust the motion parameters of the grabbing manipulator when the distance between the second grabbing and collecting member and the grabbed product exceeds a third preset range; And / or, the film tearing device also includes a second film tearing collection piece, which is fixed to the film tearing robot and is used to collect the distance between the second film tearing collection piece and the film tearing piece; the controller is communicatively connected with the second film tearing collection piece, and is used to send an alarm signal and / or adjust the motion parameters of the film tearing robot when the distance between the second film tearing collection piece and the film tearing piece exceeds a fourth preset range.

5. The film grabbing and tearing device according to claim 4, characterized in that: The second grabbing and collecting component includes a grabbing depth camera; And / or, the second film tearing collection component includes a film tearing depth camera.

6. The film grabbing and tearing device according to claim 1, characterized in that: The grabbing and tearing film equipment also includes a conveying device and an in-place sensing device. The conveying device is used to convey a material tray containing products, and the in-place sensing device can sense the material tray in place; the controller is communicatively connected with the in-place sensing device, and can control the conveying device to stop conveying when the material tray is in place.

7. The film grabbing and tearing device according to claim 6, characterized in that: The grabbing and tearing film device also includes a product positioning device, which can detect whether there is a product in the material tray and obtain the precise position of the product when the product is detected in the material tray; The controller is communicatively connected to the product positioning device, and can send out an alarm signal when the product positioning device detects that there is no product in the tray; the controller can control the movement of the grabbing robot arm and the grabbing robot hand according to the precise position of the product.

8. The film grabbing and tearing device according to claim 1, characterized in that: The grasping device further comprises a grasping arm positioning assembly, which is fixedly mounted on the grasping manipulator and is used to lock the arm to the grasping manipulator; And / or, the film tearing device comprises a film tearing arm positioning assembly, and the film tearing arm positioning assembly is fixedly mounted on the film tearing robot and is used to lock the arm to the film tearing robot.

9. The film grabbing and tearing device according to claim 8, characterized in that: The grab arm positioning assembly comprises a grab arm sleeve and a grab locking assembly, wherein the grab arm sleeve is used to surround the arm, and the grab locking assembly is used to lock the grab arm sleeve to the arm; The film tearing handle positioning assembly comprises a film tearing arm sleeve and a grabbing and locking assembly. The film tearing arm sleeve is used to wrap around the arm, and the film tearing locking assembly is used to lock the film tearing arm sleeve to the arm.

10. The film grabbing and tearing device according to any one of claims 1 to 9, characterized in that: The grabbing mechanical arm and the film-tearing mechanical arm are both installed on a robot mobile frame, and casters are installed at the bottom of the robot mobile frame, and the robot mobile frame can be pushed into the corresponding space of the equipment frame; and / or, casters are mounted on the bottom of the equipment rack; And / or, the grabbing and film-tearing device further comprises a material unloading trolley, and the material unloading trolley is used to receive the product after film-tearing; And / or, the film grabbing and tearing device further comprises a waste film collecting box, and the waste film collecting box is used for collecting the torn waste film.

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