Robot-assisted carton filling device and method

Abstract

The invention belongs to the technical field of automatic logistics equipment, and discloses a robot-assisted carton filling device and method.The robot-assisted carton filling device comprises a rack, a collaborative robot, a recycling cabinet and a detection assembly, the collaborative robot is located between a carton stack and a carton filling and sealing machine, and the recycling cabinet is arranged on the side of the collaborative robot; the camera is installed on the rack and used for recognizing whether cartons of the carton stack are cartons of the standard specification or not, the control circuit board is used for controlling the collaborative robot to sort the cartons of the standard specification and the cartons of the non-standard specification of the carton stack to be transferred to the carton filling and sealing machine and the recycling cabinet correspondingly, and the traditional manual carton carrying and screening procedure is replaced. According to the device, the dependence on human resources is reduced, the body burden of operators is relieved, multiple functions are integrated into one device, the traditional mode that multiple groups of robots with different functions need to be arranged for collaborative operation in the past is changed, and the overall efficiency of a production line is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated logistics equipment, and particularly to a robot-assisted carton loading device and method. Background Art

[0002] In the carton sealing link of packaging production, there are mainly two sources of cartons used by workers: brand-new cartons and recycled cartons. However, recycled cartons sometimes have a situation of mismatched specifications.

[0003] Currently, the cartons used in the production process of the carton loading and sealing area in the cigarette-making and packaging workshop are all carton pallets output from the auxiliary material warehouse. They are placed in the designated area of each carton loading and sealing machine by manual forklifts. After the packing straps of the cartons are removed manually, the cartons are placed on the automatic carton loading warehouse of the carton loading and sealing machine. At the same time, cartons with inconsistent specifications need to be inspected and removed. After the cartons on the pallet are consumed, the empty pallet is taken away by a manual forklift. This repetitive loading operation not only has a high labor intensity but also easily causes non-standard cartons to be not screened due to negligence, thus triggering a series of problems in the subsequent product classification link and affecting production efficiency.

[0004] Therefore, there is an urgent need for a robot-assisted carton loading device and method to solve the above problems. Summary of the Invention

[0005] According to one aspect of the present invention, a robot-assisted carton loading device is provided, which reduces labor intensity, occupies a small area, changes the traditional mode that requires multiple groups of robots with different functions to cooperate, and improves production efficiency.

[0006] In order to solve the above problems existing in the prior art, the present invention adopts the following technical solutions:

[0007] The robot-assisted carton loading device includes:

[0008] A frame;

[0009] A collaborative robot, which is located between the carton stack and the carton loading and sealing machine and is arranged on the frame;

[0010] A recycling cabinet, which is arranged beside the collaborative robot and is used for recycling non-standard cartons;

[0011] A detection component, which includes a camera and a control circuit board signal-connected to the camera. The camera is installed on the frame. The camera is used to identify whether the cartons in the carton stack are standard cartons, and the control circuit board is used to control the collaborative robot to sort the standard cartons and non-standard cartons in the carton stack and transfer them to the carton loading and sealing machine and the recycling cabinet respectively.

[0012] Preferably, the robot-assisted carton loading device further includes a first lifting mechanism, which is arranged on the frame and is signal-connected to the control circuit board. The camera is installed on the first lifting mechanism, and the first lifting mechanism is used to drive the camera to lift along the vertical height direction of the frame.

[0013] Preferably, the robot-assisted carton loading device further includes a second lifting mechanism, which is arranged on the frame and is signal-connected to the control circuit board. The collaborative robot is installed on the second lifting mechanism, and the second lifting mechanism is used to drive the collaborative robot to lift along the vertical height direction of the frame.

[0014] Preferably, the robot-assisted carton loading device further includes an isolation net, which is arranged on the frame. The number of the isolation nets is two, and the two isolation nets are arranged at intervals on both sides of the collaborative robot.

[0015] Preferably, the robot-assisted carton loading device further includes a grating isolation door, which is arranged on the frame and is located between the two isolation nets.

[0016] Preferably, the recycling cabinet includes a cabinet body and a guide plate. The top of the cabinet body has an opening, and the guide plate is located inside the cabinet body and is inclined relative to the horizontal direction. The guide plate is used to guide the non-standard cartons from the opening into the cabinet body.

[0017] According to another aspect of the present invention, the present invention provides a method for robot-assisted carton loading. Through the implementation of the above-mentioned robot-assisted carton loading device, the method for robot-assisted carton loading includes:

[0018] S100: The camera performs feature recognition on the cartons of the carton stack;

[0019] S200: When the camera recognizes that the cartons of the carton stack are of standard specifications, the camera sends a signal to the control circuit board, and the control circuit board can control the collaborative robot to transfer the standard-specification cartons to the loading port of the carton sealing machine;

[0020] S300: When the camera recognizes that the cartons of the carton stack are of non-standard specifications, the camera sends a signal to the control circuit board, and the control circuit board can control the collaborative robot to transfer the non-standard-specification cartons to the recycling cabinet.

[0021] Preferably, in the method for robot-assisted carton loading, S100 specifically includes:

[0022] S101: The camera recognizes the height of the carton stack;

[0023] S102: When the camera recognizes that the height of the stack of cartons is decreasing, the camera sends a signal to the control circuit board, and the control circuit board can control the first lifting mechanism to drive the camera to decrease.

[0024] Preferably, in the method S300 for robot-assisted loading of cartons:

[0025] The control circuit board can also control the second lifting mechanism to drive the collaborative robot to rise relative to the frame.

[0026] Preferably, the method for robot-assisted loading of cartons further includes, before S100:

[0027] S10: When the camera recognizes that the grating isolation door is opened, the camera sends a signal to the control circuit board, and the control circuit board can control the collaborative robot to stop;

[0028] S20: When the camera recognizes that the grating isolation door is closed, the camera sends a signal to the control circuit board, and the control circuit board can control the collaborative robot to run.

[0029] The beneficial effects of the present invention are as follows:

[0030] The robot-assisted carton loading device provided by the present invention has a collaborative robot located between the stack of cartons and the carton sealing machine and is arranged on the frame, and a recycling cabinet is arranged beside the collaborative robot. The detection component includes a camera and a control circuit board signal-connected to the camera. The camera is installed on the frame and is used to identify whether the cartons in the stack of cartons are standard-sized cartons. The control circuit board is used to control the collaborative robot to separately transfer the standard-sized cartons and non-standard-sized cartons in the stack of cartons to the carton sealing machine and the recycling cabinet. When the camera recognizes that the top layer of the stack of cartons is a standard-sized carton, the camera sends a signal to the control circuit board, and the control circuit board can control the collaborative robot to grab the standard-sized carton and transfer it to the loading port of the carton sealing machine. When the camera recognizes that the top layer of the stack of cartons is a non-standard-sized carton, the camera sends a signal to the control circuit board, and the control circuit board can control the collaborative robot to grab the non-standard-sized carton and transfer it to the recycling cabinet, and the recycling cabinet recycles the cartons. This device replaces the traditional manual handling and screening processes of cartons, not only reducing the dependence on human resources, but also reducing the physical burden of operators and improving work safety. At the same time, automated equipment can work continuously, reducing delays and errors caused by manual operations. In addition, integrating multiple functions such as grabbing cartons, removing packing straps, recycling incorrect cartons, and recycling packing straps into one device saves space and has a small floor area, changing the traditional mode that requires multiple groups of robots with different functions to work together, and improving the overall efficiency of the production line.

[0031] The robot-assisted carton loading method provided by the present invention, through the implementation of the robot-assisted carton loading device, the camera performs feature recognition on the cartons in the carton stack. When the camera recognizes that the cartons in the carton stack are of standard specifications, the camera sends a signal to the control circuit board, and the control circuit board can control the collaborative robot to transfer the cartons of standard specifications to the loading port of the cartoning and sealing machine. When the camera recognizes that the cartons in the carton stack are of non-standard specifications, the camera sends a signal to the control circuit board, and the control circuit board can control the collaborative robot to transfer the non-standard specifications cartons to the recycling cabinet. It replaces the traditional manual handling and screening of cartons, reduces delays and errors caused by manual operations, integrates multiple functions such as grasping cartons, removing packing straps, recycling incorrect cartons, and recycling packing straps into one device, saves space, has a small floor area, changes the traditional mode that requires multiple groups of robots with different functions to cooperate, and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is the first structural schematic diagram of the robot-assisted carton loading device provided by Embodiment 1 of the present invention;

[0033] Figure 2 It is the second structural schematic diagram of the robot-assisted carton loading device provided by Embodiment 1 of the present invention;

[0034] Figure 3 It is the third structural schematic diagram of the robot-assisted carton loading device provided by Embodiment 1 of the present invention;

[0035] Figure 4 It is the flowchart of the robot-assisted carton loading method provided by Embodiment 2 of the present invention.

[0036] REFERENCE NUMERALS:

[0037] 100, carton stack; 200, cartoning and sealing machine; 1, frame; 2, collaborative robot; 3, recycling cabinet; 4, camera; 5, first lifting mechanism; 6, second lifting mechanism; 7, isolation net; 8, grating isolation door. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings, rather than all the structures.

[0039] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or a signal connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over", and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0041] In the description of this embodiment, the orientation or positional relationship such as "above", "below", "left", and "right" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0042] Embodiment 1

[0043] As Figures 1 - 3 shown, in this embodiment, the robot-assisted carton loading device includes a frame 1, a collaborative robot 2, a recycling cabinet 3, and a detection component. Among them, the collaborative robot 2 is located between the carton stack 100 and the carton sealing machine 200 and is arranged on the frame 1. The recycling cabinet 3 is arranged beside the collaborative robot 2 and is used to recycle non-standard cartons. The detection component includes a camera 4 and a control circuit board that is signal-connected to the camera 4. The camera 4 is installed on the frame 1. The camera 4 is used to identify whether the cartons in the carton stack 100 are standard cartons. The control circuit board is used to control the collaborative robot 2 to separately transfer the standard cartons and non-standard cartons in the carton stack 100 to the carton sealing machine 200 and the recycling cabinet 3.

[0044] Specifically, the collaborative robot 2 is a six-axis robot, which is an articulated industrial robot with six degrees of freedom. Driven by servo motors, the six rotating axes operate in coordination, enabling it to simulate the near-omni-directional movement ability of a human arm in three-dimensional space. Its mechanical structure usually consists of a base, a waist rotating axis, a large arm, a small arm, a wrist rotating axis, and an end effector, allowing it to move flexibly in space and adapt to various complex operation tasks. Moreover, each joint of the robotic arm of the collaborative robot 2 can move independently, facilitating multi-angle operations in a narrow space. The collaborative robot 2 is set between the carton stack 100 and the carton packing and sealing machine 200. The clamp driven by the collaborative robot 2 unbinds the packing straps of the cartons in the carton stack 100, positions the packing straps, retrieves the packing straps, grabs the cartons, and classifies and releases the cartons to the recycling cabinet 3 or the carton packing and sealing machine 200. The recycling cabinet 3 is used to recycle non-standard cartons, and the carton packing and sealing machine 200 is used to seal standard cartons. In the cigarette production field, the recycling cabinet 3 for non-standard cartons is an environmental protection device specifically used to recycle special-shaped cartons generated in links such as tobacco leaf packaging and filter rod transportation. These cartons cannot be directly put into ordinary recycling bins due to their inconsistent sizes (such as long tobacco leaf boxes, special-shaped accessory boxes, etc.). The recycling cabinet is usually designed as a metal box with an adjustable entrance, equipped with a simple compression plate and classification compartments inside. The collaborative robot 2 transfers non-standard cartons into the recycling cabinet 3. The camera 4 uses a planar camera 4, which can capture high-resolution images and perform high-precision dimensional measurement and positioning, so as to accurately identify the position of the packing strap, the appearance characteristics of the cartons, the position information of the cartons, etc., and cooperate with the collaborative robot 2 to perform actions such as unbinding, grabbing, loading, and recycling of the cartons.

[0045] The working principle of this robot-assisted carton loading device is as follows: The robotic arm of the collaborative robot 2 drives the clamp to move to the carton stack 100. When the camera 4 identifies that the top layer of the carton stack 100 is a standard carton, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to grab the standard carton and transfer it to the loading port of the carton packing and sealing machine 200. After the collaborative robot 2 finishes loading the carton, it moves to the carton stack 100 again. When the camera 4 identifies that the top layer of the carton stack 100 is a non-standard carton, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to grab the non-standard carton and transfer it to the recycling cabinet 3, and the recycling cabinet 3 recycles the carton. This device replaces the traditional manual handling and screening of cartons. It not only reduces the dependence on human resources, but also reduces the physical burden of the operators and improves work safety. At the same time, automated equipment can work continuously, reducing delays and errors caused by manual operations. In addition, integrating multiple functions such as grabbing cartons, removing packing straps, recycling incorrect cartons, and recycling packing straps into one device saves space and has a small floor area, changing the traditional mode that requires multiple groups of robots with different functions to cooperate in operation, and improving the overall efficiency of the production line.

[0046] Further, continue to refer to Figures 1 - 3 , the robot-assisted carton loading device further includes a first lifting mechanism 5. The first lifting mechanism 5 is arranged on the frame 1 and is signal-connected to the control circuit board. The camera 4 is installed on the first lifting mechanism 5. The first lifting mechanism 5 is used to drive the camera 4 to lift and lower along the vertical height direction of the frame 1. The first lifting mechanism 5 is set as a lifting platform. A lifting platform is a device that realizes vertical lifting function through mechanical, hydraulic or electric drive, and is composed of a bearing platform, a lifting mechanism (such as scissor type, guide rail type, sleeve cylinder type), a power system (hydraulic cylinder, motor or air pump) and a control unit, and realizes stable lifting through a linkage mechanism or screw drive. In order to ensure the detection accuracy of the camera 4, when the camera 4 recognizes that the height of the carton stack 100 decreases, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the drive of the first lifting mechanism 5. Under the drive of the first lifting mechanism 5, the working height of the camera 4 decreases, ensuring the photographing accuracy of the camera 4 for the carton and ensuring the accuracy of the information required during the operation of the camera 4.

[0047] Further, continue to refer to Figures 1 - 3 , the robot-assisted carton loading device further includes a second lifting mechanism 6. The second lifting mechanism 6 is arranged on the frame 1 and is signal-connected to the control circuit board. The collaborative robot 2 is installed on the second lifting mechanism 6. The second lifting mechanism 6 is used to drive the collaborative robot 2 to lift and lower along the vertical height direction of the frame 1. The second lifting mechanism 6 is set as a lifting platform, serving as the lifting base of the collaborative robot 2 and capable of increasing the working range of the height space of the collaborative robot 2. When the camera 4 recognizes that the height of the carton stack 100 decreases, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the second lifting mechanism 6 to descend along the vertical height direction, and the collaborative robot 2 descends synchronously, so that the collaborative robot 2 can adapt to the situation of the decreasing height of the carton stack 100. When the camera 4 recognizes that the height of the cartons in the recycling bin 3 increases, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the second lifting mechanism 6 to rise, and the collaborative robot 2 rises synchronously, so that the collaborative robot 2 can better release the cartons into the recycling bin 3.

[0048] Further, continue to refer to Figures 1 - 3The robot-assisted carton filling device also includes an isolation fence 7 and a grating isolation door 8. The isolation fence 7 is arranged on the frame 1. There are two isolation fences 7. The two isolation fences 7 are arranged at intervals on both sides of the collaborative robot 2. The grating isolation door 88 is arranged on the frame 1 and is located between the two isolation fences 7. The isolation fence 7 is used to isolate the device from the outside world, establish a safe working area, and ensure the personal safety of surrounding staff. The grating isolation door 8 is an industrial safety protection device based on photoelectric sensing technology, which is mainly used for dangerous area isolation and personnel safety protection in automated production environments. Its core principle is to form an invisible light curtain barrier through a grating array composed of a transmitter and a receiver. When a person or object breaks into a preset monitoring area, the light curtain is blocked and a signal interruption is triggered, and then the linkage control system stops the equipment operation or starts the rapid closure of the isolation door, thereby achieving real-time safety blocking. The device is usually composed of three parts: a high-precision infrared sensor, a multi-axis linkage mechanical door body, and an intelligent control module. The grating resolution can reach millimeter level, and the response time is within the millisecond range, which can adapt to the strict safety requirements of high-speed production lines. Compared with traditional mechanical guardrails or fixed protective nets, the grating isolation door 8 has significant advantages of dynamic response, high space utilization and programmable control.

[0049] The grating isolation door 8 cooperates with the isolation nets 7 on both sides. The isolation nets 7 adopt a stainless steel frame and a transparent grid structure (aperture ≤ 5mm), which can not only prevent people from mistakenly entering the equipment operation area, but also prevent metal debris, smoke dust from spilling out and polluting the environment. After the grating isolation door 8 is closed, a U-shaped isolation area is formed, and the opening is the loading port of the carton filling machine 200. When there are no staff working, an absolute safe area is formed. In the case of frequent errors in raw materials, frequent equipment failures or debugging stages, the grating isolation door 8 is opened to facilitate the entry and exit of staff. After being triggered, the grating sends a signal to the control circuit board. The control circuit board can control the collaborative robot 2 to shut down and ensure the personal safety of the staff. When personnel need to enter, they can open the grating isolation door 8 through a dedicated button to enter, and after closing the rolling door, the device can automatically perform work without manual operation of the equipment start.

[0050] Further, continue to refer to Figures 1 - 3 The recycling cabinet 3 includes a cabinet body and a guide plate. The top of the cabinet body has an opening. The guide plate is located in the cabinet body and is tilted relative to the horizontal direction. The guide plate is used to guide non-standard cartons from the opening into the cabinet body. The guide plate built into the recycling cabinet 3 adopts a slope design, which has a guiding function and can sequentially drop non-standard cartons into the recycling cabinet 3. It has an automatic sorting effect, is convenient for manual recycling, occupies a compact space, increases the number of recycled box skins, reduces the number of manual recycling and sorting times, and reduces the manual participation rate.

[0051] Embodiment 2

[0052] This embodiment provides a method for a robot-assisted loading of cartons. As Figure 4 shown, through the implementation of the above-mentioned robot-assisted carton loading device, the robot-assisted carton loading method includes:

[0053] S10: When the camera 4 recognizes that the grating isolation door 8 is opened, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to stop.

[0054] The collaborative robot 2 is a six-axis robot, which is a joint industrial robot with six degrees of freedom. Driven by servo motors, the six rotating axes operate in coordination, enabling it to simulate the movement ability of a human arm to achieve nearly omni-directional movement in three-dimensional space. Its mechanical structure is usually composed of a base, a waist rotating axis, a large arm, a small arm, a wrist rotating axis, and an end effector, capable of moving flexibly in space to adapt to various complex operation tasks. Moreover, each joint of the robotic arm of the collaborative robot 2 can move independently, facilitating multi-angle operations in a narrow space. The grating isolation door 8 is set on the frame 1 and located between two isolation nets 7. During the frequent occurrence of raw material errors, frequent equipment failures, or the debugging stage, opening the grating isolation door 8 facilitates the entry and exit of staff. After being triggered, it sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to stop, ensuring the personal safety of the staff.

[0055] S20: When the camera 4 recognizes that the grating isolation door 8 is closed, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to run. After closing the rolling door, the device can automatically execute the work without manual operation to start the equipment.

[0056] S100: The camera 4 performs feature recognition on the cartons of the carton stack 100.

[0057] S100 specifically includes:

[0058] S101: The camera 4 recognizes the height of the carton stack 100.

[0059] The camera 4 can capture high-resolution images and perform high-precision dimensional measurement and positioning, thereby accurately identifying the position of the packing tape, the appearance features of the cartons, the position information of the cartons, etc., in order to cooperate with the collaborative robot 2 for actions such as untying, grasping, loading, and recycling of the cartons.

[0060] S102: When the camera 4 recognizes that the height of the carton stack 100 is decreasing, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the first lifting mechanism 5 to drive the camera 4 to decrease.

[0061] The first lifting mechanism 5 is arranged on the frame 1 and is signal-connected to the control circuit board. The camera 4 is installed on the first lifting mechanism 5. The first lifting mechanism 5 is used to drive the camera 4 to lift along the vertical height direction of the frame 1. Under the driving action of the first lifting mechanism 5, the working height of the camera 4 decreases, ensuring the photographing accuracy of the camera 4 for the cardboard box and the accuracy of the information required during the operation of the camera 4.

[0062] S200: When the camera 4 identifies that the cardboard box in the cardboard box stack 100 is of standard specification, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to transfer the cardboard box of standard specification to the loading port of the cartoning and sealing machine 200.

[0063] The robotic arm of the collaborative robot 2 drives the fixture to move to the cardboard box stack 100. When the camera 4 identifies that the topmost cardboard box in the cardboard box stack 100 is of standard specification, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to grab the cardboard box of standard specification and transfer it to the loading port of the cartoning and sealing machine 200 to complete the loading of the cardboard box.

[0064] S300: When the camera 4 identifies that the cardboard box in the cardboard box stack 100 is of non-standard specification, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to transfer the cardboard box of non-standard specification to the recycling bin 3. At the same time, the control circuit board can control the second lifting mechanism 6 to drive the collaborative robot 2 to rise relative to the frame 1.

[0065] When the camera 4 identifies that the topmost cardboard box in the cardboard box stack 100 is of non-standard specification, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to grab the cardboard box of non-standard specification and transfer it to the recycling bin 3. The recycling bin 3 recycles the cardboard box. Moreover, the collaborative robot 2 is installed on the second lifting mechanism 6. The second lifting mechanism 6 is used to drive the collaborative robot 2 to lift along the vertical height direction of the frame 1. When the camera 4 identifies that the height of the cardboard box stack 100 decreases, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the second lifting mechanism 6 to descend along the vertical height direction, and the collaborative robot 2 descends synchronously so that the collaborative robot 2 can adapt to the situation where the height of the cardboard box stack 100 decreases gradually.

[0066] The method for robot-assisted loading of cartons provided in this embodiment, through the implementation of the robot-assisted carton loading device, the camera 4 performs feature recognition on the cartons of the carton stack 100; when the camera 4 recognizes that the cartons of the carton stack 100 are of standard specifications, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to transfer the cartons of standard specifications to the loading port of the cartoning and sealing machine 200; when the camera 4 recognizes that the cartons of the carton stack 100 are of non-standard specifications, the camera 4 sends a signal to the control circuit board, and the control circuit board can control the collaborative robot 2 to transfer the non-standard specifications of the cartons to the recycling bin 3. It replaces the traditional manual handling and screening of cartons, not only reducing the dependence on human resources, but also reducing the physical burden of the operators and improving work safety. At the same time, the automated equipment can work continuously, reducing delays and errors caused by manual operations. In addition, integrating multiple functions such as grasping cartons, removing packing straps, recycling incorrect cartons, and recycling packing straps into one device saves space and has a small floor area, changing the traditional mode that requires multiple groups of robots with different functions to cooperate, and improving the overall efficiency of the production line.

[0067] Obviously, the above-mentioned embodiments of the present invention are merely examples for clearly explaining the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments, and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A robot-assisted carton loading device, characterized in that, Including: A frame (1); A collaborative robot (2), which is located between a stack of cartons (100) and a carton packing and sealing machine (200) and is arranged on the frame (1); A recycling cabinet (3), which is arranged beside the collaborative robot (2) and is used for recycling non-standard sized cartons; A detection component, which includes a camera (4) and a control circuit board signal-connected to the camera (4). The camera (4) is installed on the frame (1), and the camera (4) is used to identify whether the cartons in the stack of cartons (100) are standard sized cartons. The control circuit board is used to control the collaborative robot (2) to sort the standard sized cartons and non-standard sized cartons in the stack of cartons (100) and transfer them to the carton packing and sealing machine (200) and the recycling cabinet (3) respectively.

2. The robot-assisted carton loading device according to claim 1, wherein The robot-assisted carton loading device further includes a first lifting mechanism (5), which is arranged on the frame (1) and is signal-connected to the control circuit board. The camera (4) is installed on the first lifting mechanism (5), and the first lifting mechanism (5) is used to drive the camera (4) to lift along the vertical height direction of the frame (1).

3. The robot-assisted carton loading device according to claim 1, characterized in that The robot-assisted carton loading device further includes a second lifting mechanism (6), which is arranged on the frame (1) and is signal-connected to the control circuit board. The collaborative robot (2) is installed on the second lifting mechanism (6), and the second lifting mechanism (6) is used to drive the collaborative robot (2) to lift along the vertical height direction of the frame (1).

4. The robot-assisted carton loading device according to claim 1, wherein The robot-assisted carton loading device further includes an isolation fence (7), which is arranged on the frame (1). The number of the isolation fences (7) is two, and the two isolation fences (7) are arranged at intervals on both sides of the collaborative robot (2).

5. The robot-assisted carton loading device according to claim 4, characterized in that The robot-assisted carton loading device further includes a grating isolation door (8), which is arranged on the frame (1) and is located between the two isolation fences (7).

6. The robot-assisted carton loading device according to claim 1, characterized in that, The recycling cabinet (3) includes a cabinet body and a guide plate. The top of the cabinet body has an opening, and the guide plate is located inside the cabinet body and is inclined relative to the horizontal direction. The guide plate is used to guide the non-standard sized cartons from the opening into the cabinet body.

7. Method for robot-assisted loading of cartons, characterized in that, By implementing the robot-assisted carton loading device according to claims 1-6, the robot-assisted carton loading method includes: S100: The camera (4) performs feature recognition on the cartons in the stack of cartons (100); S200: When the camera (4) identifies that the cartons in the stack of cartons (100) are standard sized, the camera (4) sends a signal to the control circuit board, and the control circuit board can control the collaborative robot (2) to transfer the standard sized cartons to the loading opening of the carton packing and sealing machine (200); S300: When the camera (4) identifies that the cartons in the carton stack (100) are of non-standard specifications, the camera (4) sends a signal to the control circuit board, and the control circuit board can control the collaborative robot (2) to transfer the non-standard specification cartons to the recycling cabinet (3).

8. The method for robot-assisted loading of cartons according to claim 7, wherein The robot-assisted carton loading device further includes a first lifting mechanism (5). The first lifting mechanism (5) is arranged on the frame (1) and is signal-connected to the control circuit board. The camera (4) is installed on the first lifting mechanism (5). In the robot-assisted carton loading method, S100 specifically includes: S101: The camera (4) identifies the height of the carton stack (100). S102: When the camera (4) identifies that the height of the carton stack (100) is decreasing, the camera (4) sends a signal to the control circuit board, and the control circuit board can control the first lifting mechanism (5) to drive the camera (4) to descend.

9. The method for robot-assisted loading of cartons according to claim 7, characterized in that, The robot-assisted carton loading device further includes a second lifting mechanism (6). The second lifting mechanism (6) is arranged on the frame (1) and is signal-connected to the control circuit board. The collaborative robot (2) is installed on the second lifting mechanism (6). In the robot-assisted carton loading method S300: The control circuit board can also control the second lifting mechanism (6) to drive the collaborative robot (2) to rise relative to the frame (1).

10. The method for robot-assisted loading of cartons according to claim 7, wherein The robot-assisted carton loading device further includes a grating isolation door (8). The grating isolation door (8) is arranged on the frame (1). The robot-assisted carton loading method further includes, before S100: S10: When the camera (4) identifies that the grating isolation door (8) is open, the camera (4) sends a signal to the control circuit board, and the control circuit board can control the collaborative robot (2) to stop. S20: When the camera (4) identifies that the grating isolation door (8) is closed, the camera (4) sends a signal to the control circuit board, and the control circuit board can control the collaborative robot (2) to run.

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