Visual guidance box opening equipment and method

Abstract

The invention belongs to the technical field of mechanical box uncovering, and particularly relates to visual guidance box uncovering equipment and a visual guidance box uncovering method. The visual guidance box opening equipment comprises a conveying line, a mechanical arm located on the side of the conveying line and a box body positioning assembly located within the range of the conveying line. The box body positioning assembly is used for restraining box bodies on a conveying line within the operation range of the mechanical arm, a box opening assembly is carried on an action terminal of the mechanical arm and comprises a multi-station mounting bottom plate, and a robot flange adapter plate is arranged at one end, in the length direction, of the multi-station mounting bottom plate. A camera, a wooden box lock catch opening unit, a wooden box cover clamping unit, a cutting unit, a clamping unit and a cover screwing unit are distributed on the multi-station mounting bottom plate; according to the visual guidance box opening equipment and method, automatic identification and operation of targets such as lock catches, box covers and lead seals of different specifications and shapes can be achieved, and the visual guidance box opening equipment and method have the advantages of being high in universality, high in identification precision, high in operation efficiency, good in safety and the like.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical opening of a box, and particularly relates to a visual guidance box opening device and method. BACKGROUND

[0002] In the process of opening the ammunition box, due to the wood material of the external box and the influence of different suppliers and batches, the position of the lock catch is quite different, and ordinary equipment cannot meet the requirements of compatible use. At the same time, after the external wooden box is opened, the iron box cover inside needs to be opened, and it is protected by a lead seal. Due to the influence of the wooden box and the lead seal itself, the position of the lead seal is not fixed, and the lead seal body is soft and irregular in shape. Ordinary equipment cannot accurately cut and take it.

[0003] With the continuous improvement of industrial automation, six-axis robots are increasingly widely used in industrial production. However, traditional six-axis robots mostly use pre-programmed methods to perform tasks, lack flexibility, and are difficult to cope with complex and variable working environments. To perform operations such as unlocking, opening the box cover, and cutting the lead seal, these operations often require manual intervention, which is inefficient and poses a safety hazard.

[0004] The present application provides a six-axis robot unlocking, opening box cover, and cutting lead seal device and method based on visual guidance to address the shortcomings of the prior art. SUMMARY

[0005] The present application aims to solve the problem that existing box opening methods cannot meet the requirements of different box lock positioning and lead seal removal.

[0006] The present application provides the following technical solution: a visual guidance box opening device, comprising a conveying line, a robot located beside the conveying line, and a box positioning assembly located within the range of the conveying line; The box positioning assembly is used to constrain the box on the conveying line within the working range of the robot; The action terminal of the robot is equipped with a box opening assembly, which includes a multi-station mounting plate, one end of the multi-station mounting plate in the length direction is provided with a robot flange adapter plate, and the box opening assembly is connected with the action terminal of the robot through the robot flange adapter plate; The multi-station mounting plate is distributed with a camera, a wooden box lock opening unit, a wooden box cover clamping unit, a cutting unit, a clamping unit, and a cap screwing unit.

[0007] Further, the cutting unit and the clamping unit are located at one end of the multi-station installation base plate away from the robot flange adapter plate in the length direction; the clamping unit and the cutting unit are arranged one above the other in the working direction; a locking hook is arranged on the extension rod at the end of the multi-station installation base plate connected with the robot flange adapter plate; the cap screwing unit is hung below the multi-station installation base plate; the wooden box lock opening unit and the wooden box cover clamping unit are respectively arranged on the front and rear surfaces of the multi-station installation base plate.

[0008] Further, the wooden box lock opening unit comprises a lock connecting rod, a lock driving cylinder, a lock hook, a hook support and a lock hook rod; the hook support and the lock hook rod are fixed on the multi-station installation base plate, the lock hook is hinged to the hook support, the hinge shaft of the lock hook is connected with the lock connecting rod, the lock connecting rod is hinged to the first end of the lock driving cylinder, the second end of the lock driving cylinder is hinged to the multi-station installation base plate, the lock hook and the lock hook rod are arranged opposite to each other, and the lock driving cylinder can control the swing of the lock hook through the lock connecting rod.

[0009] Further, the cap screwing unit comprises a cap clamping cylinder, a cap clamping jaw, a sliding bearing and a guide shaft; the cap clamping cylinder is installed on the hanging arm of the multi-station installation base plate, the cap clamping jaw is installed on the cap clamping cylinder, the cap clamping jaw and the hanging arm are connected through the guide shaft, and the sliding bearing is nested between the guide shaft and the hanging arm. The wooden box cover clamping unit comprises a cover clamping cylinder and a cover clamping jaw, the cover clamping cylinder is fixed on the multi-station installation base plate, and the cover clamping jaw is installed on the cover clamping cylinder.

[0010] Further, the cutting unit comprises a scissors driving cylinder and a pneumatic scissors; the pneumatic scissors are installed on the multi-station installation base plate, and the scissors driving cylinder is connected with the pneumatic scissors to drive the pneumatic scissors to complete the shearing action. The clamping unit comprises a clamping plate driving cylinder, a movable clamping plate and a fixed clamping plate; the fixed clamping plate is fixedly connected with the multi-station installation base plate, the movable clamping plate is hinged to the fixed clamping plate, and the two ends of the clamping plate driving cylinder are respectively connected with the movable clamping plate and the fixed clamping plate.

[0011] Further, the conveying line comprises two parallel straight conveying sections, the two straight conveying sections are divided into a preceding straight conveying section and a subsequent straight conveying section according to the sequence of the box passing through, the manipulator is located beside the subsequent straight conveying section, an abnormal part station assembly is arranged beside the preceding straight conveying section, the box positioning assembly is located within the range of the preceding straight conveying section, and the position of the abnormal part station assembly corresponds to the position of the box positioning assembly.

[0012] Further, the prior straight conveying section is a drum conveying line; the box positioning assembly comprises a guide positioning strip, a wooden box positioning block and a first guide roller mechanism; the guide positioning strip is located at one side of the prior straight conveying section close to the manipulator, and is used for laterally positioning the box; the wooden box positioning block is located in the drum spacing of the prior straight conveying section, the wooden box positioning block is connected with the first lifting unit to control the wooden box positioning block to rise up or retract from the prior straight conveying section, and is used for intercepting the box; and the first guide roller mechanism is located at one side of the prior straight conveying section away from the manipulator, and is used for guiding the box to abut against the guide positioning strip.

[0013] Further, the positioning area of the box positioning assembly is further provided with an abnormal workpiece transfer roller, an abnormal transfer tab and an abnormal transfer drive module; the abnormal transfer tab and the abnormal workpiece transfer roller are located in the drum spacing of the prior straight conveying section, the abnormal transfer tab is installed at the driving end of the abnormal transfer drive module, the driving direction of the abnormal transfer drive module is perpendicular to the conveying direction of the prior straight conveying section, the abnormal workpiece transfer roller and the abnormal transfer drive module are connected with the second lifting unit, the second lifting unit controls the abnormal workpiece transfer roller and the abnormal transfer tab to rise up or retract from the prior straight conveying section, in the rising state, the abnormal workpiece transfer roller can lift the box on the prior straight conveying section, and the box is pushed into the abnormal workpiece station assembly by the abnormal transfer tab.

[0014] Further, the abnormal workpiece station assembly comprises a drum platform, three sides of the drum platform are surrounded by blocking plates, and one side is provided with an inlet facing the straight conveying section; the second guide roller mechanism is installed at the inlet of the abnormal workpiece station assembly, and is used for guiding the box to abut against the blocking plate on one side.

[0015] A visual guidance box opening method based on the foregoing visual guidance box opening device, comprising the following steps: S1: the manipulator of the visual guidance box opening device acquires, by the camera, an image of a target feature corresponding to a current box opening action of the box before the manipulator performs each box opening action by the box opening assembly; S2: image processing is performed, a model library learned by a neural network is called, and the position of the target feature of the current box opening action is calculated; S3: the calculated target feature position is subjected to world coordinate conversion and is sent to a PLC system, and the PLC system sends the target feature position to the manipulator, and the manipulator performs the current box opening action according to real-time coordinate information; S4: after the current box opening action is completed, the camera acquires an image of the box again to perform template matching, judges whether the current box opening action is successfully performed, and processes an image of a target feature of the box corresponding to a next box opening action; S5: steps S1 to S5 are circularly performed to complete all box opening actions.

[0016] Compared with the prior art, the advantages of the present application are: This invention provides a vision-guided box opening device and method, capable of automatically identifying and operating targets such as locks, box lids, and seals of different specifications and shapes. It boasts advantages such as strong versatility, high recognition accuracy, high operating efficiency, and good safety. Furthermore, based on a six-axis robotic arm, this invention integrates vision guidance, lock opening, box lid opening, and seal cutting into a single unit, saving the space and cost of complex production lines. It can be used as a standalone machine or integrated into unmanned production lines.

[0017] This invention utilizes multiple camera photographs and a template matching algorithm for state verification. It also employs a CNN convolutional neural network to train and learn different box states, establishing a model library and an extended library of wooden box lid latches, iron box lid latches, and lead seals for boxes in various states, ensuring compatibility with boxes of multiple sizes. Furthermore, since the boxes contain highly toxic chemicals, this invention replaces dangerous manual labor, protecting personnel safety. Attached Figure Description

[0018] Figure 1 A schematic diagram of a vision-guided unpacking device; Figure 2 A first-view perspective view of the unpacked components; Figure 3 This is a second-angle perspective view of the unpacked components; Figure 4 This is a front view of the unboxed components; Figure 5 Top view of the unboxed components; Figure 6 A schematic diagram showing the positional alignment of the housing positioning components and the conveyor line; Figure 7 This is a schematic diagram of the abnormal parts station assembly; Figure 8 A schematic diagram of the housing positioning components; Figure 9 This is a schematic diagram of the box.

[0019] In the diagram: 1-Robot arm; 2-Unpacking assembly; 2.1-Robot flange adapter plate; 2.2-Multi-station mounting base plate; 2.3-Camera; 2.4-Locking hook; 2.5-Locking linkage; 2.6-Locking drive cylinder; 2.7-Locking claw; 2.8-Clamping plate drive cylinder; 2.9-Modible clamping plate; 2.10-Fixed clamping plate; 2.11-Scissors drive cylinder; 2.12-Pneumatic scissors; 2.13-Locking hook rod; 2.14-Cap clamping cylinder; 2.15-Cap clamp; 2.16-Sliding bearing; 2.17-Guide shaft; 2.18-Claw bracket; 2.19-Flip-cap clamping cylinder; 2.20-Flip-cap clamp; 3-Abnormal parts station assembly; 3.1-Roller platform; 3.2-Blocking plate; 3.3-Second guide roller mechanism; 4-Box positioning assembly; 4.1-Wooden box lid flip-top auxiliary cylinder assembly; 4.2-Guide positioning strip; 4.3-Wooden box positioning block; 4.4-Abnormal workpiece transfer roller; 4.5-Abnormal transfer lever; 4.6-Abnormal transfer drive module; 4.7-First guide roller mechanism; 5-Conveyor line; 5.1-Pre-conveyor linear conveyor section; 5.2-Subsequent linear conveyor section; 6-Box body; 6.1-Wooden box; 6.2-Wooden box lid; 6.3-Iron box lid; 6.4-Lead seal; 6.5-Wooden box lock. Detailed Implementation

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Example 1 like Figure 1 , Figure 2 , Figure 3 As shown: A vision-guided unpacking device includes a conveyor line 5, a robotic arm 1 located beside the conveyor line 5, and a box positioning component 4 located within the range of the conveyor line 5; the box 6 is delivered by the conveyor line 5, and after completing all the unpacking processes, it is sent away by the conveyor line 5. The box positioning assembly 4 is used to constrain the boxes on the conveyor line 5 within the working range of the robot arm 1; all box opening processes are completed by the robot arm 1, which is a six-axis robot arm; The robotic arm 1 has an unpacking component 2 mounted on its motion terminal. The unpacking component 2 includes a multi-station mounting base plate 2.2. One end of the multi-station mounting base plate 2.2 in the length direction is provided with a robot flange adapter plate 2.1. The unpacking component 2 is connected to the motion terminal of the robotic arm 1 through the robot flange adapter plate 2.1. The multi-station mounting base plate 2.2 is equipped with a camera 2.3, a wooden box lock opening unit, a wooden box lid clamping unit, a cutting unit, a clamping unit, and a cap screwing unit.

[0022] like Figure 9As shown: The box body 6 includes an outer wooden box 6.1 and an inner iron box. The wooden box lid 6.2 of the wooden box 6.1 is locked by a wooden box latch 6.5. Before opening the wooden box lid 6.2, the wooden box latch 6.5 is opened first. The robotic arm 1 opens the wooden box latch 6.5 through the wooden box latch opening unit on the box opening assembly 2, and then grasps the wooden box lid 6.2 through the wooden box lid clamping unit on the box opening assembly 2 to open it. The iron box lid 6.3 of the iron box is provided with a lead seal 6.4. The robotic arm 1 cuts the lead seal 6.4 through the cutting unit on the box opening assembly 2, and then the clamping unit picks up the broken lead seal 6.4. Finally, the iron box lid 6.3 is rotated by the capping unit to release the iron box lid 6.3 and remove it.

[0023] like Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown: the cutting unit and clamping unit are located at the end of the multi-station mounting base plate 2.2 that is away from the robot flange adapter plate 2.1 in the length direction; the working directions of the clamping unit and the cutting unit are one up and one down; a locking hook 2.4 is provided on the extension rod at the end of the multi-station mounting base plate 2.2 that is connected to the robot flange adapter plate 2.1; the capping unit is suspended below the multi-station mounting base plate 2.2; the wooden box lock opening unit and the wooden box lid clamping unit are located on the front and rear plates of the multi-station mounting base plate 2.2, respectively. The functional units on the multi-station mounting base 2.2 are rationally arranged, allowing each unit performing an unpacking action to be integrated onto a single base, controlled by a single robotic arm 1. This orderly arrangement of functional units on the base achieves a high degree of integration of various unpacking actions, including opening wooden crates, clamping crate lids, cutting and picking up seals, and screwing on metal crates. This eliminates the need for multiple robotic arms for different actions, significantly simplifying the equipment structure and saving space. The working direction and position of each functional unit are adapted to the action logic of the unpacking process, improving the continuity and efficiency of the unpacking operation.

[0024] The wooden crate latch opening unit includes a latch connecting rod 2.5, a latch driving cylinder 2.6, a latch hook 2.7, a hook bracket 2.18, and a latch hook rod 2.13. The hook bracket 2.18 and the latch hook rod 2.13 are fixed on the multi-station mounting base plate 2.2. The latch hook 2.7 is hinged to the hook bracket 2.18, and the hinge shaft of the latch hook 2.7 is connected to the latch connecting rod 2.5. The latch connecting rod 2.5 is hinged to the first end of the latch driving cylinder 2.6, and the second end of the latch driving cylinder 2.6 is hinged to the multi-station mounting base plate 2.2. The latch hook 2.7 and the latch hook rod 2.13 are arranged facing each other. The latch driving cylinder 2.6 can control the latch hook 2.7 to swing through the latch connecting rod 2.5, and unlock the wooden crate latch 6.5 by swinging the latch hook 2.7.

[0025] The wooden crate lid clamping unit includes a flip-top clamping cylinder 2.19 and a flip-top gripper 2.20. The flip-top clamping cylinder 2.19 is fixed on the multi-station mounting base plate 2.2, and the flip-top gripper 2.20 is mounted on the flip-top clamping cylinder 2.19. The flip-top gripper 2.20 clamps the protruding rib on the top surface of the wooden crate lid 6.2; then the robot arm 1 lifts the wooden crate lid 6.2; when the wooden crate lid 6.2 rotates past the midpoint, the flip-top gripper 2.20 releases the wooden crate lid 6.2, and the wooden crate lid 6.2 falls down by its own weight. To prevent the wooden crate lid 6.2 from crashing heavily onto the wooden crate 6.1, a wooden crate lid flipping auxiliary cylinder assembly 4.1 was added to the crate positioning assembly 4. The wooden crate lid flipping auxiliary cylinder assembly 4.1 is located in the roller spacing of the conveyor line 5. The wooden crate lid flipping auxiliary cylinder assembly 4.1 lifts up to support the wooden crate lid 6.2 and slowly lowers the wooden crate lid 6.2.

[0026] The cutting unit includes a scissor drive cylinder 2.11 and a pneumatic scissor 2.12; the pneumatic scissor 2.12 is mounted on a multi-station mounting base plate 2.2, and the scissor drive cylinder 2.11 is connected to the pneumatic scissor 2.12 to drive the pneumatic scissor 2.12 to complete the cutting action; the pneumatic scissor 2.12 cuts the lead seal 6.4.

[0027] The clamping unit includes a clamping plate drive cylinder 2.8, a movable clamping plate 2.9, and a fixed clamping plate 2.10. The fixed clamping plate 2.10 is fixedly connected to the multi-station mounting base plate 2.2. The movable clamping plate 2.9 is hinged to the fixed clamping plate 2.10. The two ends of the clamping plate drive cylinder 2.8 are connected to the movable clamping plate 2.9 and the fixed clamping plate 2.10 respectively. The clamping plate drive cylinder 2.8 drives the movable clamping plate 2.9 to swing and pick up the fallen lead seal.

[0028] The capping unit includes a capping clamping cylinder 2.14, capping jaws 2.15, a sliding bearing 2.16, and a guide shaft 2.17. The capping clamping cylinder 2.14 is mounted on the boom of the multi-station mounting base plate 2.2. The capping jaws 2.15 are mounted on the capping clamping cylinder 2.14. The capping jaws 2.15 and the boom are slidably connected via the guide shaft 2.17. The sliding bearing 2.16 is nested between the guide shaft 2.17 and the boom. After the claw 2.15 is clamped onto the iron box cover 6.3, the robot arm 1 drives the iron box cover 6.3 to rotate to the notch and remove the iron box cover 6.3. In order to prevent the counter torque when rotating the iron box cover 6.3 from being transmitted to the cap clamping cylinder 2.14 through the cap clamp 2.15, which would cause damage to the cap clamp 2.15 or the cap clamping cylinder 2.14, a guide shaft 2.17 that slides with the cap clamp 2.15 is added between the cap clamp 2.15 and the boom to resist the torque.

[0029] The conveyor line 5 consists of two parallel straight conveyor sections, which are divided into a first straight conveyor section 5.1 and a second straight conveyor section 5.2 according to the order in which the boxes pass through. The robot arm 1 is located next to the second straight conveyor section 5.2. The abnormal part station assembly 3 is arranged next to the first straight conveyor section 5.1. The box positioning assembly 4 is located within the first straight conveyor section 5.1. The position of the abnormal part station assembly 3 corresponds to the position of the box positioning assembly 4. During continuous box opening operations, boxes 6 that cannot be opened normally will inevitably appear, including due to product quality factors of box 6 and improper operation of robot arm 1. In order to avoid the boxes 6 that cannot be opened normally occupying the conveyor line 5 and causing subsequent boxes 6 to be unable to reach the station, the boxes 6 that cannot be opened normally are moved to the abnormal part station assembly 3 to release them from the obstruction of the conveyor line 5.

[0030] like Figure 6 , Figure 8 As shown: the first linear conveyor section 5.1 is a roller conveyor line; the box positioning assembly 4 includes a guide positioning strip 4.2, a wooden box positioning block 4.3, and a first guide roller mechanism 4.7; the guide positioning strip 4.2 is located on the side of the first linear conveyor section 5.1 closest to the robot 1, and is used for lateral positioning of the box; the wooden box positioning block 4.3 is located in the roller spacing of the first linear conveyor section 5.1, and the wooden box positioning block 4.3 is connected to the first lifting unit to control its rise or retraction from the first linear conveyor section 5.1, and is used to intercept the box; the first guide roller mechanism 4.7 is located on the side of the first linear conveyor section 5.1 away from the robot 1, and is used to guide the box to abut against the guide positioning strip 4.2; the first guide roller mechanism 4.7 is installed on the abnormal part station assembly 3.

[0031] The guide positioning bar 4.2 and the first guide roller mechanism 4.7 constrain the box 6 from both sides. With the guiding effect of the first guide roller mechanism 4.7, the box 6 automatically abuts against the guide positioning bar 4.2 during the conveying process. Together with the wooden box positioning block 4.3, the box 6 is intercepted from the conveying path, realizing the three-dimensional positioning of the box 6 (lateral, conveying direction, and fixed position). This provides a precise reference position for the subsequent opening operation of the robot 1 and reduces the operation error caused by the box offset.

[0032] The positioning area of ​​the housing positioning assembly 4 is also equipped with an abnormal workpiece transfer roller 4.4, an abnormal transfer lever 4.5, and an abnormal transfer drive module 4.6. The abnormal transfer lever 4.5 and the abnormal workpiece transfer roller 4.4 are located in the roller spacing of the prior linear conveying section 5.1. The abnormal transfer lever 4.5 is installed at the drive end of the abnormal transfer drive module 4.6. The drive direction of the abnormal transfer drive module 4.6 is perpendicular to the conveying direction of the prior linear conveying section 5.1. The abnormal workpiece transfer roller 4.4 and the abnormal transfer drive module 4.6 are connected to a second lifting unit. The second lifting unit controls the abnormal workpiece transfer roller 4.4 and the abnormal transfer lever 4.5 to rise or retract from the prior linear conveying section 5.1. In the raised state, the abnormal workpiece transfer roller 4.4 can lift the housing on the prior linear conveying section 5.1 and push it into the abnormal workpiece station assembly 3 by the abnormal transfer lever 4.5.

[0033] When there is an abnormality in box 6, the second lifting unit drives the abnormal workpiece transfer roller 4.4 and the abnormal transfer lever 4.5 to rise. The transfer roller lifts box 6 away from the conveyor line 5, and the lever pushes box 6 into the abnormal workpiece station component 3 under the drive of the drive module. The whole process does not require manual intervention, quickly diverts abnormal boxes, avoids affecting the subsequent normal box opening process, and ensures the continuity of the production line.

[0034] The abnormal transfer components (rollers, levers, and drive modules) are all located within the roller spacing of the preceding linear conveyor section 5.1, occupying no extra space. Their lifting / retracting design ensures they do not interfere with normal conveying when not in operation, achieving a compact integration of normal conveying and abnormal handling functions. After the transfer rollers lift the housing 6, friction between the housing 6 and the conveyor line 5 is reduced. Combined with the directional pushing of the levers, the abnormal housing can be smoothly and accurately transferred to the designated workstation, preventing the housing from tipping over or being damaged, and ensuring the safety of the abnormal handling process.

[0035] like Figure 7 As shown: the abnormal parts station assembly 3 includes a roller platform 3.1, with three sides of the roller platform 3.1 surrounded by baffles 3.2, and one side entrance facing the linear conveyor section 5.1. A second guide roller mechanism 3.3 is installed at the entrance of the abnormal parts station assembly 3, which is used to guide the box to abut against the baffle 3.2 on one side.

[0036] Example 2 A visually guided unpacking method, based on the visually guided unpacking device of Embodiment 1, includes the following steps: S1: Before inspection, after the visually guided unpacking equipment is powered on and all parts return to their origin, the wooden box is transported to the unpacking station via the conveyor line 5. The position of the wooden box is fixed within the working range of the robot arm 1 by the box positioning component 4. S2: Robotic arm 1 drives camera 2.3 to take pictures of the two locks on the wooden box according to the preset path; S3: After acquiring images of the two latches on the wooden crate, perform image processing and call the model library learned through neural networks to calculate the position of the wooden crate latches; S4: Transform the calculated latch position information into world coordinates and send it to the PLC system. The PLC system then sends it to robot arm 1, which executes the latch unlocking action based on the real-time coordinate information. S5: After the unlocking action is completed, the robot arm 1 performs a photo confirmation process to check whether the lock has been successfully opened. By performing template matching on the acquired image, it completes the judgment of whether the wooden box lock has been successfully opened and the calculation and conversion of the position of the wooden box opening handle, and sends the result to the PLC system. S6: The PLC system controls the robotic arm 1 to grip the handle of the wooden box, and at the same time the flipping auxiliary device rises to assist the robotic arm 1 in completing the flipping action. After the flipping is completed, a photo is taken again for re-inspection. The system obtains the image and performs template matching to confirm whether the wooden box opening has been completed. S7: Obtain a photo of the wooden crate opening confirmation, perform image processing, and call the model library learned by the neural network to calculate the position of the iron crate lid latch; S8: The system converts the calculated position into world coordinates and sends it to the PLC system, which then sends it to robot 1. Robot 1 performs the action of opening the iron box lock based on the real-time coordinate information. S9: The iron box lock is opened and the lead seal is exposed. Take a photo again to check and confirm the position of the lead seal. After the position of the lead seal is confirmed, the robotic arm 1 drives the scissors to cut the lead seal. For some lead seals that are difficult to cut, a clamp can be used to adjust them first. After cutting, take a photo to check and confirm the position where the lead seal fell. Use the clamp to pick up the lead seal and place it in the designated recycling area. S10: Finally, the robot arm 1 drives the capping mechanism to clamp the iron box cap, unscrew it, and place it in the designated position. The box body then moves to the next workstation, and the capping action ends.

[0037] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A visually guided unpacking device, characterized in that: Includes a conveyor line (5), a robot (1) located beside the conveyor line (5), and a box positioning assembly (4) located within the range of the conveyor line (5). The housing positioning assembly (4) is used to constrain the housing on the conveyor line (5) within the working range of the robot (1); The robot arm (1) has an unpacking assembly (2) mounted on its motion terminal. The unpacking assembly (2) includes a multi-station mounting base plate (2.2). A robot flange adapter plate (2.1) is provided at one end of the length direction of the multi-station mounting base plate (2.2). The unpacking assembly (2) is connected to the motion terminal of the robot arm (1) through the robot flange adapter plate (2.1). The multi-station mounting base plate (2.2) is equipped with a camera (2.3), a wooden box lock opening unit, a wooden box lid clamping unit, a cutting unit, a clamping unit, and a screw cap unit.

2. The visually guided unpacking device according to claim 1, characterized in that: The cutting unit and clamping unit are located at the end of the multi-station mounting base plate (2.2) away from the robot flange adapter plate (2.1) in the length direction; the working directions of the clamping unit and the cutting unit are one up and one down; a locking hook (2.4) is provided on the extension rod at the end of the multi-station mounting base plate (2.2) that is connected to the robot flange adapter plate (2.1); the capping unit is suspended below the multi-station mounting base plate (2.2); the wooden box lock opening unit and the wooden box lid clamping unit are located on the front and rear plates of the multi-station mounting base plate (2.2), respectively.

3. The visually guided unpacking device according to claim 2, characterized in that: The wooden box locking and unlocking unit includes a locking link (2.5), a locking drive cylinder (2.6), a locking claw (2.7), a claw bracket (2.18), and a locking hook rod (2.13). The claw bracket (2.18) and the locking hook rod (2.13) are fixed on the multi-station mounting base plate (2.2). The locking claw (2.7) is hinged to the claw bracket (2.18). The hinge shaft of the locking claw (2.7) is connected to the locking link (2.5). The locking link (2.5) is hinged to the first end of the locking drive cylinder (2.6). The second end of the locking drive cylinder (2.6) is hinged to the multi-station mounting base plate (2.2). The locking claw (2.7) and the locking hook rod (2.13) are arranged facing each other. The locking drive cylinder (2.6) can control the locking claw (2.7) to swing through the locking link (2.5).

4. The visually guided unpacking device according to claim 3, characterized in that: The capping unit includes a capping clamping cylinder (2.14), a capping jaw (2.15), a sliding bearing (2.16), and a guide shaft (2.17). The capping clamping cylinder (2.14) is mounted on the boom of the multi-station mounting base plate (2.2), and the capping jaw (2.15) is mounted on the capping clamping cylinder (2.14). The capping jaw (2.15) and the boom are slidably connected through the guide shaft (2.17), and the sliding bearing (2.16) is nested between the guide shaft (2.17) and the boom. The wooden box lid clamping unit includes a lid clamping cylinder (2.19) and a lid clamping claw (2.20). The lid clamping cylinder (2.19) is fixed on the multi-station mounting base plate (2.2), and the lid clamping claw (2.20) is mounted on the lid clamping cylinder (2.19).

5. A visually guided unpacking device according to claim 4, characterized in that: The cutting unit includes a scissor drive cylinder (2.11) and pneumatic scissors (2.12); the pneumatic scissors (2.12) are mounted on a multi-station mounting base plate (2.2), and the scissor drive cylinder (2.11) is connected to the pneumatic scissors (2.12) to drive the pneumatic scissors (2.12) to complete the cutting action; The clamping unit includes a clamping plate drive cylinder (2.8), a movable clamping plate (2.9), and a fixed clamping plate (2.10). The fixed clamping plate (2.10) is fixedly connected to the multi-station mounting base plate (2.2), and the movable clamping plate (2.9) is hinged to the fixed clamping plate (2.10). The two ends of the clamping plate drive cylinder (2.8) are connected to the movable clamping plate (2.9) and the fixed clamping plate (2.10) respectively.

6. A visually guided unpacking device according to any one of claims 1 to 5, characterized in that: The conveyor line (5) includes two parallel straight conveyor sections. The two straight conveyor sections are divided into a first straight conveyor section (5.1) and a second straight conveyor section (5.2) according to the order in which the box passes. The robot (1) is located on the side of the second straight conveyor section (5.2). An abnormal part station assembly (3) is arranged on the side of the first straight conveyor section (5.1). The box positioning assembly (4) is located within the first straight conveyor section (5.1). The position of the abnormal part station assembly (3) corresponds to the position of the box positioning assembly (4).

7. A visually guided unpacking device according to claim 6, characterized in that: The aforementioned linear conveying section (5.1) is a roller conveyor line; the box positioning assembly (4) includes a guide positioning strip (4.2), a wooden box positioning block (4.3), and a first guide roller mechanism (4.7); the guide positioning strip (4.2) is located on the side of the linear conveying section (5.1) close to the robot (1) and is used for lateral positioning of the box; the wooden box positioning block (4.3) is located in the roller spacing of the linear conveying section (5.1), and the wooden box positioning block (4.3) is connected to the first lifting unit to control it to rise or retract from the linear conveying section (5.1) and is used to intercept the box; the first guide roller mechanism (4.7) is located on the side of the linear conveying section (5.1) away from the robot (1) and is used to guide the box to abut against the guide positioning strip (4.2).

8. A visually guided unpacking device according to claim 7, characterized in that: The positioning area of ​​the housing positioning assembly (4) is further provided with an abnormal workpiece transfer roller (4.4), an abnormal transfer lever (4.5), and an abnormal transfer drive module (4.6); the abnormal transfer lever (4.5) and the abnormal workpiece transfer roller (4.4) are located in the roller spacing of the prior linear conveying section (5.1), the abnormal transfer lever (4.5) is installed at the drive end of the abnormal transfer drive module (4.6), and the drive direction of the abnormal transfer drive module (4.6) is the same as that of the prior linear conveying section. (5.1) The conveying direction is vertical. The abnormal workpiece transfer roller (4.4) and the abnormal transfer drive module (4.6) are connected to the second lifting unit. The second lifting unit controls the abnormal workpiece transfer roller (4.4) and the abnormal transfer lever (4.5) to rise or retract from the prior linear conveying section (5.1). In the raised state, the abnormal workpiece transfer roller (4.4) can lift the box on the prior linear conveying section (5.1) and push it into the abnormal workpiece station assembly (3) by the abnormal transfer lever (4.5).

9. A visually guided unpacking device according to claim 8, characterized in that: The abnormal parts station assembly (3) includes a roller platform (3.1), which is surrounded by baffles (3.2) on three sides. One side entrance faces the linear conveyor section (5.1). A second guide roller mechanism (3.3) is installed at the entrance of the abnormal parts station assembly (3). The second guide roller mechanism (3.3) is used to guide the box to be close to the baffle (3.2) on one side.

10. A visually guided unboxing method, characterized in that: The visually guided unpacking device according to claim 6 includes the following steps: S1: Before the robotic arm (1) of the vision-guided unpacking device performs each unpacking action through the unpacking component (2), the camera (2.3) acquires an image of the target features of the box corresponding to the current unpacking action; S2: Perform image processing, call the model library learned by the neural network, and calculate the position of the target features of the current unpacking action; S3: The calculated target feature position is transformed into world coordinates and sent to the PLC system, which then sends it to the robot (1). The robot (1) performs the current unpacking action based on the real-time coordinate information. S4: After the current box opening action is completed, the camera (2.3) acquires the box image again for template matching, determines whether the current box opening action is successful, and processes the image of the target feature of the box corresponding to the next box opening action. S5: Repeat steps S1 to S5 to complete all unpacking actions.

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