Intelligent conveying and loading device for cartons

Abstract

The application discloses a kind of intelligent conveying and loading device for carton in the technical field of intelligent transportation loading, including conveyor belt, identification module and loading module;Conveyor belt is used to convey carton according to predetermined route;Identification module is used to obtain the image of carton outer surface, obtain the damage and wrinkle condition of carton surface and its position area;Position adjustment module is used to adjust the position of carton to the center of conveyor belt;Standard module is used to store normal carton;Non-standard module is used to store surface wrinkle or damaged carton;Loading module is used to place the recognized carton to corresponding position based on the control signal output by identification module.The application is simple and easy to operate, obtains the damage and wrinkle condition of carton surface and corresponding position by identification module and outputs corresponding control signal, controls loading module to place carton into standard module or non-standard module, reduces the possibility that surface damage and wrinkle carton has poor support effect and affects the efficiency of entire carton transportation and loading process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent transportation and loading, and particularly relates to an intelligent transportation and loading device for cartons. BACKGROUND

[0002] With the vigorous development of e-commerce and the continuous growth of global trade, the efficiency of carton transportation and loading in the logistics industry is increasingly demanding. The traditional manual transportation and loading method has been difficult to meet the large-scale and high-efficiency logistics demand, so the intelligent and automated transportation and loading device emerges as the times require. At the same time, the transportation and device of cartons not only has a great influence on the logistics industry, but also has a great influence on the packaging industry. As one of the main materials of the packaging industry, the automation degree of the transportation and loading process of cartons directly affects the efficiency and quality of the entire packaging production line.

[0003] Nowadays, the intelligent transportation and loading device for cartons judges different poses of cartons on the conveyor belt through a visual recognition device, and then adjusts the mechanical arm to rotate the carton gripper or suction cup to the top of the carton. After the carton is grabbed or sucked, it is stacked or placed on the next conveyor belt to complete the partial transportation and loading process of the carton. However, during the transportation and loading process of the carton, some cartons may be damaged or wrinkled on the surface due to some external factors, such as improper material selection, unreasonable packaging design, vibration and impact during transportation, and improper human operation, etc. Therefore, these incomplete cartons on the surface will not be easily or cannot be completed in the subsequent normal transportation and loading, which will affect the entire carton transportation process.

[0004] In summary, the present application provides an intelligent transportation and loading device for cartons, which identifies whether the carton is damaged or wrinkled on the surface and the damaged and wrinkled area while adjusting the pose of the carton, so as to separate the cartons damaged or wrinkled on the surface from the normal cartons, and reduce the possibility that the cartons damaged or wrinkled on the surface will affect the efficiency of the entire carton transportation and loading process due to poor support effect. SUMMARY

[0005] To solve the above problems, the present application provides an intelligent transportation and loading device for cartons, which identifies whether the carton is damaged or wrinkled on the surface and the damaged and wrinkled area while adjusting the pose of the carton, so as to separate the cartons damaged or wrinkled on the surface from the normal cartons, and reduce the possibility that the cartons damaged or wrinkled on the surface will affect the efficiency of the entire carton transportation and loading process due to poor support effect.

[0006] In order to achieve the above purpose, the technical scheme of the present application is as follows: an intelligent transportation and loading device for cartons, comprising:

[0007] a conveyor belt for transporting cartons according to a predetermined route;

[0008] The identification module is configured to acquire an image of the outer surface of the carton, acquire the damage and wrinkle conditions of the surface of the carton and the position and area of the damage and wrinkle on the surface of the carton by using image processing technology, output a non-standard signal when the damage degree of the surface of the carton is greater than a preset damage threshold or the wrinkle degree of the surface of the carton is greater than a preset wrinkle threshold, output a standard signal when the damage degree of the surface of the carton is less than the preset damage threshold or the wrinkle degree of the surface of the carton is less than the preset wrinkle threshold, and output a first control signal when the damage or wrinkle area of the surface of the carton is located at the top of the carton.

[0009] The pose adjustment module is configured to adjust the position of the carton to the center position of the conveying belt.

[0010] The standard module is configured to store normal cartons and perform subsequent carton conveying and loading.

[0011] The non-standard module is configured to store cartons with surface wrinkles or damage and perform non-standard processing, and issue a prompt signal to notify the staff to handle in a timely manner when the number of cartons with surface wrinkles or damage stored is greater than or equal to a preset carton non-standard temporary storage quantity threshold.

[0012] The loading module is configured to receive the standard signal and the non-standard signal, place the normal cartons to the standard module when the standard signal is received, and place the corresponding cartons to the non-standard module when the non-standard signal is received.

[0013] The technical principle of the above scheme is as follows: the cartons are conveyed from the input end to the output end through the continuous or intermittent movement of the conveying belt, and are processed by the modules during the conveying; the image of the outer surface of the carton is captured by the identification module and is processed by image processing, the damage and wrinkle area of the surface of the carton are identified, whether the carton meets the standard is judged according to the preset damage threshold and wrinkle threshold, the standard signal or the non-standard signal is output, and the first control signal for the damage or wrinkle at the top of the carton is output; at the same time, the position of the carton is adjusted to the center position of the conveying belt by the pose adjustment module, so as to ensure the stability and accuracy of the carton in the subsequent processing; and then the loading module receives the standard signal or the non-standard signal output by the identification module, controls the robot arm or other execution mechanism to place the carton into the standard module or the non-standard module according to the signal type.

[0014] The above scheme has the following beneficial effects:

[0015] 1. Compared to existing cardboard box conveying and loading technologies that rely on recognizing the carton's position on the conveyor belt to adjust the subsequent loading mechanism's posture, this invention not only acquires carton images using dual cameras, thus obtaining the carton's precise position on the conveyor belt based on parallax principles and image processing technology, but also obtains the carton's shape and size data. Furthermore, it identifies the extent and location of surface damage or wrinkles, categorizing them as normal or abnormal cartons and storing them in standard and non-standard modules respectively. This improves the accuracy and efficiency of carton processing, reducing the possibility that damaged or wrinkled cartons will negatively impact the overall efficiency of the carton transport and loading process. Simultaneously, automated loading via the loading module allows for accurate placement of cartons into the appropriate modules based on signals from the recognition module, reducing manual intervention and improving loading efficiency and accuracy. Moreover, it allows for flexible adjustments based on different carton sizes, shapes, and weights, enabling adaptability and high flexibility to specific situations. Meanwhile, the posture adjustment module can adjust the position and posture of the carton on the conveyor belt according to the control signal output by the recognition module, ensuring that the carton maintains the correct position and posture on the conveyor belt, which facilitates subsequent processing.

[0016] 2. This solution, through the coordinated operation of multiple components such as the identification module, posture adjustment module, and loading module, forms a multi-layered protection system, ensuring the safety and reliability of cardboard boxes during transportation and loading. When the number of cardboard boxes with surface wrinkles or damage reaches a preset threshold, the non-standard module will issue a warning signal, notifying staff to handle the situation promptly and reduce the occurrence and escalation of malfunctions. Furthermore, the non-standard module centrally collects and recycles cardboard boxes with surface wrinkles or damage, facilitating centralized processing by staff.

[0017] 3. This solution, through the design of two automated components—the posture adjustment module and the loading module—makes the carton conveying and loading process smoother and more efficient, reducing manual intervention and waiting time.

[0018] Furthermore, the recognition module is used to obtain the size and position of the carton based on the first image, and to determine whether the side with the largest surface area of ​​the carton is directly above the conveyor belt. When the side with the largest surface area of ​​the carton is directly above the conveyor belt, a second control signal is output; when the side with the largest surface area of ​​the carton is not directly above the conveyor belt, a third control signal is output.

[0019] Beneficial effects: By identifying the size and pose of the carton, the device can accurately determine the optimal orientation of the carton, i.e. the side with the largest surface area should be placed directly above the conveyor belt, which helps to ensure that the carton maintains a stable posture during subsequent processing or loading, reducing errors or damage caused by improper placement. When the side with the largest surface area of the carton is correctly placed, it can maximize the use of loading space and improve loading efficiency. Especially in automated warehouse or logistics systems, the correct orientation of the carton can ensure the stability and compactness of the stack, thereby saving storage space and improving overall logistics efficiency.

[0020] Further, the pose adjustment module is configured to receive a second control signal and a third control signal; when the third control signal is received, the pose of the carton is adjusted to a position where the side with the largest surface area of the carton is located directly above the conveyor belt and at the center of the conveyor belt; when the second control signal is received, the pose of the carton is adjusted to a position at the center of the conveyor belt.

[0021] Beneficial effects: Whether receiving the second control signal or the third control signal, the pose adjustment module can ensure that the carton is adjusted to the correct position. In particular, when the third control signal is received, the module can adjust the pose of the carton so that the side with the largest surface area is located directly above the conveyor belt and at the center of the conveyor belt, which helps subsequent loading and stacking operations to ensure the stability and compactness of the carton. By automatically adjusting the pose of the carton, the pose adjustment module reduces the need for manual intervention and improves the efficiency of automated processing. In a fast-flowing logistics environment, this automated adjustment can significantly shorten the processing time and improve overall logistics efficiency. The correct pose of the carton helps to reduce damage that may occur during transportation, loading and stacking. When the carton is adjusted to the correct position, it is more evenly stressed, reducing the risk of damage or deformation caused by improper placement.

[0022] Further, the identification module includes an image processing unit and two image sensors, and the image processors are electrically connected to the image processing unit, and the two image processors are symmetrically arranged on the top of the conveyor belt.

[0023] Beneficial effects: The two image sensors are symmetrically arranged, which can capture images of the carton from different angles, obtaining more comprehensive and accurate image information. This arrangement helps to reduce the blind area or error caused by a single perspective, improving the reliability of image acquisition. The image processing unit can receive image data from the two image sensors and perform efficient processing and analysis. Based on the principle of parallax, the image processing unit can accurately identify the size, pose, surface condition, and other information of the carton by using image processing techniques such as feature extraction, classification recognition, etc. It provides accurate data support for subsequent pose adjustment and loading operations. Based on the comprehensive image information provided by the two image sensors, the recognition module can more accurately determine the current state of the carton and output corresponding control signals to the pose adjustment module and the loading module. This helps to optimize the decision-making process of pose adjustment and loading operations, reducing operational errors caused by insufficient information or errors.

[0024] Further, the image processing unit is used to receive the carton image information collected by the two image sensors simultaneously, and obtain the size information of the carton and the location of the damaged or wrinkled area of the carton based on the principle of parallax.

[0025] Beneficial effects: By simultaneously collecting image information of the carton through the two image sensors, the image processing unit can use the principle of parallax, i.e. binocular disparity (similar to the principle of human binocular vision), to more accurately measure the size of the carton. This measurement method has higher accuracy and precision compared to traditional monocular vision or contact measurement. The image processing unit not only obtains the size information of the carton, but also detects the damaged or wrinkled area on the surface of the carton based on the image information. By comparing and analyzing the images collected by the two image sensors, the image processing unit can more accurately locate these defect areas, providing key information for subsequent pose adjustment and loading operations.

[0026] Further, the pose adjustment module includes support columns symmetrically fixed to both sides of the conveyor belt, and each support column is fixedly connected with an electric telescopic rod on one side, and the electric telescopic rod is fixedly connected with a push plate on one side. The push plate is provided with a sponge layer on one side, and the connection between the push plate and the sponge layer is provided with a pressure sensor; the two image sensors are arranged on the two support columns and above the electric telescopic rods.

[0027] It also includes a data processing unit for obtaining pressure sensor data to obtain the weight data of the carton.

[0028] Beneficial effects: The precise control of the electric telescopic rod enables the push plate to accurately push the carton, thereby adjusting its pose, ensuring that the carton can be stably moved to the predetermined position, whether it is to adjust the side with the maximum surface area to directly above the conveyor belt or to align the center of the carton with the center of the conveyor belt, achieving high-precision control. The sponge layers on the two sides of the push plate serve as a buffer when pushing the carton, reducing friction and scratches caused by direct contact, effectively protecting the surface quality of the carton. The setting of the pressure sensor enables the device to monitor the weight data of the carton in real time. This is crucial for weight limit judgment, load balancing considerations, etc. in subsequent processing (such as loading, sorting, etc.), helping to ensure smooth and safe processing throughout the process, reducing manual intervention, shortening processing time, and reducing production costs.

[0029] Further, the non-standard module includes a storage vehicle for temporarily storing non-normal cartons and a chute set on one side of the conveyor belt, the chute extends into the storage vehicle away from one end of the conveyor belt, and the chute is located in the movement trajectory of the loading module. The storage vehicle is provided with guide rails on both sides for guiding the linear motion of the storage vehicle.

[0030] Beneficial effects: This module directly guides non-normal cartons from the conveyor belt into the storage vehicle through the chute, without the need for manual handling or additional equipment assistance, thereby improving the efficiency of handling non-normal cartons.

[0031] The setting of the storage vehicle enables non-normal cartons to be temporarily stored in a timely and orderly manner, reducing the interruption or chaos of the production process caused by the accumulation of non-normal cartons. At the same time, the guiding action of the guide rails ensures the linear motion of the storage vehicle, making the entire processing process smoother.

[0032] Further, the loading module includes a vacuum machine and a mechanical arm set in the conveying trajectory of the conveyor belt, the hand of the mechanical arm is provided with a plurality of suction cups for adsorbing cartons, and the suction cups are in communication with the vacuum machine.

[0033] Beneficial effects: Through the cooperation of the vacuum machine and the suction cups, the mechanical arm can quickly and stably adsorb the carton and load it to the designated position. This automated loading method significantly improves production efficiency, reducing the time and cost of manual operation. The design of the suction cups enables the mechanical arm to accurately adsorb specific parts of the carton, reducing the offset or damage of the carton during loading. At the same time, the stable suction force of the vacuum machine ensures the stability of the carton during loading, further improving the loading accuracy.

[0034] Further, when receiving the first control signal, the loading module controls the suction cups of the mechanical arm hand to push the carton with the damaged or wrinkled area on the side of the carton top into the chute; and adjusts the output power of the vacuum machine based on the weight data of the carton.

[0035] Beneficial effects: When there are damaged or wrinkled areas on the top of the carton, the loading module can accurately identify and handle these abnormal cartons. The suction cups on the mechanical arm hand push the carton into the chute from the side, reducing the damage caused by direct grabbing or secondary damage, thereby protecting the integrity of the carton. The automated handling of abnormal cartons significantly improves processing efficiency. The loading module can identify and handle a large number of abnormal cartons in a short time, reducing the need for manual intervention, thereby reducing production costs and improving production efficiency. At the same time, based on the weight data of the carton, the output power of the vacuum machine is adjusted to realize intelligent control of the loading process. This adjustment ensures that the suction cups maintain stable suction force when absorbing cartons of different weights, reducing carton falling or damage caused by insufficient or excessive suction force.

[0036] Further, the standard module includes a loading table arranged in the movement trajectory of the mechanical arm.

[0037] Beneficial effects: The loading table is located in the movement trajectory of the mechanical arm, allowing the mechanical arm to directly and quickly grab and place the carton from the conveyor belt or other conveying equipment onto the loading table. This design reduces the movement distance and waiting time of the mechanical arm, thereby improving loading efficiency. The loading table as part of the standard module can be seamlessly integrated with other modules (such as conveyor belts, sorting modules, etc.) to form a complete production process. This integrated design makes the entire production process smoother and more efficient, reducing manual intervention and waiting time.

[0038] Additional aspects and advantages of the application will be set forth in part in the following description, will become apparent from the following description, or will be learned through practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 Module structure diagram of the embodiment of the intelligent conveying and loading device for cartons of the application;

[0040] Figure 2 Overall isometric view of the embodiment of the intelligent conveying and loading device for cartons of the application;

[0041] Figure 3 Overall top view of the embodiment of the intelligent conveying and loading device for cartons of the application;

[0042] Figure 4 Overall front view of the embodiment of the intelligent conveying and loading device for cartons of the application;

[0043] Figure 5 Front view of the push plate of the embodiment of the intelligent conveying and loading device for cartons of the application;

[0044] Figure 6A sectional view of a push plate of an embodiment of the intelligent conveying and loading device for cartons of the present application.

[0045] The reference signs in the drawings of the specification include: 1, a conveying belt; 2, a support column; 3, an image sensor; 4, a push plate; 401, a roller; 402, a sliding rod; 403, a spring; 404, a gas conveying channel; 405, a cleaning hole; 5, a loading table; 6, a mechanical arm; 7, a storage vehicle; 8, a suction cup; 9, a slide; 10, a guide rail; and 11, an electrically controlled telescopic rod. DETAILED DESCRIPTION

[0046] The technical solutions of the present application will be described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0047] In the description of the present application, it should be noted that the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer” and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms “first”, “second”, “third” are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0048] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connection” should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] The specific embodiments will be described in further detail below:

[0050] Embodiment 1: As shown in Figs. 1-4, an intelligent conveying and loading device for cartons includes: Figure 1 Figure 2 Figure 3 Figure 4 A conveying belt 1 is used to convey cartons according to a predetermined route.

[0051] A conveying belt 1 is used to convey cartons according to a predetermined route.

[0052] ​​​The recognition module is used to acquire the image of the outer surface of the carton, and existing image processing techniques are used to process the acquired image of the outer surface of the carton. The main processing steps include image enhancement (histogram equalization, stretching, smoothing filtering, sharpening, etc., which can improve the quality and clarity of the image, making it more suitable for human observation or machine analysis), image segmentation (segmenting the image into multiple regions for image recognition, target tracking, etc., commonly used methods include edge detection, threshold segmentation, region growing, etc.), image recognition and classification (automatically classifying and recognizing the image, including traditional pattern recognition methods and deep learning algorithms), extracting the characteristic values (texture features, color features, and statistical features, etc.) therein, and then analyzing the damage and wrinkles on the surface of the carton and their location areas on the surface of the carton. When the damage degree of the surface of the carton is greater than the preset damage threshold or the wrinkle degree of the surface of the carton is greater than the preset wrinkle threshold, a non-standard signal is output; when the damage degree of the surface of the carton is less than the preset damage threshold or the wrinkle degree of the surface of the carton is less than the preset wrinkle threshold, a standard signal is output; when the damaged or wrinkled area of the surface of the carton is located at the top of the carton, a first control signal is output.

[0053] The recognition module comprises an image processing unit and two image sensors 3, the image sensors 3 are electrically connected with the image processing unit, and the two image sensors 3 are symmetrically arranged on the top of the pose adjusting module. Meanwhile, the image processing unit is used for receiving the carton image information collected by the two image sensors 3 at the same time, through the parallax principle and the existing image processing technology, the size information of the carton and the position of the damaged or wrinkled area of the carton and the pose condition of the carton on the conveying belt 1 are obtained, and it is judged whether the side with the maximum surface area of the carton is located directly above the conveying belt 1, when the side with the maximum surface area of the carton is located directly above the conveying belt 1, a second control signal is outputted; when the side with the maximum surface area of the carton is not located directly above the conveying belt 1, a third control signal is outputted. Wherein, the parallax refers to the directional difference generated by observing the same target from two points at a certain distance. In image processing, this usually involves using two or more cameras (or image sensors 3) to capture the same scene from slightly different angles. It is mainly based on the principle of stereo vision and binocular imaging. Stereo vision is a technology that simulates human binocular vision, which uses two cameras to capture left and right views of a scene. There is a parallax between the two views, that is, the positions of the same object in the left and right views are slightly different; while binocular imaging uses the images of two cameras to reconstruct the three-dimensional information of the scene. By comparing the corresponding points in the left and right views, the three-dimensional coordinates of these points can be calculated, and then a depth map or a parallax map is generated. The main steps include: corresponding point finding (finding corresponding points in left and right views, usually through image matching algorithms such as normalized cross correlation), parallax calculation (calculating the horizontal offset between corresponding points, that is, parallax, while the parallax is inversely proportional to the depth of the object, the farther the object, the smaller the parallax; the closer the object, the larger the parallax) and depth recovery (using known camera parameters (such as focal length, baseline distance, etc.) and calculated parallax to recover the depth information of each pixel in the scene).

[0054] The pose adjusting module is used for adjusting the position of the carton to the center position of the conveying belt 1. The pose adjusting module comprises support columns 2 symmetrically and fixedly connected to the two sides of the conveying belt 1, an electric control telescopic rod 11 fixedly connected to one side of each of the support columns 2, a push plate 4 fixedly connected to one side of each of the electric control telescopic rods 11, a sponge layer bonded to one side of each of the push plates 4, a pressure sensor screw-connected to the connection between each of the push plates 4 and the sponge layer, two image sensors 3 respectively installed on the two support columns 2 and located above the electric control telescopic rods 11, so that the two image sensors 3 have better monitoring angles and the accuracy of image data is improved, and a data processing unit used for obtaining the pressure sensor data and the weight data of the carton. When the carton is transported to the working range of the push plate 4, the electric control telescopic rods 11 are started to push the corresponding push plates 4 to the center of the conveying belt 1, so as to push the carton to adjust the position of the carton to the center position of the conveying belt 1, facilitate subsequent loading, and at the same time, one electric control telescopic rod 11 is retracted by a certain distance, and the other electric control telescopic rod 11 continues to push the carton at a constant speed to make the carton contact the retracted electric control telescopic rod 11, so that when the two pressure sensors are greater than or equal to a preset threshold value (to judge whether the electric control telescopic rod 11 is reset), the two electric control telescopic rods 11 are returned to the original position, so that the pressure data for detecting the weight of the carton is obtained. The pose adjusting module is used for receiving the second control signal and the third control signal; when the third control signal is received, the pose of the carton is adjusted to a position where the side with the maximum surface area of the carton is located directly above the conveying belt 1 and located at the center of the conveying belt 1; and when the second control signal is received, the pose of the carton is adjusted to the center position of the conveying belt 1.

[0055] The standard module is used for storing normal cartons and performing subsequent carton conveying and loading. The standard module comprises a loading table 5 arranged in the movement track of the mechanical arm 6. The non-standard module is used for storing cartons with surface wrinkles or damage and performing non-standard processing. When the number of cartons with surface wrinkles or damage stored is greater than or equal to a preset non-standard temporary storage number threshold value, a prompt signal is sent to notify the staff to handle in time. The non-standard module comprises a storage vehicle 7 used for temporarily storing non-normal cartons and a slide 9 arranged on one side of the conveying belt 1. The slide 9 extends to the storage vehicle 7 away from one end of the conveying belt 1 and is located in the movement track of the loading module. The storage vehicle 7 is provided with guide rails 10 used for guiding the linear movement of the storage vehicle 7 on the two sides.

[0056] The loading module is used for receiving standard signals and non-standard signals; when receiving the standard signals, the normal cartons are placed to the standard module; when receiving the non-standard signals, the corresponding cartons are placed to the non-standard module; the loading module comprises a vacuum machine and a mechanical arm 6 arranged in the conveying track of the conveying belt 1, the hand of the mechanical arm 6 is provided with a plurality of suction cups 8 used for adsorbing the cartons, and the suction cups 8 are in communication with the vacuum machine. When the mechanical arm 6 receives the standard signals and the corresponding cartons reach the predetermined position, the mechanical arm 6 moves in the three-dimensional space, moves the suction cups 8 of the hand of the mechanical arm 6 to the normal carton, then starts the vacuum machine to provide the suction cups 8 with suction force, adsorbs the normal carton on the suction cups 8, then the mechanical arm 6 places the normal carton on the loading table 5 and places it according to the predetermined stacking mode, which is convenient for subsequent transportation, and the output power of the vacuum machine can be controlled based on the obtained weight data of the carton, so that the suction force of the suction cups 8 is controlled, and it is ensured that the normal carton can be adsorbed on the suction cups 8, and the possibility of falling of the mechanical arm 6 in the process of transferring the normal carton is reduced. In the case that the mechanical arm 6 receives the non-standard signals, when the wrinkle or damaged area is located on the surface directly above the carton or the weight of the carton is greater than the dangerous threshold, the hand suction cup 8 of the mechanical arm 6 pushes the non-normal carton from the side of the non-normal carton into the slide 9, so that the non-normal carton enters the storage vehicle 7 along the slide 9, is temporarily stored, and the storage vehicle 7 moves a certain distance every time a non-normal carton is stored, until the storage vehicle 7 is full, a prompt information (sound or signal lamp) is sent, reminding the staff to clean in time, and ensuring the normal operation of carton loading and transportation; when the wrinkle or damaged area is not located on the surface directly above the carton or the weight of the carton is lower than the dangerous threshold, the non-normal carton is adsorbed from the normal upper side and placed in the slide 9 and slides into the storage vehicle 7.

[0057] Embodiment 2: The difference from the above embodiment is that for the carton with wrinkles or damage at the corners, if the conventional push plate 4 structure is used, the damaged corners are easy to become the main stress point, and in the process of cooperation of the push plate 4 and the conveying belt 1, the damaged edges of the carton will continuously slide relative to the surface of the push plate 4, which will further aggravate the original damage, therefore, the scheme is further improved as follows: Figure 4 、 Figure 5 and Figure 6As shown, the sliding grooves on the side of the push plate 4 close to each other are provided with a plurality of rollers 401 slidingly fitted, the rollers 401 are rotationally connected with slide rods 402, the slide rods 402 are slidingly fitted with the corresponding sliding grooves, at the same time, the slide rods 402 are welded with springs 403 at the end away from the rollers 401, and the other end of the springs 403 is welded to the inner wall of the sliding groove. The rollers 401 are connected with the springs 403 through the slide rods 402 in the sliding groove on the side of the push plate 4 close to the carton, and the rollers 401 will contact the carton corner before the push plate 4 body; in the moment of contact, the horizontal reaction force generated by the damaged corner to the rollers 401 pushes the slide rod 402 to compress the spring 403 along the sliding groove to the cleaning cavity direction, the spring 403 generates a reverse elastic force by virtue of the elastic deformation, so that the rollers 401 can adaptively fit the irregular corner profile of the carton, and at the same time, the sliding friction between the carton and the push plate 4 is converted into rolling friction, reducing the wear risk of the damaged corner.

[0058] Secondly, combined with Figure 6 As shown, the chamber where the spring 403 in the sliding groove is located is provided as a cleaning cavity, the cleaning cavity is communicated with a plurality of gas conveying channels 404, the gas conveying channels 404 are communicated with a plurality of cleaning holes 405, and the cleaning holes 405 are opened on the side of the push plate 4 close to the rollers 401. If the surface of the carton (especially the defects such as wrinkles and damage on the two sides) is easy to attach dust, debris and other impurities, these impurities will cover the defects, which will make it difficult for the recognition module to accurately capture the position and degree of the defects, and may misissue control instructions, affecting subsequent classification and storage. Therefore, when the carton is pushed to the target position by the two push plates 4, the rollers 401 on the surface of the two push plates 4 are extruded, moved into the sliding groove, and drive the slide rods 402 to extrude the springs 403, further extruding the gas in the cleaning cavity, the gas flows to the cleaning holes 405 on the surface of the push plate 4 through the gas conveying channels 404, and acts on the surface of the carton in the form of high-speed airflow, quickly breaking the adhesion between the impurities and the surface of the carton, blowing away the attached dust, debris and other impurities, reducing the accumulation of impurities in the defects or covering the defect features, and ensuring that the recognition module can clearly capture the real position and actual degree of the defects when collecting the image of the outer surface of the carton through the image sensor later.

[0059] Obviously, the above embodiments are only examples for clearly illustrating, not limiting the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. An intelligent conveying and loading device for cartons, characterized in that, The system comprises: a conveyor belt (1) for conveying cartons along a predetermined route; an identification module for obtaining an image of the outer surface of the carton, using image processing technology to obtain the damage and crease conditions of the carton surface and their location areas on the carton surface, and outputting a non-standard signal when the damage degree of the carton surface is greater than a preset damage threshold or the crease degree of the carton surface is greater than a preset crease threshold; outputting a standard signal when the damage degree of the carton surface is less than the preset damage threshold or the crease degree of the carton surface is less than the preset crease threshold; and outputting a first control signal when the damage or crease area of the carton surface is located at the top of the carton; a pose adjustment module for adjusting the position of the carton to the center position of the conveyor belt (1); a standard module for storing normal cartons for subsequent carton conveying and loading; a non-standard module for storing cartons with surface creases or damage for non-standard processing; and issuing a prompt signal to notify the staff to handle in a timely manner when the number of cartons with surface creases or damage stored is greater than or equal to a preset non-standard temporary storage number threshold of cartons; a loading module for receiving standard signals and non-standard signals; placing normal cartons to the standard module when receiving a standard signal; and placing the corresponding cartons to the non-standard module when receiving a non-standard signal; The pose adjustment module comprises support columns (2) symmetrically and fixedly connected to the two sides of the conveyor belt (1), an electric control telescopic rod (11) fixedly connected to each of the opposite sides of the support column (2), a push plate (4) fixedly connected to each of the opposite ends of the electric control telescopic rod (11), a sponge layer provided on each of the opposite sides of the push plate (4), and a pressure sensor provided at the connection between the push plate (4) and the sponge layer; and two image sensors (3) are respectively arranged on the two support columns (2) and located above the electric control telescopic rod (11); Further comprising a data processing unit for obtaining pressure sensor data to obtain weight data of the carton; Each of the opposite sides of the push plate (4) is provided with a plurality of sliding grooves, each of the sliding grooves is slidably connected with a roller (401), each of the rollers (401) is rotatably connected with a sliding rod (402), each of the sliding rods (402) is slidably connected with the corresponding sliding groove, and each of the sliding rods (402) is welded with a spring (403) at the end away from the roller (401), and the other end of the spring (403) is welded to the inner wall of the sliding groove.

2. The intelligent conveying and loading device for cartons of claim 1, wherein: The identification module is used to obtain the size and pose of the carton based on the image of the outer surface of the carton, to determine whether the side with the largest surface area of the carton is located directly above the conveyor belt (1), to output a second control signal when the side with the largest surface area of the carton is located directly above the conveyor belt (1), and to output a third control signal when the side with the largest surface area of the carton is not located directly above the conveyor belt (1).

3. The intelligent conveying and loading device for cartons of claim 2, wherein: The pose adjustment module is used to receive the second control signal and the third control signal, to adjust the pose of the carton to the position where the side with the largest surface area of the carton is located directly above the conveyor belt (1) and at the center of the conveyor belt (1) when the third control signal is received, and to adjust the pose of the carton to the center position of the conveyor belt (1) when the second control signal is received.

4. The intelligent conveying and loading device for cartons of claim 3, wherein: The recognition module includes an image processing unit and two image sensors (3). The image sensors (3) are electrically connected to the image processing unit, and the two image sensors (3) are symmetrically arranged on the top of the pose adjustment module.

5. The intelligent conveying and loading device for cartons of claim 4, wherein: The image processing unit is used to receive the cardboard box image information acquired simultaneously by two image sensors (3), and obtain the size information of the cardboard box and the location of the damaged or wrinkled areas of the cardboard box based on the parallax principle.

6. The intelligent conveying and loading device for cartons of claim 5, wherein: The non-standard module includes a storage cart (7) for temporarily storing non-standard cartons and a slide (9) set on one side of the conveyor belt (1). The slide (9) extends into the storage cart (7) at the end away from the conveyor belt (1), and the slide (9) is located within the movement trajectory of the loading module. The storage cart (7) is provided with guide rails (10) on both sides for guiding the linear movement of the storage cart (7).

7. The intelligent conveying and loading device for cartons of claim 6, wherein: The loading module includes a vacuum machine and a robotic arm (6) set in the conveyor belt (1) conveying track. The robotic arm (6) has several suction cups (8) for adsorbing cartons. All suction cups (8) are connected to the vacuum machine.

8. The intelligent conveying and loading device for cartons of claim 7, wherein: The loading module is used to control the suction cup (8) of the robotic arm (6) to push the damaged or wrinkled area of ​​the carton from the side of the carton located at the top of the carton into the slide (9) when the first control signal is received; it is also used to adjust the output power of the vacuum machine based on the weight data of the carton.

9. The intelligent conveying and loading device for cartons of claim 8, wherein: The standard module includes a loading platform (5) set within the movement trajectory of the robotic arm (6).

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