A paper unstacker for a smart packaging system

Abstract

The present application relates to paperboard stack unstacking technical field, especially to a kind of unstacking machine for intelligent packaging system, including split device, split device includes crossbeam and the mobile end module and fixed end module respectively being arranged at the both ends of crossbeam;Mobile end module includes mobile seat, vibrator, vertical drive machine being installed on mobile seat, mobile clamping piece being installed on the output of vertical drive machine, elastic reset piece being installed between mobile clamping piece and mobile seat, vertical drive machine is used to drive mobile clamping piece insertion adjacent paperboard stack between and with its corresponding gap, when mobile clamping piece vertically moves downward, vibrator controls mobile clamping piece to carry out horizontal vibration according to preset frequency and amplitude;The present application replaces the original adjacent paperboard stack by the way of insertion type stack taking, exposes the way of layer position, can respond to various compression amount paperboard stack, guarantee the normal intervention of stack taking machine.

Description

Technical Field

[0001] This invention relates to the field of cardboard stacking and unloading technology, and more particularly to a cardboard stacking unloader for intelligent packaging systems. Background Technology

[0002] The existing Chinese invention patent with publication number CN117104898B discloses a high-speed unloading cardboard stacker robot, which is mainly suitable for replacing manual labor in front of carton forming machines and packaging machines to split whole stacks of cardboard. Then, through the conveying system, the split cartons are sent into the carton waiting position of the forming machine or the carton waiting position of the packaging machine in the required direction, thereby reducing the labor of operators.

[0003] This invention patent enables precise separation of stacks of cardboard that are alternately overlapping. It grabs entire stacks of cardboard with the same quantity and stacking direction each time, improving separation efficiency. It employs refined operations such as pressing adjacent cardboard pieces and using lifting hooks to fully expose the target stack for removal. However, the compression space for stacks of different materials and cardboard types varies. Especially as the stack is gradually removed, the height of the remaining stack decreases, further reducing the compression space. This can lead to situations where even after extreme compression, the requirement for exposed stack surfaces is not met (the fewer the cardboard stacks, the smaller the compression space, and the edges of the stacks are obstructed, preventing the palletizer from intervening). Specifically, when the remaining height of the cardboard stack is ≤150mm and the stack compression gap is ≤3mm, there is no effective compression margin between adjacent stacks, increasing the failure rate of the palletizer to over 85%. For three commonly used packaging cardboard types—corrugated cardboard, rigid cardboard, and laminated cardboard—laminated cardboard has a low surface friction coefficient and large stack misalignment, resulting in a palletizing failure rate as high as 90% for conventional compression palletizing.

[0004] Therefore, to address the above issues, an insertion-type depalletizing method can be designed to improve the existing depalletizer. This method can complete the depalletizing work even with minimal or no compression of adjacent cardboard stacks. Summary of the Invention

[0005] To overcome the problem that insufficient compression of the cardboard stack fails to expose the target cardboard stack layer position, preventing the palletizer from smoothly intervening.

[0006] The technical solution of this invention is as follows: a cardboard stacker for an intelligent packaging system, comprising a stacking position, an unpacking position, a stacking turntable (driving the pallet to rotate), and a cardboard collector arranged sequentially along the cardboard stack transport direction. The cardboard collector includes a conveyor roller assembly, with a first adjusting plate, a second adjusting plate, a third adjusting plate, and a fourth adjusting plate at one end of the conveyor roller assembly. The first and second adjusting plates are arranged horizontally and the distance between them is adjustable. The third and fourth adjusting plates are arranged front-to-back, and the distance between the third adjusting plate and the fourth adjusting plate is adjustable. The fourth adjusting plate is rotatably positioned at the inlet of the conveyor roller assembly. The four adjusting plates adjust according to the cardboard stack direction. The machine is equipped with a cardboard stacking system. The size and position of the stacks are adjusted. Once the required number of cardboard boxes in the cardboard collector is reached, the fourth adjusting plate opens, and the conveyor rollers transport the stacks to the conveyor. The system includes a conveyor (used to transport the disassembled cardboard stacks), a pallet hopper (used to collect pallets), and a disassembly point. It also includes a vision detection device at the disassembly point (the vision detection device includes a left camera, a right camera, and an upper camera for detecting the position of the cardboard stacks; the left and right cameras are respectively located on the lifting slides on both sides of the disassembly point). A disassembly robot is installed at the disassembly point (the upper camera is mounted on the disassembly robot). The controller includes a vision control module and a robotic arm control module. A disassembly device is detachably mounted on the arm of the disassembly robotic arm. The disassembly device includes a crossbeam and a moving end module and a fixed end module at each end of the crossbeam. A drive unit is mounted on the crossbeam. The moving end module is connected to the output end of the drive unit. The drive unit drives the moving end module to move closer to or away from the fixed end module. When the moving end module moves closer to the fixed end module, it can grip a stack of cardboard (a downward-opening gripping space is formed between the push plate and the baffle). The moving end module includes a moving base, a vibrator, a vertical drive motor mounted on the moving base, and an output motor mounted on the vertical drive motor. The device includes a movable clamping component at the end, an elastic reset component installed between the movable clamping component and the movable seat, and a vertical drive motor for driving the movable clamping component to insert into the gap between adjacent cardboard stacks and their corresponding gaps. When the movable clamping component moves vertically downward, the vibrator controls the movable clamping component to vibrate horizontally according to a preset frequency and amplitude. (The cardboard between layers of the cardboard stack may be slightly misaligned during bundling, which may obstruct the movable clamping component and prevent it from falling to the preset depth. The movable clamping component vibrates while inserting into the gap between adjacent cardboard stacks, causing the other cardboard stack adjacent to the target cardboard stack to shift slightly, ensuring that the movable clamping component can be inserted to the specified depth.)

[0007] Preferably, the vertical drive includes a positioning cylinder, and the moving clamping component includes a slide table mounted on the output end of the positioning cylinder and a push plate slidably connected to the slide table at one end. A vibrator is mounted on the slide table, and the output end of the vibrator acts on the push plate. Through the action of the vibrator, the push plate vibrates at a high frequency in the horizontal direction (producing frequent small-amplitude displacements relative to the slide table), which can vibrate and move the adjacent cardboard stack of the target cardboard stack to the other side. This makes the gap between the two adjacent cardboard stacks large enough for the push plate to insert and pick up the stack.

[0008] Preferably, the elastic reset component includes a sleeve, a plunger movably connected within the sleeve, and a spring connecting the sleeve and the plunger. The plunger and sleeve are capable of relative extension and retraction in the horizontal direction. One end of the plunger is fixedly connected to a push plate, and one end of the sleeve is slidably connected to a movable seat. The elastic reset component is a structure used to cooperate with the vibrator. Utilizing the sleeve, plunger, and spring, the push plate can provide a stable reset force when vibrating to one side, forming a reciprocating motion. It is worth noting that the stiffness of the spring must match the thrust of the vibrator to ensure that the spring can quickly pull the push plate back to its initial position when the vibrator is powered off / unloaded.

[0009] Preferably, the slide table has a movable compartment, and a first wheel is installed at one end of the push plate, which is tactilely connected to the movable compartment. A second wheel is installed on the elastic reset component, which is tactilely connected to the movable seat. The first wheel rolls horizontally, and the second wheel rolls vertically. Because the high-frequency vibration of the push plate generates significant structural frictional resistance, the rolling friction of the first and second wheels replaces the moving friction of the conventional slider rail. This reduces the risk of structural damage and jamming during vibration.

[0010] Preferably, the push plate has an oil guide channel, one end of which connects to the movable chamber and the other end to the sleeve. When the sleeve and the plunger move relative to each other, the lubricating grease can flow between the movable chamber and the sleeve through the oil guide channel. With the vibration of the push plate, the sleeve and the plunger frequently move relative to each other. Through the oil guide channel, a reciprocating suction and injection effect is generated between the sleeve and the movable chamber (it is worth noting that the movable chamber is sealed with a flexible or elastic seal, which does not affect the high-frequency short-amplitude movement of the push plate while reducing the leakage of lubricating oil), making the flow of lubricating grease more frequent. The frequently flowing lubricating grease can not only further lubricate the rolling of the first wheel, but also cool the spring that is frequently stretched and compressed, thus extending the spring life.

[0011] As a preferred option, the pusher plate is made of high-strength composite carbon fiber material, with its thickness gradually decreasing from top to bottom. The side of the pusher plate facing the fixed end module is a vertical plane. High-strength composite carbon fiber material is not easily deformed or twisted, has a long service life under high-frequency vibration, and generates less noise compared to metal plates. The design of gradually decreasing thickness from top to bottom also makes it easier for the pusher plate to enter the gaps in the cardboard stack.

[0012] Preferably, the fixed end module includes a mounting frame mounted on the crossbeam, an adjusting cylinder mounted on the mounting frame, and a baffle mounted on the output end of the adjusting cylinder. The adjusting cylinder is used to drive the baffle to move vertically. The baffle and the push plate are arranged relatively parallel. According to the height of the cardboard stack, the height position of the baffle is adjusted by the adjusting cylinder before the equipment is run to ensure that the baffle can cover the bottom surface of the target cardboard stack.

[0013] Preferably, a lifting cylinder is installed on the side of the baffle facing away from the push plate, and a lifting hook capable of flipping up and down is installed on the baffle. One end of the lifting hook is movably connected to the output end of the lifting cylinder. The lifting cylinder is used to drive the lifting hook to flip and hook one side of the target cardboard stack. A push cylinder is provided in the mounting frame to push the baffle to move towards the target cardboard stack. At this time, the push plate moves synchronously and causes the target cardboard stack to be slightly squeezed onto the lifting hook. The lifting cylinder pulls the lifting hook upward, and one side of the target cardboard stack is lifted, creating a gap between the target cardboard stack and the lower cardboard stack (at this time, one side of the upper cardboard stack is lifted, and the center of gravity shifts to the other side, which may cause the pressure on the lower cardboard stack to increase. At the gap, the lower cardboard stack tilts up).

[0014] Preferably, a lifting mechanism is installed at the lower end of the mounting frame. This lifting mechanism includes a plate insertion cylinder and an insertion plate mounted on the output end of the plate insertion cylinder. The plate insertion cylinder drives the insertion plate to be horizontally inserted under the target cardboard stack. A locking mechanism is installed on the crossbeam near the mounting frame. This locking mechanism includes a paper pressing cylinder and a paper pressing plate mounted on the output end of the paper pressing cylinder. The paper pressing cylinder drives the paper pressing plate to move vertically and press against the target cardboard stack. The plate insertion cylinder drives the insertion plate to extend forward and insert into the gap between the target cardboard stack and the lower cardboard stack, thus separating the target cardboard stack and the lower cardboard stack.

[0015] Preferably, a pressing mechanism is installed on the mounting frame. This mechanism is used to press the cardboard below the target cardboard stack. The pressing mechanism includes pressing cylinders installed on both sides of the mounting frame. Movable pressing plates are installed on the output ends of the pressing cylinders, positioned on both sides of the insert plate. When the lifting hook cylinder drives the lifting plate hook upwards and hooks the target cardboard stack, the pressing cylinder drives the pressing plates to extend and press against the top edge of the cardboard stack below the target stack. Because the pressure on the lower cardboard stack increases as mentioned above, the lower cardboard stack may warp at the gap, reducing the gap and affecting the insertion of the insert plate. Therefore, the pressing cylinder drives the pressing plates so that while the lifting hook hooks the upper cardboard stack, the pressing plates extend and press against the edge of the lower cardboard stack, suppressing the warping of the lower cardboard stack edge, maintaining the gap, and ensuring smooth insertion of the insert plate.

[0016] The beneficial effects of this invention are: 1. The insertion-type palletizing method replaces the original method of pressing adjacent cardboard stacks and exposing the stacking position, which can handle cardboard stacks with various compression amounts and ensure the normal operation of the palletizer; 2. By combining the vertical insertion of the moving clamp with the horizontal high-frequency vibration, it can adaptively fine-tune the cardboard stacks with slight misalignment between layers and tight stacks, so that the adjacent cardboard stacks will be slightly offset, effectively breaking the problem of stacking misalignment and jamming, and ensuring that the clamp is smoothly inserted into the stacking gaps. 3. The elastic reset structure combined with the roller structure can provide a stable reset constraint force during vibration, ensuring uniform reciprocating vibration of the push plate and regular movement, greatly reducing the structural friction resistance during high-frequency vibration, and avoiding vibration deviation, jamming, and incomplete reset. 4. The push plate is made of high-strength composite carbon fiber, which has good structural rigidity and strong resistance to deformation. It is not prone to twisting or deformation under long-term high-frequency vibration conditions, and has excellent structural stability. Compared with metal materials, it has lower vibration noise and a better working environment. Combined with the wedge-shaped structure that gradually thins from top to bottom, the push plate has better guidance and less intervention resistance when inserted into the lamination gap. 5. When the target cardboard stack is hooked up on one side and the lower cardboard is deformed by force, the pressing mechanism can limit and press the edge of the lower cardboard stack, which can effectively suppress the phenomenon of the lower cardboard edge lifting and deformation arching, stabilize the separation gap between the upper and lower cardboard, and avoid the problems of the insertion plate not being able to be inserted and the stacking failure caused by gap shrinkage and obstruction. Attached Figure Description

[0017] Figure 1 The diagram shown is a schematic representation of the overall structure of the unloading cardboard stacker of the present invention. Figure 2 The diagram shown is a three-dimensional structural schematic of the mobile terminal module of the present invention. Figure 3 The diagram shown is a side view of the mobile terminal module of the present invention. Figure 4 The diagram shown is a schematic representation of the push plate structure of the present invention. Figure 5 The diagram shown is a cross-sectional view of the mobile terminal module of the present invention. Figure 6 The diagram shown is a schematic representation of the external structure of the fixed-end module of the present invention. Figure 7 The diagram shown is a schematic representation of the internal structure of the fixed-end module of the present invention. Figure 8 The diagram shown is a side view of the fixed-end module of the present invention. Figure 9 The diagram shown is a front view of the fixed-end module of the present invention. Figure 10 The diagram shown is a schematic representation of the pressure-locking mechanism of the present invention. Figure 11 The diagram shown is a schematic representation of the stack turntable structure of the present invention; Figure 12 The diagram shown is a schematic representation of the cardboard collection mechanism of the present invention.

[0018] Explanation of reference numerals in the attached diagram: 1. Stacking position; 2. Unpacking position; 3. Stacking turntable; 4. Cardboard collector; 5. Conveyor; 6. Pallet bin; 7. Unstacking position; 8. Separation position; 9. Vision inspection device; 10. Crossbeam; 11. Moving end module; 12. Fixed end module; 1101. Screw motor; 1102. Moving seat; 1103. Slide table; 1104. Push plate; 1105. Drop cylinder; 106. Movable compartment; 1107. Vibrator; 1108. Elastic reset component; 1109. Wheel No. 1; 1110. Wheel No. 2; 1201. Mounting frame; 1202. Adjusting cylinder; 1203. Baffle; 1204. Lifting hook cylinder; 1205. Lifting plate hook; 1206. Overlapping mechanism; 1207. Plate insertion cylinder; 1208. Inserting plate; 1209. Paper pressing cylinder; 1210. Paperboard pressing plate. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Please see Figures 1-12This invention provides a cardboard stacker for an intelligent packaging system, comprising an upper stacking position 1, an unpacking position 2, a stacking turntable 3 (which drives the pallet to rotate), and a cardboard collector 4 (located at the lower stacking position 7). The cardboard collector 4 includes a conveyor roller assembly, with a first adjusting plate, a second adjusting plate, a third adjusting plate, and a fourth adjusting plate at one end of the conveyor roller assembly. The first and second adjusting plates are arranged horizontally and the distance between them is adjustable. The third and fourth adjusting plates are arranged front to back, and the distance between the third adjusting plate and the fourth adjusting plate is adjustable. The fourth adjusting plate is rotatably set at the inlet of the conveyor roller group. The four adjusting plates are adjusted according to the size of the cardboard stack. After the number of cardboard boxes in the cardboard collector 4 reaches the required number, the fourth adjusting plate opens, and the conveyor roller group transports the cardboard stack to the conveyor 5. The conveyor 5 (used to transport the separated cardboard stacks), the pallet bin 6 (used to collect pallets), and the splitting position 8 are also included. The system also includes a vision inspection device 9 set at the splitting position 8 (the vision inspection device 9 includes a left-hand side for detecting the position of the cardboard stack). The disassembly position 8 is equipped with a disassembly robot arm (the upper camera is mounted on the disassembly robot arm, and the controller includes a vision control module and a robot arm control module). A disassembly device is detachably mounted on the arm of the disassembly robot arm. The disassembly device includes a crossbeam 10 and a moving end module 11 and a fixed end module 12 respectively located at both ends of the crossbeam 10. A drive unit is mounted on the crossbeam 10, and the moving end module 11 is connected to the output end of the drive unit. The moving end module 11 is driven by a screw motor 1101 to move closer to or further away from the fixed end module 12. When the moving end module 11 moves closer to the fixed end module 12, it can clamp the cardboard stack (a downward-opening clamping space is formed between the push plate 1104 and the baffle 1203). The moving end module 11 includes a moving base 1102 and a vibrator 1107 (the vibrator 1107 is a high-frequency micro electromagnetic vibrator 1107, with an adjustable vibration frequency range of 20-50Hz and an adjustable amplitude range of 0.5-2mm; for hard cardboard, a high-frequency small amplitude (50Hz, 0.5mm) is used).(5mm), low-frequency large-amplitude vibration (20Hz, 2mm) is used for corrugated cardboard to accurately adapt to different cardboard hardness and avoid cardboard cracking and deformation; a vertical drive is mounted on the moving base 1102; a moving clamp is mounted on the output end of the vertical drive; and an elastic reset member 1108 is mounted between the moving clamp and the moving base 1102. The vertical drive is used to drive the moving clamp to insert into the gap between adjacent cardboard stacks and their corresponding gaps. When the moving clamp moves vertically downward, the vibrator 1107 controls the moving clamp to vibrate horizontally according to a preset frequency and amplitude. (The cardboard between layers of the cardboard stack may be slightly misaligned during bundling, which may obstruct the moving clamp and prevent it from reaching the preset depth. The moving clamp vibrates while inserting into the gap between adjacent cardboard stacks, causing the other cardboard stack adjacent to the target cardboard stack to slightly shift, ensuring that the moving clamp can be inserted to the specified depth.)

[0021] It is worth noting that for cardboard in humid environments (moisture content > 12%), the vibration frequency should be reduced to avoid interlayer adhesion and tearing of the cardboard; the continuous working time of vibrator 1107 should not exceed 8 hours.

[0022] The control and recognition process of the visual inspection device 9 is as follows: S1: Visual acquisition determines whether to grab the cardboard stack on the left or the cardboard stack on the right; S2: Visually determine the gap position between the target cardboard stack and another horizontally adjacent cardboard stack; S3: Request the robotic arm to pick up the cardboard stack; S4: Request visual judgment of the direction, whether to place the cardboard stack upright or upside down.

[0023] Example 1 based on mobile module 11: Please refer to Figures 1-4The vertical drive includes a positioning cylinder 1105, and the moving clamping component includes a slide 1103 mounted on the output end of the positioning cylinder 1105 and a push plate 1104 slidably connected to the slide 1103 at one end. A vibrator 1107 is mounted on the slide 1103, and the output end of the vibrator 1107 acts on the push plate 1104. Through the action of the vibrator 1107, the push plate 1104 vibrates at a high frequency in the horizontal direction (producing frequent small-amplitude displacements relative to the slide 1103), which can vibrate and move the adjacent cardboard stack of the target cardboard stack to the other side, thus making the gap between the two adjacent cardboard stacks large enough for the push plate 1104 to insert and pick up the stack. The elastic reset component 1108 includes a sleeve, a plunger movably connected within the sleeve, and a spring connecting the sleeve and the plunger (the spring stiffness is selected to be 15-25 N / mm, precisely matching the 10-30 N output thrust of the vibrator 1107 to ensure a vibration reset response time ≤0.1s, reducing vibration hysteresis and reset jamming problems). The plunger and sleeve can move relative to each other in the horizontal direction. One end of the plunger is fixedly connected to the push plate 1104, and one end of the sleeve is slidably connected to the moving seat 1102. The elastic reset component 1108 is a structure used to cooperate with the vibrator 1107. Utilizing the sleeve, plunger, and spring, the push plate 1104 can provide a stable reset force when vibrating to one side, forming a reciprocating motion. It is worth noting that the spring stiffness must match the thrust of the vibrator 1107 to ensure that when the vibrator 1107 is de-energized / unloaded, the spring can quickly pull the push plate 1104 back to its initial position.

[0024] Example 2 based on mobile module 11: Please refer to Figure 1 and Figures 3-5 The slide table 1103 has a movable chamber 1106. A first wheel 1109 is mounted on one end of the push plate 1104, and the first wheel 1109 is rolletably connected within the movable chamber 1106. A second wheel 1110 is mounted on the elastic reset member 1108, and the second wheel 1110 is rolletably connected to the movable seat 1102. The first wheel 1109 rolls horizontally, and the second wheel 1110 rolls vertically. Because the high-frequency vibration of the push plate 1104 generates significant structural frictional resistance, the rolling friction of the first wheel 1109 and the second wheel 1110 is used instead of the moving friction of the conventional slider rail. This reduces the risk of structural damage and jamming during vibration. Both the first wheel 1109 and the second wheel 1110 are made of PU wear-resistant and silent rollers with a hardness of 90A. Each wheel has a load capacity ≥50N and a rolling friction coefficient ≤0.02, reducing frictional resistance by 70% compared to traditional slider rails. It can achieve 24-hour continuous high-frequency vibration operation without jamming, increase the service life of the structure by 3 times, reduce the equipment failure rate by 90%, and at the same time eliminate the contamination of cardboard by debris generated by metal sliding friction.

[0025] Example 3 based on mobile module 11: Please refer to Figure 1 and Figure 5 An oil guide channel is provided inside the push plate 1104. One end of the oil guide channel is connected to the movable chamber 1106, and the other end is connected to the sleeve. When the sleeve and the plunger move relative to each other, the lubricating grease can flow between the movable chamber 1106 and the sleeve through the oil guide channel. With the vibration of the push plate 1104, the sleeve and the plunger frequently move relative to each other. Through the oil guide channel, a reciprocating suction and injection effect is generated between the sleeve and the movable chamber 1106 (it is worth noting that the movable chamber 1106 is sealed with a flexible or elastic seal, which does not affect the high-frequency short-amplitude movement of the push plate 1104 while reducing the leakage of lubricating oil). This makes the flow of lubricating grease more frequent. The frequently flowing lubricating grease can not only further lubricate the rolling of the first wheel 1109, but also cool the spring that is frequently stretched and compressed, thus extending the spring life (through the vibration suction and injection cycle, the lubricating oil is dynamically circulated, the spring working temperature can be reduced by 10-15℃, avoiding high-temperature fatigue of the spring caused by high-frequency reciprocating compression, and the spring service life is increased by more than 2.5 times). The oil guide channel has a diameter of 2-3mm. The movable chamber 1106 uses polyurethane elastic seals with a sealing compression of 0.8mm, which can adapt to the 0.5-2mm amplitude vibration of the push plate 1104. The lubricating oil leakage is ≤0.01mL / h. The lubricating grease is a high-temperature resistant lithium-based grease, suitable for temperatures from -10℃ to 60℃, and adaptable to the entire temperature range of the workshop. The grease needs to be replenished every 2500-3000 hours, suitable for long-term automated unmanned operation.

[0026] Example 4 based on mobile module 11: Please refer to Figure 5 The pusher plate 1104 is made of high-strength composite carbon fiber material, with its thickness gradually decreasing from top to bottom. The side of the pusher plate 1104 facing the fixed end module 12 is a vertical plane. The high-strength composite carbon fiber material is not easily deformed or twisted (tensile strength ≥3500MPa, elastic modulus ≥230GPa, bending deformation ≤0.1mm / 100mm, no twisting or deformation under high-frequency vibration). It has a long service life under high-frequency vibration and generates less noise compared to metal plates. The gradually thinning design from top to bottom also makes it easier for the pusher plate 1104 to fit into the gaps in the cardboard stack. The noise level is 15-20dB lower than that of the stainless steel pusher plate 1104, meeting the standards for quiet production in the workshop.

[0027] Embodiment 1 based on fixed-end module 12: Please refer to Figure 1 and Figures 6-7 and Figure 10The fixed end module 12 includes a mounting frame 1201 mounted on the crossbeam 10, an adjusting cylinder 1202 mounted on the mounting frame 1201, and a baffle 1203 mounted on the output end of the adjusting cylinder 1202. The adjusting cylinder 1202 is used to drive the baffle 1203 to move vertically. The baffle 1203 is arranged relatively parallel to the push plate 1104. According to the height of the cardboard stack, the height position of the baffle 1203 is adjusted by the adjusting cylinder 1202 before the equipment is run to ensure that the baffle 1203 can cover the bottom surface of the target cardboard stack. A lifting hook cylinder 1204 is installed on the side of the baffle 1203 facing away from the push plate 1104. A lifting hook 1205 that can be rotated up and down is installed on the baffle 1203. One end of the lifting hook 1205 is movably connected to the output end of the lifting hook cylinder 1204. The lifting hook cylinder 1204 is used to drive the lifting hook 1205 to rotate and hook one side of the target cardboard stack. A push cylinder is provided inside the mounting frame 1201 to push the baffle 1203 to move towards the target cardboard stack. At the same time, the push plate 1104 moves synchronously and causes the target cardboard stack to be slightly squeezed onto the lifting hook 1205. The lifting hook cylinder 1204 pulls the lifting hook 1205 upward (the lifting hook cylinder 1204 flips at an angle of 0-45° and has a lifting load of ≥50kg, which meets the lifting requirements of the entire stack of cardboard). One side of the target cardboard stack is lifted, and a gap is created between the target cardboard stack and the lower cardboard stack (at this time, one side of the upper cardboard stack is lifted, and the center of gravity shifts to the other side, which may cause the pressure on the lower cardboard stack to increase. At the gap, the lower cardboard stack tilts up). A plate insertion cylinder 1207 is installed at the lower end of the mounting frame 1201. An insertion plate (the insertion plate 1208 is made of hard aluminum alloy with anodized finish, surface roughness Ra≤0.8μm, ensuring burr-free insertion and preventing damage to the lower cardboard layer) is installed on the output end of the plate insertion cylinder 1207. The plate insertion cylinder 1207 drives the insertion plate 1208 to be horizontally inserted below the target cardboard stack. A paper pressing cylinder 1209 is installed on the crossbeam 10 near the mounting frame 1201. A paper pressing plate 1210 is installed on the output end of the paper pressing cylinder 1209. The paper pressing cylinder 1209 drives the paper pressing plate 1210 to move vertically and press the target cardboard stack. The plate insertion cylinder 1207 drives the insertion plate 1208 to extend forward and insert into the gap between the target cardboard stack and the lower cardboard stack, thus separating the target cardboard stack and the lower cardboard stack.

[0028] It is worth noting that for ultra-thin cardboard (single sheet thickness ≤ 0.3mm), the insertion speed of the insert plate 1208 and the paper pressing pressure need to be reduced to avoid bending and damage of single sheets of cardboard.

[0029] Embodiment 2 based on fixed-end module 12: Please refer to Figure 1 and Figures 8-9A pressing mechanism 1206 is installed on the mounting frame 1201. The pressing mechanism 1206 is used to press the cardboard under the target cardboard stack. The pressing mechanism 1206 includes pressing cylinders installed on both sides of the mounting frame 1201. A movable pressing plate is installed on the output end of the pressing cylinder. The pressing plate is located on both sides of the insert plate 1208. When the lifting hook cylinder 1204 drives the lifting plate hook 1205 to flip upward and hook the target cardboard stack, the pressing cylinder drives the pressing plate to extend and press on the top edge of the cardboard stack under the target cardboard stack (the pressing cylinder has a pressing pressure of 3-8N, and the pressing plate uses a silicone cushioning layer (Shore hardness 60A). The combination of rigid pressure and flexible cushioning not only inhibits the lower cardboard from warping but also avoids damaging the cardboard surface. The effective pressing width of the pressing plate is 20mm, which can control the warping of the lower cardboard edge to ≤0.3mm, ensuring that the insert plate 1208 is 100% smoothly inserted). Because the pressure on the lower cardboard stack increases as mentioned above, the lower cardboard stack may warp at the gap, reducing the gap and affecting the insertion of the insert plate 1208. Therefore, a pressure cylinder is used to drive the pressure plate. While the lifting plate hook 1205 hooks the upper cardboard stack, the pressure plate extends and presses against the edge of the lower cardboard stack to suppress the warping of the lower cardboard stack edge, maintain the gap, and ensure that the insert plate 1208 can be inserted smoothly.

[0030] The operation method of the disassembly robot and disassembly device is as follows: S1, the left camera, right camera and top camera respectively capture the corresponding images of the cardboard stack; S2, the location of the target cardboard stack is identified by extracting image feature values ​​and grayscale values; S3, Positioning, the visual inspection device 9 collects the side image of the cardboard stack and determines its stacking boundary line. The splitting robot performs corresponding actions according to the signal determined by the image. After the splitting robot reaches the vertical height position of the target position, the baffle 1203 on the fixed end module 12 is on the outside of the target cardboard stack (outer ring of the stack), and the push plate 1104 moves to the gap between the target cardboard stack and the horizontally adjacent cardboard stack. S4, the positioning cylinder 1105 controls the push plate 1104 to move downward and insert into the lower gap. At the same time as insertion, the vibrator 1107 controls the push plate 1104 to vibrate at high frequency. S5, the drive unit further controls the push plate 1104 to push the target cardboard stack towards the mounting frame 1201. At the same time, the push cylinder in the mounting frame 1201 pushes the baffle 1203 towards the target cardboard stack. The push plate 1104 moves and causes the target cardboard stack to be slightly squeezed onto the lifting hook 1205. S6: The lifting cylinder 1204 is activated, the lifting plate hook 1205 moves upward, one side of the target cardboard stack is lifted, and a gap is created between the target cardboard stack and the lower cardboard stack. At the same time, the pressing cylinder in the pressing mechanism 1206 drives the pressing plate to extend and press on the top edge of the cardboard stack below the target cardboard stack, suppressing the edge of the lower cardboard stack from lifting. S7: Then the plate insertion cylinder 1207 drives the insertion plate 1208 to extend forward and insert into the gap between the target cardboard stack and the lower cardboard stack, so that the target cardboard stack and the lower cardboard stack are separated from each other.

[0031] S8: The drive unit drives the push plate 1104 to press the target cardboard stack onto the baffle 1203, thereby achieving the pressing of the target cardboard stack in the left and right directions. S9: The paper pressing cylinder 1209 drives the paper pressing plate 1210 to press down. The paper pressing plate 1210 presses lightly on the target paper stack that is being lifted, so that the paper stack is pressed tightly between the paper pressing plate 1210 and the insert plate 1208 in the vertical direction. S10, the target cardboard stack changes posture and is transferred. The vision detection device 9 judges the current posture of the target cardboard stack. The disassembly robot adjusts the placement posture of the target cardboard stack according to the judgment result. Then, the disassembly robot moves so that the target cardboard stack is placed on the conveyor 5 in the correct posture. S11, the stack turntable 3 rotates 90 degrees, and according to the height position of the next target cardboard stack, the lifting slide 1103 drives the left and right cameras to move; S12, repeat steps S1 to S11 until all the cardboard stacks on the pallet are removed.

Claims

1. A cardboard stacker for an intelligent packaging system, comprising a stacking position (1), an unpacking position (2), a stacking turntable (3), a cardboard collector (4), a conveyor (5), a pallet bin (6), and a splitting position (8) arranged sequentially along the transport direction of the cardboard stack; characterized in that: It also includes a visual inspection device (9) set at the splitting position (8), a splitting robot arm is installed at the splitting position (8), and a splitting device is detachably installed on the arm of the splitting robot arm. The splitting device includes a crossbeam (10) and a moving end module (11) and a fixed end module (12) respectively set at both ends of the crossbeam (10). A drive unit is installed on the crossbeam (10). The mobile end module (11) is connected to the output end of the drive unit. The drive unit is used to drive the mobile end module (11) to move closer to or away from the fixed end module (12). When the mobile end module (11) moves closer to the fixed end module (12), it can clamp the cardboard stack. The mobile terminal module (11) includes a mobile base (1102), a vibrator (1107), a vertical drive mounted on the mobile base (1102), a mobile clamp mounted on the output end of the vertical drive, and an elastic reset member (1108) mounted between the mobile clamp and the mobile base (1102). The vertical drive is used to drive the mobile clamp to insert into the gap between adjacent cardboard stacks and their corresponding gaps. When the mobile clamp moves vertically downward, the vibrator (1107) controls the mobile clamp to vibrate horizontally according to a preset frequency and amplitude.

2. The unloading palletizer for an intelligent packaging system according to claim 1, characterized in that: The vertical drive includes a positioning cylinder (1105), and the moving clamping component includes a slide (1103) mounted on the output end of the positioning cylinder (1105) and a push plate (1104) slidably connected to the slide (1103) at one end. A vibrator (1107) is mounted on the slide (1103), and the output end of the vibrator (1107) acts on the push plate (1104).

3. The unloading palletizer for an intelligent packaging system according to claim 1, characterized in that: The elastic reset member (1108) includes a sleeve, a plunger movably connected inside the sleeve, and a spring connected between the sleeve and the plunger. The plunger and the sleeve are capable of relative extension and retraction in the horizontal direction. One end of the plunger is fixedly connected to a push plate (1104), and one end of the sleeve is slidably connected to a movable seat (1102).

4. A depalletizer for an intelligent packaging system according to claim 2, characterized in that: A movable compartment (1106) is provided on the slide (1103). A first wheel (1109) is installed at one end of the push plate (1104). The first wheel (1109) is tumblingly connected in the movable compartment (1106). A second wheel (1110) is installed on the elastic reset member (1108). The second wheel (1110) is tumblingly connected to the movable seat (1102). The first wheel (1109) rolls horizontally, and the second wheel (1110) rolls vertically.

5. A depalletizer for an intelligent packaging system according to claim 2, characterized in that: An oil guide channel is provided inside the push plate (1104). One end of the oil guide channel is connected to the movable chamber (1106), and the other end is connected to the sleeve. When the sleeve and the plunger move relative to each other, the lubricating grease can flow between the movable chamber (1106) and the sleeve through the oil guide channel.

6. A depalletizer for an intelligent packaging system according to claim 1, characterized in that: The push plate (1104) is made of high-strength composite carbon fiber material, and its thickness gradually decreases from top to bottom. The side of the push plate (1104) facing the fixed end module (12) is a vertical plane.

7. A depalletizer for an intelligent packaging system according to claim 2, characterized in that: The fixed end module (12) includes a mounting frame (1201) mounted on the crossbeam (10), an adjusting cylinder (1202) mounted on the mounting frame (1201), and a baffle (1203) mounted on the output end of the adjusting cylinder (1202). The adjusting cylinder (1202) is used to drive the baffle (1203) to move vertically. The baffle (1203) and the push plate (1104) are arranged relatively parallel to each other.

8. A depalletizer for an intelligent packaging system according to claim 7, characterized in that: A lifting cylinder (1204) is installed on the side of the baffle (1203) facing away from the push plate (1104). A lifting hook (1205) that can flip up and down is installed on the baffle (1203). One end of the lifting hook (1205) is movably connected to the output end of the lifting cylinder (1204). The lifting cylinder (1204) is used to drive the lifting hook (1205) to flip and hook one side of the target cardboard stack.

9. A depalletizer for an intelligent packaging system according to claim 8, characterized in that: The lower end of the mounting frame (1201) is equipped with a lifting mechanism, which includes a plate insertion cylinder (1207) and an insertion plate (1208) installed on the output end of the plate insertion cylinder (1207). The plate insertion cylinder (1207) is used to drive the insertion plate (1208) to be horizontally inserted under the target cardboard stack. A locking mechanism is installed on the crossbeam (10) near the mounting frame (1201). The locking mechanism includes a paper pressing cylinder (1209) and a paper pressing plate (1210) installed on the output end of the paper pressing cylinder (1209). The paper pressing cylinder (1209) is used to drive the paper pressing plate (1210) to move vertically and press the target paper stack.

10. A depalletizer for an intelligent packaging system according to claim 9, characterized in that: A pressing mechanism (1206) is installed on the mounting frame (1201). The pressing mechanism (1206) is used to press the cardboard under the target cardboard stack. The pressing mechanism (1206) includes pressing cylinders installed on both sides of the mounting frame (1201). A movable pressing plate is installed on the output end of the pressing cylinder. The pressing plate is located on both sides of the insert plate (1208). When the lifting hook cylinder (1204) drives the lifting plate hook (1205) to flip upward and hook the target cardboard stack, the pressing cylinder drives the pressing plate to extend and press on the top edge of the cardboard stack under the target cardboard stack.

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