A multi-specification packaging box unpacking system and method

Abstract

The application provides a multi-specification packaging box unpacking system and method. Related to the field of automatic logistics and packaging technology, the multi-specification packaging box unpacking system is characterized in that an AGV docking platform is arranged at an unpacking station, a floating centering unit is arranged adjacent to the AGV docking platform, a visual detection unit is arranged above the unpacking station, a truss type unpacking unit is a truss structure arranged above the AGV docking platform and the floating centering unit, at least two independently moving execution ends are arranged on the truss type unpacking unit, a product clamp is arranged on one execution end of the truss type unpacking unit, a packaging box cover clamp is arranged on the other execution end of the truss type unpacking unit, and a control system is electrically connected with the AGV docking platform, the floating centering unit, the visual detection unit, the truss type unpacking unit, the product clamp and the packaging box cover clamp.

Description

Technical Field

[0001] This invention relates to the field of automated logistics and packaging technology, and in particular to a multi-specification packaging box unpacking system and method. Background Technology

[0002] With the development of industrial automation and intelligent manufacturing, more and more production lines are using AGVs for material handling, and automated unpacking of packaging boxes has become an important process in logistics and production. However, existing unpacking equipment still has the following technical shortcomings in practical applications: Firstly, existing unpacking equipment has poor versatility. Packaging boxes of different specifications vary greatly in length, width, and height. Traditional unpacking equipment is usually designed for a single specification and cannot adapt to various specifications of packaging boxes with lengths ranging from 2000mm to 8000mm. When changing production lines, manual adjustment of the equipment or replacement of tooling is required, which seriously affects production efficiency.

[0003] Secondly, the positioning accuracy of existing unpacking equipment is low. When AGVs place packaging boxes, there are inevitably positional and angular deviations. Traditional unpacking equipment lacks an effective deviation compensation mechanism, making it difficult to accurately position subsequent operations such as screw unlocking and box lid removal, which can easily cause the equipment to jam or damage the packaging boxes.

[0004] Third, the existing unpacking equipment lacks sufficient functional integration. Unscrewing, lid removal, and product grabbing are usually completed at multiple independent workstations, which not only occupies a lot of space but also increases equipment costs and maintenance difficulty. Furthermore, the material transfer between workstations reduces operational efficiency.

[0005] Fourth, the existing unpacking equipment and AGV system have poor coordination. Most equipment still requires manual intervention in loading and unloading of packaging boxes and empty box recycling, which cannot achieve truly unmanned operation and cannot meet the needs of full-process automation in smart factories.

[0006] Therefore, there is an urgent need in this field for an unpacking system that can adapt to various packaging box sizes, has high-precision positioning capabilities, is highly integrated, and can be fully automatically docked with AGVs. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a multi-specification packaging box unpacking system and method to address the shortcomings of the prior art.

[0008] The technical solution of this invention to solve the above-mentioned technical problems is as follows: A multi-specification packaging box unpacking system, comprising: an AGV docking platform for receiving packaging boxes transported by an omnidirectional forklift AGV and unlocking the locking parts on the packaging boxes; a floating centering unit for carrying the packaging boxes and realizing automatic centering of the packaging boxes in the width direction; a vision detection unit for collecting image information of the packaging boxes and the products inside the packaging boxes to determine the posture of the packaging boxes and the position of the products; a truss-type unpacking unit; a product clamp for gripping the products inside the packaging boxes; a packaging box lid clamp for gripping and removing the box lid; and a control system for controlling the entire unpacking process. The AGV docking platform is set at the unpacking station. The floating alignment unit is located adjacent to the AGV docking platform. The vision inspection unit is located above the unpacking station. The truss-type unpacking unit is a truss structure located above the AGV docking platform and the floating alignment unit. The truss-type unpacking unit is provided with at least two independently moving actuators. The product clamp is installed on one actuator of the truss-type unpacking unit, and the packaging box cover clamp is installed on the other actuator of the truss-type unpacking unit. The control system is electrically connected to the AGV docking platform, the floating alignment unit, the vision inspection unit, the truss-type unpacking unit, the product clamp, and the packaging box cover clamp, respectively.

[0009] Furthermore, the floating centering unit includes: a bottom mounting base, a floating mounting plate for supporting the packaging box, and a floating centering module. The bottom mounting base is fixedly disposed at the unpacking station. The bottom mounting base is provided with a limiting structure for limiting the displacement range of the packaging box in the length direction. The floating mounting plate is disposed above the bottom mounting base. The floating centering module is disposed between the bottom mounting base and the floating mounting plate. The floating centering module has a first working state and a second working state. In the first working state, the floating mounting plate can float freely in the horizontal direction relative to the bottom mounting base to achieve the centering of the packaging box. In the second working state, the floating mounting plate is locked in a preset position.

[0010] Furthermore, the AGV docking platform includes: a linear motion mechanism for moving the screw unlocking mechanism to adapt to packaging boxes of different lengths, a screw unlocking mechanism, and a clamping and positioning mechanism for pressing the packaging box body during the unlocking process. The linear motion mechanism is arranged along the length direction of the packaging box, the screw unlocking mechanism is arranged on the linear motion mechanism, and the screw unlocking mechanism has a screw sleeve for cooperating with the captive screws on the packaging box to loosen or tighten them. The clamping and positioning mechanism is arranged on the AGV docking platform.

[0011] Furthermore, the linear motion mechanism of the AGV docking platform includes: a linear motion guide rail base, a linear motion motor, and a movable base mounting plate. The linear motion guide rail base is fixedly installed and extends along the length of the packaging box. The movable base mounting plate is slidably installed on the linear motion guide rail base. The linear motion motor is drivenly connected to the movable base mounting plate. The screw unlocking mechanism includes: a box unpacking mounting base, a box unpacking screw-tightening drive, a box unpacking screw-tightening execution cylinder, and a screw-tightening sleeve. The box unpacking mounting base is fixedly installed on the movable base mounting plate. The box unpacking screw-tightening execution cylinder... The cylinder is mounted on the unpacking mounting base. The unpacking screw-tightening cylinder is connected to the unpacking screw-tightening drive, and the output end of the unpacking screw-tightening drive is connected to the screw-tightening sleeve. The clamping and positioning mechanism includes: a positioning camera for acquiring position images of loose screws, a packaging box clamping cylinder, and a clamping plate for clamping or releasing the box under the drive of the packaging box clamping cylinder. The positioning camera is mounted on the movable base mounting plate, the packaging box clamping cylinder is fixedly mounted on the frame of the AGV docking platform, and the clamping plate is connected to the piston rod end of the packaging box clamping cylinder.

[0012] Furthermore, the truss-type unpacking unit includes: two parallel X-axis beams, two Y-axis beams, and two Z-axis lifting modules. The two X-axis beams are fixedly supported on the ground and are parallel to each other, and each X-axis beam is equipped with an X-axis linear module. The two Y-axis beams are respectively connected to the sliders of the two X-axis linear modules, and the two Y-axis beams can move independently along their respective X-axis linear modules. Each Y-axis beam is equipped with a Y-axis linear module. The two Z-axis lifting modules are respectively mounted on the sliders of the two Y-axis linear modules. The lower end of each Z-axis lifting module is the execution end, and the two execution ends are respectively used to install the product clamp and the packaging box lid clamp. The two execution ends can move independently in the X, Y, and Z directions.

[0013] Furthermore, the product fixture includes: a product fixture mounting base, a quick-change module for quickly changing the fixture body, a fixture body, a clamping actuator cylinder for driving the product grippers to open or close to grasp or release the product, and product grippers. The upper end of the product fixture mounting base is fixedly connected to one end of the truss-type unpacking unit. The quick-change module is disposed between the product fixture mounting base and the fixture body. The clamping actuator cylinder is disposed on the fixture body, and the product grippers are disposed on the gripping fingers of the clamping actuator cylinder.

[0014] Furthermore, the packaging box lid clamp includes: a lid clamp seat and a lid gripping hook for forming a detachable hook engagement with a lid gripping seat provided on the lid to grip or release the lid. The upper end of the lid clamp seat is fixedly connected to another execution end of the truss-type unpacking unit, and the lid gripping hook is provided at the lower end of the lid clamp seat.

[0015] Furthermore, the vision inspection unit is fixedly installed on the crossbeam or Z-axis lifting module of the truss-type unpacking unit; the vision inspection unit includes: a camera housing, a camera mounting base, a side of the camera mounting base, and a gland for sealing cables. The industrial camera is disposed inside the camera housing. Both the camera mounting base and the side of the camera mounting base are fixed to the truss-type unpacking unit. The gland is located at the cable outlet of the camera housing; the control system includes: a PLC controller and a communication module. The control system is connected via signal cables to the linear motion motor, unpacking screw drive, unpacking screw execution cylinder solenoid valve, and packaging box clamping cylinder of the AGV docking platform. The solenoid valve and positioning camera are electrically connected; the control system is electrically connected to the solenoid valve of the floating centering module of the floating centering unit via a signal cable; the control system is electrically connected to the camera and light source of the vision inspection unit via a signal cable; the control system is electrically connected to the X-axis servo driver, Y-axis servo driver and Z-axis servo driver of the truss unpacking unit via a signal cable; the control system is electrically connected to the solenoid valve of the quick-change module and the clamping execution cylinder of the product fixture and the solenoid valve of the gripping hook drive cylinder of the packaging box cover fixture via signal cables; the control system communicates with the scheduling system of the omnidirectional forklift AGV via an industrial Ethernet.

[0016] Furthermore, this invention also provides a method for unpacking multi-specification packaging boxes. Based on the aforementioned multi-specification packaging box unpacking system, the method includes: Step 1, an omnidirectional forklift AGV transports the packaging box to a floating alignment unit; Step 2, the AGV docking platform presses the box body, automatically aligning the packaging box in the width direction and compensating for placement deviations of the omnidirectional forklift AGV; Step 3, a vision inspection unit acquires a position image of the captive screw, generates a first recognition result, and the control system drives the AGV docking platform to align the captive screw and perform loosening and unlocking based on the first recognition result; Step 4, the vision inspection unit... The first step involves the system acquiring image information of the packaging box, identifying the position of the lid gripper and the length and longitudinal deviation of the packaging box, and generating a second identification result. Based on the second identification result, the control system drives the truss-type unpacking unit to move the packaging box lid clamp to the lid gripping position, where the lid clamp and lid gripper cooperate to grip the lid. The second step involves the system acquiring image information of the product inside the packaging box, identifying the product position, and generating a third identification result. Based on the third identification result, the control system drives the truss-type unpacking unit to move the product clamp to the product gripping position, where the product clamp grips the product and removes it from the packaging box.

[0017] Further, step one includes: the omnidirectional forklift AGV transports the packaging box to the floating mounting plate of the floating centering unit and places it there; step two includes: the floating centering unit is in the first working state, the floating mounting plate floats freely, the packaging box clamping cylinder of the AGV docking platform drives the clamping plate to clamp the box from both sides, so that the packaging box is automatically centered in the width direction and compensates for the placement deviation of the omnidirectional forklift AGV; step three includes: the floating centering unit switches to the second working state, the floating mounting plate is locked, the positioning camera captures the position image of the captive screw, the control system drives the linear motion mechanism to move to the target position according to the detection result, the screw-tightening sleeve aligns with the captive screw and performs loosening and unlocking. Step four includes: the vision inspection unit acquires image information of the packaging box, identifies the position of the lid gripper and the length and length direction deviation of the packaging box, and the control system drives one end of the truss unpacking unit to move the packaging box lid clamp to the lid gripping position according to the recognition result. The lid hook and the lid gripper cooperate to grip the lid and transfer the lid to the lid temporary storage rack. Step five includes: the vision inspection unit acquires image information of the product inside the packaging box, identifies the product position, and the control system drives another end of the truss unpacking unit to move the product clamp to the product gripping position according to the recognition result. The clamping execution cylinder drives the product gripper to grip the product and remove it from the packaging box.

[0018] The beneficial effects of adopting the technical solution of this invention are: 1. Adaptive to multiple packaging box specifications, with strong versatility: This invention achieves flexible adjustment of the screw unlocking position in the length direction through the linear motion mechanism of the AGV docking platform, realizes automatic centering of packaging boxes of different widths through the floating centering unit, and identifies the length and position deviation of the packaging box through the vision detection unit. This enables the system to adapt to multiple packaging boxes of various specifications within the length range of 2000mm-8000mm, and can complete the unpacking operation of packaging boxes of different specifications without manual adjustment. 2. "Floating centering + vision compensation" composite positioning, with high positioning accuracy: This invention pioneers a composite positioning technology that combines a floating centering unit and a vision detection unit. The floating centering unit effectively compensates for the height deviation, horizontal deviation, and angular deviation generated when the AGV places the packaging box through the free floating of the floating mounting plate and the centering clamping of the clamping plate; the vision detection unit further accurately positions the length direction position of the packaging box and the position of the box cover gripper. The control system adjusts the movement trajectory of the truss unpacking unit in real time according to the detection results, achieving millimeter-level positioning accuracy and ensuring the reliability of screw unlocking, box cover removal, and product gripping. 3. Highly integrated functions and compact structure: This invention integrates screw unlocking, lid removal, and product gripping into a single workstation. Through the dual Z-axis independent motion structure of the truss-type unpacking unit, the product clamps and packaging lid clamps can work collaboratively in the same workstation, reducing equipment footprint, lowering equipment investment and maintenance costs, and shortening the unpacking cycle. 4. Fully automated AGV docking for unmanned operation: The AGV docking platform of this invention has automatic positioning and detection functions, accurately receiving packaging boxes transported by omnidirectional forklift AGVs. The control system and AGV scheduling system communicate in real-time via industrial Ethernet, realizing automatic loading and unloading of packaging boxes, automatic empty box recycling, and real-time interaction of production data. The entire unpacking process, from material warehousing to product delivery, requires no manual intervention, significantly reducing labor costs and improving production efficiency. 5. Stable and reliable operation: This invention uses the packaging box clamping cylinder and clamping plate of the AGV docking platform to clamp the box body before unlocking, ensuring the precise alignment of the non-loosening screws and the screw-tightening sleeve; the flexible contact parts prevent damage to the box body during clamping; and the secondary positioning guidance of the vision inspection unit ensures the success rate of box lid grabbing and product grabbing, making the overall operation stable and reliable.

[0019] The advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is one of the structural schematic diagrams of the multi-specification packaging box unpacking system provided in an embodiment of the present invention.

[0022] Figure 2 This is the second structural schematic diagram of the multi-specification packaging box unpacking system provided in an embodiment of the present invention.

[0023] Figure 3 This is the third structural schematic diagram of the multi-specification packaging box unpacking system provided in the embodiments of the present invention.

[0024] Figure 4 The fourth schematic diagram of the multi-specification packaging box unpacking system provided in the embodiments of the present invention.

[0025] Figure 5 The fifth schematic diagram of the multi-specification packaging box unpacking system provided in the embodiments of the present invention.

[0026] Figure 6 This is the sixth structural schematic diagram of the multi-specification packaging box unpacking system provided in the embodiments of the present invention.

[0027] Figure 7 This is the seventh structural schematic diagram of the multi-specification packaging box unpacking system provided in the embodiments of the present invention.

[0028] Reference numerals: 1. AGV docking platform; 2. Floating centering unit; 3. Vision inspection unit; 4. Truss-type unpacking unit; 5. Product clamp; 6. Packaging box lid clamp; 7. Control system; 8. Omnidirectional forklift AGV; 9. Box lid temporary storage rack; 10. Packaging box; 1001. Linear motion guide rail base; 1002. Cable chain groove; 1003. Cable chain; 1004. Linear motion motor; 1005. Reducer; 1006. Lubrication module; 1007. Moving base mounting plate; 1008. Unpacking mounting base; 1009. Unpacking screwing drive; 1010. Unpacking screwing actuator cylinder; 1011. Lower part of moving base; 1012. Upper part of moving base; 1013. Locking nut; 1014. Screwing sleeve; 1015. Positioning plate; 1016, guide rail; 1017, packaging box clamping cylinder; 1018, clamping plate; 1019, flexible contact element; 1020, positioning camera; 2001, bottom mounting base; 2002, floating mounting plate; 2003, floating centering module; 3001, camera housing; 3002, on camera mounting base; 3003, on camera mounting base side; 3004, gland head; 5001, product clamp mounting base; 5002, quick change module; 5003, clamp body; 5004, clamping actuator cylinder; 5005, product gripper; 6001, box cover clamp base; 6002, box cover hook; 101, box cover; 102, box cover gripping seat; 103, box body; 104, box body locking seat; 105, non-removable screw. Detailed Implementation

[0029] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments described are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0034] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0035] like Figures 1 to 7 As shown, the present invention provides a multi-specification packaging box unpacking system, comprising: an AGV docking platform 1 for receiving packaging boxes 10 transported by an omnidirectional forklift AGV8 and unlocking the locking components on the packaging boxes 10; a floating centering unit 2 for carrying the packaging boxes 10 and achieving automatic centering of the packaging boxes 10 in the width direction; a vision detection unit 3 for acquiring image information of the packaging boxes 10 and the products inside the packaging boxes 10 to determine the pose of the packaging boxes 10 and the position of the products; a truss-type unpacking unit 4; a product clamp 5 for gripping the products inside the packaging boxes 10; a packaging box cover clamp 6 for gripping and removing the box cover 101 of the packaging boxes 10; and a control system 7 for controlling the entire unpacking process. The AGV docking platform 1 is located at the unpacking station. The floating alignment unit 2 is located adjacent to the AGV docking platform 1. The vision inspection unit 3 is located above the unpacking station. The truss-type unpacking unit 4 is a truss structure located above the AGV docking platform 1 and the floating alignment unit 2. The truss-type unpacking unit 4 is provided with at least two independently moving execution ends. The product clamp 5 is installed on one execution end of the truss-type unpacking unit 4, and the packaging box cover clamp 6 is installed on the other execution end of the truss-type unpacking unit 4. The control system 7 is electrically connected to the AGV docking platform 1, the floating alignment unit 2, the vision inspection unit 3, the truss-type unpacking unit 4, the product clamp 5, and the packaging box cover clamp 6, respectively.

[0036] like Figures 1 to 7As shown, the floating centering unit 2 further includes: a bottom mounting base 2001, a floating mounting plate 2002 for supporting the packaging box 10, and a floating centering module 2003. The bottom mounting base 2001 is fixedly disposed at the unpacking station. The bottom mounting base 2001 is provided with a limiting structure for limiting the displacement range of the packaging box 10 in the length direction. The floating mounting plate 2002 is disposed above the bottom mounting base 2001. The floating centering module 2003 is disposed between the bottom mounting base 2001 and the floating mounting plate 2002. The floating centering module 2003 has a first working state and a second working state. In the first working state, the floating mounting plate 2002 can float freely in the horizontal direction relative to the bottom mounting base 2001 to achieve the centering of the packaging box 10. In the second working state, the floating mounting plate 2002 is locked in a preset position.

[0037] like Figures 1 to 7 As shown, the AGV docking platform 1 further includes: a linear motion mechanism for moving the screw unlocking mechanism to adapt to packaging boxes 10 of different lengths, a screw unlocking mechanism, and a clamping and positioning mechanism for clamping the box body 103 of the packaging box 10 during the unlocking process. The linear motion mechanism is arranged along the length direction of the packaging box 10. The screw unlocking mechanism is arranged on the linear motion mechanism. The screw unlocking mechanism has a screw sleeve 1014 for cooperating with the captive screws 105 on the packaging box 10 to loosen or tighten them. The clamping and positioning mechanism is arranged on the AGV docking platform 1.

[0038] like Figures 1 to 7As shown, further, the linear motion mechanism of the AGV docking platform 1 includes: a linear motion guide rail base 1001, a linear motion motor 1004, and a movable base mounting plate 1007. The linear motion guide rail base 1001 is fixedly installed and extends along the length direction of the packaging box 10. The movable base mounting plate 1007 is slidably installed on the linear motion guide rail base 1001. The linear motion motor 1004 is drively connected to the movable base mounting plate 1007. The screw unlocking mechanism includes: a box unpacking mounting base 1008, a box unpacking screw driving mechanism 1009, a box unpacking screw driving mechanism 1010, and a screw driving mechanism 1014. The box unpacking mounting base 1008 is fixedly installed on the movable base mounting plate 1007. The box unpacking screw driving mechanism 1009, the box unpacking screw driving mechanism 10 ... 010 is set on the unpacking mounting base 1008. The unpacking screwing execution cylinder 1010 is connected to the unpacking screwing drive 1009. The output end of the unpacking screwing drive 1009 is connected to the screwing sleeve 1014. The clamping and positioning mechanism includes: a positioning camera 1020 for acquiring position images of the loose screws 105, a packaging box clamping cylinder 1017, and a clamping plate 1018 for clamping or releasing the box body 103 under the drive of the packaging box clamping cylinder 1017. The positioning camera 1020 is set on the moving base mounting plate 1007. The packaging box clamping cylinder 1017 is fixedly set on the frame of the AGV docking platform 1. The clamping plate 1018 is connected to the piston rod end of the packaging box clamping cylinder 1017.

[0039] like Figures 1 to 7 As shown, the truss-type unpacking unit 4 further includes: two parallel X-axis beams, two Y-axis beams, and two Z-axis lifting modules. The two X-axis beams are fixedly supported on the ground and are parallel to each other. Each X-axis beam is equipped with an X-axis linear module. The two Y-axis beams are respectively connected to the sliders of the two X-axis linear modules. The two Y-axis beams can move independently along their respective X-axis linear modules. Each Y-axis beam is equipped with a Y-axis linear module. The two Z-axis lifting modules are respectively mounted on the sliders of the two Y-axis linear modules. The lower end of each Z-axis lifting module is the execution end. The two execution ends are respectively used to install the product clamp 5 and the packaging box cover clamp 6. The two execution ends can move independently in the X, Y, and Z directions.

[0040] Among them, the X-axis linear module, Y-axis linear module, and Z-axis lifting module can all be linear modules with lead screws and nuts. The lead screw drive of the X-axis linear module is connected to an X-axis servo driver, the lead screw drive of the Y-axis linear module is connected to a Y-axis servo driver, and the lead screw drive of the Z-axis lifting module is connected to a Z-axis servo driver. The X-axis servo driver, Y-axis servo driver, and Z-axis servo driver can all be motors. The Y-axis crossbeam is connected to the nut (slider) of the X-axis linear module, and the Z-axis lifting module is connected to the nut (slider) of the Y-axis linear module. The product clamp 5 and the packaging box cover clamp 6 are respectively connected to the nuts (sliders) of a pair of Z-axis lifting modules.

[0041] like Figures 1 to 7 As shown, the product clamp 5 further includes: a product clamp mounting base 5001, a quick-change module 5002 for quickly changing the clamp body 5003, a clamp body 5003, a clamping execution cylinder 5004 for driving the product grippers 5005 to open or close to grab or release the product, and the product grippers 5005. The upper end of the product clamp mounting base 5001 is fixedly connected to one execution end of the truss-type unpacking unit 4. The quick-change module 5002 is disposed between the product clamp mounting base 5001 and the clamp body 5003. The clamping execution cylinder 5004 is disposed on the clamp body 5003, and the product grippers 5005 are disposed on the gripping fingers of the clamping execution cylinder 5004.

[0042] like Figures 1 to 7 As shown, the packaging box lid clamp 6 further includes: a box lid clamp base 6001 and a box lid hook 6002 for forming a detachable hook engagement with a box lid gripping seat 102 provided on the box lid 101 to grip or release the box lid 101. The upper end of the box lid clamp base 6001 is fixedly connected to another execution end of the truss-type unpacking unit 4, and the box lid hook 6002 is provided at the lower end of the box lid clamp base 6001.

[0043] like Figures 1 to 7As shown, further, the vision inspection unit 3 is fixedly installed on the crossbeam or Z-axis lifting module of the truss-type unpacking unit 4; the vision inspection unit 3 includes: a camera housing 3001, a camera mounting base 3002, a camera mounting base side 3003, and a cable gland 3004 for sealing cables. The industrial camera is disposed inside the camera housing 3001. The camera mounting base 3002 and the camera mounting base side 3003 are both fixed to the truss-type unpacking unit 4. The cable gland 3004 is disposed at the cable outlet of the camera housing 3001; the control system 7 includes: a PLC controller and a communication module. The control system 7 is connected to the linear motion motor 1004, the unpacking screw drive 1009, and the unpacking screw execution cylinder 101 of the AGV docking platform 1 via signal cables. The solenoid valve of the 0, the solenoid valve of the packaging box clamping cylinder 1017, and the positioning camera 1020 are electrically connected; the control system 7 is electrically connected to the solenoid valve of the floating centering module 2003 of the floating centering unit 2 via a signal cable; the control system 7 is electrically connected to the camera and light source of the vision inspection unit 3 via a signal cable; the control system 7 is electrically connected to the X-axis servo driver, Y-axis servo driver, and Z-axis servo driver of the truss unpacking unit 4 via a signal cable; the control system 7 is electrically connected to the solenoid valves of the quick change module 5002 and the clamping execution cylinder 5004 of the product clamp 5 and the gripping hook drive cylinder solenoid valve of the packaging box cover clamp 6 via signal cables; the control system 7 communicates with the scheduling system of the omnidirectional forklift AGV8 via an industrial Ethernet.

[0044] Furthermore, this invention also provides a method for unpacking multi-specification packaging boxes. Based on the aforementioned multi-specification packaging box unpacking system, the method includes: Step 1, an omnidirectional forklift AGV8 transports the packaging box 10 to the floating centering unit 2; Step 2, the AGV docking platform 1 presses the box body 103, automatically centering the packaging box 10 in the width direction and compensating for the placement deviation of the omnidirectional forklift AGV8; Step 3, the vision detection unit 3 acquires the position image of the captive screw 105, generates a first recognition result, and the control system 7 drives the AGV docking platform 1 to align with the captive screw 105 and perform loosening and unlocking according to the first recognition result; Step 4, the vision detection unit 3 acquires the package body 10; The system 7 uses the image information of the packaging box 10 to identify the position of the lid gripper 102 of the lid 101 and the length and length direction position deviation of the packaging box 10, and generates a second identification result. The control system 7 drives the truss unpacking unit 4 to move the packaging box lid clamp 6 to the lid gripping position according to the second identification result. The packaging box lid clamp 6 cooperates with the lid gripper 102 to grip the lid 101. Step 5: The vision detection unit 3 collects the image information of the product inside the packaging box 10, identifies the product position, and generates a third identification result. The control system 7 drives the truss unpacking unit 4 to move the product clamp 5 to the product gripping position according to the third identification result. The product clamp 5 grips the product and removes it from the packaging box 10.

[0045] Further, step one includes: the omnidirectional forklift AGV8 transports the packaging box 10 to above the floating mounting plate 2002 of the floating centering unit 2 and places it there; step two includes: the floating centering unit 2 is in the first working state, the floating mounting plate 2002 floats freely, the packaging box clamping cylinder 1017 of the AGV docking platform 1 drives the clamping plate 1018 to clamp the box body 103 from both sides, so that the packaging box 10 is automatically centered in the width direction and compensates for the placement deviation of the omnidirectional forklift AGV8; step three includes: the floating centering unit 2 switches to the second working state, the floating mounting plate 2002 is locked, the positioning camera 1020 collects the position image of the captive screw 105, the control system 7 drives the linear motion mechanism to move to the target position according to the detection result, and the screw-tightening sleeve 1014 aligns with the captive screw 105 and performs loosening. The fourth step includes: the visual inspection unit 3 collects image information of the packaging box 10, identifies the position of the lid gripper 102 of the lid 101 and the length and length direction position deviation of the packaging box 10, and the control system 7 drives one end of the truss unpacking unit 4 to move the lid clamp 6 to the lid gripping position according to the identification result. The lid hook 6002 cooperates with the lid gripper 102 to grip the lid 101 and transfer the lid 101 to the lid temporary storage rack 9. The fifth step includes: the visual inspection unit 3 collects image information of the product inside the packaging box 10, identifies the product position, and the control system 7 drives another end of the truss unpacking unit 4 to move the product clamp 5 to the product gripping position according to the identification result. The clamping execution cylinder 5004 drives the product gripper 5005 to grip the product and remove it from the packaging box 10.

[0046] This invention provides a multi-specification packaging box unpacking system, belonging to the field of automated logistics and packaging technology. It solves the problems of poor versatility, low positioning accuracy, and insufficient functional integration in existing unpacking equipment. The system includes an AGV docking platform 1, a floating centering unit 2, a vision inspection unit 3, a truss-type unpacking unit 4, an end clamp (product clamp 5), and a control system 7. Its core lies in the use of a composite positioning technology of "floating centering + vision compensation." The floating centering unit 2 automatically centers the packaging box in the width direction and compensates for AGV placement deviations. The vision inspection unit 3 accurately identifies the length and length direction position deviation of the packaging box 10. Simultaneously, a truss-type unpacking unit 4 with a dual Z-axis independent motion structure is designed. The truss-type unpacking unit 4 integrates screw unlocking, box cover removal, and product gripping functions, and works with an auxiliary pressing mechanism to ensure a stable and reliable unpacking process. This invention can adapt to packaging boxes with lengths ranging from 2000mm to 8000mm, achieving fully automated docking with AGV forklifts and unmanned unpacking operations, and is widely applicable to industrial production lines and intelligent logistics systems.

[0047] 1. This invention pioneers a composite positioning method combining "floating centering + visual compensation," solving the technical problems of traditional unpacking systems being unable to adapt to multiple packaging box specifications and having low positioning accuracy. The floating centering unit 2, through a spring-damped floating support mechanism and synchronous centering grippers, achieves automatic centering of packaging boxes of different widths and can compensate for height and planar deviations generated during AGV placement; the visual detection unit 3 accurately identifies the length and length direction position deviation of the packaging box, and the control system 7 adjusts the movement trajectory of the truss-type unpacking unit 4 in real time based on the detection results, achieving precise positioning of packaging boxes of different lengths.

[0048] 2. The present invention designs a truss-type unpacking unit 4, which integrates three functions—screw unlocking, box cover removal, and product grabbing—into one workstation, realizing integrated operation of the entire unpacking process.

[0049] 3. This invention achieves fully automated docking between the unpacking system and AGV forklifts, constructing a complete unmanned unpacking operation process. The AGV docking platform 1 has automatic arrival detection and positioning functions, accurately receiving the packaging boxes transported by the AGV and automatically conveying them to the unpacking station; the control system 7 communicates with the AGV scheduling system in real time, realizing automatic loading and unloading of packaging boxes 10, automatic recycling of empty boxes, and real-time interaction of production data; the entire unpacking process requires no manual intervention, truly realizing full automation from material warehousing to product launch, greatly reducing labor costs and improving production efficiency.

[0050] Overall composition: The AGV docking platform consists of: 1. Floating centering unit; 2. Vision inspection unit; 3. Truss unpacking unit; 4. Product clamp; 5. Packaging box lid clamp; 6. Control system; 7. Omnidirectional forklift AGV; 8. Box lid temporary storage rack; 9. Packaging box; 10.

[0051] 1. The omnidirectional forklift AGV8 transports the packaging box 10 to the floating centering unit 2 for placement.

[0052] 2. Align the AGV docking platform 1 with the packaging box 10 and unlock the screws on the box lid.

[0053] 3. The visual inspection unit 3 positions the specific position of the packaging box 10. The truss-type unpacking unit 4 is a double X, Y, Z axis truss, with the product clamp 5 and the packaging box cover clamp 6 at the end. The packaging box 10 is disassembled by visual guidance of the packaging box cover clamp 6 and placed in the box cover temporary storage rack 9.

[0054] 4. Visual inspection unit 3 positions the product inside the packaging box 10. Truss-type unpacking unit 4 has a product clamp at the end 5 to complete the product grabbing and unpacking.

[0055] 5. The control system 7 realizes overall process control.

[0056] 6. The reverse process can be used to pack the product.

[0057] (1) AGV docking platform 1 Includes: linear motion guide rail base 1001, cable chain groove 1002, cable chain 1003, linear motion motor 1004, reducer 1005, lubrication module 1006, moving base mounting plate 1007, unpacking mounting base 1008, unpacking screwing drive 1009, unpacking screwing execution cylinder 1010, lower moving base 1011, upper moving base 1012, locking nut 1013, screwing sleeve 1014, positioning plate 1015, guide rail 1016, packaging box clamping cylinder 1017, clamping plate 1018, flexible contact element 1019, and positioning camera 1020.

[0058] Function Description: 1. The linear motion guide rail base 1001, the drag chain groove 1002, the drag chain 1003, the linear motion motor 1004, the reducer 1005, and the lubrication module 1006 constitute the linear reciprocating motion mechanism of the AGV docking platform, which is compatible with the screw unlocking position of packaging boxes of different lengths and sizes through linear motion.

[0059] 2. The following components—movable base mounting plate 1007, unpacking mounting base 1008, unpacking screw-tightening drive 1009, unpacking screw-tightening actuator cylinder 1010, lower moving base 1011, upper moving base 1012, locking nut 1013, screw-tightening sleeve 1014, positioning plate 1015, and guide rail 1016—ensure an automatic screw-unlocking mechanism, enabling automatic unlocking of the non-detachable screws 105 on the packaging boxes. A positioning camera 1020 detects the positions of the non-detachable screws 105 on different packaging boxes and adjusts the position of the linear reciprocating motion mechanism of the AGV docking platform to unlock packaging boxes of different sizes.

[0060] 3. The packaging box clamping cylinder 1017, clamping plate 1018, and flexible contact 1019 work together with the floating centering unit 2 to complete the centering and clamping of the packaging box, stabilize the packaging box, and ensure that the packaging box body locking seat 104 and the non-removable screw 105 are aligned with the screw sleeve 1014.

[0061] (2) Floating centering unit 2 Includes: bottom mounting base 2001, floating mounting plate 2002, and floating centering module 2003.

[0062] Function Description: 1. The bottom mounting base 2001 has a length direction limit and is compatible with packaging boxes within the size range; the floating mounting plate 2002 is installed above the floating centering module 2003. The floating centering module 2003 is a floating cylinder. When the air is cut off, the floating centering module 2003 can move arbitrarily, and together with the packaging box pressing cylinder 1017, pressing plate 1018, and flexible contact 1019, the packaging box is aligned with the AGV docking platform.

[0063] 2. When the floating centering module 2003 is ventilated, it returns to its initial position and works with the omnidirectional forklift AGV8 to place the packaging box.

[0064] (3) Visual inspection unit 3 Includes: camera housing 3001, camera mount 3002, camera mount side 3003, and lens 3004.

[0065] Function Description: Locates position 10 of the packaging box through visual inspection.

[0066] The truss-type unpacking unit 4 is equipped with a packaging box lid clamp 6 to automatically grab the packaging box lid 101.

[0067] The truss-type unpacking unit 4 is equipped with product clamps 5 to automatically grab products.

[0068] (4) Truss-type unpacking unit 4 The truss-type unpacking unit 4 is a double X, Y, Z axis truss.

[0069] A visual inspection unit 3 is installed above the truss-type unpacking unit 4.

[0070] (5) Product fixture 5 Composition: Product fixture mounting base 5001, quick-change module 5002, fixture body 5003, clamping actuator cylinder 5004, product gripper 5005.

[0071] The product fixture mounting base 5001 is installed on the truss-type unpacking unit 4 at its end; different fixtures can be replaced through the quick-change module 5002.

[0072] The product gripper 5005 is installed at the end of the clamping cylinder 5004 to achieve product gripping.

[0073] The product clamp 5 is guided by the vision inspection unit 3 to automatically grab the product from the packaging box.

[0074] (6) Packaging box lid clamp 6 Composition: Box cover clamp seat 6001, box cover grab hook 6002.

[0075] The lid 101 is opened by gripping the lid with the lid hook 6002 and the lid gripping seat 102.

[0076] The visual inspection unit 3 guides the packaging box lid clamp 6 to automatically grasp the packaging box lid (box lid 101).

[0077] (7) Packaging boxes 10 Includes: a lid 101, a lid gripper 102, a box body 103, a box body locking seat 104, and a captive screw 105. The lid 101 is detachably mounted on the box body 103, multiple lid grippers 102 are mounted on the lid 101, the box body locking seat 104 is mounted at the connection point between the lid 101 and the box body 103, and the captive screw 105 is mounted on the box body locking seat 104.

[0078] Specifically I. Overall Layout and Connections The multi-specification packaging box unpacking system of the present invention mainly consists of an AGV docking platform 1, a floating centering unit 2, a vision inspection unit 3, a truss unpacking unit 4, a product clamp 5, a packaging box lid clamp 6, and a control system 7.

[0079] The floating alignment unit 2 is fixedly installed on the ground or equipment base, and the working area of ​​the AGV docking platform 1 is located above the floating alignment unit 2. The truss-type unpacking unit 4 is an independently supported gantry truss structure, spanning above the floating alignment unit 2 and the AGV docking platform 1. The vision inspection unit 3 is fixedly installed on the crossbeam or Z-axis moving end of the truss-type unpacking unit 4 and moves spatially along the truss-type unpacking unit 4. The product clamp 5 and the packaging box lid clamp 6 are detachably installed on the dual Z-axis end effector of the truss-type unpacking unit 4 via quick-change modules.

[0080] II. Specific Structure and Connection Relationships of Each Unit 1. AGV docking platform 1 The AGV docking platform 1 mainly consists of a linear motion part, a screw unlocking part, and a clamping and positioning part.

[0081] The linear motion component includes a linear motion guide rail base 1001, a cable chain groove 1002, a cable chain 1003, a linear motion motor 1004, a reducer 1005, and a lubrication module 1006. The linear motion guide rail base 1001 is a long, rectangular metal base, horizontally fixed to the ground along the length of the packaging box 10. The output end of the linear motion motor 1004 is connected to the reducer 1005, which is connected to the movable base mounting plate 1007 via a lead screw and nut pair, driving the reducer to perform reciprocating linear motion along the guide rail on the guide rail base 1001. The cable chain 1003 contains a built-in cable; one end of the cable chain 1003 is fixed in the cable chain groove 1002, and the other end is connected to a moving component to protect the accompanying cable.

[0082] The screw unlocking section includes: a movable base mounting plate 1007, an unpacking mounting base 1008, an unpacking screw-tightening drive 1009, an unpacking screw-tightening actuator cylinder 1010, a lower movable base 1011, an upper movable base 1012, a locking nut 1013, a screw-tightening sleeve 1014, a positioning plate 1015, and a guide rail 1016. The movable base mounting plate 1007 is a flat plate structure, horizontally mounted on the slider of the linear motion guide rail base 1001. The unpacking mounting base 1008 is an L-shaped or box-type bracket, vertically fixed to the movable base mounting plate 1007. The lower movable base 1011 is mounted on the upper movable base 1012, and the upper movable base 1012 is slidably mounted on the unpacking mounting base 1008 via the guide rail 1016. The cylinder body of the unpacking and screwing actuator cylinder 1010 is fixed to the unpacking mounting base 1008. The piston rod end of the unpacking and screwing actuator cylinder 1010 is connected to the lower part of the motion base 1011 for driving the lower part of the motion base 1011 to slide. The unpacking and screwing actuator 1009 (usually a servo motor or pneumatic motor) is fixed to the motion base 1012. The output shaft of the unpacking and screwing actuator 1009 is connected to the screwing sleeve 1014 through a coupling for outputting rotational torque. The screwing sleeve 1014 is a hollow sleeve structure, and the lower end of the screwing sleeve 1014 is provided with an internal hexagon or cross slot that matches the head of the captive screw 105. The positioning plate 1015 is fixed to the motion base 1012 for position calibration in conjunction with the positioning camera 1020.

[0083] The clamping and positioning section includes: a positioning camera 1020, a packaging box clamping cylinder 1017, a clamping plate 1018, and a flexible contact 1019. The positioning camera 1020 is fixed to the movable base mounting plate 1007 via a mounting bracket. The optical axis of the positioning camera 1020 points vertically downwards to capture images of the position of the captive screws 105 on the packaging box 10. The cylinder body of the packaging box clamping cylinder 1017 is fixed to the fixed frame of the AGV docking platform 1. The piston rod of the packaging box clamping cylinder 1017 extends horizontally, with its end connected to the clamping plate 1018. The clamping plate 1018 is a rectangular metal plate. A flexible contact 1019 is fixedly installed on the side of the clamping plate 1018 facing the packaging box 10. The flexible contact 1019 is made of polyurethane or rubber material and is used to make elastic contact with the box body 103 during clamping to avoid damage to the box body.

[0084] 2. Floating centering unit 2 The floating centering unit 2 mainly consists of a bottom mounting base 2001, a floating mounting plate 2002, and a floating centering module 2003.

[0085] The bottom mounting base 2001 is a rigid metal frame structure, horizontally fixed to the ground, with limit blocks on both sides in the length direction to limit the maximum displacement range of the packaging box 10 in the length direction.

[0086] The floating centering module 2003 consists of multiple (preferably four) floating cylinders or pneumatic slides arranged in a rectangular shape. The cylinder body of the floating centering module 2003 is fixedly installed on the upper surface of the bottom mounting base 2001.

[0087] The floating mounting plate 2002 is a flat rectangular steel plate, which is horizontally installed on the top of the piston rod of all floating alignment modules 2003. When the floating alignment module 2003 is in the de-airing state, the floating mounting plate 2002 can float freely in its horizontal plane and has a certain tilt compensation capability; when air is supplied, the piston rod of the floating alignment module 2003 retracts and locks, so that the floating mounting plate 2002 returns to the preset initial horizontal position.

[0088] 3. Visual Inspection Unit 3 The visual inspection unit 3 includes a camera housing 3001, a camera mount 3002, a camera mount side 3003, and a sensor 3004.

[0089] Both the camera mount 3002 and the camera mount side 3003 are L-shaped or right-angle brackets, which are fixed to the Z-axis slide plate or beam side of the truss-type unpacking unit 4 by bolts. They are used to support industrial cameras and light sources.

[0090] The camera housing 3001 is a closed protective cover, which is placed on the outside of the camera body and fixed on the camera mounting base 3002 and the side of the camera mounting base 3003 for dust prevention and protection.

[0091] The Glanc 3004 is fixed to the cable outlet of the camera housing 3001 to lock and seal the camera data cable and power cable.

[0092] 4. Truss-type unpacking unit 4 The truss-type unpacking unit 4 is an independent motion truss structure with dual X-axis, dual Y-axis, and dual Z-axis.

[0093] The X-axis crossbeam of the truss-type unpacking unit 4 consists of two parallel steel square tubes or I-beams, which are fixedly supported on the ground by columns.

[0094] Each X-axis beam is equipped with an independent X-axis linear module (including a servo motor, reducer, lead screw, and guide rail slider).

[0095] Two Y-axis beams are respectively connected across the sliders of the two X-axis modules and can move independently along the X direction.

[0096] Each Y-axis beam is equipped with a Y-axis linear module, and each Y-axis module has a Z-axis lifting module (including a Z-axis servo motor, lead screw, and vertical slide plate) installed on its slider.

[0097] The ends of the two Z-axis slides are used to install the product clamp 5 and the packaging box cover clamp 6, respectively, thereby enabling the dual actuators to move independently in the X, Y, and Z directions in space.

[0098] 5. Product Fixture 5 Product fixture 5 includes product fixture mounting base 5001, quick-change module 5002, fixture body 5003, clamping actuation cylinder 5004, and product gripper 5005.

[0099] The product clamp mounting base 5001 is a cylindrical or square column structure with a flange on the top. The flange end of the product clamp mounting base 5001 is fixedly connected to the lower end of the Z-axis slide plate of the truss-type unpacking unit 4 by bolts.

[0100] The quick-change module 5002 consists of a main side and a tool side. The main side of the quick-change module 5002 is fixed to the lower end of the product fixture mounting base 5001, and the tool side is fixed to the upper end of the fixture body 5003. The two are quickly connected and disconnected by steel ball locking or pneumatic clamping.

[0101] The fixture body 5003 is a frame-type support base, and two or more clamping and actuating cylinders 5004 are symmetrically installed at the lower end of the fixture body 5003.

[0102] The clamping actuator cylinder 5004 is a parallel opening and closing type pneumatic gripper. The cylinder body of the clamping actuator cylinder 5004 is fixed on the fixture body 5003. Product grippers 5005 are fixedly installed on the two gripping fingers of the clamping actuator cylinder 5004. The product grippers 5005 have an L-shaped or arc-shaped finger structure, and the inner side of the product grippers 5005 is provided with anti-slip teeth or flexible pads for clamping products from both sides.

[0103] 6. Packaging box lid clamps 6 The packaging box lid clamp 6 mainly consists of a lid clamp seat 6001 and a lid grabber 6002.

[0104] The box cover clamp seat 6001 is a rectangular connecting plate. The upper end of the box cover clamp seat 6001 is fixedly connected to the lower end of another Z-axis slide plate of the truss-type unpacking unit 4 by bolts or quick-change modules.

[0105] The lid gripper 6002 consists of four rectangularly distributed L-shaped or J-shaped metal claws. The upper ends of the vertical sections are fixed to the lower surface of the lid clamping seat 6001, while the horizontal sections of the claws are bent inward to engage with the pre-set lid gripping seat 102 on the lid 101. The lid gripper 6002 can be driven by a cylinder to open and close, thus gripping and releasing the lid 101.

[0106] 7. Matching structure of packaging box 10 The packaging box 10 is the object to be disassembled, which specifically includes a box lid 101, a box lid gripping seat 102, a box body 103, a box body locking seat 104, and a non-removable screw 105.

[0107] The container 103 is a rectangular open container, and its top opening is covered by the lid 101.

[0108] The lid gripping seat 102 consists of four metal lugs or pins fixed to the four corners of the upper surface of the lid 101. The lid gripping seat 102 has a through hole or groove in the center for cooperating with the lid gripping hook 6002.

[0109] The housing locking seat 104 is a metal hinge seat fixed to the outer wall or front end of the housing 103, and its position is opposite to the screw sleeve 1014 of the AGV docking platform 1.

[0110] The captive screw 105 is installed on the housing locking seat 104 by threaded connection. The head of the captive screw 105 is provided with an internal hexagonal hole or an external polygonal structure, which is used to cooperate with the screw sleeve 1014 to loosen or tighten, thereby locking or releasing the housing cover 101 and the housing 103.

[0111] III. Control System Connection Relationships Control system 7 is a control cabinet integrating a PLC controller, industrial computer, and communication module, fixedly installed near the equipment. Control system 7 is electrically connected via signal cables to the linear motion motor 1004, unpacking and screwing drive 1009, unpacking and screwing execution cylinder 1010, solenoid valve of packaging box clamping cylinder 1017, and positioning camera 1020 of AGV docking platform 1; control system 7 is electrically connected via signal cables to the solenoid valve of floating alignment module 2003 of floating alignment unit 2; control system 7 is electrically connected via signal cables to the camera and light source of vision inspection unit 3; control system 7 is electrically connected via signal cables to the servo drives of each axis of truss unpacking unit 4; control system 7 is electrically connected via signal cables to the quick-change module 5002 of product clamp 5, the solenoid valve of clamping execution cylinder 5004, and the solenoid valve of hook drive cylinder of packaging box lid clamp 6. Simultaneously, control system 7 communicates with the scheduling system of omnidirectional forklift AGV8 via industrial Ethernet to achieve data interaction and collaborative operation.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-specification packaging box unpacking system, characterized in that, include: An AGV docking platform (1) is used to receive packaging boxes (10) transported by an omnidirectional forklift AGV (8) and unlock the locking parts on the packaging boxes (10); a floating centering unit (2) is used to carry the packaging boxes (10) and realize the automatic centering of the packaging boxes (10) in the width direction; a vision detection unit (3) is used to collect image information of the packaging boxes (10) and the products inside the packaging boxes (10) to determine the pose of the packaging boxes (10) and the position of the products; a truss-type unpacking unit (4); a product clamp (5) is used to grab the products inside the packaging boxes (10); a packaging box cover clamp (6) is used to grab and remove the box cover (101) of the packaging boxes (10); and a control system (7) is used to control the entire unpacking process. The AGV docking platform (1) is set at the unpacking station, and the floating centering unit (2) is used at the unpacking station. The location is adjacent to the AGV docking platform (1), the vision inspection unit (3) is set above the unpacking station, the truss unpacking unit (4) is a truss structure set above the AGV docking platform (1) and the floating centering unit (2), the truss unpacking unit (4) is provided with at least two independently moving execution ends, the product clamp (5) is installed on one execution end of the truss unpacking unit (4), the packaging box cover clamp (6) is installed on the other execution end of the truss unpacking unit (4), and the control system (7) is electrically connected to the AGV docking platform (1), the floating centering unit (2), the vision inspection unit (3), the truss unpacking unit (4), the product clamp (5) and the packaging box cover clamp (6) respectively.

2. The multi-specification packaging box unpacking system according to claim 1, characterized in that, The floating centering unit (2) includes: a bottom mounting base (2001), a floating mounting plate (2002) for supporting the packaging box (10), and a floating centering module (2003). The bottom mounting base (2001) is fixedly installed at the unpacking station. The bottom mounting base (2001) is provided with a limiting structure for limiting the displacement range of the packaging box (10) in the length direction. The floating mounting plate (2002) is located above the bottom mounting base (2001). The floating centering module (2003) is located between the bottom mounting base (2001) and the floating mounting plate (2002). The floating centering module (2003) has a first working state and a second working state. In the first working state, the floating mounting plate (2002) can float freely in the horizontal direction relative to the bottom mounting base (2001) to achieve the centering of the packaging box (10). In the second working state, the floating mounting plate (2002) is locked in a preset position.

3. The multi-specification packaging box unpacking system according to claim 1, characterized in that, The AGV docking platform (1) includes: a linear motion mechanism for moving the screw unlocking mechanism to adapt to packaging boxes (10) of different lengths, a screw unlocking mechanism, and a clamping and positioning mechanism for clamping the box body (103) of the packaging box (10) during the unlocking process. The linear motion mechanism is arranged along the length direction of the packaging box (10). The screw unlocking mechanism is arranged on the linear motion mechanism. The screw unlocking mechanism has a screw sleeve (1014) for cooperating with the non-removable screws (105) on the packaging box (10) to loosen or tighten them. The clamping and positioning mechanism is arranged on the AGV docking platform (1).

4. The multi-specification packaging box unpacking system according to claim 3, characterized in that, The linear motion mechanism of the AGV docking platform (1) includes: a linear motion guide rail base (1001), a linear motion motor (1004), and a movable base mounting plate (1007). The linear motion guide rail base (1001) is fixedly installed and extends along the length direction of the packaging box (10). The movable base mounting plate (1007) is slidably installed on the linear motion guide rail base (1001). The linear motion motor (1004) is connected to the movable base mounting plate (1007) in a transmission connection. The screw unlocking mechanism includes: a disassembly mounting base (1008), a disassembly screw-in drive (1009), a disassembly screw-in execution cylinder (1010), and the screw-in sleeve (1014). The disassembly mounting base (1008) is fixedly mounted on the movable base mounting plate (1007). The disassembly screw-in execution cylinder (1010) is mounted on the disassembly mounting base (1008). The disassembly screw-in execution cylinder (1010) is connected to the disassembly screw-in drive (1009). The output end of the disassembly screw-in drive (1009) is connected to the screw-in sleeve (1014). The clamping and positioning mechanism includes: a positioning camera (1020) for acquiring position images of the non-detachable screw (105), a packaging box clamping cylinder (1017), and a clamping plate (1018) for clamping or releasing the box (103) under the drive of the packaging box clamping cylinder (1017). The positioning camera (1020) is mounted on the movable base mounting plate (1007), the packaging box clamping cylinder (1017) is fixedly mounted on the frame of the AGV docking platform (1), and the clamping plate (1018) is connected to the piston rod end of the packaging box clamping cylinder (1017).

5. The multi-specification packaging box unpacking system according to claim 1, characterized in that, The truss-type unpacking unit (4) includes: two parallel X-axis beams, two Y-axis beams, and two Z-axis lifting modules. The two X-axis beams are fixedly supported on the ground and are parallel to each other. Each X-axis beam is equipped with an X-axis linear module. The two Y-axis beams are respectively connected to the sliders of the two X-axis linear modules. The two Y-axis beams can move independently along the corresponding X-axis linear modules. Each Y-axis beam is equipped with a Y-axis linear module. The two Z-axis lifting modules are respectively installed on the sliders of the two Y-axis linear modules. The lower end of each Z-axis lifting module is the execution end. The two execution ends are respectively used to install the product clamp (5) and the packaging box cover clamp (6). The two execution ends can move independently in the X, Y, and Z directions.

6. The multi-specification packaging box unpacking system according to claim 1, characterized in that, The product clamp (5) includes: a product clamp mounting base (5001), a quick-change module (5002) for quick replacement of the clamp body (5003), a clamp body (5003), a clamping execution cylinder (5004) for driving the product gripper (5005) to open or close to grab or release the product, and a product gripper (5005). The upper end of the product clamp mounting base (5001) is fixedly connected to one execution end of the truss unpacking unit (4). The quick-change module (5002) is disposed between the product clamp mounting base (5001) and the clamp body (5003). The clamping execution cylinder (5004) is disposed on the clamp body (5003). The product gripper (5005) is disposed on the gripping finger of the clamping execution cylinder (5004).

7. The multi-specification packaging box unpacking system according to claim 1, characterized in that, The packaging box lid clamp (6) includes: a lid clamp seat (6001) and a lid hook (6002) for forming a detachable hook engagement with a lid gripping seat (102) provided on the lid (101) to grip or release the lid (101). The upper end of the lid clamp seat (6001) is fixedly connected to another execution end of the truss unpacking unit (4), and the lid hook (6002) is provided at the lower end of the lid clamp seat (6001).

8. The multi-specification packaging box unpacking system according to claim 1, characterized in that, The vision inspection unit (3) is fixedly installed on the crossbeam or Z-axis lifting module of the truss-type unpacking unit (4); the vision inspection unit (3) includes: a camera housing (3001), a camera mounting base (3002), a camera mounting base side (3003), and a cable gland (3004) for sealing cables. The industrial camera is located inside the camera housing (3001). The camera mounting base (3002) and the camera mounting base side (3003) are both fixed on the truss-type unpacking unit (4). The cable gland (3004) is located at the cable outlet of the camera housing (3001); the control system (7) includes: a PLC controller and a communication module. The control system (7) is connected to the linear motion motor (1004), unpacking screw drive (1009), and unpacking screw execution cylinder (1010) of the AGV docking platform (1) via signal cables. The solenoid valve of the packaging box clamping cylinder (1017) and the positioning camera (1020) are electrically connected; the control system (7) is electrically connected to the solenoid valve of the floating centering module (2003) of the floating centering unit (2) via a signal cable; the control system (7) is electrically connected to the camera and light source of the vision inspection unit (3) via a signal cable; the control system (7) is electrically connected to the X-axis servo driver, Y-axis servo driver and Z-axis servo driver of the truss unpacking unit (4) via a signal cable; the control system (7) is electrically connected to the solenoid valve of the quick change module (5002) and the clamping execution cylinder (5004) of the product clamp (5) and the solenoid valve of the hook drive cylinder of the packaging box cover clamp (6) via a signal cable; the control system (7) is connected to the scheduling system of the omnidirectional forklift AGV (8) via an industrial Ethernet.

9. A method for unpacking multi-specification packaging boxes, characterized in that, Based on any one of claims 1 to 8, the method for unpacking multi-specification packaging boxes includes: Step 1: The omnidirectional forklift AGV (8) transports the packaging box (10) to the floating centering unit (2); Step 2: The AGV docking platform (1) presses the box (103) to automatically center the packaging box (10) in the width direction and compensate for the placement deviation of the omnidirectional forklift AGV (8); Step 3: The visual detection unit (3) acquires the position image of the non-detachable screw (105), generates the first recognition result, and the control system (7) drives the AGV docking platform (1) to align with the non-detachable screw (105) and perform loosening and unlocking according to the first recognition result; Step 4: The visual inspection unit (3) collects image information of the packaging box (10), identifies the position of the lid gripper (102) of the lid (101) and the length and length direction position deviation of the packaging box (10), generates a second recognition result, and the control system (7) drives the truss unpacking unit (4) to move the packaging lid clamp (6) to the lid gripping position according to the second recognition result. The packaging lid clamp (6) cooperates with the lid gripper (102) to grip the lid (101). Step 5: The visual inspection unit (3) collects image information of the product inside the packaging box (10), identifies the product position, generates a third identification result, and the control system (7) drives the truss unpacking unit (4) to move the product clamp (5) to the product gripping position according to the third identification result. The product clamp (5) grips the product and removes it from the packaging box (10).

10. A method for unpacking multi-specification packaging boxes according to claim 9, characterized in that, Step one includes: the omnidirectional forklift AGV (8) transports the packaging box (10) above the floating mounting plate (2002) of the floating centering unit (2) and places it; Step 2 includes: the floating centering unit (2) is in the first working state, the floating mounting plate (2002) floats freely, and the packaging box pressing cylinder (1017) of the AGV docking platform (1) drives the pressing plate (1018) to press the box (103) from both sides, so that the packaging box (10) is automatically centered in the width direction and compensates for the placement deviation of the omnidirectional forklift AGV (8); Step 3 includes: the floating centering unit (2) switches to the second working state, the floating mounting plate (2002) is locked, the positioning camera (1020) acquires the position image of the non-detachable screw (105), the control system (7) drives the linear motion mechanism to move to the target position according to the detection result, the screw sleeve (1014) aligns with the non-detachable screw (105) and performs loosening and unlocking; Step four includes: the visual inspection unit (3) collects image information of the packaging box (10), identifies the position of the box lid gripping seat (102) of the box lid (101) and the length and length direction position deviation of the packaging box (10), and the control system (7) drives one of the execution ends of the truss unpacking unit (4) to move the packaging box lid clamp (6) to the box lid gripping position according to the recognition result. The box lid hook (6002) cooperates with the box lid gripping seat (102) to grip the box lid (101) and transfer the box lid (101) to the box lid temporary storage rack (9). Step 5 includes: the visual inspection unit (3) collects image information of the product inside the packaging box (10), identifies the product position, and the control system (7) drives the other end of the truss unpacking unit (4) to move the product clamp (5) to the product gripping position according to the recognition result. The clamping execution cylinder (5004) drives the product gripper (5005) to grip the product and remove it from the packaging box (10).

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