Automatic destacking machine based on visual inspection

Abstract

The utility model belongs to the technical field of paperboard destacking production equipment, and particularly relates to an automatic destacking machine based on visual inspection, which comprises a paper stack conveying line for conveying paper stacks, centering correcting and stacking structures arranged on two sides of the paper stack conveying line, and a destacking and taking structure. Paper stacks are conveyed by the paper stack conveying line to the centering correcting and stacking structure for stacking, then the manipulator drives the destacking and material taking structure to take away the stacked paper stacks from top to bottom in sequence, automatic destacking is achieved, the production efficiency is high, the labor cost is low, the left sides and the right sides of the paper stacks on the paper stack conveying line are pushed through the centering correcting and stacking structure, and the paper stacks on the paper stack conveying line are conveyed to the paper stack conveying line. The paper stack is centered, corrected and fixed, and it is guaranteed that the destacking and material taking structure accurately takes materials for follow-up destacking.

Description

TECHNICAL FIELD

[0001] The utility model belongs to paperboard unstacking production device technical field especially relates to an automatic unstacker based on visual inspection.

BACKGROUND

[0002] In order to facilitate transportation, will be stacked into a pile of paperboard, and generally is two piles of paperboard through the parallel of pull rib plate, again two piles of paperboard film, packaging production process, need to unload the paper pile, that is, remove the film first, then take away the paper pile from top to bottom in turn, and the existing paper pile unstacking process, generally is to unload manually, low production efficiency, high labor cost.

UTILITARY MODEL CONTENT

[0003] The utility model discloses a kind of automatic unstackers based on visual inspection, which realizes automatic unstacking through unstacking and material taking structure, has high production efficiency and low labor cost, and can center correct and stack structure after film removal to paper pile, to ensure that unstacking and material taking structure is accurately taken for subsequent unstacking.

[0004] The utility model is realized by the following technical solutions:

[0005] An automatic unstacker based on visual inspection includes:

[0006] A paper pile conveying line is used to convey paper piles.

[0007] A center correction and stacking structure is arranged on both sides of the paper pile conveying line, and is used to push the left and right sides of the paper pile placed on the paper pile conveying line to center correct and fix the paper pile.

[0008] An unstacking and material taking structure is used to take away the paper pile on the paper pile conveying line from top to bottom in turn after being center corrected and fixed by the center correction and stacking structure.

[0009] As described above, an automatic unstacker based on visual inspection includes:

[0010] A stacking support;

[0011] Two stacking mounting plates are oppositely arranged on the stacking support.

[0012] A left-right correction member is movably arranged on the stacking mounting plate in a horizontal direction.

[0013] A left-right correction driving mechanism is arranged between the stacking mounting plate and the left-right correction member, and is used to drive the two left-right correction members to move towards each other or move away from each other.

[0014] As described above, an automatic unstacker based on visual inspection includes:

[0015] Left-right correction guide sleeve, which is arranged on the whole stack mounting plate;

[0016] Left-right correction guide post, one end of which is connected with the left-right correction member, and the other end of which is movably arranged through the left-right correction guide sleeve;

[0017] Left-right correction driving member, which is arranged on the whole stack mounting plate and the telescopic end of which is connected with the left-right correction member.

[0018] The automatic unstacking machine based on visual detection, the front and rear ends of the left-right correction member are hingedly provided with front and rear correction members, the front and rear correction members are provided with front and rear correction planes, and a front and rear correction driving mechanism for driving the front and rear correction members to overturn is arranged between the front and rear correction members and the left-right correction member, and the front and rear correction driving mechanism can drive the front and rear correction members to overturn along the horizontal direction to be perpendicular to the left-right correction member.

[0019] The automatic unstacking machine based on visual detection, the front and rear correction driving mechanism comprises:

[0020] Correction hinge member, one end of which is connected with the front and rear correction member, and the other end of which is hingedly connected with the left-right correction member;

[0021] Front and rear correction driving member, one end of which is hingedly connected with the left-right correction member, and the telescopic end of which is hingedly connected with the correction hinge member, and the front and rear correction driving member can drive the correction hinge member to rotate on the left-right correction member to drive the front and rear correction member to overturn along the horizontal direction to be perpendicular to the left-right correction member.

[0022] The automatic unstacking machine based on visual detection, the whole stack support is provided with a whole stack lifting driving mechanism for driving the whole stack mounting plate to move up and down along the vertical direction, and the whole stack lifting driving mechanism comprises:

[0023] Whole stack lifting slide rail, which is arranged on the whole stack support along the vertical direction;

[0024] Whole stack lifting slide block, one end of which is connected with the whole stack mounting plate, and the other end of which is movably arranged on the whole stack lifting slide rail;

[0025] Whole stack lifting driving assembly, which is arranged on the whole stack support and is used for driving the whole stack mounting plate to move.

[0026] The automatic unstacking machine based on visual detection, the unstacking and material taking structure comprises:

[0027] Material taking mounting frame, the one side surface of the material taking mounting frame is provided with a clamping and latching groove and a lifting and latching groove;

[0028] Paperboard clamping mechanism, which is movably arranged on the material taking mounting frame along the X-axis direction and is used for clamping paperboard;

[0029] A taking mechanism is arranged on the taking frame and used to drive the paperboard clamping mechanism to move along the X-axis direction to the clamping end through the clamping clearance slot.

[0030] A lifting member is movably arranged on the taking frame along the X-axis and Z-axis directions.

[0031] A lifting driving mechanism is arranged on the taking frame and used to drive the lifting member to move along the X-axis direction through the lifting clearance slot and along the Z-axis direction.

[0032] The automatic unstacking machine based on visual detection is provided with a taking suction cup on the taking frame for sucking the paperboard.

[0033] The automatic unstacking machine based on visual detection further comprises a paperboard lifting mechanism, which comprises:

[0034] A clearance hole is arranged on the left-right correcting member along the vertical direction.

[0035] An unstacking lifting member is movably arranged in the clearance hole.

[0036] A first lifting driving member is connected with the unstacking lifting member at the telescopic end and used to drive the unstacking lifting member to move through the clearance hole and into the space between the left-right correcting members.

[0037] A second lifting driving member is arranged on the left-right correcting member and connected with the first lifting driving member at the output end and used to drive the first lifting driving member and the unstacking lifting member to move up and down along the vertical direction.

[0038] The paperboard clamping mechanism comprises:

[0039] A clamping mounting plate is arranged on the taking frame.

[0040] A first clamping driving member is arranged on the clamping mounting plate along the Z-axis direction.

[0041] A first clamping member is arranged on the driving end of the first clamping driving member, and the first clamping driving member is used to drive the first clamping member to move along the Z-axis direction.

[0042] A second clamping driving member is arranged on the clamping mounting plate along the Z-axis direction.

[0043] A second clamping member is arranged on the driving end of the second clamping driving member and oppositely arranged with the first clamping member along the Z-axis direction, and the second clamping driving member is used to drive the second clamping member to move along the Z-axis direction to clamp the paperboard together with the first clamping member.

[0044] A first clamping sliding rail is arranged on the first clamping member along the Z-axis direction.

[0045] The first clamping slider has one end connected with the first clamping driving element and the other end movably arranged on the first clamping sliding rail;

[0046] The second clamping sliding rail is arranged on the second clamping element along the Z-axis direction;

[0047] The second clamping slider has one end connected with the second clamping driving element and the other end movably arranged on the second clamping sliding rail.

[0048] Compared with the prior art, the utility model has the following advantages:

[0049] The utility model provides a kind of automatic unstacker based on visual inspection, including the paper stack conveying line for conveying paper stack, the centering correction whole stack structure being located at the both sides of paper stack conveying line, and unstacking material taking structure, production uses, after the paper stack after film removal is placed on paper stack conveying line, paper stack is conveyed to the centering correction whole stack structure by paper stack conveying line and is whole stacked, and then unstacking material taking structure is driven by manipulator and takes away paper stack after whole stacking from top to bottom in turn, realizes automatic unstacking, production efficiency is high, labor cost is low, and after the left and right sides of paper stack on paper stack conveying line are pushed by centering correction whole stack structure, paper stack is centered and fixed, guarantee the accurate material taking of unstacking material taking structure to subsequent unstacking. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the following will briefly introduce the drawing needed to be used in embodiment description.

[0051] Figure 1 It is the structure schematic view of automatic unstacker based on visual inspection in the specific embodiment of the utility model;

[0052] Figure 2 It is the local structure schematic view of automatic unstacker based on visual inspection in the specific embodiment of the utility model;

[0053] Figure 3 It is the structure schematic view of unstacking material taking structure in the specific embodiment of the utility model;

[0054] Figure 4 It is the local structure schematic view of unstacking material taking structure in the specific embodiment of the utility model;

[0055] Figure 5 It is the structure schematic view of paperboard clamping mechanism in the specific embodiment of the utility model;

[0056] Figure 6 It is the structure schematic view of unstacking material taking structure applied on manipulator in the specific embodiment of the utility model;

[0057] Figure 7A partial structure schematic view of the automatic unstacker based on visual inspection in the specific embodiment of the present application is shown in the figure.

[0058] Figure 8 A structure schematic view of the center correction whole stack structure in the specific embodiment of the present application is shown in the figure.

[0059] Figure 9 A partial structure schematic view of the center correction whole stack structure in the specific embodiment of the present application is shown in the figure.

[0060] Figure 10 A partial structure schematic view of the center correction whole stack structure in the specific embodiment of the present application is shown in the figure.

[0061] Figure 11 A paperboard unstacking method in the specific embodiment of the present application.

CONCRETE EMBODIMENT

[0062] In order to make the technical problems, technical solutions and beneficial effects solved by the present application more clear and understandable, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0063] When the ordinal numbers such as "first", "second" and the like are mentioned in the embodiments of the present application, unless they express the order according to the context, they should be understood as merely used for distinction.

[0064] In the description of the present application, it should be pointed out that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0065] The specific embodiments, such as Figures 1-11The automatic unstacking machine based on visual detection shown in the application comprises a paper stack conveying line 29 for conveying paper stacks, a centering and stacking structure 2 arranged on both sides of the paper stack conveying line 29 for pushing the left and right sides of the paper stack placed on the paper stack conveying line 29 to center and fix the paper stack, and an unstacking and taking structure 3 for taking the paper stack centered and fixed by the centering and stacking structure 2 from the paper stack conveying line 29 in sequence from top to bottom. In production and use, the paper stack after film removal is placed on the paper stack conveying line, and the paper stack is conveyed to the centering and stacking structure by the paper stack conveying line for stacking, and then the stacked paper stack is taken from top to bottom in sequence by the unstacking and taking structure driven by the mechanical hand 1, so that automatic unstacking is realized, the production efficiency is high, the labor cost is low, and the left and right sides of the paper stack on the paper stack conveying line are pushed by the centering and stacking structure to center and fix the paper stack, so that the accurate taking of the unstacking and taking structure for subsequent unstacking is ensured.

[0066] Specifically, the centering and stacking structure comprises a stacking support 21, two stacking mounting plates 22 arranged on the stacking support 21 in opposition, left and right correction members 23 movably arranged on the stacking mounting plates 22 in the horizontal direction, and a left and right correction driving mechanism 24 arranged between the stacking mounting plates 22 and the left and right correction members 23 and used for driving the two left and right correction members 23 to move towards each other or move away from each other. In production and processing, the paper stack after film removal is conveyed to the space between the two stacking mounting plates in the stacking support through the conveying line, the two left and right correction members are driven by the left and right correction driving mechanism to move towards each other to correct and stack the paper stack in the center, and then the upper part of the paper stack is taken by the mechanical hand after stacking, and the remaining part of the paper stack is stacked by the centering and stacking structure after the part of the paper stack is taken by the mechanical hand, so that the paper stack is unstacked by the above operation, the accurate taking of the mechanical hand for subsequent unstacking is ensured, and the taking efficiency is improved.

[0067] Specifically, the stacking support 21 is provided with a visual detection device 6 comprising a visual camera and a lighting lamp, and the visual detection device 6 is used for detecting the paper stack to drive the centering and stacking structure to stack the paper stack.

[0068] Specifically, the left and right correction driving mechanism 24 comprises a left and right correction guide sleeve 241 arranged on the stacking mounting plate 22, a left and right correction guide column 242 having one end connected with the left and right correction member 23 and the other end movably penetrating through the left and right correction guide sleeve 241, and a left and right correction driving member 243 arranged on the stacking mounting plate 22 and having a telescopic end connected with the left and right correction member 23. Optionally, the left and right correction driving member 243 is a telescopic cylinder which drives the left and right correction member 23 to move through the telescopic end, so as to realize automatic stacking of the paper stack.

[0069] In addition, the front and rear ends of the left and right correction members 23 are hingedly provided with front and rear correction members 25, the front and rear correction members 25 are provided with front and rear correction planes 251, and a front and rear correction driving mechanism 26 is arranged between the front and rear correction members 25 and the left and right correction members 23 for driving the front and rear correction members 25 to flip. The front and rear correction driving mechanism 26 can drive the front and rear correction members 25 to flip in the horizontal direction until the front and rear correction planes 251 are perpendicular to the left and right correction members 23. The front and rear ends of the paper stack are aligned by the front and rear correction members 25 at the front and rear ends of the left and right correction members 23, and the paper stack is centered and aligned to ensure that the manipulator can accurately take the subsequent unstacked material and improve the efficiency of taking the material.

[0070] Further, the front and rear correction driving mechanism 26 includes a correction hinge 261 connected to one end of the front and rear correction member 25 and hingedly connected to the other end of the left and right correction member 23, and a front and rear correction driving member 262 hingedly connected to one end of the left and right correction member 23 and hingedly connected to the other end of the correction hinge 261. The front and rear correction driving member 262 can drive the correction hinge 261 to rotate on the left and right correction members 23 to drive the front and rear correction members 25 to flip in the horizontal direction until the front and rear correction planes 251 are perpendicular to the left and right correction members 23. Alternatively, the front and rear correction driving member 262 can be a telescopic cylinder that drives the correction hinge 261 to flip by the telescopic end to adjust the front and rear correction planes 251 to the front and rear ends of the paper stack, which is reasonable in structure and high in automation.

[0071] More specifically, in order to make the front and rear correction members 25 more stable, one end of each of the correction hinges 261 is hingedly arranged on the upper and lower sides of the left and right correction members 23, and the other end is connected to the front and rear correction members 25.

[0072] Further, the alignment support 21 is provided with an alignment lifting driving mechanism 27 for driving the alignment mounting plate 22 to move up and down in the vertical direction. During production and processing, the upper part of the paper stack is centered and aligned by the left and right correction members 23 and the front and rear correction members 25, and the paper board is taken out by the manipulator after the upper part of the paper stack is aligned, and then the alignment lifting driving mechanism 27 drives the alignment mounting plate 22 to move down by a distance to align the lower part of the paper stack, which realizes segmented alignment and makes the manipulator more accurate and efficient in taking the subsequent unstacked material.

[0073] Further, the alignment lifting driving mechanism 27 includes an alignment lifting slide rail 271 arranged on the alignment support 21 in the vertical direction, an alignment lifting slide block 272 having one end connected to the alignment mounting plate 22 and the other end movably arranged on the alignment lifting slide rail 271, and an alignment lifting driving assembly 273 arranged on the alignment support 21 for driving the alignment mounting plate 22 to move. The lifting driving is more stable.

[0074] Specifically, the whole-pile lifting driving assembly 273 comprises two lifting rotating rods 2731 oppositely and rotatably arranged on the whole-pile support 21, and a first transmission gear 2732 and a second transmission gear 2733 are arranged on the lifting rotating rods 2731; a whole-pile lifting driving motor 2734, two rotating output ends of the whole-pile lifting driving motor 2734 are provided with a third transmission gear 2735 engaged with the second transmission gear 2733; a fourth transmission gear 2736 rotatably arranged on the whole-pile support 21 and located below the whole-pile mounting plate 22; a lifting driving chain 2737 sleeved on the first transmission gear 2732 and the fourth transmission gear 2736 and connected with the whole-pile mounting plate 22 at both ends, the whole-pile lifting driving motor 2734 can drive the two lifting rotating rods 2731 to rotate synchronously, and then drive the two whole-pile supports 21 to move up and down synchronously through the lifting driving chain 2737.

[0075] In addition, the taking installation frame 31 is provided with a taking suction cup 41 for sucking paperboard. Specifically, the taking suction cup 41 comprises a suction nozzle part 411 and a suction nozzle driving part 412 arranged on the taking installation frame 31 for driving the suction nozzle part 411 to move along the Z-axis direction. The suction nozzle part 411 is connected with a vacuum pumping device, and the suction nozzle driving part 412 is a telescopic cylinder, which drives the suction nozzle part 411 to move out of the taking installation frame 31 along the Z-axis direction through the telescopic end, so as to suck the ribbed board.

[0076] In addition, the taking suction cup 41 is four, and the four taking suction cups 41 are arranged circumferentially on the taking installation frame 31. Preferably, the four taking suction cups 41 are distributed at the four corners of the taking installation frame 31, which can more stably suck the ribbed board.

[0077] More specifically, the centering and correcting structure further comprises a paper lifting plate mechanism 28, which comprises a clearance hole 281 provided on the left and right correcting members 23 in the vertical direction, a unstacking lifting member 282 movably provided in the clearance hole 281, a first lifting driving member 283 connected with the unstacking lifting member 282 at the telescopic end, for driving the unstacking lifting member 282 to pass through the clearance hole 281 and enter between the left and right correcting members 23, and a second lifting driving member 284 provided on the left and right correcting members 23 and connected with the first lifting driving member 283 at the output end, for driving the first lifting driving member 283 and the unstacking lifting member 282 to move up and down in the vertical direction. When unstacking, the paper stack is placed in the unstacking support and between the two unstacking mounting plates, the detection camera detects that the paper stack has gaps on the left and right sides, the first lifting driving member 283 drives the unstacking lifting member 282 to pass through the clearance hole 281 and enter between the left and right correcting members 23 and extend into the gap between the upper paperboard and the lower paperboard of the lacing plate, and the second lifting driving member 284 drives the two unstacking lifting members 282 to move up and down in the vertical direction, so as to lift the paperboard stacked above the lacing plate, that is, to separate the lacing plate and the upper paperboard, and then the mechanical hand drives the material taking mounting frame to move to the clamping end of the paperboard clamping mechanism, so as to clamp and take away the paperboard above the lacing plate. When the visual detection device 6 detects the lacing plate, the mechanical hand drives the material taking mounting frame to move to the position above the lacing plate, and the material taking suction cup sucks the lacing plate, so as to automatically take away the paperboard and the lacing plate, saving labor and being high in efficiency.

[0078] Further, the centering and correcting structure further comprises a paper stack base recycling line 210 provided on one side of the unstacking support 21, for receiving and conveying the recycled paper stack base 211. The automatic paper stack feeding is realized by the paper stack conveying line 29, and the unstacked paper stack base 211 is pushed to the paper stack base recycling line 210, and then conveyed by the paper stack base recycling line 210 for recycling, so as to be higher in automation.

[0079] Specifically, the unstacking and taking structure comprises a taking installation frame 31, one side of the taking installation frame 31 is provided with a clamping clearance 311 and a lifting clearance 312; a paperboard clamping mechanism 32 is movably arranged on the taking installation frame 31 along the X-axis direction and used for clamping paperboard; a taking driving mechanism 33 is arranged on the taking installation frame 31 and used for driving the paperboard clamping mechanism 32 to move along the X-axis direction to pass through the clamping clearance 311; a lifting member 34 is movably arranged on the taking installation frame 31 along the X-axis and Z-axis directions; and a lifting driving mechanism 35 is arranged on the taking installation frame 31 and used for driving the lifting member 34 to move along the X-axis direction to pass through the lifting clearance 312 and to move along the Z-axis direction. When the front faces of the upper and lower layers of stacked paperboard face opposite directions, the folding notches on the side edges of the upper and lower layers of paperboard are misaligned. When unstacking, the manipulator 1 moves the taking installation frame to align the lifting member with the folding notch of the lower layer of paperboard, drives the lifting member to extend into the folding notch of the lower layer of paperboard along the X-axis direction through the lifting driving mechanism, and then drives the lifting member to lift the upper layer of paperboard along the Z-axis direction. At this time, the paperboard clamping mechanism is driven to smoothly extend into the space between the upper and lower layers of paperboard along the X-axis direction through the taking driving mechanism to clamp the upper layer of paperboard, so that the taking is more convenient and the front face and the reverse face of the paperboard can be distinguished and placed.

[0080] Specifically, the lifting driving mechanism 35 comprises a first lifting driving member 351 arranged on the taking installation frame 31 and used for driving the lifting member 34 to pass through the lifting clearance 312 along the X-axis direction; and a second lifting driving member 352 arranged on the driving end of the first lifting driving member 351 and connected with the lifting member 34 at the driving end, and used for driving the lifting member 34 to move along the Z-axis direction. Both the first lifting driving member 351 and the second lifting driving member 352 are telescopic cylinders.

[0081] In addition, in order to more stably clamp and transfer the paperboard, the paperboard clamping mechanism 32 is two, and the two paperboard clamping mechanisms 32 are oppositely arranged on the two sides of the lifting member 34.

[0082] Further, the taking driving mechanism 33 comprises a taking driving sliding rail 331 arranged on the taking installation frame 31 along the X-axis direction; a taking driving sliding block 332 having one end connected with the paperboard clamping mechanism 32 and the other end movably arranged on the taking driving sliding rail 331; and a taking driving member 333 arranged on the taking installation frame 31 and used for driving the two paperboard clamping mechanisms 32 to move along the X-axis direction. Specifically, the taking driving member 333 comprises two oppositely arranged rodless cylinders 3331 on the taking installation frame 31 and an electromagnetic valve 3332 connected with the two rodless cylinders 3331, and the two paperboard clamping mechanisms 32 are respectively arranged on the output ends of the two rodless cylinders 3331. The electromagnetic valve 3332 is used to drive the two rodless cylinders 3331 to work, so as to drive the two paperboard clamping mechanisms 32 to synchronously move along the X-axis direction.

[0083] More specifically, the paperboard clamping mechanism 32 comprises a clamping mounting plate 321 connected with the driving end of the taking driving mechanism 33, a first clamping driving member 322 arranged on the clamping mounting plate 321 along the Z-axis direction, a first clamping member 323 arranged on the driving end of the first clamping driving member 322, the first clamping driving member 322 being used to drive the first clamping member 323 to move along the Z-axis direction, a second clamping driving member 324 arranged on the clamping mounting plate 321 along the Z-axis direction, and a second clamping member 325 arranged on the driving end of the second clamping driving member 324 and oppositely arranged with the first clamping member 323 along the Z-axis direction, the second clamping driving member 324 being used to drive the second clamping member 325 to move along the Z-axis direction to clamp the paperboard together with the first clamping member 323. Optionally but not limitedly, the first clamping driving member 322 and the second clamping driving member 324 are both telescopic cylinders, and the telescopic ends of the first clamping driving member 322 and the second clamping driving member 324 are oppositely arranged and drive the first clamping member 323 and the second clamping member 325 to move towards or away from each other along the Z-axis direction.

[0084] Further, the paperboard clamping mechanism 32 further comprises a first clamping sliding rail 326 arranged on the first clamping member 323 along the Z-axis direction, a first clamping sliding block 327 having one end connected with the first clamping driving member 322 and the other end movably arranged on the first clamping sliding rail 326, a second clamping sliding rail 328 arranged on the second clamping member 325 along the Z-axis direction, and a second clamping sliding block 329 having one end connected with the second clamping driving member 324 and the other end movably arranged on the second clamping sliding rail 328, so as to make the driving of the first clamping member 323 and the second clamping member 325 more stable.

[0085] Still further, the lifting member 34 comprises a mounting portion 341 and a lifting portion 342, and the cross section of the lifting portion 342 is triangular. The mounting portion is connected with the driving end of the lifting driving mechanism through mounting holes and bolts, and can be replaced through the mounting portion, so as to facilitate the unstacking of paperboards of different sizes, and the cross section of the lifting portion 342 is triangular, facilitating the lifting portion 342 to extend into the folding notch of the side edge of the paperboard.

[0086] Specifically, the taking mounting rack 31 is provided with a visual detection device. Optionally, the visual detection device can adopt a detection camera to detect the position of the folding notch of the paperboard, so as to drive the manipulator to move the taking mounting rack 31 to the folding notch of the lower layer of paperboard.

[0087] More specifically, the paperboard unloading mechanism 5 comprises a paperboard unloading mounting frame 51, on which a paperboard unloading slide rail 52 arranged in the vertical direction is arranged; a paperboard supporting frame 53 movably arranged on the paperboard unloading slide rail 52; a supporting frame lifting driving member 54 arranged on the paperboard unloading mounting frame 51 and used for driving the paperboard supporting frame 53 to move. The supporting frame lifting driving member 54 is a telescopic cylinder. During production, when the manipulator takes and places the paperboard on the paperboard supporting frame 53, the paperboard supporting frame 53 is driven to move downward by the supporting frame lifting driving member 54, so as to ensure the position of the manipulator for taking and placing the paperboard each time, and the production efficiency is provided. Specifically, the paperboard supporting frame 53 is provided with a conveying chain. The paperboard unloading mechanism 5 is provided with an unloading conveying line 7 away from the manipulator 1, and the paperboard is conveyed to the unloading conveying line 7 by the conveying chain on the paperboard supporting frame 53 and conveyed by the unloading conveying line 7.

[0088] The paperboard unstacking method of the automatic unstacking machine comprises the following steps:

[0089] S1, paper stack feeding, after the film of the paper stack is removed, the paper stack is placed on the paper stack conveying line 29 and conveyed to the centering and correcting whole stack structure 2 processing position by the paper stack conveying line 29;

[0090] S2, whole stack, the left and right sides and the front and back sides of the paper stack are sequentially centered and corrected by the centering and correcting whole stack structure 2 from top to bottom; before the whole stack, the paper stack is detected by the visual detection device 6.

[0091] S3, positive and negative paperboard distinguishing and placing, the folding notch between the paperboards with different front sides is detected by the visual detection camera, the taking and placing mounting frame 31 is driven to move to the lifting member 34 to align the folding notch by the manipulator, the lifting member 34 is driven to move into the folding notch in the X-axis direction by the lifting driving mechanism 35, the lifting member 34 is driven to move in the Z-axis direction to lift the paperboard, the paperboard clamping mechanism 32 is driven to move into the paperboards with different front sides in the X-axis direction by the taking driving mechanism 33, and finally the upper paperboard is clamped by the paperboard clamping mechanism 32 and taken and placed to the paperboard placing area.

[0092] S4, the pull plate is taken and placed, the gap of the paper stack left and right side laminated paper board is detected by the visual detection camera, the whole stack mounting plate 22 is driven to move up and down along the vertical direction by the whole stack lifting driving mechanism 27 to align the gap of the paper stack left and right side laminated paper board, the unstacking jacking piece 282 is driven by the first jacking driving piece 283 to pass through the gap hole 281 and enter between the left and right correction pieces 23, then the first jacking driving piece 283 and the unstacking jacking piece 282 are driven by the second jacking driving piece 284 to move up and down along the vertical direction to lift the upper paper board, at this time the manipulator drives the material taking mounting frame 31 to move the upper paper board clamped by the paper board clamping mechanism 32 and take and place to the paper board placing area, the pull plate is detected by the visual detection device 6, then the manipulator drives the material taking mounting frame 31 to move the pull plate to be sucked by the material taking suction cup 41 to the paper board discharging mechanism 5. The positive and negative paper boards are automatically distinguished and placed, the pull plate is automatically taken and placed, and the automatic paper stack unstacking is realized.

[0093] The above is an embodiment provided in combination with specific content, and it is not considered that the specific implementation of the utility model is limited to these descriptions. Since the industry naming is not the same, it is not limited to the above naming, and it is not limited to the English naming. Any method, structure, etc. similar to or identical to the utility model, or any technical deduction or replacement made under the premise of the concept of the utility model, should be considered as the protection scope of the utility model.

Claims

1. An automatic unstacker based on visual detection, characterized in that, The paper stack conveying line (29) is used for conveying paper stacks. The centering and correcting whole stack structure (2) is arranged on both sides of the paper stack conveying line (29) and is used for pushing the left and right sides of the paper stack placed on the paper stack conveying line (29) to center and correct and fix the paper stack. The stack unloading and taking structure (3) is used for sequentially taking away the paper stack on the paper stack conveying line (29) centered and fixed by the centering and correcting whole stack structure (2) from top to bottom. The centering and correcting whole stack structure (2) comprises:

2. The automatic unstacker based on visual detection according to claim 1, characterized in that, The whole stack support (21); The whole stack mounting plate (22) is oppositely arranged on the whole stack support (21); The left and right correcting members (23) are movably arranged on the whole stack mounting plate (22) in the horizontal direction; The left and right correcting drive mechanism (24) is arranged between the whole stack mounting plate (22) and the left and right correcting members (23) and is used for driving the two left and right correcting members (23) to move close to each other or move away from each other. The left and right correcting drive mechanism (24) comprises:

3. An automatic unstacker based on visual detection according to claim 2, characterized in that, The left and right correcting guide sleeve (241) is arranged on the whole stack mounting plate (22); The left and right correcting guide column (242) is connected with the left and right correcting members (23) at one end and movably passes through the left and right correcting guide sleeve (241) at the other end; The left and right correcting drive member (243) is arranged on the whole stack mounting plate (22) and is connected with the left and right correcting members (23) at the telescopic end. The front and rear correcting members (25) are hingedly arranged at the front and rear ends of the left and right correcting members (23), the front and rear correcting members (25) are provided with front and rear correcting planes (251), and the front and rear correcting drive mechanism (26) for driving the front and rear correcting members (25) to flip is arranged between the front and rear correcting members (25) and the left and right correcting members (23), and the front and rear correcting drive mechanism (26) can drive the front and rear correcting members (25) to flip to the front and rear correcting planes (251) perpendicular to the left and right correcting members (23) in the horizontal direction.

4. The automatic unstacker based on visual detection according to claim 2, characterized in that, The front and rear correcting drive mechanism (26) comprises:

5. An automatic unstacker based on visual detection according to claim 4, characterized in that, The correcting hinge member (261) is connected with the front and rear correcting members (25) at one end and is hingedly connected with the left and right correcting members (23) at the other end; The front and rear correcting drive member (262) is hingedly connected with the left and right correcting members (23) at one end and is hingedly connected with the correcting hinge member (261) at the telescopic end, and the front and rear correcting drive member (262) can drive the correcting hinge member (261) to rotate on the left and right correcting members (23) to drive the front and rear correcting members (25) to flip in the horizontal direction to the front and rear correcting planes (251) perpendicular to the left and right correcting members (23). The whole stack support (21) is provided with the whole stack lifting drive mechanism (27) for driving the whole stack mounting plate (22) to move up and down in the vertical direction, and the whole stack lifting drive mechanism (27) comprises:

6. An automatic unstacker based on visual detection according to claim 2, characterized in that, The whole stack lifting slide rail (271) is arranged on the whole stack support (21) in the vertical direction; The whole stack lifting slide block (272) is connected with the whole stack mounting plate (22) at one end and is movably arranged on the whole stack lifting slide rail (271) at the other end; The whole stack lifting drive assembly (273) is arranged on the whole stack support (21) and is used for driving the whole stack mounting plate (22) to move. ​ 7. The automatic unstacker based on visual detection according to claim 2, characterized in that, The unstacking and taking structure (3) comprises: a taking mounting frame (31) provided with a clamping clearance (311) and a lifting clearance (312) on one side thereof; a paperboard clamping mechanism (32) movably arranged on the taking mounting frame (31) along the X-axis direction and used for clamping the paperboard; a taking driving mechanism (33) arranged on the taking mounting frame (31) and used for driving the paperboard clamping mechanism (32) to move along the X-axis direction to pass through the clamping clearance (311); a lifting member (34) movably arranged on the taking mounting frame (31) along the X-axis and Z-axis directions; a lifting driving mechanism (35) arranged on the taking mounting frame (31) and used for driving the lifting member (34) to move along the X-axis direction to pass through the lifting clearance (312) and along the Z-axis direction.

8. An automatic unstacker based on visual detection according to claim 7, characterized in that, The taking mounting frame (31) is provided with a taking suction cup (41) used for sucking the paperboard.

9. An automatic unstacker based on visual detection according to claim 8, characterized in that, Further comprising a paperboard lifting mechanism (28), the paperboard lifting mechanism (28) comprising: a clearance hole (281) arranged on the left-right correcting member (23) along the vertical direction; an unstacking jacking member (282) movably arranged in the clearance hole (281); a first jacking driving member (283) having a telescopic end connected with the unstacking jacking member (282) and used for driving the unstacking jacking member (282) to pass through the clearance hole (281) and enter between the left-right correcting members (23); a second jacking driving member (284) arranged on the left-right correcting member (23) and having an output end connected with the first jacking driving member (283) and used for driving the first jacking driving member (283) and the unstacking jacking member (282) to move up and down along the vertical direction.

10. The automatic unstacker based on visual detection according to claim 7, characterized in that, The paperboard clamping mechanism (32) comprises: a clamping mounting plate (321) arranged on the taking mounting frame (31); a first clamping driving member (322) arranged on the clamping mounting plate (321) along the Z-axis direction; a first clamping member (323) arranged on a driving end of the first clamping driving member (322) and used for moving along the Z-axis direction; a second clamping driving member (324) arranged on the clamping mounting plate (321) along the Z-axis direction; a second clamping member (325) arranged on a driving end of the second clamping driving member (324) and oppositely arranged with the first clamping member (323) along the Z-axis direction, the second clamping driving member (324) being used for driving the second clamping member (325) to move along the Z-axis direction to clamp the paperboard in cooperation with the first clamping member (323); a first clamping sliding rail (326) arranged on the first clamping member (323) along the Z-axis direction; a first clamping sliding block (327) having one end connected with the first clamping driving member (322) and the other end movably arranged on the first clamping sliding rail (326); a second clamping sliding rail (328) arranged on the second clamping member (325) along the Z-axis direction; a second clamping sliding block (329) having one end connected with the second clamping driving member (324) and the other end movably arranged on the second clamping sliding rail (328).

Images