Automatic unpacking equipment

Abstract

Automatic unpacking equipment comprises a machine cabinet, a door body, a first detector and a controller, a containing cavity is defined by the machine cabinet, the machine cabinet is provided with a door opening, the door opening is communicated with the containing cavity and the external space, the door opening is used for enabling materials to enter the containing cavity from the external space, the door body is movably connected with the machine cabinet and used for opening or closing the door opening, and the first detector is connected with the machine cabinet. The controller is used for detecting objects at the door opening, the objects comprise materials, the controller is connected with the cabinet, the controller is electrically connected with the first detector, when the first detector detects that the objects exist at the door opening, the controller controls the door body to be in an open state, and the safety degree of opening and closing of the door body of the automatic unpacking equipment is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a unpacking equipment technical field, specifically related to an automatic unpacking equipment. BACKGROUND

[0002] The automatic unpacking equipment can quickly and accurately complete the transportation object and unpacking task, and has attracted a lot of users' attention. At present, users need to transport objects from the external space into the containing cavity of the automatic unpacking equipment through the door hole, in the prior art, the door body opening or closing of the door hole adopts manual operation, and the process of opening or closing the door body is prone to accidents, when there is an object in the door, closing the door will cause the door or ton bag to be damaged, and the safety degree is low. UTILITARY MODEL CONTENT

[0003] The utility model aims at providing an automatic unpacking equipment, which improves the low safety degree of the opening and closing of the door body of the automatic unpacking equipment.

[0004] To achieve the purpose of the utility model, the utility model provides the following technical scheme:

[0005] In a first aspect, the utility model provides an automatic unpacking equipment, which comprises:

[0006] A cabinet is enclosed with a containing cavity, the cabinet is provided with a door hole, the door hole is communicated with the containing cavity and an external space, and the door hole is used for allowing materials to enter the containing cavity from the external space;

[0007] A door body is movably connected with the cabinet and is used for opening or closing the door hole;

[0008] A first detector is connected with the cabinet and is used for detecting objects at the door hole, and the objects include materials;

[0009] A controller is connected with the cabinet, the controller is electrically connected with the first detector, and when the first detector detects that there is an object at the door hole, the controller controls the door body to be in an open state.

[0010] In an embodiment, the first detector comprises at least one of a safety grating, a binocular stereo vision camera, a structured light camera, a time-of-flight camera and an ultrasonic displacement sensor.

[0011] In an embodiment, the cabinet comprises a door frame, the door frame is arranged on the cabinet, the door frame encloses the door hole, the door body is movably connected with the door frame, and the first detector is arranged on the door frame or the cabinet.

[0012] In one embodiment, the door frame comprises a first side wall and a second side wall oppositely and spacedly arranged in a first direction, the first side wall is provided with a first sliding slot, and the second side wall is provided with a second sliding slot, and the door body is in sliding cooperation with the first sliding slot and the second sliding slot.

[0013] In one embodiment, the first detector comprises a safety grating, the safety grating comprises a grating transmitter and a grating receiver, the grating transmitter is arranged on the first side wall, the grating receiver is arranged on the second side wall, the grating transmitter and the grating receiver are oppositely arranged in the first direction, the grating transmitter is used for emitting a light beam, and the grating receiver is used for receiving the light beam.

[0014] In one embodiment, the first side wall is provided with a first mounting slot, the first mounting slot is spacedly arranged with the first sliding slot, the second side wall is provided with a second mounting slot, the second mounting slot is spacedly arranged with the second sliding slot, the first mounting slot and the second mounting slot are oppositely arranged in the first direction, the first mounting slot accommodates at least part of the grating transmitter, and the second mounting slot accommodates at least part of the grating receiver.

[0015] In one embodiment, at least part of the door body is a transparent member.

[0016] In one embodiment, the automatic unpacking device further comprises a second detector, the second detector is arranged on the door frame and / or the door body, the second detector is electrically connected with the controller, and the second detector is used for detecting the opening degree of the door body; the second detector comprises a grating ruler and a grating reader, the grating reader is installed on the door body, the grating ruler is connected with the cabinet, and the grating ruler is located in the moving range of the grating reader.

[0017] In one embodiment, the automatic unpacking device further comprises a third detector, the third detector is arranged on the cabinet, the third detector is used for detecting a first distance between the material and the door hole, the third detector is electrically connected with the controller, and when the third detector detects that the first distance is less than or equal to a first threshold value, the controller controls the door body to be in an open state.

[0018] In one embodiment, the automatic unpacking device further comprises a conveying device, the conveying device comprises a conveying member, the conveying member moves to bring the material to move to enter the containing cavity from the external space through the door hole; the conveying member is provided with a fourth detector, the fourth detector is arranged on the conveying member, the fourth detector is used to detect a second distance between the material and the door hole, the fourth detector is electrically connected with the controller, when the fourth detector detects that the second distance is less than or equal to a second threshold value, the controller controls the door body to be in an open state.

[0019] By arranging the cabinet, the door body, the first detector and the controller, the cabinet encloses the containing cavity, the cabinet is provided with the door hole, the door hole is communicated between the containing cavity and the external space, the door hole is used to make the material enter the containing cavity from the external space, the door body is movably connected with the cabinet and is used to open or close the door hole, the first detector is connected with the cabinet and is used to detect the object at the door hole, the object includes the material, the controller is connected with the cabinet, the controller is electrically connected with the first detector, when the first detector detects that the object exists at the door hole, the controller controls the door body to be in the open state, when the object exists at the door hole, the door body is controlled to be in the open state, the collision between the object and the door body when the object passes through the door hole is avoided, and the safety degree of the opening and closing of the door body of the automatic unpacking device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0021] Figure 1 It is a structure schematic view of an automatic unpacking device of an embodiment;

[0022] Figure 2 It is a sectional view of an automatic unpacking device of an embodiment;

[0023] Figure 3 It is a first partial structure schematic view of an automatic unpacking device of an embodiment;

[0024] Figure 4 It is a second partial structure schematic view of an automatic unpacking device of an embodiment.

[0025] Explanation of reference signs:

[0026] 10 - cabinet, 101 - containing cavity, 102 - door hole, 11 - door frame, 111 - first side wall, 1111 - first sliding groove, 1112 - first mounting slot, 112 - second side wall, 113 - third side wall, 12 - door body, 121 - first sub-door, 122 - second sub-door, 123 - third sub-door, 13 - first detector, 131 - safety grating, 20 - conveying device, 21 - second conveying assembly, 211 - second base, 212 - second conveying chain, 213 - second driving member, 30 - modular combination structure, 31 - discharge opening, 32 - bag breaking bin, 321 - bag breaking bin opening, 33 - discharging module, 34 - feeding module, 35 - bag breaking bin door, 36 - recycling module, 37 - bag collecting bin, 371 - inner cavity, 372 - outer cavity, 38 - operation opening, 39 - operation door, 40 - sealing top cover, 41 - moving cavity, 42 - hooking device, 43 - lifting device, 44 - moving device, 45 - bag breaking device, 46 - bag collecting device, X - first direction, Y - second direction, Z - third direction. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0028] It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or there can be intervening components. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be intervening components.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for describing particular embodiments only and is not intended to be limiting of the application. The use of the terms "and / or" includes a combination of one or more of the associated listed items.

[0030] Some embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0031] The embodiment of the present application provides an automatic unpacking equipment, please refer to Figure 1 and Figure 2The automatic unpacking equipment comprises a cabinet 10, a hooking device 42, a bag breaking device 45, a lifting device 43, a moving device 44, a bag collecting device 46, a feeding module 34, a discharging module 33 and a recycling module 36.

[0032] Please refer to Figure 1 and Figure 2 The hooking device 42 is movably installed in the cabinet 10 and is used for hooking or releasing the material, which comprises ton bags. Thus, the automatic unpacking equipment provided by the embodiment of the application can realize the movement of the ton bags in different functional areas in the cabinet 10 based on the fact that the hooking device 42 is movably installed in the cabinet 10, thereby improving the working efficiency of the automatic unpacking equipment. The lifting device 43 is arranged inside the cabinet 10 and is used for driving the ton bags to move up and down in the third direction Z of the automatic unpacking equipment, which is the same as the height direction of the automatic unpacking equipment. The bag breaking device 45 is arranged inside the cabinet 10 and is used for automatically unpacking and feeding the ton bags. Thus, the bag breaking device 45 is arranged in the inner cavity of the cabinet 10, thereby avoiding the problem that the dust generated in the bag breaking process of the bag breaking device 45 pollutes the surrounding environment and harms the health of the workers, and increasing the safety of the workshop operation.

[0033] For example, the lifting device 43 is used for driving the ton bags to move close to or away from the hooking device 42 along the height direction of the automatic unpacking equipment. Alternatively, in some other embodiments, the lifting device 43 is connected with the hooking device 42, and the lifting device 43 is used for driving the hooking device 42 to move close to or away from the ton bags along the third direction Z. The moving device 44 is arranged on the top of the cabinet 10 in the third direction Z and is located inside the accommodating cavity 101, and the moving device 44 is further connected with the hooking device 42. The moving device 44 is used for driving the hooking device 42 to move in the second direction Y, which is the same as the length direction of the automatic unpacking equipment.

[0034] Alternatively, the cabinet 10 comprises at least one feeding module 34, at least one discharging module 33 and at least one recycling module 36. All the feeding modules 34, all the discharging modules 33 and all the recycling modules 36 are spliced to form a modular combined structure 30, and the modular combined structure 30 comprises at least one unpacking assembly. Each unpacking assembly comprises the feeding module 34, the discharging module 33 and the recycling module 36. At least two of the feeding module 34, the discharging module 33 and the recycling module 36 can be independently disassembled from each other. The hooking device 42 is used for hooking the ton bags. The moving device 44 is used for being connected with the hooking device 42 and is used for driving the hooking device 42 to move between the feeding module 34, the discharging module 33 and the recycling module 36 in the unpacking assembly, and the moving form can be translation. The bag breaking device 45 is arranged in the discharging module 33 and is used for unpacking and feeding the ton bags. The bag collecting device 46 is arranged in the corresponding recycling module 36 and is used for recycling the ton bags after being discharged.

[0035] For example, the automatic unpacking device provided by the present application is combined and spliced by all the feeding modules 34, all the discharging modules 33 and all the recycling modules 36 to form the modular combined structure 30. The modular combined structure 30 comprises at least one unpacking assembly, each unpacking assembly comprises the feeding module 34, the discharging module 33 and the recycling module 36, and at least two of the feeding module 34, the discharging module 33 and the recycling module 36 can be independently disassembled or combined with each other, so that the mechanical modularization of each element in the cabinet 10 is realized. When different customers or different requirements are encountered, the automatic unpacking device can flexibly combine various modules to realize different functions, improve the flexibility and adaptability of product setting, the modular design simplifies the production process, makes the production more efficient, and is convenient for assembly, maintenance and maintenance.

[0036] In some embodiments, the number of unpacking assemblies is multiple, and at least two unpacking assemblies share at least one of the same feeding module 34, discharging module 33 and recycling module 36. The recycling module 36 comprises a bag collecting bin 37 for collecting bags. Since at least two unpacking assemblies share at least one of the same feeding module 34, discharging module 33 and recycling module 36, the automatic unpacking device has multiple unpacking routes, improves the unpacking efficiency, saves costs, improves the flexibility of use, and avoids the problem of delaying unpacking work due to the abnormality of a certain functional module. Moreover, the automatic unpacking device can splice and combine different functional modules as needed, and multiple unpacking assemblies can share the functional module area of the cabinet 10. On the one hand, various modules can be flexibly combined according to different customer requirements to meet different customer requirements, improve product flexibility, modular design simplifies the production process, makes the production more efficient, and is convenient for assembly, maintenance and maintenance; on the other hand, multiple unpacking assemblies work simultaneously or in sequence, thereby improving the unpacking efficiency and improving the flexibility of use.

[0037] In some embodiments, the feeding module 34, the discharging module 33 and the recycling module 36 in each unpacking assembly can be arranged in a linear arrangement. For example, the feeding module 34, the discharging module 33 and the recycling module 36 in each unpacking assembly are arranged along the first direction X or the second direction Y of the automatic unpacking device, and the first direction X is the same as the width direction of the automatic unpacking device. In this way, the smoothness and reliability of the movement of the moving device 44 relative to the cabinet 10 are improved, and the overall structure of the moving device 44 is simplified. Of course, in some embodiments, the feeding module 34, the discharging module 33 and the recycling module 36 in each unpacking assembly can also be arranged in an L-shaped arrangement or a U-shaped arrangement, but are not limited thereto.

[0038] The recycling module 36 can be located between the feeding module 34 and the discharging module 33, thereby improving the space utilization of the cabinet 10 and reducing the floor area of the cabinet 10. Of course, in some embodiments, the discharging module 33 is located between the feeding module 34 and the recycling module 36, and the recycling module 36 can also be arranged on the side of the discharging module 33 away from the feeding module 34. The recycling module 36 can also be located below the discharging module 33. The arrangement of the feeding module 34, the discharging module 33, and the recycling module 36 can be set according to the size of the factory building, the type of ton bag disassembly, and other factors, and the embodiments of the present application are not limited specifically.

[0039] In some embodiments, the cabinet 10 can also include a detachable module, so that the automatic unpacking device integrates more functions and improves the user experience. The detachable module can be, but is not limited to, a forced air cooling module, a shaping module, and a dust removal module.

[0040] In some embodiments, the unpacking assembly is provided in multiple numbers. The multiple unpacking assemblies include a main unpacking assembly and an auxiliary unpacking assembly. At least one of the feeding module 34, the discharging module 33, and the recycling module 36 in the auxiliary unpacking assembly can be independently detachable from the main unpacking assembly. Thus, the user can conveniently and quickly assemble, disassemble, maintain, or replace the auxiliary unpacking assembly.

[0041] In some embodiments, the multiple unpacking assemblies include a main unpacking assembly. At least two of the feeding module 34, the discharging module 33, and the recycling module 36 in the main unpacking assembly can be independently detachable from each other. Of course, in other embodiments, the feeding module 34, the discharging module 33, and the recycling module 36 in the main unpacking assembly form an integrated structure. The recycling module 36 is connected between the feeding module 34 and the discharging module 33 and forms an outer chamber 372 between the feeding module 34 and the discharging module 33.

[0042] The feeding module 34, the discharging module 33, and the recycling module 36 form an integrated structure, which means that the feeding module 34, the discharging module 33, and the recycling module 36 are connected into one whole through an integrated support framework, thereby improving the connection stability and reliability between the functional modules and improving the unpacking precision of the automatic unpacking device.

[0043] The number of the hooking devices 42 corresponds to the number of the feeding modules 34; or the number of the hooking devices 42 is less than the number of the feeding modules 34; the number of the moving devices 44 corresponds to the number of the hooking devices 42; the number of the bag breaking devices 45 corresponds to the number of the discharging modules 33; and the number of the bag collecting devices 46 corresponds to the number of the recycling modules 36. It can be understood that the bag breaking devices 45 and the bag collecting devices 46 are large in size and inconvenient to move, so the bag breaking devices 45 and the bag collecting devices 46 are arranged in the discharging modules 33 and the recycling modules 36 respectively, thereby reducing the space required for the movement of the bag breaking devices 45 and the bag collecting devices 46, and preventing cross contamination of different functional modules and improving the quality of the materials.

[0044] In some embodiments, the number of the hooking devices 42 corresponds to the number of the feeding modules 34, the number of the moving devices 44 corresponds to the number of the hooking devices 42, the number of the bag breaking devices 45 corresponds to the number of the discharging modules 33, and the number of the bag collecting devices 46 corresponds to the number of the recycling modules 36. Of course, in some embodiments, the hooking devices 42 and the moving devices 44 can share the same element, thereby saving costs and facilitating assembly.

[0045] In some embodiments, the number of the sealing top covers 40 is at least one, and the at least one sealing top cover 40 forms the moving cavity 41 with the at least one feeding module 34, the at least one discharging module 33 and the at least one recycling module 36.

[0046] The discharging module 33 comprises a bag breaking bin 32 and a bag breaking bin door 35, the bag breaking bin 32 is provided with a bag breaking bin opening 321 at the top of the side wall of the feeding module 34, the bag breaking bin opening 321 is in communication with an inner cavity 371, the inner cavity 371 is arranged opposite to the operation bin door 39, and the operation bin door 39 is arranged at the operation bin opening 38. The discharging bin opening 31 is arranged opposite to the bag breaking bin opening 321 in the length direction of the automatic unpacking device, and the bag breaking bin door 35 is used to open or close the bag breaking bin opening 321.

[0047] The hooking device 42 is arranged at the top of the feeding module 34. The lifting device 43 is arranged at the bottom of the discharging module 33 and is independently arranged with the hooking device 42, the lifting device 43 is used to carry the ton bag and drive the ton bag to approach or move away from the hooking device 42. The bag breaking device 45 is arranged at the bottom of the discharging module 33, the bag breaking device 45 comprises a cutting member and a lifting structure, the lifting structure is in transmission connection with the cutting member and is used to drive the cutting member to approach or move away from the ton bag. The moving device 44 is arranged in the moving cavity 41 and is connected with the hooking device 42, the moving device 44 is used to drive the hooking device 42 to translate in the bag breaking bin 32.

[0048] The automatic unpacking equipment can be flexibly combined with various modules according to different needs of customers, meet different needs of different customers, improve product flexibility, simplify the production process through modular design, make the production more efficient, and facilitate assembly, maintenance and maintenance; the lifting device 43 and the hooking device 42 are independently arranged, thereby eliminating the coupling between the lifting device 43 and the hooking device 42, so that the structure of the hooking device 42 is simplified and the weight is reduced, thereby reducing the requirement of the cabinet 10 on the carrying capacity of the hooking device 42, reducing the space occupation area of the hooking device 42 in the height direction of the cabinet 10, shortening the height of the automatic unpacking equipment, realizing miniaturization design, reducing the height requirement of the factory building, and facilitating the assembly, replacement and maintenance of the lifting device 43 and the hooking device 42; the bag breaking bin opening 321 is also arranged at the top of the bag breaking bin 32, so that the hooking device 42 can move the ton bag to the top of the bag breaking bin 32, facilitating the cleaning of the surface of the bottom of the ton bag.

[0049] The bag breaking bin door 35 is used for opening or closing the bag breaking bin opening 321, so as to realize the unloading of the ton bag in the closed chamber, avoid the dust pollution of the ton bag in the bag breaking process, and avoid the damage to the health of the workers, thereby increasing the safety of the workshop operation.

[0050] Please refer to Figure 1 and Figure 3 , the automatic unpacking equipment further comprises a door body 12, a first detector 13 and a controller.

[0051] The cabinet 10 encloses a containing cavity 101, and the cabinet 10 is provided with a door opening 102, the door opening 102 communicates the containing cavity 101 with the external space, and the door opening 102 is used for enabling the material to enter the containing cavity 101 from the external space. Optionally, the shape of the cross section of the door opening 102 in the material moving direction can be polygonal, circular, elliptical or irregular, etc. Optionally, the shape of the cross section of the door opening 102 in the material moving direction can be but not limited to pentagonal, hexagonal, octagonal and decagonal, etc.

[0052] It should be noted that the material can be a ton bag, which is a large-volume and heavy-duty freight packaging bag for packaging and transportation. The ton bag is usually used for the transportation of solid goods, such as granular substances, powdery substances and blocky substances, etc. The ton bag is used for loading goods, which can be but not limited to battery materials, food materials, medical materials, fertilizer materials and building materials, etc. Here, the goods loaded by the ton bag are not limited. Exemplarily, in the embodiment of the present application, the ton bag is used for loading battery materials. The battery materials can be but not limited to positive materials, negative materials, conductive agents or dispersants, etc.; or various materials are mixed to form battery mixed materials.

[0053] The door body 12 is movably connected with the cabinet 10 and is used for opening or closing the door hole 102. Optionally, the door body 12 is slidably connected with the cabinet 10. Optionally, the door body 12 is rotatably connected with the cabinet 10. Optionally, after the door body 12 closes the door hole 102, the cross section of the door body 12 in the material moving direction can be polygonal, circular, elliptical or irregular, etc. Optionally, after the door body 12 closes the door hole 102, the cross section of the door body 12 in the material moving direction can be but is not limited to pentagonal, hexagonal, octagonal and decagonal, etc. The door body 12 is arranged to open or close the door hole 102, so as to avoid the problem that the dust generated in the bag breaking process of the automatic unpacking equipment pollutes the surrounding environment and harms the health of the workers, and to increase the safety of the workshop operation.

[0054] The first detector 13 is connected with the cabinet 10, and the first detector 13 is used for detecting the object at the door hole 102, and the object includes the material. Optionally, the object further includes construction tools and human limbs, etc., and the utility model does not make limitation.

[0055] The controller is connected with the cabinet 10, the controller is electrically connected with the first detector 13, and when the first detector 13 detects that there is an object at the door hole 102, the controller controls the door body 12 to be in the open state.

[0056] Through the arrangement of the cabinet 10, the door body 12, the first detector 13 and the controller, the cabinet 10 encloses the containing cavity 101, the cabinet 10 is provided with the door hole 102, the door hole 102 connects the containing cavity 101 with the external space, the door hole 102 is used for enabling the material to enter the containing cavity 101 from the external space, the door body 12 is movably connected with the cabinet 10 and is used for opening or closing the door hole 102, the first detector 13 is connected with the cabinet 10 and is used for detecting the object at the door hole 102, and the object includes the material, the controller is connected with the cabinet 10, the controller is electrically connected with the first detector 13, and when the first detector 13 detects that there is an object at the door hole 102, the controller controls the door body 12 to be in the open state. When there is an object at the door hole 102, the door body 12 is controlled to be in the open state, so as to avoid the collision between the object and the door body 12 when the object passes through the door hole 102, and to improve the safety degree of the opening and closing of the door body 12 of the automatic unpacking equipment.

[0057] In an embodiment, referring to Figure 3 The first detector 13 includes at least one of a safety grating 131, a binocular stereo vision camera, a structured light camera, a time of flight camera and an ultrasonic displacement sensor.

[0058] Optionally, the first detector 13 is a time-of-flight camera. Assuming that there is an object in the door opening 102, the time-of-flight camera can capture three-dimensional information of the object. A light source inside the time-of-flight camera emits modulated light pulses. When the light pulses encounter the object, they are reflected and returned to the time-of-flight camera, thereby constructing a three-dimensional image of the object and determining that there is an object in the door opening 102.

[0059] Optionally, the first detector 13 can also be a binocular stereo camera. Assuming that there is an object in the door opening 102, the binocular stereo camera can capture images from two different angles, thereby obtaining three-dimensional geometric information of the object in the door opening 102.

[0060] Optionally, the first detector 13 includes a binocular stereo camera and a structured light camera. The binocular stereo camera and the structured light camera are electrically connected to the first detector 13. The binocular stereo camera and the structured light camera can simultaneously detect whether there is an object in the door opening 102, thereby improving the accuracy and precision of detection.

[0061] Optionally, the first detector 13 includes a safety grating 131, a binocular stereo camera, a structured light camera, a time-of-flight camera, and an ultrasonic displacement sensor. The safety grating 131, the binocular stereo camera, the structured light camera, the time-of-flight camera, and the ultrasonic displacement sensor are electrically connected to the first detector 13. The safety grating 131, the binocular stereo camera, the structured light camera, the time-of-flight camera, and the ultrasonic displacement sensor can simultaneously detect whether there is an object in the door opening 102, thereby improving the accuracy and precision of detection.

[0062] Specifically, the first detector 13 has multiple forms, thereby improving the flexibility of detecting objects in the door opening 102 and improving the accuracy and precision of the detection process.

[0063] In one embodiment, please refer to Figure 1 , Figure 3 and Figure 4 The cabinet 10 includes a door frame 11. The door frame 11 is arranged on the cabinet 10 and surrounds the door opening 102. The door body 12 is movably connected to the door frame 11. The first detector 13 is arranged on the door frame 11 or the cabinet 10.

[0064] Optionally, the first detector 13 is a binocular stereo camera. The binocular stereo camera is arranged on the cabinet 10 and faces the door opening 102. Two cameras of the binocular stereo camera capture images of the door opening 102 from different angles.

[0065] Optionally, the door body 12 is slidingly connected with the cabinet 10. Optionally, the door body 12 is rotatably connected with the cabinet 10.

[0066] Specifically, the cabinet 10 is provided with the door frame 11, the door frame 11 encloses the door hole 102, and the first detector 13 is arranged on the door frame 11 or the cabinet 10, thereby improving the flexibility of arrangement of the door hole 102 and the first detector 13.

[0067] In one embodiment, referring to Figure 1 , Figure 3 and Figure 4 , the door frame 11 comprises a first side wall 111 and a second side wall 112 which are oppositely and spacedly arranged in the first direction X, the first side wall 111 is provided with a first sliding groove 1111, the second side wall 112 is provided with a second sliding groove, and the door body 12 is slidingly matched with the first sliding groove 1111 and the second sliding groove.

[0068] Optionally, one end of the door body 12 is accommodated in the first sliding groove 1111, and the other end of the door body 12 is accommodated in the second sliding groove.

[0069] Optionally, the shape of the first side wall 111 in the first direction X can be a polygon, a circle or an ellipse. Optionally, the shape of the first side wall 111 in the first direction X can be a pentagon, a hexagon, an octagon or a decagon, but is not limited thereto. Optionally, the shape of the cross section of the first sliding groove 1111 in the first direction X is a rectangle.

[0070] Optionally, the shape of the second side wall 112 in the first direction X can be a polygon, a circle or an ellipse. Optionally, the shape of the second side wall 112 in the first direction X can be a pentagon, a hexagon, an octagon or a decagon, but is not limited thereto. Optionally, the shape of the cross section of the second sliding groove in the first direction X is a rectangle.

[0071] Optionally, the door frame 11 further comprises a third side wall 113, one end of the third side wall 113 is connected with the first side wall 111, and the other end of the third side wall 113 is connected with the second side wall 112. Optionally, the door body 12 is movably connected with the third side wall 113. Optionally, the shape of the third side wall 113 in the third direction Z can be a polygon, a circle or an ellipse. Optionally, the shape of the third side wall 113 in the third direction Z can be a pentagon, a hexagon, an octagon or a decagon, but is not limited thereto.

[0072] Specifically, the first sliding groove 1111 and the second sliding groove are arranged on the door frame 11, and the door body 12 is in sliding fit with the first sliding groove 1111 and the second sliding groove, which is simple in fit mode, reduces the parts for fitting the door body 12 with the door frame 11, lowers the cost, reduces the complexity of fitting the door body 12 with the door frame 11, saves space, and facilitates the assembly and maintenance of the door body 12.

[0073] In an embodiment, referring to Figure 1 , Figure 3 and Figure 4 , the first detector 13 comprises a safety light barrier 131, the safety light barrier 131 comprises a light barrier transmitter and a light barrier receiver, the light barrier transmitter is arranged on the first side wall 111, the light barrier receiver is arranged on the second side wall 112, the light barrier transmitter and the light barrier receiver are oppositely arranged in the first direction X, the light barrier transmitter is used for emitting a light beam, and the light barrier receiver is used for receiving the light beam.

[0074] Optionally, when the safety light barrier 131 is arranged on the door frame 11, the length of the light barrier transmitter is equal to the length of the first side wall 111, and the length of the light barrier receiver is equal to the length of the first side wall 111. Optionally, when the safety light barrier 131 is arranged on the cabinet 10, the length of the light barrier transmitter is greater than or equal to the length of the first side wall 111, and the length of the light barrier receiver is greater than or equal to the length of the first side wall 111, so that the light beam emitted by the light barrier transmitter can cover the entire door opening 102, and the entire door opening 102 is detected.

[0075] Optionally, there is a first included angle between the first direction X and the direction in which the material enters the containing cavity 101 from the external space, the first included angle is greater than or equal to 30 degrees, and the first included angle is less than or equal to 150 degrees. Optionally, the first included angle can be, but is not limited to, 30 degrees, 90 degrees, 100 degrees, 120 degrees, 130 degrees, 150 degrees, etc.

[0076] Optionally, the shape of the light barrier transmitter can be polygonal, circular or elliptical. Optionally, the shape of the light barrier transmitter can be, but is not limited to, quadrilateral, pentagonal, hexagonal, octagonal and decagonal, etc. Optionally, the shape of the light barrier receiver can be polygonal, circular or elliptical. Optionally, the shape of the light barrier receiver can be, but is not limited to, quadrilateral, pentagonal, hexagonal, octagonal and decagonal, etc.

[0077] Optionally, the light barrier transmitter is mounted on the first side wall 111, and the light barrier transmitter protrudes from the surface of the first side wall 111. Optionally, the light barrier receiver is mounted on the second side wall 112, and the light barrier receiver protrudes from the surface of the second side wall 112.

[0078] Specifically, the first detector 13 comprises a safety grating 131, the safety grating 131 comprises a grating transmitter and a grating receiver, and the arrangement of the grating transmitter and the grating receiver is described as follows: when an object exists at the door opening 102, the light beam received by the grating receiver will change, so that the grating receiver determines that an object exists at the door opening 102, thereby improving the accuracy and precision of the safety grating 131 in detecting the object at the door opening 102.

[0079] In an embodiment, referring to Figure 1 , Figure 3 and Figure 4 , the first side wall 111 is provided with a first mounting groove 1112, the first mounting groove 1112 is arranged at intervals with the first sliding groove 1111, the second side wall 112 is provided with a second mounting groove, the second mounting groove is arranged at intervals with the second sliding groove, the first mounting groove 1112 and the second mounting groove are arranged opposite to each other in the first direction X, the first mounting groove 1112 accommodates at least part of the grating transmitter, and the second mounting groove accommodates at least part of the grating receiver.

[0080] Specifically, the size of the first mounting groove 1112 is smaller than the size of the first side wall 111, and the size of the second mounting groove is smaller than the size of the second side wall 112. Optionally, the first mounting groove 1112 and the first sliding groove 1111 are arranged at intervals in the second direction Y, the second direction Y intersects the first direction X, and the second direction Y is the same as the direction of the material entering the containing cavity 101 from the external space. Optionally, the second mounting groove and the second sliding groove are arranged at intervals in the second direction Y.

[0081] Optionally, the first mounting groove 1112 accommodates all the grating transmitters, and the second mounting groove accommodates all the grating receivers. Optionally, the grating transmitter is mounted on the bottom wall of the first mounting groove 1112. Optionally, the grating transmitter is mounted on the side wall of the first mounting groove 1112. Optionally, the grating receiver is mounted on the bottom wall of the second mounting groove. Optionally, the grating receiver is mounted on the side wall of the second mounting groove.

[0082] Optionally, the shape of the first mounting groove 1112 in the first direction X can be a polygon, a circle or an ellipse. Optionally, the shape of the first mounting groove 1112 in the first direction X can be, but is not limited to, a rectangle, a pentagon and a hexagon. Optionally, the shape of the second mounting groove in the first direction X can be a polygon, a circle or an ellipse. Optionally, the shape of the second mounting groove in the first direction X can be, but is not limited to, a rectangle, a pentagon and a hexagon.

[0083] Specifically, the first mounting groove 1112 is arranged to accommodate at least part of the grating transmitter, and the second mounting groove is arranged to accommodate at least part of the grating receiver, so as to facilitate the installation of the grating transmitter and the grating receiver, and reduce the installation space and parts of the grating transmitter and the grating receiver. The grating transmitter and the grating receiver are close to the door opening 102, so as to improve the overall detection degree and accuracy of the door opening 102.

[0084] In the embodiments of the present application, optionally, please refer to Figure 1 、 Figure 3 and Figure 4 The door body 12 is any one of a roller shutter door, a sliding door, a single-leaf door and a double-leaf door.

[0085] Optionally, the door body 12 is a sliding door, the cabinet 10 comprises a door frame 11, the door frame 11 is arranged on the cabinet 10, and the door frame 11 encloses the door opening 102. The door body 12 is movably connected with the door frame 11. The first detector 13 is arranged on the door frame 11 or the cabinet 10. The door frame 11 comprises a first side wall 111 and a second side wall 112 which are oppositely and spacedly arranged in the first direction X. A first sliding groove 1111 is formed in the first side wall 111, and a second sliding groove is formed in the second side wall 112. The door body 12 is slidably connected with the first sliding groove 1111 and the second sliding groove. The door body 12 slides along a third direction Z to open or close the door opening 102. When the door body 12 opens the door opening 102, the door body 12 slides in the third direction Z away from the support surface. When the door body 12 closes the door opening 102, the door body 12 slides in the third direction Z towards the support surface. The third direction Z intersects with the first direction X and the second direction Y.

[0086] Optionally, the door body 12 is a double-leaf door, the cabinet 10 comprises a door frame 11, the door frame 11 is arranged on the cabinet 10, and the door frame 11 encloses the door opening 102. The door body 12 is movably connected with the door frame 11. The first detector 13 is arranged on the door frame 11 or the cabinet 10. The door frame 11 comprises a first side wall 111 and a second side wall 112 which are oppositely and spacedly arranged in the first direction X.

[0087] Optionally, the door body 12 is a roller shutter door, the roller shutter door comprises a first sub-door 121, a second sub-door 122 and a third sub-door 123 which are connected in sequence. The first sub-door 121, the second sub-door 122 and the third sub-door 123 are all rollable members. One end of the second sub-door 122 is connected with the first sub-door 121, and the other end of the second sub-door 122 is connected with the third sub-door 123. The first sub-door 121 is rotatably connected with the door frame 11 away from the second sub-door 122. The second sub-door 122 and the third sub-door 123 are transparent members.

[0088] Optionally, the door body 12 is a roller shutter door, the cabinet 10 comprises a door frame 11, the door frame 11 is arranged on the cabinet 10, and the door frame 11 encloses the door hole 102; the door body 12 is movably connected with the door frame 11; the first detector 13 is arranged on the door frame 11 or the cabinet 10; the door frame 11 comprises a first side wall 111 and a second side wall 112 which are oppositely and spacedly arranged in the first direction X; the first side wall 111 is provided with a first sliding groove 1111; the second side wall 112 is provided with a second sliding groove; the door body 12 is slidably matched with the first sliding groove 1111 and the second sliding groove; the door frame 11 further comprises a third side wall 113, one end of the third side wall 113 is connected with the first side wall 111, and the other end of the third side wall 113 is connected with the second side wall 112; one end of the door body 12 is rotatably connected with the third side wall 113; the door body 12 moves along a third direction Z to open or close the door hole 102; when the door body 12 opens the door hole 102, the door body 12 moves to the side away from the support surface in the third direction Z and is rolled up; when the door body 12 closes the door hole 102, the door body 12 moves towards the support surface in the third direction Z; the third direction Z intersects with the first direction X and the second direction Y.

[0089] Specifically, the door body 12 is arranged as any one of a roller shutter door, a sliding door, a single-leaf door and a double-leaf door, which improves the flexibility of arrangement of the door body 12, and different door bodies 12 can be arranged according to different requirements, thereby improving the adaptability of the door body 12.

[0090] In one embodiment, please refer to Figure 1 , Figure 3 and Figure 4 at least part of the door body 12 is a transparent member.

[0091] Optionally, the door body 12 is entirely a transparent member.

[0092] Optionally, the middle part of the door body 12 in the first direction X is a transparent member, so that the operation personnel can observe the working condition in the cabinet 10 through the door body 12, thereby facilitating the understanding of the operation condition.

[0093] It can be understood that the transparent member makes the situation inside the cabinet 10 clear at a glance, so that the operation personnel can observe the running state of other equipment in the cabinet 10 at any time; when other equipment in the cabinet 10 fails, the operation personnel can quickly locate the equipment with problems through the door body 12, and preliminary inspection and diagnosis can be performed without opening the door body 12 of the cabinet 10, thereby improving the efficiency of inspection and diagnosis.

[0094] It can be understood that there may be dangerous factors such as high pressure and high temperature inside the cabinet 10, and the transparent member can enable the operation personnel to observe without contacting the inside of the cabinet 10, thereby reducing the operation risk and protecting the safety of the operation personnel.

[0095] In one embodiment, please refer toFigure 1 、 Figure 3 and Figure 4 The automatic unpacking device further comprises a second detector arranged on the door frame 11 and / or the door body 12, the second detector being electrically connected to the controller, and the second detector being configured to detect the opening degree of the door body 12. The second detector comprises a grating ruler and a grating reader, the grating reader being arranged on the door body 12, and the grating ruler being connected to the cabinet 10 and located within the moving range of the grating reader.

[0096] Optionally, the second detector comprises a time-of-flight camera. For example, when there is an object in the door opening 102, the time-of-flight camera can collect the three-dimensional information of the preset position on the door body 12 when the door body 12 moves and opens the door opening 102. The light source inside the time-of-flight camera emits modulated pulse light, which is reflected when it encounters the preset position on the door body 12 and returns to the time-of-flight camera. The sensor inside the time-of-flight camera records the time difference between the emission and reflection of the light, and calculates the distance between the preset position on the door body 12 and the camera by calculating the time difference. The controller obtains the opening degree of the door body 12 by the change of the distance.

[0097] Optionally, the second detector can also be an ultrasonic displacement sensor. When the door body 12 starts to move, the ultrasonic displacement sensor starts to measure the opening degree of the door body. The ultrasonic displacement sensor sends ultrasonic pulses and receives the reflected signals, and determines the opening degree of the door body by calculating the round-trip time of the ultrasonic pulses. For example, the transmitter inside the ultrasonic displacement sensor generates a set of ultrasonic pulse signals, which propagate in the air and are reflected when they encounter the door body 12. When the ultrasonic pulses encounter the door body 12 and are reflected back, the receiver inside the ultrasonic displacement sensor captures the reflected waves. The receiver converts the reflected waves into electrical signals and transmits them to the signal processing circuit of the ultrasonic displacement sensor for further processing. The signal processing circuit records the emission time of the ultrasonic pulses and the reception time of the reflected waves to calculate the time difference. Then, the distance between the door body 12 and the ultrasonic displacement sensor is calculated by using the propagation speed of sound waves in the air and the time difference, which is the displacement of the door body 12, thereby obtaining the opening degree of the door body 12.

[0098] Optionally, the second detector is arranged on the door frame 11 and connected to the door frame 11. The door frame 11 is provided with a receiving groove for accommodating at least part of the second detector. Optionally, the second detector is mounted on the bottom wall of the receiving groove. Optionally, the second detector is mounted on the side wall of the receiving groove.

[0099] Optionally, the second detector is arranged on the door body 12, and the second detector is connected with the door body 12. The door body 12 is provided with a receiving groove, and the receiving groove receives at least part of the second detector. Optionally, the second detector is arranged on the bottom wall of the receiving groove. Optionally, the second detector is arranged on the side wall of the receiving groove.

[0100] Specifically, the automatic unpacking device further comprises a second detector for detecting the opening degree of the door body 12. The second detector is electrically connected with the controller, so that the opening degree of the door body 12 can be detected and understood in real time.

[0101] Optionally, the grating ruler is arranged on the first side wall 111 or the second side wall 112.

[0102] Optionally, the grating ruler can be polygonal, circular or elliptical. Optionally, the grating ruler can be quadrilateral, pentagonal, hexagonal, octagonal or decagonal, but is not limited thereto.

[0103] Specifically, the grating ruler is arranged along the moving direction of the door body 12.

[0104] Specifically, the grating reader is arranged on the door body 12, and the grating ruler is arranged on the first side wall 111 or the second side wall 112. The grating ruler is located in the moving range of the grating reader, so that the grating reader moves along with the door body 12. The movement of the grating reader can be understood in real time through the grating ruler, so that the opening degree and the closing degree of the door body 12 can be accurately understood, and the accuracy and precision of detecting the opening degree of the door body 12 are improved.

[0105] In one embodiment, please refer to Figure 1 , Figure 3 and Figure 4 The automatic unpacking device further comprises a third detector arranged on the cabinet 10. The third detector is used for detecting a first distance between the material and the door hole 102. The third detector is electrically connected with the controller. When the first distance detected by the third detector is less than or equal to a first threshold value, the controller controls the door body 12 to be in an open state.

[0106] Optionally, the cabinet 10 is provided with a receiving groove, and the receiving groove receives at least part of the third detector. Optionally, the third detector is arranged on the bottom wall of the receiving groove. Optionally, the third detector is arranged on the side wall of the receiving groove.

[0107] Specifically, the third detector is electrically connected to the controller. When the first distance is less than or equal to the first threshold, the third detector controls the controller to control the door body 12 to be in the open state, so that the door body 12 can be opened when the material is at a certain distance from the door hole 102, avoiding scratching the material during the opening process of the door body 12, and improving the safety level. Moreover, the material does not need to reach the door hole 102 to start opening the door body 12, improving the efficiency of the material passing through the door hole 102.

[0108] In an embodiment, please refer to Figure 1 , Figure 3 and Figure 4 Figure 1 Figure 3 Figure 4 , the automatic unpacking device further comprises a conveying device 20, the conveying device 20 comprises a conveying member, the conveying member moves to move the material to enter the containing cavity 101 from the external space through the door hole 102; the conveying member is provided with a fourth detector, the fourth detector is arranged on the conveying member, the fourth detector is used to detect a second distance between the material and the door hole 102, the fourth detector is electrically connected to the controller, and when the second distance is less than or equal to a second threshold, the fourth detector controls the controller to control the door body 12 to be in the open state.

[0109] Optionally, the conveying device 20 further comprises a first conveying assembly and a second conveying assembly 21, the first conveying assembly comprises a conveying member, the first conveying assembly and the second conveying assembly 21 are oppositely and spacedly arranged, at least part of the first conveying assembly is arranged in the external space, and at least part of the second conveying assembly 21 is arranged in the containing cavity 101.

[0110] For example, in the embodiment, the conveying member is a first conveying chain, the first conveying assembly comprises a first base, a first conveying chain and a first driving member. The first base is connected to a support surface, which can be the ground, and the first conveying chain is movably arranged on the first base. The first driving member is in transmission connection with the first conveying chain, and the first driving member is used to drive the first conveying chain to move the material. Therefore, the first conveying assembly can automatically convey the material into the door hole 102 of the cabinet 10, realize automatic work, reduce human intervention, and improve the working efficiency of the automatic unpacking device. In some embodiments, the first conveying chain can also be configured as other conveying structures, such as but not limited to a conveyor belt.

[0111] For example, in the embodiment, the second conveying assembly 21 comprises a second base 211, a second conveying chain 212 and a second driving member 213. The second base 211 is connected with a support surface, which can be the ground, and the second conveying chain 212 is movably arranged on the second base 211. The second driving member 213 is in driving connection with the second conveying chain 212, and the second driving member 213 is used to drive the second conveying chain 212 to move the material. Thus, the second conveying assembly 21 can automatically convey the material from the door opening 102 to the containing cavity 101, realize automation, reduce human intervention, and improve the working efficiency of the automatic unpacking equipment. In some embodiments, the second conveying chain 212 can also be configured as other conveying structures, for example but not limited to a conveyor belt.

[0112] For example, the second base 211 is provided with a containing space, the second conveying chain 212 is arranged at the edge of the top of the second base 211, and the second driving member 213 is arranged at one end of the containing space, so as to reduce the space occupied by the second driving member 213, reduce the space requirement of the factory building, and facilitate the assembly and maintenance of the user. Of course, in some embodiments, the second driving member 213 can also be arranged outside the containing space, which is not specifically limited here.

[0113] Specifically, the fourth detector is electrically connected with the controller, and when the second distance is less than or equal to the second threshold value, the controller controls the door body 12 to be in an open state, so that the door body 12 can be opened when the material has a certain distance from the door opening 102, avoiding scratching of the material during the opening process of the door body 12, and improving the safety degree. Moreover, the material does not need to reach the door opening 102 before the door body 12 is opened, and the efficiency of the material passing through the door opening 102 is improved.

[0114] In the description of the embodiments of the utility model, it should be explained that the directions or position relationships of the terms "first direction X", "second direction Y", "first distance", "second distance", "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner" and "outer" are the directions or position relationships based on the drawings, and are only for the convenience of describing the utility model and simplifying the description, and cannot be understood as indicating or implying that the devices or elements indicated must have a specific direction, a specific direction structure and operation, and therefore cannot be understood as limiting the utility model.

[0115] The above disclosure is only a preferred embodiment of the utility model, and of course cannot limit the scope of the utility model, and those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments are implemented, and equivalent changes made according to the utility model still belong to the scope covered by the utility model.

Claims

1. An automatic unpacking apparatus characterized by comprising: The application relates to a cabinet (10) which comprises a containing cavity (101), a door opening (102) which is arranged on the cabinet (10) and is connected with the containing cavity (101) and an external space, and a door body (12) which is movably connected with the cabinet (10) and is used for opening or closing the door opening (102). The application further relates to a first detector (13) which is connected with the cabinet (10) and is used for detecting an object at the door opening (102), wherein the object comprises material. The application further relates to a controller which is connected with the cabinet (10) and is electrically connected with the first detector (13), wherein the controller controls the door body (12) to be in an open state when the first detector (13) detects that there is an object at the door opening (102). The first detector (13) comprises at least one of a safety grating (131), a binocular stereo vision camera, a structured light camera, a time-of-flight camera and an ultrasonic displacement sensor. The cabinet (10) comprises a door frame (11) which is arranged on the cabinet (10) and encloses the door opening (102), the door body (12) is movably connected with the door frame (11), and the first detector (13) is arranged on the door frame (11) or the cabinet (10).

2. The automatic unpacking apparatus according to claim 1, characterized in that, The door frame (11) comprises a first side wall (111) and a second side wall (112) which are oppositely and spacedly arranged in a first direction (X), a first sliding groove (1111) is arranged on the first side wall (111), a second sliding groove is arranged on the second side wall (112), and the door body (12) is slidably connected with the first sliding groove (1111) and the second sliding groove.

3. The automatic de-baling apparatus of claim 1, wherein, The first detector (13) comprises the safety grating (131), the safety grating (131) comprises a grating transmitter and a grating receiver, the grating transmitter is arranged on the first side wall (111), the grating receiver is arranged on the second side wall (112), the grating transmitter and the grating receiver are oppositely arranged in the first direction (X), the grating transmitter is used for emitting a light beam, and the grating receiver is used for receiving the light beam.

4. The automatic de-baling apparatus of claim 3, wherein, A first mounting groove (1112) is arranged on the first side wall (111) and is spaced from the first sliding groove (1111), a second mounting groove is arranged on the second side wall (112) and is spaced from the second sliding groove, the first mounting groove (1112) and the second mounting groove are oppositely arranged in the first direction (X), the first mounting groove (1112) accommodates at least part of the grating transmitter, and the second mounting groove accommodates at least part of the grating receiver.

5. The automatic de-baling apparatus of claim 4, wherein, At least part of the door body (12) is a transparent member.

6. The automatic de-baling apparatus of claim 5, wherein, ​ 7. The automatic de-baling apparatus of claim 1, wherein, ​ 8. The automatic de-baling apparatus of claim 3, wherein, The automatic unpacking equipment further comprises a second detector arranged on the door frame (11) and / or the door body (12), the second detector is electrically connected with the controller, and the second detector is used for detecting the opening degree of the door body (12); The second detector comprises a grating ruler and a grating reader, the grating reader is installed on the door body (12), the grating ruler is connected with the cabinet (10), and the grating ruler is located in the moving range of the grating reader.

9. The automatic de-baling apparatus of claim 1, wherein, The automatic unpacking equipment further comprises a third detector arranged on the cabinet (10), the third detector is used for detecting a first distance between the material and the door hole (102), the third detector is electrically connected with the controller, and when the third detector detects that the first distance is less than or equal to a first threshold value, the controller controls the door body (12) to be in an open state.

10. The automatic de-baling apparatus of claim 1, wherein, The automatic unpacking equipment further comprises a conveying device (20), the conveying device (20) comprises a conveying member, the conveying member moves to carry the material to move from an external space into the containing cavity (101) through the door hole (102); the conveying member is provided with a fourth detector arranged on the conveying member, the fourth detector is used for detecting a second distance between the material and the door hole (102), the fourth detector is electrically connected with the controller, and when the fourth detector detects that the second distance is less than or equal to a second threshold value, the controller controls the door body (12) to be in an open state.

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