A de-palletizing device

Abstract

The utility model discloses a kind of disassembling and stacking devices, wherein includes: mounting bracket, guide rail, manipulator, image acquisition unit and control unit;Guide rail is arranged on mounting bracket and is fixedly connected with mounting bracket;Image acquisition unit is arranged on guide rail and is slidably connected with guide rail;The detection range of image acquisition unit covers at least one disassembling and stacking position;The image output end of image acquisition unit is communicatively connected with the image receiving end of control unit;The movement control end of control unit is communicatively connected with the grabbing and placing end of manipulator.The technical scheme of the utility model, by setting mounting bracket, guide rail, manipulator, image acquisition unit and control unit in disassembling and stacking device, real-time acquisition cigarette case position, bar code direction and cigarette case attitude information, and transmit to control unit, realize the quick identification positioning of disassembling and stacking position place cigarette case, accurately guide manipulator to grab and place, reduce manpower cost, improve production efficiency and quality.

Description

Technical Field

[0001] This utility model relates to the field of automated production technology, and in particular to a depalletizing and palletizing device. Background Technology

[0002] The depalletizing robot is one of the core pieces of equipment in the cigarette inbound and outbound operations, and its operating efficiency directly affects the flow rate of cigarettes inbound and outbound operations.

[0003] Existing depalletizing robots rely on pre-set programs and fixed mechanical movements. They exhibit significant limitations when faced with complex situations such as uneven placement of manually stacked cigarette boxes or displacement of imported materials during transportation, making them unable to perform depalletizing operations normally. Utility Model Content

[0004] This invention provides a depalletizing and palletizing device to solve the limitations of existing depalletizing and palletizing technologies.

[0005] According to the present invention, a depalletizing and palletizing device includes: a mounting bracket, a guide rail, a robotic arm, an image acquisition unit, and a control unit;

[0006] The guide rail is fixedly connected to the mounting bracket; the image acquisition unit is slidably connected to the guide rail; the detection range of the image acquisition unit covers at least one depalletizing position.

[0007] The image output end of the image acquisition unit is communicatively connected to the image receiving end of the control unit; the motion control end of the control unit is communicatively connected to the gripping and placing end of the robotic arm.

[0008] Optionally, cable chains are also included;

[0009] The image acquisition unit is mounted on the guide rail via a cable chain; the image acquisition unit moves on the guide rail via the cable chain.

[0010] Optionally, a drive motor may also be included;

[0011] The drive motor is mounted on the guide rail and fixedly connected to the cable chain;

[0012] The control unit's mobile control terminal is communicatively connected to the drive motor's mobile receiving terminal.

[0013] Optionally, the depalletizing device includes two mounting brackets, two guide rails, and two image acquisition units;

[0014] The guide rails are respectively mounted on two mounting brackets; the two image acquisition units are respectively mounted on the two guide rails.

[0015] The detection range of the image acquisition unit as it moves on the guide rail covers two depalletizing / re-palletizing locations.

[0016] Optionally, the control unit includes a barcode recognition subunit and a pose recognition subunit;

[0017] The image output terminal is communicatively connected to the barcode recognition terminal of the barcode recognition subunit and the pose recognition terminal of the pose recognition subunit, respectively.

[0018] The barcode feedback end of the barcode recognition subunit and the pose feedback end of the pose recognition subunit are connected to the mobile control end for communication.

[0019] Optionally, the mounting bracket includes a first end and a second end;

[0020] The first end is fixedly connected to the guide rail by screws;

[0021] The second end is a tripod structure.

[0022] Optionally, the side of the second end away from the first end includes a pulley structure;

[0023] The pulley structure is used to move the mounting bracket, guide rail, and image acquisition unit.

[0024] Optionally, the image acquisition unit includes a 3D camera.

[0025] Optionally, an alarm unit may also be included;

[0026] The palletizing monitoring terminal of the control unit is communicatively connected to the abnormal early warning terminal of the alarm unit.

[0027] Optionally, a display may also be included;

[0028] The image output terminal of the image acquisition unit is communicatively connected to the display receiver terminal of the monitor.

[0029] The technical solution of this utility model, by setting up a mounting bracket, guide rail, robotic arm, image acquisition unit and control unit in the depalletizing device, acquires the cigarette box position, barcode direction and cigarette box posture information in real time and transmits it to the control unit, realizes the rapid identification and positioning of cigarette boxes at the depalletizing position, accurately guides the robotic arm to grasp and place them, reduces labor costs and improves production efficiency and quality.

[0030] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this utility model, nor is it intended to limit the scope of this utility model. Other features of this utility model will become readily apparent from the following description. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a structural schematic diagram of the first type of depalletizing device provided according to an embodiment of the present utility model;

[0033] Figure 2 This is a connection diagram of a destacking and palletizing device according to an embodiment of the present utility model;

[0034] Figure 3 This is a structural schematic diagram of the second type of depalletizing device provided according to an embodiment of the present utility model;

[0035] Figure 4 This is a top view of the second type of destacking and stacking device provided according to an embodiment of the present utility model. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] Figure 1 This is a structural schematic diagram of the first type of depalletizing and palletizing device provided according to an embodiment of the present utility model. Figure 2 This is a connection diagram of a depalletizing and palletizing device according to an embodiment of the present utility model, combined with... Figure 1 and Figure 2 As shown, the depalletizing and palletizing device includes: a mounting bracket 1, a guide rail 2, a robotic arm 3, an image acquisition unit 4, and a control unit 5;

[0039] The guide rail 2 is fixedly connected to the mounting bracket 1; the image acquisition unit 4 is slidably connected to the guide rail 2; the detection range of the image acquisition unit 4 covers at least one depalletizing position.

[0040] The image output end of the image acquisition unit 4 is communicatively connected to the image receiving end of the control unit 5; the movement control end of the control unit 5 is communicatively connected to the gripping and placing end of the robotic arm 3.

[0041] The mounting bracket 1 serves to support and fix the device. The guide rail 2 is positioned above the mounting bracket 1 and is fixedly connected to it. The image acquisition unit 4 is mounted on the guide rail 2 and can slide along the extension direction of the guide rail 2, thereby changing the detection range of the image acquisition unit 4.

[0042] It is understandable that by setting the mounting bracket 1 at the corresponding depalletizing position, the image acquisition unit 4 can acquire image information of all depalletizing positions as it slides on the guide rail 2.

[0043] The image receiving end of the control unit 5 is communicatively connected to the image output end of the image acquisition unit 4, transmitting the image information of the image acquisition unit 4 to the control unit 5. The control unit 5 can determine the position, barcode direction and posture of each cigarette box based on the image information.

[0044] The control unit 5 is also connected to the robotic arm 3. After determining the position, barcode orientation, and posture of each cigarette box, the control unit 5 can adjust the stacked cigarette boxes if they are not stacked correctly. The movement control end of the control unit 5 outputs a movement control signal to the gripping and placing end of the robotic arm 3 to achieve precise gripping and placement of the cigarette boxes.

[0045] Specifically, due to the high randomness of manually stacking cigarette boxes in the display device, and the significant difference between the positions of the cigarette boxes stacked by the robotic arm 3 and those stacked by the robotic arm 3, the robotic arm 3 cannot perform destacking. Therefore, the technical solution of this utility model embodiment sets up a mounting bracket 1, a guide rail 2, an image acquisition unit 4, and a control unit 5 in the destacking device. By setting the mounting bracket 1 at the destacking position, the detection range of the image acquisition unit 4 covers the destacking position, and image information of the destacking position is acquired in real time. After the image information is transmitted to the control unit 5, the control unit 5 outputs movement control information to the robotic arm 3 according to the identified cigarette box position, barcode direction, and cigarette box posture, and adjusts the movement trajectory and action posture of the robotic arm 3 to achieve accurate grasping and placement of the cigarette boxes.

[0046] In some embodiments, the image acquisition unit 4 includes a 3D camera to acquire three-dimensional image information of the unpacking and stacking location, ensuring the accuracy and reliability of cigarette box location detection. The 3D camera can acquire point cloud images, depth maps, and other information of the upper layer of the stack by taking pictures. Based on the acquired information, the point cloud images are segmented in the vision software using a preset model of a portion of the cardboard boxes and with the assistance of deep learning. Subsequently, the successfully segmented cigarette boxes are judged and calculated for their positions, and finally, the obtained position information of the target object is sent to the control unit 5.

[0047] The technical solution of this utility model embodiment, by setting up a mounting bracket, guide rail, robotic arm, image acquisition unit and control unit in the depalletizing device, acquires the cigarette box position, barcode direction and cigarette box posture information in real time, and transmits it to the control unit, realizes the rapid identification and positioning of the cigarette box at the depalletizing position, accurately guides the robotic arm to grasp and place it, reduces labor costs and improves production efficiency and quality.

[0048] Optional, continue to refer to Figure 1 As shown, it also includes a cable chain 6;

[0049] The image acquisition unit 4 is mounted on the guide rail 2 via a drag chain 6; the image acquisition unit 4 moves on the guide rail 2 via the drag chain 6.

[0050] The cable chain 6 is composed of multiple interconnected chain sections and is mounted on the guide rail 2, allowing it to move along the guide rail 2. The image acquisition unit 4 is mounted on the guide rail 2 via the cable chain 6, so that when the cable chain 6 moves on the guide rail 2, it drives the image acquisition unit 4 to move along the extension direction of the guide rail 2, thus causing the detection range of the image acquisition unit 4 to move with the movement of the cable chain 6.

[0051] For example, such as Figure 1 As shown, the 3D camera is mounted on the cable chain 6, which is mounted on the guide rail 2. When the cable chain 6 moves along the guide rail 2, the 3D camera moves accordingly, and the detection range changes accordingly. Therefore, by controlling the movement of the cable chain 6, the image acquisition unit 4 can be controlled to detect the unpacked cigarette boxes at different positions.

[0052] The technical solution of this utility model embodiment sets the image acquisition unit on the guide rail via a drag chain, so that the image acquisition unit moves with the drag chain, ensuring that the image acquisition unit on a single guide rail can detect cigarette boxes at different positions, thus expanding the detection range.

[0053] Optional, continue to refer to Figure 1 and Figure 2 As shown, it also includes a drive motor 7;

[0054] The drive motor 7 is mounted on the guide rail 2 and fixedly connected to the drag chain 6;

[0055] The movement control end of the control unit 5 is communicatively connected to the movement receiving end of the drive motor 7.

[0056] The drive motor 7 can be set at one end of the guide rail 2. The drive motor 7 is fixedly connected to the drag chain 6, and the drive motor 7 can drive the drag chain 6 to move along the guide rail 2.

[0057] Specifically, the mobile control end of the control unit 5 can also communicate with the mobile receiving end of the drive motor 7. The control unit 5 can control the drive motor 7 to operate in combination with image information, thereby causing the image acquisition unit 4 to move and changing the detection range of the image acquisition unit 4.

[0058] In some embodiments, the drive motor 7 can be set at one end of the guide rail 2, which does not affect the movement range of the cable chain 6 and also facilitates connection with the cable chain 6.

[0059] The technical solution of this utility model embodiment, by setting a drive motor, facilitates the control unit to control the movement of the image acquisition unit by controlling the drive motor, thereby expanding the detection range of the depalletizing device.

[0060] Optional, Figure 3 This is a structural schematic diagram of the second type of depalletizing and palletizing device provided according to an embodiment of the present utility model. Figure 4 This is a top view of the second type of destacking and palletizing device provided according to an embodiment of the present utility model, as shown below. Figure 3 and Figure 4 As shown, the depalletizing and palletizing device includes two mounting brackets 1, two guide rails 2, and two image acquisition units 4;

[0061] Guide rails 2 are respectively mounted on two mounting brackets 1; two image acquisition units 4 are respectively mounted on two guide rails 2;

[0062] The detection range of the image acquisition unit 4 when it moves on the guide rail 2 covers two depalletizing positions.

[0063] In practical applications, there may be multiple depalletizing / removing locations. Therefore, when setting up the depalletizing / removing device, the detection range must cover each depalletizing / removing location. Two mounting brackets 1, two guide rails 2, and two image acquisition units 4 are set up. Each mounting bracket 1, guide rail 2, and image acquisition unit 4 forms a group. The positions of the two mounting brackets 1 determine the detection range of the image acquisition unit 4.

[0064] For example, such as Figure 4As shown, the system includes a first depalletizing position 01, a second depalletizing position 02, a third depalletizing position 03, and a fourth depalletizing position 04. The first depalletizing position 01 is an empty pallet stack, while the second, third, and fourth depalletizing positions 02, 03, and 04 all have cigarette boxes. Two mounting brackets 1 are placed parallel to each other. Each mounting bracket 1 is equipped with a guide rail 2 and an image acquisition unit 4. One image acquisition unit 4 moves on the guide rail 2, with a detection range covering the third depalletizing position 03 and the fourth depalletizing position 04; the other image acquisition unit 4 moves on the guide rail 2, with a detection range covering the first depalletizing position 01 and the second depalletizing position 02.

[0065] It is understandable that during transportation, empty pallet stacks are prone to positional shifts when they arrive. If the empty pallet stacks are not stacked neatly or have positioning deviations, the robotic arm 3 may fail to grab the empty pallet during blind unpacking and perform its actions. Additionally, if the pallet is not properly secured, it may not be placed in the stacking position, leading to subsequent stacking problems. This utility model embodiment can not only monitor the stacked position but also monitor empty pallet stacks, achieving precise monitoring of stacking and unpacking.

[0066] The technical solution of this utility model embodiment, by setting two mounting brackets, two guide rails and two image acquisition units, enables the detection range to cover all depalletizing positions, ensuring that each depalletizing position can be detected, thus guaranteeing the accuracy of the depalletizing device.

[0067] Optionally, the control unit includes a barcode recognition subunit and a pose recognition subunit; (not shown in the figure)

[0068] The image output terminal is communicatively connected to the barcode recognition terminal of the barcode recognition subunit and the pose recognition terminal of the pose recognition subunit, respectively.

[0069] The barcode feedback end of the barcode recognition subunit and the pose feedback end of the pose recognition subunit are connected to the mobile control end for communication.

[0070] The barcode recognition subunit is used to identify barcode information on the cigarette box; the pose recognition subunit is used to identify the position and posture of the cigarette box on the tray. In practical applications, image information is transmitted to the barcode recognition subunit and the pose recognition subunit. The barcode recognition subunit identifies whether there is barcode information on the image information and whether the barcode information is a preset barcode; the pose recognition subunit identifies the position and posture of the cigarette box on the tray in the image information.

[0071] Since position and posture determine the robot's movement path and grasping position angle, the pose feedback end of the pose recognition subunit is communicatively connected to the motion control end. It can control the robot's movement path, grasping size, position, and angle based on the recognition information from the pose recognition subunit. For example, if a cigarette box is 100cm wide and in a fixed position, the robot can grasp it by opening a 100cm width at that fixed position. However, the size of the cigarette box may change, and gaps may exist in the stacking of cigarette boxes, causing the robot to need to adjust its grasping size, position, and angle after recognition by the image acquisition unit.

[0072] The technical solution of this utility model embodiment is to set up a barcode recognition subunit and a pose recognition subunit in the control unit, and combine image information, barcode recognition subunit and pose recognition subunit to recognize the pose and barcode of the cigarette box, and control the movement path and gripping method of the robot arm according to the recognition situation, so as to achieve more flexible, efficient and accurate depalletizing and palletizing operations.

[0073] Optional, continue to refer to Figure 1 As shown, the mounting bracket 1 includes a first end 11 and a second end 12;

[0074] The first end 11 is fixedly connected to the guide rail 2 by screws;

[0075] The second end 12 is a tripod structure.

[0076] To ensure the stability and reliability of the mounting bracket 1, the first end 11 is fixedly connected to the guide rail 2 with screws, and the second end 12 is a tripod structure. Since the second end 12 is to be placed on the ground, a stable tripod structure is chosen so that the first end 11 can be stably connected to the guide rail 2, and the second end 12 can also be stably placed on the ground, ensuring the reliability of the destacking and stacking device.

[0077] In some embodiments, the side of the second end 12 away from the first end 11 includes a pulley structure; the pulley structure is used to move the mounting bracket 1, the guide rail 2, and the image acquisition unit 4. The pulley structure can be used to move the mounting bracket 1, the guide rail 2, and the image acquisition unit 4, thereby changing the position of the mounting bracket 1 and thus altering the detection range.

[0078] Understandably, when there are many depalletizing locations but few depalletizing devices, a pulley structure can be installed on the mounting bracket 1 to make the depalletizing device movable. The detection range of the image acquisition unit 4 can be changed according to the detection requirements to ensure that all depalletizing locations can be detected.

[0079] The technical solution of this utility model embodiment is to fix the first end of the mounting bracket to the guide rail with screws, and set the second end with a tripod structure to ensure the stability and reliability of the destacking and stacking device.

[0080] Optional, continue to refer to Figure 2 As shown, it also includes an alarm unit 8;

[0081] The palletizing monitoring terminal of control unit 5 is communicatively connected to the abnormal early warning terminal of alarm unit 8.

[0082] When the control unit 5 detects an error in the position of the cigarette box or damage to the surface of the cigarette box, it can output a warning message to the alarm unit 8 through the palletizing monitoring terminal, causing the alarm unit 8 to sound an alarm and reminding staff to check for abnormalities.

[0083] The technical solution of this utility model embodiment enables real-time monitoring of the depalletizing and palletizing process, timely detection and early warning of abnormal situations, reduction of manual intervention, reduction of labor costs, and improvement of production efficiency and quality; the improvement of operational efficiency will directly increase the capacity for finished product collection and storage of cigarettes.

[0084] Secondly, the improved precision reduces smoke loss, thus minimizing economic losses. Furthermore, the reduction in labor costs also saves significant funds. In addition, the improved system stability and reliability reduce equipment downtime, indirectly increasing production efficiency.

[0085] Optional, continue to refer to Figure 2 As shown, it also includes a display 9;

[0086] The image output terminal of the image acquisition unit 4 is communicatively connected to the display receiver terminal of the display 9.

[0087] The display 9 can be used to display the image information of the image acquisition unit 4 in real time. The image output end is communicatively connected to the display receiving end of the display 9, and the image output end inputs the image information to the display receiving end of the display 9, so that users can view the palletizing and unpacking status in real time.

[0088] Existing depalletizing and palletizing robots rely on pre-set programs for operation, lacking real-time perception and adaptive capabilities to changes in material position and posture. When the position of cigarette cartons on the pallet shifts, the robot may fail to grasp them accurately, causing operation interruptions and requiring manual intervention. This shift in grasping position can even lead to cigarette damage. When empty pallet sets arrive, during transportation, the empty pallets may shift in position, not be stacked neatly, have positioning deviations, or there may be issues with the consistency of empty pallet dimensions. This can result in the robot failing to grasp empty pallets during blind depalletizing, or pallets not being properly placed into the palletizing station, causing problems in subsequent palletizing. Manually stacked pallets of cigarette cartons are highly random, with significant differences in position compared to those stacked by the robot, making depalletizing impossible and failing to meet the rapidly increasing demands of cigarette carton inbound and outbound operations. In contrast, the technical solution of this utility model embodiment allows the image acquisition unit to quickly identify and generate corresponding operation commands for grasping different materials, such as empty pallets, greatly improving the system's flexibility. The image acquisition unit can also monitor the depalletizing and palletizing process in real time, promptly detect and warn of abnormalities, reduce manual intervention, lower labor costs, and improve production efficiency and quality.

[0089] The specific embodiments described above do not constitute a limitation on the scope of protection of this utility model. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A depalletizing / unpalletizing device, characterized in that, include: Mounting brackets, guide rails, robotic arms, image acquisition units, and control units; The guide rail is fixedly connected to the mounting bracket; the image acquisition unit is slidably connected to the guide rail; the detection range of the image acquisition unit covers at least one destacking / palletizing position. The image output terminal of the image acquisition unit is communicatively connected to the image receiving terminal of the control unit; the movement control terminal of the control unit is communicatively connected to the gripping and placing terminal of the robotic arm.

2. The depalletizing device according to claim 1, characterized in that, This also includes cable chains; The image acquisition unit is mounted on the guide rail via the cable chain; the image acquisition unit moves on the guide rail via the cable chain.

3. The depalletizing device according to claim 2, characterized in that, It also includes the drive motor; The drive motor is mounted on the guide rail and fixedly connected to the drag chain; The mobile control terminal of the control unit is communicatively connected to the mobile receiving terminal of the drive motor.

4. The depalletizing device according to claim 1, characterized in that, The depalletizing and unpacking device includes two mounting brackets, two guide rails, and two image acquisition units; The guide rails are respectively mounted on the two mounting brackets; the two image acquisition units are respectively mounted on the two guide rails; The detection range of the image acquisition unit as it moves on the guide rail covers both of the depalletizing and unpalletizing positions.

5. The depalletizing device according to claim 1, characterized in that, The control unit includes a barcode recognition subunit and a pose recognition subunit; The image output terminal is communicatively connected to the barcode recognition terminal of the barcode recognition subunit and the pose recognition terminal of the pose recognition subunit, respectively. The barcode feedback terminal of the barcode recognition subunit and the pose feedback terminal of the pose recognition subunit are communicatively connected to the motion control terminal.

6. The depalletizing device according to claim 1, characterized in that, The mounting bracket includes a first end and a second end; The first end is fixedly connected to the guide rail by screws; The second end is a tripod structure.

7. The depalletizing device according to claim 6, characterized in that, The second end, on the side furthest from the first end, includes a pulley structure; The pulley structure is used to move the mounting bracket, the guide rail, and the image acquisition unit.

8. The depalletizing device according to claim 1, characterized in that, The image acquisition unit includes a 3D camera.

9. The depalletizing device according to claim 1, characterized in that, It also includes an alarm unit; The palletizing monitoring terminal of the control unit is communicatively connected to the abnormal early warning terminal of the alarm unit.

10. The depalletizing device according to claim 1, characterized in that, It also includes the display; The image output terminal of the image acquisition unit is communicatively connected to the display receiving terminal of the display.

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