CN114455335A - Separating device and method for stacked boxes - Google Patents
Separating device and method for stacked boxes Download PDFInfo
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- CN114455335A CN114455335A CN202110995310.1A CN202110995310A CN114455335A CN 114455335 A CN114455335 A CN 114455335A CN 202110995310 A CN202110995310 A CN 202110995310A CN 114455335 A CN114455335 A CN 114455335A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000000463 material Substances 0.000 claims abstract description 41
- 238000003825 pressing Methods 0.000 claims abstract description 13
- 239000002699 waste material Substances 0.000 description 36
- 238000000926 separation method Methods 0.000 description 12
- 238000003860 storage Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004870 electrical engineering Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/10—De-stacking nested articles
- B65G59/105—De-stacking nested articles by means of reciprocating escapement-like mechanisms
- B65G59/106—De-stacking nested articles by means of reciprocating escapement-like mechanisms comprising lifting or gripping means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/16—Preventing pulverisation, deformation, breakage, or other mechanical damage to the goods or materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The invention provides a separating device and a method for stacked boxes, wherein the device comprises: the device comprises a first box body clamping module, a second box body clamping module and a driving module; the first box body clamping module is used for clamping the material box to be separated and moves to a working position coupled with the second box body clamping module; the second box body clamping module is used for applying pressure to the second box body from the interior of the second box body through the driving force of the driving module and feeding back a pressure feedback signal generated by the second box body to the driving module; the driving module is used for judging whether the pressure between the second box body clamping module and the second box body reaches a preset pressure threshold value or not according to the pressure feedback signal and stopping driving the second box body clamping module when the pressure reaches the pressure threshold value; and the first box body clamping module is used for clamping the material box to be separated to move in the direction away from the second box body clamping module so as to separate the first box body from the second box body. This scheme can separate two boxes that the embedding stacked.
Description
Technical Field
The invention relates to the technical field of electrical engineering, in particular to a separating device and a separating method for stacked boxes.
Background
In order to save space and improve the use efficiency, stacking the boxes is a box placing mode which is often encountered in the industrial field and daily life. For example, when carrying out waste material processing in industrial production, the condition in the waste bin is embedded into to the discarded carton can appear usually, and so, waste carton can not occupy the too much space of waste bin, and waste material can also be got through the space dress of carton to the waste bin's availability factor has been promoted.
However, although the efficiency of the waste bin is improved by stacking, some waste cartons are difficult to dump and need to be manually pulled out for disposal due to the close size of the waste cartons and the waste bin during the dumping process of the waste.
Disclosure of Invention
The invention provides a separating device and a separating method for stacked boxes, which can separate two boxes embedded and stacked.
In a first aspect, an embodiment of the present invention provides a separation apparatus for stacking boxes, where the apparatus includes: the device comprises a first box body clamping module, a second box body clamping module and a driving module;
the first box body clamping module is used for clamping a material box to be separated and moves to a working position coupled with the second box body clamping module; the material box to be separated comprises a first box body and a second box body, and the second box body is embedded in the first box body;
the second box clamping module is used for applying pressure to the second box from the interior of the second box through the driving force of the driving module and feeding back a pressure feedback signal generated by the second box to the driving module;
the driving module is used for judging whether the pressure between the second box body clamping module and the second box body reaches a preset pressure threshold value according to the pressure feedback signal and stopping driving the second box body clamping module when the pressure reaches the pressure threshold value;
and the first box body clamping module is used for clamping the material box to be separated to move in the direction far away from the second box body clamping module when the driving module stops driving the second box body clamping module, so that the first box body is separated from the second box body.
In a possible implementation manner, the first box body clamping module is used for clamping a work height of the second box body clamping module when the work height of the second box body clamping module is reached, and rotating the work height of the second box body clamping module so that the opening direction of the work height of the second box body clamping module is opposite to the opening direction of the work height of the second box body clamping module; and moving the rotated bin to be separated to the working position of the second box body clamping module.
In one possible implementation, the second case clamping module includes: at least one first case clamp arm and at least one second case clamp arm;
the at least one first box body clamping arm and the at least one second box body clamping arm are arranged on an upper layer and a lower layer, and at least one box body clamping arm is arranged on each of the upper layer and the lower layer of the box body clamping arms;
the first box body clamping arm is used for moving upwards through the driving force of the driving module so as to apply pressure to the second box body;
and the second box body clamping arm is used for moving downwards through the driving force of the driving module so as to apply pressure to the second box body.
In one possible implementation, the driving module includes: a gas drive chamber;
the first box body clamping arm and the second box body clamping arm are both driven by the gas driving cavity;
the gas driving cavity is used for acquiring a first pressure feedback signal returned by the first box body clamping arm and a second pressure feedback signal returned by the second box body clamping arm in real time when the first box body clamping arm and the second box body clamping arm are driven to apply pressure to the second box body; and driving the box body clamping arm corresponding to the feedback signal which does not reach the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal, and stopping driving the box body clamping arm corresponding to the feedback signal which reaches the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal.
In one possible implementation, the forwardmost portion of the carton clamp arm is provided as a corrugated flat surface.
In a possible implementation manner, the number of the first box body clamping arms is the same as that of the second box body clamping arms, and the box body clamping arms are arranged in an upper layer and a lower layer and are symmetrical.
In a second aspect, an embodiment of the present invention further provides a separation method for stacked boxes based on a separation apparatus for stacked boxes, where the method includes:
clamping the material box to be separated by using the first box body clamping module, and moving to a working position coupled with the second box body clamping module; the bin to be separated comprises a first bin body and a second bin body, and the second bin body is embedded in the first bin body;
applying pressure to the second case from the inside of the second case by the driving force of the driving module using the second case clamping module;
after the second box body clamping module is used for applying pressure to the second box body, a pressure feedback signal generated by the second box body clamping module and the second box body is fed back to the driving module;
judging whether the pressure between the second box body clamping module and the second box body reaches a preset pressure threshold value or not by using the driving module according to the pressure feedback signal;
stopping driving the second box body clamping module when the pressure between the second box body clamping module and the second box body reaches a preset pressure threshold value by using the driving module;
when the first box body clamping module is utilized, the driving module stops driving the second box body clamping module, the material box to be separated is clamped to move towards the direction far away from the second box body clamping module, and the first box body and the second box body are separated.
In one possible implementation, the step of gripping the bin to be separated with the first bin gripping module and moving to an operating position coupled with the second bin gripping module comprises:
the first box body clamping module is used for clamping a work bin to be separated to move to the working height of the second box body clamping module;
the first box body clamping module is used for rotating the material box to be separated which moves to the working height of the second box body clamping module, so that the opening direction of the material box to be separated is opposite to the second box body clamping module;
and moving the rotated workbin to be separated to the working position of the second box body clamping module by using the first box body clamping module.
In one possible implementation, the applying of the pressure to the second casing from the inside of the second casing by the driving force of the driving module using the second casing gripping module includes:
the first box body clamping arm moves upwards through the driving force of the driving module so as to apply pressure to the second box body; and the number of the first and second groups,
and moving downwards by the driving force of the driving module by using a second box clamping arm to apply pressure to the second box.
In a possible implementation manner, the determining, by the driving module, whether the pressure between the second box clamping module and the second box reaches a preset pressure threshold according to the pressure feedback signal includes:
when the first box body clamping arm and the second box body clamping arm are driven by the gas driving cavity to apply pressure to the second box body, a first pressure feedback signal returned by the first box body clamping arm and a second pressure feedback signal returned by the second box body clamping arm are obtained in real time, and whether the preset pressure threshold value is reached is judged according to the pressure feedback signals;
the utilizing the driving module to stop driving the second box clamping module when the pressure between the second box clamping module and the second box reaches a preset pressure threshold value, includes:
the gas driving cavity is used for driving a box body clamping arm corresponding to a feedback signal which does not reach the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal; and the number of the first and second groups,
and stopping driving the box body clamping arm corresponding to the feedback signal reaching the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal by using the gas driving cavity.
In a third aspect, an embodiment of the present invention further provides a computing device, where the computing device includes: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine readable program to perform any one of the above-mentioned methods for separating stacked cases.
In a fourth aspect, the embodiment of the present invention further provides a computer readable medium, where computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute any one of the above-mentioned methods for separating stacked boxes.
According to the technical scheme, the separating device for stacking the boxes can comprise a first box clamping module, a second box clamping module and a driving module. The first box body clamping module firstly clamps a to-be-separated material box formed by embedding a second box body into the first box body, moves the to-be-separated material box to a working position coupled with the second box body clamping module, then the second box body clamping module applies pressure to the second box body from the inside of the second box body through the driving of the driving module, and returns a generated pressure feedback signal to the driving module. Therefore, the driving module can judge whether the pressure between the second box body clamping module and the second box body exceeds a preset threshold value according to the pressure feedback signal, and the driving of the second box body clamping module can be stopped in time when the pressure exceeds the threshold value. Further, when the driving module stops driving the second box body clamping module, the first box body clamping module clamps the to-be-separated material box to move towards the direction far away from the second box body clamping module, and therefore separation of the first box body and the second box body is achieved. Therefore, according to the scheme, by utilizing the two box body clamping modules, one clamping box to be separated applies pressure to the external box body from the external parts of the two embedded box bodies, and the other clamping box applies pressure to the internal box body from the internal parts of the two embedded box bodies, so that the first box body clamping module and the second box body clamping module are far away from each other, and the two box bodies can be automatically separated. In addition, this scheme still feeds back the drive module in real time through the pressure that produces between second box centre gripping module and the inside second box to whether stop driving is decided by the drive module, thereby can guarantee that the pressure between second box centre gripping module and the second box is enough to be used for carrying on under the prerequisite of box separation, can not bring the loss because the too big box of damage of pressure.
Drawings
FIG. 1 is a schematic view of a separating apparatus for stacked cases according to an embodiment of the present invention;
FIG. 2 is a schematic view of another separating apparatus for stacked cases according to an embodiment of the present invention;
FIG. 3 is a schematic view of another separating apparatus for stacked cases according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for separating stacked cases according to an embodiment of the present invention;
FIG. 5 is a flow chart of a method of coupling a bin to be separated and a second bin clamp module according to one embodiment of the present invention;
FIG. 6 is a schematic diagram of a computing device provided by one embodiment of the invention.
List of reference numerals:
101: first cassette holding module 102: second cassette holding module 103: drive module
1021: first case clamp arm 1022: second case holder arm 1031: gas driving cavity
401: the first cassette holding module is used to hold the bin to be separated and moved to an operative position coupled to the second cassette holding module 102
402: applying pressure from the inside of the second casing to the second casing by the driving force of the driving module using the second casing holding module
403: after the second box body clamping module is used for applying pressure to the second box body, a pressure feedback signal generated by the second box body clamping module and the second box body is fed back to the driving module
404: the driving module is used for judging whether the pressure between the second box body clamping module and the second box body reaches a preset pressure threshold value or not according to the pressure feedback signal
405: when the pressure between the second box body clamping module and the second box body reaches a preset pressure threshold value by using the driving module, the driving of the second box body clamping module is stopped
406: when the driving module stops driving the second box body clamping module, the first box body clamping module is utilized to clamp the material box to be separated to move towards the direction far away from the second box body clamping module, so that the first box body and the second box body are separated
501: the first box clamping module is used for clamping the work height of the material box to be separated from the second box clamping module
502: the first box body clamping module is used for rotating the work height of the second box body clamping module to enable the opening direction of the work height to be opposite to the second box body clamping module
503: the rotated bin to be separated is moved to the working position 601 of the second bin clamp module by the first bin clamp module: the memory 602: the processor 600: computing device
100: stacking case separation apparatus 400: method for separating stacked cases
Detailed Description
As described above, stacking boxes in the industrial field and daily life is a very common way to place boxes, because it can effectively save space and improve the efficiency of use. For example, in a waste bin for loading garbage or waste, if there is a waste carton in the waste bin, then placing the carton randomly in the waste bin can take up a lot of space, so that the waste bin can no longer have too much space for loading garbage and waste, and there is often a situation where the carton is embedded in the waste bin, so that the carton can not take up too much space in the waste bin.
However, in the process of sorting waste, identification, sorting, dumping and recycling of production waste is typically done manually. In the process of processing these production wastes, the workers need to identify the type of the waste, carry the bins full of waste from the bin conveyor table, and dump the bins into corresponding waste transfer bins. These bins, filled with waste, weigh 20kg and are very physically demanding as each employee will be required to handle thousands of bins each day during peak production periods. More importantly, there are a large number of cartons embedded in these waste bins. Although the loading and taking space is saved on loading and taking the waste materials, and the loading and taking utilization rate of each waste material box is improved, the large-size cartons are very close to the waste material boxes, and the cartons need to be pulled out manually and then collected in a concentrated mode after the waste materials are dumped, so that the work snow which consumes physical power originally frosts.
In view of this, in the present invention, it is considered that two cassette holding modules are used to hold the two cassettes from the outside of the waste bin and the inside of the cassette inserted into the waste bin, respectively, so that the two inserted cassettes are automatically separated. So realize the autosegregation of discarded object, do not need the operation staff still to consume a large amount of physical power and carry out the separation of box and workbin and retrieve after having emptyd the waste material.
The following describes in detail the separation apparatus and method for stacked cases according to the embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a separating apparatus 100 for stacking cases, which may include: a first box clamping module 101, a second box clamping module 102 and a driving module 103;
the first box clamping module 101 is used for clamping the feed box to be separated and moves to a working position coupled with the second box clamping module 102; the material box to be separated comprises a first box body and a second box body, and the second box body is embedded in the first box body;
a second casing clamping module 102 for applying pressure to the second casing from the inside of the second casing by the driving force of the driving module 103 and feeding back a pressure feedback signal generated with the second casing to the driving module 103;
the driving module 103 is used for judging whether the pressure between the second box clamping module 102 and the second box reaches a preset pressure threshold value according to the pressure feedback signal, and stopping driving the second box clamping module 102 when the pressure reaches the pressure threshold value;
and the first box body clamping module 101 is used for clamping the material box to be separated to move towards the direction far away from the second box body clamping module 102 when the driving module 103 stops driving the second box body clamping module 102, so that the first box body and the second box body are separated.
In an embodiment of the present invention, the separating apparatus 100 for stacking cases may include a first case clamp module 101, a second case clamp module 102, and a driving module 103. The first box clamping module 101 first clamps a to-be-separated bin formed by embedding a second box into the first box, moves the to-be-separated bin to a working position coupled with the second box clamping module 102, and then the second box clamping module 102 applies pressure to the second box from the inside of the second box through the driving of the driving module 103 and returns a generated pressure feedback signal to the driving module 103. In this way, the driving module 103 can determine whether the pressure between the second cassette clamping module 102 and the second cassette exceeds the predetermined threshold according to the pressure feedback signal, so that the driving of the second cassette clamping module 102 can be stopped in time when the pressure exceeds the threshold. Further, when the driving module 103 stops driving the second box clamping module 102, the first box clamping module 101 clamps the bin to be separated to move in a direction away from the second box clamping module 102, so that the first box and the second box are separated. Therefore, according to the scheme, by utilizing the two box body clamping modules, one clamping box body to be separated applies pressure to the external box body from the external parts of the two embedded box bodies, and the other clamping box body applies pressure to the internal box body from the internal parts of the two embedded box bodies, so that the first box body clamping module 101 and the second box body clamping module 102 are far away from each other, and the two box bodies can be automatically separated. In addition, this scheme still feeds back drive module 103 through the pressure that produces between second box clamping module 102 and the inside second box in real time to whether decide by drive module 103 and stop driving, thereby can guarantee that the pressure between second box clamping module 102 and the second box is enough to be used for carrying on under the prerequisite of box separation, can not bring the loss because the too big damage box of pressure.
In this embodiment, since the first casing holding module 101 holds the magazine to be separated from the outside of the casing and the second casing holding module 102 applies pressure to the casing from the inside of the casing, it can be easily understood that the first casing holding module 101 should include components capable of performing bidirectional movement in symmetrical directions so as to hold the magazine according to the size of the casing.
The parts of the first box clamping module 101 and the second box clamping module 102 used for clamping the bin and the box are provided with pressure sensors capable of detecting pressure. For example, a first pressure sensor is installed at the clamping part of the first box clamping module 101, and when the first box clamping module 101 clamps the to-be-separated material box from the material box conveying device, the pressure between the first box clamping module 101 and the to-be-separated material box is detected in real time, so that the pressure between the first box clamping module 101 and the to-be-separated material box can be clamped, and meanwhile, the material box is prevented from being damaged due to too large pressure between the first box clamping module 101 and the to-be-separated material box, and unnecessary loss is avoided.
For another example, a second pressure sensor is installed at the clamping part of the second box clamping module 102, when the second box clamping module 102 applies pressure to the second box from the inside of the second box by the driving force of the driving module 103, the pressure between the second box clamping module 102 and the second box is detected in real time, and then the pressure signal is fed back to the driving module 103, so that the driving module 103 can judge whether to stop driving the second box clamping module 102 according to the fed back pressure signal in real time, thereby avoiding damage to the bin due to excessive pressure.
In this embodiment, the driving module 103 for driving the second box body may include hydraulic driving, electric driving, pneumatic driving, mechanical driving, etc., and the driving module 103 of the second box body needs to be guaranteed to be capable of moving and stopping in real time according to the feedback signal, so that the accurate clamping of the box body to be separated can be guaranteed, and the damage to the box body to be separated is avoided. Similarly, the driving device for driving the first box clamping module 101 may also adopt hydraulic driving, electrical driving, pneumatic driving, mechanical driving, and the like, so as to ensure that the first box clamping module 101 is driven to clamp the bin to be separated and move to the working position coupled with the second box clamping module 102.
Of course, the first cassette holding module 101 is typically a to-be-separated magazine held from the magazine conveyor, and the position and orientation of the to-be-separated magazine is typically not consistent with the second cassette holding module 102 and cannot directly cooperate with the second cassette holding module 102. Therefore, in a possible implementation manner, after clamping the to-be-separated bin, the first bin clamping module 101 is further configured to clamp the to-be-separated bin to move to the working height of the second bin clamping module 102, rotate the to-be-separated bin so that the opening direction of the to-be-separated bin is opposite to the second bin clamping module 102, and then move the rotated to-be-separated bin to the working position of the second bin clamping module 102.
Since the bin to be separated is typically conveyed by the bin conveyor, the first cassette holding module 101 needs to move to the location of the bin conveyor to hold the bin to be separated and then to the working height of the second cassette holding module 102 when holding the bin to be separated from the bin conveyor. Since the opening of the bin to be separated is generally vertically upward on the bin conveyor, and the work arm of the second bin clamp module 102 is generally horizontally oriented for ease of work and design, the first bin clamp module 101 needs to rotate the bin to be separated after clamping the bin to be separated to the work height of the second bin clamp module 102 so that the opening of the bin to be separated is directed toward the work direction of the second bin clamp module 102. So treat through the centre gripping and separate the workbin and move to the operating position of second box centre gripping module 102, just can guarantee that the work arm of second box centre gripping module 102 can stretch into the inside of treating the separation workbin, and then can realize that the work arm of second box centre gripping module 102 exerts pressure to the second box from the inside of treating the separation workbin to the realization is to the centre gripping of second box.
It is of course to be noted that the above described working sequence is not necessarily installed when the first cassette holding module 101 holds the magazine to be separated and moves into the working position coupled to the second cassette holding module 102. For example, the to-be-separated bin may be clamped to a certain height and then rotated to a direction that the opening faces the second box clamping module 102, and then moved to the working position of the second box clamping module 102 by the vertical and horizontal movements. For another example, the first box clamping module 101 can also perform the action of clamping the bin to be separated to the height of the second box clamping module 102 and the action of rotating to the opening to face the second box clamping module 102 at the same time, so as to save time and improve working efficiency.
When the second casing holding module 102 applies pressure to the second casing from the inside of the second casing, it is conceivable to apply pressure simultaneously to the upper and lower surfaces of the second casing in order to secure the second casing. In one possible implementation, as shown in FIG. 2, the second case clamp module 102 includes: at least one first case clamp arm 1021 and at least one second case clamp arm 1022;
the at least one first box body clamping arm 1021 and the at least one second box body clamping arm 1022 are arranged in an upper layer and a lower layer, and the upper layer and the lower layer of the box body clamping arms are both provided with at least one box body clamping arm;
a first casing holding arm 1021 for moving upward by the driving force of the driving module 103 to apply pressure to the second casing;
and a second casing gripping arm 1022 for moving downward by a driving force of the driving module 103 to apply a pressure to the second casing.
In this embodiment, the second casing gripping arm 1022 may include at least one first casing gripping arm 1021 and second casing gripping arm 1022, and the first casing gripping arm 1021 and the second casing gripping arm 1022 are installed in upper and lower stages. In this manner, when the second casing clamp module 102 applies pressure to the second casing from the inside of the second casing, the first casing clamp arm 1021 on the upper stage is driven by the drive module 103 to move upward to apply pressure to the second casing, and the second casing clamp arm 1022 on the lower stage is driven by the drive module 103 to move downward to apply pressure to the second casing. In this way, the upper and lower symmetrical surfaces of the second casing are simultaneously pressed by the first casing holding arm 1021 at the upper stage and the second casing holding arm 1022 at the lower stage, whereby the second casing can be held from the inside.
The first casing gripping arm 1021 and the second casing gripping arm 1022 may be shaped like a gear, and when the first casing gripping module 101 grips the to-be-separated material box and the second casing gripping module 102 are coupled, the to-be-separated material box is moved to a position where the first casing gripping arm 1021 and the second casing gripping arm 1022 are inserted into the inside of the to-be-separated material box, that is, the gear-shaped casing gripping arm is located inside the second casing. In this way, the first casing clamping arm 1021 and the second casing clamping arm 1022 in the shape of the cogged teeth are expanded outward by the driving of the driving module 103, so that the pressure is applied to the second casing from the inside to clamp the second casing.
Since for stacked waste bins, the second box, which is typically inside, is a carton, which is typically corrugated. Therefore, in order to increase the clamping success rate of the second cassette clamping module 102, in one possible implementation, it may be considered to provide the foremost portion of the cassette clamping arm as a flat surface with ridges. Therefore, when the box body clamping arm clamps the second box body from the inside, the plane with the corrugation is embedded into the corrugated carton, and the clamping success rate of the box body clamping arm is improved by increasing the friction force.
It should be noted that the corrugation formed at the foremost end of the box clamping arm may include a strip-shaped concave-convex groove, a pattern and the like, and the specific corrugation shape may be determined according to the actual corrugated shape of the carton, so as to further improve the friction between the box clamping arm and the second box body in a matching manner.
Of course, in order to further increase the success rate of the box clamping arms clamping the second box, in a possible implementation manner, the number of the first box clamping arms 1021 and the number of the second box clamping arms 1022 may be the same, and the box clamping arms mounted in the upper and lower layers are symmetrical. So can make two-layer box centre gripping arm about making when exerting pressure to the second box, the pressure that two upper and lower faces of second box received is symmetrical balanced, not only can avoid damaging the box because pressure is unbalanced, more importantly can improve the success rate of box centre gripping.
In the present invention, the second casing gripping module 102 is driven by the driving module 103, that is, the first casing gripping arm 1021 and the second casing gripping arm 1022 are driven by the driving module 103, and it is necessary to ensure the uniformity of the pressure considering that the first casing gripping arm 1021 and the second casing gripping arm 1022 are divided into upper and lower stages while applying the pressure to the second casing. Thus, in one possible implementation, as shown in fig. 3, the driving module 103 includes: a gas drive chamber 1031;
the first case clamping arm 1021 and the second case clamping arm 1022 are both driven by the gas drive chamber 1031;
the gas driving chamber 1031 is used for acquiring a first pressure feedback signal returned by the first box clamping arm 1021 and a second pressure feedback signal returned by the second box clamping arm 1022 in real time when the first box clamping arm 1021 and the second box clamping arm 1022 are driven to apply pressure to the second box; and driving the box body clamping arm corresponding to the feedback signal which does not reach the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal, and stopping driving the box body clamping arm corresponding to the feedback signal which reaches the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal.
In this embodiment, the driving module 103 may be a gas driving chamber 1031, and the first and second case clamping arms 1021 and 1022 each share one gas driving chamber 1031. Thus, when the gas driving chamber 1031 drives the first box clamping arm 1021 and the second box clamping arm 1022 to apply pressure to the second box, the pressure sensor on the first box clamping arm 1021 and the pressure sensor on the second box clamping arm 1022 can feed collected pressure signals back to the gas driving chamber 1031, so that the gas driving chamber 1031 determines the box clamping arm to be stopped after comparing with a set pressure threshold value, and the box clamping arm to be driven continuously, thereby ensuring that the pressures applied to the second box by the upper and lower box clamping arms during final clamping are the same, avoiding damaging the box due to different pressures, or causing the failure of clamping the second box.
Furthermore, considering that the first and second case clamping arms 1021 and 1022 are not necessarily the same distance from the upper and lower surfaces of the second case after the first case clamping module 101 clamps the bin to be separated to the working position coupled to the second case clamping module 102, which may cause damage to the case due to the difference in applied pressure of the upper and lower surfaces, the problem can be solved by using the common gas driving chamber 1031. The first box body clamping arm 1021 and the second box body clamping arm 1022 are driven by the common gas driving chamber 1031, the first box body clamping arm 1021 and the second box body clamping arm 1022 expand in two directions up and down at the same time, because the gas driving chamber 1031 is a common chamber of the first box body clamping arm 1021 and the second box body clamping arm 1022, any layer of the upper layer and the lower layer of the clamping arms can stop moving after contacting the inner side of the second box body, and the pressure of the common gas driving chamber 1031 can be continuously pushed to the other layer of the clamping arms, so that the second box body clamping arm adapts to the second box body with different widths or is embedded into the first box body at any position. Therefore, after the two layers contact the inner wall of the second box body, the pressure of the common cavity begins to rise, the pressure valve arranged in the common cavity and the air path can monitor the pressure of the air path, and the air source is cut off after the pressure valve reaches a set threshold value, so that the first box body clamping arm 1021 and the second box body clamping arm 1022 are guaranteed to clamp the second box body with constant force.
It should be noted that since the upper and lower case holding arms are driven by the common gas driving chamber 1031, which can contact and apply pressure to the second case inside the bin to be separated in an adaptive manner, it is possible to adapt to more sizes of the first and second cases. Even if the sizes of the first casing and the second casing are changed, the first casing holding arm 1021 and the second casing holding arm 1022 do not need to be changed.
As shown in fig. 4, the present invention further provides a stacked box separating method 400 based on the stacked box separating apparatus, which may include the following steps:
step 401: clamping the material box to be separated by using the first box body clamping module 101, and moving to a working position coupled with the second box body clamping module 102; the material box to be separated comprises a first box body and a second box body, and the second box body is embedded in the first box body;
step 402: applying pressure to the second casing from the inside of the second casing by the driving force of the driving module 103 using the second casing holding module 102;
step 403: after the second box body clamping module 102 is used for applying pressure to the second box body, a pressure feedback signal generated by the second box body clamping module and the second box body is fed back to the driving module 103;
step 404: judging whether the pressure between the second box clamping module 102 and the second box reaches a preset pressure threshold value or not by using the driving module 103 according to the pressure feedback signal;
step 405: stopping driving the second box clamping module 102 by using the driving module 103 when the pressure between the second box clamping module 102 and the second box reaches a preset pressure threshold;
step 406: when the driving module 103 stops driving the second box body clamping module 102, the first box body clamping module 101 is used for clamping the material box to be separated to move towards the direction far away from the second box body clamping module 102, so that the first box body and the second box body are separated.
In the embodiment of the invention, when the stacked box bodies are separated, the first box body clamping module 101 is used for clamping a to-be-separated material box formed by embedding the second box body into the first box body, the to-be-separated material box is conveyed to a working position coupled with the second box body clamping module 102, then the second box body clamping module 102 is used for driving the second box body to apply pressure to the second box body from the inside of the second box body through the driving module 103, and a generated pressure feedback signal is fed back to the driving module 103. Further, the driving module 103 is used for judging whether the pressure between the second box clamping module 102 and the second box reaches a preset pressure threshold value according to the feedback pressure signal, and stopping driving the second box clamping module 102 when the pressure threshold value is reached. When the driving module 103 stops driving the second box clamping module 102, the first box clamping module 101 is used for clamping the bin to be separated to move in a direction away from the second box clamping module 102, so that the first box and the second box are separated. Therefore, the scheme applies pressure to the outer side of the outer box body and the inner side of the inner box body by utilizing the two box body clamping modules respectively so as to realize clamping of the two box bodies. And further, the two box body clamping modules are controlled to be away from each other, so that the two box bodies are automatically separated.
In addition, in this embodiment, the pressure between the second box clamping module 102 and the second box is monitored in real time, so as to determine whether the driving module 103 needs to continuously provide driving force for the second box clamping module 102, thereby ensuring that the pressure between the second box clamping module 102 and the second box is sufficient for box clamping, and ensuring that the pressure between the second box clamping module 102 and the second box does not damage the box due to excessive pressure.
When the first cassette holding module 101 is used to hold a bin to be separated and moved to an operating position coupled to the second cassette holding module 102 in step 401, in one possible implementation, as shown in fig. 5, this can be achieved by:
step 501: the first box body clamping module 101 is used for clamping a material box to be separated to move to the working height of the second box body clamping module 102;
step 502: the first box body clamping module 101 is used for rotating the material box to be separated which moves to the working height of the second box body clamping module 102, so that the opening direction of the material box to be separated is opposite to the second box body clamping module 102;
step 503: the rotated bin to be separated is moved by the first bin clamp module 101 to the operating position of the second bin clamp module 102.
In this embodiment, when the to-be-separated bin is clamped to the working position coupled to the second box clamping module 102, the to-be-separated bin may be firstly conveyed to the working height of the second box clamping module 102, then the to-be-separated bin may be rotated so that the opening direction of the to-be-separated bin is opposite to the second box clamping module 102, and finally the to-be-separated bin may be moved to the working position of the second box clamping module 102. So through the work position of the centre gripping workbin motion to second box centre gripping module 102 of waiting to separate, guaranteed that the work arm of second box centre gripping module 102 can stretch into the inside of waiting to separate the workbin, and then realize that the work arm of second box centre gripping module 102 exerts pressure to the second box from the inside of waiting to separate the workbin, realize the centre gripping to the second box.
When pressure is applied to the second casing from the inside of the second casing by the driving force of the driving module 103 using the second casing gripping module 102 at step 402, it may be considered in one possible implementation that the first casing gripping arm 1021 is moved upward by the driving force of the driving module 103 to apply pressure to the second casing; and, moves downward by the driving force of the driving module 103 using the second casing gripping arm 1022 to apply pressure to the second casing. So through the box centre gripping arm that utilizes two-layer installation from top to bottom expand to the upper and lower both sides of second box respectively to realize exerting pressure from the inside of second box, carry out the centre gripping to the second box.
When the driving module 103 determines whether the pressure between the second box clamping module 102 and the second box reaches the preset pressure threshold according to the pressure feedback signal in step 404, in one possible implementation, the following may be implemented:
when the gas driving chamber 1031 is used for driving the first box body clamping arm 1021 and the second box body clamping arm 1022 to apply pressure to the second box body, a first pressure feedback signal returned by the first box body clamping arm 1021 and a second pressure feedback signal returned by the second box body clamping arm 1022 are obtained in real time, and whether a preset pressure threshold value is reached is judged according to the pressure feedback signals;
when the driving module 103 stops driving the second cassette holding module 102 when the pressure between the second cassette holding module 102 and the second cassette reaches the preset pressure threshold in step 405, in one possible implementation, the following may be implemented:
the gas driving cavity 1031 is used for driving a box body clamping arm corresponding to a feedback signal which does not reach a pressure threshold value in the first pressure feedback signal and the second pressure feedback signal; and the number of the first and second groups,
and stopping driving the box body clamping arm corresponding to the feedback signal reaching the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal by using the gas driving chamber 1031.
In this embodiment, first, when the first case clamping arm 1021 and the second case clamping arm 1022 are driven to apply pressure to the second case through the gas driving chamber 1031, a first pressure feedback signal and a second pressure feedback signal fed back by the first case clamping arm 1021 and the second case clamping arm 1022 respectively are obtained in real time, and whether a preset pressure threshold is reached is determined according to the pressure feedback signals, so that the case clamping arm is continuously driven to apply pressure to the second case when the preset pressure threshold is not reached, and the case clamping arm is stopped being driven to apply pressure to the second case when the preset pressure threshold is reached. Therefore, the pressure applied to the second box body by the upper and lower layers of box body clamping arms during final clamping is the same, and the box body is prevented from being damaged due to different pressures or the failure of clamping the second box body is avoided.
In addition, in the embodiment, the first case clamping arm 1021 and the second case clamping arm 1022 are driven by using the common gas driving chamber 1031, the first case clamping arm 1021 and the second case clamping arm 1022 expand upwards and downwards at the same time, because the gas driving chamber 1031 is a common chamber of the first case clamping arm 1021 and the second case clamping arm 1022, any layer of the upper and lower layers of the clamping arms first contacts the inner side of the second case and then stops moving, and the pressure of the common gas driving chamber 1031 can be continuously pushed to the other layer of the case clamping arm, so as to adapt to the second case with different widths or embedded into the first case at any position. Therefore, after the two layers contact the inner wall of the second box body, the pressure of the common cavity begins to rise, the pressure valve arranged in the common cavity and the air path can monitor the pressure of the air path, and the air source is cut off after the pressure valve reaches a set threshold value, so that the first box body clamping arm 1021 and the second box body clamping arm 1022 are guaranteed to clamp the second box body with constant force.
As shown in FIG. 6, an embodiment of the invention also provides a computing device 600, comprising: at least one memory 601 and at least one processor 602;
at least one memory 601 for storing a machine-readable program;
at least one processor 602, coupled to the at least one memory 601, is configured to invoke a machine readable program to perform the method 400 for separating stacked cases provided by any of the above embodiments.
The invention also provides a computer readable medium, which stores computer instructions, and when the computer instructions are executed by a processor, the processor executes the separation method of the stacked boxes provided by any one of the above embodiments. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It should be noted that not all steps and modules in the above flow and apparatus structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together. The separating device of the stacked box bodies and the separating method of the stacked box bodies are based on the same invention concept.
In the above embodiments, the hardware module may be implemented mechanically or electrically. For example, a hardware module may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. A hardware module may also include programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.
Claims (12)
1. Separator (100) of box stacks, its characterized in that includes: the box body clamping device comprises a first box body clamping module (101), a second box body clamping module (102) and a driving module (103);
the first box body clamping module (101) is used for clamping a material box to be separated and moves to a working position coupled with the second box body clamping module (102); the material box to be separated comprises a first box body and a second box body, and the second box body is embedded in the first box body;
the second box clamping module (102) is used for applying pressure to the second box from the interior of the second box through the driving force of the driving module (103) and feeding back a pressure feedback signal generated by the second box to the driving module (103);
the driving module (103) is configured to determine whether the pressure between the second box clamping module (102) and the second box reaches a preset pressure threshold according to the pressure feedback signal, and stop driving the second box clamping module (102) when the pressure reaches the pressure threshold;
the first box body clamping module (101) is used for clamping the to-be-separated material box to move towards the direction far away from the second box body clamping module (102) when the driving module (103) stops driving the second box body clamping module (102), so that the first box body is separated from the second box body.
2. The apparatus of claim 1,
the first box body clamping module (101) is used for clamping a to-be-separated material box to move to the working height of the second box body clamping module (102), and rotating the to-be-separated material box so that the opening direction of the to-be-separated material box is opposite to the second box body clamping module (102); and moving the rotated bin to be separated to the working position of the second bin clamping module (102).
3. The apparatus of claim 1, wherein the second case clamp module (102) comprises: at least one first case clamp arm (1021) and at least one second case clamp arm (1022);
the at least one first box body clamping arm (1021) and the at least one second box body clamping arm (1022) are arranged at an upper layer and a lower layer, and at least one box body clamping arm is arranged at the upper layer and the lower layer of the box body clamping arms;
the first case clamping arm (1021) is used for moving upwards by the driving force of the driving module (103) so as to apply pressure to the second case;
the second casing gripping arm (1022) for moving downward by a driving force of the driving module (103) to apply a pressure to the second casing.
4. The device according to claim 3, wherein the drive module (103) comprises: a gas drive chamber (1031);
the first case clamping arm (1021) and the second case clamping arm (1022) are both driven by the gas drive chamber (1031);
the gas driving chamber (1031) is used for acquiring a first pressure feedback signal returned by the first box body clamping arm (1021) and a second pressure feedback signal returned by the second box body clamping arm (1022) in real time when the first box body clamping arm (1021) and the second box body clamping arm (1022) are driven to apply pressure to the second box body; and driving the box body clamping arm corresponding to the feedback signal which does not reach the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal, and stopping driving the box body clamping arm corresponding to the feedback signal which reaches the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal.
5. The apparatus of claim 3 wherein the forwardmost portion of the carton clamp arm is configured as a corrugated flat surface.
6. Device according to claims 3 to 5, characterized in that the number of said first case clamp arms (1021) and the number of said second case clamp arms (1022) are the same and symmetrical with respect to the case clamp arms arranged in two upper and lower levels.
7. A method (400) for separating stacked cases, based on a device (100) for separating stacked cases, comprising:
clamping the material box to be separated by using a first box body clamping module (101) and moving to a working position coupled with a second box body clamping module (102); the material box to be separated comprises a first box body and a second box body, and the second box body is embedded in the first box body;
applying pressure to the second casing from the inside of the second casing by a driving force of a driving module (103) using the second casing gripping module (102);
feeding back a pressure feedback signal generated by the second box body to a driving module (103) after applying pressure to the second box body by using the second box body clamping module (102);
judging whether the pressure between the second box clamping module (102) and the second box reaches a preset pressure threshold value or not by using the driving module (103) according to the pressure feedback signal;
stopping driving the second box clamping module (102) by using the driving module (103) when the pressure between the second box clamping module (102) and the second box reaches a preset pressure threshold;
when the driving module (103) stops driving the second box body clamping module (102), the first box body clamping module (101) is utilized to clamp the work bin to be separated to move towards the direction far away from the second box body clamping module (102), so that the first box body and the second box body are separated.
8. Method according to claim 7, wherein the step of gripping the bin to be separated with the first bin gripping module (101) and moving to an operative position coupled with the second bin gripping module (102) comprises:
clamping the feed box to be separated by using the first box clamping module (101) to move to the working height of the second box clamping module (102);
rotating the bin to be separated, which moves to the working height of the second box clamping module (102), by using the first box clamping module (101) so that the opening direction of the bin to be separated is over against the second box clamping module (102);
and moving the rotated bin to be separated to the working position of the second box clamping module (102) by using the first box clamping module (101).
9. The method of claim 7, wherein said applying pressure to said second case from the interior of said second case by the driving force of a driving module (103) using said second case gripper module (102) comprises:
moving upward by a driving force of the driving module (103) using a first case clamping arm (1021) to apply pressure to the second case; and the number of the first and second groups,
and is moved downward by a driving force of the driving module (103) using a second case clamping arm (1022) to apply pressure to the second case.
10. The method of claim 9, wherein said determining with said drive module (103) whether a pressure between said second cassette clamp module (102) and said second cassette reaches a predetermined pressure threshold based on said pressure feedback signal comprises:
when the gas driving cavity (1031) is used for driving the first box body clamping arm (1021) and the second box body clamping arm (1022) to apply pressure to the second box body, a first pressure feedback signal returned by the first box body clamping arm (1021) and a second pressure feedback signal returned by the second box body clamping arm (1022) are acquired in real time, and whether the preset pressure threshold value is reached or not is judged according to the pressure feedback signals;
the stopping, by the driving module (103), driving of the second cassette clamping module (102) when the pressure between the second cassette clamping module (102) and the second cassette reaches a preset pressure threshold, comprising:
driving a box body clamping arm corresponding to a feedback signal which does not reach the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal by using the gas driving cavity (1031); and the number of the first and second groups,
and stopping driving the box body clamping arm corresponding to the feedback signal reaching the pressure threshold value in the first pressure feedback signal and the second pressure feedback signal by using the gas driving cavity (1031).
11. A computing device (600), comprising: at least one memory (601) and at least one processor (602);
the at least one memory (601) for storing a machine readable program;
the at least one processor (602) configured to invoke the machine readable program to perform the method of any of claims 7 to 10.
12. Computer readable medium, characterized in that it has stored thereon computer instructions which, when executed by a processor, cause the processor to carry out the method of any one of claims 7 to 10.
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