CN114455335B - Separation device and method for stacked boxes - Google Patents
Separation device and method for stacked boxes Download PDFInfo
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- CN114455335B CN114455335B CN202110995310.1A CN202110995310A CN114455335B CN 114455335 B CN114455335 B CN 114455335B CN 202110995310 A CN202110995310 A CN 202110995310A CN 114455335 B CN114455335 B CN 114455335B
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- 238000000926 separation method Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims description 22
- 239000000463 material Substances 0.000 claims abstract description 47
- 238000003825 pressing Methods 0.000 claims abstract description 15
- 239000002699 waste material Substances 0.000 description 38
- 238000003860 storage Methods 0.000 description 6
- 238000012546 transfer Methods 0.000 description 5
- 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
- 238000012550 audit Methods 0.000 description 1
- 238000004891 communication Methods 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
- 238000001514 detection method Methods 0.000 description 1
- 238000004870 electrical engineering Methods 0.000 description 1
- 238000010862 gear shaping Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The invention provides a separation device and a separation method for stacked boxes, wherein the device comprises the following components: the first box clamping module, the second box clamping module and the driving module; the first box body clamping module is used for clamping the to-be-separated material box and moves to a working position coupled with the second box body clamping module; the second box clamping module is used for applying pressure to the second box from the inside of the second box through the driving force of the driving module and feeding back a pressure feedback signal generated with 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 threshold value is reached; the first box clamping module is used for clamping the to-be-separated material box to move in a direction away from the second box clamping module, so that the first box and the second box are separated. According to the scheme, the two embedded and stacked boxes can be separated.
Description
Technical Field
The invention relates to the technical field of electrical engineering, in particular to a separation device and a separation method for stacked boxes.
Background
In order to save space and improve the use efficiency, stacking the box is a box placement mode which is frequently encountered in the industrial field and daily life. For example, when carrying out waste material treatment in industrial production, the condition that the waste carton was embedded into the waste bin usually can appear, so, the waste carton can not occupy waste bin too much space, and waste bin can also be got through the space dress of carton to waste bin's availability factor has been promoted.
However, although the use efficiency of the waste box is improved by stacking, in the process of dumping waste, the waste cartons are difficult to dump out due to the fact that the sizes of the waste cartons and the waste box are very close, so that the waste cartons are required to be manually pulled out for processing.
Disclosure of Invention
The invention provides a separation device and a separation method for stacked boxes, which can separate two embedded and stacked boxes.
In a first aspect, an embodiment of the present invention provides a separation device for stacking boxes, including: the first box clamping module, the second box clamping module and the driving module;
the first box clamping module is used for clamping the to-be-separated material box and moves to a working position coupled with the second box 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 inside 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 threshold value is reached;
The first box clamping module is used for clamping the to-be-separated material box to move in a direction away from the second box clamping module when the driving module stops driving the second box clamping module, so that the first box and the second box are separated.
In one possible implementation manner, the first box clamping module is used for clamping the to-be-separated material box to move to the working height of the second box clamping module, 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 clamping module; and moving the rotating material box to be separated to the working position of the second box clamping module.
In one possible implementation, the second case clamping module includes: at least one first case holding arm and at least one second case holding arm;
The at least one first box clamping arm and the at least one second box clamping arm are arranged in an upper layer and a lower layer, and at least one box clamping arm is arranged on the upper layer and the lower layer of the box clamping arm;
the first box clamping arm is used for upwards moving by the driving force of the driving module so as to apply pressure to the second box;
The second box clamping arm is used for downwards moving through the driving force of the driving module so as to apply pressure to the second box.
In one possible implementation, the driving module includes: a gas drive chamber;
the first box clamping arm and the second box clamping arm are driven by the gas driving cavity;
The gas driving cavity is used for acquiring a first pressure feedback signal returned by the first box clamping arm and a second pressure feedback signal returned by the second box clamping arm in real time when the first box clamping arm and the second box clamping arm are driven to apply pressure to the second box; and driving the box clamping arms corresponding to the feedback signals which do not reach the pressure threshold value in the first pressure feedback signals and the second pressure feedback signals, and stopping driving the box clamping arms corresponding to the feedback signals which reach the pressure threshold value in the first pressure feedback signals and the second pressure feedback signals.
In one possible implementation, the foremost portion of the case clamping arm is provided as a plane with ribs.
In one possible implementation manner, the number of the first box clamping arms is the same as the number of the second box clamping arms, and the box clamping arms installed in an upper layer and a lower layer are symmetrical.
In a second aspect, an embodiment of the present invention further provides a method for separating stacked boxes of a separation device based on stacked boxes, where the method includes:
The first box clamping module is used for clamping the material box to be separated and moves to a working position coupled with the second box 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;
Applying pressure to the second tank from the inside of the second tank by the driving force of the driving module using the second tank holding 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 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 utilizing the driving module according to the pressure feedback signal;
stopping 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 by using the driving module;
When the driving module stops driving the second box clamping module, the first box clamping module is used for clamping the to-be-separated material box to move in the direction away from the second box clamping module, so that the first box is separated from the second box.
In one possible implementation, the step of clamping the bin to be separated with the first bin clamping module and moving to the working position coupled with the second bin clamping module includes:
the first box body clamping module is used for clamping the to-be-separated material box to move to the working height of the second box body clamping module;
rotating the to-be-separated material box which moves to the working height of the second box clamping module by utilizing the first box clamping module so that the opening direction of the to-be-separated material box is opposite to the second box clamping module;
And moving the rotating material box to be separated to the working position of the second box clamping module by utilizing the first box clamping module.
In one possible implementation, the applying pressure from the interior of the second tank to the second tank by the driving force of the driving module using the second tank clamping module includes:
Upward movement by a driving force of the driving module using a first casing clamping arm to apply pressure to the second casing; and
The second box clamping arm is used for downwards moving through the driving force of the driving module so as to apply pressure to the second box.
In one possible implementation manner, the determining, by the driving module, whether the pressure between the second tank clamping module and the second tank 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 to apply pressure to the second box body by utilizing the gas driving cavity, 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 or not is judged according to the pressure feedback signals;
The driving module stops 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, and the driving module comprises:
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; and
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, embodiments of the present invention also provide a computing device, the computing device comprising: at least one memory and at least one processor;
The at least one memory for storing a machine readable program;
The at least one processor is configured to invoke the machine readable program to execute any one of the methods for separating stacked boxes provided in the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a computer readable medium, where computer instructions are stored, where the computer instructions, when executed by a processor, cause the processor to perform any one of the methods for separating stacked boxes provided in the first aspect.
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 clamping module is used for clamping a to-be-separated material box formed by embedding the second box into the first box, moving the to-be-separated material box to a working position coupled with the second box clamping module, then applying pressure to the second box from the inside of the second box through the driving of the driving module, and returning a generated pressure feedback signal to the driving module. Therefore, the driving module can judge whether the pressure between the second box clamping module and the second box exceeds a preset threshold value according to the pressure feedback signal, and can stop driving the second box clamping module in time when the pressure exceeds the threshold value. Further, when the driving module stops driving the second box clamping module, the first box clamping module clamps the to-be-separated material box to move in a direction away from the second box clamping module, so that separation of the first box and the second box is realized. Therefore, the bin to be separated is clamped by utilizing the two bin clamping modules, namely, the pressure is applied from the outer parts of the two embedded bins to the outer bins, and the pressure is applied from the inner parts of the two embedded bins to the inner bins, so that the first bin clamping module and the second bin clamping module are far away from each other, and the automatic separation of the two bins can be realized. In addition, this scheme is still through feeding back the pressure that produces between second box centre gripping module and the inside second box to drive module to decide whether stop the drive by drive module, thereby can guarantee under the pressure between second box centre gripping module and the second box is enough to be used for carrying out the prerequisite of box separation, can not bring the loss because the too big damage box of pressure.
Drawings
FIG. 1 is a schematic view of a separator for stacked cassettes according to one embodiment of the invention;
FIG. 2 is a schematic view of another separator for stacked cassettes according to one embodiment of the invention;
FIG. 3 is a schematic view of a separator for stacked cassettes according to yet another embodiment of the invention;
FIG. 4 is a flow chart of a method of separating stacked cassettes according to one embodiment of the invention;
FIG. 5 is a flow chart of a method for coupling a bin to be separated to a second bin clamping module according to one embodiment of the invention;
FIG. 6 is a schematic diagram of a computing device provided by one embodiment of the invention.
List of reference numerals:
101: first case clamp module 102: second case clamp module 103: driving module
1021: First case clamp arm 1022: second case clamp arm 1031: gas drive chamber
401: The first box clamping module is used for clamping the material box to be separated and moves to a working position coupled with the second box clamping 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 clamping module
403: The second box clamping module is used for feeding back a pressure feedback signal generated by the second box to the driving module after the pressure is applied to the second box
404: Judging whether the pressure between the second box clamping module and the second box reaches a preset pressure threshold value or not by using the driving module according to the pressure feedback signal
405: When the pressure between the second box clamping module and the second box reaches a preset pressure threshold value, the driving module stops driving the second box clamping module
406: When the driving module stops driving the second box clamping module, the first box clamping module is utilized to clamp the to-be-separated material box to move in a direction away from the second box clamping module, so that the first box and the second box are separated
501: The first box clamping module is utilized to clamp the work height of the to-be-separated material box moving to the second box clamping module
502: The first box clamping module is utilized to rotate the material box to be separated which moves to the working height of the second box clamping module, so that the opening direction of the material box to be separated is opposite to the second box clamping module
503: Utilize first box centre gripping module to wait to separate workbin motion after the rotation to the working position 601 of second box centre gripping module: memory 602: processor 600: computing device
100: Separator 400 for stacked boxes: separation method of stacked boxes
Detailed Description
As described above, stacking cases in the industrial field and daily life is a very common case placement method, because it can effectively save space and improve use efficiency. For example, in a waste bin where garbage or waste is to be loaded, if there is a waste carton in the waste bin, the optional placement of the carton in the waste bin may take up a lot of space, so that the waste bin may not have too much space to load garbage and waste, and thus there is often a case where the carton is embedded in the waste bin, so that the carton does not take up too much space in the waste bin.
However, in the sorting process of wastes, the identification, sorting, dumping and recycling of the production wastes is usually performed manually. In the processing of these production wastes, the operators need to identify the type of waste, transport the filled bins from the bin conveyor table and dump them into the corresponding waste transfer bins. These waste filled bins weigh 20kg and thousands of bins of waste are handled by each employee each day during peak production, which is very labor intensive. More importantly, there are a large number of cartons embedded in the waste bins. Although the loading and unloading space is saved on loading and unloading waste materials, the loading and unloading utilization rate of each waste material box is improved, as the large-size cartons are very close to the waste material boxes, the cartons are required to be manually pulled out forcibly after the waste materials are dumped and then are intensively recycled, so that the work snow which consumes physical power originally is frosted.
In view of this, in the present invention, it is considered to clamp from the outside of the waste bin and the inside of the bin embedded in the waste bin, respectively, by two bin clamping modules so that the two embedded bins are automatically separated. Therefore, the automatic separation of the wastes is realized, and an operator is not required to consume a great deal of physical power to separate and recycle the box body and the material box after dumping the wastes.
The following describes in detail the separation device and method of the stacked boxes according to the embodiment of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a separation device 100 for stacking boxes, which may include: a first housing clamp module 101, a second housing clamp module 102, and a drive module 103;
A first tank clamping module 101 for clamping the tank to be separated and moving to a working position coupled with the second tank 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 configured to determine whether the pressure between the second tank clamping module 102 and the second tank reaches a preset pressure threshold according to the pressure feedback signal, and stop driving the second tank clamping module 102 when the pressure threshold is reached;
the first box clamping module 101 is configured to clamp the to-be-separated box to move in a direction away from the second box clamping module 102 when the driving module 103 stops driving the second box clamping module 102, so that the first box and the second box are separated.
In an embodiment of the present invention, the separating apparatus 100 for stacking the cases may include a first case clamping module 101, a second case clamping module 102, and a driving module 103. The first tank clamping module 101 first clamps the second tank embedded into the to-be-separated tank formed by the first tank, moves the to-be-separated tank to a working position coupled with the second tank clamping module 102, and then the second tank clamping module 102 applies pressure to the second tank from the inside of the second tank 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 box clamping module 102 and the second box exceeds a preset threshold according to the pressure feedback signal, so that the driving of the second box clamping module 102 can be stopped in time when the pressure exceeds the threshold. Further, when the driving module 103 stops driving the second tank holding module 102, the first tank holding module 101 holds the tank to be separated and moves in a direction away from the second tank holding module 102, thereby achieving separation of the first tank and the second tank. Therefore, the bin to be separated is clamped by using the two bin clamping modules, namely, the pressure is applied from the outer parts of the two embedded bins to the outer bins, and the pressure is applied from the inner parts of the two embedded bins to the inner bins, so that the two bins can be automatically separated by keeping the first bin clamping module 101 and the second bin clamping module 102 away from each other. In addition, this scheme is still through feeding back the pressure that produces between second box centre gripping module 102 and the inside second box for drive module 103 in real time to decide whether stop the drive by drive module 103, thereby can guarantee under the pressure between second box centre gripping module 102 and the second box is enough to be used for carrying out the prerequisite of box separation, can not bring the loss because the too big damage box of pressure.
In this embodiment, since the first tank clamping module 101 clamps the tank to be separated from the outside of the tank and the second tank clamping module 102 applies pressure to the tank from the inside of the tank, it is easy to understand that the first tank clamping module 101 should include parts capable of bi-directional movement in the symmetrical direction, so as to clamp according to the size of the tank.
The parts of the first and second tank clamping modules 101 and 102 for clamping the tank and the tank should be provided with pressure sensors capable of pressure detection. For example, a first pressure sensor is installed at the clamping part of the first tank clamping module 101, and when the first tank clamping module 101 clamps the tank to be separated from the tank conveying device, the pressure between the first tank clamping module 101 and the tank to be separated is detected in real time, so that the pressure between the first tank clamping module 101 and the tank to be separated is ensured to clamp the tank to be separated, and meanwhile, the tank is ensured not to be damaged due to too large pressure between the first tank clamping module 101 and the tank to be separated, so that unnecessary loss is caused.
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 through 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 in real time according to the fed-back pressure signal, thereby avoiding the damage to the box caused by the excessive pressure.
In this embodiment, the driving module 103 for driving the second box may include hydraulic driving, electric driving, pneumatic driving, mechanical driving, and other manners, where the driving module 103 of the second box needs to ensure that real-time movement and stopping can be performed according to the feedback signal, so that accurate clamping of the box to be separated can be ensured, and damage to the box to be separated is avoided. Likewise, the driving device for driving the first box clamping module 101 may also adopt hydraulic driving, electric driving, pneumatic driving, mechanical driving, and other modes, so as to ensure that the first box clamping module 101 is driven to clamp the to-be-separated material box and move to a working position coupled with the second box clamping module 102.
Of course, the first tank clamping module 101 is a to-be-separated tank clamped on the tank conveying device, and the position and the direction of the to-be-separated tank are not consistent with those of the second tank clamping module 102, so that the to-be-separated tank cannot directly cooperate with the second tank clamping module 102. Thus, in one possible implementation, after clamping the bin to be separated, the first bin clamping module 101 is further configured to clamp the bin to be separated for movement to the working height of the second bin clamping module 102, and rotate the bin to be separated such that the opening direction of the bin to be separated is opposite to the second bin clamping module 102, and then move the rotated bin to be separated to the working position of the second bin clamping module 102.
Since the bin to be separated is usually transferred from the bin transfer device, the first bin clamping module 101 needs to move to the position of the bin transfer device to clamp the bin to be separated when clamping the bin to be separated from the bin transfer device, and then the bin to be separated is clamped to the working height of the second bin clamping module 102. Since the bin to be separated is generally vertically upward in the bin transfer device, and the working arm of the second bin clamping module 102 is generally horizontally oriented for convenience of work and design, the first bin clamping module 101 is required to rotate the bin to be separated after clamping the bin to be separated to the working height of the second bin clamping module 102, such that the opening direction of the bin to be separated is opposite to the working direction of the second bin clamping module 102. So through the work position of the workbin motion to the second box centre gripping module 102 that the centre gripping is waited to separate, just can guarantee that the work arm of second box centre gripping module 102 can stretch into the inside of treating the workbin that separates, and then can realize that the work arm of second box centre gripping module 102 is from treating the inside of separating the workbin to the second box application pressure to realize the centre gripping to the second box.
It should of course be noted that the above described working sequence is not necessarily installed when the first tank clamping module 101 clamps the tank to be separated to a working position coupled to the second tank clamping module 102. For example, the bin to be separated may be clamped to a certain height and then rotated to the direction of the opening to the second bin clamping module 102, and then moved to the working position of the second bin clamping module 102 by the movement in the vertical direction and the horizontal direction. For another example, the first box clamping module 101 may also perform the motion of clamping the to-be-separated material box to the height of the second box clamping module 102 and the motion of rotating to the opening opposite to the second box clamping module 102 at the same time, so as to save time and improve working efficiency.
When the second casing clamping module 102 applies pressure to the second casing from the inside of the second casing, it is conceivable to apply pressure simultaneously on the upper and lower surfaces, respectively, in order to ensure that the second casing can be clamped. In one possible implementation, as shown in fig. 2, the second tank clamping module 102 includes: at least one first case clamping arm 1021 and at least one second case clamping arm 1022;
The at least one first box clamping arm 1021 and the at least one second box clamping arm 1022 are arranged in an upper layer and a lower layer, and the upper layer and the lower layer of the box clamping arm are respectively provided with at least one box clamping arm;
A first casing clamping arm 1021 for upward movement by the driving force of the driving module 103 to apply pressure to the second casing;
the second casing clamping arm 1022 is configured to move downward by the driving force of the driving module 103 to apply pressure to the second casing.
In the present embodiment, the second casing clamp arm 1022 may include at least one first casing clamp arm 1021 and second casing clamp arm 1022, and the first casing clamp arm 1021 and the second casing clamp arm 1022 are installed in upper and lower layers. Thus, when pressure is applied to the second casing from the inside of the second casing by the second casing holding module 102, the first casing holding arm 1021 positioned at the upper layer is driven to move upward by the driving module 103 to apply pressure to the second casing, and the second casing holding arm 1022 positioned at the lower layer is driven to move downward by the driving module 103 to apply pressure to the second casing. In this way, the upper first casing clamping arm 1021 and the lower second casing clamping arm 1022 simultaneously apply pressure to the upper and lower symmetry planes of the second casing, thereby clamping the second casing from the inside.
The first and second casing clamping arms 1021 and 1022 may be in a gear shaping shape, and when the first casing clamping module 101 clamps the to-be-separated casing and the second casing clamping module 102 are coupled, the to-be-separated casing is moved to a position where the first and second casing clamping arms 1021 and 1022 are inserted into the to-be-separated casing, that is, the gear shaping-shaped casing clamping arms are located in the second casing. In this way, the first case clamping arm 1021 and the second case clamping arm 1022, which are shaped like a tooth, are expanded outward by the driving module 103, thereby realizing the application of pressure to the second case from the inside to clamp the second case.
Since for stacked scrap boxes the second box, which is typically located inside, is a carton, the carton is typically corrugated. Accordingly, in order to increase the clamping success rate of the second tank clamping module 102, in one possible implementation, it may be considered to provide the foremost portion of the tank clamping arm as a plane with ribs. Thus, when the second box is clamped from the inside, the box clamping arms can embed the corrugated plane into the corrugated paper box, so that the clamping success rate of the box clamping arms is improved by increasing the friction force.
Of course, it should be noted that the ribs provided at the forefront end of the box body clamping arm may include a bar-shaped concave-convex groove, a pattern, etc., and the specific rib shape may be determined according to the actual corrugated shape of the carton, so as to further improve the friction force between the box body clamping arm and the second box body in a matched manner.
Of course, in order to further improve the success rate of clamping the second box by the box clamping arms, in one 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 installed in two layers above and below may be symmetrical. So can make two-layer box centre gripping arm from top to bottom 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 of pressure imbalance, more importantly can improve the success rate of box centre gripping.
In the present invention, the second casing clamping module 102 is driven by the driving module 103, that is, the first casing clamping arm 1021 and the second casing clamping arm 1022 are driven by the driving module 103, and considering that the first casing clamping arm 1021 and the second casing clamping arm 1022 are divided into two layers to apply pressure to the second casing simultaneously, it is necessary to ensure uniformity of the pressure. Thus, in one possible implementation, as shown in fig. 3, the driving module 103 includes: a gas drive chamber 1031;
the first casing clamp arm 1021 and the second casing clamp arm 1022 are both driven by the gas drive chamber 1031;
The gas driving chamber 1031 is configured to obtain, in real time, a first pressure feedback signal returned by the first tank clamping arm 1021 and a second pressure feedback signal returned by the second tank clamping arm 1022 when the first tank clamping arm 1021 and the second tank clamping arm 1022 are driven to apply pressure to the second tank; and driving the box 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 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 the present embodiment, the driving module 103 may be a gas driving chamber 1031, and the first casing clamping arm 1021 and the second casing clamping arm 1022 each share one gas driving chamber 1031. In this way, when the first box clamping arm 1021 and the second box clamping arm 1022 are driven by the gas driving cavity 1031 to apply pressure to the second box, the pressure sensor located on the first box clamping arm 1021 and the pressure sensor located on the second box clamping arm 1022 can feed back the collected pressure signal to the gas driving cavity 1031, so that the gas driving cavity 1031 determines the box clamping arm to be stopped and the box clamping arm to be continuously driven after comparing with the set pressure threshold value, and the pressure applied to the second box by the box clamping arms on the upper layer and the lower layer in the final clamping process is identical, and the box is prevented from being damaged or failed to clamp the second box due to the difference of the pressure.
Further, considering that the first tank holding arm 1021 and the second tank holding arm 1022 are not necessarily identical from the upper and lower surfaces of the second tank after the first tank holding module 101 holds the tank to be separated to the working position coupled with the second tank holding module 102, this may cause damage to the tank due to the difference in applied pressure of the upper and lower surfaces, and this problem can be solved by adopting the common gas driving chamber 1031. By adopting the common gas driving chamber 1031 to drive the first box body clamping arm 1021 and the second box body clamping arm 1022, the first box body clamping arm 1021 and the second box body clamping arm 1022 expand in the up-down direction at the same time, and as the gas driving chamber 1031 is the common chamber of the first box body clamping arm 1021 and the second box body clamping arm 1022, any one of the upper layer and the lower layer of clamping arms stops moving after contacting the inner side of the second box body, and the pressure of the common gas driving chamber 1031 can continuously push to the other layer of box body clamping arm, so as to adapt to the second box bodies with different widths or embedded in the first box body at any position. After the two layers of the pressure valves contact the inner wall of the second box body, the pressure of the public cavity starts to rise, the pressure valve arranged in the public cavity and the gas path can monitor the pressure of the gas path, and the gas 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 can clamp the second box body with constant force.
It should be noted that, since the upper and lower tank holding arms are driven by the common gas driving chamber 1031, they can contact the second tank located inside the tank to be separated in an adaptive manner and apply pressure to the second tank, so that they can be applied to the first tank and the second tank of more sizes. Even if the sizes of the first casing and the second casing are changed, the first casing clamping arm 1021 and the second casing clamping arm 1022 do not need to be changed.
As shown in fig. 4, the present invention further provides a method 400 for separating stacked boxes of a separation device based on stacked boxes, which may include the steps of:
Step 401: clamping the material box to be separated by using the first box clamping module 101 and moving 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;
Step 402: applying pressure from the inside of the second casing to the second casing by the driving force of the driving module 103 using the second casing clamping module 102;
Step 403: after the second box body is applied with pressure by the second box body clamping module 102, a pressure feedback signal generated by 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 when the pressure between the second box clamping module 102 and the second box reaches a preset pressure threshold by using the driving module 103;
Step 406: when the driving module 103 stops driving the second box clamping module 102, the first box clamping module 101 clamps the box 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.
In the embodiment of the invention, when the stacked boxes are separated, the first box clamping module 101 is used for clamping a to-be-separated box formed by embedding the second box in the first box, the to-be-separated box is conveyed to a working position coupled with the second box clamping module 102, then the second box clamping module 102 is used for applying pressure to the second box from the inside of the second box through the driving module 103, and the 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 tank clamping module 102 and the second tank reaches a preset pressure threshold according to the fed-back pressure signal, and stopping driving the second tank clamping module 102 when the pressure threshold is reached. When the driving module 103 stops driving the second box clamping module 102, the first box clamping module 101 clamps the box 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 clamping of the two boxes is realized by applying pressure to the outer side of the outer box and the inner side of the inner box respectively by using the two box clamping modules. Further, the two box clamping modules are controlled to be far away from each other, so that the automatic separation of the two boxes is realized.
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 the driving force for the second box clamping module 102, so that the pressure between the second box clamping module 102 and the second box is ensured to be sufficient for clamping the box, and the pressure between the second box clamping module 102 and the second box can be ensured not to damage the box due to overlarge pressure.
When the first tank holding module 101 is used to hold the tank to be separated and is moved to the working position coupled to the second tank holding module 102 in step 401, in one possible implementation, as shown in fig. 5, the following steps may be implemented:
Step 501: the first box clamping module 101 is utilized to clamp the to-be-separated material box to move to the working height of the second box clamping module 102;
Step 502: rotating the to-be-separated material box moving to the working height of the second box clamping module 102 by utilizing the first box clamping module 101 so that the opening direction of the to-be-separated material box is opposite to the second box clamping module 102;
step 503: the rotated bin to be separated is moved to the working position of the second bin clamping module 102 by the first bin clamping module 101.
In this embodiment, when the bin to be separated is clamped to the working position coupled to the second bin clamping module 102, the bin to be separated may be first transported to the working height of the second bin clamping module 102, then rotated so that the opening direction of the bin to be separated is opposite to the second bin clamping module 102, and finally moved to the working position of the second bin clamping module 102. So through the clamping wait to separate the workbin motion to the working position of second box centre gripping module 102, 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 is from waiting to separate the inside of workbin to the second box application pressure, realizes the centre gripping to the second box.
When the second casing is pressurized from the inside of the second casing by the driving force of the driving module 103 using the second casing clamping module 102 in step 402, in one possible implementation, it is considered that the first casing clamping arm 1021 is moved upward by the driving force of the driving module 103 to apply the pressure to the second casing; and, the second tank clamp arm 1022 is moved downward by the driving force of the driving module 103 to apply pressure to the second tank. Therefore, the upper and lower two layers of box clamping arms are used for respectively expanding to the upper and lower sides of the second box, so that pressure is applied from the inside of the second box to clamp the second box.
When the driving module 103 determines whether the pressure between the second tank clamping module 102 and the second tank reaches the preset pressure threshold according to the pressure feedback signal in step 404, in one possible implementation, the following manner may be implemented:
When the gas driving cavity 1031 is used for driving the first box clamping arm 1021 and the second box clamping arm 1022 to apply pressure to the second box, 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 are obtained in real time, and whether a preset pressure threshold value is reached or not is judged according to the pressure feedback signals;
When the driving module 103 stops driving the second tank clamping module 102 when the pressure between the second tank clamping module 102 and the second tank reaches a preset pressure threshold, in step 405, in one possible implementation, the following may be implemented:
driving a box 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 by using the gas driving cavity 1031; and
And stopping driving the box 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.
In this embodiment, when the first box clamping arm 1021 and the second box clamping arm 1022 are driven to apply pressure to the second box through the gas driving chamber 1031, a first pressure feedback signal and a second pressure feedback signal respectively fed back by the first box clamping arm 1021 and the second box clamping arm 1022 are obtained in real time, and whether a preset pressure threshold is reached or not is judged according to the pressure feedback signals, so that when the preset pressure threshold is not reached, the box clamping arm can be continuously driven to apply pressure to the second box, and when the preset pressure threshold is reached, the box clamping arm is stopped from being driven to apply pressure to the second box. So guarantee that the pressure that two-layer box centre gripping arm was applyed to the second box about when final centre gripping is the same, avoid damaging the box because of the difference of pressure, perhaps lead to the centre gripping second box to fail.
In addition, in this embodiment, the first box clamping arm 1021 and the second box clamping arm 1022 are driven by the common gas driving chamber 1031, and the first box clamping arm 1021 and the second box clamping arm 1022 expand in the up-down direction at the same time, because the gas driving chamber 1031 is a common chamber for the first box clamping arm 1021 and the second box clamping arm 1022, any one of the upper and lower layers of clamping arms stops moving after contacting the inner side of the second box, and the pressure of the common gas driving chamber 1031 can continuously push to the other layer of box clamping arm, so as to adapt to the second box embedded in the first box with different widths or at any position. After the two layers of the pressure valves contact the inner wall of the second box body, the pressure of the public cavity starts to rise, the pressure valve arranged in the public cavity and the gas path can monitor the pressure of the gas path, and the gas 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 can clamp the second box body with constant force.
As shown in fig. 6, one embodiment of the present 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 for invoking a machine readable program to perform the stacked case separation method 400 provided in any of the embodiments described above.
The invention also provides a computer readable medium, wherein the computer readable medium stores computer instructions, and the computer instructions, when executed by a processor, cause the processor to execute the method for separating the stacked boxes provided by any embodiment. Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD+RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any 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 part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It should be noted that not all the steps and modules in the above processes and the structure diagrams of the devices are necessary, and some steps or modules may be omitted according to actual needs. The execution sequence 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 multiple physical entities, or may be implemented jointly by some components in multiple independent devices. Wherein, the separation device of the stacked boxes and the separation method of the stacked boxes are based on the same invention conception.
In the above embodiments, the hardware module may be mechanically or electrically implemented. For example, a hardware module may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware modules 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 particular implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been illustrated and described in detail in the drawings and in the preferred embodiments, the invention is not limited to the disclosed embodiments, and it will be appreciated by those skilled in the art that the code audits of the various embodiments described above may be combined to produce further embodiments of the invention, which are also within the scope of the invention.
Claims (12)
1. Separation device (100) of stacked boxes, characterized in that it comprises: the device comprises 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 a to-be-separated material box 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;
The second box clamping module (102) is used for applying pressure to the second box from the inside 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 used for judging whether the pressure between the second box body clamping module (102) 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 (102) when the pressure threshold value is reached;
The first box clamping module (101) is used for clamping the to-be-separated material box to move in a direction away from the second box clamping module (102) when the driving module (103) stops driving the second box clamping module (102), so that the first box and the second box are separated.
2. The apparatus of claim 1, wherein the device comprises a plurality of sensors,
The first box body clamping module (101) is used for clamping the 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 material box to be separated to the working position of the second box clamping module (102).
3. The apparatus of claim 1, wherein the second tank 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 clamping arm (1021) and the at least one second box clamping arm (1022) are arranged in an upper layer and a lower layer, and at least one box clamping arm is arranged on the upper layer and the lower layer of the box clamping arm;
the first box clamping arm (1021) is used for upwards moving by the driving force of the driving module (103) so as to apply pressure to the second box;
The second casing clamping arm (1022) is used for downwards moving by the driving force of the driving module (103) so as to apply pressure to the second casing.
4. A device according to claim 3, characterized in that the drive module (103) comprises: a gas drive chamber (1031);
the first box clamping arm (1021) and the second box clamping arm (1022) are driven by the gas driving cavity (1031);
The gas driving cavity (1031) is configured to obtain, in real time, a first pressure feedback signal returned by the first tank clamping arm (1021) and a second pressure feedback signal returned by the second tank clamping arm (1022) when the first tank clamping arm (1021) and the second tank clamping arm (1022) are driven to apply pressure to the second tank; and driving the box clamping arms corresponding to the feedback signals which do not reach the pressure threshold value in the first pressure feedback signals and the second pressure feedback signals, and stopping driving the box clamping arms corresponding to the feedback signals which reach the pressure threshold value in the first pressure feedback signals and the second pressure feedback signals.
5. A device according to claim 3, wherein the foremost part of the tank holding arm is provided as a ribbed plane.
6. The device according to any one of claims 3 to 5, wherein the number of the first casing clamping arms (1021) is the same as the number of the second casing clamping arms (1022), and the casing clamping arms installed in two layers are symmetrical.
7. A method (400) of separating stacked cases of a stacked case-based separation device (100), comprising:
The first box clamping module (101) is used for clamping the material 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;
Applying pressure from the inside of the second casing to the second casing by a driving force of a driving module (103) using the second casing clamping module (102);
feeding back a pressure feedback signal generated with the second tank to a driving module (103) after applying pressure to the second tank by using the second tank clamping module (102);
Judging whether the pressure between the second box body clamping module (102) and the second box body 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) when the pressure between the second box clamping module (102) and the second box reaches a preset pressure threshold value by using the driving module (103);
When the driving module (103) stops driving the second box clamping module (102), the first box clamping module (101) is utilized to clamp the to-be-separated material box to move in a direction away from the second box clamping module (102), so that the first box and the second box are separated.
8. The method according to claim 7, wherein the step of clamping the bin to be separated with the first bin clamping module (101) and moving to an operative position coupled with the second bin clamping module (102) comprises:
Clamping a to-be-separated material box by using the first box clamping module (101) and moving to the working height of the second box clamping module (102);
rotating the to-be-separated material box which moves to the working height of the second box clamping module (102) by utilizing the first box clamping module (101) so that the opening direction of the to-be-separated material box is opposite to the second box clamping module (102);
And moving the rotated material box 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 according to claim 7, wherein the applying pressure from the inside of the second tank to the second tank by the driving force of the driving module (103) with the second tank holding module (102) includes:
-upward movement by means of a first casing clamping arm (1021) by means of the driving force of the driving module (103) to apply pressure to the second casing; and
And the second box clamping arm (1022) is used for downwards moving through the driving force of the driving module (103) so as to apply pressure to the second box.
10. The method according to claim 9, wherein said determining, with the drive module (103) based on the pressure feedback signal, whether the pressure between the second tank clamp module (102) and the second tank reaches a preset pressure threshold value comprises:
when the first box clamping arm (1021) and the second box clamping arm (1022) are driven to apply pressure to the second box by utilizing the gas driving cavity (1031), 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) are obtained in real time, and whether the preset pressure threshold is reached or not is judged according to the pressure feedback signals;
The driving of the second tank holding module (102) is stopped by the driving module (103) when the pressure between the second tank holding module (102) and the second tank reaches a preset pressure threshold, and the driving module comprises:
Driving a box 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
And stopping driving the box clamping arms corresponding to the feedback signals reaching the pressure threshold value in the first pressure feedback signals and the second pressure feedback signals by utilizing the gas driving cavity (1031).
11. A computing device (600), characterized by 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. A computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any of claims 7 to 10.
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