CN115158820B - Automatic lossless bag opening system based on vision - Google Patents
Automatic lossless bag opening system based on vision Download PDFInfo
- Publication number
- CN115158820B CN115158820B CN202210813019.2A CN202210813019A CN115158820B CN 115158820 B CN115158820 B CN 115158820B CN 202210813019 A CN202210813019 A CN 202210813019A CN 115158820 B CN115158820 B CN 115158820B
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- robot
- camera
- vision
- bag
- rope
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0008—Opening and emptying bags
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
The invention relates to the technical field of bag opening devices, in particular to a vision-based lossless automatic bag opening system, which comprises an execution structure, wherein the execution mechanism is electrically connected with a controller, the controller is electrically connected with a vision system, an image processing system, an information management system and PC software control, the execution mechanism comprises a truss, the upper end of the truss is fixedly connected with a grabbing mechanism, a first robot and a second robot are respectively fixedly arranged on the left side and the right side below the grabbing mechanism, the first robot and the second robot comprise mounting frames, the opposite end surfaces of the two groups of mounting frames are respectively provided with a static platform, and a plurality of groups of linkage mechanisms are uniformly distributed on the circumference of the outer end surface of the static platform.
Description
Technical Field
The invention relates to the technical field of bag disassembly devices, in particular to a vision-based lossless automatic bag disassembly system.
Background
Ton bag, by wide application in industrial field's material transportation packing, but, at present to the disassembly of ton bag, especially the disassembly of the ton bag of inside harmful or powdered granule is mostly adopts artificial mode, and adopt the manpower to tear open the bag and can produce certain injury to the human body, the existing automatic bag equipment of tearing open in the market at present, it can make ton bag suffer damage after tearing open the bag, can not retrieve and recycle, this has undoubtedly increased the cost of business, consequently, just need an automation, unmanned ization, intelligent harmless unpacking equipment urgently, both can replace the manual work, can improve workshop degree of automation and work efficiency again.
Disclosure of Invention
The invention aims to solve the defects that the disassembly of a ton bag is mostly manual and the ton bag can be damaged so that the ton bag can not be reused in the prior art, and provides a vision-based lossless automatic bag disassembly system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a harmless automatic bag system of tearing open based on vision, includes the executing structure, executing mechanism electric connection has the controller, controller electric connection has vision system, image processing system, information management system, PC software control, executing mechanism includes the truss, the upper end fixedly connected with of truss snatchs the mechanism, snatch the left and right sides below the mechanism and fixedly provided with first robot and second robot respectively.
Preferably, the first robot with the second robot all includes the mounting bracket, two sets of all be provided with quiet platform on the terminal surface that the mounting bracket is relative, circumference evenly distributed has multiunit link gear on the outside terminal surface of quiet platform, multiunit rotate between link gear's the upper end and be connected with the movable platform, two sets of it cuts the subassembly to be provided with first on the terminal surface of the relative one side of movable platform respectively and cuts the subassembly with the second.
Preferably, the linkage mechanism comprises a mounting seat, the mounting seat is fixedly connected with the static platform, a first branched chain is rotationally connected to the upper end of the mounting seat, a second branched chain is rotationally connected to the upper end of the first branched chain, the upper end of the second branched chain is rotationally connected with the movable platform, a driving motor is fixedly arranged on the outer side end face of the mounting seat, and an output shaft of the starting motor is connected with the lower end of the first branched chain.
Preferably, the movable platform is rotatably connected with a telescopic single shaft penetrating through the static platform on the end face of one side of the movable platform, which faces the static platform.
Preferably, the first cutting component comprises a straight hook, a needle and a fork, and the second cutting component comprises a transverse knife, a vertical knife, a fork and a hammer.
Preferably, the vision system comprises a first camera and a second camera, and the first camera and the second camera are distributed around the periphery of the grabbing mechanism, the first robot and the second robot respectively.
Preferably, the controller is electrically connected with the PC software control through an ethernet.
Preferably, the output end of the grabbing mechanism clamps a ton bag, and an opening of the ton bag faces to the middle between the first robot and the second robot.
The nondestructive automatic bag opening system based on vision provided by the invention has the beneficial effects that:
the vision system and the image processing system are matched with the first robot and the second robot in a cooperative manner, so that the function of detecting and disassembling the rope knot vision position of the ton bag is realized, articles in the ton bag are taken out without manually opening or damaging the ton bag, the injury to personnel is reduced, and the ton bag can be recycled;
the first robot and the second robot are simple in structure, the total number of parts is relatively small, a plurality of parts can be used in common, mass production is facilitated, cost is easy to control, and compared with a traditional mechanical arm, the mechanical arm is simple in hardware, complex in software and high in technical added value;
through the cooperation between the quiet platform that sets up, scalable unipolar, link gear and the movable platform, can realize that the first multi-angle of tailorring the subassembly and the second tailors the subassembly rotates, improved the flexibility ratio of use.
Drawings
FIG. 1 is a schematic diagram of a front view of a vision-based automatic lossless bag opening system;
FIG. 2 is a schematic side view of a vision-based automatic lossless bag opening system according to the present invention;
FIG. 3 is a schematic diagram of the structure of an actuator of a vision-based lossless automatic bag-opening system;
FIG. 4 is a schematic diagram of a system architecture of a vision-based lossless automatic bag opening system according to the present invention;
fig. 5 is a schematic flow structure diagram of a vision-based lossless automatic bag opening system according to the present invention.
In the figure: 1. truss; 2. a grabbing mechanism; 3. a ton bag; 4. a first camera; 5. a second camera; 01. a first robot; 02. a second robot; 6. a mounting frame; 7. a static platform; 8. a mounting base; 9. a driving motor; 10. a first branch; 11. a second branch; 12. a movable platform; 13. a retractable single shaft; 14. a straight hook; 15. a needle; 16. a fork; 17. a transverse knife; 18. and (5) erecting a knife.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-5, a vision-based lossless automatic bag opening system comprises an execution structure, wherein an execution mechanism is electrically connected with a controller, the controller is electrically connected with a vision system, an image processing system, an information management system and a PC software control, the execution mechanism comprises a truss 1, the upper end of the truss 1 is fixedly connected with a grabbing mechanism 2, and a first robot 01 and a second robot 02 are respectively fixedly arranged on the left side and the right side below the grabbing mechanism 2.
Referring to fig. 3, the first robot 01 and the second robot 02 each comprise a mounting frame 6, the opposite end faces of the two groups of mounting frames 6 are respectively provided with a static platform 7, a plurality of groups of linkage mechanisms are uniformly distributed on the outer end faces of the static platforms 7 in circumference, a movable platform 12 is rotatably connected between the upper ends of the plurality of groups of linkage mechanisms, a first cutting assembly and a second cutting assembly are respectively arranged on the opposite end faces of one side of the two groups of movable platforms 12, and the linkage mechanisms are rotatably connected with the movable platform 12 through spherical hinges.
The linkage mechanism comprises a mounting seat 8, the mounting seat 8 is fixedly connected with a static platform 7, the upper end of the mounting seat 8 is rotationally connected with a first branched chain 10, the upper end of the first branched chain 10 is rotationally connected with a second branched chain 11, the upper end of the second branched chain 11 is rotationally connected with a movable platform 12, a driving motor 9 is fixedly arranged on the outer side end face of the mounting seat 8, an output shaft of the driving motor 9 is connected with the lower end of the first branched chain 10, the structure is simple, the total number of parts is relatively small, a plurality of parts can be commonly used, and batch production and cost control are facilitated.
The movable platform 12 is rotatably connected with a telescopic single shaft 13 penetrating through the fixed platform 7 on the end face of one side of the fixed platform 7, so that course angle deviation can be achieved, tool transformation is achieved, the movable platform can rotate around the Z axis by 360 degrees, the working space of the robot is greatly enlarged, and tool transformation is enabled to be possible.
The first cutting assembly comprises a straight hook 14, a needle 15 and a fork 16, and the second cutting assembly comprises a transverse cutter 17, a vertical cutter 18, a fork 16 and a hammer, so that the stitch removing function is achieved, and the functions are enriched.
Referring to fig. 2, the vision system includes a first camera 4 and a second camera 5, the first camera 4 and the second camera 5 are respectively distributed around the periphery of the grabbing mechanism 2 and the first robot 01 and the second robot 02, and the vision system adopts a plurality of cameras and a 'hand-eye separation' installation mode to complete the positioning of the ton bag position and the inner and outer knots and judge whether the content flows out.
Referring to fig. 4, the controller is electrically connected with the PC software control through the ethernet, so that the control can be remotely performed.
Referring to fig. 1 and 2, the output end of the grabbing mechanism 2 clamps the ton bag 3, and the opening of the ton bag 3 faces the middle part between the first robot 01 and the second robot 02, so that unpacking operation is facilitated.
The working mode is as follows; during operation, the grabbing mechanism 2 is started, the grabbing mechanism 2 moves on the truss 1, the ton bag 3 is transported to the upper side of the robot, the first camera 4 recognizes the position, the shape and the like of the ton bag 3, the second camera 5 recognizes the shape of the opening of the ton bag 3, the position of a rope knot is found out, the color of a subsequent inner layer bag, the position, the shape and the like of the rope knot are found out, the rope knot is pulled out through the straight hook 14 of the first robot 01 according to data and parameters provided by the cameras, the rope is cut through the transverse knife 17 of the second robot 02, the first layer of cutting rope is completed, the second camera 5 judges whether the inner layer bag is exposed through hammering of the hammer of the second robot 02, then the second camera 5 judges the spatial position of the rope bundle of the inner layer bag, the inner rope is hooked through the straight hook 14, the rope is broken through the vertical knife 18, the second camera 5 judges whether the inner goods flow out, the executing mechanism is withdrawn, and finally the grabbing mechanism 2 moves out the ton bag 3.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (4)
1. The utility model provides a harmless automatic bag system of tearing open based on vision, includes actuating mechanism, its characterized in that: the device comprises an execution mechanism, a visual system, an image processing system, an information management system and PC software control, wherein the execution mechanism is electrically connected with the controller, the execution mechanism comprises a truss (1), the upper end of the truss (1) is fixedly connected with a grabbing mechanism (2), and a first robot (01) and a second robot (02) are respectively fixedly arranged on the left side and the right side below the grabbing mechanism (2);
the first robot (01) and the second robot (02) comprise mounting frames (6), static platforms (7) are arranged on opposite end faces of the mounting frames (6), a plurality of groups of linkage mechanisms are uniformly distributed on the outer side end faces of the static platforms (7) in circumference, movable platforms (12) are rotatably connected between the upper ends of the plurality of groups of linkage mechanisms, and a first cutting assembly and a second cutting assembly are respectively arranged on opposite side end faces of the two groups of movable platforms (12);
the first cutting assembly comprises a straight hook (14), a needle (15) and a fork (16);
the second cutting assembly comprises a transverse cutter (17), a vertical cutter (18), a fork (16) and a hammer;
the vision system comprises a first camera (4) and a second camera (5), wherein the first camera (4) and the second camera (5) are respectively distributed around the periphery of the grabbing mechanism (2) and the first robot (01) and the second robot (02);
the output end of the grabbing mechanism (2) clamps a ton bag (3), and an opening of the ton bag (3) faces to the middle part between the first robot (01) and the second robot (02);
during operation, the grabbing mechanism (2) is started, the grabbing mechanism (2) moves on the truss (1), the ton bag (3) is transported to the upper portion of the robot, the first camera (4) recognizes the position, the shape and the like of the ton bag (3), the second camera (5) recognizes the shape of a mouth of the ton bag (3), the position where a rope knot is located, the color of a subsequent inner bag, the position, the shape and the like of the rope knot are found, the rope knot is pulled out through a straight hook (14) of the first robot (01) according to data and parameters provided by the cameras, a rope is cut through a transverse knife (17) of the second robot (02), a first layer of cutting rope is completed, the second camera (5) judges whether the inner bag is exposed, the inner layer is exposed through hammering of a hammer of the second robot (02), then the second camera (5) judges the space position where the rope knot of the inner bag is located, the inner rope is hooked through a straight hook (14), the rope is cut off through the straight hook (18), the second camera (5) judges whether the rope is pulled out, and finally the inner bag (3) is pulled out of the cargo carrying out mechanism, and the grabbing mechanism is moved out.
2. A vision-based, non-destructive automatic bag opening system according to claim 1, wherein: the linkage mechanism comprises a mounting seat (8), the mounting seat (8) is fixedly connected with the static platform (7), a first branched chain (10) is rotationally connected to the upper end of the mounting seat (8), a second branched chain (11) is rotationally connected to the upper end of the first branched chain (10), the upper end of the second branched chain (11) is rotationally connected with the movable platform (12), a driving motor (9) is fixedly arranged on the outer side end face of the mounting seat (8), and an output shaft of the driving motor (9) is connected with the lower end of the first branched chain (10).
3. A vision-based, non-destructive automatic bag opening system according to claim 2, wherein: the movable platform (12) is rotatably connected with a telescopic single shaft (13) penetrating through the static platform (7) towards one side end surface of the static platform (7).
4. A vision-based, non-destructive automatic bag opening system according to claim 1, wherein: the controller is electrically connected with the PC software control through an Ethernet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210813019.2A CN115158820B (en) | 2022-07-12 | 2022-07-12 | Automatic lossless bag opening system based on vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210813019.2A CN115158820B (en) | 2022-07-12 | 2022-07-12 | Automatic lossless bag opening system based on vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115158820A CN115158820A (en) | 2022-10-11 |
| CN115158820B true CN115158820B (en) | 2023-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210813019.2A Active CN115158820B (en) | 2022-07-12 | 2022-07-12 | Automatic lossless bag opening system based on vision |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208867183U (en) * | 2018-09-29 | 2019-05-17 | 天津七所高科技有限公司 | A kind of robot offset grasping mechanism of view-based access control model |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7017751B2 (en) * | 2003-09-26 | 2006-03-28 | Dell Products L.P. | System and method for automated unpacking |
| US9434558B2 (en) * | 2013-01-20 | 2016-09-06 | Wynright Corporation | Automated truck unloader for unloading/unpacking product from trailers and containers |
| CN208854868U (en) * | 2018-09-29 | 2019-05-14 | 宁波瑞成包装材料有限公司 | Multifunctional feeding system of film production line robot |
| CN111687864B (en) * | 2020-06-28 | 2021-01-12 | 清华大学 | Adsorption type parallel machining robot |
| CN114590458A (en) * | 2020-12-04 | 2022-06-07 | 配天机器人技术有限公司 | Bag opening device |
| CN112429353B (en) * | 2020-12-19 | 2022-06-10 | 淮阴工学院 | Automatic ton bag opening device and method |
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- 2022-07-12 CN CN202210813019.2A patent/CN115158820B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208867183U (en) * | 2018-09-29 | 2019-05-17 | 天津七所高科技有限公司 | A kind of robot offset grasping mechanism of view-based access control model |
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| CN115158820A (en) | 2022-10-11 |
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