• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Robotic device for opening cardboard boxes with safeguarding of their content and without weakening the structure of the box, consisting of an installation for rapid opening of cardboard boxes, characterized by comprising a dimensional measuring station (4), equipped with a viewer zenith (5), another for thickness measurement (7), equipped with a module of punches (8), another for opening (10), with a cap cutting and capture equipment (10.1), equipped with a cutting head (15) and the capture head (17) and a control equipment (13), automated, connected to said stations, for receiving and transmitting orders by passing the boxes (2) through the mentioned stations once loaded on a conveyor line (3), which delivers them open at the end of the journey for the handling of their goods (11). The lids (12) are deposited in a tape or container Installation protected by enclosure (14). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2858504A1
    申请号:ES202000046
    申请日:2020-03-30
    公开日:2021-09-30
    发明作者:Sender Jordi Salas
    申请人:Sender Jordi Salas；
    IPC主号:
    专利说明:

    [0001] Robotic device for opening cardboard boxes with safeguarding of their content Technical object of the invention
    [0002] The present invention refers to a robotic machine for opening cardboard boxes, with previous stations for measuring their dimensions and cardboard thickness.
    [0003] The boxes, in a parallelepipedic shape, are received in random order, on the conveyor line, the various standardized sizes being mixed, previously agreed by the receiving industrialist. The main objective of the invention is the automation of a quick opening of the boxes, guaranteeing security measures that avoid any damage to the goods they contain and without weakening the structure of the box. For this, a head and a blade have been developed, with a special geometry, which cuts and pushes the cardboard, exerting some pressure, without producing harmful contact with the contents of the box.
    [0004] As a preliminary step, you can install a cardboard thickness measuring device and another device that measures the three dimensions of each box. In this way, the characteristics of the box are defined and the cutting head is adapted in each case.
    [0005] Technical sector to which the invention refers
    [0006] The invention that is presented affects the Section of Diverse Industrial Techniques of the International Patent Classification, in its section of Transportation and Maintenance, paragraph of Maintenance, packaging, storage, handling of thin or filiform materials affecting, from the industrial point of view , in the manufacture of automatic machines for handling and opening cardboard boxes.
    [0007] Background of the invention
    [0008] Since cardboard boxes are totally generalized elements for their use in the protection and transport of all types of merchandise, it is understood that there are a large number of inventions related to this type of container.
    [0009] Those that have been found most frequently in the database are those related to the formation and closing of this type of boxes that are not related at all to the object of the invention that is presented in this document which, as has been indicated , refers to the mechanized opening of cardboard boxes.
    [0010] In the specific field of opening, several registered solutions have been found, some of which we will cite below as an example.
    [0012] 1. - ES-0110182 U Cardboard box opener
    [0013] 2. - ES-0245793 U Opening device for containers
    [0014] 3. - ES-1063548 U Box opening device
    [0015] 4. - ES-2032068 T3 Procedure and device to open the lids of a cardboard box or folding box
    [0016] 5. - ES-2047486 T3 Tape for quick opening
    [0017] 6. - ES-2105101 T3 Device and method for feeding and opening cardboard boxes
    [0018] 7. - ES-2154546 A1 Unsealing system for boxes and other cardboard containers and similar
    [0019] 8. - ES-2199735 T3 Automatic system for dismantling packaging
    [0020] 9. - ES-2613611 T3 Opening device for a box
    [0022] The first cited invention describes a manual opening procedure using a blade.
    [0023] The second describes boxes previously provided with a band delimited between two partially stamped longitudinal lines, in which band at least one flexible and resistant heat-adhesive cord arranged along its entire length has been applied.
    [0024] The third describes boxes with pre-cut lines and flaps that allow the breaking of a perimeter strip to begin.
    [0025] The fourth mentioned refers to a machine that handles cardboard boxes with four flaps.
    [0026] The fifth describes a solution for opening boxes fitted with a polypropylene tape, focusing the novelty on the characteristics of the tape to prevent breakage during the opening process.
    [0027] The sixth refers to a machine for the automatic loading of cardboard boxes.
    [0028] The seventh-listed one describes a box opening solution equipped with pre-marked start tabs and flaps.
    [0029] The eighth invention describes a complex robotic machine for the total opening of parallelepiped cardboard boxes, fully unfolding the top and side covers so that their content can be captured and manipulated.
    [0030] The one indicated ninth, although it includes the word opening, describes a type of dispenser box with an opening device that provides the objects it contains one by one.
    [0031] Finally, although the record has not been found, the inventor knows of a solution in which the box is cut at the top of the side walls by means of a disk. This solution, which poses a danger to the merchandise, weakens the structure of the box and is not robotized.
    [0032] As we will see, none of the cited inventions is close to the one described in this document, and there is no machine on the market that solves the problem of opening cardboard boxes in the way that is proposed, so the inventor considers that The solution described implies an interesting novelty for industrialists who require a fast and automated opening process for cardboard boxes without damaging their content.
    [0034] Summary description of the invention
    [0036] As indicated above, the invention describes a fully automated, high-performance installation, intended for the rapid opening of the upper part of cardboard boxes of parallelepipedic shape of sizes comprised in a fork previously agreed with the supplier.
    [0038] The machine of the invention comprises the following main parts:
    [0040] - Unloading and depositing equipment on conveyor line (optional)
    [0041] - Measurement station of dimensions
    [0042] - Diversion of boxes that do not meet the agreed dimensions (optional)
    [0043] - Station for measuring the thickness of the cardboard plates (optional, if there are different types of "thick" boxes)
    [0044] - Cutting station with cap capture and extraction, placing it on the conveyor belt / box / container or any other place.
    [0045] - Control center
    [0046] - Security fence
    [0048] Although the general characteristics of each of them are indicated below, in the description section of a preferred embodiment by the inventor, the details that characterize the invention are described.
    [0050] Unloading and depositing equipment on conveyor line
    [0052] This equipment is optional because, on certain occasions, it is chosen to unload manually or with collection cranes with vacuum suction cups or any other means, stacking the boxes in the warehouse until the moment of their opening is decided.
    [0054] In the case of direct unloading on the conveyor line, the boxes are captured by manipulating robots and placed on the belt, in the desired opening position and orientation, guided by side barriers.
    [0056] Dimension measuring station
    [0058] It includes a team, with an overhead view camera, capable of calculating the three dimensions of boxes on a vertical plane, whatever their orientation with respect to the longitudinal axis of advance of the belt. To achieve the desired precision, which is defined with a tolerance of / - 2 millimeters, a station is programmed prior to the cutting station where the box is stopped and positioned on the transport line.
    [0059] Diversion of boxes that do not meet the agreed dimensions
    [0061] In installations with maximum automation, a diversion is arranged in the conveyor line that separates boxes that do not meet the agreed standard dimensions. To avoid the installation of this optional device, the robot in the cutting station is programmed in such a way that it ignores these boxes, letting them pass by for a later grouping.
    [0063] Cardboard sheet thickness measuring station
    [0065] It is a device that defines the thickness of the cardboard plates, within a pre-established fork. This measurement is extremely important to avoid possible damage to the merchandise contained in the boxes during the cutting process. As we will see later, it takes the measurement in a place close to one of the edges of the box, making two holes of about 2 mm. diameter. Although it can be programmed for any thickness, it is prepared for thicknesses between 2 and 10 mm.
    [0067] Cutting station with stacking of covers
    [0069] It consists of a robotic station that fixes the box in a known position and cuts the top cover of the boxes following a path fully integrated into said top cover so as not to weaken its structure. It has a self-adjusting blade-based cutter head, with stop / pressure skid, said head being electronically related to the thickness measurement station or to the data provided by the box reference, in the case of being identified with a code. .
    [0071] It includes a device for automatic quick replacement of the blade in case the sensor / camera that monitors the state of the cutting edge, detects damage or defects.
    [0073] Before starting the cut, the box is ordered to be positioned on the belt until it comes into contact with a stop guide. In this way, the box is perfectly oriented in the direction of advance of the conveyor line. The cut can be programmed with the belt in motion, although, preferably, it is done in a momentary stop.
    [0075] The robot has at least two capsules or suction cups that capture the lid, once cut, and store it laterally. The vacuum activation of the suction cups is adapted to the dimensions of the lid.
    [0077] Control center
    [0079] A central PLC (Programmable Logic Controller) governs all the installations of the machine of the invention, transferring data and coordinating all movements according to the program of each work unit. The machine does not require supervision, since, in the event of a breakdown or incident, it warns by means of a sound / light beacon, or by SMS, email, message to the central system, or by any other digital communication system.
    [0081] Security fence
    [0083] To guarantee the safety of the supervisory personnel of the operation, taking into account the existence of several moving elements, the perimeter is protected with a metal fence or transparent panels that allow a good overview and the performance of maintenance or any intervention in conditions safe, having to request permission to the installation to be able to enter it, disabling its automatic mode and thus protecting the integrity of the personnel.
    [0085] The device, thus conceived, provides many advantages over what has existed up to now, which is based on manual type openings with cutting tools or by pulling bands that break following pre-marks and similar solutions.
    [0087] The main advantages are the following:
    [0089] - process automation
    [0090] - high performance
    [0091] - precision in cutting
    [0092] - maintenance of the structural rigidity of the box
    [0093] - avoids damage to the merchandise
    [0094] - avoids injuries to operators who carry out this operation manually
    [0095] - general operator safety
    [0097] In the section of figures the different parts of the machine of the invention are schematized that allow to understand its general operation, well understood that they reflect a preferred embodiment by its inventor without prejudice to the fact that some modifications may be introduced that do not alter the fundamental idea of the invention.
    [0099] Brief description of the drawings
    [0101] Five figures are included, which are considered sufficient for the correct interpretation of the invention.
    [0103] Figure 1
    [0105] Represents, schematically, a top view of the device as a whole, the following elements having been indicated:
    [0107] 1. - Unloading and feeding equipment
    [0108] 2. - Box
    [0109] 2.1. - Box rejected
    [0110] 2.2. - Open box
    [0111] 3. - Conveyor line
    [0112] 3.1. - Reject tape
    [0113] 4. - Dimensional measurement station
    [0114] 5. - Overhead camera
    [0115] 6. - Pusher
    [0116] 7. - Thickness measuring station
    [0117] 8. - Punch module
    [0118] 9. - Positioning stop
    [0119] 10. - Opening station
    [0120] 10.1. - Equipment for cutting and capturing caps
    [0121] 11. - Merchandise
    [0122] 12. - Lid
    [0123] 12.1. - Container
    [0124] 13. - Control equipment
    [0125] 14.
    [0127] Figure 2
    [0129] Represents, schematically, the punch module.
    [0131] 8.1. - Emitter punch
    [0132] 8.2. - Fiber optic emitter
    [0133] 8.3. - Receiver punch
    [0134] 8.4. - Fiber optic receiver
    [0135] 8.5. - Limiter stop
    [0137] Figure 3
    [0139] Represents, schematically, the cutting head
    [0141] 15. - Cutting head
    [0142] 15.1. - Knife
    [0143] 15.2. - Roller skate
    [0144] 15.3. - Arm
    [0146] Figure 4
    [0148] Show an open box in top view to appreciate the detail of the cut line.
    [0150] 16.
    [0152] Figure 5
    [0154] It shows an open box in a sectioned side view to appreciate the capture head removing a freshly cut lid.
    [0156] 17. - Capture head
    [0157] 18. - Suction capsule
    [0159] Detailed explanation of embodiments of the invention
    [0161] Robotic device for opening cardboard boxes with safeguarding of their content (Figs. 1 to 5) consisting of an automated installation, intended for the rapid opening of the upper part of cardboard boxes of parallelepipedic shape of standardized sizes, which, in a First embodiment preferred by its inventor, is shown as an installation in which the received cardboard boxes (2) are unloaded and transferred to a conveyor line (3), by means of unloading and feeding equipment (1) ( Fig. 1) to advance to a dimensional measurement station (4) where the three main dimensions of width, length and height (X, Y, Z) are measured, by means of an overhead camera (5), capable of determining said dimensions with an error of less than three millimeters. If among the boxes (2), received and transferred to the conveyor line (3), there is one that does not comply with the fork sizes / geometries / deformations, previously agreed, the zenith chamber (5), connected with a control equipment (13), of general government, identifies it as a box rejected (2.1) and deflects it towards a reject belt (3.1) when driven by a pusher (6), pneumatic, hydraulic or any other type.
    [0163] The boxes (2), of correct dimensions, are checked in the thickness measurement station (7), equipped with a module of punches (8), the detail of which is described later, which is also connected to the control equipment (13 ), orders the regulation of the cutting head (15), which will also be described in subsequent paragraphs.
    [0165] In its continuous advance, each box (2) enters the opening station (10), where a mechanical stop and a pusher (6) are activated, which positions the box in the direction of longitudinal advance of the conveyor line (3) by pressing it against the positioning stop (9). At that moment, the cutting head and cap capture (10.1) (3-axis equipment or robot) comes into play, which, by means of the cutting head (15), cuts the upper base of the box (2) according to a trajectory with the predefined offset for each box model, about two centimeters from its edges in order not to weaken the natural rigidity of the parallelepiped structure. Once the cut is made, the capture head (17), using the suction / suction systems or any other, with suction capsules (18), loads the lid (12) and stacks it in a container (12.1), box, tape transport or any other desired place, close to the opening station (10).
    [0167] The open box (2.2) with its corresponding merchandise (11), continues to the place of general reception and collection, thus ending the process.
    [0169] After the general description of the installation, where some common components in the industry are involved, we proceed to describe the details of the fundamental parts of the invention that are found in the dimensional measuring station (4), in the measuring station. thick (7) and in the opening station (10).
    [0171] Dimensional measuring station
    [0173] The main component is the overhead view camera (5) which, by means of an image, defines the size of the cardboard box based on the measurement and height position of the upper face, which is always square or rectangular. The measurement is made, whatever the position of the box, with an error equal to or less than 2 millimeters. To achieve maximum precision, the measurement must be made during a momentary stop of the conveyor line (3). The zenith chamber (5) is permanently connected to the control equipment (13).
    [0175] Thickness measuring station
    [0177] In this station the main component is the punch module (8), schematically represented in (Fig. 2). It consists of an emitter punch (8.1) equipped with a fiber optic emitter (8.2) and a receiving punch (8.3) equipped with a fiber optic receiver (8.4). Both punches are mounted in parallel, at a very short distance, on a programmable servo motorized base or adjustable linear movement system with different penetration levels into the cardboard.
    [0179] The emitter punch (8.1) houses the lighting system shown as a fiber optic emitter (8.2) and the receiver punch (8.3) houses a light intensity meter shown as a fiber optic receiver (8.4).
    [0180] The servo motorized base or adjustable linear movement system, which is mounted on a pneumatic approach unit, advances towards the box (2), once its presence is detected, until the limit stop (8.5) makes contact with it. Punching is started immediately until the fiber optic receiver (8.4) detects the luminosity emitted by the fiber optic emitter (8.2), indicating that the penetration corresponds exactly to the thickness of the cardboard. The measurement is transmitted to the opening station (10) to select / adjust the appropriate setting on the cutting head.
    [0182] The resulting holes are about 2-3 mm. This must be done in a strong area of the box (2), close to an edge. The device is programmed for cardboard plate thicknesses of up to a maximum of 10 mm.
    [0184] Opening station
    [0186] This opening station (10) is the one that allows to achieve the object of the invention relying on the data it receives, through the control equipment (13), from the other two stations or the information provided by the line itself in the case to have identified the models of boxes that enter the cutting station (barcodes-boxes of equal thickness or size).
    [0188] It has a robot or 3-4 axis system equipped with a cap cutting and capture head (10.1) with schematic details in (Figs. 1, 3, 4 and 5).
    [0190] The cut is made with momentary stop of each box (2) and positioning by means of a stop and a pusher (6) and auxiliary pneumatic fixing units. The cutting operation is carried out by the cutting head (15) (Fig.3) equipped with a blade (15.1) and a skid (15.2) grouped in the arm (15.3). The longitudinal sliding of the blade with respect to the skid allows the depth of the cut to be adjusted, although there is also a device for rapid, automatic blade change, either due to the thickness of the cardboard of each box (2) or due to the state of wear. of the blade determined by a specific sight / sensor for that purpose.
    [0192] In (Fig. 4) the top view of an open box (2.2) is shown in which the cut line (16) is shown, which has two main characteristics. One is its position in the upper base, with a certain displacement towards the inside, with respect to the edges, in order not to weaken the structure of the box. The other is rounding at the vertices to facilitate continuous work of the blade that would otherwise have to rise at each vertex.
    [0194] Once the cutting process is finished, which lasts between 2 and 8 seconds (depending on the size), the capture head (17) comes into play, equipped with at least two suction elements (18), or fixing, such as is schematized in (Fig. 5).
    [0196] The device is designed to achieve a performance of between 500 and 800 openings per hour.
    [0198] The removed lids (12) are deposited, by the capture head (17), on the belt or container (12.1) located (Fig. 1) in the most dangerous area, protected by an enclosure (14).
    [0199] The inventor conceives a second embodiment, which slightly simplifies the one just described, consisting of eliminating the box reject section, which can be carried out beforehand and which groups together those corresponding to dimensional measurement in a single station (4) and the thickness measurement (7). In this case, in addition to a momentary stop of the conveyor line (3), a specific positioning (reloading) of each box (2) is required.
    [0201] It is not considered necessary to make the content of this description more extensive so that an expert in the field can understand the scope and advantages derived from the invention, as well as develop and put into practice its object. However, it should be understood that the invention has been described according to a preferred embodiment thereof, so that it may be susceptible to modifications without affecting or implying any alteration of the foundation of said invention. In other words, the terms in which this preferred description of the invention has been set forth should always be taken broadly and not limitatively.
    权利要求:
    Claims (6)
    [1]
    1. Robotic device for opening cardboard boxes with safeguarding of their content and without weakening the structure of the box, consisting of an automated installation, intended for the rapid opening of the upper part of cardboard boxes of parallelepipedic shape of standardized sizes, characterized by comprising a dimensional measurement station (4), equipped with an overhead view camera (5), a thickness measurement station (7), equipped with a punch module (8), an opening station (10) , with a cap cutting and capture equipment (10.1), equipped with a cutting head (15) and a capture head (17) and a fully automated control equipment (13), connected to the three stations, for reception and transmission of orders, the areas of greatest danger being protected by means of an enclosure (14) passing the cardboard boxes (2), successively, through the aforementioned stations as they have been loaded at origin on a conveyor line (3), that It delivers them as open boxes (2.2) at the end of the route for the handling of the different goods (11) that they contain, the covers (12) being deposited in a container / box / conveyor belt (12.1) existing in the opening station (10 ).
    [2]
    2. Robotic device for opening cardboard boxes with safeguarding of their content, according to claim one, characterized by being able to measure, from the zenith view camera (5), the three dimensions X, Y, Z of width, length and height of each box with an error of less than three millimeters, in a momentary stop of the conveyor line (3), said zenith camera (5) having the ability to identify the boxes (2) that do not comply with the predefined standard measurements passing the information to the equipment of control (13) to classify them as rejected boxes (2.1).
    [3]
    3. Robotic device for opening cardboard boxes with safeguarding of their content, according to claim one, characterized by being able to measure the thickness of the cardboard as the module of punches (8) is equipped with an emitter punch (8.1), with emitter fiber optic (8.2), a receiving punch (8.3), with fiber optic receiver and a limiting stop (8.5) being configured the punch module (8), to be able to differentiate / measure which is the thickness of the boxes of cardboard, making two perforations of two / three millimeters in diameter in boxes (2) in momentary stop of the conveyor line (3).
    [4]
    4. Robotic device for opening cardboard boxes with safeguarding of their content, according to claim one, characterized in that the cutting head (15) is configured to cut the cover (12) of each box (2), according to a trajectory or cutting line (16) with roundings at the vertices and about two centimeters away from the edges of the upper base of the box (2). The cutting head (15) is equipped with an arm (15.3) that supports a blade (15.1) and a skid (15.2), there is a device for rapid, automatic blade change (15.1) related to a wear sight glass. cutting edge or deformation / breakage of the blade.
    The cutting head (15) operates on boxes (2) in momentary stop of the conveyor belt (3), precisely positioned against a positioning stop (9), by actuation of pneumatic pushers (6) and auxiliary means.
    [5]
    5. Robotic device for opening cardboard boxes with safeguarding of their content, according to claim one, characterized in that the capture head (17) is equipped with a suction / fixing capsule system (18) of the lid.
    [6]
    6. Robotic device for opening cardboard boxes with safeguarding of their content, according to previous claims, characterized by having a performance of between 500 and 800 openings per hour.
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    同族专利:
    公开号 | 公开日
    ES2858504B2|2022-02-02|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3922778A|1973-04-13|1975-12-02|Arenco Pmb Bv|Device for cutting the sidewalls of a box for separating wholly or partly the lid from the box proper|
    US5074097A|1989-09-18|1991-12-24|Hullpak Manufacturing, Inc.|Means for removing tops of boxes|
    US20070125212A1|2005-12-01|2007-06-07|Hilgendorf Dennis J|Case cutter assembly|
    WO2007067947A2|2005-12-09|2007-06-14|Cornerstone Automation Systems, Inc.|Automated box opening apparatus|
    ES2546521T3|2011-09-22|2015-09-24|Als Automatic Logistic Solutions Gmbh|Device and procedure for applying a cutting path in an outer container|
    WO2019123241A1|2017-12-22|2019-06-27|Simac Tech S.R.L.|Deboxing station|
    法律状态:
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    ES202000046A|ES2858504B2|2020-03-30|2020-03-30|Robotic device for opening cardboard boxes with safeguarding of its content|ES202000046A| ES2858504B2|2020-03-30|2020-03-30|Robotic device for opening cardboard boxes with safeguarding of its content|
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