DE102024206108A1 - Cutting tool for at least partially opening packaging and protecting goods contained within the packaging. - Google Patents

Abstract

Cutting tool (10) for at least partially opening a packaging (202) and for protecting goods contained in the packaging (202), comprising the cutting tool (10):
- at least one cutting blade (12) designed to cut through at least one wall of the packaging (202); and
- a protective device (210) designed to keep the goods contained in the packaging (202) away from at least one wall of the packaging (202) and/or from the cutting blade (12) in order to protect the goods in this way.

Description

The invention relates to a cutting tool for at least partially opening packaging and protecting goods contained within the packaging. The invention relates to a robot arm with at least one end effector configured to receive and move at least one such cutting tool. The invention further relates to an unpacking system comprising a robot arm and at least one package to be unpacked.

State of the art

In modern logistics, unpacking incoming goods is a low-value-added process that lends itself to automation. This process typically begins with opening the incoming cartons in which the goods are transported. Opening the cartons is usually done by cutting them open to allow easy access to the items inside. However, manually opening cartons is time-consuming and poses a risk of injury to both the operators and the goods inside. Therefore, there is a growing search for automated solutions to make this process more efficient and safer.

The problem of opening incoming cartons is an unavoidable part of today's production and supply chain processes. There are two basic approaches to automating this step: mimicking manual opening with machines that cut the tape at specific points and then unfold the carton, or cutting the carton along a defined path.

Existing model approaches were based on predefined cardboard models with fixed dimensions, which significantly limited their flexibility. One of the most advanced existing solutions is the system from CASi USA (CASi - IBOD). This system measures the cardboard boxes, and a robot cuts them based on a selected, predefined shape. Despite the availability of such systems, they mostly remain standalone solutions and do not offer comprehensive integration into an automated overall system.

Currently available cutting tools mainly use either a robot arm or specially designed hardware to enable a cutting movement.

The existing solutions use little to no intelligence in measuring the packaging. Solutions without intelligent processes simply use a special mechanism to fix the packaging in a specific position. The cutting tool is then moved along a predefined path to cut or open the packaging.

Known solutions with limited intelligence process sensor data to measure packaging size. This sensory input typically uses one-dimensional measurements, which do not provide comprehensive information about the packaging. Furthermore, these known unpacking solutions do not address safety measures to protect the products inside the packaging from the cutting tool.

The known solutions, however, address the safety problem by changing the cutting head of the cutting tool in order to adjust the blade length to the thickness of the packaging.

From the DE 10 2014 102 068 A1 A method and device for mechanically opening cardboard boxes using at least two cutting units is known, wherein one cutting unit separates the adhesive strips and the other cutting unit(s) separates the cardboard flaps. The cutting units or the cardboard box are moved by handling systems, which can be designed as gantry systems or as articulated robots.

From the DE 2020 11 051 411 U1 A device for applying at least one cutting track to an outer packaging is characterized by a linear guide unit known which is coupled or can be coupled to at least one cutting unit and which is provided for applying the at least one cutting track.

One object of the invention is to provide an improved cutting tool.

Disclosure of the invention

The problem is solved by a cutting tool according to the features of claim 1. The problem is solved by a robot arm according to the features of claim 8. The problem is solved by an unpacking system according to the features of claim 10.

According to a first aspect, a cutting tool is proposed for at least partially opening packaging and protecting goods contained within the packaging. The cutting tool comprises at least one cutting blade designed to cut at least one to cut through the wall of the packaging; and a protective device designed to keep the goods contained in the packaging away from at least one wall of the packaging and/or from the cutting blade in order to protect the goods in this way.

According to a second aspect, a robot arm with at least one end effector, which is designed to pick up and move at least one such cutting tool, is proposed.

According to a third aspect, an unpacking system comprising such a robot arm and at least one package containing goods to be protected is proposed. The robot arm is movable based on a predetermined, product-dependent cutting trajectory in order to at least partially or selectively open the package using the proposed cutting tool in order to unpack it.

The descriptions given for the cutting tool also apply to the robot arm and/or the unpacking system. It is understood that linguistic variations of features can be reformulated according to common usage without such formulations needing to be explicitly listed here.

The proposed cutting tool is equipped with an additional safety feature to provide protection for the goods contained in the packaging, in particular to prevent damage to them by a cutting blade when opening the packaging.

Since the cutting tool, which can be guided by the robot arm to cut open the packaging, is also intended to unpack sensitive vacuum-formed products or goods, it is particularly important that several criteria are met for a sufficiently accurate and safe cut by the cutting tool.

On the one hand, the cutting tool must be guided along the most precise cutting path or trajectory possible, which can preferably be determined individually for each package (due to any existing variations), for example, through intelligent measurement and modeling. On the other hand, the cutting tool itself should be designed in such a way that the goods are damaged as little as possible. The latter is achieved in particular by the cutting tool presented here.

The advantage of the cutting tool described here is that the protective device compensates for inaccuracies in cutting the cardboard boxes, thus protecting the goods even with imprecisely manufactured packaging. Such inaccuracies can be caused, for example, by deformation of the packaging or deviation from an ideal shape, which can occur during transport or storage, and/or by inaccuracies in the thickness of the packaging material and/or by incorrect knowledge or determination of such thickness. The cutting tool in question separates the packaging wall to be cut from the product to be protected by means of the protective device, preferably by removing the product from the vicinity of the cutting blade.

In this way, additional safety is provided by the mechanical displacement of the goods contained in the packaging, particularly through the optimized geometry of the cutting device. The invention is therefore preferably based on a mechanical separation of the packaging wall to be cut from the goods or products to be protected.

The improved cutting tool described herein is particularly preferably used in a method or system that enables intelligent planning of a cutting trajectory. This could, for example, be a method for determining at least one cutting trajectory for at least partially opening packaging, especially cardboard packaging, using the cutting tool proposed herein.

• - Erfassen einer dreidimensionalen Abmessung der Verpackung als mindestens eine Punktewolke durch mindestens einen optischen Sensor, insbesondere einen Lidar-Sensor und/oder einen Kamera-Sensor;
• - Erzeugen eines dreidimensionalen Modells der Verpackung auf Basis der mindestens einen Punktewolke durch ein Computer-Vision-Modell;
• - Berechnen der mindestens einen Schneid-Trajektorie zum zumindest teilweisen Öffnen der Verpackung auf Basis des dreidimensionalen Modells der Verpackung; und
• - zumindest teilweises Öffnen der Verpackung durch das vorliegend vorgeschlagene Schneidwerkzeug, das auf Basis der mindestens einen Schneid-Trajektorie beispielsweise durch einen Roboterarm oder ein Portal relativ zu der zu öffnenden Verpackung bewegungsgesteuert wird.

Such a procedure may include the following steps:

• - Capturing a three-dimensional dimension of the packaging as at least one point cloud by at least one optical sensor, in particular a lidar sensor and/or a camera sensor;
• - Generating a three-dimensional model of the packaging based on at least one point cloud using a computer vision model;
• - Calculating at least one cutting trajectory for at least partially opening the packaging based on the three-dimensional model of the packaging; and
• - at least partial opening of the packaging by the cutting tool proposed here, which is based on at least one cutting trajectory, for example by a The robot arm or a portal is controlled by its movement relative to the packaging to be opened.

Such a system, in which the present cutting tool is used, can be a system for determining at least one cutting trajectory for at least partially opening a package, in particular a cardboard box. The system can comprise at least one cutting tool as proposed herein, at least one optical sensor, in particular a lidar sensor and/or depth camera system and/or a camera sensor, and a device.

The device can include an evaluation and computing unit, wherein the at least one optical sensor is configured to capture a three-dimensional dimension of the packaging as at least one point cloud, wherein the evaluation and computing unit is configured to generate a three-dimensional model of the packaging based on the at least one point cloud using a computer vision model, and to calculate the at least one cutting trajectory for at least partially opening the packaging based on the three-dimensional model of the packaging, and wherein the cutting tool proposed here is motion-controlled based on the at least one cutting trajectory and configured to at least partially open the packaging.

An incoming package is captured, preferably at high resolution, using a sensor system such as a camera system, a depth camera system, and/or a lidar system, etc., to determine an ideal cutting trajectory. Subsequently, a detailed 3D model of the measured package can be created from the sensor input using an intelligent algorithm.

Finally, this 3D model is preferably used by a planning module to calculate an ideal cutting trajectory for opening the packaging, thus selecting the area to be cut. The cutting trajectory is then used as a control signal input for controlling a robot arm or a gantry, thereby moving the attached cutting tool with high precision along the cutting trajectory. The packaging can also be divided into several sections to be processed, in order to further improve the process or to calculate an even higher-resolution cutting trajectory.

The presented invention provides, in particular, an automated system or a method underlying this system for opening cartons, which is flexible and adaptable to different carton sizes and shapes. It can thus be seamlessly integrated into an overall logistics system, enabling greater efficiency and productivity. This represents an advancement in the automation of logistics processes and offers a solution that not only increases efficiency but also improves safety and consistency in goods handling.

In another aspect, it is proposed that the cutting tool has a tool holder, with the protective device being fixedly mounted to the at least one cutting blade on the tool holder.

The protective device can therefore preferably be mounted in a fixed position, preferably behind the cutting blade.

In another aspect, it is proposed that the cutting tool has a tool holder, wherein the protective device is movably arranged on the tool holder relative to the at least one cutting blade.

Alternatively, the protective device or structure can be moved relative to the cutting path or the cutting trajectory to be followed, depending on the specific application.

In another aspect, it is proposed that the protective device be movable parallel or at an angle, in particular perpendicular, to a main cutting direction of the cutting blade.

For example, the protective device can be moved parallel and/or perpendicular to the cutting path.

In another aspect, it is proposed that the protective device be at least elongated, in particular rod-like, and at least partially blunt in order to protect the goods.

In principle, the protective device can be designed in any way; an elongated or rod-shaped design is only meant as an example. The protective device preferably represents a fuzzy mechanical support element.

In another aspect, it is proposed that at least one cutting blade should have at least one rounded edge and/or corner in order to protect the goods.

The cutting blade may preferably be rounded and/or blunted, at least in some areas.

In another aspect, it is proposed that the at least one cutting blade only has a cutting surface in sections, and in particular is designed to be unsharp at one blade tip.

The tip of the cutting blade, which initially penetrates the packaging during the cutting motion, can preferably be blunt to prevent damage to goods inside the packaging that are in contact with the inside of the packaging wall. Instead, the cutting edge can be positioned at a distance from the tip on at least one edge of the cutting blade, so that the packaging can only be cut open when a sharp cutting surface is in contact with the packaging wall.

In another aspect, it is proposed that the robot arm has several arm parts, each coupled to the other via at least one joint, so that the robot arm is set up to perform a movement along at least one cutting trajectory in order to move the at least one cutting tool to open a package.

The cutting tool is preferably arranged on an end effector of the robot arm.

The described configurations and training programs can be combined in any way desired.

Further possible embodiments, developments and implementations of the invention also include combinations of features of the invention described previously or subsequently with regard to the exemplary embodiments that are not explicitly mentioned.

Brief description of the drawings

The accompanying drawings are intended to provide a further understanding of the embodiments of the invention. They illustrate embodiments and, in conjunction with the description, serve to explain the principles and concepts of the invention.

Other embodiments and many of the aforementioned advantages become apparent with reference to the drawings. The elements depicted in the drawings are not necessarily shown to scale.

• 1 eine schematische Ansicht eines Ausführungsbeispiels eines Schneidwerkzeuges;
• 2 eine schematische Ansicht eines Ausführungsbeispiels eines Schneidwerkzeuges;
• 3 eine schematische Ansicht eines Ausführungsbeispiels eines Schneidwerkzeuges; und
• 4 ein schematisches Flussdiagramm eines Ausführungsbeispiels eines vorteilhaften Verfahrens, bei dem das vorliegende Schneidwerkzeug verwendet werden kann.

They show:

• 1 a schematic view of an exemplary embodiment of a cutting tool;
• 2 a schematic view of an exemplary embodiment of a cutting tool;
• 3 a schematic view of an exemplary embodiment of a cutting tool; and
• 4 a schematic flowchart of an embodiment of an advantageous method in which the present cutting tool can be used.

In the figures of the drawings, identical reference symbols denote identical or functionally equivalent elements, parts or components, unless otherwise stated.

1 Figure 1 shows a part of a cutting tool 10, namely a cutting blade 12, which is designed to cut through at least one wall of a package. The cutting blade 12 has a rounded corner 14 to protect the goods. Furthermore, the cutting blade 12 has a cutting surface 16 only in certain sections and is, in particular, blunt at one blade tip 18. The cutting blade 12 also has a fastening structure 20 for attaching the cutting blade 12 to the cutting tool 10.

2 Figure 1 shows an unpacking system 200. The unpacking system 200 comprises a package 202 or a part of a package 202, in particular a section of a package wall. The unpacking system 200 further comprises a part of a robot arm 204, namely an end effector 206, on which an embodiment of the cutting tool 10 is arranged. The cutting tool 10 is in 3 shown in more detail.

The cutting tool 10 has a tool holder 208 by means of which the cutting tool 10 is mounted on the end effector 206. The cutting tool 10 has an embodiment of the cutting blade 12. Furthermore, the cutting tool 10 has a protective device 210, which is designed to keep the goods contained in the packaging 202 apart from at least one wall of the packaging 202 and/or from the cutting blade 12 in order to protect the goods.

The protective device 210 can be mounted on the tool holder 208 in a fixed position relative to the at least one cutting blade 12, in particular at a distance from it. Alternatively, the protective device 210 can be movably mounted on the tool holder 208 relative to the at least one cutting blade 12, either parallel or at an angle, in particular perpendicular, to a main cutting direction 13 of the cutting blade 12. Tool holder 208 is arranged. In this case, the protective device 210 is at least elongated, in particular rod-like, and at least partially blunt in order to protect the goods. The cutting tool 10 also has a pneumatic connection 212 for moving the protective device 210.

4 shows a schematic flowchart of an exemplary procedure for determining at least one cutting trajectory for at least partially opening a package.

The method can be carried out in any embodiment, at least partially, by a device 100, which may include several components not shown in detail, for example one or more provisioning devices and/or at least one evaluation and computing device.

It is understood that the provisioning device may be designed together with the evaluation and computing device, or it may be different from it. Furthermore, the device 100 is part of a system 1000, and may also include a storage device and/or an output device and/or a display device and/or an input device.

• In einem Schritt S1 erfolgt ein Erfassen einer dreidimensionalen Abmessung der Verpackung als mindestens eine Punktewolke durch mindestens einen optischen Sensor, insbesondere einen Lidar-Sensor und/oder einen Kamera-Sensor.

The procedure may include at least the following steps:

• In step S1, a three-dimensional dimension of the packaging is captured as at least one point cloud by at least one optical sensor, in particular a lidar sensor and/or a camera sensor.

In step S2, a three-dimensional model of the packaging is generated based on at least one point cloud using a computer vision model.

In step S3, the at least one cutting trajectory for at least partially opening the packaging is calculated based on the three-dimensional model of the packaging.

In an optional step S4, the packaging is at least partially opened by at least one cutting tool 10, as proposed here, which is motion-controlled on the basis of the at least one cutting trajectory.

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• DE 10 2014 102 068 A1 [0009]
• DE 2020 11 051 411 U1 [0010]

Claims (10)

Cutting tool (10) for at least partially opening a packaging (202) and for protecting goods contained in the packaging (202), the cutting tool (10) comprising: - at least one cutting blade (12) designed to cut through at least one wall of the packaging (202); and - a protective device (210) designed to keep the goods contained in the packaging (202) away from the at least one wall of the packaging (202) and/or from the cutting blade (12) in order to protect the goods. Cutting tool (10) after Claim 1 , wherein the cutting tool (10) has a tool holder (208), wherein the protective device (210) is fixedly mounted to the at least one cutting blade (12) on the tool holder (208). Cutting tool (10) after Claim 1 , wherein the cutting tool (10) has a tool holder (208), wherein the protective device (210) is movably arranged on the tool holder (208) relative to the at least one cutting blade (12). Cutting tool (10) after Claim 3 , wherein the protective device (210) is movable parallel or at an angle, in particular perpendicular, to a main cutting direction of the cutting blade (12). Cutting tool (10) according to one of the preceding claims, wherein the protective device (210) is at least elongated, in particular rod-like, and at least partially blunt in order to protect the goods in this way. Cutting tool (10) according to one of the preceding claims, wherein the at least one cutting blade (12) has at least one rounded edge and/or corner (14) to protect the goods in this way. Cutting tool (10) according to one of the preceding claims, wherein the at least one cutting blade (12) has a cutting surface (16) only in sections, and is in particular designed to be unsharp at a blade tip (18). Robot arm (204) with at least one end effector (206) configured to receive and move at least one cutting tool (10) according to one of the preceding claims. Robot arm (204) after Claim 7 , wherein the robot arm (204) has several arm parts (206) which are each coupled to each other via at least one joint, so that the robot arm (204) is configured to perform a movement along at least one cutting trajectory in order to move the at least one cutting tool (10) to open a package (202). unpacking system (200) comprising a robot arm (204) according to Claim 8 or 9 and at least one packaging (202) containing goods to be protected, wherein the robot arm (204) is movable on the basis of a predetermined, goods-dependent cutting trajectory in order to open the packaging (202) by means of the cutting tool (10).