Automatic loading and unloading system and method for medical waste

Abstract

The present invention belongs to the technical field of medical waste treatment, and specifically relates to a medical waste loading and unloading system and loading and unloading method. The medical waste automatic loading and unloading system and loading and unloading method, wherein the loading and unloading system includes a truck, an AGV vehicle, a truss manipulator, a full-box roller conveyor, an empty-box roller conveyor, a bidirectional roller conveyor, and a truck roller conveyor. The truss manipulator transports the material box on the AGV vehicle to the full-box roller conveyor, and transports the empty box on the empty-box roller conveyor to the AGV vehicle. The bidirectional roller conveyor transports the material box transported by the full-box roller conveyor to the truck roller conveyor, and pushes the empty box on the truck roller conveyor to the empty-box roller conveyor. The present invention can realize the automatic transportation and loading and unloading of medical waste, does not require manual contact, ensures personnel safety, and improves work efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical waste treatment, and in particular relates to a medical waste loading and unloading system and a loading and unloading method. Background Art

[0002] With the progress and development of society, the number of hospitals has increased, and medical waste has also grown rapidly. Simply relying on manual waste loading and unloading can no longer meet the needs of today's society. Manual waste loading and unloading has the following defects:

[0003] 1. Manual operation affects efficiency and causes loading and unloading interruptions;

[0004] 2. It has high requirements for manpower and requires wearing protective clothing and other isolation equipment for a long time;

[0005] 3. Waste may contain items that are harmful to the body, and manual handling cannot completely avoid harm. Summary of the invention

[0006] The present invention aims to provide an automatic loading and unloading system and method for medical waste in order to solve the technical problems of low efficiency and easy injury risk in manual loading and unloading of medical waste.

[0007] The automatic loading and unloading system for medical waste includes a truck for transporting the containers and also includes:

[0008] The AGV transports a bin filled with medical waste from a preset second position to a preset first position, and transports an empty bin from the preset first position to a preset third position;

[0009] The truss manipulator is located on the right side of the empty box roller conveyor and the full box roller conveyor, and moves the material box on the AGV vehicle to the full box roller conveyor, and moves the empty box on the empty box roller conveyor to the AGV vehicle;

[0010] A full-box roller conveyor, comprising a full-box roller that moves left and right, pushing the material box from the right side to the bidirectional roller conveyor through a mechanical transition device;

[0011] An empty box roller conveyor is located in front of the full box roller conveyor and includes an empty box roller that moves left and right to transport the empty box from the left side to the right side;

[0012] A bidirectional roller conveyor, comprising left and right rollers for left and right movement and front and rear conveyor belts for front and rear movement, is located on the left side of the empty box roller conveyor and the full box roller conveyor, and conveys the boxes conveyed by the full box roller conveyor to the truck roller conveyor, and pushes the empty boxes on the truck roller conveyor to the empty box roller conveyor through a mechanical transition device, and the height of the front and rear conveyor belts is not higher than the height of the left and right rollers;

[0013] The truck roller conveyor is arranged on the truck and includes a truck roller that moves left and right to convey the material boxes conveyed by the bidirectional roller conveyor into the truck and convey the empty boxes in the truck to the bidirectional roller conveyor.

[0014] Also includes:

[0015] The lifting mechanism is arranged below the bidirectional roller conveyor to lift the front and rear conveyor belts to dock with the truck roller conveyor, or to lower the front and rear conveyor belts to dock with the empty box roller conveyor, so that trucks of different heights can be automatically loaded and unloaded.

[0016] Also includes:

[0017] Smart warehouse, with intelligent constant temperature regulation and spray disinfection functions;

[0018] The truss manipulator, full-box roller conveyor, empty-box roller conveyor and bidirectional roller conveyor are all arranged in the intelligent warehouse, so that the whole system is operated in the intelligent warehouse.

[0019] The bidirectional roller conveyor comprises:

[0020] The left and right roller conveying mechanism comprises left and right rollers that move left and right;

[0021] The front and rear conveyor belt mechanism comprises the front and rear conveyor belts that move forward and backward, and at least one of the front and rear conveyor belts is arranged between two adjacent left and right rollers.

[0022] The full-box roller conveyor is provided with a first position sensor, and a signal output end of the first position sensor is connected to a control end of the full-box roller conveyor;

[0023] When the first position sensor detects that the material box is full, it sends a driving signal to the full-box roller conveyor, and the full-box roller conveyor conveys the batches of material boxes to the bidirectional roller conveyor.

[0024] The bidirectional roller conveyor is provided with a second position sensor, and a signal output end of the second position sensor is connected to a control end of the bidirectional roller conveyor;

[0025] When the second position sensor detects that the bidirectional roller conveyor is successfully docked with the truck roller conveyor, the bidirectional roller conveyor receives the empty boxes sent by the truck roller conveyor, and the bidirectional roller conveyor delivers the full boxes to the truck roller conveyor.

[0026] The bidirectional roller conveyor is provided with a third position sensor, and the signal output end of the third position sensor is connected to the control end of the lifting mechanism;

[0027] When the third position sensor detects that the bidirectional roller conveyor loading box has been transported, it sends a lowering drive signal to the lifting mechanism, and the lifting mechanism lowers the front and rear conveyor belts;

[0028] When the third position sensor detects that there is a material box on the bidirectional roller conveyor, a lifting drive signal is sent to the lifting mechanism, and the lifting mechanism lifts the front and rear conveyor belts.

[0029] The full box roller on the full box roller conveyor comprises:

[0030] The full-box turnover roller is used to stack the boxes delivered by the truss manipulator;

[0031] The full-box conveying roller conveys the stacked preset number of boxes from the right to the bidirectional roller conveyor on the left;

[0032] The full-box turnover roller is located on the right side of the full-box conveying roller.

[0033] The empty box roller on the empty box roller conveyor comprises:

[0034] An empty box conveying roller, which conveys the empty boxes conveyed by the bidirectional roller conveyor from the left to the empty box turnover roller on the right;

[0035] The empty box turnover roller is used to place the empty boxes conveyed by the empty box conveying roller to be picked up by the truss manipulator;

[0036] The empty box turnover roller is located on the right side of the empty box conveying roller.

[0037] The automatic loading and unloading method of medical waste comprises the following steps:

[0038] S1, the AGV transports the material box from the preset second position to the preset first position, stays for a preset time, and then returns from the preset first position to the preset third position;

[0039] S2, the truss manipulator moves the material box on the AGV to the full-box roller conveyor, and moves the empty box on the empty-box roller conveyor to the AGV;

[0040] S3, when the material boxes are stacked to a preset number and height, the full-box roller conveyor transports the batches of material boxes to the bidirectional roller conveyor;

[0041] S4, the lifting mechanism lifts the front and rear conveyor belts, and the front and rear conveyor belts are connected with the truck roller conveyor;

[0042] S5, the bidirectional roller conveyor receives the empty box sent from the truck roller conveyor, and then the bidirectional roller conveyor sends the box to the truck roller conveyor;

[0043] S6, the lifting mechanism lowers the front and rear conveyor belts, and the front and rear conveyor belts dock with the empty box roller conveyor; the left and right rollers dock with the full box roller conveyor, waiting for the full box roller conveyor to transport the material box;

[0044] S7, the bidirectional roller conveyor transports the empty boxes to the empty box roller conveyor, and the empty box roller conveyor transports the empty boxes in batches to one side to be transported by the truss robot.

[0045] The positive progressive effect of the present invention is that the present invention adopts an automatic loading and unloading system and method for medical waste, which can realize automatic transportation and loading and unloading of medical waste without manual contact, thereby ensuring personnel safety and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of an overall structure of the present invention;

[0047] Figure 2 This is a schematic diagram of the internal structure of the intelligent warehouse of the present invention;

[0048] Figure 3 A schematic diagram of the structure of the present invention during initial loading and unloading;

[0049] Figure 4 It is a partial structural schematic diagram of the bidirectional roller conveyor of the present invention;

[0050] Figure 5 for Figure 4 Bottom view of

[0051] Figure 6 It is a partial structural schematic diagram of the bidirectional roller of the present invention. DETAILED DESCRIPTION

[0052] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below with reference to specific illustrations.

[0053] Reference Figures 1 to 6The automatic loading and unloading system for medical waste includes a truck 1 for transporting material boxes, an AGV vehicle 2, a truss manipulator 3, a full-box roller conveyor 4, an empty-box roller conveyor 5, a bidirectional roller conveyor 6, a lifting mechanism 7, and an intelligent warehouse 8.

[0054] The truck roller conveyor 11 is arranged on the truck 1. The truck roller conveyor 11 includes a truck roller that moves left and right. The truck roller conveyor 11 conveys the material boxes conveyed by the bidirectional roller conveyor 6 into the truck 1, and conveys the empty boxes in the truck 1 to the bidirectional roller conveyor 6. When loading and unloading material boxes, the truck 1 enters the intelligent warehouse 8 and stops at the right side of the bidirectional roller conveyor 6.

[0055] The AGV vehicle 2 is pre-set with a transport program for transporting a box full of medical waste from a preset second position to a preset first position, and transporting an empty box from the preset first position to a preset third position. The preset second position and the preset third position are generally far away from the intelligent warehouse 8. The right sides of the full box roller conveyor 4 and the empty box roller conveyor 5 are not flush, one of the conveyors is shorter than the other, and there is a reserved space between the two, and this reserved space is the preset first position.

[0056] The truss manipulator 3 is located on the right side of the empty box roller conveyor 5 and the full box roller conveyor 4. The truss manipulator 3 is erected on the left and right sides of the empty box roller conveyor 5 and the full box roller conveyor 4. The truss manipulator 3 moves the material box on the AGV vehicle 2 to the full box roller conveyor 4 and moves the empty box on the empty box roller conveyor 5 to the AGV vehicle 2 according to the preset program.

[0057] Reference Figure 3 The full-box roller conveyor 4 includes a full-box roller that moves left and right, and pushes the material box from the right side to the bidirectional roller conveyor 6 through a mechanical transition device. The full-box roller on the full-box roller conveyor 4 includes a full-box rotating roller 41 and a full-box conveying roller 42, and the full-box rotating roller 41 is located on the right side of the full-box conveying roller 42. The full-box rotating roller 41 stacks the material boxes delivered by the truss manipulator 3. The full-box conveying roller 42 conveys the stacked preset number of material boxes from the right to the left side of the bidirectional roller conveyor 6.

[0058] The empty box roller conveyor 5 is located in front of the full box roller conveyor 4, and includes an empty box roller that moves left and right. The empty box roller conveyor 5 transports the empty box from the left to the right. The empty box rollers on the empty box roller conveyor 5 include an empty box conveying roller 51 and an empty box turnover roller 52. The empty box turnover roller 52 is located on the right side of the empty box conveying roller 51. The empty box conveying roller 51 conveys the empty box conveyed by the bidirectional roller conveyor 6 from the left to the empty box turnover roller 52 on the right. The empty box turnover roller 52 places the empty box conveyed by the empty box conveying roller 51 to be picked up by the truss manipulator 3.

[0059] Reference Figure 4 and Figure 6 The bidirectional roller conveyor 6 includes left and right rollers that move left and right and front and rear conveyor belts that move forward and backward. The height of the front and rear conveyor belts is not higher than the height of the left and right rollers. The bidirectional roller conveyor 6 is located on the left side of the empty box roller conveyor 5 and the full box roller conveyor 4. The front and rear conveyor belts of the bidirectional roller conveyor 6 transport the material box transported by the full box roller conveyor 4 to the truck roller conveyor 11. The front and rear conveyor belts of the bidirectional roller conveyor 6 push the empty box on the truck roller conveyor 11 to the empty box roller conveyor 5 through a mechanical transition device. The left and right rollers of the bidirectional roller conveyor 6 move the material box or the empty box left and right so as to align with the truck roller conveyor 11, the full box roller conveyor 4 or the empty box roller conveyor 5. Specifically, the bidirectional roller conveyor 6 includes a left and right roller conveying mechanism and a front and rear conveyor belt mechanism. The left and right roller conveying mechanism includes left and right rollers 61 that move left and right. The front and rear conveyor belt mechanism includes a front and rear conveyor belt 62 that moves forward and backward. At least one front and rear conveyor belt 62 is arranged between two adjacent left and right rollers 61. Preferably, the left and right roller conveying mechanism uses an independent driving mechanism and a transmission mechanism to drive the plurality of left and right rollers 61 to move left and right, and the front and rear conveying belt mechanism uses an independent driving mechanism and a transmission mechanism to drive the plurality of front and rear conveying belts 62 to move forward and backward.

[0060] Reference Figure 5 The lifting mechanism 7 is used for lifting and lowering, and the lifting mechanism 7 is arranged below the bidirectional roller conveyor 6, and the front and rear conveyor belts 62 are lifted to dock with the truck roller conveyor 11, or the front and rear conveyor belts 62 are lowered to dock with the empty box roller conveyor 5. As a result, the purpose of automatic loading and unloading can be achieved for trucks 1 of different heights.

[0061] The intelligent warehouse 8 has the functions of intelligent constant temperature regulation and spray disinfection. The truss manipulator 3, the full box roller conveyor 4, the empty box roller conveyor 5 and the bidirectional roller conveyor 6 are all arranged in the intelligent warehouse 8. So that the whole system runs in the intelligent warehouse 8.

[0062] In order to achieve better automatic loading and unloading of material boxes and empty boxes, the present invention is also provided with sensor devices such as a first position sensor, a second position sensor and a third position sensor:

[0063] A first position sensor is provided on the full-box roller conveyor 4, and a signal output end of the first position sensor is connected to a control end of the full-box roller conveyor 4. When the first position sensor detects that the material box is full, it sends a driving signal to the full-box roller conveyor 4, and the full-box roller conveyor 4 conveys batches of material boxes to the bidirectional roller conveyor 6. Multiple first position sensors can be provided, and one of the first position sensors can be provided at the right rear of the full-box roller conveyor 4 to detect whether the first row of material boxes is completely stacked. If it is completely stacked, the full-box roller conveyor 4 is driven to move to a preset position so as to leave a stacking position for the second row of material boxes on the right side of the full-box roller conveyor 4. Another first position sensor can be provided at the lower left side of the full-box roller conveyor 4 to detect whether the full-box roller conveyor 4 is full. If it is full, the full-box roller conveyor 4 is driven to move to a preset position so as to convey the leftmost row of material boxes to the bidirectional roller conveyor 6.

[0064] The bidirectional roller conveyor 6 is provided with a second position sensor, and the signal output end of the second position sensor is connected to the control end of the bidirectional roller conveyor 6, preferably the control end of the front and rear conveyor belt mechanism. When the second position sensor detects that the bidirectional roller conveyor 6 is successfully docked with the truck roller conveyor 11, the front and rear conveyor belt mechanisms of the bidirectional roller conveyor 6 preferably receive the empty boxes sent by the truck roller conveyor 11, and the front and rear conveyor belt mechanisms of the bidirectional roller conveyor 6 preferably transport the full boxes to the truck roller conveyor 11. The detection end of the second position sensor is preferably facing the truck on the left side, so as to detect whether the bidirectional roller conveyor 6 is in place.

[0065] A third position sensor is provided on the bidirectional roller conveyor 6, and a signal output end of the third position sensor is connected to a control end of the lifting mechanism 7. When the third position sensor detects that the bidirectional roller conveyor 6 is transporting a material box, a lowering drive signal is sent to the lifting mechanism 7, and the lifting mechanism 7 lowers the front and rear conveyor belts 62. When the third position sensor detects that there is a material box on the bidirectional roller conveyor 6, a lifting drive signal is sent to the lifting mechanism 7, and the lifting mechanism 7 lifts the front and rear conveyor belts 62.

[0066] The first position sensor, the second position sensor and the third position sensor may all be existing position sensors such as infrared reflection sensors or proximity switches.

[0067] The automatic loading and unloading method of medical waste comprises the following steps:

[0068] S1, the AGV 2 transports the material box from the preset second position to the preset first position, and after staying for a preset time, transports the empty box from the preset first position to the preset third position;

[0069] S2, the truss manipulator 3 moves the material box on the AGV vehicle 2 to the full-box roller conveyor 4, and moves the empty box on the empty-box roller conveyor to the AGV vehicle 2;

[0070] The truss manipulator 3 is preset with a stacking program before handling, and the truss manipulator 3 stacks the boxes in a row according to the stacking number and stacking distance. The truss manipulator 3 carries the empty boxes in a row according to the handling distance.

[0071] A fourth position sensor may also be provided on the truss manipulator 3 to detect whether there is a material box or an empty box that needs to be transported below the truss manipulator 3 after the truss manipulator 3 is in place.

[0072] S3, when the material boxes are stacked to a preset number and height, the full-box roller conveyor 4 conveys the batches of material boxes to the bidirectional roller conveyor 6;

[0073] like Figure 2 As shown in the figure, after the boxes are stacked into a row of 4 boxes in a row and 3 boxes in a row, it is considered that the boxes are stacked with a preset number and height. At this time, the full-box roller conveyor 4 moves a preset distance from right to left to make room for the next row of boxes. When the full-box roller conveyor 4 is full, during the movement of the full-box roller conveyor 4 from right to left, the leftmost row of boxes is pushed onto the bidirectional roller conveyor 6 under the action of the mechanical transition device.

[0074] S4, the lifting mechanism 7 lifts the front and rear conveyor belts 62, and the front and rear conveyor belts 62 are connected to the truck roller conveyor 11;

[0075] S5, the bidirectional roller conveyor 6 receives the empty box sent from the truck roller conveyor 11, and then the bidirectional roller conveyor 6 sends the box to the truck roller conveyor 11;

[0076] During the specific implementation, after the bidirectional roller conveyor 6 and the truck roller conveyor 11 are successfully docked, since there is already a material box on the bidirectional roller conveyor 6, the left and right rollers 61 of the bidirectional roller conveyor 6 first move backwards, driving the empty box, and position the empty box toward the truck roller conveyor 11 to receive the empty box sent by the truck roller conveyor 11. Then the left and right rollers 61 of the bidirectional roller conveyor 6 move forward to move the empty box to the left side of the empty box roller conveyor 5. At this time, the material box is just facing the truck roller conveyor 11. Finally, the front and rear conveyor belts 62 of the bidirectional roller conveyor 6 send the material box to the truck roller conveyor 11.

[0077] S6, the lifting mechanism 7 lowers the front and rear conveyor belts 62, and the front and rear conveyor belts 62 dock with the empty box roller conveyor 5; at this time, the left and right rollers 61 dock with the full box roller conveyor 4, waiting for the full box roller conveyor 4 to transport the material box.

[0078] S7, the front and rear conveyor belts 62 of the bidirectional roller conveyor 6 convey the empty boxes to the empty box roller conveyor 5, and the empty box roller conveyor 5 conveys the empty boxes in batches to one side to be transported by the truss manipulator 3.

[0079] As a result, loading and unloading are completed at one time, and this cycle is repeated to achieve the purpose of automatically loading and unloading medical waste.

[0080] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic loading and unloading system for medical waste, comprising a truck for transporting a material box, characterized in that: Also includes: The AGV transports a bin filled with medical waste from a preset second position to a preset first position, and transports an empty bin from the preset first position to a preset third position; The truss manipulator is located on the right side of the empty box roller conveyor and the full box roller conveyor, and moves the material box on the AGV vehicle to the full box roller conveyor, and moves the empty box on the empty box roller conveyor to the AGV vehicle; Full case roller conveyor, including full case rollers that move left and right, pushing the case from the right side to the bidirectional roller conveyor through a mechanical transition device; An empty box roller conveyor is located in front of the full box roller conveyor and includes an empty box roller that moves left and right to transport the empty box from the left side to the right side; A bidirectional roller conveyor, comprising left and right rollers for left and right movement and front and rear conveyor belts for front and rear movement, is located on the left side of the empty box roller conveyor and the full box roller conveyor, and conveys the boxes conveyed by the full box roller conveyor to the truck roller conveyor, and pushes the empty boxes on the truck roller conveyor to the empty box roller conveyor through a mechanical transition device, and the height of the front and rear conveyor belts is not higher than the height of the left and right rollers; A truck roller conveyor is arranged on the truck and includes a truck roller that moves left and right to convey the material boxes conveyed by the bidirectional roller conveyor into the truck and to convey the empty boxes in the truck to the bidirectional roller conveyor; Smart warehouse, with intelligent constant temperature regulation and spray disinfection functions; The truss manipulator, full-box roller conveyor, empty-box roller conveyor and bidirectional roller conveyor are all arranged in the intelligent warehouse; The full box roller on the full box roller conveyor comprises: The full-box turnover roller is used to stack the boxes delivered by the truss manipulator; A full-box conveying roller conveys a preset number of stacked boxes from the right to the bidirectional roller conveyor on the left; The full-box turnover roller is located on the right side of the full-box conveying roller; The empty box roller on the empty box roller conveyor comprises: An empty box conveying roller, which conveys the empty boxes conveyed by the bidirectional roller conveyor from the left to the empty box turnover roller on the right; The empty box turnover roller is used to place the empty boxes conveyed by the empty box conveying roller to be picked up by the truss manipulator; The empty box turnover roller is located on the right side of the empty box conveying roller.

2. The automatic loading and unloading system for medical waste according to claim 1, characterized in that: Also includes: The lifting mechanism performs lifting motion and is arranged below the bidirectional roller conveyor to lift the front and rear conveyor belts to dock with the truck roller conveyor, or to lower the front and rear conveyor belts to dock with the empty box roller conveyor.

3. The automatic loading and unloading system for medical waste according to claim 1 or 2, characterized in that: The bidirectional roller conveyor comprises: The left and right roller conveying mechanism comprises left and right rollers that move left and right; The front and rear conveyor belt mechanism comprises the front and rear conveyor belts that move forward and backward, and at least one of the front and rear conveyor belts is arranged between two adjacent left and right rollers.

4. The automatic loading and unloading system for medical waste according to claim 2, characterized in that: The full-box roller conveyor is provided with a first position sensor, and a signal output end of the first position sensor is connected to a control end of the full-box roller conveyor; When the first position sensor detects that the material box is full, it sends a driving signal to the full-box roller conveyor, and the full-box roller conveyor conveys the batches of material boxes to the bidirectional roller conveyor.

5. The automatic loading and unloading system for medical waste according to claim 4, characterized in that: The bidirectional roller conveyor is provided with a second position sensor, and a signal output end of the second position sensor is connected to a control end of the bidirectional roller conveyor; When the second position sensor detects that the bidirectional roller conveyor is successfully docked with the truck roller conveyor, the bidirectional roller conveyor receives the empty boxes sent by the truck roller conveyor, and the bidirectional roller conveyor delivers the full boxes to the truck roller conveyor.

6. The automatic loading and unloading system for medical waste according to claim 5, characterized in that: The bidirectional roller conveyor is provided with a third position sensor, and the signal output end of the third position sensor is connected to the control end of the lifting mechanism; When the third position sensor detects that the bidirectional roller conveyor loading box has been transported, it sends a lowering drive signal to the lifting mechanism, and the lifting mechanism lowers the front and rear conveyor belts; When the third position sensor detects that there is a material box on the bidirectional roller conveyor, a lifting drive signal is sent to the lifting mechanism, and the lifting mechanism lifts the front and rear conveyor belts.

7. A method for automatically loading and unloading medical waste, using the automatic loading and unloading system for medical waste according to any one of claims 1 to 6, comprising the following steps: S1, the AGV transports the material box from the preset second position to the preset first position, stays for a preset time, and then returns from the preset first position to the preset third position; S2, the truss manipulator moves the material box on the AGV to the full box roller conveyor, and moves the empty box on the empty box roller conveyor to the AGV; S3, when the material boxes are stacked to a preset number and height, the full-box roller conveyor transports the batches of material boxes to the bidirectional roller conveyor; S4, the lifting mechanism lifts the front and rear conveyor belts, and the front and rear conveyor belts are connected with the truck roller conveyor; S5, the bidirectional roller conveyor receives the empty box sent from the truck roller conveyor, and then the bidirectional roller conveyor sends the box to the truck roller conveyor; S6, the lifting mechanism lowers the front and rear conveyor belts, and the front and rear conveyor belts dock with the empty box roller conveyor; the left and right rollers dock with the full box roller conveyor, waiting for the full box roller conveyor to transport the material box; S7, the bidirectional roller conveyor transports the empty boxes to the empty box roller conveyor, and the empty box roller conveyor transports the empty boxes in batches to one side to be transported by the truss robot.

Images