An intelligent unmanned assembly line for tea packaging

Abstract

The present invention provides an intelligent unmanned assembly line for tea packaging, which belongs to the field of warehousing technology. It solves the problems of labor waste, low sorting and warehousing efficiency, and large space occupation in the existing tea packaging warehousing and sorting process. The present invention includes a palletizing device, a pallet device, a computer, and a conveying assembly line; the palletizing device includes a palletizing robot, a conveying mechanism, a second control device, and a safety grating, and multiple safety gratings form a working area; the pallet device is equipped with a baffle mechanism, a lifting mechanism, and a first control device; the conveying assembly line is provided with a second-floor conveying line, a slope conveying line, a first-floor conveying line, a box pusher, a box stacker, a first baler, a first steering device, a first roller conveying device, a second baler, a second roller conveying device, a second steering device, a box flipper, a third roller conveying device, and a third baler. The present invention has the advantages of saving manpower, saving space, and improving sorting and warehousing efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of warehousing, and in particular relates to an intelligent unmanned assembly line for tea packaging. Background Art

[0002] With the rapid development of the modern logistics industry, the inspection, sorting and warehousing management of various types of goods is arduous, among which the goods are heavy, of many types, and in large quantities, and quality problems are the main reasons. These increasingly prominent problems not only appear in the logistics industry, but also in the factory manufacturing industry; and whether in the logistics industry or the manufacturing industry, especially in the production of tea packaging, the inspection, sorting and warehousing management of products adopts traditional manual sorting, manual handling, and manual warehousing operations; its low efficiency, unobvious inspection quality effect, and high labor intensity are always problems; at the same time, due to manual operation, the height of the shelf is limited, the space utilization rate of the low-level shelf is low, and the high-level shelf has safety hazards. Moreover, due to the limited space of most factories, an additional storage area is usually set up in a factory building, but it is very troublesome and time-consuming to take down the product. The existing technology generally adopts conveyors to cooperate with manual operations, and the goods are taken to the lowest layer by manual means, and then the conveyor is operated. Although the transportation function of the goods is solved and the manual labor is reduced, there is still the need for manual sorting and manual warehousing, and its fundamental problem has not been solved. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent unmanned assembly line for tea packaging that saves manpower, saves space, and improves sorting and warehousing efficiency in view of the above-mentioned problems existing in the prior art.

[0004] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme: an intelligent unmanned assembly line for tea packaging includes a palletizing device, a tray device, a computer and a conveying assembly line; the palletizing device includes a palletizing robot, a conveying mechanism arranged next to the palletizing robot, a second control device connected to the palletizing robot in communication, and a safety grating connected to the second control device in communication, and a plurality of the safety gratings form a working area; the palletizing robot has a palletizing tooling, and the palletizing robot is located in the working area; the conveying mechanism is partially arranged in the working area; the working area includes a first working surface cooperating with the second control device, a second working surface cooperating with the conveying mechanism The palletizing robot is located in the central area of ​​the working area, and the working area is provided with pallet positioning seats on the left and right sides of the palletizing robot; the safety grating is composed of a working area through a plurality of mounting brackets, and the mounting bracket includes a bracket body fixed to the ground and a first connecting block connected to the safety grating; the safety grating has a first blocking bar arranged at the top of the safety grating and a second blocking bar arranged at the bottom of the safety grating, and the first blocking bar and the second blocking bar are parallel to the ground; the working area has a material opening for material entry and exit, and the material opening is arranged on both sides of the second control device; the pallet device includes a pallet rack, and the pallet rack is equipped with A baffle mechanism that cooperates with the pallet, a lifting mechanism that cooperates with the pallet to realize the lifting of the pallet, and a first control device for controlling the lifting mechanism; the baffle mechanism includes a baffle that abuts against the pallet and a support frame for mounting the baffle on the pallet frame; the lifting mechanism includes a lifting bracket, a lifting hook plate for lifting the pallet, a first driving mechanism for driving the lifting bracket to reciprocate along the width direction of the pallet frame, and a second driving mechanism for driving the lifting bracket to reciprocate along the height direction of the pallet frame; the pallet frame includes a first fixed plate connected to the lifting bracket, a horizontal guide rail for cooperating with the first fixed plate to slide back and forth along the width direction of the pallet frame, and a second driving mechanism for installing the horizontal guide rail and the first driving mechanism. The second fixed plate of the mechanism is used to cooperate with the second fixed plate to slide back and forth along the length direction of the pallet frame on the lifting guide rail. The first fixed plate is connected to the first driving mechanism, and the second fixed plate is connected to the second driving mechanism; the conveying line is sequentially provided with a second-floor conveying line, a slope conveying line, a first-floor conveying line, a box pusher, a box stacker, a first baler, a first steering device, a first roller conveying device, a second baler, a second roller conveying device, a second steering device, a box flipper, a third roller conveying device and a third baler from beginning to end; the third baler is docked with the conveying mechanism next to the stacking robot; the computer is respectively connected to the stacking device, the pallet device and the conveying line for communication.

[0005] During operation, the products are transported to the slope conveyor line through the second-floor conveyor line located on the high floor. The slope conveyor line transports the products to the first-floor conveyor line downstairs. The first-floor conveyor line transports the products to the box pusher. The box pusher pushes two cartons into two side-by-side cartons, and then continues to transport them to the stacker. The stacker lifts the two side-by-side cartons and stacks them on the next two side-by-side cartons. Then the four cartons are transported to the first baler. The first baler transports the four cartons to the first steering device after packaging once. The first steering device pushes the four cartons packaged this time onto the first roller conveyor, so that the transportation direction of the cartons is changed for the first time, perpendicular to the original transportation direction. The cartons are transported to the second baler by the first roller conveyor for the second baling. The belts of the second baling and the first baling are in a cross shape. After the second baling, the cartons are transported to the second roller conveyor mechanism. The second roller conveyor mechanism transports the cartons to the second steering device. The second steering device pushes the cartons to the carton flipper. The carton flipper flips the four cartons 90° so that the four cartons are placed horizontally and transported to the third roller conveyor. The third roller conveyor transports the cartons to the third baler. The third baler packs the cartons three times. The belts of the three packs are in a cross shape with the belts of the first and second packs. After that, the cartons after the three packs are transported to the conveying mechanism of the palletizing device. The first baler, the second baler and the third baler are all common balers on the market and will not be described here.

[0006] When the pallet device is working, multiple pallets are placed between the baffle mechanisms through the AGV intelligent forklift. The baffles on the baffle mechanisms abut against the sides of the pallets to fix the positions of the pallets. When the bottom pallet needs to be taken out, the lifting bracket is driven to the appropriate position through the second driving mechanism, and then the lifting bracket is driven by the first driving mechanism so that the lifting hook plate can be inserted into the groove of the pallet. At this time, the second driving mechanism is actuated again to lift the second to last pallet and the pallet above it together. The AGV intelligent forklift automatically drives to the position of the pallet device to take away the bottom pallet and place it on the pallet positioning seat of the palletizing device. When necessary, the movement distance of the second driving mechanism can be set to achieve the setting of the number of pallets to be taken away at the bottom. It is easy to operate and safe to use. The first control device is a common industrial computer or other control device installed in the cover. The first control device is connected to the side of the pallet rack by threads. AGV intelligent forklift refers to a transport vehicle equipped with electromagnetic or optical automatic guidance devices, which can travel along the specified guidance path and has safety protection and various transfer functions. AGV intelligent forklift belongs to the category of wheeled mobile robots. In industrial applications, the transport vehicle does not require a driver and uses a rechargeable battery as its power source. Generally, its route and behavior can be controlled by a computer, or its route can be established by using an electromagnetic track. The electromagnetic track is attached to the floor, and the unmanned transport vehicle moves and acts according to the information brought by the electromagnetic track. It will not be described here.

[0007] When the palletizing device is working, the conveying mechanism conveys the three-packed cartons (hereinafter referred to as materials) to the working area, and then the palletizing robot grabs the materials and places them on the pallet through the palletizing tooling. When someone enters the working area, the safety grating sends a signal to the second control device. After processing the signal, the second control device shuts down the palletizing robot and the conveying mechanism through the built-in program, so that the palletizing robot and the conveying mechanism stop working immediately, preventing the palletizing robot from injuring people when working, and preventing the conveying mechanism from continuously running and causing the material to fall out of the conveying mechanism. The safety factor is high, and the structure is simple, and it can be applied to a variety of production lines. The safety grating is a photoelectric device that prevents people from approaching mobile machinery, which can avoid casualties. Such mobile machinery includes punching machines, winding machines, palletizers, elevators, etc. The safety grating can be used to replace traditional mechanical barriers or other forms of mechanical protection, and can also increase the maintainability of the equipment. In conjunction with the safety grating, the operability and efficiency of mechanical equipment (such as some semi-automatic equipment) can also be increased. Palletizing robots and palletizing tools are common equipment in this field. The second control device is a conventional industrial computer and a touch screen installed in a housing. They are all conventional equipment and will not be described in detail here.

[0008] The AGV intelligent forklift transports the pallet with materials already placed on the palletizing device from the material outlet, then moves to the warehouse area along the specified route, and then places the pallet at the designated storage location. Finally, the AGV intelligent forklift stops at the charging station to charge and wait for the next instruction. The route and storage location here are controlled by a computer. It has the advantages of saving manpower and improving the efficiency of sorting and warehousing.

[0009] The camera system can monitor and record all situations on the entire site. When there is a potential safety hazard, the camera system will send a signal to the computer, which will issue an alarm and control all mechanisms to stop operating to prevent safety accidents.

[0010] Furthermore, the conveying mechanism includes a powered roller line for conveying materials in a straight line, an oblique powered roller line docked with the powered roller line, and a tooling roller line cooperating with the palletizing robot. The tooling roller line is located in the working area below the second working surface of the oblique powered roller line. The powered roller line, the oblique powered roller line, and the tooling roller line are all common roller conveyors on the market. The powered roller line is used to convey materials in a straight line to the oblique powered roller line. The oblique powered roller line is used to tilt the materials and make them fall down, so that the materials are placed horizontally from the original vertical position, and finally conveyed to the tooling roller line. The tooling roller line can be powered or unpowered. The tooling roller line is used for the palletizing robot to take away the materials using the palletizing tooling. A second working surface is provided above the oblique powered roller line. This working surface can detect personnel at the position of the conveying mechanism to prevent personnel from entering the working area from the position of the conveying mechanism.

[0011] Furthermore, the safety grating has a second connection block that cooperates with the first connection block, and the second connection blocks are evenly arranged along the length direction of the safety grating. The safety grating is installed on the mounting bracket through the first connection block and the second connection block, and the second connection blocks are evenly arranged along the length direction of the safety grating, so that the fixation between the safety grating and the mounting bracket is more secure.

[0012] Furthermore, the pallet rack includes a first fixed plate connected to the lifting bracket, a horizontal guide rail for cooperating with the first fixed plate to slide back and forth along the width direction of the pallet rack, a second fixed plate for installing the horizontal guide rail and the first driving mechanism, and a lifting guide rail for cooperating with the second fixed plate to slide back and forth along the length direction of the pallet rack, wherein the first fixed plate is connected to the first driving mechanism, and the second fixed plate is connected to the second driving mechanism. The horizontal guide rail and the lifting guide rail are both standard parts commonly found in the art, and will not be described in detail here. The first driving mechanism may be a cylinder or a hydraulic cylinder, which can drive the first fixed plate to slide on the horizontal guide rail, thereby driving the lifting bracket to move, and the second driving mechanism is an existing reduction motor or a servo motor, which is connected to the second fixed plate through a sprocket chain or a gear rack structure, and the second fixed plate can be driven by the second driving mechanism to move on the lifting guide rail, with high operating precision and stable operation.

[0013] Furthermore, the support frame has a support rod detachably connected to the pallet rack, an end of the support rod away from the baffle is provided with an external thread, and the pallet rack has a through hole matched with the support rod. The support rod is inserted into the through hole of the pallet rack and then fixed by a nut. This arrangement not only facilitates the installation of the support frame, but also allows the support frame to be adjusted. By changing the length of the support rod extending into the pallet rack, pallets of different sizes can be installed, which has a wide range of applications. Of course, a scale can also be set on the support rod for more convenient adjustment.

[0014] Furthermore, the baffle includes a first contact surface and a guide surface that matches the tray. The baffle abuts against the side of the tray through the first contact surface, and then the guide surface is located on the side of the first contact surface. This guide surface can facilitate the insertion of the tray and also facilitate the tray to move up and down along the first contact surface, so that the tray will not be interfered by the edge of the first contact surface when inserted.

[0015] Furthermore, the lifting hook plate has a hook piece for hooking up the pallet and a fixing frame threadedly connected to the lifting bracket, and the lifting bracket has a threaded hole that matches the fixing frame. During installation, it is only necessary to insert the fixing frame into the lifting bracket, and then align the hole on the fixing frame with the threaded hole on the lifting bracket and then screw in the screw. The installation is convenient and the operation is simple. A plurality of threaded holes can also be set on the lifting bracket. By adjusting the position of the fixing frame, a plurality of pallets of different specifications can be supported, and the application range is wide.

[0016] Furthermore, the lifting bracket includes a first fixing part connected to the lifting hook plate, a second fixing part connected to the pallet frame, and a reinforcing plate connecting the first fixing part and the second fixing part, wherein the first fixing part and the second fixing part are perpendicular to each other and are L-shaped. The first fixing part is fixedly connected to the second fixing part by welding or the like, and the reinforcing plate can increase the strength of the connection between the first fixing part and the second fixing part. The reinforcing plate can be fixed to the connection between the first fixing part and the second fixing part by screw thread or welding, and the second fixing part is installed on the pallet frame by screw thread connection, which has a simple structure and is easy to process.

[0017] Furthermore, the tray rack further comprises a base for mounting on the ground and a driving bracket for mounting the second driving mechanism, wherein the base is arranged on the outer side of the tray rack. The base is arranged on the outer side of the tray rack, which can prevent the tray on the tray rack from interfering with the base, and makes the bottom surface of the tray rack for fixing larger, and the whole device is more stable. The second driving mechanism is mounted on the driving bracket by screws or bolts, and has a simple structure and is easy to maintain.

[0018] Furthermore, the baffle is divided into two side baffles and a rear baffle, the two side baffles are respectively arranged on the left and right sides of the tray frame, and the rear baffle is arranged on the rear side of the tray frame. Only one side of the four sides of the tray facing outward is not contacted by the baffle, and when the tray is pushed into the tray frame, the tray is guided into the tray frame by the side baffles on both sides, and then when the tray abuts against the rear baffle, the tray has been installed in place, and the operation is convenient.

[0019] Furthermore, the second-floor conveyor line includes at least one power conveying device, the slope conveyor line is formed by docking at least two power conveying devices, and the first-floor conveyor line includes at least three power conveying devices; the power conveying device includes a bottom bracket, a conveyor belt mechanism and an anti-dumping mechanism; the bottom bracket has a left side plate and a right side plate and a bottom support that cooperate with the conveyor belt mechanism; the conveyor belt mechanism includes an active roller and a driven roller installed between the left side plate and the right side plate, a reduction motor for driving the active roller, and a belt installed on the active roller and the driven roller, and the active roller and the driven roller are respectively located at both ends of the bottom bracket; the anti-dumping mechanism includes two assembly brackets, an upper guide rod installed on the top of the two assembly brackets, and long guide strips located on both sides of the belt for guiding the cartons.

[0020] Furthermore, both ends of the upper guide rod have upwardly inclined corners and threaded holes that cooperate with the assembly bracket; each of the assembly brackets includes two vertical support rods installed on the left and right plates, a horizontal support rod installed on the vertical support rods through an adjustment block, and a top bracket installed on the vertical support rods, and the top bracket is threadedly connected to the upper guide rod; the long guide bar has a sliding surface and an arc surface, the arc surface is located at both ends of the sliding surface, and the long guide bar is connected to the horizontal support rod through a connecting piece; the left and right plates are also equipped with bearing seats that cooperate with the active roller or the driven roller, the bearing seats are slidably installed on the left plate or the right plate, and the bearing seats are provided with tensioning bolts.

[0021] Furthermore, the box pusher includes a box pusher frame and a conveying mechanism arranged on the box pusher frame for conveying cartons, a box pusher mechanism for pushing cartons, a blocking mechanism for blocking cartons, and a positioning baffle frame cooperating with the box pusher mechanism; the box pusher mechanism has a box pusher cylinder for driving the pusher plate to complete the box pusher operation and a pusher plate for pushing the box, and the pusher plate is made of aluminum profiles; the box pusher mechanism also has a guide rod connected to the pusher plate and a protective cover for protecting the box pusher cylinder, the guide rod is located on both sides of the box pusher cylinder and is on the same straight line as the piston rod of the box pusher cylinder; the positioning baffle frame includes a long baffle formed by bending sheet metal, a support rod for supporting the long baffle and a fixed block for installing the support rod, and the fixed block is fixedly connected to the side of the conveying mechanism; The conveying mechanism includes a number of conveying rollers arranged at intervals, two side mounting plates cooperating with the conveying rollers and a driving motor for driving the conveying rollers, the side mounting plates have mounting ribs for mounting other equipment or parts, and the mounting ribs are provided with mounting holes; the box pusher frame has two mounting brackets, each of which includes a side plate cooperating with the conveying mechanism, a bottom plate for mounting a blocking mechanism or a driving motor, and a fixing rod for connecting the side plate and the bottom plate; the long baffle has an inclined section and a straight section, the length of the straight section is longer than that of the inclined section, and the inclined section is inclined toward the outside of the conveying mechanism; the blocking mechanism includes a blocking bracket for blocking the carton and a blocking cylinder for driving the blocking bracket to realize the blocking operation of the carton.

[0022] Furthermore, the stacker comprises a stacker frame and a conveying mechanism arranged on the stacker frame for conveying cartons, a blocking mechanism for blocking cartons, a box-pushing positioning mechanism for pushing cartons to achieve carton positioning, a limit baffle for limiting the carton in cooperation with the box-pushing positioning mechanism, a clamping mechanism for clamping and releasing the carton, a carton lifting mechanism for lifting the carton in cooperation with the clamping mechanism, and a control box for controlling the fully automatic stacker; the blocking mechanism comprises a blocking plate for blocking the carton and a blocking drive mechanism for driving the blocking plate to achieve a carton blocking operation; the conveying mechanism comprises a conveying roller for conveying the carton, a mounting frame for installing the conveying roller, and a conveying drive mechanism for driving the conveying roller; the conveying rollers are evenly spaced; the box-pushing positioning mechanism The structure includes a box-pushing cylinder for driving a pushing plate and a pushing plate connected to the box-pushing cylinder; the box-pushing cylinder is detachably mounted on the side of the conveying mechanism; the limit baffle includes a long strip-shaped body, a support rod for supporting the body and a support block for installing the support rod, and the support block is installed on the side of the mounting frame; the clamping mechanism includes a fixed frame, a clamping cylinder installed on the fixed frame, and a clamping plate that cooperates with the clamping cylinder to realize the carton clamping operation; the fixed frame is connected to the carton lifting mechanism; the carton lifting mechanism includes a connecting rod for connecting the fixed frame, a lifting cylinder for driving the fixed frame to realize the lifting of the fixed frame, and a mounting plate for installing the connecting rod and the lifting cylinder; the mounting plate has an opening for the connecting rod to make reciprocating motion along the height direction of the stacker frame.

[0023] Furthermore, the carton turner comprises a carton turner frame and a conveying mechanism for conveying cartons arranged on the carton turner frame, a flipping drive mechanism for flipping the conveying mechanism and a conveying drive mechanism for providing power for the conveying mechanism; the conveying drive mechanism comprises an inlet section and an outlet section vertically fixed to each other, and the inlet section and the outlet section are rotatably mounted on the carton turner frame through a rotating shaft and a bearing mounting seat; the flipping drive mechanism comprises a carton turner hydraulic cylinder cooperating with the inlet section and a hydraulic station for providing power for the carton turner hydraulic cylinder, the carton turner hydraulic cylinder has a mounting plate for mounting the carton turner hydraulic cylinder on the carton turner frame and a fixed sleeve for connecting the carton turner hydraulic cylinder to the inlet section; the inlet section has a fixed shaft cooperating with the fixed sleeve, a fixed plate for mounting the fixed shaft and a locking sleeve for fixing the fixed shaft to the fixed plate, and the locking sleeve is fixedly connected to the fixed plate by a threaded connection; the carton turner frame has a buffer cooperating with the conveying mechanism and a mounting block for mounting the buffer, and the conveying mechanism has a support plate cooperating with the buffer.

[0024] Furthermore, the first steering device and the second steering device both have a roller conveying mechanism for transporting cartons, a limit bracket for blocking and limiting the cartons, and a pushing mechanism for pushing the cartons to achieve carton reversal, and the pushing mechanism includes a pushing bracket and a pushing cylinder that drives the pushing bracket.

[0025] Furthermore, it also includes a camera system, which has a plurality of monitoring cameras arranged beside the palletizing device, the tray device and the conveyor line, and the monitoring cameras are wirelessly connected to the computer.

[0026] Compared with the prior art, the intelligent unmanned assembly line for tea packaging using the above technical solution has the following beneficial effects:

[0027] The intelligent unmanned assembly line for tea packaging of the present invention has the following advantages:

[0028] 1: The working area is composed of safety light barriers, and the palletizing robot is placed in the working area. The function of the safety light barrier can quickly detect the entry of personnel, thereby stopping the palletizing robot to prevent the palletizing robot from harming personnel. It has a high safety factor and is simple and convenient to install.

[0029] 2: Palletizing robots and conveying mechanisms are existing equipment in this field. The use of safety gratings can easily upgrade and transform existing production equipment, with a wide range of applications and low upgrade costs;

[0030] 3: The first drive mechanism and the second drive mechanism are used to realize the automatic lifting of the pallet, so that the AGV intelligent forklift can take out the lowest pallet, which greatly facilitates the operation of the AGV intelligent forklift, saves operation time, and is safe, reliable and efficient;

[0031] 4: Use the existing AGV intelligent forklift to transfer the pallets, and use the palletizing device to stack the materials on the pallets. No human intervention is required, and the whole process can be automatically operated, with high work efficiency and high accuracy of stacking in the warehouse;

[0032] 5: The high-rise warehouse is connected to the equipment on the bottom floor through a conveyor line, which greatly facilitates the transportation of products and has high space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is an isometric schematic diagram of the present invention;

[0034] Figure 2 is a top view of the present invention;

[0035] Figure 3 It is a schematic diagram of the layout of the palletizing device and the tray device of the present invention;

[0036] Figure 4 is an isometric schematic diagram of a tray device;

[0037] Figure 5 yes Figure 4 Schematic diagram from another angle;

[0038] Figure 6 is a top view of the tray device;

[0039] Figure 7 yes Figure 4 A magnified view of middle;

[0040] Figure 8 is an isometric schematic diagram of a palletizing device;

[0041] Fig. 9 yes Figure 8 Enlarged view of middle B;

[0042] Fig.10 It is a top view of the palletizing device;

[0043] Fig.11 is an isometric schematic diagram of a power transmission device;

[0044] Fig.12 yes Fig.11 Schematic diagram from another perspective;

[0045] Fig.13 It is an isometric diagram of a box pusher;

[0046] Fig.14 It is an isometric structural diagram of a box pusher;

[0047] Fig.15 It is a side view of the box pusher;

[0048] Fig.16 It is a schematic diagram of the blocking mechanism of the box pusher;

[0049] Fig.17 is an isometric schematic diagram of a box stacker;

[0050] Fig.18 yes Fig.17 Schematic diagram from another perspective;

[0051] Fig.19 is a front view of the box stacker;

[0052] Fig. 20 yes Fig.17 Enlarged view of middle C;

[0053] Fig.21 It is an isometric schematic diagram of a box turner;

[0054] Fig. 22 yes Fig.21Schematic diagram from another perspective;

[0055] Fig.23 It is a side view of the box turning machine;

[0056] Fig.24 is an isometric schematic diagram of a first steering device.

[0057] In the figure, 1, palletizing device; 2, pallet device; 3, AGV intelligent forklift; 4, warehouse area; 41, storage location; 5, computer; 6, camera system; 7, charging station; 8, conveyor line; 81, second floor conveyor line; 82, slope conveyor line; 83, first floor conveyor line; 84, box pusher; 85, box stacker; 86, first baler; 87, first steering device; 88, first roller conveyor; 89, second baler; 811, second roller conveyor; 812, second steering device; 813, box turner; 814, third roller conveyor; 815, third baler; 816, power transmission device; A1, pallet rack; A2, baffle mechanism; A3, lifting mechanism; A4, first control device; A 21, baffle; A22, support frame; A31, lifting bracket; A32, lifting hook plate; A33, first driving mechanism; A34, second driving mechanism; A11, first fixed plate; A12, horizontal guide rail; A13, second fixed plate; A14, lifting guide rail; A221, support rod; A211, first contact surface; A212, guide surface; A321, hook; A322, fixing frame; A311, first fixing part; A312, second fixing part; A313, reinforcing plate; A15, base; A16, driving bracket; A213, side baffle; A214, rear baffle; B1, palletizing robot; B2, conveying mechanism; B3, second control device; B4, safety grating; B5, working area; B11 , palletizing tooling; B51, first working surface; B52, second working surface; B6, pallet positioning seat; B21, power roller line; B22, inclined power roller line; B23, tooling roller line; B7, mounting bracket; B71, first connecting block; B41, second connecting block; B42, first blocking bar; B43, second blocking bar; B53, material opening; C1, bottom bracket; C2, conveyor belt mechanism; C3, anti-dumping mechanism; C11, left side plate; C12, right side plate; C13, bottom support; C21, active roller; C22, driven roller; C23, reduction motor; C24, belt; C31, assembly bracket; C32, upper guide rod; C33, long guide bar; C34, folding angle; C311, vertical support rod; C312, horizontal support rod; C313, top bracket; C331, sliding surface; C332, arc surface; C14, bearing seat; C15, tension bolt; C16, transition roller; C333, adjustment block; D1, box pusher frame; D2, conveying mechanism; D3, box pusher mechanism; D4, blocking mechanism; D5, positioning baffle frame; D31, box pusher cylinder; D32, push plate; D33, guide rod; D34, protective cover; D51, long baffle; D52, support rod; D53, fixed block; D21, conveying roller; D22, side mounting plate; D23, driving motor; D221, mounting edge; D41, blocking bracket; D42, blocking cylinder; E1, box stacker frame; E2, conveying mechanism; E3, blocking mechanism;E4, box-pushing positioning mechanism; E5, limit baffle; E6, clamping mechanism; E7, carton lifting mechanism; E8, control box; E31, blocking plate; E32, blocking drive mechanism; E21, conveying roller; E22, mounting frame; E23, conveying drive mechanism; E41, box-pushing cylinder; E42, pushing plate; E51, body; E52, support rod; E53, support block; E61, fixed frame; E62, clamping cylinder; E63, clamping plate; E71, connecting rod; E72, lifting cylinder; E73, mounting plate; F1, box-turning machine frame; F2, conveying mechanism ; F3, flip drive mechanism; F4, conveying drive mechanism; F41, inlet section; F42, outlet section; F43, rotating shaft; F44, bearing mounting seat; F31, box turning hydraulic cylinder; F32, hydraulic station; F311, mounting plate; F312, fixed sleeve; F411, fixed shaft; F412, fixed plate; F413, locking sleeve; F11, buffer; F12, mounting block; F21, support plate; F41, driving motor; F42, mounting bracket; G1, roller conveying mechanism; G2, limit bracket; G3, push bracket; G4, push cylinder. ; DETAILED DESCRIPTION

[0058] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0059] like Figure 1-24 As shown, the intelligent unmanned assembly line for tea packaging includes a palletizing device 1, a tray device 2, a computer 5 and a conveying assembly line 8; it also includes the existing equipment AGV intelligent forklift 3.

[0060] AGV intelligent forklift 3 refers to a transport vehicle equipped with an electromagnetic or optical automatic guidance device, capable of traveling along a prescribed guidance path, having safety protection and various transfer functions. AGV intelligent forklift 3 belongs to the category of wheeled mobile robots. In industrial applications, a transport vehicle that does not require a driver uses a rechargeable battery as its power source. Generally, its route and behavior can be controlled by a computer 5, or its route can be established by using an electromagnetic track. The electromagnetic track is attached to the floor, and the unmanned transport vehicle moves and moves according to the information brought by the electromagnetic track. In this embodiment, its route and behavior are controlled by a computer 5, which will not be described in detail here.

[0061] The conveying line 8 is provided with a second-floor conveying line 81, a slope conveying line 82, a first-floor conveying line 83, a box pusher 84, a box stacker 85, a first baler 86, a first steering device 87, a first roller conveying device 88, a second baler 89, a second roller conveying device 811, a second steering device 812, a box turner 813, a third roller conveying device 814 and a third baler 815 in sequence from beginning to end; the third baler 815 is connected to the conveying mechanism B2 next to the palletizing robot B1; the computer 5 is respectively connected to the palletizing device 1, the pallet device 2 and the conveying line 8. In this embodiment, the second-floor conveying line 81 is installed on the warehouse on the second floor, and the second-floor conveying line 81 and the first-floor conveying line 83 are connected by the slope conveying line 82. Among them, the first roller conveying device 88, the second roller conveying device 811 and the third roller conveying device 814 are all common power roller conveyors on the market, which will not be repeated here.

[0062] The second floor conveyor line 81 includes at least one power conveyor device 816, the slope conveyor line 82 is formed by connecting at least two power conveyor devices 816, and the first floor conveyor line 83 includes at least three power conveyor devices 816; the power conveyor device 816 includes a bottom bracket C1, a conveyor belt mechanism C2 and an anti-dumping mechanism C3; the bottom bracket C1 has a left side plate C11 and a right side plate C12 and a bottom support C13 that cooperate with the conveyor belt C24 mechanism; the conveyor belt mechanism C2 includes a left side plate C11 installed on the left side plate C11 The active roller C21 and the driven roller C22 between the right side plate C12, the reduction motor C23 for driving the active roller C21 and the belt C24 installed on the active roller C21 and the driven roller C22, the active roller C21 and the driven roller C22 are respectively located at the two ends of the bottom bracket C1; the anti-dumping mechanism C3 includes two assembly brackets C31, an upper guide rod C32 installed on the top of the two assembly brackets C31 and a long guide bar C33 located on both sides of the belt C24 for guiding the carton. When in use, the carton enters between the two long guide strips C33. If the position of the carton is offset relative to the center line of the conveyor belt mechanism C2 in the length direction, the long guide strip C33 can guide the carton to a position close to the center line, and the conveyor belt mechanism C2 continuously conveys the carton to the other end of the conveying device. If the carton tends to fall over, during the falling process, the top of the carton will contact the upper guide rod C32 above the carton. The upper guide rod C32 can block the carton and correct the reaction force so that the carton will not continue to fall over, thereby preventing the carton from falling over. The structure is simple and easy to operate. Moreover, compared with the traditional method of rubbing the carton through the baffles on both sides, the present structure can also effectively reduce the friction on the carton and protect the appearance of the carton.

[0063] Specifically, both ends of the upper guide rod C32 have an upwardly inclined folded corner C34 and a threaded hole that cooperates with the assembly bracket C31; to install the upper guide rod C32, you only need to turn the folded corner C34 of the upper guide rod C32 upward, and then directly install it on the assembly bracket C31 with screws; the purpose of the folded corner C34 is that when the carton has a tendency to tip over when it just enters, the carton first abuts against a section facing the upward folded corner C34, and then as the carton is transported by the conveyor belt mechanism C2, it continues to abut against the upper guide rod C32. The carton will be straightened due to the lower transition height at the connection of the folded corner C34. At this time, the carton can be placed stably on the conveyor belt mechanism C2, and the carton is no longer in contact with the upper guide rod C32.

[0064] Each assembly bracket C31 includes two vertical support rods C311 installed on the left side plate C11 and the right side plate C12, a horizontal support rod C312 installed on the vertical support rod C311 through an adjusting block C333, and a top bracket C313 installed on the vertical support rod C311, and the top bracket C313 is threadedly connected to the upper guide rod C32; the height of the long guide bar C33 and the distance between the two long guide bars C33 can be easily adjusted through the adjusting block C333, so that it is suitable for cartons of various models and sizes, with a wide practical range, and it is easy to disassemble and assemble by connecting with screws.

[0065] The long guide bar C33 has a sliding surface C331 and an arc surface C332. The arc surface C332 is located at both ends of the sliding surface C331. The long guide bar C33 is connected to the horizontal support rod C312 through a connecting piece. The arc surface C332 can play a guiding role when the carton enters and reduce the friction on the carton. During normal operation, the sliding surface C331 is not in direct contact with the carton. Only when the carton is guided between the two sliding surfaces C331 by the arc surface C332 will one or both sliding surfaces C331 contact the surface of the carton.

[0066] The left plate C11 and the right plate C12 are also provided with a bearing seat C14 that cooperates with the active roller C21 or the driven roller C22. The bearing seat C14 is slidably installed on the left plate C11 or the right plate C12, and a tensioning bolt C15 is provided on the bearing seat C14. The bearing seat C14 is a common standard part on the market. The two ends of the active roller C21 and the driven roller C22 are respectively installed on the bearing seat C14 through bearings. The bearing seat C14 is installed on the left plate C11 and the right plate C12 through screws or bolts. There are four bearing seats C14 here, two on the left plate C11 and two on the right plate C12. Each bearing seat C14 is installed on the left plate C11 and the right plate C12 by means of a slider and a slide groove. Therefore, the position of the bearing seat C14 can be adjusted by the tensioning bolt C15, thereby adjusting the distance between the active roller C21 and the driven roller C22 to achieve the purpose of tensioning the belt C24.

[0067] Specifically, a transition roller C16 is provided between the left plate C11 and the right plate C12, and the transition roller C16 is installed between the left plate C11 and the right plate C12 through a connecting piece. When the power transmission device is docked with other transmission devices or docked with another power transmission device, the cartons can be conveniently transported to another device by rolling the transition roller C16 and utilizing the inertia of the cartons.

[0068] During operation, the products are transported to the slope conveyor line 82 through the second-floor conveyor line 81 located on the high floor, and the slope conveyor line 82 transports the products to the first-floor conveyor line 83 downstairs, and the first-floor conveyor line 83 transports the products to the box pusher 84, which pushes the two cartons into two side-by-side cartons, and then continues to transport them to the stacker 85, which lifts the two side-by-side cartons and stacks them on the next two side-by-side cartons, and then the four cartons are transported to the first baler 86, which packs the four cartons once and transports them to the first steering device 87, and the first steering device 87 pushes the four cartons after this packing to the first roller conveyor device 88, so that the transportation direction of the cartons is changed for the first time, perpendicular to the original transportation direction, and the four cartons are The first roller conveyor 88 conveys the cartons to the second baler 89 for the second baling. The belts of the second baling and the first baling are in a cross shape. After the second baling, the cartons are conveyed to the second roller conveyor mechanism. The second roller conveyor mechanism conveys the cartons to the second steering device 812. The second steering device 812 pushes the cartons to the carton flipper 813. The carton flipper 813 flips the four cartons 90° so that the four cartons are placed horizontally and conveyed to the third roller conveyor 814. The third roller conveyor 814 conveys the cartons to the third baler 815. The third baler 815 performs three baling on the cartons. The belts of the three baling are in a cross shape with the belts of the first baling and the second baling. After that, the cartons after the three baling are conveyed to the conveying mechanism of the palletizing device 1. The first baler 86, the second baler 89 and the third baler 815 are all common balers on the market and will not be described here.

[0069] Specifically, the box pusher 84 includes a box pusher frame D1 and a conveying mechanism D2 for conveying cartons, a box pusher mechanism D3 for pushing cartons, a blocking mechanism D4 for blocking cartons, and a positioning baffle frame D5 coordinated with the box pusher mechanism D3; the box pusher mechanism D3 has a box pusher cylinder D31 for driving a push plate D32 to complete a box push operation and a push plate D32 for pushing boxes, and the push plate D32 is made of aluminum profiles; when the box pusher 84 is working, two cartons are conveyed to the conveying mechanism D2 of the box pusher 84 through the first-floor conveyor line 83, and the blocking mechanism D4 works to block the front carton, and the rear carton will abut against The first positioning is completed, and then the box pushing mechanism D3 works, and the box pushing cylinder D31 drives the push plate D32 to push the two cartons onto the positioning baffle frame D5. At this time, the two cartons are positioned in a neat row, that is, the second positioning is completed, and the box pushing cylinder D31 is reset, and then the two cartons are entered again. The two cartons are also blocked by the blocking mechanism D4, and then the two cartons are also close to each other. At this time, the box pushing cylinder D31 moves again to push the back two cartons to the front two cartons, so that the four cartons form a four-square grid shape with 2 columns and 2 rows and a total of 4 boxes. Finally, the blocking mechanism D4 is reset, and the four cartons are neatly sent out by the conveying mechanism D2. The push plate D32 is made of aluminum profile. As a common standard part on the market, the aluminum profile has its own slide groove for cooperating with the T-nut, and then can be easily connected to the push box cylinder D31 through the T-nut. Therefore, the push plate D32 can be easily replaced according to the size of the carton. At the same time, the manufacturing of the push plate D32 is also very simple. It only needs to cut the aluminum profile and then deburr the surface before it can be directly used for installation, and the processing cost is low. The push box cylinder D31 is a common standard part on the market and will not be described here. The conveying mechanism D2, the push box mechanism D3 and the blocking mechanism D4 can all be controlled by an external industrial computer. The industrial computer is a common device and will not be described here.

[0070] The push box mechanism D3 also has a guide rod D33 connected to the push plate D32 and a protective cover D34 for protecting the push box cylinder D31. The guide rod D33 is located on both sides of the push box cylinder D31 and is located on the same straight line as the piston rod of the push box cylinder D31. The guide rod D33 is installed on both sides of the piston rod, which can improve the guiding accuracy of the cylinder and make the fixation between the push box cylinder D31 and the push plate D32 more secure. The cylinder and most of the guide rod D33 are covered by the protective cover D34, which can prevent the cylinder from being contaminated by external dust and protect the cylinder from being easily damaged by external forces. The push box cylinder D31 is installed on the side of the conveying mechanism D2 through common brackets and screws or bolts.

[0071] The positioning baffle frame D5 includes a long baffle D51 bent from sheet metal, a support rod D52 for supporting the long baffle D51 and a fixed block D53 for installing the support rod D52, the fixed block D53 being fixedly connected to the side of the conveying mechanism D2; the conveying mechanism D2 includes a plurality of conveying rollers D21 arranged at intervals, two side mounting plates D22 cooperating with the conveying rollers D21 and a driving motor D23 for driving the conveying rollers D21, the side mounting plates D22 having a mounting rib D221 for mounting other equipment or parts, and a mounting hole being provided on the mounting rib D221; the fixed block D53 is mounted on the side of the conveying bracket by a fixed connection method such as welding, the connection method between the support rod D52 and the fixed block D53 is the common plug-in connection, and then fixed by screws, the connection method between the support rod D52 and the long baffle D51 is the common welding, and when the long baffle bar needs to be replaced later, it is only necessary to disassemble the support rod D52 and the fixed block D53, and then replace them with a new long baffle bar.

[0072] The blocking mechanism D4 includes a blocking bracket D41 for blocking the carton and a blocking cylinder D42 for driving the blocking bracket D41 to achieve the blocking operation of the carton. The blocking bracket D41 is driven by the blocking cylinder D42 to extend and retract in the gap between the conveying rollers D21, thereby blocking and positioning the carton without affecting the operation of the conveying mechanism D2, and the length of the blocking bracket D41 can be adjusted according to the height of the carton.

[0073] Specifically, the stacker 85 includes a stacker frame E1 and a conveying mechanism E2 arranged on the stacker frame E1 for conveying cartons, a blocking mechanism E3 for blocking cartons, a box-pushing and positioning mechanism E4 for pushing cartons to achieve carton positioning, a limit baffle E5 for limiting the position of the carton in cooperation with the box-pushing and positioning mechanism E4, a clamping mechanism E6 for clamping and releasing the carton, a carton lifting mechanism E7 for lifting the carton in cooperation with the clamping mechanism E6, and a control box E8 for controlling the fully automatic stacker 85; when the carton, that is, the product, is conveyed to the position of the blocking mechanism E3 through the conveying mechanism E2, the blocking mechanism E3 works to block the carton, so that the product stops on the conveying mechanism E2. At this stage, the conveying mechanism E2 stops, and then the box-pushing and positioning mechanism E4 works to push the product to the limit baffle E5. When the product After the product contacts the limit baffle E5, the position of the product is adjusted, and then the carton lifting mechanism E7 works to drive the clamping mechanism E6 to descend to the appropriate position, and the clamping mechanism E6 works to clamp the product. At this time, the carton lifting mechanism E7 lifts the product to a certain height, so that when the conveying mechanism E2 continues to work to convey the next product, the first product will not interfere with the second product. When the second product enters, the second product is still blocked by the blocking mechanism E3, and then pushed to the limit baffle E5 by the box pushing positioning mechanism E4. At this time, the carton lifting mechanism E7 works to stack the first product on the second product, and the clamping mechanism E6 releases the first product, that is, the stacking operation is completed. Later, as long as the blocking part of the blocking mechanism E3 is reset, the conveying mechanism E2 continues to run to convey the two products. Among them, the control box E8 is a form in which an existing industrial computer is installed in a cover, and the industrial computer communicates with each mechanism through cables to control the operation and stop of each mechanism. The control box E8 is controlled by the computer 5.

[0074] The blocking mechanism E3 includes a blocking plate E31 for blocking the carton and a blocking drive mechanism E32 for driving the blocking plate E31 to realize the blocking operation of the carton; wherein the blocking drive mechanism E32 is an existing common air cylinder or hydraulic cylinder, and the connection method between the blocking plate E31 and the blocking drive mechanism E32 is an existing common threaded connection method. The structure is simple and compact, and can utilize the advantages of the air cylinder or hydraulic cylinder to enable the blocking plate E31 to move quickly.

[0075] The conveying mechanism E2 includes a conveying roller E21 for conveying cartons, a mounting frame E22 for mounting the conveying roller E21, and a conveying driving mechanism E23 for driving the conveying roller E21; the conveying rollers E21 are evenly spaced; the conveying driving mechanism E23 is a common driving motor on the market, and the connection between the driving motor and the conveying roller E21 is a common sprocket chain drive or belt drive, or a gear drive; the conveying roller E21 is a common conveying roller on the market, the conveying roller E21 is mounted on the mounting frame E22, and then the conveying roller E21 is connected to the driving motor, and then the mounting frame E22 is mounted on the stacker frame E1 through screws and other threaded fasteners. Moreover, the blocking plate E31 and the blocking driving mechanism E32 are installed below the conveying mechanism E2, and the blocking plate E31 can be driven by the blocking driving mechanism E32 to move in and out between the gaps of the conveying rollers E21, thereby blocking the products. In this embodiment, the structures of the conveying mechanisms E2 of the box stacker 85, the box pusher 84 and the box turner 813 are basically the same, and are all powered roller structures.

[0076] The push box positioning mechanism E4 includes a push box cylinder E41 for driving a push plate E42, and a push plate E42 connected to the push box cylinder E41; the push box cylinder E41 is detachably mounted on the side of the conveying mechanism E2; the push box cylinder E41 is a standard part commonly seen on the market and will not be described in detail here. The push plate E42 is mounted on the piston rod of the push box cylinder E41, and the installation method can be threaded connection or welding. The cylinder action is rapid, and the push box cylinder E41 is mounted on the side of the conveying mechanism E2 in a detachable manner such as threaded connection, which can facilitate the maintenance of the push box cylinder E41 and the entire machine.

[0077] The limit baffle E5 includes a long strip-shaped main body E51, a support rod E52 for supporting the main body E51, and a support block E53 for installing the support rod E52, and the support block E53 is installed on the side of the mounting frame E22; the support block E53 is fixedly connected to the side of the mounting frame E22 by welding or threaded connection, the support rod E52 is fixedly connected to the support block E53, and the support rod E52 is fixedly connected to the long strip-shaped main body E51, and the number of support rods E52 is at least two.

[0078] The clamping mechanism E6 includes a fixed frame E61, a clamping cylinder E62 installed on the fixed frame E61, and a clamping plate E63 that cooperates with the clamping cylinder E62 to realize the carton clamping operation; the fixed frame E61 is connected to the carton lifting mechanism E7; the fixed frame E61 is spliced ​​by common aluminum profiles on the market, and a steel plate is fixed on it with screws, and two clamping cylinders E62 are installed under this steel plate. The two clamping cylinders E62 are both existing standard parts, and the clamping plate E63 is installed on the piston rod of the clamping cylinder E62.

[0079] The carton lifting mechanism E7 includes a connecting rod E71 for connecting the fixed frame E61, a lifting cylinder E72 for driving the fixed frame E61 to achieve the lifting of the fixed frame E61, and a mounting plate E73 for mounting the connecting rod E71 and the lifting cylinder E72; the mounting plate E73 has an opening for the connecting rod E71 to reciprocate along the height direction of the stacker frame E1. The mounting plate E73 is mounted on the top of the stacker frame E1 by screws and other threaded fasteners, and the lifting cylinder E72 is screwed at the center of the upper surface of the mounting plate E73. The mounting plate E73 is also provided with four holes for mounting the connecting rod E71 around the center. The lower end of the connecting rod E71 is fixed to the steel plate of the fixed frame E61 by welding or other methods. The upper end of the connecting rod E71 also has a limit block and a mounting sleeve, the limit block is used for limiting, and the mounting sleeve is used for mounting the connecting rod E71.

[0080] Specifically, the carton turner 813 includes a carton turner frame F1, a conveying mechanism F2 for conveying cartons arranged on the carton turner frame F1, a flipping drive mechanism F3 for flipping the conveying mechanism F2, and a conveying drive mechanism F4 for providing power to the conveying mechanism F2; the conveying drive mechanism F4 includes an inlet section F41 and an outlet section F42 vertically connected to each other, and the inlet section F41 and the outlet section F42 are rotatably mounted on the carton turner frame F1 through a rotating shaft F43 and a bearing mounting seat F44; when the carton is conveyed from the third roller conveying device 814 to the inlet section F41 of the conveying mechanism F2 and abuts against the outlet section F42, the flipping drive mechanism F3 flips the entire conveying mechanism F2 by 90°, so that the carton is also flipped, and the carton is flipped from the inlet section F41 to the outlet section F42, and then the outlet section F42 continues to work to convey the carton out. The conveying part of the conveying mechanism F2 is a common conveying roller device in the art, and the bearing mounting seat F44 is also a prior art, which will not be described in detail here.

[0081] The turning drive mechanism F3 includes a box turning hydraulic cylinder F31 matched with the inlet section F41 and a hydraulic station F32 providing power for the box turning hydraulic cylinder F31. The box turning hydraulic cylinder F31 has a mounting plate F311 for mounting the box turning hydraulic cylinder F31 on the box turning machine frame F1 and a fixed shaft F411 sleeve F312 for connecting the box turning hydraulic cylinder F31 with the inlet section F41. The hydraulic station F32 provides power for the box turning hydraulic cylinder F31. One end of the box turning hydraulic cylinder F31 is connected to the inlet section F41 by the mounting plate F311. 11 is installed on the box turning machine frame F1, and the other end is fixed by the fixed shaft F411 sleeve F312 and the inlet section F41 of the conveying mechanism F2. The fixed shaft F411 sleeve F312 is provided with a set screw. When the box turning hydraulic cylinder F31 is working, the inlet section F41 is lifted up by the turning hydraulic cylinder, so that the outlet section F42 abuts against the box turning machine frame F1, and the entire conveying mechanism F2 is turned 90°. The box turning hydraulic cylinder F31 and the hydraulic station F32 are common products in this field and are not described here.

[0082] The inlet section F41 has a fixed shaft F411 that cooperates with the fixed shaft F411 sleeve F312, a fixed plate F412 for installing the fixed shaft F411, and a locking sleeve F413 for fixing the fixed shaft F411 to the fixed plate F412, and the locking sleeve F413 is fixed to the fixed plate F412 by a threaded connection; the fixed shaft F411 and the locking sleeve F413 are fixedly connected or connected by set screws, so that the fixed shaft F411 and the locking sleeve F413 rotate coaxially, and the fixed plate F412 and the locking sleeve F413 are fixedly connected by threaded fasteners such as screws.

[0083] The box turner frame F1 has a buffer F11 that cooperates with the conveying mechanism F2 and a mounting block F12 for mounting the buffer F11. The conveying mechanism F2 has a support plate F21 that cooperates with the buffer F11. The buffer F11 is used to slow down the speed of the conveying mechanism F2. The support plate F21 and the buffer F11 are in direct contact, thereby effectively reducing the impact caused by the overturning of the conveying mechanism F2 and protecting the products in the carton. Moreover, the buffer F11 is a common standard part on the market with external threads. Therefore, the buffer F11 can be easily mounted on the box turner frame F1 by drilling holes and tapping threads on the mounting block F12. The buffer F11 is respectively arranged at the four corners of the box turner frame F1.

[0084] Specifically, the first steering device 87 and the second steering device 812 both have a roller conveying mechanism G1 for transporting cartons, a limit bracket G2 for blocking and limiting the cartons, and a pushing mechanism for pushing the cartons to achieve carton reversal, and the pushing mechanism includes a pushing bracket G3 and a pushing cylinder G4 that drives the pushing bracket G3. The roller conveying mechanism and the conveying mechanism on the equipment such as the box pusher are basically the same in structure, and are all structures of the power roller machine, which will not be repeated here. The pushing bracket G3 is set in the gap between the rollers, and then driven by the pushing cylinder G4 to push the carton onto the first roller conveying device 88.

[0085] The palletizing device 1 includes a palletizing robot B1, a conveying mechanism B2 arranged next to the palletizing robot B1, a second control device B3 communicatively connected to the palletizing robot B1, and a safety light grid B4 communicatively connected to the second control device B3, wherein a plurality of safety light grids B4 form a working area B5; the palletizing robot B1 has a palletizing tooling B11, and the palletizing robot B1 is located in the working area B5; the conveying mechanism B2 is partially arranged in the working area B5; wherein the palletizing robot B1 and the safety light grid B4 are existing equipment and will not be described in detail here.

[0086] The working area B5 includes a first working surface B51 cooperating with the second control device B3 and a second working surface B52 cooperating with the conveying mechanism B2; the first working surface B51 is arranged at both ends of the second control device B3, and the second control device B3 and the first working surface B51 are located on the same surface, which can facilitate workers to operate the second control device B3, and the second working surface B52 at one end of the conveying mechanism B2 can send a detected signal to the second control device B3 when a person approaches the conveying mechanism B2, thereby shutting down the conveying mechanism B2, because the conveying mechanism B2 also has the possibility of causing damage to personnel.

[0087] The palletizing robot B1 is located in the center of the working area B5, and the working area B5 is provided with pallet positioning seats B6 located on the left and right sides of the palletizing robot B1; the palletizing robot B1 is installed in the center of the working area B5 to improve the space utilization rate, and the pallet positioning seats B6 are placed on both sides of the palletizing robot B1. The pallet positioning seats B6 are two baffles, and the two baffles sandwich the pallet in the middle.

[0088] Specifically, the conveying mechanism B2 includes a powered roller line B21 for conveying materials in a straight line, an inclined powered roller line B22 docked with the powered roller line B21, and a tooling roller line B23 cooperating with the palletizing robot B1. The tooling roller line B23 is located in the working area B5 and is below the second working surface B52 of the inclined powered roller line B22. Among them, the powered roller line B21, the oblique powered roller line B22 and the tooling roller line B23 are all common roller conveyors on the market. The powered roller line B21 is used to convey materials to the oblique powered roller line B22 in a straight line, and the oblique powered roller line B22 is used to convey materials to the tooling roller line B23. The tooling roller line B23 can be powered or unpowered. The tooling roller line B23 is used for the palletizing robot B1 to take away the materials using the palletizing tooling B11. A second working surface B52 is provided above the oblique powered roller line B22. This working surface can detect personnel at the position of the conveying mechanism B2 to prevent personnel from entering the working area B5 from the position of the conveying mechanism B2. Among them, the oblique powered roller line B22 can also transport cartons to the side close to the palletizing robot B1, which is convenient for the operation of the palletizing robot B1.

[0089] Specifically, the safety grating B4 forms a working area B5 through a plurality of mounting brackets B7, and the mounting bracket B7 includes a bracket body fixed to the ground and a first connecting block B71 connected to the safety grating B4. The safety grating B4 is installed on the ground through the mounting bracket B7, and then the safety grating B4 is installed on the mounting bracket B7 through the first connecting block B71, which has a simple structure and is easy to operate.

[0090] Specifically, the safety grating B4 has a second connection block B41 that cooperates with the first connection block B71, and the second connection block B41 is evenly arranged along the length direction of the safety grating B4. The safety grating B4 is installed on the mounting bracket B7 through the first connection block B71 and the second connection block B41, and the second connection block B41 is evenly arranged along the length direction of the safety grating B4, so that the fixation between the safety grating B4 and the mounting bracket B7 is more secure.

[0091] Specifically, the safety grating B4 has a first blocking bar B42 disposed at the top of the safety grating B4 and a second blocking bar B43 disposed at the bottom of the safety grating B4, and the first blocking bar B42 and the second blocking bar B43 are parallel to the ground. The first blocking bar B42, the second blocking bar B43 and the safety grating B4 form a rectangular frame, and the first blocking bar B42 and the second blocking bar B43 can not only physically block personnel, so that personnel cannot directly enter the safety grating B4 area, but also can play a role in fixing two adjacent safety gratings B4, so that the two adjacent safety gratings B4 can be in the same straight line.

[0092] Specifically, the height of the first blocking bar B42 is lower than 1.5m, and the height of the second blocking bar B43 is higher than 0.1m. The height of a normal person is higher than 1.5m, so when a person needs to enter the working area B5, he needs to lower his head or bend over, and the height of the second blocking bar B43 is higher than 0.1m, so the person needs to lift his feet. When the person's feet first extend into the working area B5, the safety grating B4 has sent a signal to the second control device B3, causing the palletizing robot B1 and the conveying mechanism B2 to stop, so that the person who forcibly enters can be well protected.

[0093] Specifically, the working area B5 has a material opening B53 for material in and out, and the material opening B53 is arranged on both sides of the second control device B3. The material opening B53 is used for material in and out. When materials are in and out, the palletizing robot B1 and the conveying mechanism B2 must be shut down. The material opening B53 is arranged on both sides of the second control device B3 to improve space utilization, so that the material opening B53 just corresponds to the pallet positioning seat B6 on both sides of the palletizing robot B1. The AGV intelligent forklift takes out the pallet on the pallet positioning seat B6, which is convenient for taking materials.

[0094] When the palletizing device 1 is working, the conveying mechanism B2 conveys the three-packed cartons (hereinafter referred to as materials) to the working area B5, and then the palletizing robot B1 grabs the materials and places them on the pallet through the palletizing tooling B11. When someone enters the working area B5, the safety grating B4 sends a signal to the second control device B3. After processing the signal, the second control device B3 shuts down the palletizing robot B1 and the conveying mechanism B2 through the built-in program, so that the palletizing robot B1 and the conveying mechanism B2 stop working immediately, preventing the palletizing robot B1 from injuring people when working, and preventing the conveying mechanism B2 from continuously running and causing the materials to fall out of the conveying mechanism B2. The safety factor is high, and the structure is simple, and it can be applied to a variety of production lines. The safety grating B4 is a photoelectric device that prevents people from approaching mobile machinery, which can avoid casualties. Such mobile machinery includes punching machines, winding machines, palletizers, elevators, etc. The safety grating B4 can be used to replace traditional mechanical barriers or other forms of mechanical protection, and can also increase the maintainability of the equipment. In conjunction with the safety grating B4, the operability and efficiency of mechanical equipment such as some semi-automatic equipment can also be increased. The palletizing robot B1 and the palletizing tool B11 are common equipment in this field. The second control device B3 is a conventional industrial computer 5 and a touch screen installed in a housing. They are all conventional equipment and will not be described in detail here.

[0095] The pallet device 2 includes a pallet frame A1, on which a baffle A21 mechanism A2 cooperating with the pallet, a lifting mechanism A3 cooperating with the pallet to realize the lifting of the pallet, and a first control device A4 for controlling the lifting mechanism A3 are installed; the baffle A21 mechanism A2 includes a baffle A21 abutting against the pallet and a support frame A22 for mounting the baffle A21 on the pallet frame A1; the lifting mechanism A3 includes a lifting bracket A31, a lifting hook plate A32 for lifting the pallet, a first driving mechanism A33 for driving the lifting bracket A31 to reciprocate along the width direction of the pallet frame A1, and a second driving mechanism A34 for driving the lifting bracket A31 to reciprocate along the height direction of the pallet frame A1;

[0096] Specifically, the pallet rack A1 includes a first fixed plate A11 connected to the lifting bracket A31, a horizontal guide rail A12 for cooperating with the first fixed plate A11 to slide back and forth along the width direction of the pallet rack A1, a second fixed plate A13 for installing the horizontal guide rail A12 and the first driving mechanism A33, and a lifting guide rail A14 for cooperating with the second fixed plate A13 to slide back and forth along the length direction of the pallet rack A1, the first fixed plate A11 is connected to the first driving mechanism A33, and the second fixed plate A13 is connected to the second driving mechanism A34. The horizontal guide rail A12 and the lifting guide rail A14 are both standard parts commonly used in the art, and will not be described in detail here. The first driving mechanism A33 can be a cylinder or a hydraulic cylinder. The first driving mechanism A33 can drive the first fixed plate A11 to slide on the horizontal guide rail A12, thereby driving the lifting bracket A31 to move. The second driving mechanism A34 is an existing reduction motor or servo motor. The second driving mechanism A34 is connected to the second fixed plate A13 through a sprocket chain or a gear rack structure. The second fixed plate A13 can be driven by the second driving mechanism A34 to move on the lifting guide rail A14.

[0097] Specifically, the support frame A22 has a support rod A221 that is detachably connected to the pallet rack A1, and one end of the support rod A221 away from the baffle A21 is provided with an external thread, and the pallet rack A1 has a through hole that matches the support rod A221. The support rod A221 is inserted into the through hole of the pallet rack A1 and then fixed by a nut. This setting not only facilitates the installation of the support frame A22, but also allows the support frame A22 to be adjusted. By changing the length of the support rod A221 extending into the pallet rack A1, pallets of different sizes can be installed. Of course, a scale can also be set on the support rod A221 for more convenient adjustment.

[0098] Specifically, the baffle A21 includes a first contact surface A211 and a guide surface A212 that matches the tray. The baffle A21 abuts against the side of the tray through the first contact surface A211, and then the guide surface A212 is located on the side of the first contact surface A211. This guide surface A212 can facilitate the insertion of the tray and also facilitate the tray to move up and down along the first contact surface A211, so that the tray will not be interfered by the edge of the first contact surface A211 when inserted.

[0099] Specifically, the lifting hook plate A32 has a hook piece A321 for hooking up the pallet and a fixing frame A322 threadedly connected to the lifting bracket A31, and the lifting bracket A31 has a threaded hole that matches the fixing frame A322. During installation, it is only necessary to insert the fixing frame A322 into the lifting bracket A31, and then align the hole on the fixing frame A322 with the threaded hole on the lifting bracket A31 and then screw in the screw. It is also possible to set multiple threaded holes on the lifting bracket A31, and support pallets of various specifications by adjusting the position of the fixing frame A322.

[0100] Specifically, the lifting bracket A31 includes a first fixing portion A311 connected to the lifting hook plate A32, a second fixing portion A312 connected to the pallet frame A1, and a reinforcing plate A313 connecting the first fixing portion A311 and the second fixing portion A312, wherein the first fixing portion A311 and the second fixing portion A312 are perpendicular to each other and are L-shaped. The first fixing portion A311 is fixedly connected to the second fixing portion A312 by welding or the like, and the reinforcing plate A313 can increase the strength of the connection between the first fixing portion A311 and the second fixing portion A312. The reinforcing plate A313 can be fixed at the connection between the first fixing portion A311 and the second fixing portion A312 by threading or welding, and the second fixing portion A312 is installed on the pallet frame A1 by threading.

[0101] Specifically, the tray rack A1 further includes a base A15 for mounting on the ground and a driving bracket A16 for mounting the second driving mechanism A34, and the base A15 is arranged on the outer side of the tray rack A1. The base A15 is arranged on the outer side of the tray rack A1, which can prevent the tray on the tray rack A1 from interfering with the base A15, and makes the bottom surface of the tray rack A1 for fixing larger area, and the whole device is more stable. The second driving mechanism A34 is mounted on the driving bracket A16 by screws or bolts.

[0102] Specifically, the baffle A21 is divided into two side baffles A213 and a rear baffle A214. The two side baffles A213 are respectively arranged on the left and right sides of the tray frame A1, and the rear baffle A214 is arranged on the rear side of the tray frame A1. Only one side of the four sides of the tray facing outward is not contacted by the baffle A21. When the tray is pushed into the tray frame A1, the tray is guided into the tray frame A1 by the side baffles A213 on both sides, and then when the tray abuts against the rear baffle A214, the tray has been installed in place.

[0103] Specifically, the length of the rear baffle A214 is greater than the length of the side baffle A213. Since the side baffle A213 cannot interfere with the supporting bracket next to it, the length of the side baffle A213 is smaller than the length of the rear baffle A214. The supporting bracket can also guide the pallet, and the specific positioning still depends on forklifts and other transportation equipment.

[0104] Specifically, the bottom surface of the rear baffle A214 is lower than the height of a single tray from the ground. The rear baffle A214 can limit the position of a single tray.

[0105] When the pallet device 2 is working, the AGV intelligent forklift 3 places multiple pallets between the baffle mechanism A2, and the baffle A21 on the baffle mechanism A2 abuts against the side of the pallet, so that the position of the pallet is fixed. When the bottom pallet needs to be taken out, the lifting bracket A31 is driven to a suitable position by the second driving mechanism A34, and then the lifting bracket A31 is driven by the first driving mechanism A33, so that the lifting hook plate A32 can be inserted into the groove of the pallet. At this time, the second driving mechanism A34 is activated again to lift the second to last pallet and the pallet above it together. The AGV intelligent forklift 3 automatically drives to the position of the pallet device 2 to take the bottom pallet and place it on the pallet positioning seat of the stacking device 1. If necessary, the distance of the movement of the second driving mechanism A34 can be set to achieve the setting of the number of pallets to be taken out at the bottom. The first control device A4 is a structure in which the existing common industrial computer 5 or other control equipment is installed in the cover, and the first control device A4 is connected to the side of the pallet rack A1 by threads.

[0106] Specifically, it also includes a camera system 6, which has a plurality of monitoring cameras arranged beside the palletizing device 1, the pallet device 2 and the conveyor line, and the monitoring cameras are wirelessly connected to the computer 5. The monitoring cameras are existing equipment. In this embodiment, the monitoring cameras communicate with the computer 5 via WIFI connection. The computer 5 can monitor and record all situations of the entire site. When there is a potential safety hazard, the camera system 6 will send a signal to the computer 5, and the computer 5 will issue an alarm and control all mechanisms to stop running to prevent the occurrence of safety accidents.

[0107] The AGV intelligent forklift 3 transports the pallet with materials placed on the palletizing device 1 out of the material outlet, then moves to the warehouse area 4 along the specified route, and then places the pallet on the designated storage location 41. Finally, the AGV intelligent forklift 3 stops at the charging seat 7 to charge and wait for the next instruction. The route and storage location 41 positioning here are controlled by the computer 5.

[0108] The above-mentioned materials, products, cartons, etc. are all the same object, namely the tea box product in this embodiment.

[0109] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0110] Although more professional terms are used in this article, the possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. An intelligent unmanned production line for tea packaging, characterized in that: It comprises a palletizing device (1), a tray device (2), a computer (5) and a conveying line (8); The palletizing device (1) comprises a palletizing robot (B1), a first conveying mechanism (B2) arranged next to the palletizing robot (B1), a second control device (B3) connected to the palletizing robot (B1), and a safety light barrier (B4) connected to the second control device (B3), wherein a plurality of safety light barriers (B4) form a working area (B5); the palletizing robot (B1) has a palletizing tool (B11), and the palletizing robot (B1) is located in the working area (B5); the first conveying mechanism (B2) is partially arranged in the working area (B5); The working area (B5) comprises a first working surface (B51) cooperating with the second control device (B3) and a second working surface (B52) cooperating with the first conveying mechanism (B2); the palletizing robot (B1) is located in the central area of ​​the working area (B5), and the working area (B5) is provided with pallet positioning seats (B6) located on the left and right sides of the palletizing robot (B1); The safety grating (B4) is connected to a working area (B5) by a plurality of mounting brackets (B7), wherein the mounting bracket (B7) comprises a bracket body fixed to the ground and a first connecting block (B71) connected to the safety grating (B4); The safety grating (B4) comprises a first blocking bar (B42) arranged at the top of the safety grating (B4) and a second blocking bar (B43) arranged at the bottom of the safety grating (B4), wherein the first blocking bar (B42) and the second blocking bar (B43) are parallel to the ground; The working area (B5) has a material opening (B53) for material entry and exit, and the material opening (B53) is arranged on both sides of the second control device (B3); The pallet device (2) comprises a pallet frame (A1), on which a baffle mechanism (A2) cooperating with the pallet, a lifting mechanism (A3) cooperating with the pallet to realize the lifting of the pallet, and a first control device (A4) for controlling the lifting mechanism (A3) are installed; the baffle mechanism (A2) comprises a baffle (A21) abutting against the pallet and a support frame (A22) for mounting the baffle (A21) on the pallet frame (A1); the lifting mechanism (A3) comprises a lifting bracket (A31), a lifting hook plate (A32) for lifting the pallet, a first driving mechanism (A33) for driving the lifting bracket (A31) to reciprocate along the width direction of the pallet frame (A1), and a second driving mechanism (A34) for driving the lifting bracket (A31) to reciprocate along the height direction of the pallet frame (A1); The pallet frame (A1) comprises a first fixed plate (A11) connected to a lifting bracket (A31), a horizontal guide rail (A12) for cooperating with the first fixed plate (A11) to slide back and forth along the width direction of the pallet frame (A1), a second fixed plate (A13) for installing the horizontal guide rail (A12) and the first driving mechanism (A33), and a lifting guide rail (A14) for cooperating with the second fixed plate (A13) to slide back and forth along the length direction of the pallet frame (A1), the first fixed plate (A11) is connected to the first driving mechanism (A33), and the second fixed plate (A13) is connected to the second driving mechanism (A34); The conveying line (8) is provided with a second-floor conveying line (81), a slope conveying line (82), a first-floor conveying line (83), a box pusher (84), a box stacker (85), a first baler (86), a first steering device (87), a first roller conveying device (88), a second baler (89), a second roller conveying device (811), a second steering device (812), a box turner (813), a third roller conveying device (814) and a third baler (815) in sequence from beginning to end; The third baler (815) is docked with the first conveying mechanism (B2) next to the palletizing robot (B1); The computer (5) is respectively connected to the palletizing device (1), the tray device (2) and the conveying line (8) for communication; The support frame (A22) has a first support rod (A221) detachably connected to the tray frame (A1), and an end of the first support rod (A221) away from the baffle (A21) is provided with an external thread, and the tray frame (A1) has a through hole that cooperates with the first support rod (A221); the baffle (A21) includes a first contact surface (A211) and a guide surface (A212) that cooperates with the tray; the lifting hook plate (A32) has a hook piece (A321) for hooking up the tray and a fixing frame (A322) threadedly connected to the lifting bracket (A31), and the lifting bracket (A31) has a threaded hole that cooperates with the fixing frame (A322); the lifting bracket (A31) includes The pallet frame (A1) comprises a first fixing portion (A311) connected to the lifting hook plate (A32), a second fixing portion (A312) connected to the pallet frame (A1), and a reinforcing plate (A313) connecting the first fixing portion (A311) and the second fixing portion (A312); the baffle (A21) is divided into two side baffles (A213) and a rear baffle (A214), the two side baffles (A213) are respectively arranged on the left and right sides of the pallet frame (A1), and the rear baffle (A214) is arranged on the rear side of the pallet frame (A1); the pallet frame (A1) also includes a base (A15) for being installed on the ground and a driving bracket (A16) for installing the second driving mechanism (A34); The length of the rear baffle (A214) is greater than that of the side baffle (A213); the height of the bottom surface of the rear baffle (A214) from the ground is less than the height of a single pallet.

2. The intelligent unmanned assembly line for tea packaging according to claim 1, characterized in that: The first conveying mechanism (B2) includes a powered roller line (B21) connected to the third baler (815), an inclined powered roller line (B22) connected to the powered roller line (B21), and a tooling roller line (B23) cooperating with the palletizing robot (B1), the tooling roller line (B23) being located within the working area (B5) below the second working surface (B52) of the inclined powered roller line (B22); the safety grating (B4) has a second connecting block (B41) cooperating with the first connecting block (B71), and the second connecting blocks (B41) are evenly arranged along the length direction of the safety grating (B4).

3. The intelligent unmanned assembly line for tea packaging according to claim 1, characterized in that: The second floor conveyor line (81) includes at least one power conveyor device (816), the slope conveyor line (82) is formed by connecting at least two power conveyor devices (816), and the first floor conveyor line (83) includes at least three power conveyor devices (816); the power conveyor device (816) includes a bottom bracket (C1), a conveyor belt mechanism (C2) and an anti-dumping mechanism (C3); the bottom bracket (C1) has a left side plate (C11) and a right side plate (C12) and a bottom support (C13) that cooperate with the conveyor belt (C24) mechanism; the conveyor belt mechanism (C2) includes a left side plate (C11) and a right side plate (C12) installed on the left side plate (C13); the conveyor belt mechanism (C2) includes a The invention relates to a method for preventing a carton from tipping over a load carrying container and a method for preventing a carton from tipping over a load carrying container. The invention relates to a method for preventing a carton from tipping over a load carrying container and a method for preventing a carton from tipping over a load carrying container. The invention relates to a method for preventing a carton from tipping over a load carrying container and a method for preventing a carton from tipping over a load carrying container. The invention relates to a method for preventing a carton from tipping over a load carrying container and a method for preventing a carton from tipping over a load carrying container. The invention relates to a method for preventing a carton from tipping over a load carrying container and a method for preventing a carton from tipping over a load carrying container.

4. The intelligent unmanned assembly line for tea packaging according to claim 3, characterized in that: The upper guide rod (C32) has an upwardly inclined angle (C34) at both ends and a threaded hole matched with the assembly bracket (C31); each of the assembly brackets (C31) includes two vertical support rods (C311) installed on the left side plate (C11) and the right side plate (C12), a horizontal support rod (C312) installed on the vertical support rod (C311) through an adjustment block (C333), and a top bracket (C313) installed on the vertical support rod (C311), wherein the top bracket (C313) is threadedly connected to the upper guide rod (C32); the long guide bar (C33) has A sliding surface (C331) and an arc surface (C332), wherein the arc surface (C332) is located at both ends of the sliding surface (C331), and the long guide bar (C33) is connected to the horizontal support rod (C312) through a connecting piece; a bearing seat (C14) matching with the active roller (C21) or the driven roller (C22) is also installed on the left plate (C11) and the right plate (C12), and the bearing seat (C14) is slidably installed on the left plate (C11) or the right plate (C12), and a tensioning bolt (C15) is provided on the bearing seat (C14).

5. The intelligent unmanned assembly line for tea packaging according to claim 1, characterized in that: The box pusher (84) comprises a box pusher frame (D1), a second conveying mechanism (D2) for conveying cartons arranged on the box pusher frame (D1), a box pusher mechanism (D3) for pushing cartons, a first blocking mechanism (D4) for blocking cartons, and a positioning baffle frame (D5) cooperating with the box pusher mechanism (D3); the box pusher mechanism (D3) comprises a box pusher cylinder (D31) for driving a first push plate (D32) to complete a box pusher operation and a first push plate (D32) for pushing a box, wherein the first push plate (D32) is made of an aluminum profile; the box pusher mechanism (D3) also comprises a guide rod (D33) connected to the first push plate (D32) and a protective cover (D34) for protecting the box pusher cylinder (D31), wherein the guide rod (D33) is located on both sides of the box pusher cylinder (D31) and is located on the same straight line as the piston rod of the box pusher cylinder (D31); the positioning baffle frame (D5) ) comprises a long baffle (D51) formed by bending sheet metal, a second support rod (D52) for supporting the long baffle (D51) and a fixed block (D53) for installing the second support rod (D52), wherein the fixed block (D53) is fixedly connected to the side of the second conveying mechanism (D2); the second conveying mechanism (D2) comprises a plurality of first conveying rollers (D21) arranged at intervals, two side mounting plates (D22) cooperating with the first conveying rollers (D21) and a driving motor (D23) for driving the first conveying rollers (D21), wherein the side mounting plates (D22) have mounting ribs (D221) for mounting other equipment or parts, and mounting holes are provided on the mounting ribs (D221); the first blocking mechanism (D4) comprises a blocking bracket (D41) for blocking cartons and a blocking cylinder (D42) for driving the blocking bracket (D41) to realize a blocking operation on the cartons.

6. The intelligent unmanned assembly line for tea packaging according to claim 1, characterized in that: The stacker (85) comprises a stacker frame (E1), a third conveying mechanism (E2) arranged on the stacker frame (E1) for conveying cartons, a second blocking mechanism (E3) for blocking cartons, a box-pushing positioning mechanism (E4) for pushing cartons to achieve carton positioning, a limit baffle (E5) for limiting the position of the carton in cooperation with the box-pushing positioning mechanism (E4), a clamping mechanism (E6) for clamping and releasing the carton, a carton lifting mechanism (E7) for lifting the carton in cooperation with the clamping mechanism (E6), and a control box (E8) for controlling the stacker (85); the second blocking mechanism (E3) for blocking cartons, a box-pushing positioning mechanism (E4) for pushing cartons to achieve carton positioning, a limit baffle (E5) for limiting the position of the carton in cooperation with the box-pushing positioning mechanism (E4), a clamping mechanism (E6) for clamping and releasing the carton, a carton lifting mechanism (E7) for lifting the carton in cooperation with the clamping mechanism (E6), and a control box (E8) for controlling the stacker (85); The mechanism (E3) comprises a blocking plate (E31) for blocking a carton and a blocking driving mechanism (E32) for driving the blocking plate (E31) to achieve a blocking operation on the carton; the third conveying mechanism (E2) comprises a second conveying roller (E21) for conveying a carton, a mounting frame (E22) for mounting the second conveying roller (E21) and a first conveying driving mechanism (E23) for driving the second conveying roller (E21); the second conveying rollers (E21) are evenly spaced; the box-pushing positioning mechanism (E4) comprises a box-pushing cylinder (E41) for driving the second pushing plate (E42), a first cylinder (E42) for driving the second pushing plate (E42) and a first cylinder (E43) for driving the second pushing plate (E42). The second push plate (E42) is connected to the push box cylinder (E41); the push box cylinder (E41) is detachably mounted on the side of the third conveying mechanism (E2); the limit baffle (E5) includes a long strip-shaped body (E51), a third support rod (E52) for supporting the body (E51) and a support block (E53) for mounting the third support rod (E52), and the support block (E53) is mounted on the side of the mounting frame (E22); the clamping mechanism (E6) includes a fixed frame (E61), a clamping cylinder (E62) mounted on the fixed frame (E61), and a clamping cylinder (E62) connected to the clamping cylinder (E61). The fixed frame (E61) is connected to a carton lifting mechanism (E7); the carton lifting mechanism (E7) comprises a connecting rod (E71) for connecting the fixed frame (E61), a lifting cylinder (E72) for driving the fixed frame (E61) to achieve the lifting of the fixed frame (E61), and a mounting plate (E73) for mounting the connecting rod (E71) and the lifting cylinder (E72); the mounting plate (E73) has an opening for the connecting rod (E71) to make a reciprocating motion along the height direction of the frame of the stacker (85).

7. The intelligent unmanned assembly line for tea packaging according to claim 1, characterized in that: The box turning machine (813) comprises a box turning machine frame (F1), a fourth conveying mechanism (F2) arranged on the box turning machine frame (F1) for conveying cartons, a flipping drive mechanism (F3) for flipping the fourth conveying mechanism (F2), and a second conveying drive mechanism (F4) providing power for the fourth conveying mechanism (F2); the second conveying drive mechanism (F4) comprises an inlet section (F41) and an outlet section (F42) vertically connected to each other, the inlet section (F41) and the outlet section (F42) are rotatably mounted on the box turning machine frame (F1) through a rotating shaft (F43) and a bearing mounting seat (F44); the flipping drive mechanism (F3) comprises a box turning hydraulic cylinder (F31) cooperating with the inlet section (F41) and a hydraulic station (F32) providing power for the box turning hydraulic cylinder (F31), the box turning hydraulic cylinder (F31) having a function of turning the box The hydraulic cylinder (F31) is installed on a mounting plate (F311) on a box turning machine frame (F1) and a fixed shaft sleeve (F312) for connecting the box turning hydraulic cylinder (F31) to an inlet section (F41); the inlet section (F41) has a fixed shaft (F411) matched with the fixed shaft sleeve (F312), a fixed plate (F412) for mounting the fixed shaft (F411) and a locking shaft sleeve (F413) for fixing the fixed shaft (F411) to the fixed plate (F412), and the locking shaft sleeve (F413) is fixedly connected to the fixed plate (F412) by threaded connection; the box turning machine frame (F1) has a buffer (F11) matched with a fourth conveying mechanism (F2) and a mounting block (F12) for mounting the buffer (F11), and the fourth conveying mechanism (F2) has a support plate (F21) matched with the buffer (F11).

8. The intelligent unmanned assembly line for tea packaging according to claim 1, characterized in that: The first steering device (87) and the second steering device (812) both have a roller conveying mechanism (G1) for transporting cartons, a limit bracket (G2) for blocking and limiting the cartons, and a pushing mechanism for pushing the cartons to achieve carton reversal, wherein the pushing mechanism includes a pushing bracket (G3) and a pushing cylinder (G4) for driving the pushing bracket (G3).

9. The intelligent unmanned assembly line for tea packaging according to claim 1, characterized in that: It also includes a camera system (6), which has a plurality of monitoring cameras arranged beside the palletizing device (1), the pallet device (2) and the conveyor line, and the monitoring cameras are wirelessly connected to the computer (5).

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