A multi-posture positioning mechanism for box palletizing

Abstract

The present invention discloses a multi-posture positioning mechanism for box palletizing, comprising: a differential conveyor and a posture positioning mechanism for changing the posture of the box, wherein the posture positioning mechanism is fixed relative to the differential conveyor, and the differential conveyor is used to convey the box to the posture positioning mechanism. The present invention can be applied to the terminal of a material conveying line, can provide a palletizing robot with box-type objects with multiple posture positioning, can communicate with the palletizing robot, adapt to the mixed conveying of multiple specifications of products on the material conveying line, and can adapt to closely connected materials on the material conveying line, does not require a flipping mechanism to be installed on the palletizing robot gripper, reduces the load of the palletizing robot, and improves the working efficiency of the palletizing robot.

Description

Technical Field

[0001] The present application relates to a multi-posture positioning mechanism for box palletizing. Background Art

[0002] When the packaged cartons are stacked on the pallet, in order to stack as many cartons as possible on one pallet, the cartons will be stacked in different directions, some upright, some upright, and some sideways. When the robot is stacking, the flipping mechanism is often installed on the robot gripper, which increases the load of the stacking robot and reduces the working efficiency of the stacking robot. Summary of the invention

[0003] In view of the above problems, the present application proposes a multi-posture positioning mechanism for box palletizing, which solves the problem of increasing the load of the palletizing robot and reducing the working efficiency of the palletizing robot in order to stack as many cartons as possible on a pallet.

[0004] A multi-posture positioning mechanism for box palletizing comprises: a differential conveyor and a posture positioning mechanism for changing the posture of the box, wherein the posture positioning mechanism is fixed relative to the differential conveyor, and the differential conveyor is used to convey the box to the posture positioning mechanism.

[0005] Further, the posture positioning mechanism includes a standing posture flipping mechanism and a side posture flipping mechanism, the standing posture flipping mechanism flips the box to change the posture of the box, and the side posture flipping mechanism flips the box to change the posture of the box, and the posture of the box after the standing posture flipping mechanism flips the box is different from the posture of the box after the side posture flipping mechanism flips the box;

[0006] The posture positioning mechanism and the differential conveyor are both fixedly mounted on the frame.

[0007] Further, the vertical posture flipping mechanism comprises a vertical posture flipping bottom plate, a vertical posture receiving plate and a first cylinder, the vertical posture receiving plate is vertically mounted on the vertical posture flipping bottom plate, the vertical posture flipping bottom plate is rotatably connected to the frame via a first hinge, the first cylinder is mounted on the frame, and a push rod of the first cylinder is connected to the vertical posture receiving plate to drive the vertical posture receiving plate and the vertical posture flipping bottom plate to rotate around the first hinge;

[0008] The side posture flipping mechanism includes a side posture flipping base plate, a side posture receiving plate and a second cylinder. The side posture receiving plate is vertically installed on the side posture flipping base plate. The side posture flipping base plate is rotatably connected to the frame through a second hinge. The second cylinder is installed on the frame. The push rod of the second cylinder is connected to the side posture receiving plate to drive the side posture receiving plate and the side posture flipping base plate to rotate around the second hinge.

[0009] Furthermore, the posture positioning mechanism further comprises a positive posture positioning mechanism, the positive posture positioning mechanism and the side posture flipping mechanism are respectively arranged on both sides of the differential conveyor, and the upright posture flipping mechanism is arranged at the end of the differential conveyor;

[0010] The positive posture positioning mechanism comprises a positioning plate and a third cylinder, wherein the third cylinder is fixedly mounted on the frame, and the third cylinder drives the positioning plate to press the box body onto the side posture flip bottom plate.

[0011] Furthermore, the posture positioning mechanism also includes a standing posture positioning mechanism, the standing posture positioning mechanism includes a standing posture side baffle, a standing posture positive clamping mechanism and a standing posture side clamping mechanism, the standing posture flip bottom plate is provided with a standing posture positive clamping mechanism on the opposite side, and the standing posture side baffles and the standing posture side clamping mechanism are respectively provided on both sides of the standing posture positive clamping mechanism, the standing posture side baffles are fixedly connected to the frame and are perpendicular to the standing posture flip bottom plate; the standing posture positive clamping mechanism includes a standing posture positive clamping positioning plate and a standing posture positive clamping cylinder, the standing posture positive clamping cylinder is fixedly installed on the frame, and the standing posture positive clamping cylinder drives the standing posture positive clamping positioning plate to press the box body against the standing posture flip bottom plate; the standing posture side clamping mechanism includes a standing posture side clamping positioning plate and a standing posture side clamping cylinder, the standing posture side clamping cylinder is fixedly installed on the frame, and the standing posture side clamping cylinder drives the standing posture side clamping positioning plate to press the box body against the standing posture side baffle;

[0012] The posture positioning mechanism also includes a side posture positioning mechanism, the side posture positioning mechanism includes a side posture side baffle, a side posture positive pressing mechanism and a side posture side pressing mechanism, the side of the side posture flip bottom plate is provided with a side posture positive pressing mechanism, and the side posture side baffles and the side posture side pressing mechanism are respectively provided on both sides of the side posture positive pressing mechanism, the side posture side baffles are fixedly connected to the frame and are perpendicular to the side posture flip bottom plate; the side posture positive pressing mechanism includes a side posture positive pressing positioning plate and a side posture positive pressing cylinder, the side posture positive pressing cylinder is fixedly installed on the frame, and the side posture positive pressing cylinder drives the side posture positive pressing positioning plate to press the box body onto the side posture flip bottom plate; the side posture side pressing mechanism includes a side posture side pressing positioning plate and a side posture side pressing cylinder, the side posture side pressing cylinder is fixedly installed on the frame, and the side posture side pressing cylinder drives the side posture side pressing positioning plate to press the box body onto the side posture side baffle.

[0013] Furthermore, the differential conveyor includes an incoming material conveyor and a positioning conveyor, the incoming material conveyor is located at the head end of the differential conveyor, the positioning conveyor is located at the end of the incoming material conveyor, and the speed of the positioning conveyor conveying the box body is greater than the speed of the incoming material conveyor conveying the box body.

[0014] Furthermore, the differential conveyor also includes a blocking mechanism for blocking the box, the blocking mechanism includes a blocking plate, a linear guide rail and a blocking cylinder, the blocking plate is located between the incoming conveyor and the positioning conveyor, the blocking cylinder is fixedly installed on the frame, and the blocking cylinder drives the blocking plate to move up and down along the linear guide rail.

[0015] Furthermore, guard plates are installed on both sides of the differential conveyor, and opposing photoelectric sensors are installed on the guard plates. The opposing photoelectric sensors are located above the incoming material conveyor. When the opposing photoelectric sensors detect that the previous box leaves the blocking plate, they feed back to the control system and then control the blocking plate to rise and block the next box.

[0016] Furthermore, the differential conveyor also includes a differential mechanism, which includes a seat bearing, a transmission shaft and a motor. The seat bearing and the motor are fixedly mounted on the frame, and the transmission shaft is mounted on the seat bearing. The motor drives the transmission shaft to rotate through a chain drive. A large sprocket and a small sprocket are installed at one end of the transmission shaft, and the large sprocket and the small sprocket respectively drive the positioning conveyor and the incoming material conveyor through chain drive.

[0017] The present invention has the following advantages: it can be applied to the terminal of a material conveying line, can provide a palletizing robot with box-type objects with various posture positioning, can communicate with the palletizing robot, can adapt to the mixed conveying of products of multiple specifications on the material conveying line, and can adapt to closely connected materials on the material conveying line. There is no need to install a flipping mechanism on the gripper of the palletizing robot, which reduces the load of the palletizing robot and improves the working efficiency of the palletizing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 : A schematic structural diagram of the present invention;

[0020] Figure 2 : A schematic structural diagram of the differential conveyor of the present invention;

[0021] Figure 3 : A schematic diagram of the structure of the vertical posture flipping mechanism of the present invention (vertical posture material receiving position);

[0022] Figure 4 : A structural schematic diagram of the side posture flipping mechanism of the present invention (side posture material receiving position). DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] Embodiment 1:

[0025] like Figures 1 to 4 As shown, this embodiment provides a multi-posture positioning mechanism for box palletizing, including: a differential conveyor 02 and a posture positioning mechanism for changing the posture of the box, the posture positioning mechanism is fixed relative to the differential conveyor 02, and the differential conveyor 02 is used to convey the box to the posture positioning mechanism. The box refers to a rectangular box, and the rectangular box has three postures, and the three postures are postures in which three adjacent faces of the rectangular box are used as the bottom surface. The positive posture is the posture of the rectangular box entering the differential conveyor 02, the upright posture is the posture after flipping to one side, and the side posture is the posture after flipping to the other side.

[0026] Furthermore, the posture positioning mechanism includes a vertical posture flipping mechanism 05 and a side posture flipping mechanism 07. The vertical posture flipping mechanism 05 flips the box body to change the posture of the box body. The vertical posture flipping mechanism 05 has two working positions: a vertical posture receiving position (such as Figure 3 as shown) and upright flip position (as shown Figure 1 As shown), the vertical flip position is the original position of the vertical flip mechanism. When the palletizing robot needs to place the box upright, the vertical flip mechanism 05 flips to the vertical material receiving position, and at the same time, the blocking mechanism 202 of the differential conveyor 02 is released to transport a box to the end of the differential conveyor 02 and enter the vertical material receiving position;

[0027] The side posture flipping mechanism 07 flips the box body to change the posture of the box body. The side posture flipping mechanism has two working positions: a side posture receiving position (such as Figure 4 as shown) and side posture flip position (as shown Figure 1 As shown), when the palletizing robot needs to place the box on its side, the side posture flipping mechanism 07 flips to the side posture receiving position, and at the same time, the blocking mechanism 202 of the differential conveyor 02 is released to transport a box to the end of the differential conveyor 02 and enter the side posture receiving position;

[0028] The posture of the box body after the box body is flipped by the vertical posture flipping mechanism 05 is different from the posture of the box body after the box body is flipped by the side posture flipping mechanism 07;

[0029] The posture positioning mechanism and the differential conveyor 02 are both fixedly mounted on the frame 01.

[0030] Further, the vertical flip mechanism 05 includes a vertical flip base plate 501, a vertical material receiving plate 502 and a first cylinder 504, wherein the vertical material receiving plate 502 is vertically mounted on the vertical flip base plate 501, the vertical flip base plate 501 is rotatably connected to the frame 01 via a first hinge 503, the first cylinder 504 is mounted on the frame 01, and the push rod of the first cylinder 504 is connected to the vertical material receiving plate 502 to drive the vertical material receiving plate 502 and the vertical flip base plate 501 to rotate around the first hinge 503; preferably, in order to make the active gap as small as possible, the shaft and the shaft sleeve bearing are selected as the first hinge 503. A first buffer 505 is mounted on the frame 01, and the first buffer 505 is adapted to the vertical material receiving plate 502 to buffer the vibration generated when the vertical material receiving plate 502 rotates to contact the first buffer 505.

[0031] The side posture flipping mechanism 07 includes a side posture flipping base plate 701, a side posture receiving plate 702 and a second cylinder 704. The side posture receiving plate 702 is vertically installed on the side posture flipping base plate 701. The side posture flipping base plate 701 is rotatably connected to the frame 01 through a second hinge 703. The second cylinder 704 is installed on the frame 01. The push rod of the second cylinder 704 is connected to the side posture receiving plate 702 to drive the side posture receiving plate 702 and the side posture flipping base plate 701 to rotate around the second hinge 703; preferably, in order to make the active clearance as small as possible, the shaft and the shaft set bearing are selected to cooperate as the second hinge 703.

[0032] Furthermore, the posture positioning mechanism also includes a positive posture positioning mechanism 04, and the positive posture positioning mechanism 04 and the side posture flipping mechanism 07 are respectively arranged on both sides of the differential conveyor 02, and the vertical posture flipping mechanism 05 is arranged at the end of the differential conveyor 02; a second buffer 705 is installed on the frame 01, and the second buffer 705 is adapted to the side posture receiving plate 702, and is used for the vibration generated when the side posture receiving plate 702 rotates to contact with the second buffer 705.

[0033] The positive posture positioning mechanism 04 includes a positioning plate 401 and a third cylinder 402. The third cylinder 402 is fixedly mounted on the frame 01. The third cylinder 402 drives the positioning plate 401 to press the box onto the side posture flip bottom plate 701. The pressing direction of the positive posture pressing mechanism 04 is perpendicular to the conveying direction of the differential conveyor 02. The positioning plate 401 pushes the box toward the opposite side posture flip bottom plate 701. One side of the box-type material (box) is blocked by the vertical posture flip bottom plate 501, and the other side is blocked by the side posture flip bottom plate 701. The third side is pressed by the positioning plate 401. In addition, the bottom positioning conveyor 203 gives the box a conveying force in the direction of the vertical posture flip bottom plate 501. The box-type material (box) is completely positioned. The gas in the third cylinder 402 is compressible and elastic to prevent damage to the box. The air pressure of the cylinder is adjusted to be suitable for the pressure range that the box can withstand to obtain an elastic stroke to adapt to boxes of different sizes.

[0034] Furthermore, the posture positioning mechanism also includes a standing posture positioning mechanism 06, the standing posture positioning mechanism 06 includes a standing posture side baffle 601, a standing posture positive clamping mechanism 602 and a standing posture side clamping mechanism 603, the standing posture flip bottom plate 501 is provided with a standing posture positive clamping mechanism 602 on the opposite side, and the standing posture side baffle 601 and the standing posture side clamping mechanism 603 are respectively provided on both sides of the standing posture positive clamping mechanism 602, the standing posture side baffle 601 is fixedly connected to the frame 01 and is perpendicular to the standing posture flip bottom plate 501; the standing posture positive clamping mechanism 602 includes a standing posture positive clamping positioning plate 602.1 and a standing posture positive clamping cylinder 602.2, the standing posture positive clamping cylinder 602.2 is fixedly installed on the frame 01, and the standing posture positive clamping cylinder 602.2 drives the standing posture positive clamping positioning plate 602.1 to press the box body onto the standing posture flip bottom plate 501; the standing posture side clamping mechanism The structure 603 includes a standing posture side clamping positioning plate 603.1 and a standing posture side clamping cylinder 603.2, wherein the standing posture side clamping cylinder 603.2 is fixedly mounted on the frame 01, and the standing posture side clamping cylinder 603.2 drives the standing posture side clamping positioning plate 603.1 to press the box onto the standing posture side baffle 601; the standing posture positive clamping mechanism 602 and the standing posture side clamping mechanism 603 are both elastic (the gas in the cylinder can be compressed, so it has elasticity; the air pressure of the cylinder is adjusted to be suitable for the pressure range that the box can withstand to obtain an elastic stroke to adapt to boxes of different sizes and specifications) and can adapt to boxes of different sizes and specifications; one side of the box-type material is blocked by the standing posture side baffle 601, the other side is blocked by the standing posture side clamping mechanism 603, the third side is pressed by the standing posture material receiving plate 502 of the standing posture flipping mechanism 05, and the fourth side is blocked by the standing posture positive clamping mechanism 602, and the box-type material (box) is completely positioned.

[0035] The posture positioning mechanism also includes a side posture positioning mechanism 08, and the side posture positioning mechanism 08 includes a side posture side baffle plate 801, a side posture positive clamping mechanism 802 and a side posture side clamping mechanism 803. The side posture flip bottom plate 701 is provided with a side posture positive clamping mechanism 802 on the opposite side, and the side posture side baffle plates 801 and the side posture side clamping mechanism 803 are provided on both sides of the side posture positive clamping mechanism 802. The side posture side baffle plate 801 is fixedly connected to the frame 01 and is perpendicular to the side posture flip bottom plate 701; the side posture positive clamping mechanism 802 includes a side posture positive clamping positioning plate 802.1 and a side posture positive clamping cylinder 802.2, and the side posture positive clamping cylinder 802.2 is fixedly installed on the frame 01, and the side posture positive clamping cylinder 802.2 drives the side posture positive clamping positioning plate 802.1 to press the box body onto the side posture flip bottom plate 701; the side posture side clamping mechanism 8 03 includes a side posture side clamping positioning plate 803.1 and a side posture side clamping cylinder 803.2, wherein the side posture side clamping cylinder 803.2 is fixedly mounted on the frame 01, and the side posture side clamping cylinder 803.2 drives the side posture side clamping positioning plate 803.1 to clamp the box onto the side posture side baffle 801; the side posture positive clamping mechanism 802 and the side posture side clamping mechanism 803 are both elastic (the gas in the cylinder can be compressed, so it has elasticity; the air pressure of the cylinder is adjusted to be suitable for the pressure range that the box can withstand to obtain an elastic stroke to adapt to boxes of different sizes and specifications) and can adapt to boxes of different sizes and specifications; one side of the box-type material is blocked by the side posture side baffle 801, the other side is blocked by the side posture side clamping mechanism 803, the third side is pressed by the side posture receiving plate 702 of the side posture flipping mechanism 07, and the fourth side is blocked by the side posture positive clamping mechanism 802, and the box-type material (box) is completely positioned.

[0036] Furthermore, the differential conveyor 02 includes an incoming material conveyor 201 and a positioning conveyor 203, both of which are roller conveyors. The incoming material conveyor 201 is located at the head end of the differential conveyor 02, and the positioning conveyor 203 is located at the end of the incoming material conveyor 201. The speed at which the positioning conveyor 203 conveys the box body is greater than the speed at which the incoming material conveyor 201 conveys the box body.

[0037] Furthermore, the differential conveyor 02 also includes a blocking mechanism 202 for blocking the box, and the blocking mechanism 202 includes a blocking plate 202.1, a linear guide rail 202.2 and a blocking cylinder 202.3. The blocking plate 202.1 is located between the incoming conveyor 201 and the positioning conveyor 203, and the blocking cylinder 202.3 is fixedly installed on the frame 01. The blocking cylinder 202.3 drives the blocking plate 202.1 to move up and down along the linear guide rail 202.2.

[0038] Furthermore, guard plates 205 are respectively installed on both sides of the differential conveyor 02, and a photoelectric sensor 206 is installed on the guard plate 205. The photoelectric sensor 206 is located above the incoming conveyor 201. When the photoelectric sensor 206 detects that the previous box leaves the blocking plate 202.1, it will feedback to the control system and then control the blocking plate 202.1 to rise and block the next box.

[0039] Furthermore, the differential conveyor 02 also includes a differential mechanism 204, which includes a seat bearing 204.1, a transmission shaft 204.2 and a motor 204.5. The seat bearing 204.1 and the motor 204.5 are fixedly mounted on the frame 01, the transmission shaft 204.2 is mounted on the seat bearing 204.1, the motor 204.5 drives the transmission shaft 204.2 to rotate through a chain drive, and a large sprocket 204.3 and a small sprocket 204.4 are installed at one end of the transmission shaft 204.2. The large sprocket 204.3 and the small sprocket drive the positioning conveyor 203 and the incoming material conveyor 201 respectively through chain drive.

[0040] Furthermore, the standing posture side clamping positioning plate 603.1, the standing posture positive clamping positioning plate 602.1, the side posture positive clamping positioning plate 802.1 and the side posture side clamping positioning plate 803.1 are all installed on linear guide rails, and respective cylinders push their respective pressure plates to move.

[0041] The specification recognition mechanism 03 is connected to the control system. The specification recognition mechanism 03 identifies each material entering the differential conveyor 02 and sends the identification information to the control system. After the first box is released, it leaves the identification range of the specification recognition. The second box is blocked by the blocking mechanism and the specification recognition mechanism identifies the second box.

[0042] Furthermore, a specification recognition mechanism 03 is installed on the frame at the material entrance of the differential conveyor 02. The specification recognition mechanism 03 is connected to the control system. The specification recognition mechanism 03 identifies each box entering the differential conveyor 02 and sends the identification information to the control system. The box is affixed with a QR code. The specification recognition mechanism 03 is equipped with a barcode scanner for identifying the QR code. The control system reads the character string scanned by the barcode scanner and distinguishes the specifications of the box through the character string. The stacking method of boxes of each specification is the same (for example, the 1st to 5th boxes are placed upright, the 6th to 10th boxes are placed sideways, and the 11th to 20th boxes are placed upright). The control system first determines the specification of the box by scanning the code, and then determines the posture of the box by counting the boxes and combining the number of robot stacking.

[0043] Working principle:

[0044] The head end of the differential conveyor 02 is the feed end, which is connected to the upstream material conveying line. The differential mechanism 204 connects the incoming conveyor 201 and the positioning conveyor 203 to provide different speeds of power for the incoming conveyor 201 and the positioning conveyor 203. The speed of the positioning conveyor 203 is higher than that of the incoming conveyor 201. The box is blocked on the incoming conveyor 201 by the blocking mechanism 202 on the differential conveyor 02. The specification recognition mechanism 03 identifies each material entering the differential conveyor 02 and sends the identification information to the control system. When the blocking mechanism 202 receives the release command from the control system, it opens the blocking plate 202.1. After the first box is released, it leaves the recognition range of the specification recognition 03.

[0045] The first box is transported away from the incoming material conveyor 201 and into the positioning conveyor 203. Since the speed of the positioning conveyor 203 is higher than that of the incoming material conveyor 201, the distance between the first box and the second box connected thereto is enlarged. When the first box completely leaves the blocking mechanism 202, the installation position of the through-beam photoelectric sensor 206 is in front of the blocking plate 202.1, so that the first box-type material is detected as soon as it leaves the blocking plate 202.1 and the feedback is given to the control system, thereby controlling the blocking plate 202.1 to rise and block the next box. At the same time, the specification recognition mechanism 03 recognizes the second box.

[0046] The specifications of the box materials are identified one by one by the specification recognition mechanism 03 on the differential conveyor 02. The specification recognition mechanism sends the specification information to the control system. The control system sends a command to the differential conveyor 02 to release the boxes with identified specifications one by one and convey them to the end of the differential conveyor 02. At the same time, the information of the stacking robot is combined to comprehensively judge the box posture required by the stacking robot and send a command to the corresponding actuator: when the box needs to be placed upright, the box is directly conveyed to the end of the differential conveyor 02, and the positive posture positioning mechanism 04 positions the box at the positive posture material picking position waiting for the stacking robot to grab it; when the box needs to be placed upright, the upright posture flipping mechanism 05 executes an action to flip the box to the upright posture material picking position waiting for the stacking robot to grab it; when the box needs to be placed sideways, the side posture flipping mechanism 07 executes an action to flip the box to the side posture material picking position waiting for the stacking robot to grab it.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-posture positioning mechanism for box palletizing, characterized in that: include: A differential conveyor (02) and a posture positioning mechanism for changing the posture of a box body, wherein the posture positioning mechanism is fixed relative to the differential conveyor (02), and the differential conveyor (02) is used to convey the box body to the posture positioning mechanism; The posture positioning mechanism comprises a standing posture flipping mechanism (05) and a side posture flipping mechanism (07); the standing posture flipping mechanism (05) flips the box to change the posture of the box; the side posture flipping mechanism (07) flips the box to change the posture of the box; the posture of the box after the standing posture flipping mechanism (05) flips the box is different from the posture of the box after the side posture flipping mechanism (07) flips the box; The posture positioning mechanism and the differential conveyor (02) are both fixedly mounted on the frame (01); The standing posture flipping mechanism (05) comprises a standing posture flipping base plate (501), a standing posture receiving plate (502) and a first cylinder (504); the standing posture receiving plate (502) is vertically mounted on the standing posture flipping base plate (501); the standing posture flipping base plate (501) is rotatably connected to the frame (01) via a first hinge (503); the first cylinder (504) is mounted on the frame (01); a push rod of the first cylinder (504) is connected to the standing posture receiving plate (502) for driving the standing posture receiving plate (502) and the standing posture flipping base plate (501) to rotate around the first hinge (503); The side posture flipping mechanism (07) comprises a side posture flipping base plate (701), a side posture receiving plate (702) and a second cylinder (704); the side posture receiving plate (702) is vertically mounted on the side posture flipping base plate (701); the side posture flipping base plate (701) is rotatably connected to the frame (01) via a second hinge (703); the second cylinder (704) is mounted on the frame (01); a push rod of the second cylinder (704) is connected to the side posture receiving plate (702) for driving the side posture receiving plate (702) and the side posture flipping base plate (701) to rotate around the second hinge (703); The posture positioning mechanism also includes a positive posture positioning mechanism (04), the positive posture positioning mechanism (04) and the side posture flipping mechanism (07) are respectively arranged on both sides of the differential conveyor (02), and the upright posture flipping mechanism (05) is arranged at the end of the differential conveyor (02); The positive posture positioning mechanism (04) comprises a positioning plate (401) and a third cylinder (402), wherein the third cylinder (402) is fixedly mounted on the frame (01), and the third cylinder (402) drives the positioning plate (401) to press the box body onto the side posture flip bottom plate (701); The posture positioning mechanism also includes a standing posture positioning mechanism (06), the standing posture positioning mechanism (06) includes a standing posture side baffle (601), a standing posture positive clamping mechanism (602) and a standing posture side clamping mechanism (603), the standing posture positive clamping mechanism (602) is arranged on the opposite side of the standing posture flip base plate (501), and the standing posture side baffle (601) and the standing posture side clamping mechanism (603) are arranged on both sides of the standing posture positive clamping mechanism (602), the standing posture side baffle (601) is fixedly connected to the frame (01) and is perpendicular to the standing posture flip base plate (501); the standing posture positive clamping mechanism (602) includes a standing posture positive clamping positioning plate (602.1) and A standing posture positive pressing cylinder (602.2), wherein the standing posture positive pressing cylinder (602.2) is fixedly mounted on the frame (01), and the standing posture positive pressing cylinder (602.2) drives the standing posture positive pressing positioning plate (602.1) to press the box body onto the standing posture flip bottom plate (501); the standing posture side pressing mechanism (603) comprises a standing posture side pressing positioning plate (603.1) and a standing posture side pressing cylinder (603.2), wherein the standing posture side pressing cylinder (603.2) is fixedly mounted on the frame (01), and the standing posture side pressing cylinder (603.2) drives the standing posture side pressing positioning plate (603.1) to press the box body onto the standing posture side baffle (601).

2. The multi-posture positioning mechanism for box palletizing according to claim 1, characterized in that: The posture positioning mechanism also includes a side posture positioning mechanism (08), the side posture positioning mechanism (08) includes a side posture side baffle plate (801), a side posture positive clamping mechanism (802) and a side posture side clamping mechanism (803), the side posture positive clamping mechanism (802) is arranged on the opposite side of the side posture flip bottom plate (701), and the side posture side baffle plate (801) and the side posture side clamping mechanism (803) are arranged on both sides of the side posture positive clamping mechanism (802), the side posture side baffle plate (801) is fixedly connected to the frame (01) and is perpendicular to the side posture flip bottom plate (701); the side posture positive clamping mechanism (802) includes a side posture positive clamping positioning plate (802.1) and A side attitude positive pressing cylinder (802.2), wherein the side attitude positive pressing cylinder (802.2) is fixedly mounted on the frame (01), and the side attitude positive pressing cylinder (802.2) drives the side attitude positive pressing positioning plate (802.1) to press the box body onto the side attitude flip bottom plate (701); the side attitude side pressing mechanism (803) comprises a side attitude side pressing positioning plate (803.1) and a side attitude side pressing cylinder (803.2), wherein the side attitude side pressing cylinder (803.2) is fixedly mounted on the frame (01), and the side attitude side pressing cylinder (803.2) drives the side attitude side pressing positioning plate (803.1) to press the box body onto the side attitude side baffle (801).

3. The multi-posture positioning mechanism for box palletizing according to claim 1, characterized in that: The differential conveyor (02) comprises an incoming material conveyor (201) and a positioning conveyor (203), wherein the incoming material conveyor (201) is located at the head end of the differential conveyor (02), and the positioning conveyor (203) is located at the end of the incoming material conveyor (201), and the speed at which the positioning conveyor (203) conveys the box body is greater than the speed at which the incoming material conveyor (201) conveys the box body.

4. The multi-posture positioning mechanism for box palletizing according to claim 3, characterized in that: The differential conveyor (02) further comprises a blocking mechanism (202) for blocking the box, the blocking mechanism (202) comprising a blocking plate (202.1), a linear guide rail (202.2) and a blocking cylinder (202.3), the blocking plate (202.1) being located between the incoming material conveyor (201) and the positioning conveyor (203), the blocking cylinder (202.3) being fixedly mounted on the frame (01), and the blocking cylinder (202.3) driving the blocking plate (202.1) to move up and down along the linear guide rail (202.2).

5. The multi-posture positioning mechanism for box palletizing according to claim 4, characterized in that: Guard plates (205) are respectively installed on both sides of the differential conveyor (02), and a photoelectric sensor (206) is installed on the guard plate (205). The photoelectric sensor (206) is located above the incoming material conveyor (201). When the photoelectric sensor (206) detects that the previous box has left the blocking plate (202.1), it feeds back to the control system and controls the blocking plate (202.1) to rise and block the next box.

6. The multi-posture positioning mechanism for box palletizing according to claim 3, characterized in that: The differential conveyor (02) further comprises a differential mechanism (204), wherein the differential mechanism (204) comprises a seat bearing (204.1), a transmission shaft (204.2) and a motor (204.5), wherein the seat bearing (204.1) and the motor (204.5) are fixedly mounted on the frame (01), the transmission shaft (204.2) is mounted on the seat bearing (204.1), the motor (204.5) drives the transmission shaft (204.2) to rotate via a chain drive, a large sprocket (204.3) and a small sprocket (204.4) are mounted on one end of the transmission shaft (204.2), and the large sprocket (204.3) and the small sprocket drive the positioning conveyor (203) and the incoming material conveyor (201) respectively via a chain drive.

7. The multi-posture positioning mechanism for box palletizing according to claim 3, characterized in that: It also includes a specification recognition mechanism (03), which is installed on the frame (01) and is used to detect the specifications of the box on the incoming material conveyor (201).

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