A turnover box loading and unloading device and a loading method and unloading method thereof

Abstract

The present invention discloses a turnover box loading and unloading device and a loading method and a unloading method thereof, comprising a truss robot, a carton conveyor and a turnover box conveyor arranged below the truss robot, and a host computer, a carton clamp, and a box cover opening device for opening and closing the turnover box arranged on the truss robot, wherein the carton clamp is located on the left side of the box cover opening device, and the host computer arranged on the truss robot is a driving power system, which drives the carton clamp and the box cover opening device to move left and right along the truss; through this device, the carton conveyor is used to transport cartons, the turnover box conveyor is used to transport turnover boxes, the box cover opening device opens and closes the turnover box, and the carton clamp is used to grab the carton and place the carton in the turnover box, or take the carton out of the turnover box, thereby automatically completing the unloading and loading operations of the turnover box, saving labor costs and improving production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of cargo picking and placing devices, and in particular relates to a turnover box loading and unloading device and a loading method and a unloading method thereof. Background Art

[0002] With the development of logistics industry and intelligent warehousing technology, the use of turnover boxes with box covers is increasing. At present, in the turnover box packing or unpacking, the turnover box is usually opened manually, and then the cartons are loaded or taken out, and then the turnover box with loaded cartons or the cartons taken out of the turnover box and the empty turnover box are placed in the designated position respectively, and this work is repeated continuously. Because the turnover box cover and the cartons to be loaded and unloaded are heavy, the labor intensity of the workers is greatly increased, the labor cost is increased, and the production efficiency is reduced. Summary of the invention

[0003] In view of the shortcomings and defects in the prior art, the purpose of the present invention is to provide a turnover box loading and unloading device and its loading method and unloading method, which solves the problem of increased labor costs and reduced production efficiency caused by the current manual loading and unloading of turnover boxes.

[0004] In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: a turnover box loading and unloading device, comprising a truss robot, and a carton conveyor arranged below the truss robot for conveying cartons, a turnover box conveyor for conveying turnover boxes, and a host computer arranged on the truss robot, a carton clamp for transferring cartons between the carton conveyor and the turnover box conveyor, and a box opening device for opening and closing the turnover boxes, the carton clamp is located on the left side of the box opening device, and the host computer arranged on the truss robot is a driving power system, and the power system drives the carton clamp and the box opening device to move left and right along the truss.

[0005] As a further improvement of the present invention, the carton conveyor includes a carton conveyor A and a carton conveyor B which can operate independently, and the carton conveyor A, the turnover box conveyor and the carton conveyor B are arranged in sequence from right to left.

[0006] As a further improvement of the present invention, a carton positioning mechanism is provided at the end of the carton conveyor A, and a first photoelectric sensor capable of detecting the carton in place is provided near the carton positioning mechanism, and the first photoelectric sensor is connected to the host computer signal.

[0007] As a further improvement of the present invention, a laser distance measuring sensor capable of detecting the size of the carton is further provided on the carton conveyor A in front of the first photoelectric sensor, and the host computer and the laser distance measuring sensor are signal-connected.

[0008] As a further improvement of the present invention, on the turnover box conveyor, a turnover box positioning mechanism capable of positioning the turnover box is provided below the truss robot, and a second photoelectric sensor capable of detecting the placement of the carton is provided near the turnover box positioning mechanism, and the second photoelectric sensor is connected to the host computer signal.

[0009] As a further improvement of the present invention, a third photoelectric sensor capable of detecting the size of the turnover box is also provided near the turnover box positioning mechanism, and the third photoelectric sensor is connected to the host computer signal.

[0010] As a further improvement of the present invention, the turnover box conveyor includes a front conveyor, a middle conveyor and a rear conveyor arranged in sequence from front to back, the middle conveyor is located below the truss robot and is connected to a lift that can lift it, and the second photoelectric sensor is arranged on one side of the middle conveyor.

[0011] As a further improvement of the present invention, the elevator includes a bracket and a base connected together, at least one pair of pulleys symmetrically arranged up and down are arranged on the bracket, an endless belt is wrapped around the two pulleys, one of the pulleys is connected to the driving motor, a middle section conveyor is arranged above the base, one side of which is fixed to the endless belt, and at least two sliders are arranged on it, and a guide rail corresponding to the slider is provided on the bracket.

[0012] As a further improvement of the present invention, there are two pairs of pulleys, each pair of pulleys is wound with an endless belt, and there is one driving motor which is connected to one of the pulleys in each pair of pulleys through a synchronous belt module.

[0013] As a further improvement of the present invention, the turnover box positioning mechanism includes two adjustment plates, which are respectively arranged on both sides of the turnover box conveyor and are respectively connected to a first cylinder. The two first cylinders can drive the two adjustment plates to move toward or away from each other.

[0014] As a further improvement of the present invention, the turnover box positioning mechanism also includes a blocking plate that can stop the turnover box from moving forward and a second cylinder that drives the blocking plate to rise and fall. The upper end of the blocking plate can extend from the turnover box conveyor, and the lower end is connected to the second cylinder that can drive it to rise and fall.

[0015] As a further improvement of the present invention, the turnover box positioning mechanism also includes a third cylinder, a sprocket, a conveyor chain and a check plate capable of preventing the turnover box from returning. There are two pairs of sprockets, which are arranged on both sides of the check plate and connected by a transmission shaft. An annular conveyor chain is wound around each pair of sprockets, one of which is connected to the check plate, and the other is respectively connected to the check plate and the third cylinder.

[0016] As a further improvement of the present invention, the truss robot is further provided with a dust removal device, which is located at the rightmost side of the truss robot.

[0017] The loading method of the turnover box loading and unloading device is characterized by comprising the following steps:

[0018] 1a) Before work, the specifications and models of cartons and turnover boxes are transmitted to the host computer, and the host computer sends a signal to the truss robot, and the truss robot moves the box cover device and the carton fixture to prepare for position;

[0019] 2a) Carton conveyor A starts to transport cartons. The carton passes through the laser distance sensor to recheck the height and is compared with the model provided by the host computer. After the comparison is correct, the carton continues to be transported to the carton positioning mechanism, which positions and sorts the carton. After the carton is positioned, the carton clamp descends, and the suction cup of the carton clamp is close to the carton to fix the carton. Then the teeth of the carton clamp extend, and the carton is pressed down at the same time. The teeth of the carton clamp hold the carton. Finally, the carton clamp drives the carton to lift up to a safe height.

[0020] 3a) In synchronization with step 2, the turnover box is transported through the front conveyor until it is transported to the turnover box positioning mechanism at the middle conveyor. At this time, the second photoelectric sensor detects that the carton is in place and sends a second signal to the upper computer. Then the front conveyor and the middle conveyor stop working, and the two third cylinders are running at the same time. The third cylinder drives the check plate to extend out of the transport surface of the middle conveyor through the conveying chain to prevent the turnover box from rebounding. At the same time, the two first cylinders drive the two adjustment plates to move to clamp and position the turnover box;

[0021] At the same time, the third photoelectric sensor rechecks the size of the turnover box and compares it with the upper computer. If the comparison is correct, the second photoelectric sensor sends a second signal to the upper computer, and the upper computer controls the elevator to lift upward, thereby lifting the middle conveyor and the turnover box to a certain height, and the box cover opening device descends to clamp the box cover of the turnover box, and then the box cover opening device drives the box cover to lift upward to a safe height, completing the opening of the turnover box;

[0022] 4a) Put the carton into the turnover box; the upper computer controls the box cover opening device and the carton clamp to move to the left for a certain distance and then stop. At this time, the carton clamp is directly above the turnover box, the carton clamp descends, and the teeth of the carton clamp are retracted. After the carton clamp puts the carton into the turnover box, it releases the carton and lifts it up to a safe height;

[0023] 5a) Buckling the cover of the turnover box; the upper computer controls the box cover opening device and the carton clamp to move to the right and then reset and stop. At this time, the box cover opening device is directly above the turnover box. The box cover opening device descends and buckles the cover of the turnover box on the turnover box body. The turnover box releases the cover and lifts it upward to a safe height;

[0024] 6a) Transportation of turnover boxes: The elevator descends and returns the middle conveyor to its position. After the middle conveyor is returned to its position, the second cylinder drives the blocking plate to retract, and the first cylinder drives the two adjustment plates to move backwards to release the turnover box. The middle conveyor and the rear conveyor start working, and the middle conveyor transports the turnover box to the rear conveyor;

[0025] 7a) Preparation for the next packing process; the first cylinder drives the blocking plate to lift up and reset, extending out of the conveying surface of the middle conveyor, and the third cylinder drives the check plate to descend through the conveying chain and retract it below the conveying surface of the middle conveyor; at the same time, the rear conveyor transports the turnover boxes on it to the destination, and the empty turnover boxes to be packed are transported to the turnover box positioning mechanism of the middle conveyor through the front conveyor to enter the next packing process.

[0026] As a further improvement of the present invention, in step 3a), an abnormal opening process of the turnover box is added. When the box cover opening device opens the cover and an abnormal opening process occurs, steps 4a) and 5a) are skipped and steps 6a) and 7a) are entered. The rear conveyor transports the turnover box to the manual position for manual trimming.

[0027] As a further improvement of the present invention, in step 5a), an abnormal cover-fastening process of the turnover box is added. When the box cover opening device is closing the cover, the box cover opening device lifts up and resets together with the box cover. The truss robot controls the box cover opening device and the carton clamp to move to the left and then stops. At this time, the carton clamp descends, adsorbs and fixes the carton, and then lifts up to take out the carton. The truss robot moves the box cover opening device and the carton clamp to the right and resets them. The box cover opening device tilts down, inserts the box cover obliquely into the turnover box, and then lifts up and resets it. Then, the process goes to step 6a) and step 7a), and the rear conveyor transports the turnover box with the abnormal cover-fastening to the manual position for manual trimming.

[0028] The method for picking up goods by a turnover box loading and picking up device is characterized by comprising the following steps:

[0029] 1b) The front conveyor transports the packed turnover boxes to the middle conveyor. After the second photoelectric sensor detects that the carton is in place, it sends a second signal, and then the upper computer controls the front conveyor and the middle conveyor to stop working, and the turnover box stops running; the third cylinder drives the check plate to extend out of the transport surface of the middle conveyor through the conveying chain, so as to prevent the turnover box from rebounding; the two first cylinders drive the two adjustment plates to move to clamp and position the turnover box; then the elevator starts to work, lifting the middle conveyor and the turnover box to a certain height;

[0030] 2b) After the lifter is lifted to the right position, the box cover opening device descends, and after the box cover of the turnover box is adsorbed, the box cover opening device drives the box cover to reset and lift it to a safe height;

[0031] 3b) The truss robot moves the box cover opening device and the carton clamp to the left for a certain distance and then stops. At this time, the carton clamp descends and falls into the turnover box, clamps the carton and lifts it upward to a certain height, that is, taking the carton out of the turnover box;

[0032] 4b) The truss robot adjusts the box cover opening device and the carton clamp to continue to move to the left until the carton clamp is moved to the top of the carton conveyor B and then stops. At the same time, the dust removal device is moved to the left to the top of the turnover box.

[0033] 5b) The dust removal device descends onto the turnover box to remove dust from the inside of the turnover box, and then lifts it upward to a safe height after dust removal;

[0034] 6b) Synchronously with step 5b), the carton clamp descends, places the carton on the carton conveyor B, then releases the carton and lifts it upward to a safe height, while the carton is transported to the destination by the carton conveyor B;

[0035] 7b) The dust removal device, carton clamp and box cover opening device move to the right at the same time, until the dust removal device moves to the right side of the carton conveyor A, the carton clamp moves to the right above the carton conveyor A; the box cover opening device moves to the top of the turnover box;

[0036] 8b) The box cover opening device descends, buckles the box cover onto the box, releases the box cover, and lifts it up to a safe height;

[0037] 9b) After the lifting device drives the middle conveyor to descend and return to its original position, the second cylinder drives the blocking plate to descend below the conveying surface of the middle conveyor, and the first cylinder drives the adjustment plate to release the turnover box. At the same time, the middle conveyor starts working and transports the turnover box to the rear conveyor;

[0038] 10b) Preparation for the next box picking process; the second cylinder drives the blocking plate to lift up and reset, extending out of the conveying surface of the middle conveyor, and the third cylinder drives the check plate to descend through the conveying chain and retracts it below the conveying surface of the middle conveyor; at the same time, the rear conveyor transports the turnover boxes on it to the destination, and the full turnover boxes to be picked up are transported to the turnover box positioning mechanism of the middle conveyor through the front conveyor, and enter the next box picking process.

[0039] As a further improvement of the present invention, in step 2b), an abnormal opening process of the turnover box is added. When the box cover opening device opens the cover and an abnormal opening process occurs, steps 3b) to 8b) are skipped and steps 9b) and 10b) are entered. The rear conveyor transports the turnover box to the manual position for manual trimming.

[0040] As a further improvement of the present invention, in step 8b), a processing for abnormal cover closing of the turnover box is added. When the box cover opening device is closing the cover, if the cover closing abnormality occurs, the box cover opening device tilts down, and after the box cover is obliquely inserted into the turnover box, it is lifted up and reset, and then steps 9b) and step 10b) are entered, and the rear conveyor transports the turnover box with the abnormal cover closing to the manual position for manual repair.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. By setting up a carton conveyor, a carton clamp, a turnover box conveyor and a box cover opening device, the carton conveyor is used to transport cartons, the turnover box conveyor is used to transport turnover boxes, the box cover opening device opens and closes the turnover box, and the carton clamp is used to grab the carton and place the carton in the turnover box, or take the carton out of the turnover box, so that the pickup and loading operations of the turnover box can be automatically completed, which greatly saves labor costs and improves production efficiency.

[0043] 2. By setting up the carton positioning mechanism and the first photoelectric sensor, the carton can be automatically detected when it is in place, and then the upper computer controls the carton conveyor A to stop running, so that the carton stops. At the same time, the carton positioning mechanism positions the carton, and the carton clamp grabs the carton, so that the equipment can automatically control and complete the carton grabbing work, thereby improving the degree of automation.

[0044] 3. By setting up a laser ranging sensor, the specifications and dimensions of the carton can be detected and transmitted to the host computer to determine whether the specifications of the carton are correct, avoiding subsequent loading errors and reducing the error rate.

[0045] 4. By setting up the turnover box positioning mechanism and the second photoelectric sensor, the turnover box can be automatically detected when it is in place, and then the host computer automatically controls the actions of other actuators to improve the degree of automation.

[0046] 5. By setting up a third photoelectric sensor, the specifications and dimensions of the turnover box can be detected and transmitted to the host computer to determine whether the specifications of the turnover box are correct, thereby avoiding subsequent loading errors and reducing the error rate.

[0047] 6. The turnover box conveyor is set as the front conveyor, the middle conveyor and the rear conveyor, and the middle conveyor is connected to the elevator. After the turnover box reaches the middle conveyor, the elevator drives the middle conveyor to rise, and the box cover device descends at the same time to improve the operation efficiency. In addition, the rear conveyor and the front conveyor operate independently. The rear conveyor can transport the turnover boxes after packing or unpacking to the destination, and the front conveyor transports the turnover boxes to be unpacked or packed to the middle conveyor for packing or unpacking. They operate independently and are independently or linked controlled, so that the operating parameters of a certain section of the conveyor can be changed according to actual needs and conditions.

[0048] 7. The turnover box positioning mechanism is set as a structure of the first cylinder and the adjustment plate. The first cylinder drives the two adjustment plates to clamp the turnover box, so that the turnover box is positioned correctly to facilitate subsequent operations.

[0049] 8. By setting a blocking plate, the turnover box can be prevented from continuing to move forward under the action of inertia, that is, the turnover box can be prevented from overshooting.

[0050] 9. By setting a check plate, the turnover box can be prevented from rebounding during the stopping process, which is conducive to better positioning of the turnover box.

[0051] 10. By setting up a dust removal device, the dust removal operation of the turnover box can be automatically completed during the process of picking up goods, avoiding the inefficiency caused by manual cleaning in the later stage.

[0052] 11. The loading and picking methods using the turnover box picking and releasing device greatly improve work efficiency, save labor costs and reduce error rates. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The present invention will be further described below in conjunction with the accompanying drawings:

[0054] Figure 1 The structure of the present invention is schematically shown Figure 1 ;

[0055] Figure 2 The structure of the present invention is schematically shown Figure 2 ;

[0056] Figure 3 for Figure 1 A magnified view at point A;

[0057] Figure 4 for Figure 1 Enlarged view at B;

[0058] Figure 5 Schematic diagram of the connection structure between the elevator and the middle conveyor Figure 1 ;

[0059] Figure 6 Schematic diagram of the connection structure between the elevator and the middle conveyor Figure 2 ;

[0060] Figure 7 Schematic diagram of the connection structure between the elevator and the middle conveyor Figure 3 ;

[0061] Figure 8 Schematic diagram of the connection structure between the elevator and the middle conveyor Figure 4 ;

[0062] Fig. 9 for Figure 5 Enlarged view at C;

[0063] Fig.10 for Figure 7 Enlarged view at D;

[0064] In the figure: 1. dust removal device; 2. carton clamp; 201. suction cup; 202. tooth; 3. box cover opening device; 4. turnover box conveyor; 401. front conveyor; 402. middle conveyor; 403. rear conveyor; 5. carton conveyor A; 6. carton conveyor B; 7. carton; 8. turnover box; 9. truss robot; 10. carton positioning mechanism; 1001. blocking plate; 1002. clamping plate; 11. upper computer; 12. platform; 13. first photoelectric sensor; 14. second photoelectric sensor; 15. Turnover box positioning mechanism; 1501, adjustment plate; 1502, third cylinder; 1503, second cylinder; 1504, check plate; 1505, blocking plate; 1506, conveyor chain; 1507, sprocket; 1508, transmission shaft; 16, third photoelectric sensor; 17, laser ranging sensor; 18, elevator; 1801, endless belt; 1802, pulley; 1803, guide rail; 1804, bracket; 1805, slider; 1806, base; 1807, motor; 1808, synchronous belt module. DETAILED DESCRIPTION

[0065] The following is combined with Figure 1-10 The present invention is described in further detail.

[0066] For the convenience of description, the coordinate system is defined as Figure 1 As shown, the left-right direction is the horizontal direction, the front-back direction is the longitudinal direction, and the up-down direction is the vertical direction.

[0067] The embodiment of the present invention discloses a turnover box loading and unloading device. Figure 1 and Figure 2 A turnover box loading and unloading device includes a truss robot 9, and a carton conveyor arranged below the truss robot 9 for conveying cartons 7, a turnover box conveyor 4 for conveying turnover boxes 8, and a host computer 11 arranged on the truss robot 9, a carton clamp 2 for transferring cartons 7 between the carton conveyor and the turnover box conveyor 4, and a box cover opening device 3 for opening and closing the turnover box 8. The carton clamp 2 is located on the left side of the box cover opening device 3. The host computer 11 arranged on the truss robot 9 is a driving power system, and the power system drives the carton clamp 2 and the box cover opening device 3 to move left and right along the truss.

[0068] In order to pick up and load the cartons 7, different conveyor lines can be used for transportation, so that the cartons 7 in the process of picking up or loading can be reasonably planned and transported according to actual needs, such as Figure 1 As shown, the carton conveyor includes a carton conveyor A5 and a carton conveyor B6 which can operate independently. The carton conveyor A5, the turnover box conveyor 4 and the carton conveyor B6 are arranged in sequence from right to left on the platform 12. Of course, the platform 12 can also be a factory floor, etc. Therefore, when loading the turnover box 8, the carton conveyor A5 is used to convey the carton 7, that is, the carton conveyor A5 transports the cartons from the previous process or site to the packing position, and then performs subsequent packing (loading) operations, while the carton conveyor B6 works during the process of picking up goods, that is, during the process of picking up goods, the carton 7 taken out from the turnover box 8 is placed on the carton conveyor B6, and the carton conveyor B6 transports the carton 7 to the destination. The carton conveyor A5 and the carton conveyor B6 do not interfere with each other and operate independently. As Figure 1 The above-mentioned turnover box conveyor 4, carton conveyor A5 and carton conveyor B6 all adopt roller (wheel) conveyors.

[0069] It should be noted that the above-mentioned box cover opening device was also developed by our company. It can complete the opening and buckling operation of the turnover box, and it has added abnormal handling in the process of opening and buckling the turnover box, that is, when an abnormality occurs in opening or buckling the cover, it drives the box cover to rotate and tilt at a certain angle, and obliquely insert the box cover into the box body of the turnover box. Specific reference is made to the technical content of the publication number: "CN113264486A" and the name "A box cover opening device", which mainly includes "a mounting plate, and the mounting plate is provided with a clamping mechanism for clamping the box cover, and the clamping mechanism includes a horizontal slide plate and a longitudinal slide plate slidably arranged on the mounting plate, and the horizontal slide plate is provided with a horizontal clamping plate for clamping the box cover, and the longitudinal slide plate is provided with a longitudinal clamping plate for clamping the box cover and an opening mechanism for locking the box cover; the mounting plate is provided with a third driving component for driving the horizontal slide plate and the longitudinal slide plate to slide".

[0070] like Figure 3As shown, a carton positioning mechanism 10 is provided at the end of the carton conveyor A5, and a first photoelectric sensor 13 capable of detecting the arrival of the carton 7 is provided near the carton positioning mechanism 10, and the first photoelectric sensor 13 is connected to the host computer 11 by signal. After the first photoelectric sensor 13 detects that the carton clamp 2 is in place, it sends a first signal and transmits the first signal to the host computer 11. The host computer 11 sends instructions to control the carton positioning mechanism 10, the carton clamp 2 and the carton conveyor A5 to operate, that is, after receiving the instruction from the host computer 11, the carton conveyor A5 stops conveying, and the carton 7 stops moving forward, thereby stopping at the position below the carton clamp 2. After receiving the instruction from the host computer 11, the carton positioning mechanism 10 starts to position the carton 7. Specifically, the carton positioning mechanism 10 may be a structure in which two fourth cylinders (the fourth cylinder is not shown in the accompanying drawings) control two clamps 1002, that is, the two fourth cylinders control the two clamps 1002 to adjust the clamping of the carton 7. In addition, on the carton conveyor A5, a carton 7 baffle 1001 may be provided in front of the carton 7 stop position to block the carton 7 from continuing to move forward and prevent the carton 7 from overshooting. After receiving the instruction from the host computer 11, the carton clamp 2 starts to move, that is, it first descends to the height of the carton 7, clamps the carton 7, and then lifts the carton 7 upward, that is, completes the grabbing of the carton 7. The carton clamp 2 in this embodiment adopts a clamp with a suction cup 201 structure, and is provided with supporting teeth 202, that is, after the carton 7 is sucked by the suction cup 201 and lifted, the supporting teeth 202 extend to support the bottom of the carton 7 to prevent the carton 7 from falling. Through this setting, after the carton 7 is in place, it can be automatically detected, and the carton conveyor A5 is controlled by the host computer 11 to stop running, so that the carton 7 stops, and at the same time, the carton positioning mechanism 10 positions the carton 7, and the carton clamp 2 grabs the carton 7, so that the equipment can automatically control and complete the grabbing of the carton 7, improving the degree of automation.

[0071] In addition, on the carton conveyor A5, in front of the first photoelectric sensor 13, a laser distance sensor 17 capable of detecting the size of the carton 7 is also provided, and the host computer 11 and the laser distance sensor 17 are connected by signal. That is, before operation, the specifications and dimensions of the carton 7 to be packed are input on the host computer 11. Before the carton 7 is in place, the laser distance sensor 17 detects the size of the carton 7 running on the carton conveyor A5 and transmits the data to the host computer 11. The host computer 11 verifies the actual size of the carton 7. If the data is correct, the carton conveyor A5 continues to run the carton 7 to the bottom of the carton clamp 2. By setting the laser distance sensor 17, the specifications and dimensions of the carton 7 can be detected, and then transmitted to the host computer 11 to determine whether the specifications of the carton 7 are correct, thereby avoiding subsequent loading errors and reducing the error rate.

[0072] like Figure 4As shown, on the turnover box conveyor 4, a turnover box positioning mechanism 15 capable of positioning the turnover box 8 is provided below the truss robot 9, and a second photoelectric sensor 14 capable of detecting the arrival of the carton 7 is provided near the turnover box positioning mechanism 15, and the second photoelectric sensor 14 is connected to the host computer 11 by signal. After the second photoelectric sensor 14 detects that the carton 7 is in place, it sends a second signal and transmits the second signal to the host computer 11. After receiving the second signal, the host computer 11 controls each mechanism to operate. By providing the turnover box positioning mechanism 15 and the second photoelectric sensor 14, the turnover box 8 can be automatically detected after it is in place, thereby improving the degree of automation.

[0073] In addition, a third photoelectric sensor 16 capable of detecting the size of the turnover box 8 is also provided near the turnover box positioning mechanism 15, and the third photoelectric sensor 16 is connected to the host computer 11 by signal. That is, before operation, the size of the turnover box 8 is input on the host computer 11. After the turnover box 8 is positioned, the third photoelectric sensor 16 detects the size of the turnover box 8 and transmits the data to the host computer 11. The host computer 11 verifies the actual size of the turnover box 8. If the data is correct, it controls the subsequent work such as opening the cover of the turnover box 8. If the verification is incorrect, the turnover box 8 is directly conveyed to the manual position by the turnover box conveyor 4. By setting the third photoelectric sensor 16, the size of the turnover box 8 can be detected, and then transmitted to the host computer 11, and it is determined whether the size of the turnover box 8 is correct, so as to avoid subsequent loading errors and reduce the error rate.

[0074] like Figure 1 and Figure 5 As shown, the turnover box conveyor 4 includes a front conveyor 401, a middle conveyor 402 and a rear conveyor 403 arranged in sequence from front to back. In a normal state, the conveying surfaces of the front conveyor 401, the middle conveyor 402 and the rear conveyor 403 are at the same height, and the front conveyor 401, the middle conveyor 402 and the rear conveyor 403 can operate independently, and the turnover box 8 can run from the middle conveyor 402 running on the front conveyor 401 to the rear conveyor 403, and vice versa. The middle conveyor 402 is located below the truss robot 9 and is connected to the elevator 18 that can lift it. The second photoelectric sensor 14 is arranged on one side of the middle conveyor 402 and is connected to the host computer 11 by signal.

[0075] During operation, after the second photoelectric sensor 14 detects that the turnover box 8 is in place, it sends out a second signal and transmits the second signal to the upper computer 11. The upper computer 11 first controls the front conveyor 401 and the middle conveyor 402 to stop working, and then controls the turnover box positioning mechanism 15 to position the turnover box, that is, controls the third cylinder 1502 to drive the check plate 1504 to extend to prevent the turnover box 8 from rebounding during the stopping process, and at the same time controls the first cylinder to drive the two adjustment plates 1501 to complete the adjustment and clamping of the turnover box 8; then, the elevator 18 starts to work, thereby driving the middle conveyor 402 to rise to a certain height, and at the same time, the box cover opening device 3 starts to work, that is, the box cover opening device 3 starts to descend, until Until it contacts the lid of the turnover box 8, then grabs the lid of the turnover box 8, slowly returns to the original position and lifts it upward. After opening the lid of the turnover box 8 to complete taking or placing the goods, the elevator 18 descends and returns to its original position; the upper computer 11 controls the turnover box positioning mechanism 15 to start action, that is, controls the first cylinder to drive the two adjustment plates 1501 to release the turnover box 8, controls the second cylinder 1503 to drive the blocking plate 1505 to descend, and controls the third cylinder 1502 to drive the check plate 1504 to retract; then the middle section conveyor 402 and the rear section conveyor 403 start to run, the middle section conveyor 402 transports the turnover box 8 to the rear section conveyor 403, and the rear section conveyor 403 transports the turnover box 8 to the destination.

[0076] The blocking plate 1505 includes a large-size turnover box blocking plate and a small-size turnover box blocking plate, and the two blocking plates are respectively controlled by the corresponding second cylinder 1503. The large-size turnover box blocking plate is used to block the large-size turnover box 8, and the small-size turnover box blocking plate is used to block the small-size turnover box 8, thereby ensuring that turnover boxes 8 of different sizes can be accurately positioned at the same center position, ensuring the smooth opening and closing of the cover.

[0077] The turnover box conveyor 4 is set as a front conveyor 401, a middle conveyor 402 and a rear conveyor 403, and the middle conveyor 402 is connected to the elevator 18, so that after the turnover box 8 reaches the middle conveyor 402, the elevator 18 drives the middle conveyor 402 to rise, and the box cover device 3 descends at the same time, thereby improving the operation efficiency. In addition, the rear conveyor 403 and the front conveyor 401 operate independently, and the rear conveyor 403 can transport the turnover box 8 after packing or unpacking to the destination, and the front conveyor 401 transports the turnover box 8 to be unpacked or packed to the middle conveyor 402 for packing or unpacking. They operate independently and are independently or linked controlled, so that the operation parameters of a certain section of the conveyor can be changed according to actual needs and actual conditions.

[0078] like Figure 5 , Figure 6 and Fig.10As shown, the elevator 18 includes a bracket 1804 and a base 1806 connected together, at least one pair of pulleys 1802 symmetrically arranged up and down are arranged on the bracket 1804, an endless belt 1801 is wound around the two pulleys 1802, one of the pulleys 1802 is connected to the driving motor 1807, the middle section conveyor 402 is arranged above the base 1806, one side of which is fixed to the endless belt 1801, and at least two sliders 1805 are arranged thereon, and a guide rail 1803 corresponding to the slider 1805 is provided on the bracket 1804. Specifically in this embodiment, there are two pairs of pulleys 1802, and an endless belt 1801 is wound around each pair of pulleys 1802. There is one drive motor 1807, which is connected to one of the pulleys 1802 in each pair of pulleys 1802 through a synchronous belt module 1808, that is, one pulley in each pair of pulleys 1802 is connected to the drive motor 1807 through the synchronous belt module 1808, so that each pair of pulleys 1802 can be driven to operate through one drive motor 1807, and then the two endless belts 1801 are driven to rotate synchronously, thereby driving the middle section conveyor 402 to rise and fall.

[0079] like Figure 5 As shown, the turnover box positioning mechanism 15 includes two adjustment plates 1501, which are respectively arranged on both sides of the turnover box conveyor 4 and are respectively connected to a first cylinder (the first cylinder is not shown in the figure), and the two first cylinders can drive the two adjustment plates 1501 to move toward or away from each other. The turnover box positioning mechanism 15 is set as a structure of the first cylinder and the adjustment plate 1501, and the first cylinder drives the two adjustment plates 1501 to clamp the turnover box 8, so that the turnover box 8 is positioned correctly, which is convenient for subsequent operations.

[0080] like Figure 5-8 As shown, the turnover box positioning mechanism 15 also includes a blocking plate 1505 that can block the turnover box 8 from continuing to move forward and a second cylinder 1503 that drives the blocking plate 1505 to move up and down. The upper end of the blocking plate 1502 can extend from the turnover box conveyor 4, and the lower end is connected to the second cylinder 1503 that can drive it to move up and down. Under normal conditions, the blocking plate 1505 extends out of the transportation surface of the turnover box conveyor 4. After the turnover box 8 runs in front of the blocking plate 1505, it is blocked by the blocking plate 1505 to prevent it from continuing to move forward under its own inertia. After the turnover box 8 is packed, the elevator 18 drives the middle conveyor 402 to descend to the same level as the front conveyor 401 and the rear conveyor 403, and the second cylinder 1503 drives the blocking plate 1502 to descend below the surface of the middle conveyor 402 to prevent it from hindering the subsequent movement of the turnover box 8.

[0081] like Figure 6 and 9As shown, the turnover box positioning mechanism 15 also includes a third cylinder 1502, a sprocket 1507, a conveying chain 1506 and a non-return plate 1504 capable of preventing the turnover box from reversing. There are two pairs of sprockets 1507, which are arranged on both sides of the non-return plate 1504 and connected by a transmission shaft 1508. An annular conveying chain 1506 is wound around each pair of sprockets 1507, one of which is connected to the non-return plate 1507, and the other is connected to the non-return plate 1507 and the third cylinder 1502 respectively. When the third cylinder 1502 is running, its telescopic rod drives the conveying chain 1506 connected to it to rotate. During the rotation of the conveying chain 1506, the sprocket 1507 matched with it is driven to rotate. During the rotation of the sprocket 1507, another pair of sprockets 1507 is driven to rotate through the transmission shaft 1508, thereby driving another conveying chain 1506 to rotate, and then driving the check plate 1504 to rotate, so that the check plate 1504 extends out from the turnover box conveyor 4. The states of the check plate 1504 and the blocking plate 1505 are just opposite, that is, in the normal state, the check plate 1504 is located at the lower part of the conveying surface of the turnover box 8, preventing the turnover box 8 from running to the lower part of the box cover opening device 3. When the second photoelectric sensor 14 detects that the carton 7 is in place, it sends a second signal and transmits the second signal to the upper computer 11, and then the upper computer 11 controls the third cylinder 1502 to push the conveying chain 1506 to run, that is, run to the upper part of the conveying surface of the turnover box conveyor 4, thereby preventing the turnover box 8 from rebounding, which is conducive to more accurate positioning and clamping of the turnover box 8. By setting the check plate 1504, the turnover box 8 can be prevented from rebounding during the stop process, which is conducive to better positioning of the turnover box 8.

[0082] In addition, if Figure 1As shown, the truss robot 9 is also provided with a dust removal device 1, and the dust removal device 1 is located on the far right of the truss robot 9. In this embodiment, the dust removal device 1 can adopt existing dust removal equipment. In the box taking link, after the box opening cover device 3 opens the cover of the turnover box 8, the dust removal device 1 and the carton clamp 2 are shifted to the left together with the box opening cover device 3. At this time, the carton clamp 2 is just above the turnover box 8. Then, the carton clamp 2 descends, clamps the carton 7 and lifts it. Then, the dust removal device 1, the carton clamp 2 and the box opening cover device 3 continue to move to the left for a certain distance under the control of the truss robot 9 and then stop. At this time, the carton clamp 2 is above the carton conveyor B6, and the dust removal device 1 The carton clamp 2 is above the turnover box 8, and then the carton clamp 2 slowly descends, places the carton 7 on the carton conveyor B6, and then lifts it upward to reset. At the same time, the dust removal device 1 descends to start dust removal work on the turnover box 8. After the dust removal is completed, the dust removal device 1 is lifted upward to reset. Finally, under the control of the truss robot 9, the dust removal device 1, the carton clamp 2 and the box cover device 3 are moved back to their positions, that is, the box cover device 3 is directly above the turnover box 8, and then the box cover device 3 is closed. By setting the dust removal device 1, the dust removal operation of the turnover box 8 can be automatically completed during the process of picking up the goods, avoiding the problem of low efficiency caused by manual cleaning in the later stage.

[0083] The present invention has a very good effect. By arranging a carton conveyor A5, a carton conveyor B6, a carton clamp 2, a turnover box conveyor 4 and a box cover opening device 3, the carton conveyor A5 and the carton conveyor B6 are used to transport cartons 7, the turnover box conveyor 4 is used to transport turnover boxes 8, the box cover opening device 3 opens and closes the turnover box 8, and the carton clamp 2 is used to grab the carton 7 and place the carton 7 in the turnover box 8, or take the carton 7 out of the turnover box 8, so that the picking and loading operations of the turnover box 8 can be automatically completed, which greatly saves labor costs and improves production efficiency.

[0084] The loading method of the turnover box loading and unloading device comprises the following steps:

[0085] 1a) Before work, the specifications and models of the carton 7 and the turnover box 8 are transmitted to the upper computer 11, and the upper computer 11 sends a signal to the truss robot 9, and the truss robot 9 moves the box cover opening device 3 and the carton 7 clamp 2 to prepare for position;

[0086] 2a) Carton 7 conveyor A5 starts to transport carton 7. Carton 7 passes through laser distance sensor 17 to recheck height and is compared with the model provided by host computer 11. After the comparison is correct, carton 7 continues to be transported to carton positioning mechanism 10. Carton positioning mechanism 10 positions and sorts carton 7. After carton 7 is positioned, carton 7 clamp 2 descends, and suction cup 201 of carton 7 clamp 2 is close to carton 7 to fix carton 7. Then, tooth 202 of carton 7 clamp 2 extends out, and carton 7 is pressed down at the same time. Teeth 202 of carton 7 clamp 2 hold carton 7. Finally, carton 7 clamp 2 drives carton 7 to be lifted up to a safe height.

[0087] 3a) Synchronously with step 2, the turnover box 8 is transported through the front conveyor 401 until it is transported to the turnover box positioning mechanism 15 at the middle conveyor 402. At this time, after the second photoelectric sensor 14 detects that the carton 7 is in place, it sends a second signal to the upper computer 11, and then the front conveyor 401 and the middle conveyor 402 stop working. At the same time, the two third cylinders 1502 are running. The third cylinder 1502 drives the check plate 1504 to extend out of the transport surface of the middle conveyor 402 through the conveying chain 1506, thereby preventing the turnover box 8 from rebounding. At the same time, the two first cylinders drive the two adjustment plates to move to clamp and position the turnover box 8;

[0088] At the same time, the third photoelectric sensor 16 rechecks the size of the turnover box 8 and compares it with the upper computer 11. If the comparison is correct, the second photoelectric sensor 14 sends a second signal to the upper computer 11, and the upper computer 11 controls the elevator 18 to lift upward, thereby lifting the middle conveyor 402 and the turnover box 8 to a certain height, and the box cover opening device 3 descends to clamp the box cover of the turnover box 8, and then the box cover opening device 3 drives the box cover to lift upward to a safe height, completing the opening of the turnover box 8;

[0089] 4a) Put carton 7 into turnover box 8; the upper computer 11 controls the box cover opening device 3 and the carton 7 clamp 2 to move to the left for a certain distance and then stop. At this time, the carton 7 clamp 2 is directly above the turnover box 8, the carton 7 clamp 2 descends, and the teeth 202 of the carton 7 clamp 2 are retracted. After the carton 7 clamp 2 puts the carton 7 into the turnover box 8, it releases the carton 7 and lifts it upward to a safe height;

[0090] 5a) The cover of the turnover box 8 is buckled; the upper computer 11 controls the box cover opening device 3 and the carton 7 clamp 2 to move to the right and then reset and stop. At this time, the box cover opening device 3 is directly above the turnover box 8. The box cover opening device 3 descends and buckles the box cover of the turnover box 8 on the box body of the turnover box 8. The turnover box 8 releases the box cover and is lifted upward to a safe height;

[0091] 6a) Transportation of turnover boxes 8; the elevator 18 descends to return the middle conveyor 402 to its original position. After the middle conveyor 402 is returned to its original position, the second cylinder 1503 drives the blocking plate 1505 to retract, and the first cylinder drives the two adjustment plates to move backward to release the turnover boxes 8. The middle conveyor 402 and the rear conveyor 403 start working, and the middle conveyor 402 transports the turnover boxes 8 to the rear conveyor 403;

[0092] 7a) Preparation for the next packing process; the first cylinder drives the blocking plate 1505 to lift up and reset, extending out of the conveying surface of the middle conveyor 402, and the third cylinder 1502 drives the check plate 1504 to descend through the conveying chain 1506, and retracts it below the conveying surface of the middle conveyor 402; at the same time, the rear conveyor 403 transports the turnover box 8 on it to the destination, and the empty turnover box 8 to be packed is transported to the turnover box positioning mechanism 15 of the middle conveyor 402 through the front conveyor 401, and enters the next packing process.

[0093] In addition, in step 3a), abnormal opening processing of the turnover box 8 is added. When the box cover opening device 3 opens the cover and an abnormal opening occurs, steps 4a) and 5a) are skipped, and steps 6a) and 7a) are entered. The rear conveyor 403 transports the turnover box 8 to the manual position for manual trimming.

[0094] In step 5a), the abnormal handling of the cover of the turnover box 8 is added. When the box cover opening device 3 is closing the cover, the cover closing abnormality occurs. The box cover opening device 3 is lifted up and reset together with the box cover. The truss robot 9 controls the box cover opening device 3 and the carton 7 clamp 2 to move to the left and then stop. At this time, the carton 7 clamp 2 descends, adsorbs and fixes the carton 7, and then lifts up to take the carton 7 out. The truss robot 9 moves the box cover opening device 3 and the carton 7 clamp 2 to the right and resets. The box cover opening device 3 tilts down, inserts the box cover obliquely into the turnover box 8, and then lifts up and resets. Then enter steps 6a) and 7a), and the rear conveyor 403 transports the turnover box 8 with the abnormal cover closing to the manual position for manual trimming.

[0095] The method for picking up goods by a turnover box picking up device comprises the following steps:

[0096] 1b) The front conveyor 401 conveys the packed turnover box 8 to the middle conveyor 402. After the second photoelectric sensor 14 detects that the carton 7 is in place, it sends a second signal, and then the upper computer 11 controls the front conveyor 401 and the middle conveyor 402 to stop working, and the turnover box 8 stops running; the third cylinder 1502 drives the check plate 1504 to extend out of the transport surface of the middle conveyor 402 through the conveying chain 1506, so as to prevent the turnover box 8 from rebounding; the two first cylinders drive the two adjustment plates to move to clamp and position the turnover box 8; then the elevator 18 starts to work, and lifts the middle conveyor 402 and the turnover box 8 to a certain height;

[0097] 2b) After the lifter 18 is lifted to the right position, the box cover opening device 3 descends, and after the box cover of the turnover box 8 is adsorbed, the box cover opening device 3 drives the box cover to return to a safe height;

[0098] 3b) The truss robot 9 moves the box cover opening device 3 and the carton 7 clamp 2 to the left for a certain distance and then stops. At this time, the carton 7 clamp 2 descends and falls into the turnover box 8, clamps the carton 7 and lifts it upward to a certain height, that is, takes the carton 7 out of the turnover box 8;

[0099] 4b) The truss robot 9 adjusts the box cover opening device 3 and the carton 7 clamp 2 to continue to move to the left, until the carton 7 clamp 2 is moved to just above the carton 7 conveyor B6 and then stops, and at the same time, the dust removal device 1 is moved to the left to just above the turnover box 8;

[0100] 5b) The dust removal device 1 is lowered onto the turnover box 8 to remove dust from the inside of the turnover box 8, and is lifted upward to a safe height after the dust removal is completed;

[0101] 6b) Synchronously with step 5b), the carton 7 clamp 2 descends, the carton 7 clamp 2 places the carton 7 on the carton 7 conveyor B6, then releases the carton 7 and lifts it upward to a safe height, while the carton 7 is transported to the destination by the carton 7 conveyor B6;

[0102] 7b) The dust removal device 1, the carton 7 clamp 2 and the box cover opening device 3 move to the right at the same time, until the dust removal device 1 moves to the right of the carton 7 conveyor A5, the carton 7 clamp 2 moves to the right to the top of the carton 7 conveyor A5; the box cover opening device 3 moves to the top of the turnover box 8;

[0103] 8b) The box cover opening device 3 descends, buckles the cover of the turnover box 8 onto the turnover box 8, releases the cover of the turnover box 8, and lifts it upward to a safe height;

[0104] 9b) After the lifting device drives the middle conveyor 402 to descend and return to its original position, the second cylinder 1503 drives the blocking plate 1505 to descend below the conveying surface of the middle conveyor 402, and the first cylinder drives the adjusting plate 1501 to release the turnover box 8. At the same time, the middle conveyor 402 starts to work and transports the turnover box 8 to the rear conveyor 403;

[0105] 10b) Preparation for the next box picking process; the second cylinder 1503 drives the blocking plate 1505 to lift up and reset, extending out of the conveying surface of the middle conveyor 402, and the third cylinder 1502 drives the check plate 1504 to descend through the conveying chain 1506, and retracts it below the conveying surface of the middle conveyor 402; at the same time, the rear conveyor 403 transports the turnover box 8 on it to the destination, and the full turnover box 8 to be picked up is transported to the turnover box positioning mechanism 15 of the middle conveyor 402 through the front conveyor 401, and enters the next box picking process.

[0106] In addition, in step 2b), an abnormal opening process of the turnover box 8 is added. When an abnormal opening process occurs when the box cover opening device 3 opens the cover, steps 3b) to 8b) are skipped, and steps 9b) and 10b) are entered. The rear conveyor 403 transports the turnover box 8 to the manual position for manual trimming.

[0107] In addition, in step 8b), the abnormal cover-fastening processing of the turnover box 8 is added. When the box cover opening device 3 is closing the cover, the box cover opening device 3 tilts down, and after the box cover is obliquely inserted into the turnover box 8, it is lifted up and reset, and then enters step 9b) and step 10b), and the rear conveyor 403 transports the turnover box 8 with the abnormal cover-fastening to the manual position for manual trimming.

[0108] The loading and picking methods using the turnover box picking and releasing device greatly improve work efficiency, save labor costs and reduce error rates.

[0109] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. It should be understood that the specific embodiments described herein are only used to understand the present invention and are not used to limit the present invention. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

Claims

1. A turnover box loading and unloading device, characterized in that: It includes a truss robot, and a carton conveyor arranged below the truss robot for conveying cartons, a turnover box conveyor for conveying turnover boxes, and an upper computer arranged on the truss robot, a carton clamp for transferring cartons between the carton conveyor and the turnover box conveyor, and a box cover opening device for opening and closing the turnover box, the carton clamp is located on the left side of the box cover opening device, and the upper computer arranged on the truss robot is a driving power system, which drives the carton clamp and the box cover opening device to move left and right along the truss; on the turnover box conveyor, a turnover box positioning mechanism that can position the turnover box is provided below the truss robot, and the turnover box positioning mechanism includes two adjustment plates and a non-return plate that can prevent the turnover box from returning; the turnover box conveyor includes a carton clamp for transferring cartons between the carton conveyor and the turnover box conveyor, and a box cover opening device for opening and closing the turnover box, wherein the carton clamp is located on the left side of the box cover opening device, and the upper computer arranged on the truss robot is a driving power system, and the power system drives the carton clamp and the box cover opening device to move left and right along the truss; on the turnover box conveyor, a turnover box positioning mechanism that can position the turnover box is provided below the truss robot, and the turnover box positioning mechanism includes two adjustment plates and a non-return plate that can prevent the turnover box from returning; the turnover box conveyor includes The front conveyor, middle conveyor and rear conveyor are arranged in sequence, the middle conveyor is located below the truss robot and is connected to a lift that can lift it; the rear conveyor and the front conveyor operate independently, and the rear conveyor can transport the turnover boxes after packing or unpacking to the destination; the turnover box positioning mechanism also includes a third cylinder, sprockets and conveyor chains, there are two pairs of sprockets, which are arranged on both sides of the check plate and connected by a transmission shaft, each pair of sprockets is wound with an annular conveyor chain, one of which is connected to the check plate, and the other is respectively connected to the check plate and the third cylinder; the third cylinder drives the check plate to extend out of the transport surface of the middle conveyor through the conveyor chain, thereby preventing the turnover box from rebounding.

2. A turnover box loading and unloading device according to claim 1, characterized in that: The carton conveyor comprises a carton conveyor A and a carton conveyor B which can operate independently. The carton conveyor A, the turnover box conveyor and the carton conveyor B are arranged in sequence from right to left.

3. A turnover box loading and unloading device according to claim 2, characterized in that: A carton positioning mechanism is provided at the end of the carton conveyor A. A first photoelectric sensor capable of detecting the arrival of a carton is provided near the carton positioning mechanism. The first photoelectric sensor is connected to a host computer signal.

4. A turnover box loading and unloading device according to claim 3, characterized in that: On the carton conveyor A, in front of the first photoelectric sensor, there is also a laser distance sensor capable of detecting the size of the carton, and the host computer and the laser distance sensor are connected by signal.

5. The device for loading and unloading goods from a turnover box according to claim 1, characterized in that: A second photoelectric sensor capable of detecting the arrival of a carton is provided near the turnover box positioning mechanism, and the second photoelectric sensor is connected to a host computer signal.

6. A turnover box loading and unloading device according to claim 5, characterized in that: A third photoelectric sensor capable of detecting the size of the turnover box is also provided near the turnover box positioning mechanism, and the third photoelectric sensor is connected to the host computer signal.

7. The device for loading and unloading goods from a turnover box according to claim 5, characterized in that: The second photoelectric sensor is arranged on one side of the middle conveyor.

8. The device for loading and unloading goods from a turnover box according to claim 1, characterized in that: The elevator includes a bracket and a base connected together, at least one pair of pulleys symmetrically arranged up and down are arranged on the bracket, an endless belt is wound around the two pulleys, one of the pulleys is connected to the driving motor, a middle section conveyor is arranged above the base, one side of which is fixed to the endless belt, and at least two sliders are arranged on it, and a guide rail corresponding to the slider is provided on the bracket.

9. A turnover box loading and unloading device according to claim 8, characterized in that: There are two pairs of pulleys, each pair of pulleys is wound with an annular belt, and there is one driving motor, which is connected to one of the pulleys in each pair of pulleys through a synchronous belt module.

10. A turnover box loading and unloading device according to any one of claims 1 to 9, characterized in that: The adjustment plates are respectively arranged on both sides of the turnover box conveyor and are respectively connected to a first cylinder. The two first cylinders can drive the two adjustment plates to move toward or away from each other.

11. A turnover box loading and unloading device according to claim 10, characterized in that: The turnover box positioning mechanism also includes a blocking plate that can block the turnover box from moving forward and a second cylinder that drives the blocking plate to rise and fall. The upper end of the blocking plate can extend from the turnover box conveyor, and the lower end is connected to the second cylinder that can drive it to rise and fall.

12. The device for loading and unloading goods from a turnover box according to claim 1, characterized in that: The truss robot is also provided with a dust removal device, which is located at the far right side of the truss robot.

13. A method for loading cargo using a turnover box loading and unloading device as claimed in claim 1, characterized in that: The following steps are involved: 1a) Before work, the specifications and models of cartons and turnover boxes are transmitted to the host computer, and the host computer sends a signal to the truss robot, and the truss robot moves the box cover device and the carton fixture to prepare for position; 2a) Carton conveyor A starts to transport cartons. The carton passes through the laser distance sensor to recheck the height and is compared with the model provided by the host computer. After the comparison is correct, the carton continues to be transported to the carton positioning mechanism, which positions and sorts the carton. After the carton is positioned, the carton clamp descends, and the suction cup of the carton clamp is close to the carton to fix the carton. Then the teeth of the carton clamp extend, and the carton is pressed down at the same time. The teeth of the carton clamp hold the carton. Finally, the carton clamp drives the carton to lift up to a safe height. 3a) In synchronization with step 2a), the turnover box is transported by the front conveyor until it is transported to the turnover box positioning mechanism at the middle conveyor. At this time, the second photoelectric sensor detects that the carton is in place and sends a second signal to the upper computer. Then the front conveyor and the middle conveyor stop working, and the two third cylinders are running at the same time. The third cylinder drives the check plate to extend out of the transport surface of the middle conveyor through the conveying chain to prevent the turnover box from rebounding. At the same time, the two first cylinders drive the two adjustment plates to move to clamp and position the turnover box; At the same time, the third photoelectric sensor rechecks the size of the turnover box and compares it with the upper computer. If the comparison is correct, the second photoelectric sensor sends a second signal to the upper computer, and the upper computer controls the elevator to lift upward, thereby lifting the middle conveyor and the turnover box to a certain height, and the box cover opening device descends to clamp the box cover of the turnover box, and then the box cover opening device drives the box cover to lift upward to a safe height, completing the opening of the turnover box; 4a) Put the carton into the turnover box; the upper computer controls the box cover opening device and the carton clamp to move to the left for a certain distance and then stop. At this time, the carton clamp is directly above the turnover box, the carton clamp descends, and the teeth of the carton clamp are retracted. After the carton clamp puts the carton into the turnover box, it releases the carton and lifts it up to a safe height; 5a) Buckling the cover of the turnover box; the upper computer controls the box cover opening device and the carton clamp to move to the right and then reset and stop. At this time, the box cover opening device is directly above the turnover box. The box cover opening device descends and buckles the cover of the turnover box on the turnover box body. The turnover box releases the cover and lifts it upward to a safe height; 6a) Transportation of turnover boxes: The elevator descends and returns the middle conveyor to its position. After the middle conveyor is returned to its position, the second cylinder drives the blocking plate to retract, and the first cylinder drives the two adjustment plates to move backwards to release the turnover box. The middle conveyor and the rear conveyor start working, and the middle conveyor transports the turnover box to the rear conveyor; 7a) Preparation for the next packing process; the first cylinder drives the blocking plate to lift up and reset, extending out of the conveying surface of the middle conveyor, and the third cylinder drives the check plate to descend through the conveying chain and retract it below the conveying surface of the middle conveyor; at the same time, the rear conveyor transports the turnover boxes on it to the destination, and the empty turnover boxes to be packed are transported to the turnover box positioning mechanism of the middle conveyor through the front conveyor to enter the next packing process.

14. A loading method for a turnover box loading and unloading device according to claim 13, characterized in that: In step 3a), the abnormal opening process of the turnover box is added. When the box cover opening device opens the cover abnormally, skip steps 4a) and 5a) and proceed to steps 6a) and 7a). The rear conveyor transports the turnover box to the manual position for manual trimming.

15. A loading method for a turnover box loading and unloading device according to claim 13 or 14, characterized in that: In step 5a), the abnormal handling of the cover of the turnover box is added. When the cover opening device is closing the cover, the cover closing abnormality occurs. The cover opening device lifts up and resets the box cover together with the box cover. The truss robot controls the cover opening device and the carton clamp to move to the left and then stop. At this time, the carton clamp descends, adsorbs and fixes the carton, and then lifts up to take out the carton. The truss robot moves the cover opening device and the carton clamp to the right and resets them. The cover opening device tilts down, inserts the box cover obliquely into the turnover box, and then lifts up and resets it. Then enter steps 6a) and 7a), and the rear conveyor transports the turnover box with the abnormal cover closing to the manual position for manual trimming.

16. A method for picking up goods using a turnover box loading and unloading device as claimed in claim 1, characterized in that: The following steps are involved: 1b) The front conveyor transports the packed turnover boxes to the middle conveyor. After the second photoelectric sensor detects that the carton is in place, it sends a second signal, and then the upper computer controls the front conveyor and the middle conveyor to stop working, and the turnover box stops running; the third cylinder drives the check plate to extend out of the transport surface of the middle conveyor through the conveying chain, so as to prevent the turnover box from rebounding; the two first cylinders drive the two adjustment plates to move to clamp and position the turnover box; then the elevator starts to work, lifting the middle conveyor and the turnover box to a certain height; 2b) After the lifter is lifted to the right position, the box cover opening device descends, and after the box cover of the turnover box is adsorbed, the box cover opening device drives the box cover to reset and lift it to a safe height; 3b) The truss robot moves the box cover opening device and the carton clamp to the left for a certain distance and then stops. At this time, the carton clamp descends and falls into the turnover box, clamps the carton and lifts it upward to a certain height, that is, taking the carton out of the turnover box; 4b) The truss robot adjusts the box cover opening device and the carton clamp to continue to move to the left until the carton clamp is moved to the top of the carton conveyor B and then stops. At the same time, the dust removal device is moved to the left to the top of the turnover box. 5b) The dust removal device descends onto the turnover box to remove dust from the inside of the turnover box, and then lifts it upward to a safe height after dust removal; 6b) Synchronously with step 5b), the carton clamp descends, places the carton on the carton conveyor B, then releases the carton and lifts it upward to a safe height, while the carton is transported to the destination by the carton conveyor B; 7b) The dust removal device, carton clamp and box cover opening device move to the right at the same time, until the dust removal device moves to the right side of the carton conveyor A, and the carton clamp moves to the right side to the top of the carton conveyor A; The box cover opening device moves to the top of the turnover box; 8b) The box cover opening device descends, buckles the box cover onto the box, releases the box cover, and lifts it up to a safe height; 9b) After the lifting device drives the middle conveyor to descend and return to its original position, the second cylinder drives the blocking plate to descend below the conveying surface of the middle conveyor, and the first cylinder drives the adjustment plate to release the turnover box. At the same time, the middle conveyor starts working and transports the turnover box to the rear conveyor; 10b) Preparation for the next box picking process; the second cylinder drives the blocking plate to lift up and reset, extending out of the conveying surface of the middle conveyor, and the third cylinder drives the check plate to descend through the conveying chain and retracts it below the conveying surface of the middle conveyor; at the same time, the rear conveyor transports the turnover boxes on it to the destination, and the full turnover boxes to be picked up are transported to the turnover box positioning mechanism of the middle conveyor through the front conveyor, and enter the next box picking process.

17. A method for picking up goods by a turnover box loading and unloading device according to claim 16, characterized in that: In step 2b), the abnormal opening process of the turnover box is added. When the box cover opening device opens the cover abnormally, skip steps 3b)-step 8b) and proceed to steps 9b) and 10b). The rear conveyor transports the turnover box to the manual position for manual trimming.

18. A method for picking up goods by a turnover box loading and unloading device according to claim 16 or 17, characterized in that: In step 8b), the abnormal cover fastening processing of the turnover box is added. When the box cover opening device is fastening the cover, the abnormal cover fastening occurs. The box cover opening device tilts down, and after the box cover is obliquely inserted into the turnover box, it is lifted up and reset, and then enters step 9b) and step 10b). The rear conveyor transports the turnover box with the abnormal cover fastening to the manual position for manual repair.

Images