A flexible adjustment benchmark and box turning device

Abstract

The present invention relates to a flexible adjustment reference and box turning device, wherein two box taking mechanisms are respectively installed on a frame, and the distance between the two box taking mechanisms is adjustable; the box taking mechanism comprises a lifting part, a telescopic arm, and a first suction cup, wherein the telescopic arm is installed at the upper end of the lifting part, and the first suction cup is installed at the end of the telescopic arm, and the first suction cup follows the telescopic arm to move linearly in the horizontal direction; the two box turning mechanisms are arranged on the outsides of the two box taking mechanisms, and the box turning mechanism is installed on a box turning mechanism position adjustment mechanism, and the box turning mechanism position adjustment mechanism is movably installed on the frame, and the distance between the two box turning mechanism position adjustment mechanisms is adjustable; the box turning mechanism comprises a clamping mechanism and a flipping mechanism, wherein the clamping mechanism receives the box picked up by the box taking mechanism, and the flipping mechanism drives the clamping mechanism and the box to flip as a whole. The present invention realizes the fully automated operation of box taking and box turning, reduces the labor intensity, and improves the box turning efficiency at the same time.

Description

Technical Field

[0001] The invention relates to the field of woodworking packaging machinery, and in particular to a flexible reference adjustment and box turning device. Background Art

[0002] In the woodworking industry, panel furniture, bed frames, bed screens, etc. need to be packaged after production and processing, which plays a very important role in the storage, transportation and sales of the products.

[0003] Since there are multiple series of product types and sizes, in the actual production process, the size of the packaging carton should be matched according to the actual size of the product.

[0004] At present, the box folding form of the top and bottom covers requires that the box opening of the bottom cover faces upwards and the box opening of the top cover faces downwards. After the existing automatic box folding equipment completes the folding of corrugated cardboards of various sizes, the box openings of the top and bottom covers face upwards and the equipment cannot automatically flip the top cover carton 180°. In order to achieve the purpose of subsequent automatic box folding, this work also requires manual flipping of the folded top cover.

[0005] This leads to three problems:

[0006] 1. Monotonous and repetitive work can easily lead to fatigue and safety accidents;

[0007] 2. Since the size of the canopy cartons varies greatly, the turning radius of larger cartons is larger, making it difficult for operators to turn over cartons;

[0008] 3. Since manual carton flipping is inefficient, it may cause line congestion, so some space needs to be reserved to store the folded top cartons. This problem not only increases the space demand of the production line, but also seriously affects the rhythm and efficiency of the entire production line. Summary of the invention

[0009] In order to solve the above technical problems, the present invention provides a flexible reference adjustment and box turning device, through which the carton can be turned over and the automatic operation of box turning can be realized.

[0010] The technical objectives of the present invention are achieved through the following technical solutions:

[0011] A flexible adjustment reference and box turning device comprises a frame, a box picking mechanism for picking up boxes, a box turning mechanism, and a box turning mechanism position adjustment mechanism; two box picking mechanisms are respectively mounted on the frame, and the distance between the two box picking mechanisms is adjustable; the box picking mechanism comprises a lifting part, a telescopic arm, and a first suction cup, the telescopic arm is mounted on the upper end of the lifting part, the first suction cup is mounted on the end of the telescopic arm, and the first suction cup moves linearly in the horizontal direction with the telescopic arm; two box turning mechanisms are arranged on the outsides of the two box picking mechanisms, the box turning mechanism is mounted on the box turning mechanism position adjustment mechanism, the box turning mechanism position adjustment mechanism is movably mounted on the frame, and the distance between the two box turning mechanism position adjustment mechanisms is adjustable; the box turning mechanism comprises a clamping mechanism and a flipping mechanism, the clamping mechanism receives the box picked up by the box picking mechanism, and the flipping mechanism drives the clamping mechanism and the box to flip as a whole.

[0012] Furthermore, first sliders are respectively provided on both sides of the bottom of the lifting part, and the frame is provided with first slide rails corresponding to the first sliders of the lifting part. The lifting part realizes the distance adjustment between the box taking mechanisms through the cooperation of the first sliders and the first slide rails.

[0013] Furthermore, the lifting part includes a scissor-type lifting structure and a lifting drive for driving the scissor-type lifting structure to lift and lower, and the telescopic arm is installed at the upper end of the scissor-type lifting structure.

[0014] Furthermore, the clamping mechanism includes a frame, a positioning bearing platform for positioning the box, and a clamping finger structure for clamping the box; a second slide rail is horizontally provided on one side of the frame near the bottom, and a second slider is provided on the side of the positioning bearing platform corresponding to the second slide rail, and the positioning bearing platform realizes horizontal movement through the sliding connection between the second slider and the second slide rail; a back plate with guide holes is provided in the frame, and a plurality of vertically arranged guide holes are provided on the back plate, and the positioning bearing platform is arranged on one side of the back plate; the clamping finger structure includes clamping fingers and a clamping finger driving unit for driving the clamping fingers to move up and down in the guide holes to clamp the box, and the clamping fingers are located above the positioning bearing platform; the clamping finger drive is arranged on the other side of the back plate, and a bearing platform driving unit for driving the positioning bearing platform to move is also provided on the other side of the back plate.

[0015] Furthermore, a second suction cup for adsorbing the box body is provided on the side of the positioning bearing platform, and a cylinder for adjusting the position of the suction cup is provided between the second suction cup and the positioning bearing platform.

[0016] Furthermore, the flipping mechanism includes a driving disk and a flipping driving unit. A bearing is provided in the center of the driving disk. A flange is used to connect the position adjustment mechanism of the flipping mechanism at the inner ring of the bearing of the driving disk on one side of the driving disk. The flipping driving unit is connected to the driving disk through transmission. A plurality of connecting columns are provided on the other side of the driving disk. The connecting columns are arranged perpendicular to the driving disk. The driving disk is connected and fixed to the clamping mechanism through the connecting columns. The flipping driving unit is installed on the position adjustment mechanism of the flipping mechanism.

[0017] Furthermore, the position adjustment mechanism of the box turning mechanism includes a frame structure, and a third slider is respectively provided at the bottom of the frame structure near the two ends, and a third slide rail is provided in the frame corresponding to the third slider. The bottom of the frame structure is also provided with a driving unit for driving the position adjustment mechanism of the box turning mechanism to move along the third slide rail; the upper end of the frame structure is provided with a mounting seat for installing the flipping mechanism, and the driving disk is connected to the mounting seat through a flange.

[0018] Furthermore, the finger-gripping driving unit includes a vertically arranged screw, a linear bearing installed on the screw, a crossbeam connecting the clamping fingers, and a motor driving the screw to rotate. The crossbeam is fixedly connected to the linear bearing. When the screw rotates, the linear bearing drives the crossbeam to move along the length direction of the screw.

[0019] Furthermore, a driven wheel is installed at the end of the screw rod, the motor is transmission-connected with a driving wheel, and the driving wheel and the driven wheel are transmission-connected via a transmission belt.

[0020] Furthermore, a pulley rotating structure is installed at the bottom of the frame, the support platform driving unit and the pulley transmission structure are connected in transmission, a connecting plate is provided at the bottom of the positioning support platform, and the connecting plate is connected to the pulley transmission structure, and the pulley transmission structure drives the positioning support platform to move along the second slide rail.

[0021] Compared with the prior art, the flexible adjustment reference and box turning equipment of the present invention realizes the fully automated operation of box retrieval and box turning through the setting of the box retrieval mechanism, the box turning mechanism, and the box turning mechanism position adjustment mechanism, thereby reducing the labor intensity of the staff and improving the box turning efficiency, providing the prerequisite for the subsequent automatic closing of the top cover and the floor cover; the distance adjustment between the box retrieval mechanisms can meet the needs of box retrieval of different specifications and meet the needs of actual production. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the flexible adjustment reference and box turning device of the present invention.

[0023] Figure 2 It is a structural schematic diagram of the box taking mechanism in the present invention.

[0024] Figure 3 It is a schematic diagram of one side of the clamping mechanism of the present invention provided with a positioning bearing platform.

[0025] Figure 4 It is a schematic diagram of one side of the clamping mechanism of the present invention provided with a carrier platform driving unit.

[0026] Figure 5 It is a schematic diagram of one side of the turning mechanism of the present invention with a flange.

[0027] Figure 6 It is a schematic diagram of one side of the turning mechanism of the present invention provided with a connecting column.

[0028] Figure 7 It is a structural schematic diagram of the position adjustment mechanism of the box turning mechanism in the present invention.

[0029] Figure 8 It is a schematic diagram of the assembly of the box turning mechanism and the box turning mechanism position adjustment mechanism in the present invention.

[0030] Fig. 9 It is a schematic diagram of another angle of the box-taking structure in the present invention.

[0031] In the figure, 1, frame; 2, box-taking mechanism; 3, box-turning mechanism position adjustment mechanism; 4, clamping mechanism; 5, flipping mechanism; 101, first slide rail; 102, third slide rail; 201, lifting part; 202, telescopic arm; 203, first suction cup; 204, first slider; 205, first-level platform; 206, second-level platform; 207, first-level slider; 208, first-level slide rail; 209, scissor lift structure; 210, pulley; 211, transmission belt; 212, cylinder; 213, guide slide rail; 214, guide rod; 215, limit block; 216, motor; 217, lead screw; 218, lead screw mounting frame; 219, guide rail; 220, slider; 221, lead screw nut; 222, connecting plate; 223, Articulated shaft; 301, third slider; 302, mounting seat; 303, motor; 304, output shaft; 305, gear; 401, frame; 402, positioning bearing platform; 403, second slide rail; 404, guide hole; 405, back plate; 406, clamping finger; 407, second suction cup; 408, screw rod; 409, linear bearing; 410, crossbeam; 411, motor; 412, driven wheel; 413, driving wheel; 414, transmission belt; 415, motor; 416, pulley transmission structure; 417, limit block; 501, driving disk; 502, bearing; 503, flange; 504, connecting column; 505, motor; 506, connecting block; 507, driving sprocket; 508, chain; 509, tensioning sprocket. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is further described below in conjunction with specific embodiments:

[0033] A flexible adjustment base and box turning device, such as Figure 1As shown, it includes a frame 1, a box picking mechanism 2 for picking up boxes, a box turning mechanism, and a box turning mechanism position adjustment mechanism 3; two box picking mechanisms 2 are respectively installed on the frame, and the distance between the two box picking mechanisms 2 is adjustable; the box picking mechanism 2 includes a lifting part 201, a telescopic arm 202, and a first suction cup 203, the telescopic arm 202 is installed at the upper end of the lifting part 201, the first suction cup 203 is installed at the end of the telescopic arm 202, and the first suction cup 203 moves linearly in the horizontal direction with the telescopic arm 202; two box turning mechanisms are arranged on the outsides of the two box picking mechanisms 2, the box turning mechanism is installed on the box turning mechanism position adjustment mechanism 3, the box turning mechanism position adjustment mechanism 3 is movably installed on the frame 1, and the distance between the two box turning mechanism position adjustment mechanisms 3 is adjustable; the box turning mechanism includes a clamping mechanism 4 and a flipping mechanism 5, the clamping mechanism 4 receives the box picked up by the box picking mechanism 2, and the flipping mechanism 5 drives the clamping mechanism 4 and the box to flip as a whole.

[0034] Specifically, the box taking mechanism 2 is as follows: Figure 2 As shown, first sliders 204 are respectively provided on both sides of the bottom of the lifting part 201, and the frame 1 is provided with a first slide rail 101 corresponding to the first slider 204. The distance between the two box-taking mechanisms 2 is adjusted by the cooperation of the first slider 204 and the first slide rail 101, and the needs of taking boxes of different specifications are met by adjusting the distance. The direction of the two box-taking mechanisms 2 is defined as the X direction, the telescopic direction of the telescopic arm 202 of the box-taking mechanism 2 is the Y direction, the vertical direction is the Z direction, and the direction of the first slide rail 101 is parallel to the X direction. By changing the spacing between the two box-taking mechanisms 2 in the X direction, the picking of boxes of different sizes can be met.

[0035] The lifting part 201 mainly includes a scissor lift structure 209 and a lifting drive for driving the scissor lift structure to lift. The telescopic arm is installed at the upper end of the scissor lift structure. Figure 2As shown, a primary platform 205 is provided at the upper end of the scissor lift structure, a secondary platform 206 is provided above the primary platform 205, a primary slider 207 and a primary slide rail 208 are connected between the primary platform 205 and the secondary platform 206, and a drive for driving the secondary platform 206 to move relative to the primary platform 205 along the primary slide rail 208 is also provided on the primary platform 205, and the drive includes pulleys 210 provided at both ends of the primary platform 205, the two pulleys 210 are connected by a transmission belt 211, and the pulleys 210 are driven by a motor to rotate, and the transmission belt 211 and the secondary platform 206 are connected. The secondary platform 206 is connected by transmission, and the secondary platform 206 can move relative to the primary slide rail 208 during the rotation of the transmission belt 211; a cylinder 212 is provided on the secondary platform 206, and a guide slide rail 213 is also installed on the secondary platform 206, and a guide rod 214 is provided in conjunction with the guide slide rail 213, and the guide rod 214 can move through the guide hole of the guide slide rail 212, the cylinder 212 is connected to one end of the guide rod 214, and the other end of the guide rod 214 is installed with the first suction cup 203, and the guide rod 214 can move relative to the guide slide rail 212 through the piston movement of the cylinder 212, thereby pushing out and retracting the first suction cup 203. The guide rod 214 moves relative to the guide slide rail 212 to form a primary telescopic arm, and the secondary platform 206 moves relative to the primary platform 205 to form a secondary telescopic arm, and the primary telescopic arm cooperates with the secondary telescopic arm to form the telescopic arm 202 in this application; when the telescopic stroke of the primary telescopic arm meets the working requirements of the first suction cup, the secondary telescopic arm can be omitted.

[0036] like Figure 2 and Fig. 9 As shown, the lifting drive includes a motor 216, a screw rod 217, a screw rod mounting frame 218, a guide rail 219, a slider 220, a screw rod nut 221, and a connecting plate 222. The screw rod mounting frame 218 is arranged on the side of the lifting part 201, and the screw rod 217 is vertically installed in the screw rod mounting frame 218. The two ends of the screw rod 217 are respectively connected to the screw rod mounting frame 218 through bearings. A transmission wheel is also connected to the lower end of the screw rod 217. The motor 216 is connected to the transmission wheel through a transmission belt. The driving wheel is connected to the screw rod 217 through the motor 216 to rotate in the screw rod mounting frame 218; the screw rod nut 221 is installed on the screw rod 217. During the rotation of the screw rod 217, the screw rod nut 221 moves up and down relative to the screw rod 217. The screw rod nut 221 is connected to the hinge shaft 223 of the scissor lift structure 209 through the connecting plate 222. When the screw rod nut 221 moves up and down, it pushes the hinge shaft 223 of the scissor lift structure 209 to achieve the purpose of lifting. In order to achieve the straightness of the scissor lift structure 209 during the lifting process, a guide rail 219 is also installed on the side of the screw rod mounting frame 218, and a slider 220 that cooperates with the guide rail 219 is correspondingly provided on the connecting plate 222.

[0037] Preferably, a limit block 215 is provided at the end of the primary platform 205 to prevent the secondary platform 206 from sliding out of the primary platform 205. A buffer block is also provided on the side of the limit block 215 close to the secondary platform 206. The buffer block is such as a rubber ball, a rubber pad, etc. When the secondary platform 206 is retracted relative to the primary platform 205, the end of the secondary platform 206 hits the buffer block to achieve the purpose of limiting.

[0038] Gripping mechanism 4 Figure 3 and Figure 4 As shown, the clamping mechanism 4 includes a frame 401, a positioning platform 402 for positioning the box, and a clamping finger structure for clamping the box; a second slide rail 403 is horizontally provided on one side of the frame 401 near the bottom, and the second slide rail 403 is parallel to the Y direction. A second slider is provided on the side of the positioning platform 402 corresponding to the second slide rail 403, and the positioning platform is horizontally moved by the sliding connection between the second slider and the second slide rail 403; a back plate 405 with guide holes 404 is provided in the frame 401, and a plurality of vertically arranged guide holes 404 are provided on the back plate 405, and the positioning platform 402 is arranged on one side of the back plate 405; the clamping finger structure includes a clamping finger 406 and a clamping finger driving unit for driving the clamping finger to move up and down in the guide hole to clamp the box, and the clamping finger 406 is located above the positioning platform 402; the clamping finger drive is arranged on the other side of the back plate 405, and the other side of the back plate 405 is also provided with a platform driving unit for driving the positioning platform 402 to move. A second suction cup 407 for adsorbing the box is also provided on the side of the positioning support platform 402. A cylinder for adjusting the position of the suction cup is also provided between the second suction cup 407 and the positioning support platform 402. When the second suction cup 407 is working, the cylinder runs at the same time, so that the second suction cup 407 extends, ensuring that the second suction cup 407 can be completely fitted with the box.

[0039] Specifically, the finger driving unit includes a vertically arranged screw rod 408, a linear bearing 409 installed on the screw rod 408, a crossbeam 410 connected to the gripping fingers 406, and a motor 411 driving the screw rod to rotate. The crossbeam 410 is fixedly connected to the linear bearing 409. When the screw rod 408 rotates, the linear bearing 409 drives the crossbeam 410 to move along the length direction of the screw rod 408. A driven wheel 412 is installed at the end of the screw rod 408, and the motor 411 is connected to the driving wheel 413 in transmission. The driving wheel 413 and the driven wheel 412 are connected in transmission through a transmission belt 414. The motor 411 drives the driving wheel 413 to rotate, and the driving wheel 413 drives the driven wheel 412 at the end of the screw rod 408 to rotate through the transmission belt 414, thereby realizing the rotation of the screw rod 408. The two ends of the screw rod 408 are limited by bearings. The rotation of the screw rod 408 realizes the up and down movement of the linear bearing 409 relative to the screw rod 408, and then the linear bearing 409 drives the crossbeam 410 equipped with the clamping finger 406 to move up and down.

[0040] As a preferred solution, a limit block 417 is provided on the side of the frame 401 to prevent the clamping mechanism from hitting the external frame during rotation. A buffer block is also provided on the side of the limit block 417, such as a rubber ball, a rubber pad, etc.

[0041] A pulley rotating structure 416 is installed at the bottom of the frame 401, and the support platform driving unit is a motor 415, which is connected to the motor 415 and the pulley transmission structure 416. A connecting plate is provided at the bottom of the positioning support platform 402, and the connecting plate is connected to the pulley transmission structure 416. The pulley transmission structure 416 drives the positioning support platform 402 to move along the second slide rail 403.

[0042] The turning mechanism 5 includes a driving disk 501 and a turning driving unit. Figure 5 and Figure 6 As shown, a bearing 502 is provided at the center of the driving disk 501, and the inner ring of the bearing 502 on one side of the driving disk 501 is connected to the box turning mechanism position adjustment mechanism 3 through a flange 503; the turning driving unit is connected to the driving disk 501 by transmission; a plurality of connecting columns 504 are provided on the other side of the driving disk 501, and the connecting columns 504 are arranged perpendicular to the driving disk 501, and the driving disk 501 is connected and fixed to the clamping mechanism 4 through the connecting columns 504; the turning driving unit is installed on the box turning mechanism position adjustment mechanism 3. The turning driving unit includes a motor 505, and a sprocket is provided on the outer circle of the driving disk 501. The motor 505 is driven to the driving sprocket 507 through a reducer, and the driving sprocket 507 is connected to the sprocket of the driving disk 501 by transmission through a chain 508, and a tensioning sprocket 509 for tensioning the chain is also provided on the side of the chain 508. Preferably, the chain 508 is a disconnected chain, and the chain 508 includes two free ends, and the two free ends of the chain 508 are respectively fixed to the driving disk 501 through the connecting blocks 506, and the driving sprocket 507 drives the middle section of the chain 508 to realize the reciprocating rotation of the driving disk 501.

[0043] The box turning mechanism position adjustment mechanism 3 includes a frame structure, such as Figure 7 He Ru Figure 8As shown, third sliders 301 are respectively provided at positions near both ends of the bottom of the frame structure, and third slide rails 102 are provided in the frame corresponding to the third sliders 301, and the third slide rails 102 are parallel to the X direction. An adjustment driving unit for driving the position adjustment mechanism 3 of the box turning mechanism to move along the third slide rails 102 is also provided at the bottom of the frame structure; the adjustment driving unit is arranged at the bottom of the frame structure, and the adjustment driving unit includes a motor 303, an output shaft 304, and a gear 305. The motor 303 is connected to the output shaft 304 through a gear transmission gearbox, and a gear 305 is respectively installed on both sides of the output shaft 304, and a rack is provided in the frame 1 corresponding to the gear 305, and the motor 303 drives the gear 305 to roll along the rack to realize the position adjustment of the position adjustment mechanism 3 of the box turning mechanism, and the linear movement is realized by the cooperation of the third slider 301 and the third slide rail 102.

[0044] A mounting seat 302 for mounting the flip mechanism is provided at the upper end of the frame structure. The drive plate 501 is connected to the mounting seat 302 via a flange 503. The flange 503 and the mounting seat 302 are fixed by bolts and nuts.

[0045] Working process:

[0046] After the automatic box folding device completes box folding, the box body (top box body) opens upward, and the control system of the automatic box folding device sends a trigger signal to the flexible reference adjustment and box turning device of the present invention, and the flexible reference adjustment and box turning device starts working.

[0047] After the scissor lift structure 209 of the lifting part 201 rises to the set height, the telescopic arm 202 extends out, so that the first suction cup 203 is close to the box to be picked up. The first suction cup 203 is connected to a vacuum control system, and negative pressure is generated at the first suction cup 203 so that the first suction cups 203 of the two box-picking mechanisms 2 simultaneously suck the box; the telescopic arm 202 is retracted, and the positioning platform 402 moves along the second slide rail 403 to the side close to the automated box folding equipment. During the retraction process of the telescopic arm 202, the box gradually falls on the positioning platform 402; a second suction cup 407 is provided on the side of the positioning platform 402, and the second suction cup 407 adsorbs the side of the box. The second suction cup 407 adsorbs the side of the box. It is also connected to a vacuum control system; the negative pressure at the first suction cup 203 is eliminated, the lifting part 201 descends, the first suction cup 203 detaches from the box and descends to the bottom of the box; the positioning support platform 402 moves in the opposite direction along the second slide rail 403 to the other end, and the clamping finger 406 moves downward under the action of the clamping finger driving unit until it clamps the box from above, and the second suction cup 407 stops adsorbing the box; under the action of the flipping mechanism 5, the clamping mechanism 4 rotates 180° clockwise to flip the box to open downward; the equipment of the next program sucks the bottom of the box from above, and the position adjustment mechanisms of the box turning mechanisms on both sides move outward along the X direction, so that the equipment of the next program can transfer and take away the flipped canopy box.

[0048] This embodiment is only a further explanation of the present invention, not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but as long as it is within the scope of the claims of the present invention, it will be protected by the patent law.

Claims

1. A flexible reference adjustment and box turning device, characterized in that: It includes a frame, a box-taking mechanism for picking up boxes, a box-turning mechanism, and a box-turning mechanism position adjustment mechanism; the two box-taking mechanisms are respectively installed on the frame, and the distance between the two box-taking mechanisms is adjustable; the box-taking mechanism includes a lifting part, a telescopic arm, and a first suction cup, the telescopic arm is installed at the upper end of the lifting part, the first suction cup is installed at the end of the telescopic arm, and the first suction cup moves linearly in the horizontal direction with the telescopic arm; the two box-turning mechanisms are arranged on the outsides of the two box-taking mechanisms, the box-turning mechanism is installed on the box-turning mechanism position adjustment mechanism, the box-turning mechanism position adjustment mechanism is movably installed on the frame, and the distance between the two box-turning mechanism position adjustment mechanisms is adjustable; the box-turning mechanism includes a clamping mechanism and a flipping mechanism; The clamping mechanism includes a frame, a positioning bearing platform for positioning the box body, and a clamping finger structure for clamping the box body; a second slide rail is horizontally provided on one side of the frame near the bottom, and a second slider is provided on the side of the positioning bearing platform corresponding to the second slide rail, and the positioning bearing platform is horizontally moved by the sliding connection between the second slider and the second slide rail; a back plate with guide holes is provided in the frame, and a plurality of vertically arranged guide holes are provided on the back plate, and the positioning bearing platform is arranged on one side of the back plate; the clamping finger structure includes clamping fingers and a clamping finger driving unit for driving the clamping fingers to move up and down in the guide holes to clamp the box body, and the clamping fingers are located above the positioning bearing platform; the clamping finger drive is arranged on the other side of the back plate, and the other side of the back plate is also provided with a bearing platform driving unit for driving the positioning bearing platform to move; The clamping and grasping mechanism receives the box body picked up by the box taking mechanism, and the turning mechanism drives the clamping and grasping mechanism and the box body to turn over as a whole.

2. The flexible reference adjustment and box turning device according to claim 1, characterized in that: The bottom two sides of the lifting part are respectively provided with first sliders, and the frame is provided with first slide rails corresponding to the first sliders of the lifting part. The lifting part realizes the distance adjustment between the box taking mechanisms through the cooperation of the first sliders and the first slide rails.

3. The flexible reference adjustment and box turning device according to claim 2, characterized in that: The lifting part comprises a scissor lift structure and a lifting drive for driving the scissor lift structure to lift and lower. The telescopic arm is installed at the upper end of the scissor lift structure.

4. The flexible reference adjustment and box turning device according to claim 1, characterized in that: A second suction cup for adsorbing the box body is also provided on the side of the positioning bearing platform, and a cylinder for adjusting the position of the suction cup is also provided between the second suction cup and the positioning bearing platform.

5. The flexible reference adjustment and box turning device according to claim 1, characterized in that: The flipping mechanism includes a driving disk and a flipping driving unit. A bearing is provided in the center of the driving disk. A flange is connected to a position adjustment mechanism of the flipping mechanism at the inner ring of the bearing of the driving disk on one side of the driving disk. The flipping driving unit is connected to the driving disk through transmission. A plurality of connecting columns are provided on the other side of the driving disk. The connecting columns are arranged perpendicular to the driving disk. The driving disk is connected and fixed to the clamping mechanism through the connecting columns. The flipping driving unit is installed on the position adjustment mechanism of the flipping mechanism.

6. The flexible reference adjustment and box turning device according to claim 5, characterized in that: The position adjustment mechanism of the box turning mechanism includes a frame structure, and third sliders are respectively provided at the bottom of the frame structure near both ends, and a third slide rail is provided in the frame corresponding to the third slider. The bottom of the frame structure is also provided with a driving unit for driving the position adjustment mechanism of the box turning mechanism to move and adjust along the third slide rail; the upper end of the frame structure is provided with a mounting seat for installing the flipping mechanism, and the driving disk is connected to the mounting seat through a flange.

7. The flexible reference adjustment and box turning device according to claim 4, characterized in that: The finger-gripping driving unit includes a vertically arranged screw, a linear bearing installed on the screw, a crossbeam connecting the fingers, and a motor driving the screw to rotate. The crossbeam is fixedly connected to the linear bearing. When the screw rotates, the linear bearing drives the crossbeam to move along the length direction of the screw.

8. The flexible reference adjustment and box turning device according to claim 7, characterized in that: A driven wheel is installed at the end of the screw rod, the motor is transmission-connected with a driving wheel, and the driving wheel and the driven wheel are transmission-connected via a transmission belt.

9. The flexible reference adjustment and box turning device according to claim 4, characterized in that: A pulley transmission structure is installed at the bottom of the frame, the support platform driving unit is connected to the pulley transmission structure, a connecting plate is provided at the bottom of the positioning support platform, the connecting plate is connected to the pulley transmission structure, and the pulley transmission structure drives the positioning support platform to move along the second slide rail.

Images