A pre-stacking control system and a rapid stacking method for a turnover box

Abstract

The present application belongs to the field of packaging machinery detection equipment, and specifically relates to a turnover box pre-stacking control system and a rapid stacking method, which comprises: a turnover box pre-stacking device, which is used for receiving a PLC control system control command and performing corresponding movement according to the PLC control system control command; a PLC control system, which is used for receiving instruction parameters of a man-machine interaction system, performing pre-stacking layer calculation according to a turnover box placement form, and controlling the turnover box pre-stacking device to perform corresponding movement; meanwhile, the current stacking state is determined and the layer number is checked according to a detection result of an auxiliary detection system; and data interaction is performed with the man-machine interaction system through a bus, so that the man-machine interaction system can display the current stacking state received from the PLC control system and the layer number checking result in real time. The present application cooperates a non-contact sensor with a mechanical device, accurately obtains the action state of a mechanical structure such as a cylinder, and makes the device action more stable.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of packaging machinery detection equipment, in particular to a turnover box pre-stacking control system and a rapid stacking method. BACKGROUND

[0002] Stacking device as a common packaging machinery equipment has been widely used in various industrial production. At present, the stacking equipment on the market is various, including automatic, semi-automatic and manual stacking machine, etc. These devices can realize efficient and accurate stacking operation, greatly improving the production efficiency and product quality. In the actual production process, the action rate of the stacking machine equipment often becomes the key factor affecting the efficiency of the packaging production line. The existing stacking equipment (such as manipulator, truss, etc.) to improve the action rate mostly not only will cause the cost to increase greatly, the equipment to accelerate the wear and tear, so that the action efficiency brought by the beat reduction cannot cover the transformation cost.

[0003] At present, the domestic food industry, especially the livestock and poultry slaughtering industry, its industry characteristics determine that the stacking speed requirement is higher, but the weight of each turnover box that needs to be stacked is very low, so the common stacking equipment cannot meet the industry requirements, making the automation level of the industry low, and most of the stacking machines are mainly used in single machine operation and industrialized flow line, mainly using multi-axis manipulator or truss stacking to complete the stacking, but compared with the chicken food industry, the demand for the number of turnover boxes and the stacking speed is higher. At present, simple manipulator and truss robot cannot meet the normal working efficiency of production, so a pre-stacking is needed before stacking, which stacks three turnover boxes into a small stack, and then conveys them to the truss stacking machine for stacking, improving the overall stacking efficiency. SUMMARY

[0004] The purpose of the present application is to provide a high automation, high intelligence and high efficiency turnover box pre-stacking control system and rapid stacking method through the cooperation of vision, machinery and non-contact sensors, to overcome the defects of the above-mentioned equipment in the industry.

[0005] The technical solution adopted by the present application to achieve the above-mentioned purpose is: a turnover box pre-stacking control system, characterized in that it comprises: a turnover box pre-stacking device, a PLC control system, an auxiliary detection system and a man-machine interaction system.

[0006] The turnover box pre-stacking device is used to receive the control command of the PLC control system and execute corresponding movement according to the control command of the PLC control system.

[0007] The PLC control system is used for receiving instruction parameters of the human-computer interaction system, performing pre-stacking layer calculation according to the placing form of the turnover box, and controlling the turnover box pre-stacking device to perform corresponding movement; meanwhile, the current stacking state is determined according to the detection result of the auxiliary detection system, and the layer number verification is performed; and data interaction is performed with the human-computer interaction system through a bus, so that the human-computer interaction system can display the current stacking state received by the PLC control system in real time, and the layer number verification result is displayed.

[0008] The auxiliary detection system is used for verifying and judging the stacking layer number during the movement of the turnover box pre-stacking device, detecting the stacking state of the current turnover box, and feeding back the detection result to the PLC control system; if the detection result fails, the turnover box is transferred to the rejection collection line body of the turnover box pre-stacking device through the turnover box pre-stacking device, so as to prevent affecting the subsequent link.

[0009] The turnover box pre-stacking device comprises a main frame body, a centering and aligning mechanical gripper, a turnover box conveying line body, a stopping mechanism, a lifting driving mechanism, a pneumatic assembly and a rejection detection mechanism.

[0010] The centering and aligning mechanical gripper is arranged above the turnover box conveying line body and is in sliding connection with the main frame body.

[0011] The lifting driving mechanism is arranged on the main frame body and is located below the turnover box conveying line body. The output end of the lifting driving mechanism is connected with the centering and aligning mechanical gripper. The lifting driving mechanism is used for driving the centering and aligning mechanical gripper to lift. The centering and aligning mechanical gripper is used for aligning and stacking the turnover box.

[0012] Two groups of stopping mechanisms are arranged on the main frame body and are respectively located on the two sides of the centering and aligning mechanical gripper.

[0013] The rejection detection mechanism is arranged at the end of the main frame body and is used for rejecting the unqualified turnover box to the rejection collection line body.

[0014] The rejection detection mechanism comprises a rejection collection line body, a rejection mechanism and a detection mechanism. The rejection mechanism is arranged at the end of the turnover box conveying line body. The rejection collection line body and the detection mechanism are arranged on the two sides of the turnover box conveying line body and are perpendicular to the conveying direction of the turnover box conveying line body.

[0015] The detection mechanism is connected with the auxiliary detection system and is used for collecting image information of the turnover box conveyed to the detection station and outputting the image information to the auxiliary detection system.

[0016] The pneumatic assembly is fixed on the side of the main frame body beam and is used for controlling the movement of all the cylinders.

[0017] The main frame body comprises a main frame, a mechanical gripper lifting guide rail, a main frame body lower guard plate, a main frame body upper guard plate and a frame support leg;

[0018] The bottom of the main frame is provided with the frame support leg, and the outer side of the main frame is provided with the main frame body lower guard plate; the top of the main frame is provided with the main frame body upper guard plates on both sides, and the inner sides of the two main frame body upper guard plates are provided with the mechanical gripper lifting guide rails for slidingly connecting the centering and aligning mechanical gripper;

[0019] The lifting driving mechanism comprises a jacking cylinder mechanism and a jacking cylinder support, wherein the jacking cylinder support is arranged at the bottom center position of the main frame, and the jacking cylinder mechanism is arranged on the jacking cylinder support and connected with the centering and aligning mechanical gripper at the output end.

[0020] The centering and aligning mechanical gripper comprises a falling guide mechanism, a mechanical gripper grabbing head, a centering driving mechanism, a mechanical gripper lifting fixed plate, a centering and aligning base plate, a centering guide rail slider and a mechanical gripper frame;

[0021] The bottom of the mechanical gripper frame is provided with the centering guide rail sliders on both sides, and the two centering and aligning base plates are connected with the centering guide rail sliders on both sides respectively; the centering driving mechanism is arranged between the two centering and aligning base plates and connected with the two centering and aligning base plates, and the centering driving mechanism is used for driving the two centering and aligning base plates to move close to or away from each other;

[0022] The upper part of the mechanical gripper frame is provided with the two mechanical gripper grabbing heads, and the two mechanical gripper grabbing heads are connected with the two centering and aligning base plates respectively; the falling guide mechanism is arranged on each mechanical gripper grabbing head;

[0023] The bottom of the mechanical gripper frame is connected with the lifting driving mechanism through the mechanical gripper lifting fixed plate;

[0024] The centering driving mechanism comprises a centering cylinder and a centering connecting rod mechanism;

[0025] The centering connecting rod mechanism comprises a swing rod and two connecting rods, wherein the middle part of the swing rod is rotationally connected with the mechanical gripper frame, the two ends of the swing rod are respectively connected with the two centering and aligning base plates through the two connecting rods, and the output end of the centering cylinder is hingedly connected with the swing rod and used for driving the swing rod to rotate.

[0026] The PLC control system comprises a PLC and a code stacking position detection sensor, a preparation position detection sensor, an electromagnetic valve island, an ascending cylinder rising to position sensor A, an ascending cylinder rising to position sensor B, a centering electromagnetic valve and a jacking cylinder electromagnetic valve connected with the PLC.

[0027] The stacking position detection sensor and the preparation position detection sensor are photoelectric sensors, which are arranged on the main frame body on the side of the mechanical gripper and on the side of the stopping mechanism, respectively, and are used for detecting the position and process state of the current work position turnover box;

[0028] The electromagnetic valve island is a two-position five-way electromagnetic valve group, which is arranged on the pneumatic assembly to control the actions of the rejecting mechanism, the stopping mechanism and the falling guide mechanism in the turnover box pre-stacking device through the electromagnetic valve island;

[0029] The rising cylinder rising to position sensor A and the rising cylinder rising to position sensor B are both magnetic Hall switches, which are arranged on the cylinder body of the jacking cylinder mechanism, respectively, to detect the action state of the jacking cylinder mechanism and feed back to the PLC;

[0030] The centering electromagnetic valve and the jacking cylinder electromagnetic valve are both three-position five-way electromagnetic valves, which are arranged on the pneumatic assembly to control the actions of the centering connecting rod mechanism and the jacking cylinder mechanism through the centering electromagnetic valve and the jacking cylinder electromagnetic valve, respectively.

[0031] The auxiliary detection system comprises an industrial computer and a counting sensor and a coplanar detection sensor connected thereto;

[0032] The counting sensor is arranged on the grabbing head of the mechanical gripper to obtain the number and position information of the turnover box and send the information to the industrial computer;

[0033] The coplanar detection sensor is arranged on the top of the falling guide plate and is arranged in a diagonal symmetrical form, and the formed laser plane is located above the falling guide mechanism;

[0034] The industrial computer is connected with the PLC to send the number and position information of the turnover box obtained by the counting sensor, the state information of the turnover box obtained by the coplanar detection sensor and the analysis and judgment results of the image information collected by the detection camera to the PLC.

[0035] A rapid stacking method of a turnover box pre-stacking control system, comprising the following steps:

[0036] 1) The PLC controls the electromagnetic valve island to make the rejecting mechanism, the stopping mechanism and the falling guide mechanism in the initial position; at the same time, the centering electromagnetic valve and the jacking cylinder electromagnetic valve are used to make the centering connecting rod mechanism (205) and the jacking cylinder mechanism in the initial state, respectively;

[0037] 2) The target specification of the required turnover box stacking set by the man-machine interaction system is input to the PLC, and the PLC obtains the target layer number stack column through the prime factor method;

[0038] 3) According to the obtained target layer number stack column, the turnover box pre-stacking control is executed by the PLC in sequence and circulation;

[0039] 4) PLC according to the number of turnover boxes and position information feedback by the counting sensor to the pre-stacking turnover box to perform the stacking layer number verification and judgment;

[0040] 5) After the stack column of the target layer number is emptied, the process is completed and a new stack column of the target layer number is generated according to the target layer number of the next batch of turnover boxes to be stacked set by the man-machine interaction system, and the steps 1) to 4) are cycled.

[0041] The target layer number stack column obtained by the PLC performing the prime factor method is specifically:

[0042] 1-1) Input the target stacking layer number m and the number of turnover boxes n in each layer to the PLC through the man-machine interaction system, then the total number of turnover boxes required is m*n;

[0043] 1-2) Take the prime factor of the target stacking layer number m and arrange it in descending order, and perform short division operation on the first prime factor in the prime factor group to obtain quotient x and remainder y:

[0044] If y=0, the prime number a is the minimum layer number, so the target layer number stack column is {a, a, …, a}, and the stack column is a, and the number is x*n;

[0045] If y≠0, take the second prime number in the prime factor group to perform short division operation, until all prime numbers of the target stacking layer number m are repeatedly operated, and step 1-3) is executed;

[0046] 1-3) When all prime numbers in the prime factor group are operated, there is still no prime number that can satisfy the remainder y=0, so take the operation result of the first prime number a in the prime number group as the reference, and the target layer number stack column is {a, …, a, y, …, y}, the first half of the stack column is a, the number is x*n, and the second half is y, the number is n;

[0047] 1-4) Take the target layer number stack column as the target of this time stacking;

[0048] Among them, the generation method of the largest prime number in the prime factor group is the highest stacking layer number executed by the turnover box pre-stacking device (10).

[0049] The turnover box pre-stacking control executed in turn includes the following steps:

[0050] 2-1) Take the first target layer number a from the target layer number stack column;

[0051] 2-2) When the turnover box reaches the stop mechanism and triggers the preparation position detection sensor;

[0052] 2-3) If the palletizing position detection sensor does not detect the turnover box, the PLC controls the drop stop mechanism through the electromagnetic valve valve island, waits for the turnover box to arrive and trigger the palletizing position detection sensor;

[0053] 2-4) The PLC controls the centering electromagnetic valve, so that the centering connecting rod mechanism retracts, and the turnover box is clamped by the mechanical gripper;

[0054] 2-5) The PLC controls the lifting cylinder electromagnetic valve, so that the lifting cylinder mechanism rises, lifts the turnover box, and the cycle is completed;

[0055] 2-6) Cycle steps 2-2) to 2-5), from the second cycle, after the turnover box arrives and triggers the palletizing position detection sensor, the PLC first controls the lifting cylinder electromagnetic valve, so that the lifting cylinder mechanism descends, and then controls the centering electromagnetic valve, so that the centering connecting rod mechanism extends, so that the upper and lower two layers of turnover boxes are stacked, and then steps 2-4) to 2-6) are repeated;

[0056] 2-7) After the cycle is set for g times, the turnover box pre-palletizing control is completed.

[0057] The step 4) is specifically:

[0058] 3-1) The PLC obtains the current number of palletizing through the counting sensor, compares it with the cycle set number g, and records whether the comparison result X1 is equal to the number;

[0059] 3-2) The PLC detects whether the stacking exists in the multiple cycles through the coplanar detection sensor, and performs an AND operation on the corresponding number, and records the AND operation result X2 as 1;

[0060] 3-3) After the turnover box pre-palletizing control cycle is completed, the turnover box is transferred to the rejection mechanism, visual appearance detection is performed through the detection camera, and it is recorded whether the detection result X3 is true, that is, through visual detection, combined with the detection results X1 and X2 of steps 3-1) to 3-2), and an AND operation is performed, to obtain the final judgment result, that is:

[0061] If the result is passed, that is, the X3 result is true, the next process is entered, and the target layer number of stack column next member is prepared to be executed;

[0062] If the result is failed, that is, the X3 result is false, the turnover box is sent to the rejection collection line body through the rejection mechanism.

[0063] The present application has the following beneficial effects and advantages:

[0064] 1. The present application can accurately obtain the action state of the cylinder and other mechanical structures through the cooperation of non-contact sensors and mechanical devices, so that the device action is more stable and smooth.

[0065] 2. The application can obtain accurate information of the pre-stacking layer number through photoelectricity, vision and the like, thereby providing strong support for the fast stacking method;

[0066] 3. The application obtains the plane and profile information of the stacking state through laser sensors, vision detection and the like, thereby improving the control of the stacking state by the device and reducing the possibility of stacking failure flowing into the terminal stacking equipment;

[0067] 4. The method of the application avoids the solidification and limitation of the stacking device and widens the applicability through the flexible setting of the pre-stacking layer number;

[0068] 5. The method of the application maximizes the use efficiency of the pre-stacking mechanism through the mathematical characteristics of prime numbers to disassemble the stacking specifications;

[0069] 6. The method of the application can temporarily take the turnover box detected with stacking failure offline, thereby reducing the delay to the production rhythm;

[0070] 7. The application provides a novel structure turnover box pre-stacking special machine, which can realize the stacking of three layers of turnover boxes, and further increases a detection and removal mechanism, can timely alarm, remove and collect the turnover boxes with irregular, inclined and misaligned stacking, increases the guarantee in front of the truss stacking machine, ensures the accuracy of the truss stacking, reduces the time for manual processing due to the irregular stacking of the truss, reduces the debugging time, reduces the labor intensity, and improves the stacking production efficiency.

[0071] 8. The application separates the turnover boxes in order through the variable speed wheel mechanism, realizes the blocking and stopping of the blocking and stopping mechanism and the continuity of the stacking, uses the rotation and spring return mechanism for the centering and aligning mechanical gripper grabbing head, can effectively and quickly restore the grabbing plate to the original point, the falling guide mechanism can center and align the turnover boxes, and the accuracy of the stacking is greatly improved.

[0072] 9. All actions of the application are realized through the cylinder, all moving parts adopt the guide rail and sliding block structure, the structure is simple, the operation is stable and reliable, the turnover boxes are stacked through multiple centering and aligning grabbing and jacking, the detection system can accurately detect the unqualified products, provides a signal for the removal mechanism, and completes the effective removal. BRIEF DESCRIPTION OF DRAWINGS

[0073] Figure 1 The overall schematic view of the turnover box pre-stacking device of the application;

[0074] Among them, 10 is a turnover box pre-stacking device, 20 is a PLC control system, 30 is an auxiliary detection system, and 40 is a man-machine interaction system.

[0075] Figure 2aThe schematic diagram of position installation of the PLC control system of the application;

[0076] Figure 2b The schematic diagram of position installation of the PLC control system of the application B;

[0077] Wherein, 2001 is PLC, 2002 is a palletizing position detection sensor, 2003 is a preparation position detection sensor, 2004 is a solenoid valve island, 2005 is a rising cylinder rising to a position sensor, 2006 is a rising cylinder rising to a position sensor, 2007 is a centering solenoid valve, 2008 is a jacking cylinder solenoid valve;

[0078] Figure 3 The schematic diagram of the auxiliary detection system of the application;

[0079] Wherein, 3001 is an industrial computer, 3002 is a counting sensor, and 3003 is a coplanar detection sensor;

[0080] Figure 4 The schematic diagram of the man-machine interaction system of the application;

[0081] Wherein, 4000 is a structure box, 4001 is a touch screen, 4002 is a start button, 4003 is a reset button, and 4004 is an emergency stop button;

[0082] Figure 5 The overall flowchart of the control method of the application;

[0083] Figure 6 The flowchart of the prime factor method of the application;

[0084] Figure 7 The flowchart of the turnover box pre-palletizing control method of the application;

[0085] Figure 8 The flowchart of the palletizing layer checking and judging method of the application;

[0086] Figure 9 The schematic diagram of the three-dimensional structure of the turnover box pre-palletizing device of the application;

[0087] Figure 10 The schematic diagram of the three-dimensional structure of the main frame body in the application;

[0088] Figure 11 The schematic diagram of the three-dimensional structure of the centering and aligning mechanical gripper in the application;

[0089] Figure 12 The schematic diagram of the three-dimensional structure of the falling guide mechanism in the application;

[0090] Figure 13 The schematic diagram of the three-dimensional structure of the mechanical gripper grabbing head in the application;

[0091] Figure 14 Figure 1 is a schematic diagram of the three-dimensional structure of the turnover box conveying line body in the present application;

[0092] Figure 15 Figure 2 is a schematic diagram of the three-dimensional structure of the rejection collection line body in the present application;

[0093] Figure 16 Figure 3 is a schematic diagram of the three-dimensional structure of the rejection mechanism in the present application;

[0094] Figure 17 Figure 4 is a schematic diagram of the three-dimensional structure of the stop mechanism in the present application;

[0095] Figure 18 Figure 5 is a schematic diagram of the three-dimensional structure of the detection mechanism in the present application;

[0096] 1 is the main frame body, 101 is the main frame, 102 is the mechanical gripper lifting guide rail, 103 is the jacking cylinder mechanism, 104 is the jacking cylinder support, 105 is the main frame body lower guard plate, 106 is the main frame body upper guard plate, and 107 is the frame support leg;

[0097] 2 is the centering and aligning mechanical gripper, 201 is the falling guide mechanism, 201-1 is the falling guide plate, 201-2 is the guide plate bottom plate, 201-3 is the guide mechanism cylinder, 201-4 is the cylinder fixing plate, 201-5 is the guide fixing plate, 201-6 is the guide rail sliding block, 202 is the mechanical gripper grabbing head, 202-1 is the grabbing head support, 202-2 is the air pipe wiring clamp, 202-3 is the grabbing head grabbing plate origin sensor, 202-4 is the sensor support, 202-5 is the grabbing plate rotating seat, 202-6 is the rotating bearing, 202-7 is the grabbing plate, 202-8 is the reset spring, 203 is the centering cylinder, 204 is the lifting sliding block, 205 is the centering connecting rod mechanism, 206 is the mechanical gripper lifting fixing plate, 207 is the centering and aligning base plate, 208 is the lifting sliding block support, 209 is the centering guide rail sliding block, and 210 is the mechanical gripper frame;

[0098] 3 is the turnover box conveying line body, 301 is the conveying side plate, 302 is the stop sensor combination I, 303 is the aligning guardrail, 304 is the turnover box, 305 is the line body drive, 306 is the line body support leg, 307 is the stop sensor combination II, 308 is the stop sensor combination III, 309 is the speed change wheel I, 310 is the speed change wheel II, and 311 is the conveying roller;

[0099] 4 is the rejection collection line body, 401 is the collection stop rod, 402 is the collection line body side plate, 403 is the turnover box, 404 is the unpowered roller, 405 is the in-place sensor support, and 406 is the collection line body support leg;

[0100] 5 is the rejection mechanism, 501 is the rejection cylinder, 502 is the cylinder cover, 503 is the rejection mechanism support, 504 is the rejection guide slide, and 505 is the rejection push plate.

[0101] 6 is the stop mechanism, 601 is the stop mechanism support, 602 is the stop rotating rod, 603 is the stop block, 604 is the stop cylinder support, 605 is the stop cylinder, 606 is the stop rotating shaft guard plate, 607 is the stop connecting rod, 608 is the stop rotating bearing seat, and 609 is the stop support.

[0102] 7 represents the pneumatic assembly;

[0103] 8 represents the testing mechanism, 801 represents the testing mounting bracket, 802 represents the camera mounting bracket, and 803 represents the testing camera. Detailed Implementation

[0104] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0105] like Figure 1 The figure shown is a general schematic diagram of the pre-palletizing device for turnover boxes of the present invention. The pre-palletizing control system for turnover boxes of the present invention is characterized by comprising: a pre-palletizing device for turnover boxes 10, a PLC control system 20, an auxiliary detection system 30, and a human-machine interaction system 40.

[0106] The turnover box pre-palletizing device 10 is used to receive control commands from the PLC control system 20 and execute corresponding movements according to the control commands from the PLC control system 20.

[0107] The PLC control system 20 receives instruction parameters from the human-machine interface system 40, performs pre-palletizing layer calculations based on the arrangement of the turnover boxes, and controls the turnover box pre-palletizing device 10 to perform corresponding movements. Simultaneously, it determines the current palletizing status and performs layer verification based on the detection results from the auxiliary detection system 30. Furthermore, it interacts with the human-machine interface system 40 via a bus, enabling the human-machine interface system 40 to display in real-time the current palletizing status and layer verification results received from the PLC control system 20.

[0108] The auxiliary detection system 30 is used to verify and judge the number of stacking layers during the operation of the turnover box pre-palletizing device 10, and to detect the current stacking status of the turnover box, and to feed back the detection results to the PLC control system 20; if it fails, the turnover box is transferred to the rejection collection line 4 of the turnover box pre-palletizing device 10 to prevent it from affecting the subsequent process.

[0109] like Figure 9As shown in the figure, the three-dimensional structure schematic diagram of the turnover box pre-stacking device of the application, wherein the turnover box pre-stacking device 10 comprises a main frame body 1, a centering and aligning mechanical grabber 2, a turnover box conveying line body 3, a stopping mechanism 6, a lifting driving mechanism and a rejection detection mechanism, wherein the turnover box conveying line body 3 is arranged on the main frame body 1, the centering and aligning mechanical grabber 2 is arranged above the turnover box conveying line body 3 and is in sliding connection with the main frame body 1; the lifting driving mechanism is arranged on the main frame body 1 and is located below the turnover box conveying line body 3, the output end of the lifting driving mechanism is connected with the centering and aligning mechanical grabber 2, the lifting driving mechanism is used for driving the centering and aligning mechanical grabber 2 to lift, and the centering and aligning mechanical grabber 2 is used for aligning and stacking the turnover boxes; the main frame body 1 is provided with two groups of stopping mechanisms 6 located on the two sides of the centering and aligning mechanical grabber 2 respectively; the rejection detection mechanism is arranged at the end of the main frame body 1, and is used for detecting and rejecting the turnover boxes that fail to stack.

[0110] As shown in the figure, Figure 10 In the embodiment of the application, the main frame body 1 comprises a main frame 101, a mechanical grabber lifting guide rail 102, a main frame lower guard plate 105, a main frame upper guard plate 106 and a frame support leg 107, wherein the bottom of the main frame 101 is provided with the frame support leg 107, and the outer side of the main frame 101 is provided with the main frame lower guard plate 105; the top of the main frame 101 is provided with the main frame upper guard plate 106 on both sides, and the inner sides of the two main frame upper guard plates 106 are provided with the mechanical grabber lifting guide rail 102 used for sliding connection with the centering and aligning mechanical grabber 2. The lifting driving mechanism comprises a jacking cylinder mechanism 103 and a jacking cylinder support 104, wherein the jacking cylinder support 104 is arranged at the bottom center position of the main frame 101, and the jacking cylinder mechanism 103 is arranged on the jacking cylinder support 104 and is connected with the output end of the centering and aligning mechanical grabber 2. The jacking cylinder mechanism 103 drives the centering and aligning mechanical grabber 2 to lift along the mechanical grabber lifting guide rail 102.

[0111] As shown in the figure, Figure 11As shown, in the embodiment of the present application, the centering and aligning mechanical gripper 2 comprises a falling guide mechanism 201, a mechanical gripper grabbing head 202, a centering driving mechanism, a mechanical gripper lifting fixed plate 206, a centering and aligning base plate 207, a centering guide rail sliding block 209 and a mechanical gripper frame 210. The bottom of the mechanical gripper frame 210 is provided with the centering guide rail sliding block 209 on both sides, and the two centering and aligning base plates 207 are connected with the centering guide rail sliding blocks 209 on both sides respectively. The centering driving mechanism is arranged between the two centering and aligning base plates 207 and connected with the two centering and aligning base plates 207. The centering driving mechanism is used to drive the two centering and aligning base plates 207 to move close to or away from each other. The upper part of the mechanical gripper frame 210 is provided with the two mechanical gripper grabbing heads 202. The two mechanical gripper grabbing heads 202 are connected with the two centering and aligning base plates 207 respectively. The falling guide mechanism 201 is arranged on each mechanical gripper grabbing head 202. The bottom of the mechanical gripper frame 210 is connected with the jacking cylinder mechanism 103 in the lifting driving mechanism through the mechanical gripper lifting fixed plate 206.

[0112] As shown in the embodiment of the present application, Figure 12 The mechanical gripper grabbing head 202 comprises a grabbing head support 202-1 and a grabbing plate assembly. The lower end of the grabbing head support 202-1 is connected with the centering and aligning base plate 207. A group of grabbing plate assemblies or multiple groups of grabbing plate assemblies arranged in the height direction are arranged on the upper part of the grabbing head support 202-1. Specifically, the grabbing plate assembly comprises a grabbing head grabbing plate origin sensor 202-3, a sensor support 202-4, a grabbing plate rotating seat 202-5, a grabbing plate 202-7 and a reset spring 202-8. The grabbing plate rotating seat 202-5 is arranged on the upper part of the grabbing head support 202-1. One end of the grabbing plate 202-7 is provided with two coaxial rotating shafts. The two rotating shafts are connected with the grabbing plate rotating seat 202-5 through rotating bearings 202-6. The reset spring 202-8 is sleeved on the two rotating shafts. The grabbing head grabbing plate origin sensor 202-3 is arranged on the grabbing head support 202-1 through the sensor support 202-4. When the grabbing plate 202-7 is in the original position, one end thereof is in contact with the grabbing head grabbing plate origin sensor 202-3. The grabbing plate 202-7 returns to the original position under the joint action of the reset spring 202-8 and gravity.

[0113] Further, the upper part of the grabbing head support 202-1 is provided with an avoiding hole for avoiding the grabbing plate 202-7. The upper and lower parts of the grabbing head support 202-1 are both provided with an air pipe wiring clamp 202-2. The lifting sliding block 204 is fixed at the middle position of the two sides of the mechanical gripper frame 210 through the lifting sliding block support 208.

[0114] As shown in the embodiment of the present application, Figure 13As shown, in an embodiment of the present invention, the falling guide mechanism 201 includes a falling guide plate 201-1, a guide plate base plate 201-2, a guide mechanism cylinder 201-3, a cylinder fixing plate 201-4, a guide fixing plate 201-5, and a guide rail slider 201-6. The guide plate base plate 201-2 is fixed on the gripping head support 202-1 of the mechanical gripper gripping head 202. The guide rail slider 201-6 is disposed on the guide plate base plate 201-2. The guide fixing plate 201-5 is connected to the guide rail slider 201-6. The front ends of the guide fixing plate 201-5 are respectively connected to two falling guide plates 201-1, and the two sides are symmetrical. The cylinder fixing plate 201-4 is connected to the upper end of the guide plate base plate 201-2. The guide mechanism cylinder 201-3 is disposed on the cylinder fixing plate 201-4, and its output end is connected to the guide fixing plate 201-5. The guide mechanism cylinder 201-3 drives the cylinder fixing plate 201-4 and the falling guide plates 201-1 on both sides to fall or rise along the guide rail slider 201-6. When the guide mechanism cylinder 201-3 is working, the falling guide plates 201-1 straighten the turnover box, so that the upper and lower turnover boxes can be accurately stacked together.

[0115] Specifically, the centering drive mechanism includes a centering cylinder 203 and a centering linkage mechanism 205. The centering linkage mechanism 205 includes a swing rod and two connecting rods. The middle part of the swing rod is rotatably connected to the mechanical gripper frame 210, and the two ends of the swing rod are respectively hinged to two centering abutment base plates 207 through the two connecting rods. The output end of the centering cylinder 203 is hinged to the swing rod and is used to drive the swing rod to rotate. The swing rod drives the two centering abutment base plates 207 to move in opposite directions or towards each other through the two connecting rods. Under the action of the centering cylinder 203, the mechanical gripper gripping head 202 can move back and forth along the centering guide rail slider 209.

[0116] like Figure 14 As shown in the embodiment of the present invention, the turnover box conveyor line 3 includes a conveyor frame, an alignment guardrail 303, a line drive 305, a variable speed wheel I 309, a variable speed wheel II 310, and conveyor rollers 311. A row of conveyor rollers 311 are arranged on the conveyor frame, and the conveyor rollers 311 are connected by chains. The line drive 305 is set on the conveyor frame to drive the conveyor rollers 311 to rotate. Alignment guardrails 303 are provided at both ends of the conveyor frame. Variable speed wheel I 309 and variable speed wheel II 310 are respectively set at the ends of two adjacent conveyor rollers 311 near the stop mechanism 6, and variable speed wheel I 309 and variable speed wheel II 310 are connected by chain drive. Multiple stop sensor combinations are provided along the conveyor frame.

[0117] Specifically, the conveying frame body includes two conveying side plates 301 and line body support legs 306 arranged at the bottom of the conveying side plates 301, and the conveying roller 311 is connected between the two conveying side plates 301. In the embodiment, the stop sensor combination includes stop sensor combination I 302, stop sensor combination II 307 and stop sensor combination III 308, and the stop sensor combination I 302, the stop sensor combination II 307 and the stop sensor combination III 308 are arranged on the detection station, the stacking station and the conveying station respectively. The turnover boxes 304 are placed on the conveying roller 311 and are conveyed by rotating with the conveying roller 311. The speed change wheels I 309 and the speed change wheels II 310 are fixed on the conveying side plates 301 through bearing seats, and in operation, the two turnover boxes 304 are separated by a certain distance through the speed change wheels I 309 and the speed change wheels II 310, which facilitates the stopping of the stopping mechanism 6, the detection of the detection mechanism 8 and the rejection of the rejection mechanism 5.

[0118] As shown in Figure 17 the embodiment of the present application, the stopping mechanism 6 includes a stopping mechanism support 601, a stopping rotating rod 602, a stopping block 603, a stopping cylinder support 604, a stopping cylinder 605, a stopping rotating shaft guard plate 606, a stopping connecting rod 607, a stopping rotating bearing seat 608 and a stopping support 609. The stopping mechanism support 601 is connected with the turnover box conveying line body 3, the stopping cylinder support 604 and the stopping support 609 are arranged on the stopping mechanism support 601, two stopping rotating bearing seats 608 are arranged on the stopping support 609, the stopping rotating rod 602 passes through the middle of each stopping rotating bearing seat 608, the stopping rotating shaft guard plate 606 is arranged on the outside of the stopping rotating bearing seat 608 and plays a protective role; the tail of the stopping cylinder 605 is fixed on the stopping cylinder support 604, and the output end is hinged with the lower end of the two stopping rotating rods 602 through the stopping connecting rod 607, and the upper end of the two stopping rotating rods 602 is connected with the stopping block 603; the stopping cylinder 605 drives the two stopping rotating rods 602 to swing, thereby driving the stopping block 603 to rise and fall. The stopping block 603 rises, stops the turnover box 304 through the conveying roller 311, and realizes stopping.

[0119] As shown in Figure 9 the embodiment of the present application, the rejection detection mechanism includes a rejection collection line body 4, a rejection mechanism 5 and a detection mechanism 8. The rejection mechanism 5 is arranged at the end of the turnover box conveying line body 3, and the rejection collection line body 4 and the detection mechanism 8 are arranged on the two sides of the turnover box conveying line body 3 along the conveying direction perpendicular to the turnover box conveying line body 3. The rejection mechanism 5 is used for rejecting the stacking unqualified turnover box into the rejection collection line body 4.

[0120] As shown in Figure 15As shown, in an embodiment of the present invention, the collection line 4 includes a collection stop bar 401, a collection line side plate 402, a non-powered roller 404, a positioning sensor bracket 405, and a collection line support leg 406. The collection stop bar 401 is fixed to the upper rear of the collection line side plate 402, the collection line side plate 402 is fixed to both ends of the non-powered roller 404, the collection line support leg 406 is fixed to the bottom of the collection line side plate 402, the positioning sensor bracket 405 is fixed to the front end of one side of the collection line side plate 402, and the turnover box 403 is above the non-powered roller 404, serving a collection function.

[0121] like Figure 18 As shown in the embodiment of the present invention, the detection mechanism 8 includes a detection fixing bracket 801, a camera fixing bracket 802, and a detection camera 803. The detection fixing bracket 801 is connected to the turnover box conveyor line 3, the camera fixing bracket 802 is disposed on the detection fixing bracket 801, and the detection camera 803 is disposed on the camera fixing bracket 802. The detection camera 803 is used to collect and output image information of the turnover boxes conveyed to the detection station. When the turnover boxes 304 are arranged and conveyed to the stop mechanism 6, the detection mechanism 8 performs detection. If the stacking is not neat, a feedback signal is sent to the rejection mechanism 5 to achieve effective rejection.

[0122] like Figure 16 As shown in the embodiment of the present invention, the rejection mechanism 5 includes a rejection cylinder 501, a cylinder cover 502, a rejection mechanism support 503, a rejection guide slider 504, and a rejection push plate 505. The rejection mechanism support 503 is connected to the turnover box conveyor line 3. Both the rejection cylinder 501 and the rejection guide slider 504 are mounted on the rejection mechanism support 503. The rejection push plate 505 is connected to the rejection guide slider 504 and to the output end of the rejection cylinder 501. The cylinder cover 502 is fixed to the rejection mechanism support 503 and is located outside the rejection cylinder 501. Through the action of the rejection cylinder 501, the rejection push plate 505 moves back and forth, effectively rejecting the turnover box 403 on the turnover box conveyor line 3.

[0123] In the embodiment of the present application, the centering and aligning mechanical gripper 2 is inside the main frame body 1, and the two ends are connected with the mechanical gripper lifting guide rails 102 on both sides of the main frame body 1, the middle of the centering and aligning mechanical gripper 2 is fixed on the jacking cylinder mechanism 103, meanwhile, the turnover box conveying line body 3 is fixed on the main frame body 1 through a connecting piece, the other end is fixed on the line body support leg 306, the grabbing head support 202-1 passes through the gap between the conveying rollers 311, and the up and down lifting of the centering and aligning mechanical gripper 2 will not interfere with the conveying rollers 311. The rejection collection line body 4 is fixed on the side of the turnover box conveying line body 3 through a screw, and corresponds to the rejection mechanism 5. The rejection mechanism 5 is fixed below the turnover box conveying line body 3, the rejection push plate 505 slides back and forth on the rejection guide rail slider 504 through the gap of the conveying rollers 311 by means of a connecting piece. The stopping mechanism 6 is fixed on the turnover box conveying line body 3 through the stopping mechanism support 601 at a specified position in the middle of the turnover box conveying line body 3, the detection mechanism 8 is fixed on the side of the turnover box conveying line body 3, and corresponds to the rejection mechanism 5, which is convenient for rejecting the turnover box that does not meet the stacking requirements, and the pneumatic assembly 7 is fixed on the side of the main frame body 1. The pneumatic assembly 7 mainly includes a pneumatic fixed box, a control electromagnetic valve, an adjusting valve, a fixed box cover and the like, and is mainly used for controlling the action of all cylinders.

[0124] The present application provides a new type of turnover box pre-stacking special machine, and its working principle is as follows:

[0125] The turnover box 304 conveyed by the turnover box conveying line body 3 is separated by the first set of stop mechanisms 6, separated by a certain distance by the variable speed wheel I 309 and the variable speed wheel II 310, and stopped at the second set of stop mechanisms 6, and the stop sensor combination II 307 transmits a signal to the control electromagnetic valve of the centering cylinder 203, controls the action of the centering and aligning mechanical gripper 2, and realizes the centering and aligning of the turnover box 304 under the action of the falling guide mechanism 201. The clamping plate 202-7 on the mechanical gripper grabbing head 202 is embedded into the handle of the turnover box 304, the lifting cylinder mechanism 103 on the main frame body 1 is actuated to slide the centering and aligning mechanical gripper 2 upwards along the mechanical gripper lifting rail 102, and the first layer of turnover boxes is stacked. After the second layer of turnover boxes 304 is positioned, the guide mechanism cylinder 201-3 of the falling guide mechanism 201 is actuated, the lifting cylinder mechanism 103 is retracted, the falling guide plate 201-1 of the falling guide mechanism 201 guides the second layer of turnover boxes 304 to be positioned directly below the first layer of turnover boxes 304, and the clamping plate 202-7 of the mechanical gripper grabbing head 202 is turned upwards under the action of the mechanical force and is separated from the handle of the turnover box, and the two turnover boxes 304 are stacked. The centering and aligning mechanical gripper 2 is opened outward, and then the turnover boxes 304 are grabbed after being stabilized, the lifting cylinder mechanism 103 is actuated, and the stacking of the three layers of turnover boxes 304 is sequentially completed. After the stacking is completed, the turnover boxes 304 are conveyed to the third set of stop mechanisms 6, detected by the detection mechanism 8, and if there is an inclined or irregularly stacked turnover box, a signal is directly sent to the rejection mechanism 5 for rejection, and the unqualified product is rejected to the rejection collection line 4. If the product is qualified, it is directly conveyed to the truss stacker buffer line, and the pre-stacking of the turnover boxes is finally completed.

[0126] As Figures 2a-2b shown, it is a PLC control system schematic diagram of the present application, comprising: PLC 2001 and the stacking position detection sensor 2002, the preparation position detection sensor 2003, the electromagnetic valve valve island 2004, the lifting cylinder lifting to position sensor A 2005, the lifting cylinder lifting to position sensor B 2006, the centering electromagnetic valve 2007, the lifting cylinder electromagnetic valve 2008 connected therewith;

[0127] The stacking position detection sensor 2002 and the preparation position detection sensor 2003 are photoelectric sensors, respectively arranged on the main frame body 1 on one side of the centering and aligning mechanical gripper 2 and on the main frame body 1 on one side of the stop mechanism 6, used for detecting the position and process state of the current turnover box;

[0128] The electromagnetic valve valve island 2004 is a two-position five-way electromagnetic valve group arranged on the pneumatic assembly 7 to control the action of the rejection mechanism 5, the stop mechanism 6 and the falling guide mechanism 201 in the turnover box pre-stacking device 10 through the electromagnetic valve valve island 2004;

[0129] The ascending cylinder ascending position sensor A 2005 and the ascending cylinder ascending position sensor B 2006 are magnetic Hall switches, which are arranged on the cylinder body of the ascending cylinder mechanism 103 respectively, so as to detect the action state of the ascending cylinder mechanism 103 and feed back to the PLC 2001.

[0130] The centering electromagnetic valve 2007 and the ascending cylinder electromagnetic valve 2008 are three-position five-way electromagnetic valves, which are arranged on the pneumatic assembly 7, so that the pneumatic assembly 7 controls the centering connecting rod mechanism 205 and the ascending cylinder mechanism 103 to act through the centering electromagnetic valve 2007 and the ascending cylinder electromagnetic valve 2008 respectively.

[0131] As shown in Figure 3 The auxiliary detection system 30 includes an industrial computer 3001 and a count sensor 3002 and a coplanar detection sensor 3003 connected thereto.

[0132] The count sensor 3002 is arranged on the mechanical gripper grabbing head 202, which is used to obtain the number and position information of the turnover box and send it to the industrial computer 3001.

[0133] The coplanar detection sensor 3003 is arranged on the top of the falling guide plate 201-1 and is arranged in a diagonal symmetrical form, and the laser plane formed thereby is located above the falling guide mechanism 201.

[0134] The industrial computer 3001 is connected with the PLC 2001, which is used to send the number and position information of the turnover box obtained by the count sensor 3002, the state information of the turnover box obtained by the coplanar detection sensor 3003 and the analysis and judgment result of the image information collected by the detection camera 803 to the PLC 2001.

[0135] As shown in Figure 4 The man-machine interaction system 40 of the present application includes a structure box 4000, a touch screen 4001, a start button 4002, a reset button 4003 and an emergency stop button 4004, and the touch screen and the buttons are embedded on the panel of the structure box.

[0136] The touch screen 4001, the start button 4002, the reset button 4003 and the emergency stop button 4004 are respectively embedded on one side of the structure box.

[0137] The touch screen 4001, the start button 4002, the reset button 4003 and the emergency stop button 4004 are connected with the PLC 2001 of the PLC control system 20 through a bus.

[0138] As shown in Figure 5 The overall flow chart of the control method of the present application, the rapid stacking method of the turnover box pre-coding and stacking control system of the present application includes the following steps:

[0139] 1) PLC 2001 controls the electromagnetic valve valve island 2004, so that the rejection mechanism 5, the stop mechanism 6, the falling guide mechanism (201) are in the initial position; at the same time, the centering electromagnetic valve 2007 and the jacking cylinder electromagnetic valve 2008 are used to make the centering connecting rod mechanism 205 and the jacking cylinder mechanism 103 in the initial state respectively;

[0140] 2) The target specification of the required turnover box stacking is input to the PLC 2001 according to the man-machine interaction system 40, and the target layer number stack is obtained by the prime factor method of the PLC 2001;

[0141] As shown in the flow chart of the prime factor method of the application, the PLC 2001 executes the prime factor method to obtain the target layer number stack, specifically: Figure 6

[0142] 1-1) The target stacking layer number m and the number of turnover boxes n in each layer are input to the PLC 2001 through the man-machine interaction system 40, so the total number of required turnover boxes is m*n;

[0143] 1-2) The prime numbers of the target stacking layer number m are taken, and arranged in descending order, and the first prime number in the prime number group is operated by short division to obtain the quotient x and the remainder y:

[0144] If y=0, the prime number a is the minimum layer number, so the target layer number stack is {a, a, …, a}, and the stack number is a, and the number is x*n;

[0145] If y≠0, the second prime number in the prime number group is operated by short division, and the operation of all prime numbers in the target stacking layer number m is repeated until step 1-3) is executed;

[0146] 1-3) When all the prime numbers in the prime number group are operated, there is still no prime number that can satisfy y=0, so the operation result of the first prime number a in the prime number group is taken as the reference, and the target layer number stack is {a, …, a, y, …, y}, the first half of the stack is a, the number is x*n, and the second half is y, the number is n;

[0147] 1-4) The target layer number stack is used as the stacking target of this time;

[0148] The maximum prime number in the prime number group is generated in the form of the highest stacking layer number executed by the turnover box pre-stacking device 10.

[0149] 3) According to the obtained target layer number stack, the PLC 2001 sequentially and repeatedly executes the turnover box pre-stacking control;

[0150] As shown in the flow chart of the prime factor method of the application, the PLC 2001 executes the prime factor method to obtain the target layer number stack, specifically: Figure 7 ​The diagram shown is a flowchart of the pre-palletizing control method for turnover boxes according to the present invention, which specifically includes the following steps:

[0151] 2-1) Obtain the first target level 'a' from the stack of target levels;

[0152] 2-2) When the turnover box reaches the stop mechanism 6, the ready position detection sensor 2003 is triggered;

[0153] 2-3) If the palletizing position detection sensor 2002 does not detect the turnover box, the PLC 2001 controls the lower stop mechanism 6 through the solenoid valve island 2004 to wait for the turnover box to arrive and trigger the palletizing position detection sensor 2002.

[0154] 2-4) PLC2001 controls the centering solenoid valve 2007, causing the centering linkage mechanism 205 to retract and the turnover box to be clamped by the mechanical gripper gripping head 202;

[0155] 2-5) PLC2001 controls the solenoid valve 2008 of the lifting cylinder, causing the lifting cylinder mechanism 103 to rise and lift the turnover box, completing the cycle.

[0156] 2-6) Repeat steps 2-2) to 2-5). Starting from the second cycle, after the turnover box arrives and triggers the stacking position detection sensor 2002, PLC 2001 first controls the lifting cylinder solenoid valve 2008 to lower the lifting cylinder mechanism 103, and then controls the centering solenoid valve 2007 to extend the centering linkage mechanism 205, so that the upper and lower turnover boxes are stacked. Then repeat steps 2-4) to 2-6).

[0157] 2-7) After the set number of cycles g, the pre-palletizing control of the turnover boxes is completed.

[0158] 4) PLC2001 performs palletizing layer verification and judgment on the pre-palletized turnover boxes based on the number and position information of the turnover boxes fed back by the counting sensor 3002;

[0159] like Figure 8 The diagram shown is a flowchart of the method for verifying and judging the number of palletizing layers in step 4) of this invention, which specifically includes the following steps:

[0160] 3-1) PLC2001 obtains the current number of pallets through counting sensor 3002, compares it with the set number of cycles g, and records whether the comparison result X1 is equal to the number.

[0161] 3-2) PLC2001 uses coplanar detection sensor 3003 to detect whether there is warping, deviating from the slot, or tilting during multiple cycles, and performs a AND operation on the corresponding number of times, recording the result of the AND operation of X2 as 1;

[0162] 3-3) After the pre-palletizing control cycle of the turnover box is completed, the turnover box is transferred to the rejection mechanism 5, visual appearance detection is performed by the detection camera 803, and the detection result X3 is recorded. Whether the result is true or false is determined by visual detection, combined with the detection results X1 and X2 of steps 3-1) to 3-2), and the final judgment result is obtained by performing an AND operation, that is:

[0163] If the result is pass, that is, the result X3 is true, the next process is entered, and the next member of the target layer stack is prepared to be executed;

[0164] If the result is fail, that is, the result X3 is false, the stack turnover box is sent to the rejection collection line body 4 through the rejection mechanism 5.

[0165] 5) After the stack of the target number of layers is emptied, the process completes the cycle, and a new target layer stack is generated according to the target number of layers of the next batch of turnover boxes to be palletized set by the man-machine interaction system 40, and the steps 1) to 4) are cycled.

[0166] The pre-palletizing control method of the turnover box provided by the embodiment of the present application can realize the pre-palletizing planning of the multi-layer turnover box by disassembling the palletizing specifications of the terminal palletizing equipment, improve the efficiency of the terminal palletizing equipment, and thus drive the automation level of the industry. The turnover box pre-palletizing device 10 provided by the embodiment of the present application can realize the pre-palletizing of the turnover box, can palletize the turnover box layer by layer, can detect the palletizing of the turnover box, can timely alarm and reject the unsuccessful palletizing, can ensure the accuracy of the truss palletizing, can improve the debugging efficiency, and can reduce the debugging time. The present application can be used as a single machine, or can be used as a pre-palletizing special machine connected with the production line. The turnover box pre-palletizing device 10 can palletize the turnover box layer by layer, replace manual stacking, reduce the labor intensity, provide a palletizing carrier for the subsequent truss palletizing robot, and improve the production efficiency.

[0167] The above description is only an embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principles of the present application are included in the protection scope of the present application.

Claims

1. A tote pre-palletizing control system, comprising: The utility model relates to a kind of turnover box pre-code stacking device, PLC control system, auxiliary detection system and man-machine interaction system, including: Turnover box pre-code stacking device (10), PLC control system (20) control command is received, and according to PLC control system (20) control command corresponding movement is executed; The turnover box pre-code stacking device (10) includes: main frame (1), centering and aligning mechanical gripper (2), turnover box conveying line body (3), stop mechanism (6), lifting drive mechanism, pneumatic assembly (7) and rejection detection mechanism; Wherein, the turnover box conveying line body (3) is arranged on the main frame (1), and the centering and aligning mechanical gripper (2) is arranged above the turnover box conveying line body (3) and is slidably connected with the main frame (1); The lifting drive mechanism is arranged on the main frame (1) and below the turnover box conveying line body (3), the output end of the lifting drive mechanism is connected with the centering and aligning mechanical gripper (2), and the lifting drive mechanism is used for driving the centering and aligning mechanical gripper (2) to lift, and the centering and aligning mechanical gripper (2) is used for aligning and stacking the turnover box; Two groups of stop mechanisms (6) are arranged on the main frame (1) respectively on both sides of the centering and aligning mechanical gripper (2); The rejection detection mechanism is arranged at the end of the main frame (1), and is used for rejecting the unqualified turnover box to the rejection collection line body (4); The rejection detection mechanism includes: rejection collection line body (4), rejection mechanism (5) and detection mechanism (8), wherein the rejection mechanism (5) is arranged at the end of the turnover box conveying line body (3), and the rejection collection line body (4) and the detection mechanism (8) are arranged on both sides of the turnover box conveying line body (3) along the conveying direction perpendicular to the turnover box conveying line body (3); The detection mechanism (8) is connected with the auxiliary detection system (30), and is used for collecting image information of the turnover box conveyed to the detection station and outputting to the auxiliary detection system (30); The pneumatic assembly (7) is fixed on the side of the main frame (1) beam, and is used for controlling the action of all air cylinders; The PLC control system (20) is used for receiving the instruction parameters of the man-machine interaction system (40), and calculating the pre-stacking layer according to the turnover box placement form, and controlling the turnover box pre-stacking device (10) to execute corresponding movement;Meanwhile, the detection result of the auxiliary detection system (30) is used for determining the current stacking state and verifying the number of layers;Also, the PLC control system (20) is used for realizing real-time display of the man-machine interaction system (40) by data interaction with the man-machine interaction system (40), receiving the current stacking state and verifying the number of layers of the PLC control system (20); The PLC control system (20) includes: PLC (2001) and stacking position detection sensor (2002), preparation position detection sensor (2003), electromagnetic valve valve island (2004), upper air cylinder rising to position sensor A (2005), upper air cylinder rising to position sensor B (2006), centering electromagnetic valve (2007), jacking air cylinder electromagnetic valve (2008) connected therewith. ​ The stacking position detection sensor (2002) and the preparation position detection sensor (2003) are photoelectric sensors, which are arranged on the main frame (1) on the side of the center alignment mechanical gripper (2) and on the side of the main frame (1) of the stopping mechanism (6) respectively, and are used for detecting the position and process state of the current station turnover box; The electromagnetic valve island (2004) is a two-position five-way electromagnetic valve group, which is arranged on the pneumatic assembly (7) to control the actions of the rejection mechanism (5), the stopping mechanism (6) and the falling guide mechanism (201) of the turnover box pre-stacking device (10) through the electromagnetic valve island (2004). The rising cylinder rising position sensor A (2005) and the rising cylinder rising position sensor B (2006) are both magnetic Hall switches, which are arranged on the cylinder body of the jacking cylinder mechanism (103) respectively, and are used for detecting the action state of the jacking cylinder mechanism (103) and feeding back to the PLC (2001). The centering electromagnetic valve (2007) and the jacking cylinder electromagnetic valve (2008) are both three-position five-way electromagnetic valves, which are arranged on the pneumatic assembly (7) to control the actions of the centering connecting rod mechanism (205) and the jacking cylinder mechanism (103) through the centering electromagnetic valve (2007) and the jacking cylinder electromagnetic valve (2008) respectively. The auxiliary detection system (30) is used for checking and judging the stacking layer number in the action process of the turnover box pre-stacking device (10), detecting the stacking state of the current turnover box, and feeding back the detection result to the PLC control system (20); if it fails, the turnover box is transferred to the rejection collection line body (4) of the turnover box pre-stacking device (10) through the turnover box pre-stacking device (10) to prevent affecting the subsequent link.

2. A tote pre-palletizing control system according to claim 1, wherein, The main frame (1) comprises a main frame (101), a mechanical gripper lifting guide rail (102), a main frame lower guard plate (105), a main frame upper guard plate (106) and a frame support leg (107). The bottom of the main frame (101) is provided with the frame support leg (107), and the outer side of the main frame (101) is provided with the main frame lower guard plate (105); the top of the main frame (101) is provided with the main frame upper guard plate (106) on both sides, and the inner sides of the two main frame upper guard plates (106) are provided with the mechanical gripper lifting guide rail (102) for sliding connection with the centering alignment mechanical gripper (2). The lifting driving mechanism comprises a jacking cylinder mechanism (103) and a jacking cylinder support (104), wherein the jacking cylinder support (104) is arranged at the bottom center position of the main frame (101), and the jacking cylinder mechanism (103) is arranged on the jacking cylinder support (104) and connected with the centering alignment mechanical gripper (2) at the output end.

3. The tote pre-palletizing control system of claim 1, wherein, The centering alignment mechanical gripper (2) comprises a falling guide mechanism (201), a mechanical gripper grabbing head (202), a centering driving mechanism, a mechanical gripper lifting fixed plate (206), a centering alignment base plate (207), a centering guide rail slider (209) and a mechanical gripper frame (210). The bottom of the mechanical gripper frame (210) is provided with two centering guide rail sliders (209), and two centering alignment base plates (207) are respectively connected with the two centering guide rail sliders (209); a centering driving mechanism is arranged between the two centering alignment base plates (207) and is connected with the two centering alignment base plates (207), and the centering driving mechanism is used for driving the two centering alignment base plates (207) to move close to or away from each other; The upper portion of the mechanical gripper frame (210) is provided with two mechanical gripper grabbing heads (202), the two mechanical gripper grabbing heads (202) are respectively connected with the two centering alignment base plates (207), and each mechanical gripper grabbing head (202) is provided with a falling guide mechanism (201); The bottom of the mechanical gripper frame (210) is connected with a lifting driving mechanism through a mechanical gripper lifting fixed plate (206); The centering driving mechanism comprises a centering cylinder (203) and a centering linkage mechanism (205); The centering linkage mechanism (205) comprises a swing rod and two link rods, the middle portion of the swing rod is rotationally connected with the mechanical gripper frame (210), the two ends of the swing rod are respectively connected with the two centering alignment base plates (207) through the two link rods, and the output end of the centering cylinder (203) is hingedly connected with the swing rod and is used for driving the swing rod to rotate.

4. The tote pre-palletizing control system of claim 1, wherein, The auxiliary detection system (30) comprises an industrial computer (3001) and a count sensor (3002) and a coplanar detection sensor (3003) connected with the industrial computer (3001); The count sensor (3002) is arranged on the mechanical gripper grabbing head (202) and is used for obtaining the number and position information of the turnover boxes and sending the number and position information to the industrial computer (3001); The coplanar detection sensor (3003) is arranged on the top of the falling guide plate (201-1) and is arranged in a diagonal symmetrical form, and the formed laser plane is located above the falling guide mechanism (201); The industrial computer (3001) is connected with the PLC (2001) and is used for sending the number and position information of the turnover boxes obtained by the count sensor (3002), the state information of the turnover boxes obtained by the coplanar detection sensor (3003) and the analysis and judgment result of the image information collected by the detection camera (803) to the PLC (2001).

5. The method of claim 1 to 4, wherein, The method comprises the following steps: 1) the PLC (2001) controls the electromagnetic valve island (2004) to make the rejection mechanism (5), the stopping mechanism (6) and the falling guide mechanism (201) be in the initial position; at the same time, the centering electromagnetic valve (2007) and the jacking cylinder electromagnetic valve (2008) are used to make the centering linkage mechanism (205) and the jacking cylinder mechanism (103) be in the initial state respectively; 2) the target specification of the required turnover box stacking set by the man-machine interaction system (40) is input to the PLC (2001), and the PLC (2001) obtains the target layer number stack by the prime factor method; 3) according to the obtained target layer number stack, the PLC (2001) sequentially and circularly executes the turnover box pre-stacking control; 4) PLC (2001) performs the code stacking layer checking and judgment on the pre-stacked turnover boxes according to the number and position information of the turnover boxes fed back by the counting sensor (3002); 5) After the stack column of the target stacking layer is emptied, the process completes the cycle, and a new stack column of the target stacking layer is generated according to the target stacking layer of the next batch of turnover boxes to be stacked set by the man-machine interaction system (40), and the steps 1) to 4) are cycled.

6. The method of claim 5, wherein, The target stacking layer stack column is obtained by the PLC (2001) performing the prime factor method, specifically: 1-1) The target stacking layer m and the number of turnover boxes n per layer are input into the PLC (2001) through the man-machine interaction system (40), and the total number of turnover boxes required is m*n; 1-2) The prime factor set of the target stacking layer m is obtained, and the first prime number in the prime factor set is operated by short division to obtain the quotient x and the remainder y: If y=0, the prime number a is the minimum layer, so the target stacking layer stack column is {a, a, …, a}, and the stack column is a, and the number is x*n; If y≠0, the second prime number in the prime factor set is operated by short division, and the operation of all prime numbers in the prime factor set is completed, and step 1-3) is executed; 1-3) When all prime numbers in the prime factor set are operated, there is still no prime number that can satisfy y=0, so the operation result of the first prime number a in the prime number group is taken as the reference, and the target stacking layer stack column is {a, …, a, y, …, y}, the first half of the stack column is a, the number is x*n, and the second half is y, the number is n; 1-4) The target stacking layer stack column is taken as the target of this time stacking; Wherein, the generation method of the largest prime number in the prime factor set is the highest stacking layer executed by the turnover box pre-stacking device (10).

7. The method of claim 5, wherein, The turnover box pre-stacking control is cycled in turn, including the following steps: 2-1) The first target stacking layer a is obtained from the target stacking layer stack column; 2-2) When the turnover box reaches the stop mechanism (6), the preparation position detection sensor (2003) is triggered; 2-3) If the stacking position detection sensor (2002) does not detect the turnover box, the PLC (2001) controls the stop mechanism (6) to be lowered through the electromagnetic valve island (2004), and waits for the turnover box to arrive and trigger the stacking position detection sensor (2002); 2-4) The PLC (2001) controls the centering electromagnetic valve (2007) to make the centering linkage mechanism (205) contract, and the mechanical gripper head (202) clamps the turnover box; 2-5) The PLC (2001) controls the lifting cylinder electromagnetic valve (2008) to make the lifting cylinder mechanism (103) rise to lift the turnover box, and the cycle is completed; 2-6) Repeat steps 2-2) ~ 2-5), from the second cycle, after the turnover box arrives and triggers the stacking position detection sensor (2002), the PLC (2001) first controls the lifting cylinder electromagnetic valve (2008) to make the lifting cylinder mechanism (103) lower, and then controls the centering electromagnetic valve (2007) to make the centering link mechanism (205) extend, so that the upper and lower two layers of turnover boxes are stacked, and then steps 2-4) ~ 2-6) are repeated; 2-7) After the cycle is set for g times, the turnover box pre-stacking control is completed.

8. The method of claim 5, wherein, The step 4) is specifically: 3-1) The PLC (2001) compares the number of the current stacking obtained by the counting sensor (3002) with the cycle set number g, and records whether the comparison result X1 is equal to the number; 3-2) The PLC (2001) detects whether there is a tilt, off-slot, or tilt in the stacking during the multiple cycles through the coplanar detection sensor (3003), and performs an AND operation on the corresponding number, and records the result X2 of the AND operation as 1; 3-3) After the turnover box pre-stacking control cycle is completed, the turnover box is transferred to the rejection mechanism (5), the visual appearance detection is performed through the detection camera (803), and it is recorded whether the detection result X3 is true, that is, through visual detection, combined with the detection results X1 and X2 of steps 3-1) ~ 3-2), and an AND operation is performed, to obtain the final judgment result, that is: If the result is passed, that is, X3 is true, the next process is entered, and the stack column next member of the target number of layers is prepared to be executed; If the result is failed, X3 is false, the stack turnover box is sent to the rejection collection line body (4) through the rejection mechanism (5).

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