Conveying device for box posture adjustment

Abstract

The invention relates to a conveying device for box posture adjustment, which comprises a conveying mechanism, a recognition mechanism and a posture adjustment mechanism, and the conveying mechanism comprises a rack and a roller conveying line. And the roller conveying line is erected on the rack. The recognition mechanism comprises a first portal frame, a recognition assembly and a control assembly. The recognition assembly comprises a camera. And the camera is used for identifying target characteristics of each surface on the box body. The control assembly is in communication connection with the posture adjusting mechanism and used for judging the real-time posture of the box body according to the position of the target feature and controlling the posture adjusting mechanism to adjust the box body to the target posture according to the real-time posture. The posture adjusting mechanism comprises a second portal frame, an overturning assembly and a rotating assembly. The overturning assembly is used for overturning the box body. The rotating assembly is used for driving the box body to rotate. Compared with the prior art, the conveying device for adjusting the posture of the box can formulate different adjusting strategies according to the real-time posture of the box to adjust the box to the target posture, and is small in size and high in adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of box posture adjustment, and in particular to a conveying device for box posture adjustment. Background Art

[0002] In the unloading environment of truck container assembly lines, cartons are usually moved manually to chain conveyors or roller conveyors, and then the barcode or QR code attached to the surface of the cartons is read by the back-end code reader for identification and storage. In order to cooperate with the scanner of the back-end code reader, workers need to flip the cartons so that a specified side (usually the conveying side or side) is facing up when moving them.

[0003] In the prior art, in order to improve work efficiency, an automatic loading and unloading system is used to replace manual unloading of cartons. For most automatic loading and unloading systems, since the system itself does not have or is difficult to realize the function of flipping cartons while unloading, it is necessary to equip the front end of the automatic loading and unloading system with a flipping device to achieve normal docking with the automatic barcode reading device at the back end of the automatic loading and unloading system, so as to improve the automation replacement of the unloading process without modifying the barcode reading device.

[0004] The existing flipping equipment has a fixed direction for flipping cartons, a single motion logic, and a limited movement path for cartons at a single station, so there is room for improvement. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a conveying device for adjusting the posture of a box.

[0006] The conveying device for adjusting the box posture provided by the present invention adopts the following technical solution:

[0007] A conveying device for adjusting the posture of a box, comprising a conveying mechanism, an identification mechanism and a posture adjustment mechanism; wherein the conveying mechanism comprises a frame and a roller conveyor line; the roller conveyor line is mounted on the frame; the identification mechanism comprises a first gantry, an identification component and a control component; the roller conveyor line passes through the first gantry; the identification component comprises a plurality of cameras; each of the cameras is respectively arranged on the first gantry at a different height or angle; each of the cameras is communicatively connected to the control component for identifying target features on the box; the control component is communicatively connected to the posture adjustment mechanism for determining the real-time posture of the box according to the position of the target feature, and controlling the posture adjustment mechanism to adjust the box to the target posture according to the real-time posture; the posture adjustment mechanism comprises a second gantry, a flipping component and a rotating component; the roller conveyor line passes through the second gantry; the flipping component is located above the roller conveyor line, and comprises a clamp, a clamp, a first drive component and a second drive component; the number of the first drive components is two, and both are arranged on the second On the gantry; each of the first driving components is connected to a clamp; each of the clamps is connected to a clamp plate and a second driving component at one end away from the clamp; the two clamps are opposite to each other, and the box passes between the two clamps; the first driving component is used to drive the clamp connected thereto to move in a horizontal direction and perpendicular to the conveying direction of the roller conveyor line, so that the two clamps are close to or away from each other, thereby clamping or releasing the box; the second driving component is located on the side of the clamp away from the other clamp, and is used to drive the clamp to rotate around its own axis, so that the box clamped between the two clamps is turned over; the rotating assembly includes a pallet, a lifting component and a rotating component; the lifting component is arranged on the second gantry and connected to the pallet, and is used to drive the pallet to rise and fall so that it is higher or lower than the conveying surface of the roller conveyor line; the rotating component is fixedly connected to the lifting component and connected to the pallet, and is used to drive the pallet to rotate around its own vertical axis when the pallet is higher than the conveying surface of the roller conveyor line, thereby driving the box to rotate.

[0008] Optionally, the conveying mechanism also includes a baffle and a third drive assembly; the baffle is vertically arranged and perpendicular to the conveying direction of the roller conveyor line; the third drive assembly is arranged on the frame and connected to the baffle, and is used to drive the baffle to rise and fall in the vertical direction, thereby driving the baffle to extend from below the conveying surface of the roller conveyor line to above, or to descend from above the conveying surface of the roller conveyor line to below; the baffle deviates from the center line of the roller conveyor line in the width direction of the roller conveyor line, so that when the baffle is extended above the conveying surface of the roller conveyor line, a space for only one box to pass is left above the conveying surface of the roller conveyor line.

[0009] Optionally, the conveying mechanism also includes a detection component; the detection component is arranged on the frame and is communicatively connected with the third drive component; the detection component is used to extend the baffle to above the conveying surface of the roller conveyor line through the third drive component to block one of the two side-by-side boxes when it detects that there are two boxes conveyed side by side on the roller conveyor line.

[0010] Optionally, the number of the cameras is ten; the ten cameras are arranged in four layers along the vertical direction; wherein, in the first layer from top to bottom, two of the cameras are arranged at intervals, and their fields of view both include the top surface of the box; the second layer is arranged with four cameras; the four cameras are distributed in a rectangular shape, and their fields of view both include the top surface and one of the side surfaces of the box; the third layer is arranged with two of the cameras at intervals, and their fields of view both include one of the side surfaces of the box; the fourth layer is arranged with two of the cameras at intervals, and their fields of view both include the bottom surface of the box.

[0011] Optionally, the identification component further includes a plane mirror; the plane mirror is disposed on the first gantry; and one or more of the cameras include the box in a field of view through reflection of the plane mirror.

[0012] Optionally, the control component includes a storage component; the storage component stores a box shape database; the shape database includes dimensional data corresponding to a plurality of boxes; the control component determines the real-time posture of the box according to the target features and the dimensional data corresponding to the box, and controls the posture adjustment mechanism to adjust the box to the target posture according to the real-time posture.

[0013] Optionally, the lifting component includes a lifting cylinder; the rotating component includes a rotating motor; the pallet includes a main body and a connecting piece; the upper side of the pallet is used to lift the box; the cylinder body of the lifting cylinder is arranged on the second gantry, and the end of the piston rod is connected to the connecting piece; the rotating motor is arranged on the connecting piece, and the end of the output shaft passes through the connecting piece and is fixedly connected to the lower side of the pallet.

[0014] Optionally, the posture adjustment mechanism also includes a push plate; the push plate is arranged on the second gantry and located above the clamping plate, and is used to block a box whose height is the same as or higher than the push plate, so that the box can be flipped.

[0015] Optionally, the target feature includes one or more of a QR code, a barcode, and a tape.

[0016] Optionally, the camera is also used to read information in the QR code or the barcode, and to warehouse the boxes corresponding to the QR code or the barcode.

[0017] As described above, the conveying device for adjusting the box posture of the present invention has at least the following beneficial effects:

[0018] 1. Compared with the prior art, the conveying device for adjusting the box posture of the present invention can formulate different adjustment strategies according to the real-time posture of the box to adjust the box to the target posture. In addition, since the user can input all the size data of the box that needs to be adjusted into the shape database, the control component can directly call the size data in the shape database when judging the real-time posture of the box, so that the real-time posture of the box can be identified more quickly, which effectively improves the adaptability of the conveying device for adjusting the box posture of the present invention to boxes of different sizes.

[0019] 2. The conveying device for adjusting the posture of the box of the present invention cooperates with the camera and the plane mirror, so that the focus of the camera can fall on the surface of the box without increasing the volume of the first gantry, thereby helping to compress the space occupied by the first gantry, making it easy to deploy the conveying device for adjusting the posture of the box in venues with different application scenarios, and at the same time increasing the field of view of the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an axonometric view of the overall structure of the conveying device for adjusting the box posture of the present invention.

[0021] Figure 2 It is a schematic diagram used to reflect the structure of the roller conveyor line.

[0022] Figure 3 It is a schematic diagram for illustrating the structure of the baffle and the third drive assembly.

[0023] Figure 4 It is a schematic diagram used to reflect the structure of the identification mechanism.

[0024] Figure 5 is another schematic diagram used to illustrate the structure of the identification mechanism.

[0025] Figure 6 It is a schematic diagram for illustrating the structure of the posture adjustment mechanism.

[0026] Figure 7 It is another schematic diagram for illustrating the structure of the posture adjustment mechanism.

[0027] Figure 8 It is a schematic diagram used to reflect the positional relationship between the pallet and the short roller.

[0028] Fig. 9 It is a schematic diagram used to illustrate the structure of the rotating component.

[0029] Fig.10It is a schematic diagram used to reflect the position of each surface of the box.

[0030] Figure numerals: 1, roller conveyor line; 11, front bracket; 12, connecting frame; 13, rear bracket; 14, long roller; 15, short roller; 2, baffle; 3, third drive assembly; 4, first gantry; 41, first frame; 411, first upper crossbeam; 412, first lower crossbeam; 413, first leg; 414, first longitudinal beam; 415, camera; 416, plane mirror; 417, first inlet; 418, first outlet; 5, second gantry; 51, second frame; 511, second upper crossbeam Beam; 512, second lower cross beam; 513, second support leg; 514, second longitudinal beam; 515, second inlet; 516, second outlet; 6, clamp; 7, clamping plate; 8, first driving component; 9, second driving component; 10, push plate; 101, mounting rod; 102, slide rail; 103, slider; 104, connecting rod; 105, push rod; 111, tray; 112, lifting component; 113, rotating component; 114, connecting plate; 115, support rod; 121, tape; 122, QR code. DETAILED DESCRIPTION

[0031] The following is an explanation of the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the features in the following embodiments and the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present invention are intended to describe specific embodiments, rather than to limit the scope of protection of the present invention. The test methods for which specific conditions are not specified in the following examples are usually carried out under conventional conditions or according to the conditions recommended by the manufacturers.

[0032] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0033] Please refer to Figure 1-10 The present invention discloses a conveying device for adjusting the posture of a box body. The device comprises a conveying mechanism, an identification mechanism and a posture adjustment mechanism.

[0034] Please refer to the Figure 1-3 , the conveying mechanism includes a frame and a roller conveyor line 1. The roller conveyor line 1 is erected on the frame. The frame includes a front bracket 11, a connecting frame 12 and a rear bracket 13. The front bracket 11, the connecting frame 12 and the rear bracket 13 are fixedly connected in sequence along the conveying direction of the roller conveyor line 1. The front bracket 11 and the rear bracket 13 are both supported on the ground, and the connecting frame 12 is suspended. The surface formed on the roller conveyor line 1 for conveying the box is the conveying surface. The box is placed on the conveying surface from the front bracket 11 and conveyed backward.

[0035] When two boxes enter the identification mechanism in a side-by-side manner in the width direction of the roller conveyor line 1, the two boxes will block each other, resulting in the identification mechanism being unable to fully identify both boxes. Therefore, before the boxes enter the identification mechanism, there should not be a situation where the two boxes are side by side in the width direction of the roller conveyor line 1.

[0036] In order to avoid the above situation, the conveying mechanism also includes a baffle 2 and a third drive assembly 3. The baffle 2 is arranged vertically and perpendicular to the conveying direction of the roller conveyor line 1. The third drive assembly 3 is arranged on the frame and connected to the baffle 2, and is used to drive the baffle 2 to rise and fall in the vertical direction, thereby driving the baffle 2 to extend from below the conveying surface of the roller conveyor line 1 to the top, or to descend from above the conveying surface of the roller conveyor line 1 to the bottom. The baffle 2 deviates from the center line of the roller conveyor line 1 in the width direction of the roller conveyor line 1, so that when the baffle 2 extends above the conveying surface of the roller conveyor line 1, a space for only one box to pass is reserved above the conveying surface of the roller conveyor line 1.

[0037] Specifically, the portion of the roller conveyor line 1 located on the front bracket 11 includes a plurality of long rollers 14 arranged in parallel and at intervals. The baffle 2 can be arranged between any two adjacent long rollers 14 according to the needs of the blocking box. The shape of the baffle 2 can be rectangular, circular or other suitable shapes. In the present embodiment, the baffle 2 is a rectangular plate. The third drive assembly 3 includes two rodless cylinders, and the cylinder bodies of the two rodless cylinders are vertically fixed on the front bracket 11 and are located below the long rollers 14. The pistons of the two rodless cylinders are respectively connected to both sides of the width direction of the baffle 2. When the baffle 2 needs to be raised, the pistons of the two rodless cylinders move upward at the same time, driving the baffle 2 to rise. When the baffle 2 needs to be lowered, the piston rods of the two rodless cylinders move downward at the same time, driving the baffle 2 to descend.

[0038] The lifting of the rodless cylinder can be controlled by a host computer, which can be a control system of an assembly line. That is, when unloading is performed upstream of the conveying device for adjusting the box posture of the present invention, the unloading information is input into the control system, and the control system controls the movement of the two rodless cylinders according to whether there are two boxes side by side in the unloading information, thereby controlling the lifting of the baffle 2.

[0039] In a preferred embodiment of the present invention, the conveying mechanism further includes a detection component (not shown in the figure). The detection component is arranged on the frame and is in communication connection with the third drive assembly 3. The detection component is used to extend the baffle 2 above the conveying surface of the roller conveyor line 1 through the third drive assembly 3 to block one of the two boxes side by side when detecting that two boxes are conveyed side by side on the roller conveyor line 1.

[0040] The detection component can be a through-beam photoelectric sensor, the number of which is two. The two through-beam photoelectric sensors are arranged at intervals along the width direction of the roller conveyor line 1 upstream of the baffle 2 along the conveying direction of the roller conveyor line 1, and the interval between the two is greater than the maximum width of the box. When one of the through-beam photoelectric sensors generates a signal and the other through-beam photoelectric sensor does not generate a signal, it indicates that there are no two boxes conveyed side by side, and the third drive component 3, that is, the rodless cylinder drives the baffle 2 to descend and keeps the baffle 2 in the lowered state. When both of the through-beam photoelectric sensors generate signals, it indicates that two boxes are conveyed side by side on the roller conveyor line 1. The rodless cylinder drives the baffle 2 to rise and keeps the baffle 2 in the raised state.

[0041] Please refer to Figure 4 , Figure 5 The recognition mechanism includes a first gantry 4, a recognition component and a control component. The first gantry 5 has a first inlet 417 and a first outlet 418 arranged along the conveying direction of the roller conveyor line 1. The recognition component includes a camera 415. The camera 415 is located between the first inlet 417 and the first outlet 418 in the conveying direction of the roller conveyor line 1. The camera 415 is connected in communication with the control component to identify target features on each surface of the box. The control component is connected in communication with the posture adjustment mechanism to determine the real-time posture of the box according to the position of the target feature, and control the posture adjustment mechanism to adjust the box to the target posture according to the real-time posture.

[0042] The first gantry 4 includes two first frames 41. The first frame 41 includes a first upper crossbeam 411, a first lower crossbeam 412 and two first legs 413. The two first legs 413 are vertically and spaced apart. The first upper crossbeam 411 is fixedly connected between the upper ends of the two first legs 413. The first lower crossbeam 412 is fixedly connected between the middle and lower parts of the two first legs 413. The two first frames 41 are fixedly connected by a plurality of first longitudinal beams 414, so that the first gantry 4 is rectangular as a whole, and the width direction is parallel to the conveying direction of the roller conveyor line 1. A first inlet 417 is formed between the first upper crossbeam 411 and the first lower crossbeam 412 of the first frame 41 close to the front bracket 11. A first outlet 418 is formed between the first upper crossbeam 411 and the first lower crossbeam 412 of the first frame 41 far from the front bracket 11. The roller conveyor line 1 transports boxes through the first inlet 417 and the first outlet 418 in sequence.

[0043] When the roller conveyor line 1 passes through the two first frames 41 , it passes between the first upper beam 411 and the first lower beam 412 , and the connecting frame 12 is located below the first gantry 4 .

[0044] The target feature on the box includes one or more of a QR code 122, a barcode, and a tape 121. In other embodiments of the present invention, the target feature on the box also includes a trademark, a pattern, a warning sign, etc. In actual use, the target feature can be selected according to the need for adjusting the box posture.

[0045] The function of the camera 415 is to identify the target features on the box, so each surface of the box needs to be in the field of view of at least one camera 415. In a preferred embodiment of the present invention, the number of cameras 415 is ten. The ten cameras 415 are arranged in four layers in the vertical direction, and each layer of cameras 415 is at the same height.

[0046] There are two cameras 415 arranged at intervals in the first layer from top to bottom. The two cameras 415 are installed on the first upper beam 411 of the first frame 41 away from the front bracket 11, and their fields of view both include the top surface of the box.

[0047] The second layer is provided with four cameras 415. The four cameras 415 are respectively mounted on the four first legs 413, distributed in a rectangular shape, and their fields of view all include the top surface of the box and one of the side surfaces.

[0048] Two cameras 415 are arranged at intervals on the third layer. The two cameras 415 are respectively installed on two first legs 413 of the first frame 41 away from the front bracket 11, and their fields of view both include one of the side surfaces of the box.

[0049] Two cameras 415 are arranged at intervals on the fourth layer. Both cameras 415 are installed on the first lower cross beam 412 of the first frame 41 away from the front bracket 11, and their fields of view include the bottom surface of the box.

[0050] By arranging the cameras 415 in four layers, it can be ensured that each surface of the box is identified, which is beneficial to improving the efficiency and accuracy of the identification mechanism in identifying the target features.

[0051] It should be noted that, in general, the identification and storage of boxes is completed by the process downstream of the conveying device for adjusting the box posture of the present invention. However, it can also be completed by the camera 415 of the present invention. Therefore, in another embodiment of the present invention, the camera 415 uses a camera 415 that can recognize the information contained in the barcode or QR code 122, and is connected to the database entered when the box is identified and stored. In addition, the camera 415 can recognize the target features on the surface of the box and can also realize the identification and storage of the box.

[0052] In order to improve the adaptability of the conveying device for adjusting the box posture of the present invention to boxes of different sizes, the control component includes a storage component. The storage component stores a box shape database. The shape database includes dimensional data corresponding to a variety of boxes. The control component determines the real-time posture of the box according to the target characteristics and the dimensional data corresponding to the box, and controls the posture adjustment mechanism to adjust the box to the target posture according to the real-time posture.

[0053] After the user inputs all the dimensional data of the box that needs to adjust its posture into the shape database, the control component can directly call the dimensional data in the shape database when judging the real-time posture of the box, thereby being able to more quickly identify the real-time posture of the box, effectively improving the adaptability of the conveying device for box posture adjustment of the present invention to boxes of different sizes.

[0054] Please continue to refer to Figure 4 , Figure 5 , when the focal length of the camera 415 cannot be adjusted, the position of the camera 415 needs to be adjusted so that the surface of the box falls on the focus of the camera 415 so that the camera 415 can accurately identify the target features. Accordingly, the volume of the first gantry 4 becomes larger and occupies a larger space. Therefore, in order to reduce the space occupied by the first gantry 4, in a preferred embodiment of the present invention, the recognition component also includes a plane mirror 416. The plane mirror 416 is arranged on the first gantry 4. One or more of the cameras 415 include the box in the field of view through the reflection of the plane mirror 416.

[0055] Specifically, there are four plane mirrors 416. The first plane mirror 416 is arranged on the first upper crossbeam 411 of the first frame 41 close to the front bracket 11, so that the light path emitted from the surface of the box body is reflected by the plane mirror 416 and then enters the two cameras 415 on the first layer. The second and third plane mirrors 416 are arranged on the two first legs 413 of the first frame 41 close to the front bracket 11, respectively, with the height being flush with the cameras 415 on the third layer, corresponding to the two cameras 415 on the third layer. The fourth plane mirror 416 is arranged on the first lower crossbeam 412 of the first frame 41 close to the front bracket 11. By arranging the plane mirror 416, the focus of the camera 415 can be placed on the surface of the box body without increasing the volume of the first gantry 4, which is conducive to compressing the space occupied by the first gantry 4, and at the same time, it can also increase the field of view of the camera 415.

[0056] Please refer to Figure 6 , Figure 7 The posture adjustment mechanism includes a second gantry 5, a flip assembly and a rotation assembly. Figure 7 In order to more clearly show the internal structure of the posture adjustment mechanism, part of the structure of the second gantry 5 is hidden.

[0057] The second gantry 5 includes two second frames 51. The second frame 51 includes a second upper crossbeam 511, a second lower crossbeam 512 and two second legs 513. The two second legs 513 are vertically and spaced apart. The second upper crossbeam 511 is fixedly connected between the upper ends of the two second legs 513. The second lower crossbeam 512 is fixedly connected between the middle and lower parts of the two second legs 513. The two second frames 51 are fixedly connected by a plurality of second longitudinal beams, so that the second gantry 5 is rectangular as a whole, and the width direction is parallel to the conveying direction of the roller conveyor line 1. A second inlet 515 is formed between the second upper crossbeam 511 and the second lower crossbeam 512 of the second frame 51 close to the front bracket 11. A second outlet 516 is formed between the first upper crossbeam 511 and the first lower crossbeam 512 of the second frame 51 far from the front bracket 11. The roller conveyor line 1 transports the first inlet 417, the first outlet 418, the second inlet 515 and the second outlet 516 of the box. Furthermore, the rear support 13 is located below the second gantry 5 .

[0058] The flip assembly and the rotating assembly are located between the second inlet 515 and the second outlet 516 in the conveying direction of the roller conveyor line 1. The flip assembly is located above the roller conveyor line 1, and includes a clamp 6, a clamp plate 7, a first driving component 8 and a second driving component 9. There are two clamps 6. A clamp plate 7 is provided on each clamp 6. The first driving component 8 is used to drive the two clamps 6 to move closer to or away from each other, so that the clamp plates 7 clamp or release the box. The second driving component 9 is used to drive the clamp plates 7 to rotate around the axis thereof horizontally and perpendicular to the roller conveyor line 1, thereby driving the box to flip.

[0059] There are two first driving components 8, and both are arranged on the second gantry 5. A clamp 6 is connected to each first driving component 8. The end of each clamp 6 away from the clamp 6 is connected to a clamp plate 7 and a second driving component 9. The two clamp plates 7 are opposite to each other, and the box passes between the two clamp plates 7. The first driving component 8 is used to drive the clamp 6 connected thereto to move in a horizontal direction and perpendicular to the conveying direction of the roller conveyor line 1, so that the two clamp plates 7 are close to or away from each other, thereby clamping or releasing the box. The second driving component 9 is located on the side of the clamp plate 7 away from the other clamp plate 7, and is used to drive the clamp plate 7 to rotate around its own axis so that the box clamped between the two clamp plates 7 can be flipped.

[0060] Specifically, both first driving components 8 can adopt rodless cylinders, the length direction of the cylinder body of which is horizontal and perpendicular to the conveying direction of the roller conveyor line 1, and the pistons are respectively connected to a clamp 6. The first driving component 8 is arranged on the second upper crossbeam 511 close to the front bracket 11. The clamp 6 is in the shape of a vertically arranged rectangular plate, and its lower end is arranged to be circular, which is convenient for installing other components thereon. The clamp 7 can be of any shape, and its function is to tighten the box body and drive the box body to flip over. In this embodiment, the clamp 7 is a circular plate. The first driving component 8 can adopt a servo motor. The outer shell of the first driving component 8 is fixedly connected to the side of the lower end of the clamp 6 away from the clamp 7, and the output shaft passes through the clamp 6 and is fixedly connected to the clamp 7, so that the clamp 7 can be driven to rotate.

[0061] When the box enters between the two clamps 7 and needs to be turned over, the two first driving components 8 drive the two clamps 6 to move toward each other, thereby driving the two clamps 7 to move toward each other. After the two clamps 7 clamp the box, the two second driving components 9 drive the two clamps 7 to rotate in the same direction, and finally drive the box to turn over. After the turning action of the box is completed, the two second driving components 9 stop, and the two first driving components 8 drive the two clamps 6 to move in opposite directions, so that the two clamps 7 release the box.

[0062] The process of the clamping plate 7 driving the box to flip takes a certain amount of time. In order to improve the efficiency of the box flipping, in a preferred embodiment of the present invention, the posture adjustment mechanism also includes a push plate 10. The push plate 10 is arranged on the second gantry 5 and is located above the clamping plate 7, and is used to block the box with the same height as the push plate 10 or a height higher than the push plate 10, so that the box flips.

[0063] Specifically, a mounting rod 101 is fixedly connected between the two second upper cross beams 511. A slide rail 102 is fixedly connected to the lower side of the mounting rod 101. A slider 103 is slidably connected to the slide rail 102. The length direction of the slide rail 102 is parallel to the conveying direction of the roller conveyor line 1 and is located above the two clamping plates 7. Two push rods 105 are fixedly connected to the slider 103. One end of each push rod 105 is fixedly connected to the slider 103, and the other end extends in a direction opposite to the conveying direction of the roller conveyor line 1. The push plate 10 is fixedly connected to the ends of the two push rods 105 away from the slider 103.

[0064] Two connecting rods 104 are provided on the lower side of the slider 103. One end of the two connecting rods 104 is hinged to the slider 103, and the other end is hinged to the two clamps 6. When the two clamps 6 move in opposite directions, the two connecting rods 104 drive the slider 103 to slide in the direction opposite to the conveying direction of the roller conveyor line 1, and then push the push plate 10 to extend in the direction opposite to the conveying direction of the roller conveyor line 1 through the two push rods 105, so that the box with the same height as the push plate 10 or higher than the push plate 10 is turned over due to inertia and the obstruction of the push plate 10.

[0065] Furthermore, when the two clamps 6 are in the closest position to each other, the push plate 10 is flush with the side of the clamps 6 closest to the front bracket 11, so that no matter how far away the two clamps 6 are from each other, the push plate 10 can always play a blocking role.

[0066] If a box body with the same height as the push plate 10 or a height higher than the push plate 10 is turned over by the clamping plate 7, it will take more time. Therefore, by setting the push plate 10, the efficiency of box body turning over can be effectively improved.

[0067] Please refer to Figure 7-9 The rotating assembly includes a tray 111, a lifting component 112 and a rotating component 113. The lifting component 112 is arranged on the second gantry 5 and connected to the tray 111, and is used to drive the tray 111 to rise and fall, so that it is higher or lower than the conveying surface of the roller conveyor line 1. The rotating component 113 is fixedly connected to the lifting component 112 and connected to the tray 111, and is used to drive the tray 111 to rotate around its own vertical axis when the tray 111 is higher than the conveying surface of the roller conveyor line 1, thereby driving the box to rotate.

[0068] Specifically, the portion of the roller conveyor line 1 located on the rear support 13 includes two rows of short rollers 15 arranged side by side. The two rows of short rollers 15 correspond to each other, and the corresponding two short rollers 15 are coaxial and spaced apart. The tray 111 is in a "well" shape, so that it can freely pass through the gap between two adjacent short rollers 15 in the same row, and the gap between two rows of segment rollers without being blocked.

[0069] Two support rods 115 are fixedly connected between the two second lower cross beams 512. The lifting component 112 can be a cylinder, an oil cylinder or other components. In this embodiment, the lifting component 112 is a cylinder. The cylinder body of the cylinder is fixedly connected to the support rod 115, and the piston rod is vertically arranged. The end of the cylinder piston rod is fixedly connected to a connecting plate 114. The connecting plate 114 is arranged horizontally. The rotating component 113 adopts a servo motor. The housing of the servo motor is fixedly connected to the side of the connecting plate 114 close to the cylinder. The output shaft of the servo motor passes through the connecting plate 114 and is fixedly connected to the lower side of the tray 111. In order to improve the stability of the tray 111 when it is lifted or lowered, there are two cylinders, and the two cylinders are symmetrically installed on both sides of the servo motor housing.

[0070] The implementation principle of the conveying device for adjusting the posture of the box of the present invention is as follows: the box first enters the conveying mechanism when unloading. The box is first conveyed on the part of the roller conveyor line 1 located on the front bracket 11. Before the box passes through the baffle 2, it is judged whether there are two boxes side by side. When there are two boxes side by side, the baffle 2 is raised so that only one box enters the recognition mechanism at the same time. After the box enters the recognition mechanism, multiple cameras 415 identify the target features on each surface of the box, and the control component determines the real-time posture of the box according to the position of the target features. After the box enters the posture adjustment mechanism, the control component controls the posture adjustment mechanism according to the real-time posture of the box to adjust the posture of the box to the target posture. When the box needs to be flipped, the box can be clamped by the clamping plate 7, and then the box is driven to flip by the rotation of the clamping plate 7. The box with a height equal to or higher than the height of the push plate 10 can be directly flipped due to being blocked by the push plate 10. When the box needs to rotate, the cylinder pushes the servo motor and the tray 111 to rise, lift the box away from the conveying surface of the roller conveyor line 1, and then the servo motor drives the tray 111 to rotate, thereby driving the box to rotate. After the box rotates, the piston rod of the cylinder contracts, driving the servo motor and the tray 111 to descend, so that the tray 111 descends below the conveying surface of the roller conveyor line 1, so that the box returns to the conveying surface of the roller conveyor line 1.

[0071] The following example shows the adjustment logic of the conveying device for adjusting the posture of boxes according to the present invention for different real-time postures of boxes, taking a box with a QR code 122 pasted on its surface and sealed with tape 121 on both sides as an example. Fig.10In the figure, ±X represents the left and right sides of the box, ±Y represents the front and rear sides of the box, and ±Z represents the upper and lower sides of the box. The target posture to be adjusted is that the two-dimensional code 122 is located on the upper side of the box, and the tape 121 is located on the front or rear side of the box.

[0072]

[0073]

[0074] Compared with the prior art, the conveying device for adjusting the box posture of the present invention can formulate different adjustment strategies according to the real-time posture of the box to adjust the box to the target posture. In addition, since the user can input all the size data of the box that needs to be adjusted into the shape database, the control component can directly call the size data in the shape database when judging the real-time posture of the box, so that the real-time posture of the box can be identified more quickly, which effectively improves the adaptability of the conveying device for adjusting the box posture of the present invention to boxes of different sizes.

[0075] In addition, the conveying device for adjusting the posture of the box of the present invention can make the focus of the camera 415 fall on the surface of the box without increasing the volume of the first gantry 4 through the cooperation of the camera 415 and the plane mirror 416, thereby helping to compress the space occupied by the first gantry 4, making it easy to deploy the conveying device for adjusting the posture of the box in venues with different application scenarios, and at the same time, it can also increase the field of view of the camera 415.

[0076] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A conveying device for adjusting the posture of a box, characterized in that: It includes a conveying mechanism, an identification mechanism and a posture adjustment mechanism; wherein, The conveying mechanism comprises a frame and a roller conveying line (1); the roller conveying line (1) is mounted on the frame; The identification mechanism comprises a first gantry (4), an identification component and a control component; the first gantry (5) has a first inlet (417) and a first outlet (418) arranged along the conveying direction of the roller conveyor line (1); The posture adjustment mechanism comprises a second gantry (5), a flip assembly and a rotation assembly; the second gantry (5) has a second inlet (515) and a first outlet (516); The roller conveyor line (1) transports the box body through the first inlet (417), the first outlet (418), the second inlet (515) and the second outlet (516) in sequence; The recognition component comprises a camera (415); the camera (415) is located between the first inlet (417) and the first outlet (418) in the conveying direction of the roller conveyor line (1); the camera (415) is connected in communication with the control component and is used to recognize target features on each surface of the box; the control component is connected in communication with the posture adjustment mechanism and is used to determine the real-time posture of the box according to the position of the target feature, and control the posture adjustment mechanism to adjust the box to the target posture according to the real-time posture; The flip assembly and the rotating assembly are located between the second inlet (515) and the second outlet (516) in the conveying direction of the roller conveyor line (1); the flip assembly is located above the roller conveyor line (1), and comprises a clamp (6), a clamping plate (7), a first driving component (8) and a second driving component (9); There are two clamps (6); each clamp (6) is provided with a clamping plate (7); the first driving component (8) is used to drive the two clamps (6) to move closer to or farther from each other, so that the clamping plates (7) clamp or release the box body; the second driving component (9) is used to drive the clamping plates (7) to rotate around an axis thereof which is horizontal and perpendicular to the roller conveyor line (1), thereby driving the box body to flip; The rotating assembly comprises a tray (111), a lifting component (112) and a rotating component (113); the lifting component (112) is arranged on the second gantry (5) and connected to the tray (111), and is used to drive the tray (111) to rise and fall so that it is higher or lower than the conveying surface of the roller conveyor line (1); the rotating component (113) is fixedly connected to the lifting component (112) and connected to the tray (111), and is used to drive the tray (111) to rotate around its own vertical axis when the tray (111) is higher than the conveying surface of the roller conveyor line (1), thereby driving the box to rotate.

2. The conveying device for adjusting the box posture according to claim 1, characterized in that: The conveying mechanism also includes a baffle (2) and a third driving assembly (3); The baffle (2) is arranged vertically and perpendicular to the conveying direction of the roller conveyor line (1); the third driving assembly (3) is arranged on the frame and connected to the baffle (2), and is used to drive the baffle (2) to rise and fall in the vertical direction, thereby driving the baffle (2) to extend from below the conveying surface of the roller conveyor line (1) to above, or to descend from above the conveying surface of the roller conveyor line (1) to below; The baffle (2) deviates from the center line of the roller conveyor line (1) in the width direction of the roller conveyor line (1), so that when the baffle (2) extends above the conveying surface of the roller conveyor line (1), a space for only one box to pass through is reserved above the conveying surface of the roller conveyor line (1).

3. The conveying device for adjusting the box posture according to any one of claim 2, characterized in that: The conveying mechanism also includes a detection component; The detection component is arranged on the frame and is in communication connection with the third driving component (3); The detection component is used to extend the baffle (2) above the conveying surface of the roller conveyor line (1) through the third drive component (3) to block one of the two boxes when it detects that two boxes are being conveyed side by side on the roller conveyor line (1).

4. The conveying device for adjusting the box posture according to claim 1, characterized in that: The number of the cameras (415) is ten; The ten cameras (415) are arranged in four layers along the vertical direction; wherein, In the first layer from top to bottom, two cameras (415) are arranged at intervals, and their fields of view both include the top surface of the box; The second layer is provided with four cameras (415); the four cameras (415) are distributed in a rectangular shape, and their fields of view all include the top surface of the box and one of the side surfaces; Two cameras (415) are arranged at intervals on the third layer, and their fields of view each include one of the side surfaces of the box; Two cameras (415) are arranged at intervals on the fourth layer, and their fields of view both include the bottom surface of the box.

5. The conveying device for adjusting the box posture according to claim 4, characterized in that: The identification component also includes a plane mirror (416); The plane mirror (416) is arranged on the first gantry (4); One or more of the cameras (415) include the box in the field of view through reflection from the plane mirror (416).

6. The conveying device for adjusting the box posture according to claim 1, characterized in that: The control assembly includes a storage component; The storage component stores a box shape database; the shape database includes size data corresponding to various boxes; The control component determines the real-time posture of the box according to the target feature and the size data corresponding to the box, and controls the posture adjustment mechanism to adjust the box to the target posture according to the real-time posture.

7. The conveying device for adjusting the box posture according to any one of claim 1, characterized in that: The lifting component (112) includes a lifting cylinder; the rotating component (113) includes a rotating motor; The tray (111) comprises a main body and a connecting piece; the upper side of the tray (111) is used to lift the box; the cylinder body of the lifting cylinder is arranged on the second gantry (5), and the end of the piston rod is connected to the connecting piece; the rotating motor is arranged on the connecting piece, and the end of the output shaft passes through the connecting piece and is fixedly connected to the lower side of the tray (111).

8. The conveying device for adjusting the box posture according to claim 1, characterized in that: The posture adjustment mechanism also includes a push plate (10); The push plate (10) is arranged on the second gantry (5) and is located above the clamping plate (7), and is used to block a box body whose height is the same as or higher than the push plate (10) to cause the box body to flip over.

9. The conveying device for adjusting the box posture according to claim 1, characterized in that: The target feature includes one or more of a two-dimensional code (122), a bar code, and an adhesive tape (121).

10. The conveying device for adjusting the box posture according to claim 9, characterized in that: The camera (415) is also used to read the information in the two-dimensional code (122) or the barcode, and to store the box corresponding to the two-dimensional code (122) or the barcode.

Images