Turnover material arranging mechanism and loading and unloading vehicle system

Abstract

The invention provides a turnover material arranging mechanism and a loading and unloading vehicle system. The turnover material arranging mechanism comprises a supporting base; the first overturning frame is rotationally connected with the supporting seat through a rotating shaft mechanism, and the first overturning frame is used for overturning the target box body on the first overturning frame so as to change the upward side face of the target box body; the second overturning frame is rotationally connected with the supporting seat through a rotating shaft mechanism, is arranged adjacent to the first overturning frame, is located on the downstream of the first overturning frame and is used for being matched with the first overturning frame to overturn the target box body; and the driving module comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is used for driving the first overturning frame to overturn around the rotating shaft mechanism, and the second driving mechanism is used for driving the second overturning frame to overturn around the rotating shaft mechanism. According to the method, the posture of the target box can be adjusted before the target box reaches the grabbing area of the robot, the posture adjusting step when the robot grabs the target box is reduced, the stacking process is accelerated, and the overall stacking efficiency is effectively improved.

Description

Technical Field

[0001] The present invention relates to intelligent manufacturing and high-end manufacturing, and in particular to a material turning and sorting mechanism and a loading and unloading vehicle system. Background Art

[0002] At present, most of the palletizing work in China is done manually. When the material is light in weight, small in size, slow in palletizing speed, or has various and irregular shapes, manual palletizing is feasible, but in many cases manual labor is not enough to meet the needs of palletizing. With the development of industrial automation technology, robots are gradually used in palletizing work.

[0003] With the popularization of robot technology and the continuous development of manufacturing robots, existing robots have been able to adapt to various application scenarios. Especially in scenarios such as intelligent picking, logistics transportation, and warehouse management, palletizing robots are gradually being used to replace workers' high-intensity labor.

[0004] The existing robot palletizing operation generally involves first transferring the materials to the robot's working area, then controlling the robot's manipulator to adjust the material's posture so that the material's posture can meet the grasping requirements, and then controlling the manipulator to complete the grasping and stacking tasks.

[0005] However, the above method requires high flexibility of the robot manipulator. If the posture of the incoming materials needs to be adjusted frequently, the efficiency of the robot palletizing will be seriously affected. Summary of the invention

[0006] In view of the defects in the prior art, the purpose of the present invention is to provide a turning material sorting mechanism and a loading and unloading vehicle system.

[0007] The turning and sorting material mechanism provided by the present invention comprises:

[0008] Support seat;

[0009] A first flip frame, rotatably connected to the support seat via a rotating shaft mechanism, the first flip frame being used to flip the target box thereon to change the side of the target box facing upward;

[0010] A second flip frame, rotatably connected to the support seat via a rotating shaft mechanism, disposed adjacent to the first flip frame and located downstream of the first flip frame, and used to cooperate with the first flip frame to flip the target box;

[0011] The driving module includes a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used to drive the first flip frame to flip around the rotating shaft mechanism, and the second driving mechanism is used to drive the second flip frame to flip around the rotating shaft mechanism.

[0012] Preferably, in the initial state of flipping, the second driving mechanism drives the second flip frame to flip around the rotating shaft mechanism to a flipped state;

[0013] In the flipping end state, the first driving mechanism drives the first flip frame to flip around the rotating shaft mechanism to a flipped state, and the second driving mechanism drives the second flip frame to fall back around the rotating shaft mechanism to a state of being in contact with the support frame.

[0014] Preferably, it also includes a lifting and flipping mechanism;

[0015] The first overturning frame is provided with a lifting channel penetrating along the thickness direction, and the lifting and overturning machine is arranged at the lower side of the first overturning frame;

[0016] The lifting and turning machine is used to rotate the target box on the first turning frame through the lifting channel to change the forward side of the target box.

[0017] Preferably, the lifting and turning mechanism comprises a lifting cylinder, a lifting plate, a rotating cylinder and a rotating frame;

[0018] The lifting cylinder is connected to the support seat through a mounting frame; the lifting cylinder is used to drive the lifting plate to perform lifting movement so that the target box is out of contact with the first flip frame;

[0019] The rotary cylinder is arranged on the lifting plate; the rotary cylinder is used to drive the rotating frame to rotate so as to change the forward side of the target box;

[0020] The rotating frame is arranged in the lifting channel.

[0021] Preferably, the rotating shaft mechanism comprises a rotating shaft support frame, a rotating shaft, a first rotating bearing connecting member and a second rotating bearing connecting member;

[0022] The rotating shaft support frame is arranged on the support seat and is located between two opposite ends of the first flip frame and the second flip frame;

[0023] The first flip frame is connected to the rotating shaft via the first rotating bearing connector and can rotate around the rotating shaft; the second flip frame is connected to the rotating shaft via the second rotating bearing connector and can rotate around the rotating shaft.

[0024] Preferably, it also includes a camera bracket, a camera and a control module;

[0025] The camera bracket is arranged on the supporting seat; the camera is arranged on the camera bracket;

[0026] The camera is used to obtain image information of the upward side of the target box;

[0027] The control module is used to determine a method for flipping the target box according to the image information.

[0028] Preferably, the flipping method comprises:

[0029] Turning the front side of the target box upward;

[0030] Firstly, the target box is rotated to change the side of the target box facing forward, and then the side of the target box facing forward is turned over to face upward;

[0031] The target box is not turned over.

[0032] Preferably, it also includes a position sensor;

[0033] The position sensor is arranged on one end of the first turning frame close to the second turning frame;

[0034] The position sensor is used to detect the target box;

[0035] The first driving mechanism is used to drive the first flip frame to flip upward around the rotating shaft mechanism when the position sensor detects the target box;

[0036] The second driving mechanism is used to drive the second flip frame to flip downward around the rotating shaft mechanism when the position sensor detects the target box.

[0037] Preferably, the first driving mechanism comprises a first driving cylinder and a second driving cylinder; the first driving cylinder and the second driving cylinder are arranged on the support seat and located on both sides of the first turning frame, the piston end of the first driving cylinder is connected to one side end of the first turning frame, and the piston end of the second driving cylinder is connected to the other side end of the first turning frame;

[0038] The second driving mechanism includes a third driving cylinder and a fourth driving cylinder; the third driving cylinder and the fourth driving cylinder are arranged on the support base and located on both sides of the second flip frame, the piston end of the third driving cylinder is connected to one side end of the second flip frame, and the piston end of the fourth driving cylinder is connected to the other side end of the second flip frame.

[0039] The turning and sorting material mechanism provided by the present invention comprises:

[0040] Support seat;

[0041] A first flip frame, rotatably connected to the support seat via a rotating shaft mechanism, the first flip frame being used to flip the target box thereon to change the side of the target box facing upward;

[0042] A second turning frame, connected to the first turning frame and located downstream of the first turning frame, is used to cooperate with the first turning frame to turn the target box;

[0043] The driving module includes a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used to drive the first flip frame to flip around the rotating shaft mechanism, and the second driving mechanism is used to drive the second flip frame to extend from the lower side of the first flip frame to limit the target box.

[0044] Preferably, it also includes a lifting and turning mechanism and a feeding conveying line;

[0045] The feeding conveyor line is provided with a lifting channel penetrating along the thickness direction, and the lifting and turning machine is arranged at the lower side of the feeding conveyor line;

[0046] The lifting and turning machine is used to rotate the target box located on the loading conveying line through the lifting channel to change the forward side of the target box.

[0047] The loading and unloading vehicle system provided by the present invention includes the above-mentioned turning and sorting mechanism, and also includes a robot;

[0048] The robot is used to perform stamp shape planning according to the placement space of the target box, and determine the suction surface of the target box according to the stamp shape planning;

[0049] The flipping and sorting mechanism is used to collect the target box image from the transmission line, identify the collected target box, determine the direction of the upper side of the target box, and when the direction of the upper side of the target box does not conform to the suction surface of the stamped shape planning, flip the target box to make the upper side of the target box conform to the suction surface.

[0050] Compared with the prior art, the present invention has the following beneficial effects:

[0051] The first flip frame of the present invention is rotatably connected to the support base through a rotating shaft mechanism, and can flip the target box thereon to change the side of the target box facing upward. The second flip frame is rotatably connected to the support base through a rotating shaft mechanism, and can cooperate with the first flip frame to flip the target box. The first flip frame is provided with a jacking channel that penetrates along the thickness direction, and the jacking flipping machine is arranged on the lower side of the first flip frame, and can rotate the target box located on the first flip frame through the jacking channel to change the side of the target box facing forward, so that multiple surfaces of the target box can be adjusted to be placed upward, so that the posture adjustment of the target box can be completed before the target box reaches the grasping area of ​​the robot, avoiding the robot from passively adapting to the posture of the target box during the grasping process, reducing the posture adjustment steps of the robot when grasping the target box, speeding up the stacking process, and effectively improving the overall stacking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0053] Figure 1 It is a structural schematic diagram of the turning and sorting mechanism in an embodiment of the present invention;

[0054] Figure 2 It is a schematic diagram of the main structure of the turning and sorting mechanism in an embodiment of the present invention;

[0055] Figure 3 Schematic diagram of the initial state of the flipping material sorting mechanism in an embodiment of the present invention;

[0056] Figure 4 This is a schematic diagram of the state of the flipping material sorting mechanism after flipping in the embodiment of the present invention;

[0057] Figure 5 It is a schematic diagram of the main structure of the turning and sorting mechanism in a modified example of the present invention;

[0058] Figure 6 It is a bottom view schematic diagram of the turning and sorting mechanism in a modified example of the present invention;

[0059] Figure 7 It is a structural schematic diagram of the lifting and flipping mechanism in an embodiment of the present invention;

[0060] Figure 8It is a structural schematic diagram of the rotating shaft mechanism in an embodiment of the present invention;

[0061] Fig. 9 It is a schematic diagram of the structure of the lifting channel in an embodiment of the present invention.

[0062] In the figure:

[0063] 1 is a support seat; 2 is a first turning frame; 201 is a short section roller; 202 is a long section roller; 203 is a first mounting plate; 204 is a second mounting plate; 3 is a second turning frame; 4 is a lifting and turning mechanism; 401 is a lifting cylinder; 402 is a mounting frame; 403 is a lifting plate; 404 is a rotating cylinder; 405 is a rotating frame; 5 is a first driving mechanism; 6 is a second driving mechanism; 7 is a rotating shaft mechanism; 701 is a rotating shaft support frame; 702 is a rotating shaft; 703 is a first rotating bearing connector; 704 is a second rotating bearing connector; 8 is a camera; 9 is a camera bracket; 10 is a position sensor; 11 is a conveying roller line; 12 is a feeding roller line. DETAILED DESCRIPTION

[0064] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0065] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing or for circuit connection.

[0066] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0067] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0068] Figure 1 It is a structural schematic diagram of the turning and sorting mechanism in an embodiment of the present invention. Figure 2 FIG. 1 is a schematic diagram of the main structure of the turning and sorting mechanism in an embodiment of the present invention. Figure 1 , Figure 2 As shown, the turning and sorting material mechanism provided by the present invention comprises:

[0069] Support seat 1;

[0070] A first flip frame 2, rotatably connected to the support base 1 via a rotating shaft mechanism 7, the first flip frame 2 is used to flip the target box thereon to change the side of the target box facing upward;

[0071] The second flip frame 3 is rotatably connected to the support base 1 through a rotating shaft mechanism 7, and is disposed adjacent to the first flip frame 2 and located downstream of the first flip frame 2, and is used to cooperate with the first flip frame 2 to flip the target box;

[0072] A driving module, comprising a first driving mechanism 5 and a second driving mechanism 6, wherein the first driving mechanism 5 is used to drive the first flip frame 2 to flip around the rotating shaft mechanism 7, and the second driving mechanism 6 is used to drive the second flip frame 3 to flip around the rotating shaft mechanism 7;

[0073] Camera 8, used to obtain image information of the upward side of the target box;

[0074] The camera bracket 9 is arranged on the support base 1; the camera 8 is arranged on the camera bracket 9;

[0075] A control module is used to determine a method for flipping the target box according to the image information.

[0076] A position sensor 10 is provided on the first flip frame 2 at one end close to the second flip frame 3. The position sensor 10 is used to detect the target box, so that when the position sensor 10 detects the target box, the first drive mechanism 5 drives the first flip frame 2 to flip upward around the rotating shaft mechanism 7; when the position sensor 10 detects the target box, the second drive mechanism 6 drives the second flip frame 3 to flip downward around the rotating shaft mechanism 7.

[0077] In the embodiment of the present invention, the first overturning frame 2 and the second overturning frame 3 adopt roller conveyor lines; the first driving mechanism 5 and the second driving mechanism 6 adopt driving cylinders or driving motors;

[0078] The position sensor 10 is a photoelectric switch.

[0079] Figure 3 FIG. 1 is a schematic diagram of the initial state of the flipping material sorting mechanism in an embodiment of the present invention. Figure 3 As shown, in the initial state of flipping, the second driving mechanism 6 drives the second flip frame 3 to flip around the rotating shaft mechanism 7 to be in a flipped-up state; at this time, the A surface of the target box is facing upward.

[0080] Figure 4 FIG. 1 is a schematic diagram of the state of the flipping material sorting mechanism after flipping in the embodiment of the present invention. Figure 4 As shown, at the end of flipping, the first driving mechanism 5 drives the first flip frame 2 to flip around the rotating shaft mechanism 7 to a flipped state, and the second driving mechanism 6 drives the second flip frame 3 to fall back around the rotating shaft mechanism 7 to a state of being in contact with the support frame.

[0081] After flipping, the C surface of the target box is facing upward.

[0082] In an embodiment of the present invention, a method for flipping the target box includes:

[0083] Turning the front side of the target box upward;

[0084] Firstly, the target box is rotated to change the side of the target box facing forward, and then the side of the target box facing forward is turned over to face upward;

[0085] The target box is not turned over.

[0086] In the embodiment of the present invention, the side facing forward of the target box is the C side; when the target box is rotated to change the side facing forward of the target box, the B side of the target box can be turned into the side facing forward.

[0087] In the embodiment of the present invention, the first driving mechanism 5 includes a first driving cylinder and a second driving cylinder; the first driving cylinder and the second driving cylinder are arranged on the support base 1 and located on both sides of the first flip frame 2, the piston end of the first driving cylinder is connected to one side end of the first flip frame 2, and the piston end of the second driving cylinder is connected to the other side end of the first flip frame 2;

[0088] The second driving mechanism 6 includes a third driving cylinder and a fourth driving cylinder; the third driving cylinder and the fourth driving cylinder are arranged on the support base 1 and are located on both sides of the second flip frame 3, the piston end of the third driving cylinder is connected to one side end of the second flip frame 3, and the piston end of the fourth driving cylinder is connected to the other side end of the second flip frame 3.

[0089] In the embodiment of the present invention, the lower end of the first driving cylinder is hinged to the bottom end of the support base 1 through the first rotating shaft, and the upper end is connected to the second rotating shaft, and the second rotating shaft is connected to one side end surface of the first flip frame 2 through the first adapter block; the lower end of the second driving cylinder is hinged to the bottom end of the support base 1 through the third rotating shaft, and the upper end is connected to the fourth rotating shaft, and the fourth rotating shaft is connected to the other side end surface of the first flip frame 2 through the second adapter block;

[0090] The lower end of the third driving cylinder is hinged to the bottom end of the support base 1 through the fifth rotating shaft, and the upper end is connected to the sixth rotating shaft, and the sixth rotating shaft is connected to one side end surface of the second flip frame 3 through the third adapter block; the lower end of the fourth driving cylinder is hinged to the bottom end of the support base 1 through the seventh rotating shaft, and the upper end is connected to the eighth rotating shaft, and the eighth rotating shaft is connected to the other side end surface of the second flip frame 3 through the fourth adapter block.

[0091] like Figures 1 to 5 As shown, the turning and sorting material mechanism provided by the present invention further includes a lifting and turning mechanism 4;

[0092] The first overturning frame 2 is provided with a lifting channel penetrating along the thickness direction, and the lifting and overturning machine is arranged at the lower side of the first overturning frame 2;

[0093] The lifting and turning machine 4 is used to rotate the target box on the first turning frame 2 through the lifting channel to change the forward side of the target box.

[0094] In the embodiment of the present invention, the first overturning frame 2 adopts a conveying roller line, and the lifting channel includes a cross-intersecting transverse channel and a vertical channel, the transverse channel is realized by removing a long section roller 202, and the vertical channel is realized by replacing the long section roller 202 with two short section rollers 201 placed on the same straight line; wherein the inner end of the short section roller 201 on one side is fixed on the first mounting plate 203, and the inner end of the short section roller 201 on the other side is fixed on the second mounting plate 204. The vertical channel is formed between the first mounting plate 203 and the second mounting plate 204.

[0095] Figure 7 FIG. 1 is a schematic diagram of the structure of the lifting and flipping mechanism in an embodiment of the present invention. Figure 7As shown, the lifting and turning mechanism 4 includes a lifting cylinder 401, a lifting plate 403, a rotating cylinder 404 and a rotating frame 405;

[0096] The lifting cylinder 401 is connected to the support base 1 through the mounting frame 402; the lifting cylinder 401 is used to drive the lifting plate 403 to perform lifting movement so that the target box is out of contact with the first flip frame 2;

[0097] The rotating cylinder 404 is disposed on the lifting plate 403; the rotating cylinder 404 is used to drive the rotating frame 405 to perform rotational movement to change the forward side of the target box;

[0098] The rotating frame 405 is disposed in the lifting channel.

[0099] In the embodiment of the present invention, a transverse support rod is provided on the support seat 1, and the lower end of the support seat 1 is fixed on the support rod; the lifting cylinder 401 and a plurality of slide cylinders are provided on the top plate of the mounting frame 402;

[0100] The output rod of the lifting cylinder 401 is connected to the lifting plate 403 ; the four corner ends of the lifting plate 403 are slidably connected to the slide cylinder through sliding rods at the same time, so as to realize the smooth lifting and lowering of the lifting plate 403 .

[0101] Figure 8 FIG. 1 is a schematic diagram of the structure of the rotating shaft mechanism in an embodiment of the present invention. Figure 8 As shown, the rotating shaft mechanism 7 includes a rotating shaft support frame 701, a rotating shaft 702, a first rotating bearing connecting member 703 and a second rotating bearing connecting member 704;

[0102] The shaft support frame 701 is disposed on the support base 1 and is located between two opposite ends of the first flip frame 2 and the second flip frame 3;

[0103] The first flip frame 2 is connected to the rotating shaft 702 via the first rotating bearing connector 703 and can rotate around the rotating shaft 702 ; the second flip frame 3 is connected to the rotating shaft via the second rotating bearing connector 704 and can rotate around the rotating shaft 702 .

[0104] The first rotating bearing connector 703 includes a first rotating bearing portion and a first fixed connection portion; the first rotating bearing portion is connected to the rotating shaft 702; the first fixed connection portion is connected to the first flip frame 2; two first rotating bearing connectors 703 are respectively located at both ends of the rotating shaft 702;

[0105] The second rotating bearing connector 704 includes a second rotating bearing portion and a second fixed connection portion; the second rotating bearing portion is connected to the rotating shaft 702; the second fixed connection portion is connected to the second flip frame 3; the two second rotating bearing connectors 704 are respectively located at the two ends of the rotating shaft 702.

[0106] Figure 5 FIG. 1 is a schematic diagram of the main structure of the turning and sorting mechanism in a modified example of the present invention. Figure 5 As shown, the turning and sorting material mechanism provided by the present invention comprises:

[0107] Support seat 1;

[0108] A first flip frame 2, rotatably connected to the support base 1 via a rotating shaft mechanism 7, the first flip frame 2 is used to flip the target box thereon to change the side of the target box facing upward;

[0109] A second turning frame 3, connected to the first turning frame 7 and located downstream of the first turning frame 2, is used to cooperate with the first turning frame 2 to turn the target box;

[0110] The driving module includes a first driving mechanism 5 and a second driving mechanism 6, wherein the first driving mechanism 5 is used to drive the first flip frame 7 to flip around the rotating shaft mechanism 7, and the second driving mechanism 6 is used to drive the second flip frame 3 to extend from the lower side of the first flip frame 2 to limit the target box.

[0111] In the embodiment of the present invention, the first overturning frame 2 adopts a roller conveyor line; the second overturning frame 3 adopts an overturning plate, and the second driving mechanism 6 is connected to the bottom side of the first overturning frame 2 through a connecting plate, so that the second overturning frame 3 can be overturned following the first overturning frame 2;

[0112] The first driving mechanism 5 and the second driving mechanism 6 adopt driving cylinders or driving motors.

[0113] In an embodiment of the present invention, the present invention provides a turning and sorting material mechanism, which also includes a lifting and turning mechanism 4 and a feeding conveyor line;

[0114] The feeding conveyor line is provided with a lifting channel penetrating along the thickness direction, and the lifting and turning machine is arranged at the lower side of the feeding conveyor line;

[0115] The lifting and turning machine 4 is used to rotate the target box on the feeding conveying line through the lifting channel to change the forward side of the target box.

[0116] In the embodiment of the present invention, the loading conveyor line adopts a loading roller line 12; the first flip frame 2 flips the target box to the downstream conveyor roller line 11; the conveyor roller line 11 has a receiving opening for the flip plate after flipping.

[0117] When the target box does not need to be turned over, the second driving mechanism 6 drives the second turning frame 3 to retract to the lower side of the first turning frame 2 , so that the target box can be directly transported to the conveying roller line 11 .

[0118] In an embodiment of the present invention, the loading and unloading vehicle system provided by the present invention includes the above-mentioned turning and sorting mechanism, and also includes a robot;

[0119] The robot is used to perform stamp shape planning according to the placement space of the target box, and determine the suction surface of the target box according to the stamp shape planning;

[0120] The flipping and sorting mechanism is used to collect the target box image from the transmission line, identify the collected target box, determine the direction of the upper side of the target box, and when the direction of the upper side of the material does not conform to the suction surface of the stamped shape planning, flip the target box to make the upper side of the target box conform to the suction surface.

[0121] In an embodiment of the present invention, the first flip frame is rotatably connected to the support base via a rotating shaft mechanism, and can flip the target box thereon to change the side of the target box facing upward, and the second flip frame is rotatably connected to the support base via a rotating shaft mechanism, and can cooperate with the first flip frame to flip the target box; the first flip frame is provided with a jacking channel that penetrates along the thickness direction, and the jacking flipping machine is arranged on the lower side of the first flip frame, and can rotate the target box located on the first flip frame through the jacking channel to change the side of the target box facing forward, and can adjust multiple surfaces of the target box to be placed upward, so that the posture adjustment of the target box can be completed before the target box reaches the grasping area of ​​the robot, avoiding the robot from passively adapting to the posture of the target box during the grasping process, reducing the posture adjustment steps of the robot when grasping the target box, speeding up the stacking process, and effectively improving the overall stacking efficiency.

[0122] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0123] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A turning and sorting mechanism, characterized in that: include: Support seat; A first flip frame, rotatably connected to the support seat via a rotating shaft mechanism, the first flip frame being used to flip the target box thereon to change the side of the target box facing upward; A second flip frame, rotatably connected to the support seat via a rotating shaft mechanism, disposed adjacent to the first flip frame and located downstream of the first flip frame, and used to cooperate with the first flip frame to flip the target box; The driving module includes a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used to drive the first flip frame to flip around the rotating shaft mechanism, and the second driving mechanism is used to drive the second flip frame to flip around the rotating shaft mechanism.

2. The material turning and sorting mechanism according to claim 1, characterized in that: In the initial state of flipping, the second driving mechanism drives the second flip frame to flip around the rotating shaft mechanism to a flipped state; In the flipping end state, the first driving mechanism drives the first flip frame to flip around the rotating shaft mechanism to a flipped state, and the second driving mechanism drives the second flip frame to fall back around the rotating shaft mechanism to a state of being in contact with the support frame.

3. The material turning and sorting mechanism according to claim 1, characterized in that: It also includes a lifting and flipping mechanism; The first overturning frame is provided with a lifting channel penetrating along the thickness direction, and the lifting and overturning machine is arranged at the lower side of the first overturning frame; The lifting and turning machine is used to rotate the target box on the first turning frame through the lifting channel to change the forward side of the target box.

4. The material turning and sorting mechanism according to claim 3 is characterized in that: The lifting and turning mechanism comprises a lifting cylinder, a lifting plate, a rotating cylinder and a rotating frame; The lifting cylinder is connected to the support seat through a mounting frame; the lifting cylinder is used to drive the lifting plate to perform lifting movement so that the target box is out of contact with the first flip frame; The rotary cylinder is arranged on the jacking plate; The rotary cylinder is used to drive the rotary frame to perform rotational motion to change the forward side of the target box; The rotating frame is arranged in the lifting channel.

5. The material turning and sorting mechanism according to claim 1, characterized in that: The rotating shaft mechanism comprises a rotating shaft support frame, a rotating shaft, a first rotating bearing connecting member and a second rotating bearing connecting member; The rotating shaft support frame is arranged on the support seat and is located between two opposite ends of the first flip frame and the second flip frame; The first flip frame is connected to the rotating shaft via the first rotating bearing connector and can rotate around the rotating shaft; the second flip frame is connected to the rotating shaft via the second rotating bearing connector and can rotate around the rotating shaft.

6. The material turning and sorting mechanism according to claim 1, characterized in that: Also includes a camera stand, camera, and control module; The camera bracket is arranged on the supporting seat; the camera is arranged on the camera bracket; The camera is used to obtain image information of the upward side of the target box; The control module is used to determine a method for flipping the target box according to the image information.

7. The material turning and sorting mechanism according to claim 6, characterized in that: The flipping method comprises: Turning the front side of the target box upward; Firstly, the target box is rotated to change the side of the target box facing forward, and then the side of the target box facing forward is turned over to face upward; The target box is not turned over.

8. The material turning and sorting mechanism according to claim 1, characterized in that: Also included is a position sensor; The position sensor is arranged on one end of the first turning frame close to the second turning frame; The position sensor is used to detect the target box; The first driving mechanism is used to drive the first flip frame to flip upward around the rotating shaft mechanism when the position sensor detects the target box; The second driving mechanism is used to drive the second flip frame to flip downward around the rotating shaft mechanism when the position sensor detects the target box.

9. The material turning and sorting mechanism according to claim 1, characterized in that: The first driving mechanism includes a first driving cylinder and a second driving cylinder; the first driving cylinder and the second driving cylinder are arranged on the support seat and located on both sides of the first turning frame, the piston end of the first driving cylinder is connected to one side end of the first turning frame, and the piston end of the second driving cylinder is connected to the other side end of the first turning frame; The second driving mechanism includes a third driving cylinder and a fourth driving cylinder; the third driving cylinder and the fourth driving cylinder are arranged on the support base and located on both sides of the second flip frame, the piston end of the third driving cylinder is connected to one side end of the second flip frame, and the piston end of the fourth driving cylinder is connected to the other side end of the second flip frame.

10. A material turning and sorting mechanism, characterized in that: include: Support seat; A first flip frame, rotatably connected to the support seat via a rotating shaft mechanism, the first flip frame being used to flip the target box thereon to change the side of the target box facing upward; A second turning frame, connected to the first turning frame and located downstream of the first turning frame, is used to cooperate with the first turning frame to turn the target box; The driving module includes a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used to drive the first flip frame to flip around the rotating shaft mechanism, and the second driving mechanism is used to drive the second flip frame to extend from the lower side of the first flip frame to limit the target box.

11. The material turning and sorting mechanism according to claim 10, characterized in that: It also includes a lifting and turning mechanism and a feeding conveyor line; The feeding conveyor line is provided with a lifting channel penetrating along the thickness direction, and the lifting and turning machine is arranged at the lower side of the feeding conveyor line; The lifting and turning machine is used to rotate the target box located on the loading conveying line through the lifting channel to change the forward side of the target box.

12. A loading and unloading vehicle system, characterized in that: The material turning and sorting mechanism comprises the material turning and sorting mechanism according to any one of claims 1 to 11, and further comprises a robot; The robot is used to perform stamp shape planning according to the placement space of the target box, and determine the suction surface of the target box according to the stamp shape planning; The flipping and sorting mechanism is used to collect the target box image from the transmission line, identify the collected target box, determine the direction of the upper side of the target box, and when the direction of the upper side of the target box does not conform to the suction surface of the stamped shape planning, flip the target box to make the upper side of the target box conform to the suction surface.

Images