Unpacking and box feeding system

Abstract

The invention discloses an unpacking and box feeding system, and relates to the technical field of full-automatic unstacking and automatic unstacking and feeding, and the unpacking and box feeding system comprises an unstacking and feeding system, a feeding and box unpacking system, a box unloader and a scara robot; the device has the beneficial effects that manual work is replaced by automatic box feeding, and the box feeding speed is high; according to the full-automatic unpacking and box feeding system, an original box unloading machine is changed little, after the full-automatic unpacking and box feeding system is assembled and debugged, quick butt joint can be completed only by removing two rear covers at the tail of the original box unloading machine and forming a rectangular hole in a bottom plate of the box unloading machine, and machining troubles caused by butt joint are avoided; the system is mainly composed of an unstacking and feeding system, a feeding and unpacking system and a safety protection system, the overall structure is compact, and the occupied space is small; and through accurate control and a safety protection device, risks such as personnel injury and equipment damage can be avoided, so that the occurrence rate of production accidents can be reduced, and the personal safety of employees and the stable development of enterprises are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of fully automatic depalletizing and loading, and in particular to a package unloading and box loading system. Background Art

[0002] With the rapid development of science and technology, high-performance, fully automated equipment has become a basic requirement for all walks of life. In reality, many factories still need to manually complete the depalletizing and loading work. Not only do operators need to perform repetitive and heavy physical labor for a long time, but they cannot engage in more creative and valuable work, which does not help improve employee job satisfaction. Moreover, it cannot better reduce labor costs for the company. Fully automated equipment can carry out production tasks 24 hours a day without interruption, which can create greater economic benefits for the enterprise. At the same time, fully automated equipment can better improve production safety and stability, help reduce the incidence of production accidents, improve product quality, and ensure the personal safety of employees and the stable development of the enterprise.

[0003] Currently, there are few fully automated devices for docking and unloading carton machines, and the carton loading speed is slow, the original equipment requires a lot of modification, and the modification requires long-term shutdown operations and occupies a large space, which cannot better adapt to actual production needs. Summary of the invention

[0004] The purpose of the present invention is to provide a package unloading and cartoning system in order to solve the above-mentioned problems. It is mainly connected to the depalletizing and loading system of the YB111 unpacking machine. It not only has a fast carton loading speed but also has a reasonable layout and occupies a small space. The most important thing is that only a small amount of modification is required to quickly achieve docking with the original unpacking machine. It can also be used with a small amount of modification according to different material sizes and different equipment from different manufacturers.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions: A package unpacking and box loading system comprises a depalletizing and loading system, a loading and box unpacking system, a box unloading machine and a scara robot, the depalletizing and loading system comprises an intelligent collaborative robot for picking up and placing material boxes, the intelligent collaborative robot is provided with a robot clamp for clamping and carrying material boxes and separating the box cover and the material box, the depalletizing and loading system is provided with pallet positions on both sides corresponding to the intelligent collaborative robot; the loading and box unpacking system is arranged on one side of the depalletizing and loading system, the loading and box unpacking system comprises an upper conveying device and a lower conveying device, the upper conveying device and the lower conveying device are connected for transportation via the box unloading machine, the upper conveying device is provided with a box long side flipping device, the lower conveying device is provided with a box receiving and flipping device and a box unloading device in sequence along the direction away from the box unloading machine, and the scara robot is arranged on the side of the loading and box unpacking system away from the box unloading machine.

[0006] Preferably: the depalletizing and loading system further comprises a 3D intelligent camera installed above the material tray and a box cover storage position of the intelligent collaborative robot away from the loading and unpacking system.

[0007] Preferably, the upper conveying device and the lower conveying device are both belt conveyors.

[0008] Preferably: the box long side turning device comprises a long side turning mechanism and a blocking mechanism.

[0009] Preferably: the robot clamp includes a frame fixedly mounted on the intelligent collaborative robot, a fixed arm is fixedly mounted on one side of the lower surface of the frame, a fixed sponge suction cup is fixedly mounted on the lower end of the fixed arm, a clamping cylinder is fixedly mounted on the side of the upper surface of the frame away from the fixed arm, a lifting cylinder is fixedly mounted on the movable end of the clamping cylinder, a movable arm is fixedly mounted on the movable end of the lifting cylinder, a movable sponge suction cup is fixedly mounted on the lower end of the movable arm, a lifting cylinder is fixedly mounted in the middle of the upper surface of the frame, and a vacuum suction cup is fixedly mounted on the lower end of the lifting cylinder extending to the bottom of the frame.

[0010] Preferably: an intelligent recognition camera is fixedly mounted on a side of the lower end of the fixed arm away from the fixed sponge suction cup.

[0011] Preferably: it also includes a safety protection device, and the safety protection device includes a safety protection frame.

[0012] A fully automatic unpacking and cartoning method, using the above-mentioned unpacking and cartoning system, specifically comprises the following steps: Step S1: After the AGV or operator transports the material pallet to the pallet position, the 3D smart camera takes a photo to identify the position of a single material box and sends a signal to the intelligent collaborative robot. The intelligent collaborative robot reaches the specified position according to the signal and the cylinder on the robot fixture is activated to grab the material and place it on the upper conveying device of the loading and unpacking system; then the intelligent collaborative robot places the box cover in the box cover storage position; at this point, all actions of the intelligent collaborative robot are completed and the next material grabbing action begins.

[0013] Step S2: the upper conveying device of the loading and unpacking system conveys the material to the long side turning device of the box, the blocking mechanism of the long side turning device fixes the material box, and after the long side turning mechanism in the long side turning device turns over the long side of the material box, the blocking mechanism in the long side turning device is released, and the upper conveying device continues to convey the material to the upper conveying of the unloading machine; Step S3: the unloading machine delivers the material box to the box receiving and flipping device, which docks the paper box, flips it flat and conveys it to the unloading device through the lower conveying device; Step S4: the box disassembling device completely disassembles the paper box, and then continues to send the material box to the end of the lower conveying device; Step S5: Finally, the scara robot stacks and stores the waste boxes for easy collection.

[0014] Preferably: in step S1, the specific steps after the robot clamp grabs the material box are as follows: after the intelligent collaborative robot reaches the specified position, the clamping cylinder extends, and the lifting cylinder extends downward until the mobile sponge suction cup is aligned with the material box position, the clamping cylinder contracts, and the mobile sponge suction cup acts to hold the material box tightly, and the intelligent collaborative robot starts to move, and at the same time, the lifting cylinder extends downward until the vacuum suction cup sucks the box cover tightly, and before the material box is about to be placed on the upper conveying device of the loading and unpacking system, the lifting cylinder contracts to suck up the box cover and separate it from the material box, and after the material box is in place, the fixed sponge suction cup and the mobile sponge suction cup break the vacuum, the clamping cylinder extends to release the material box, and then the intelligent collaborative robot moves to place the box cover in the box cover storage position, the vacuum suction cup breaks the vacuum, and the splitting and loading of the material box and the box cover are completed, and the intelligent collaborative robot returns to the initial position. At this point, the action of the intelligent collaborative robot is completed, and the next round of material grabbing action begins.

[0015] Preferably: in the process from when the intelligent collaborative robot grabs the material box on the material tray to when it places it on the upper conveying device, the intelligent recognition camera on the side of the robot clamp recognizes the position of the openable long side of the material box, and after the recognition is completed, the signal is sent to the intelligent collaborative robot, and the intelligent collaborative robot places the material box with the openable long side facing upwards on the upper conveying device of the loading and unpacking system.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. Fast loading box speed The time for loading a single box can be controlled at about 15 seconds, that is, 4 full boxes can be loaded and unloaded every minute, which better reflects the goal of efficient and automated production in the machinery industry; 2. Only a few changes are made to the original unloading machine, and the machine can be operated without stopping. After the fully automatic unpacking and loading system is assembled and debugged, you only need to remove the two rear covers at the tail of the original unpacking machine and open a rectangular hole on the bottom plate of the unpacking machine to complete the quick docking, avoiding the processing trouble caused by docking; 3. Small footprint The system is mainly composed of three parts: depalletizing and loading system, loading and unpacking system and safety protection system. The overall structure is compact and the layout is reasonable. The space occupied is 1.4m*3.2m+1.5m*2.0m. 4. High safety performance Through precise control and safety protection devices, risks such as personal injury and equipment damage can be avoided, which helps to reduce the incidence of production accidents, ensure the personal safety of employees and the stable development of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 It is a three-dimensional structural schematic diagram of an unpacking and boxing system according to the present invention.

[0019] Figure 2 It is a schematic diagram of the main structure of a robot clamp of a package unpacking and box loading system described in the present invention.

[0020] Figure 3 It is a three-dimensional structural schematic diagram of a robot clamp of a package unpacking and box loading system described in the present invention.

[0021] Figure 4 The figure is a schematic diagram of the three-dimensional structure of a loading and unpacking device of a package unpacking and box loading system described in the present invention.

[0022] Figure 5 The invention discloses a three-dimensional structure diagram of a long side box turning device of a packing unpacking and box loading system.

[0023] Figure 6 It is a three-dimensional structural schematic diagram of a box-joining and turning device of a package unpacking and box loading system according to the present invention.

[0024] Figure 7 The present invention is a schematic diagram of the main structure of a box-joining and turning device of a box-unpacking and box-loading system.

[0025] The following are the descriptions of the reference numerals: 1. Material loading and unpacking device; 101. Upper conveying device; 102. Box long side turning device; 103. Blocking mechanism; 104. Box receiving and flipping device; 105. Box unpacking device; 106. Lower conveying device; 2. Intelligent collaborative robot; 3. Robot fixture; 301. Frame; 302. Fixed sponge suction cup; 303. Clamping cylinder; 304. Lifting cylinder; 305. Mobile sponge suction cup; 306. Lifting cylinder; 307. Vacuum suction cup; 308. Intelligent recognition camera; 309. Box cover; 310. Material box; 4. Box unloading machine; 5. Scara robot; 6. Pallet position; 7. Box cover storage position; 8. Empty box recovery position; 9. 3D smart camera; 10. Safety protection frame. DETAILED DESCRIPTION

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0028] The present invention will be further described below in conjunction with the accompanying drawings: Example 1

[0029] like Figure 1 As shown, a package unpacking and box loading system includes a depalletizing and loading system, a loading and unpacking system, a box unloading machine 4, a scara robot 5 and a safety protection device. The specific structure and function are as follows: Depalletizing and loading system: Intelligent collaborative robot 2: used to pick up and place the material box 310, and is the core execution component of the entire depalletizing and loading process. It has high-precision motion control capabilities and can accurately locate and grab the material box 310.

[0030] Robot gripper 3: Figure 2-Figure 3As shown, it is arranged on the intelligent collaborative robot 2, and its main function is to clamp a single material box 310 and place it on the upper conveying device of the loading and unpacking system, and its auxiliary function is to separate the box cover 309 and the material box 310. The clamp structure is cleverly designed and can adapt to material boxes 310 of different specifications and different placement methods. Specifically, the clamp includes a frame 301 fixedly mounted on the intelligent collaborative robot 2, a fixed arm is fixedly mounted on one side of the lower surface of the frame 301, and a fixed sponge suction cup 302 is fixedly mounted at the lower end of the fixed arm, which is used to provide stable support and adsorption force when grabbing the material box 310. A clamping cylinder 303 is fixedly mounted on the upper surface of the frame 301 away from the fixed arm, a lifting cylinder 304 is fixedly mounted on the moving end of the clamping cylinder 303, a movable arm is fixedly mounted on the moving end of the lifting cylinder 304, and a movable sponge suction cup 305 is fixedly mounted at the lower end of the movable arm. When grabbing the material box 310, the clamping cylinder 303 extends, and the lifting cylinder 304 extends downward until the mobile sponge suction cup 305 is aligned with the position of the material box 310, and then the clamping cylinder 303 contracts, and the mobile sponge suction cup 305 acts to hold the material box 310 tightly. In addition, a lifting cylinder 306 is fixedly installed in the middle of the upper surface of the frame 301, and the lower end of the lifting cylinder 306 extends to the bottom of the frame 301 and a vacuum suction cup 307 is fixedly installed to suck the box cover 309 tightly. Before the material box 310 is about to be placed on the upper conveying device 101 of the loading and unpacking system, the lifting cylinder 306 contracts to suck up the box cover 309 and separate it from the material box 310. At the same time, an intelligent recognition camera 308 is fixedly installed on the side of the lower end of the fixed arm away from the fixed sponge suction cup 302, which is used to identify the position of the long side of the material box 310 that can be opened for subsequent operations.

[0031] Pallet position 6: Pallet positions 6 are provided on both sides of the intelligent collaborative robot 2 for placing material pallets containing material boxes 310 , so as to facilitate the intelligent collaborative robot 2 to perform grabbing operations on the material boxes 310 .

[0032] 3D smart camera 9: installed above the material tray, it can perform three-dimensional photography and recognition of the material box 310 on the material tray, accurately obtain the position information of a single material box 310, and send a signal to the intelligent collaborative robot 2 to guide it to accurately grab the material box 310.

[0033] The box cover 309 storage position is located on the side of the intelligent collaborative robot 2 away from the loading and unpacking system, and is used to place the separated box covers 309 to achieve centralized storage and management of the box covers 309.

[0034] Loading and unpacking system: Figure 4As shown, the upper conveying device 101 and the lower conveying device 106 are both belt conveyors for conveying the material boxes 310. The upper conveying device 101 is mainly responsible for conveying the material boxes 310 conveyed from the depalletizing and loading system to the unloading machine 4, and the lower conveying device 106 is responsible for conveying the material boxes 310 after unloading and unpacking to the subsequent stations.

[0035] Box long side turning device 102: Figure 5 As shown, it is arranged on the upper conveying device 101, and includes a long side turning mechanism and a blocking mechanism 103. When the material box 310 is conveyed to the long side turning device 102, the blocking mechanism 103 fixes the material box 310, and the long side turning mechanism turns the long side of the material box 310 open, and then the blocking mechanism 103 is released, and the upper conveying device 101 continues to convey the material box 310 to the upper conveying of the box unloading machine 4.

[0036] The box unloader 4 is an existing device and will not be described in detail here; its function is to pour out the materials in the material box 310 and send the empty material box 310 from the bottom to the box receiving and turning device 104.

[0037] The box turning device 104: Figure 6-Figure 7 As shown, it is arranged on the lower conveying device 106, and is used to receive the material box 310 sent by the box unloading machine 4, and dock the paper box, turn it over and lay it flat, and then transport it to the box unloading device 105 by the lower conveying device 106.

[0038] The box disassembling device 105 is located on the lower conveying device 106 and is arranged in a direction away from the box unloading machine 4. It is used to completely disassemble the paper box, and then the lower conveying device 106 continues to convey the material box 310 to the end of the lower conveying device 106.

[0039] Scara robot 5: It is arranged on the side of the loading and unloading system away from the unloading machine 4, and one side of it is provided with an empty box recovery position 8. Scara robot 5 is mainly responsible for stacking and storing waste boxes to facilitate subsequent collection and processing.

[0040] Safety protection device: including safety protection frame 10 and safety grating. Safety protection frame 10 can prevent operators from accidentally touching the moving parts inside the system to avoid safety accidents. Safety grating can monitor in real time whether there are people or objects entering the protection area. Once an abnormal situation is detected, the system will stop running immediately to ensure the personal safety of the operator.

[0041] In addition, this embodiment also provides a fully automatic unpacking and boxing method, using the above-mentioned unpacking and boxing system, specifically including the following steps: Step S1: Disassembly and loading of material box 310 and box cover 309; Material pallet transportation: The AGV or operator transports the material pallet to pallet position 6 to ensure that the material pallet is placed stably and accurately.

[0042] Position recognition and signal transmission: The 3D intelligent camera 9 takes a photo to identify the material box 310 on the material tray, accurately obtains the position information of a single material box 310, and sends the position signal to the intelligent collaborative robot 2.

[0043] Intelligent collaborative robot 2 grabs material box 310: After receiving the signal, intelligent collaborative robot 2 arrives at the designated position. At this time, the clamping cylinder 303 extends, and the lifting cylinder 304 extends downward until the mobile sponge suction cup 305 is aligned with the position of the material box 310. Then, the clamping cylinder 303 contracts, and the mobile sponge suction cup 305 acts to hold the material box 310 tightly, completing the grabbing action of the material box 310.

[0044] Separation of the box cover 309: When the intelligent collaborative robot 2 grabs the material box 310 and starts to move, the lifting cylinder 306 extends downward until the vacuum suction cup 307 sucks the box cover 309 tightly. Before the material box 310 is about to be placed on the upper conveying device 101 of the loading and unloading system, the lifting cylinder 306 contracts to suck up the box cover 309 and separate it from the material box 310.

[0045] Placing and releasing the material box 310: After the material box 310 is placed in place, the fixed sponge suction cup 302 and the movable sponge suction cup 305 break the vacuum, the clamping cylinder 303 extends, and the material box 310 is released to ensure that the material box 310 is stably placed on the upper conveying device 101.

[0046] Storage of the box cover 309: the intelligent collaborative robot 2 places the box cover 309 in the box cover 309 storage position, and the vacuum suction cup 307 breaks the vacuum, completing the splitting and loading of the material box 310 and the box cover 309.

[0047] Identify the long side position: When the intelligent collaborative robot 2 grabs the material box 310 on the material tray and places it on the upper conveying device 101, the intelligent recognition camera 308 on the side of the robot clamp 3 identifies the position of the openable long side of the material box 310. After the recognition is completed, the signal is sent to the intelligent collaborative robot 2. The intelligent collaborative robot 2 places the material box 310 with the openable long side facing upwards on the upper conveying device 101 of the loading and unpacking system.

[0048] Return to the initial position: The intelligent collaborative robot 2 returns to the initial position. At this point, the action of the intelligent collaborative robot 2 is completed and the next round of material grabbing action begins.

[0049] Step S2: Open the long side of the material box 310 The upper conveying device 101 of the loading and unpacking system conveys the material to the long side turning device 102, and the blocking mechanism 103 of the long side turning device 102 fixes the material box 310 to prevent the material box 310 from shifting during the long side turning process. After the long side turning mechanism in the long side turning device 102 turns over the long side of the material box 310, the blocking mechanism 103 in the long side turning device 102 is released, and the upper conveying device 101 continues to convey the material to the upper conveying of the unpacking machine 4, preparing for the subsequent unpacking operation.

[0050] Step S3: Docking and turning over the material box 310 The box unloading machine 4 delivers the material box 310 to the box receiving and flipping device 104, which docks the paper box, flips it flat and transports it to the box unloading device 105 through the lower conveying device 106, ensuring that the material box 310 maintains a stable posture during the conveying process to facilitate subsequent box unloading operations.

[0051] Step S4: Carton unpacking and conveying The unpacking device 105 completely unpacks the paper box, and then the lower conveying device 106 continues to deliver the material box 310 to the end of the lower conveying device 106, completing the unpacking operation of the material box 310, so that the material can smoothly enter the subsequent production link.

[0052] Step S5: Stacking and storing waste boxes Finally, the scara robot 5 stacks the waste boxes and neatly stacks them at the empty box recovery position 8, which is convenient for collection and centralized processing, and keeps the production site clean and orderly.

[0053] The belt conveyor, the box long side flipping device 102, the box connecting and flipping device 104, the box removing device 105, the intelligent collaborative robot 2, the fixed sponge suction cup 302, the clamping cylinder 303, the lifting cylinder 304, the mobile sponge suction cup 305, the lifting cylinder 306, the vacuum suction cup 307, the intelligent recognition camera 308, the box cover 309, the material box 310, the box unloading machine 4, the scara robot 5, and the 3D intelligent camera 9 are all universal standard parts or parts known to those skilled in the art. Their structures and principles can be known to those skilled in the art through technical manuals or through conventional experimental methods, so they will not be described in detail here.

[0054] The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for illustrating the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A system for unpacking and loading boxes, characterized by: The invention comprises a depalletizing and loading system, a loading and unpacking system, a box unloading machine (4) and a scara robot (5), wherein the depalletizing and loading system comprises an intelligent collaborative robot (2) for picking up and placing a material box (310), the intelligent collaborative robot (2) being provided with a robot clamp (3) for clamping and holding the material box (310) for transportation and separating the box cover (309) from the material box (310), the depalletizing and loading system being provided with pallet positions (6) on both sides corresponding to the intelligent collaborative robot (2); the loading and unpacking system being provided on one side of the depalletizing and loading system, the loading and unpacking system The system comprises an upper conveying device (101) and a lower conveying device (106); the upper conveying device (101) and the lower conveying device (106) are connected for transportation via the box unloading machine (4); a box long side turning device (102) is arranged on the upper conveying device (101); a box receiving and flipping device (104) and a box unloading device (105) are arranged in sequence on the lower conveying device (106) in a direction away from the box unloading machine (4); and the scara robot (5) is arranged on the side of the loading and unloading system away from the box unloading machine (4).

2. The unpacking and boxing system according to claim 1, characterized in that: The depalletizing and loading system further comprises a 3D intelligent camera (9) installed above the material tray and a box cover (309) storage position of the intelligent collaborative robot (2) on a side away from the loading and depalletizing system.

3. The unpacking and boxing system according to claim 1, characterized in that: The upper conveying device (101) and the lower conveying device (106) are both belt conveyors.

4. The unpacking and boxing system according to claim 1, characterized in that: The box long side turning device (102) comprises a long side turning mechanism and a blocking mechanism (103).

5. The unpacking and boxing system according to claim 1, characterized in that: The robot clamp (3) comprises a frame (301) fixedly mounted on the intelligent collaborative robot (2), a fixed arm fixedly mounted on one side of the lower surface of the frame (301), a fixed sponge suction cup (302) fixedly mounted on the lower end of the fixed arm, a clamping cylinder (303) fixedly mounted on the upper surface of the frame (301) away from the fixed arm, a lifting cylinder (304) fixedly mounted on the movable end of the clamping cylinder (303), a movable arm fixedly mounted on the movable end of the lifting cylinder (304), a movable sponge suction cup (305) fixedly mounted on the lower end of the movable arm, a lifting cylinder (306) fixedly mounted in the middle of the upper surface of the frame (301), and a vacuum suction cup (307) fixedly mounted on the lower end of the lifting cylinder (306) extending to the bottom of the frame (301).

6. The unpacking and boxing system according to claim 5, characterized in that: An intelligent recognition camera (308) is fixedly mounted on a side of the lower end of the fixed arm away from the fixed sponge suction cup (302).

7. The unpacking and boxing system according to claim 1, characterized in that: Also included is a safety protection device, which comprises a safety protection frame (10).

8. A fully automatic unpacking and boxing method, characterized in that: Using the unpacking and boxing system as described in any one of claims 1 to 7 specifically comprises the following steps: Step S1: After the AGV or operator transports the material pallet to the pallet position (6), the 3D intelligent camera (9) takes a picture to identify the position of a single material box (310), and sends a signal to the intelligent collaborative robot (2). The intelligent collaborative robot (2) reaches the designated position according to the signal, and the cylinder on the robot clamp (3) is actuated to grab the material and place it on the upper conveying device (101) of the loading and unloading system; then the intelligent collaborative robot (2) places the box cover (309) in the box cover (309) storage position; at this point, all actions of the intelligent collaborative robot (2) are completed, and the next material grabbing action begins; Step S2: the upper conveying device (101) of the material loading and unpacking system conveys the material to the long side turning device (102), the blocking mechanism (103) of the long side turning device (102) fixes the material box (310), and after the long side turning mechanism in the long side turning device (102) turns over the long side of the material box (310), the blocking mechanism (103) in the long side turning device (102) is released, and the upper conveying device (101) continues to convey the material to the upper conveying of the unpacking machine (4); Step S3: the box unloading machine (4) delivers the material box (310) to the box receiving and turning device (104), and the box receiving and turning device (104) docks the paper box, turns it over and lays it flat, and then conveys it to the box unloading device (105) through the lower conveying device (106); Step S4: the box disassembling device (105) completely disassembles the paper box, and then continues to send the material box (310) to the end of the lower conveying device (106); Step S5: Finally, the scara robot (5) stacks and stores the waste boxes for easy collection.

9. A fully automatic unpacking and boxing method according to claim 8, characterized in that: In step S1, the specific steps after the robot clamp (3) clamps the material box (310) are as follows: after the intelligent collaborative robot (2) reaches the specified position, the clamping cylinder (303) extends, and the lifting cylinder (304) extends downward until the mobile sponge suction cup (305) is aligned with the material box (310), the clamping cylinder (303) contracts, and the mobile sponge suction cup (305) acts to hold the material box (310), the intelligent collaborative robot (2) starts to move, and at the same time, the lifting cylinder (306) extends downward until the vacuum suction cup (307) sucks the box cover (309) tightly, and when the material box (310) is about to be placed on the upper conveying device (101) of the loading and unpacking system. ) is moved up, the lifting cylinder (306) contracts, sucks up the box cover (309) and separates it from the material box (310). After the material box (310) is placed in place, the fixed sponge suction cup (302) and the movable sponge suction cup (305) break the vacuum, the clamping cylinder (303) extends, and the material box (310) is released. Then, the intelligent collaborative robot (2) moves to place the box cover (309) in the box cover (309) storage position, and the vacuum suction cup (307) breaks the vacuum, completing the separation and loading of the material box (310) and the box cover (309). The intelligent collaborative robot (2) returns to the initial position. At this point, the action of the intelligent collaborative robot (2) is completed, and the next round of material grabbing action begins.

10. A fully automatic unpacking and boxing method according to claim 9, characterized in that: When the intelligent collaborative robot (2) grabs the material box (310) on the material tray and places it on the upper conveying device (101), the intelligent recognition camera (308) on the side of the robot clamp (3) recognizes the position of the openable long side of the material box (310), and after the recognition is completed, a signal is sent to the intelligent collaborative robot (2), and the intelligent collaborative robot (2) moves to place the material box (310) on the upper conveying device (101) of the loading and unpacking system with the openable long side facing upwards.

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