Self-adaptive box body pose correction system and method

Abstract

The invention discloses a self-adaptive box body pose correction system. The system comprises a box body supply device, and a pose primary arrangement device and a pose correction device which are connected with the box body supply device in sequence. Under the cooperative operation of the box body supply device and the pose initial arrangement device, the system can automatically match arrangement parameters for box bodies with different sizes, pose arrangement deviation caused by box body type difference is avoided, and the arrangement accuracy is improved under the linkage of the pose initial arrangement device and the pose correction device. All box bodies entering the stacking station are ensured to meet the complete standard pose requirement, and stacking dislocation or collapse caused by pose deviation is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of posture correction, and in particular to an adaptive box posture correction system and method. Background Art

[0002] In the field of modern industrial automation, especially in logistics, warehousing, and intelligent manufacturing production lines, the automated palletizing of finished boxes is a key step in achieving efficient production and intelligent warehousing. To ensure the stability and space utilization of palletizing, the position of the boxes must be accurately corrected after they are packaged and before entering the palletizing process. Currently, the industry mostly uses posture correction technology that combines visual guidance with robotic arm operation, such as the solution disclosed in patent CN202410634465.6. This solution uses a gripping camera to identify the box models in different material frames, drives the robotic arm to replace the adapter suction cup, and adjusts the box position in mid-air.

[0003] However, this existing technology has obvious shortcomings: on the one hand, before the robot arm performs posture correction, it relies on hand-eye calibration to establish the conversion relationship between the visual coordinate system and the robot arm coordinate system. The calibration process is easily affected by environmental factors, equipment installation errors, etc. The tiny calibration error will significantly amplify the final error of the posture correction after being calculated and transmitted through multiple links, resulting in the correction accuracy being difficult to meet the high-precision palletizing requirements; on the other hand, the operation of frequently replacing suction cups for different types of boxes not only increases the complexity of the robot arm's movement process and extends a single operation cycle, but may also reduce system reliability due to failure of the suction cup replacement mechanism or alignment deviation, seriously restricting the overall production efficiency. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide an adaptive box posture correction system, which can solve the technical problems in the prior art that the correction accuracy is difficult to meet the high-precision stacking requirements due to interference from environmental factors, the operation process is complicated, and the overall work efficiency is seriously restricted. At the same time, the present invention also provides an adaptive box posture correction method, which is applied to the adaptive box posture correction system.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: An adaptive box posture correction system includes a box supply device and a posture initial arrangement device and a posture correction device connected thereto in sequence. The box feeding device has the function of conveying boxes and identifying the box size contour and initial posture, and pre-judging the box surface in contact with the side edge of the posture initial sorting device and its corresponding box size, and then obtaining the side length size corresponding to the box size in a vertical form of the contacted box surface. The box feeding device includes a supply conveying mechanism and a first machine vision unit arranged above it. The supply conveying mechanism includes a supply conveying base frame, a supply conveying belt located on the top of the supply conveying base frame, a supply conveying wire symmetrically arranged at the end of the supply conveying belt, and a supply power motor providing power output for the supply conveying belt. The initial posture sorting device has the function of performing preliminary straightening and sorting on the boxes that pass through its surface, and identifying and inspecting whether the actual box posture after the initial sorting is consistent with the predicted box posture, so as to further determine whether the actual box posture is an established completely standard posture. The initial posture sorting device includes a posture sorting mechanism and a second machine vision unit arranged above it. The posture sorting mechanism includes an initial sorting conveying base, an initial sorting conveyor belt located on the top of the initial sorting conveying base, opposite spacing adjustment components symmetrically arranged at the side ends of the initial sorting conveying base, lateral conveying components respectively arranged on the end sides of the symmetrically arranged opposite spacing adjustment components, and a spacing driving component located below the initial sorting conveying base. The opposite spacing adjustment component includes a vertical fixed The cam is connected to the vertical connecting plate by a sliding block, and the cam is connected to the horizontal connecting plate by a sliding block, and the cam is connected to the vertical connecting plate by a sliding block. The cam is connected to the vertical connecting plate by a sliding block, and the cam is connected to the vertical connecting plate by a sliding block. The cam is connected to the horizontal connecting plate by a sliding block, and the cam is connected to the vertical connecting plate by a sliding block. The cam is connected to the vertical connecting plate by a sliding block. The cam is connected to the vertical connecting plate by a sliding block. The cam is connected to the vertical connecting plate by a sliding block. The posture correction device has the function of correcting the posture of a box that does not meet the standard according to the inspection result of the box posture. The posture correction device includes a roller conveying mechanism and a correction mechanism arranged in the middle section. The roller conveying mechanism includes a correction conveying base frame and a conveying roller arranged on the top thereof. The correction mechanism includes a correction connecting frame, a lifting cylinder located on the upper end face of the correction connecting frame, and a rotating assembly arranged on the top end of the lifting cylinder. The top face of the rotating assembly is provided with a photoelectric switch. The tail end of the roller conveying mechanism is also connected to an extension conveying mechanism. The extension conveying mechanism includes an extension conveying base frame, an extension conveyor belt located on the top of the extension conveyor base frame, an extension conveyor wire arranged on the side end of the extension conveyor belt, and an extension power motor that provides power output for the extension conveyor belt.

[0006] Furthermore, the supply and conveying base frame includes a supply support frame and a support leg I arranged on the bottom end surface thereof, two supply and conveying lines are symmetrically arranged at the left and right ends of the supply support frame, two transmission shafts I are symmetrically arranged at the front and rear ends of the supply support frame, two pressure roller shafts I are arranged side by side at a certain distance below the supply support frame, a driving roller shaft I is arranged below the two pressure roller shafts I, and the driving roller shaft I is connected to the supply power motor through a transmission structure, and the supply power motor is arranged on the side of the driving roller shaft I through the supply support base frame, and the supply power motor drives the driving roller shaft I to rotate through the transmission structure, and the supply conveyor belt surrounds the two transmission shafts I, the two pressure roller shafts I and the surface of the driving roller shaft I in sequence.

[0007] Furthermore, the first machine vision unit includes a depth camera, which is mounted directly above the center position of the supply conveying mechanism through a supply connecting rod.

[0008] Furthermore, the conveying plane of the posture sorting mechanism is connected to and flush with the conveying plane of the supply conveying mechanism, and the primary sorting conveying base frame includes a primary sorting support frame and a support leg II arranged on the bottom end surface, and the primary sorting support frame is provided with a transmission shaft II, a pressure roller shaft II arranged below the primary sorting support frame, and a driving roller shaft II arranged below the pressure roller shaft II. The driving roller shaft II is connected to the primary sorting power motor through a transmission structure, and the primary sorting conveyor belt surrounds the surface of the transmission shaft II, the pressure roller shaft II and the driving roller shaft II in sequence.

[0009] Furthermore, there are two vertical fixing plates, and the two vertical fixing plates are symmetrically fixed to one side end face of the primary sorting conveying base frame, and there are two horizontal fixing seats, and the two horizontal fixing seats are symmetrically connected to the top ends of the two vertical fixing plates, and there are two linear guide rails, and the two linear guide rails are respectively installed on the upper surfaces of the two horizontal fixing seats, and the bottom end faces of the planar connecting plate are symmetrically provided with sliders corresponding to the two linear guide rails. Under the sliding action of the linear guide rails and the sliders, the planar connecting plate can extend toward the middle direction of the primary sorting conveyor belt relative to the horizontal fixing seat, and the vertical connecting plate is connected to the middle position of the bottom end face of the planar connecting plate away from the primary sorting conveyor belt, and the bottom end face of the horizontal fixing seat is connected to the side surface of the vertical fixing plate by reinforcing ribs, and the bottom end face of the planar connecting plate is connected to the side surface of the vertical connecting plate by reinforcing ribs.

[0010] Furthermore, the number of the side conveying assemblies is provided with two, and the two side conveying assemblies are symmetrically separated at the left and right ends of the primary sorting conveying base frame through opposing spacing adjustment assemblies, the side support rods are fixedly connected to the upper surface of one end of the planar connecting plate close to the primary sorting conveyor belt, the number of the side conveying wheels is provided with two, the two side conveying wheels are symmetrically arranged at the front and rear ends of the side support rods, the side ends of the side support rods are connected to the limiting wheels through side connecting members, the side conveying belt passes through the area between the side support rods and the limiting wheels and surrounds the outer surfaces of the two side conveying wheels, one of the side conveying wheels can be shifted forward and backward at one end of the side support rod to adjust the tension of the side conveying belt, and the bottom end of the other side conveying wheel is coaxially connected to the side driving wheel, and the side driving wheel is connected to the output end of the side conveying motor through the side driving belt.

[0011] Furthermore, the cross support plate is fixedly connected to the bottom end of the primary sorting and conveying base, and the rotating support plate is connected to the center position of the bottom surface of the cross support plate through a slewing bearing. The rotating support plate can rotate at a certain angle relative to the cross support plate under the action of the slewing bearing. Two diagonal parts of the rotating support plate are respectively connected to the vertical connecting plates of the symmetrically arranged opposite spacing adjustment components through hydraulic rods. The telescopic cylinder is provided with a fixed end and a movable end. The fixed end of the telescopic cylinder is fixedly connected to the bottom surface of the cross support plate through a cylinder bracket, and the movable end of the telescopic cylinder is connected to one of the vertical connecting plates, and the telescopic plane of the movable end of the telescopic cylinder and the telescopic plane of the hydraulic rod are in the same horizontal plane.

[0012] Furthermore, the second machine vision unit is mounted directly above the rear end of the posture adjustment mechanism through a preliminary adjustment connecting rod.

[0013] Furthermore, the conveying plane of the roller conveying mechanism is flush with the conveying plane of the posture sorting mechanism and the transmission direction is consistent. The correction conveying base frame includes a roller support frame and a support leg III arranged on its bottom end surface. There are several conveying rollers, all of which are horizontally arranged on the top surface of the roller support frame. The end of the correction connecting frame is fixedly connected to the middle position of the roller support frame, and the horizontal working plane of the correction connecting frame is located below the working plane of the roller support frame. The lifting cylinder is provided with a fixed end and a movable end. The fixed end of the lifting cylinder is vertically fixed to the middle position of the upper end surface of the correction connecting frame. The movable end of the lifting cylinder is connected to the rotating assembly. The rotating assembly includes a rotating platform and a support platform arranged at its top.

[0014] Furthermore, the extended conveying base has the function of providing support for the components thereon. The extended conveying base includes an extended support frame and a support leg III arranged on the bottom end surface thereof. The left and right ends of the extended conveying base are provided with an extended conveying circumference extending from the extended conveying base to the correcting conveying base. The extended conveying base is provided with a transmission shaft III, a pressure roller shaft III arranged below the extended conveying base, and a driving roller shaft III arranged below the pressure roller shaft III. The driving roller shaft III is connected to an extended power motor through a transmission structure, and the extended conveyor belt surrounds the surfaces of the transmission shaft III, the pressure roller shaft III and the driving roller shaft III in sequence.

[0015] The present invention also provides an adaptive box posture correction method, which is applied to the above-mentioned adaptive box posture correction system, and the specific steps include: S1: Cabinet model identification and posture prediction In the process of conveying the box from the front end to the rear end of the box supply device, the first machine vision unit identifies the length, width and initial posture of the box, and predicts the box surface in contact with the lateral conveying component of the posture initial sorting device and the box size corresponding to the box surface, thereby obtaining the side length L corresponding to the box size in a vertical form of the contacted box surface, and the predicted posture that the box can reach after passing through the posture initial sorting device, that is, the first machine vision unit collects the original image of the top surface of the box on the conveying plane of the box supply device, and then uses the YOLOv8s-seg model to quickly identify and extract the contour of the top surface of the box, and uses the minimum circumscribed matrix algorithm to obtain the long side dimension (that is, the length dimension of the box) and the short side dimension (that is, the width dimension of the box) of the top surface of the box, and then obtains the angle θ between the long side of the top surface of the box and the conveying direction of the box. When When , it is predicted that the side conveying component of the initial posture sorting device is in contact with the box surface where the long side dimension is located, and the side length L is the short side dimension. At this time, the initial posture of the box is regarded as a completely standard posture; when When , it is predicted that the plane where the long side dimension of the box is located contacts the lateral conveying component of the initial posture sorting device, and the side length L is the short side dimension; when When , it is predicted that the side conveying component of the initial posture sorting device is in contact with the box surface where the short side dimension is located, and the side length L is the long side dimension. At this time, the initial posture of the box is regarded as a completely non-standard posture; when When , it is predicted that the plane where the short side dimension of the box is located is in contact with the lateral conveying component of the initial posture sorting device, and the side length L is the long side dimension; S2: Initial arrangement of the box posture In the initial state, the movable end of the telescopic cylinder is in an extended state. At this time, the opposing spacing adjustment component connected to the telescopic cylinder drives the lateral conveying component on its end side to be at the side edge position of the posture arranging mechanism. The spacing between the lateral conveying components symmetrically located at the side edge of the posture arranging mechanism is H. In the working state, the initial straightening and arranging of the box posture is achieved by adjusting the contraction amount of the movable end of the telescopic cylinder. That is, when the box reaches the conveying plane of the initial posture arranging device through the box feeding device, the contraction amount d of the movable end of the telescopic cylinder is adjusted according to the side length L corresponding to the box size in a vertical form of the box surface contacted by the lateral conveying component predicted in step S1, as follows: , In order to prevent the box from being damaged due to excessive contraction of the movable end of the telescopic cylinder, or the box from being incomplete in the initial posture adjustment process due to too small contraction of the movable end of the telescopic cylinder, the movable end of the telescopic cylinder retracts a certain length, and under the action of the spacing driving component and the opposite spacing adjusting component, the lateral conveying components symmetrically located at the side end edges of the posture adjustment mechanism are driven to move toward the middle position of the posture adjustment mechanism, and the posture of the box passing through the lateral conveying components is preliminarily straightened and adjusted to obtain the actual posture of the box after the initial posture adjustment; S3: Identify and check whether the actual posture of the box after the initial posture adjustment is completely standard The box body after step S2 continues to be transported backward on the conveying plane of the posture sorting mechanism, and the second machine vision unit identifies the posture of the box body after step S2 to check whether the actual posture of the box body after step S2 is consistent with the predicted posture of the box body obtained in step S1. If they are inconsistent, the box body is manually removed and re-entered into the system. If they are consistent, it is further judged whether the actual posture of the box body is a completely standard posture, that is, the original image of the top surface of the box body on the conveying plane of the posture sorting mechanism is collected by the second machine vision unit, and then the YOLOv8s-seg model is used to quickly identify and extract the contour of the top surface of the box body, and the long side dimension (that is, the length dimension of the box body) and the short side dimension (that is, the width dimension of the box body) of the top surface of the box body are obtained by the minimum circumscribed matrix algorithm, and then the angle θ between the long side of the top surface of the box body and the conveying direction of the box body is obtained. When When , the actual posture of the box is judged to be a completely standard posture. When the actual posture of the box is judged to be completely non-standard, the box is further transmitted to the posture correction device so that the posture of the box is corrected according to the judgment result; S4: Cabinet posture correction When the actual posture of the box body after step S2 is a completely standard posture, the lifting cylinder and the rotating assembly of the posture correction device are in the initial position, that is, the movable end of the lifting cylinder is in a retracted state, and the box body is transferred to the stacking station by the roller conveyor mechanism; when the actual posture of the box body after step S2 is a completely non-standard posture, that is, it differs from the completely standard posture by 90°, when the box body moves to the top of the correction mechanism on the conveying plane of the roller conveyor mechanism, the photoelectric development triggers the external industrial computer to extend the movable end of the lifting cylinder, and drives the rotating assembly at its end to reach the posture adjustment position, and the rotating assembly lifts the box body and rotates 90°, thereby completing the 90° adjustment of the box body posture so that the actual posture of the box body is adjusted to a completely standard posture, and then, the movable end of the lifting cylinder retracts and drives the rotating assembly to descend, and the box body adjusted to a completely standard posture continues to reach the stacking station along the conveying plane of the roller conveyor mechanism via the conveying plane of the extension conveyor mechanism.

[0016] Compared with the prior art, the technical solution of the present invention has the following beneficial effects: 1. The box feeding device of the present invention can identify the size contour and initial posture of the box, predict the surface of the box in contact with the side edge of the posture preliminary sorting device and the corresponding size, and obtain the side length of the surface in the vertical direction to provide a data basis for subsequent adjustment; the posture preliminary sorting device of the present invention adjusts the spacing between the two lateral conveying components in real time based on the predicted data of the feeding device, so that the spacing between the two lateral conveying components matches the box size, and performs preliminary straightening of the box under the action of the lateral conveying components to ensure that the posture of the box after preliminary sorting only retains two states: "completely standard posture" or "completely non-standard posture (90° different from the completely standard posture)". Under the coordinated operation of the box feeding device and the posture preliminary sorting device, the system can automatically match the sorting parameters for boxes of different sizes to avoid posture sorting deviations due to differences in box types; 2. After the boxes are initially aligned by the initial posture arranging device, the present invention performs an identification test on the actual posture to determine whether it is consistent with the predicted posture of the supply device. If it is inconsistent, it is determined to be a "completely non-standard posture (90° different from the completely standard posture)". The posture correction device receives the inspection results of the initial posture arranging device and performs a correction action on the boxes with completely non-standard posture to adjust their posture to a completely standard state. Under the linkage of the initial posture arranging device and the posture correction device, it is ensured that all boxes entering the stacking station meet the completely standard posture requirements, avoiding stacking misalignment or collapse due to posture deviation; Other beneficial effects of the present invention will be further described in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Figure 1Schematic diagram of the overall structure of the box posture correction system of the present invention; Figure 2 It is a structural schematic diagram of the box supply device of the present invention; Figure 3 Schematic diagram of the internal structure of the box supply device of the present invention; Figure 4 Schematic diagram of the structure of the posture initial arrangement device of the present invention; Figure 5 Schematic diagram of the internal structure of the posture initial arrangement device of the present invention; Figure 6 It is a structural schematic diagram of the opposing spacing adjustment assembly of the present invention; Figure 7 It is a structural schematic diagram of the lateral conveying assembly of the present invention; Figure 8 This is a bottom schematic diagram of the posture initial arrangement device of the present invention; Figure 9 It is a structural schematic diagram of the spacing driving assembly of the present invention; Figure 10 Schematic diagram of the structure of the posture correction device of the present invention; Among them: 1. Box feeding device; 101. Feeding conveyor base; 102. Feeding conveyor belt; 103. Feeding conveyor wire; 104. Feeding power motor; 105. Feeding connecting rod; 106. First machine vision unit; 2. Posture initial sorting device; 201. Initial sorting conveyor base; 202. Initial sorting conveyor belt; 203. Opposite spacing adjustment component; 2031. Vertical fixed plate; 2032. Horizontal fixed seat; 2033. Linear guide rail; 2034. Slider; 2035. Plane connecting plate; 2036. Vertical connecting plate; 204. Lateral conveying component; 2041. Lateral support rod; 2 042. Lateral conveying wheel; 2043. Lateral conveying belt; 2044. Lateral conveying motor; 205. Spacing drive assembly; 2051. Cross-support plate; 2052. Slewing bearing; 2053. Rotating support plate; 2054. Hydraulic rod; 2055. Telescopic cylinder; 206. Primary sorting connecting rod; 207. Second machine vision unit; 3. Posture correction device; 301. Correction conveying base frame; 302. Conveying roller; 303. Correction connecting frame; 304. Lifting cylinder; 305. Rotating assembly; 306. Extended conveying base frame; 307. Extended conveyor belt; 308. Extended conveyor beltline. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] Example 1: like Figures 1 to 10 As shown, the present invention provides an adaptive box posture correction system, It includes a box supply device 1 and a posture initial arrangement device 2 and a posture correction device 3 connected thereto in sequence. The box feeding device 1 has the function of conveying boxes and identifying the box size contour and initial posture, and pre-judging the box surface in contact with the side edge of the posture initial sorting device 2 and its corresponding box size, and then obtaining the side length corresponding to the box size in a vertical form of the contacted box surface. The box feeding device 1 includes a supply conveying mechanism and a first machine vision unit 106 arranged above it. The supply conveying mechanism includes a supply conveying base frame 101, a supply conveying belt 102 located on the top of the supply conveying base frame 101, a supply conveying wire 103 symmetrically arranged at the end of the supply conveying belt 102, and a supply power motor 104 providing power output for the supply conveying belt 102; The initial posture sorting device 2 has the function of preliminarily squaring and sorting the boxes that pass through its surface, and identifying and inspecting whether the actual box posture after the initial sorting is consistent with the predicted box posture, so as to further determine whether the actual box posture is the established completely standard posture. The initial posture sorting device 2 includes a posture sorting mechanism and a second machine vision unit 207 arranged above it. The posture sorting mechanism includes an initial sorting conveying base 201, an initial sorting conveyor belt 202 located on the top of the initial sorting conveying base 201, opposite spacing adjustment components 203 symmetrically arranged at the side ends of the initial sorting conveying base 201, lateral conveying components 204 respectively arranged on the end sides of the symmetrically arranged opposite spacing adjustment components 203, and a spacing driving component 205 located below the initial sorting conveying base 201. The opposite spacing adjustment component 203 includes a vertical fixing plate 2031, a horizontal fixing seat 2032 arranged at the top of the vertical fixing plate 2031, a linear guide located on the upper end face of the support seat, and a guide frame 2030 disposed on the upper end face of the support seat. The rail 2033, the plane connecting plate 2035 connected to the linear guide rail 2033 through the slider 2034, and the vertical connecting plate 2036 arranged on the bottom end surface of the plane connecting plate 2035, the horizontal fixing seat 2032 and the vertical fixing plate 2031, and the plane connecting plate 2035 and the vertical connecting plate 2036 are all provided with reinforcing ribs. The lateral conveying assembly 204 includes a lateral support rod 2041, a lateral conveying wheel 2042 arranged at the end of the lateral support rod 2041, and a lateral conveying wheel 2042 surrounding the lateral support rod 2041. The lateral conveying belt 2043 on the surface of the lateral conveying wheel 2042 and the lateral conveying motor 2044 that drives the lateral conveying wheel 2042 to rotate, the spacing driving assembly 205 includes a cross support plate 2051, a rotating support plate 2053 connected to the cross support plate 2051 through a slewing bearing 2052, a hydraulic rod 2054 connecting the rotating support plate 2053 and the vertical connecting plate 2036, and a telescopic cylinder 2055 that drives the vertical connecting plate 2036 to extend and retract; The posture correction device 3 has the function of correcting the posture of the box that does not meet the standard according to the inspection result of the box posture. The posture correction device 3 includes a roller conveying mechanism and a correction mechanism arranged in the middle section. The roller conveying mechanism includes a correction conveying base frame 301 and a transmission roller 302 arranged on the top thereof. The correction mechanism includes a correction connecting frame 303, a lifting cylinder 304 located on the upper end face of the correction connecting frame 303, and a rotating component 305 arranged at the top of the lifting cylinder 304. The top face of the rotating component 305 is provided with a photoelectric switch. The tail end of the roller conveying mechanism is also connected to an extension conveying mechanism. The extension conveying mechanism includes an extension conveying base frame 306, an extension conveyor belt 307 located on the top of the extension conveyor base frame 306, an extension conveyor wire 308 arranged at the side end of the extension conveyor belt 307, and an extension power motor that provides power output for the extension conveyor belt 307.

[0020] In the embodiment of the present invention, the supply conveying mechanism can convey the box placed on its surface to the posture initial sorting device 2, and the supply conveying base frame 101 has the function of providing support for the components arranged thereon. The supply conveying base frame 101 includes a supply support frame and a support leg Ⅰ arranged on its bottom end surface. Two supply conveying wires 103 are symmetrically arranged on the left and right ends of the supply support frame. The supply conveying wires 103 can effectively prevent the box from tipping over or leaving the conveying track during transportation, thereby ensuring the stability of transportation. Two transmission shafts Ⅰ are symmetrically arranged on the front and rear ends of the supply support frame, and two pressure roller shafts Ⅰ are arranged side by side at a certain distance below the supply support frame. The two pressure roller shafts Ⅰ A driving roller shaft I is provided at the bottom, and the driving roller shaft I is connected to the supply power motor 104 through a transmission structure. The supply power motor 104 is arranged on the side of the driving roller shaft I through the supply support chassis. The supply power motor 104 drives the driving roller shaft I to rotate through the transmission structure. The supply conveyor belt 102 is used to carry and convey the box body. The supply conveyor belt 102 surrounds the two transmission shafts I, the two pressure roller shafts I and the surface of the driving roller shaft I in turn. Under the driving force provided by the supply power motor 104, the driving roller shaft I drives the two transmission shafts I and the two pressure roller shafts I to rotate through the supply conveyor belt 102, so as to further realize the purpose of conveying the box body by the supply conveying mechanism.

[0021] In the embodiment of the present invention, the first machine vision unit 106 includes a depth camera, which is mounted directly above the center of the supply conveyor mechanism through the supply connecting rod 105. The installation height and angle of the first machine vision unit 106 are precisely adjusted to ensure that the full picture of the box on the supply conveyor belt 102 can be clearly photographed, so as to accurately identify and obtain the size outline of the box and the initial placement posture of the box on the surface of the supply conveyor belt 102, and finally realize that before the box enters the transportation area range of the initial posture sorting device 2, the box is identified according to the outline of the box. The angle between one side length and the conveying direction of the box is used to pre-determine the surface where the box will contact the lateral conveying component 204 of the initial posture sorting device 2, and then obtain the side length corresponding to the box size in a vertical form of the contacted box surface, providing a data basis for subsequent initial posture sorting and correction, improving processing efficiency and accuracy. In the recognition range of the first machine vision unit 106, the symmetrically arranged supply conveying contour 103 is located at the edge of its recognition range, so as to maximize the use of the effective field of view and ensure the consistency between the initial posture and the subsequent posture.

[0022] In the embodiment of the present invention, the posture arranging mechanism can align the box placed on its surface so that the box is transported from the conveying area where the center line of the posture arranging mechanism is located to the posture correcting device 3, and the conveying plane of the posture arranging mechanism is connected and flush with the conveying plane of the supply conveying mechanism. The primary arranging conveying base frame 201 has the function of providing support for the components arranged thereon, and the primary arranging conveying base frame 201 includes a primary arranging support frame and a support leg II arranged on the bottom end surface. The primary arranging support frame is provided with a transmission shaft II, a pressure roller shaft II arranged below the primary arranging support frame, and a driving roller shaft II arranged below the pressure roller shaft II. The driving roller shaft II is connected to the primary arranging power motor through a transmission structure. The primary arranging conveyor belt 202 surrounds the surfaces of the transmission shaft II, the pressure roller shaft II and the driving roller shaft II in sequence. Under the driving force provided by the primary arranging power motor, the primary arranging conveyor belt 202 is driven by the driving roller shaft II to perform the transmission operation; Specifically, there are two transmission shafts II, which are symmetrically arranged at the front and rear ends of the primary sorting conveying base 201. There are two pressure roller shafts II, which are arranged side by side at a certain distance below the primary sorting conveying base 201. The driving roller shaft II is located directly below the two pressure roller shafts II. The primary sorting power motor is arranged on the side of the driving roller shaft II through the primary sorting support base connected to the primary sorting conveying base 201. The primary sorting power motor drives the driving roller shaft II to rotate through the transmission structure, so that the driving roller shaft II drives the two transmission shafts II and the two pressure roller shafts II to rotate through the primary sorting conveyor belt 202, so as to further achieve the purpose of conveying the box body by the posture sorting mechanism.

[0023] In the embodiment described in the present invention, the opposing spacing adjustment component 203 has the function of extending toward the middle direction of the primary sorting conveyor belt 202 under the action of the spacing drive component 205 to initially straighten the box in the initial position with the help of the lateral conveying component 204, so that the box moves along the conveying direction of the primary sorting conveyor belt 202 with its side parallel to the conveying plane of the lateral conveying component 204, and the number of the vertical fixed plates 2031 is provided with two, and the two vertical fixed plates 2031 are vertically fixed to one side end surface of the primary sorting conveying base 201 in a symmetrical form, and the number of the horizontal fixed seats 2032 is provided with two, and the two horizontal fixed seats 2032 are respectively connected to the top ends of the two vertical fixed plates 2031 in a symmetrical form, and the number of the linear guide rails 2033 is provided with two. There are two of them, and the two linear guide rails 2033 are respectively installed on the upper surfaces of the two horizontal fixed seats 2032. The bottom end surface of the plane connecting plate 2035 is symmetrically provided with sliders 2034 corresponding to the two linear guide rails 2033. Under the sliding action of the linear guide rails 2033 and the sliders 2034, the plane connecting plate 2035 can extend toward the middle direction of the primary sorting conveyor belt 202 relative to the horizontal fixed seat 2032. The vertical connecting plate 2036 is connected to the middle position of the bottom end surface of the plane connecting plate 2035 away from the primary sorting conveyor belt 202. The bottom end surface of the horizontal fixed seat 2032 is connected to the side surface of the vertical fixed plate 2031 through a reinforcing rib, and the bottom end surface of the plane connecting plate 2035 is connected to the side surface of the vertical connecting plate 2036 through a reinforcing rib. In the initial state, the vertical connecting plate 2036 of the opposing spacing adjustment component 203 is located away from the primary sorting conveyor belt 202, so that the flat connecting plate 2035 is located next to the primary sorting conveyor belt 202. In the working state, by pulling the vertical connecting plate 2036, the flat connecting plate 2035 is gradually slid toward the direction of the primary sorting conveyor belt 202 by a suitable distance under the sliding action of the linear track and the slider 2034 to achieve the purpose of preliminarily straightening the box body, and then the flat connecting plate 2035 is returned to its original position by pushing the vertical connecting plate 2036.

[0024] In the embodiment described in the present invention, the lateral conveying assembly 204 has the function of contacting the side of the box under the action of the opposite spacing adjustment assembly 203 to perform preliminary correction of the box. At the same time, the contact friction of the lateral conveying belt 2043 on the side of the box provides the box with a thrust toward the posture correction device 3 to ensure normal transportation of the box. The number of the lateral conveying assemblies 204 is provided with two, and the two lateral conveying assemblies 204 are symmetrically separated at the left and right ends of the initial sorting conveying base 201 through the opposite spacing adjustment assembly 203. In the initial state, the two lateral conveying assemblies 204 are located on the left and right sides of the initial sorting conveying base 201. When the initial posture of the box needs to be initially sorted, the spacing between the two lateral conveying assemblies 204 is adjusted by driving the symmetrically arranged opposite spacing adjustment assembly 203 to ensure that the posture of the box is initially corrected. The lateral support rod 2041 is fixedly connected to the upper surface of one end of the flat connecting plate 2035 close to the primary sorting conveyor belt 202, and there are two lateral conveying wheels 2042. The two lateral conveying wheels 2042 are symmetrically arranged at the front and rear ends of the lateral support rod 2041. The side ends of the lateral support rod 2041 are connected to the limiting wheels through lateral connecting pieces. The lateral conveying belt 2043 passes through the area between the lateral support rod 2041 and the limiting wheels and surrounds the outer surfaces of the two lateral conveying wheels 2042. One of the lateral conveying wheels 2042 can be shifted forward and backward at one end of the lateral support rod 2041 to adjust the tension of the lateral conveying belt 2043. The bottom end of the other lateral conveying wheel 2042 is coaxially connected to the lateral driving wheel, which is connected to the output end of the lateral conveying motor 2044 through the lateral driving belt. When in working state, the lateral conveying motor 2044 can drive the lateral driving wheel to move through the lateral driving belt, and then drive the lateral conveying belt 2043 to move through the lateral conveying wheel 2042, so that when the lateral conveying belt 2043 of the lateral conveying assembly 204 approaches the box body, it can not only achieve the purpose of preliminarily correcting the posture of the box body, but also provide a thrust for the box body to move toward the posture correction device 3, so as to ensure the normal transportation of the box body; Specifically, the lateral conveying wheel 2042 that can move forward and backward relative to one end of the lateral support rod 2041 is regarded as a movable lateral conveying wheel 2042. A U-shaped movable hole is provided on the surface of one end of the lateral support rod 2041 connected to the movable lateral conveying wheel 2042. The end of the movable lateral conveying wheel 2042 is placed inside the U-shaped movable hole by a pin shaft passing through the U-shaped movable hole. The movable lateral conveying wheel 2042 can be shifted in the direction of approaching or moving away from the lateral conveying motor 2044 within the extension range of the U-shaped movable hole to adjust the distance between the two lateral conveying wheels 2042, and thereby adjust the tension of the lateral conveying belt 2043.

[0025] In the embodiment described in the present invention, the spacing drive assembly 205 has the function of driving the opposite spacing adjustment assembly 203 to extend and retract, thereby driving the lateral conveying assembly 204 to move toward the middle position of the primary sorting conveyor belt 202. The cross support plate 2051 is fixedly connected to the bottom end of the primary sorting conveyor base 201, and the rotating support plate 2053 is connected to the center position of the bottom surface of the cross support plate 2051 through a rotary bearing 2052. The rotating support plate 2053 can rotate at a certain angle relative to the cross support plate 2051 under the action of the rotary bearing 2052. Two diagonal parts of the rotating support plate 2053 are respectively connected to the opposite diagonals symmetrically arranged by hydraulic rods 2054. The vertical connecting plates 2036 of the spacing adjustment components 203 are connected. When one of the vertical connecting plates 2036 moves, it can drive the rotating support plate 2053 to rotate through one of the hydraulic rods 2054 connected thereto, thereby causing the rotating support plate 2053 to drive the other vertical connecting plate 2036 to move synchronously through another hydraulic rod 2054, thereby adjusting the distance between the symmetrically arranged opposite spacing adjustment components 203. The telescopic cylinder 2055 is provided with a fixed end and a movable end. The fixed end of the telescopic cylinder 2055 is fixedly connected to the bottom surface of the cross-support plate 2051 through a cylinder bracket, and the movable end of the telescopic cylinder 2055 is connected to one of the vertical connecting plates. 2036 is connected, and the telescopic plane of the movable end of the telescopic cylinder 2055 is in the same horizontal plane as the telescopic plane of the hydraulic rod 2054. In the initial state, the movable end of the telescopic cylinder 2055 is in an extended state. At this time, the plane connecting plate 2035 of the opposite spacing adjustment component 203 is located on the side of the primary sorting conveying base 201, and the lateral conveying component 204 arranged on the end side of the opposite spacing adjustment component 203 is located at the side edge of the primary sorting conveying base 201. In the working state, the movable end of the telescopic cylinder 2055 retracts a certain amount of length, driving one of the vertical connecting plates 2036 connected to the movable end of the telescopic cylinder 2055 toward the primary sorting conveyor belt 2 02, one of the hydraulic rods 2054 drives the rotating support plate 2053 to rotate when it is pushed by one of the vertical connecting plates 2036, so that the rotating support plate 2053 pulls the other vertical connecting plate 2036 through another hydraulic rod 2054 and also moves toward the direction of the initial sorting conveyor belt 202, so that the opposite spacing adjustment component 203 drives the lateral conveying component 204 to move toward the middle direction of the initial sorting conveyor belt 202, and the lateral conveying component 204 contacts the side of the box and pushes the box to be initially straightened, so as to achieve the purpose of initial sorting of the box posture by adjusting the telescopic length of the movable end of the telescopic cylinder 2055.

[0026] In the embodiment of the present invention, the second machine vision unit 207 is mounted directly above the rear end of the posture sorting mechanism through the initial sorting connecting rod 206, and the installation height and angle of the second machine vision unit 207 are also precisely debugged to ensure that the full picture of the box after preliminary straightening and sorting on the initial sorting conveyor belt 202 can be clearly captured, so as to accurately identify the dimensional outline of the actual posture of the box at this time, to check whether it is consistent with the box posture predicted by the first machine vision unit 106. If it is consistent, it is further judged whether the actual posture of the box is a predetermined completely standard posture. If it is a completely standard posture, there is no need to correct the posture of the box. If it is a completely non-standard posture, the posture correction device 3 is required to correct the posture of the box. In the recognition range of the second machine vision unit 207, the lateral conveying component 204 is located at the edge of its recognition range, so as to maximize the use of the effective field of view and ensure the consistency of the recognized posture information.

[0027] In the embodiment of the present invention, the conveying plane of the roller conveying mechanism is flush with the conveying plane of the posture sorting mechanism and the transmission direction is consistent. The roller conveying mechanism drives the conveying roller 302 through the roller power motor to achieve the purpose of box conveying. The correction conveying base frame 301 includes a roller support frame and a support leg III arranged on its bottom end surface. There are several conveying rollers 302, all of which are horizontally arranged on the top surface of the roller support frame to convey the box. The end of the correction connecting frame 303 is fixedly connected to the middle position of the roller support frame, and the horizontal working plane of the correction connecting frame 303 is located below the working plane of the roller support frame. The lifting cylinder 304 is provided with a fixed end and a movable end. The fixed end of the lifting cylinder 304 is vertically fixed to the correction connecting frame 303. In the middle position of the upper end surface, the movable end of the lifting cylinder 304 is connected to the rotating assembly 305, which can drive the rotating assembly 305 to achieve lifting and lowering in the vertical direction. The rotating assembly 305 can drive the box located on its surface to rotate at a certain angle. The rotating assembly 305 includes a rotating platform and a support platform arranged at the top thereof. The rotating platform uses a high-precision hollow rotating platform, which can achieve precise speed and angle control, and can also be positioned and rotated according to actual needs. In the embodiment described in the present invention, the rotating platform can rotate 90 degrees each time it moves. The photoelectric switch is arranged at the center position of the support platform. The photoelectric switch has the function of detecting whether the box reaches above the position of the rotating assembly 305, so as to trigger the lifting cylinder 304 to rise and the rotating assembly 305 to rotate, thereby correcting the position of the box.

[0028] In the embodiment of the present invention, the extended conveying mechanism can continue to convey the box in a completely standard posture conveyed by the roller conveying mechanism to the stacking station. The extended conveying base frame 306 has the function of providing support for the components thereon. The extended conveying base frame 306 includes an extended support frame and a support leg III arranged on its bottom end surface. The left and right ends of the extended conveying base frame 306 are provided with an extended conveying circumference 308 extending from the extended conveying base frame 306 to the correcting conveying base frame 301 to prevent the box from tipping over. The extended conveying base frame 306 is provided with a transmission shaft III, a pressure roller shaft III arranged below the extended conveying base frame 306, and a driving roller shaft III arranged below the pressure roller shaft III. The driving roller shaft III is connected to an extended power motor through a transmission structure. The extended conveyor belt 307 surrounds the surfaces of the transmission shaft III, the pressure roller shaft III and the driving roller shaft III in sequence. Under the driving force provided by the extended power motor, the extended conveyor belt 307 is driven by the driving roller shaft III to perform the transmission operation; Specifically, there are two transmission shafts III, which are symmetrically arranged at the front and rear ends of the extended conveying base 306. There are two pressure roller shafts III, which are arranged side by side at a certain distance below the extended conveying base 306. The driving roller shaft III is located directly below the two pressure roller shafts III. The extended power motor is arranged on the side of the driving roller shaft III through an extended support base connected to the extended conveying base 306. The extended power motor drives the driving roller shaft III to rotate through the transmission structure, so that the driving roller shaft III drives the two transmission shafts III and the two pressure roller shafts III to rotate through the extended conveyor belt 307, so as to further achieve the purpose of the extension mechanism to continuously convey the box.

[0029] In the embodiment described in the present invention, an information processing system is also included. The information processing system includes a host computer and an industrial computer. The host computer is a computer device with data processing, control and monitoring functions. It can receive images captured by the first machine vision unit and the second machine vision unit and perform analysis and processing. Then, based on the analyzed and processed information, it predicts the results, controls the industrial computer to achieve the predicted results, verifies the accuracy of the results, and controls the industrial computer to correct them. The industrial computer is used to receive commands transmitted by the host computer and control the execution of actions of each hardware structure.

[0030] Example 2: Embodiment 2 of the present invention further provides an adaptive box posture correction method, which is applied to the adaptive box posture correction system described above, and the method includes: S1: Cabinet model identification and posture prediction In the process of conveying the box from the front end to the rear end of the box supply device 1, the first machine vision unit 106 identifies the length, width and initial posture of the box, and predicts the box surface in contact with the lateral conveying component 204 of the posture initial sorting device 2 and the box size corresponding to the box surface, thereby obtaining the side length L corresponding to the box size in a vertical form of the contacted box surface, and the predicted posture that the box can reach after passing through the posture initial sorting device 2, that is, the first machine vision unit 106 collects the original image of the top surface of the box located on the conveying plane of the box supply device 1, and then uses the YOLOv8s-seg model to quickly identify and extract the contour of the top surface of the box, and obtains the long side dimension (that is, the length dimension of the box) and the short side dimension (that is, the width dimension of the box) of the top surface of the box through the minimum circumscribed matrix algorithm, and then obtains the angle θ between the long side of the top surface of the box and the conveying direction of the box. When When , it is predicted that the side conveying assembly 204 of the initial posture sorting device 2 is in contact with the box surface where the long side dimension is located, and the side length L is the short side dimension. At this time, the initial posture of the box is regarded as a completely standard posture; when When , it is predicted that the plane where the long side dimension of the box is located contacts the lateral conveying component 204 of the initial posture sorting device 2, and the side length L is the short side dimension; when When , it is predicted that the side conveying assembly 204 of the initial posture sorting device 2 is in contact with the box surface where the short side dimension is located, and the side length L is the long side dimension. At this time, the initial posture of the box is regarded as a completely non-standard posture; when When , it is predicted that the plane where the short side dimension of the box is located contacts the lateral conveying component 204 of the initial posture sorting device 2, and the side length L is the long side dimension; S2: Initial arrangement of the box posture In the initial state, the movable end of the telescopic cylinder 2055 is in an extended state. At this time, the opposite spacing adjustment component 203 connected to the telescopic cylinder 2055 drives the lateral conveying component 204 on its end side to be at the side edge position of the posture sorting mechanism. The spacing between the lateral conveying components 204 symmetrically located at the side edge of the posture sorting mechanism is H. In the working state, the initial straightening and sorting of the box posture is achieved by adjusting the contraction amount of the movable end of the telescopic cylinder 2055. That is, when the box reaches the conveying plane of the initial posture sorting device 2 via the box feeding device 1, the contraction amount d of the movable end of the telescopic cylinder 2055 is adjusted according to the side length L corresponding to the box size in a vertical form of the box surface contacted by the lateral conveying component 204 predicted in step S1, as follows: , In order to prevent the box from being damaged due to excessive contraction of the movable end of the telescopic cylinder 2055, or the box from being incomplete in the initial posture adjustment process due to too small contraction of the movable end of the telescopic cylinder 2055, the movable end of the telescopic cylinder 2055 is retracted a certain length, and under the action of the spacing driving component 205 and the opposite spacing adjusting component 203, the lateral conveying component 204 symmetrically located at the side edge of the posture adjustment mechanism is driven to move toward the middle position of the posture adjustment mechanism, and the posture of the box passing through the lateral conveying component 204 is preliminarily straightened and adjusted to obtain the actual posture of the box after the initial posture adjustment; S3: Identify and check whether the actual posture of the box after the initial posture adjustment is completely standard The box body after step S2 continues to be transported backward on the conveying plane of the posture sorting mechanism, and the second machine vision unit 207 identifies the posture of the box body after step S2 to check whether the actual posture of the box body after step S2 is consistent with the predicted posture of the box body obtained in step S1. If they are inconsistent, the box body is manually taken away and re-entered into the system. If they are consistent, it is further judged whether the actual posture of the box body is a completely standard posture, that is, the second machine vision unit 207 collects the original image of the top surface of the box body on the conveying plane of the posture sorting mechanism, and then uses the YOLOv8s-seg model to quickly identify and extract the contour of the top surface of the box body, and obtains the long side dimension (that is, the length dimension of the box body) and the short side dimension (that is, the width dimension of the box body) of the top surface of the box body through the minimum circumscribed matrix algorithm, and then obtains the angle θ between the long side of the top surface of the box body and the conveying direction of the box body. When When , the actual posture of the box is judged to be a completely standard posture. When the actual posture of the box is judged to be completely non-standard, the box is further transmitted to the posture correction device 3 so that the box posture is corrected according to the judgment result; S4: Cabinet posture correction When the actual posture of the box body after step S2 is a completely standard posture, the lifting cylinder 304 and the rotating assembly 305 of the posture correction device 3 are in the initial position, that is, the movable end of the lifting cylinder 304 is in a retracted state, and the box body is transferred to the stacking station by the roller conveyor mechanism; when the actual posture of the box body after step S2 is a completely non-standard posture, that is, it differs from the completely standard posture by 90°, when the box body moves to the top of the correction mechanism on the conveying plane of the roller conveyor mechanism, the photoelectric development triggers the external industrial control The machine finger extends the movable end of the lifting cylinder 304 and drives the rotating assembly 305 at its end to reach the posture adjustment position. The rotating assembly 305 lifts the box and rotates it 90°, thereby completing the 90° adjustment of the box posture so that the actual posture of the box is adjusted to a completely standard posture. Subsequently, the movable end of the lifting cylinder 304 retracts and drives the rotating assembly 305 to descend. The box adjusted to a completely standard posture continues along the conveying plane of the roller conveyor mechanism via the conveying plane of the extension conveyor mechanism to reach the palletizing station.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An adaptive box posture correction system, characterized by: It includes a box supply device and a posture initial arrangement device and a posture correction device connected thereto in sequence. The box feeding device has the function of conveying boxes and identifying the box size contour and initial posture, and pre-judging the box surface in contact with the side edge of the posture initial sorting device and its corresponding box size, and then obtaining the side length size corresponding to the box size in a vertical form of the contacted box surface. The box feeding device includes a supply conveying mechanism and a first machine vision unit arranged above it. The supply conveying mechanism includes a supply conveying base frame, a supply conveying belt located on the top of the supply conveying base frame, a supply conveying wire symmetrically arranged at the end of the supply conveying belt, and a supply power motor providing power output for the supply conveying belt. The initial posture sorting device has the function of performing preliminary straightening and sorting on the boxes that pass through its surface, and identifying and inspecting whether the actual box posture after the initial sorting is consistent with the predicted box posture, so as to further determine whether the actual box posture is an established completely standard posture. The initial posture sorting device includes a posture sorting mechanism and a second machine vision unit arranged above it. The posture sorting mechanism includes an initial sorting conveying base, an initial sorting conveyor belt located on the top of the initial sorting conveying base, opposite spacing adjustment components symmetrically arranged at the side ends of the initial sorting conveying base, lateral conveying components respectively arranged on the end sides of the symmetrically arranged opposite spacing adjustment components, and a spacing driving component located below the initial sorting conveying base. The opposite spacing adjustment component includes a vertical fixed The cam is connected to the vertical connecting plate by a sliding block, and the cam is connected to the horizontal connecting plate by a sliding block, and the cam is connected to the vertical connecting plate by a sliding block. The cam is connected to the vertical connecting plate by a sliding block, and the cam is connected to the vertical connecting plate by a sliding block. The cam is connected to the horizontal connecting plate by a sliding block, and the cam is connected to the vertical connecting plate by a sliding block. The cam is connected to the vertical connecting plate by a sliding block. The cam is connected to the vertical connecting plate by a sliding block. The cam is connected to the vertical connecting plate by a sliding block. The posture correction device has the function of correcting the posture of a box that does not meet the standard according to the inspection result of the box posture. The posture correction device includes a roller conveying mechanism and a correction mechanism arranged in the middle section. The roller conveying mechanism includes a correction conveying base frame and a conveying roller arranged on the top thereof. The correction mechanism includes a correction connecting frame, a lifting cylinder located on the upper end face of the correction connecting frame, and a rotating assembly arranged on the top end of the lifting cylinder. The top face of the rotating assembly is provided with a photoelectric switch. The tail end of the roller conveying mechanism is also connected to an extension conveying mechanism. The extension conveying mechanism includes an extension conveying base frame, an extension conveyor belt located on the top of the extension conveyor base frame, an extension conveyor wire arranged on the side end of the extension conveyor belt, and an extension power motor that provides power output for the extension conveyor belt.

2. The adaptive box posture correction system according to claim 1, characterized in that: The supply and conveying base frame includes a supply support frame and a support leg I arranged on the bottom end surface thereof, two supply and conveying lines are symmetrically arranged at the left and right ends of the supply support frame, two transmission shafts I are symmetrically arranged at the front and rear ends of the supply support frame, two pressure roller shafts I are arranged side by side at a certain distance below the supply support frame, a driving roller shaft I is arranged below the two pressure roller shafts I, and the driving roller shaft I is connected to the supply power motor through a transmission structure, and the supply power motor is arranged on the side of the driving roller shaft I through the supply support base frame, and the supply power motor drives the driving roller shaft I to rotate through the transmission structure, and the supply conveyor belt surrounds the two transmission shafts I, the two pressure roller shafts I and the surface of the driving roller shaft I in sequence.

3. The adaptive box posture correction system according to claim 1, characterized in that: The conveying plane of the posture sorting mechanism is connected to and flush with the conveying plane of the supply conveying mechanism. The primary sorting conveying base frame includes a primary sorting support frame and a support leg II arranged on the bottom end surface. The primary sorting support frame is provided with a transmission shaft II, a pressure roller shaft II arranged below the primary sorting support frame, and a driving roller shaft II arranged below the pressure roller shaft II. The driving roller shaft II is connected to the primary sorting power motor through a transmission structure, and the primary sorting conveyor belt surrounds the surfaces of the transmission shaft II, the pressure roller shaft II and the driving roller shaft II in sequence.

4. The adaptive box posture correction system according to claim 1, characterized in that: The two guide rails are connected to the top of the two vertical fixing plates in a symmetrical manner, and the two horizontal fixing seats are symmetrically connected to the top of the two vertical fixing plates. The two linear guide rails are respectively installed on the upper surfaces of the two horizontal fixing seats. The bottom end surfaces of the planar connecting plates are symmetrically provided with sliders corresponding to the two linear guide rails. Under the sliding action of the linear guide rails and the sliders, the planar connecting plate can extend toward the middle direction of the preliminary sorting conveyor belt relative to the horizontal fixing seat. The vertical connecting plate is connected to the middle position of the bottom end surface of the planar connecting plate away from the preliminary sorting conveyor belt. The bottom end surface of the horizontal fixing seat is connected to the side surface of the vertical fixing plate by reinforcing ribs, and the bottom end surface of the planar connecting plate is connected to the side surface of the vertical connecting plate by reinforcing ribs.

5. The adaptive box posture correction system according to claim 1, characterized in that: The lateral conveying assemblies are provided with two, and the two lateral conveying assemblies are symmetrically separated at the left and right ends of the primary sorting conveying base frame through opposing spacing adjustment assemblies. The lateral support rods are fixedly connected to the upper surface of one end of the flat connecting plate close to the primary sorting conveyor belt, and the number of lateral conveying wheels is provided with two, and the two lateral conveying wheels are symmetrically arranged at the front and rear ends of the lateral support rods, and the side ends of the lateral support rods are connected to the limiting wheels through lateral connecting members, and the lateral conveyor belt passes through the area between the lateral support rods and the limiting wheels and surrounds the outer surfaces of the two lateral conveying wheels, one of the lateral conveying wheels can be shifted forward and backward at one end of the lateral support rod to adjust the tension of the lateral conveyor belt, and the bottom end of the other lateral conveying wheel is coaxially connected to the lateral driving wheel, and the lateral driving wheel is connected to the output end of the lateral conveying motor through the lateral driving belt.

6. The adaptive box posture correction system according to claim 1, characterized in that: The cross support plate is fixedly connected to the bottom end of the primary sorting and conveying base frame, and the rotating support plate is connected to the center position of the bottom surface of the cross support plate through a slewing bearing. The rotating support plate can rotate at a certain angle relative to the cross support plate under the action of the slewing bearing. Two diagonal parts of the rotating support plate are respectively connected to the vertical connecting plates of the symmetrically arranged opposite spacing adjustment components through hydraulic rods. The telescopic cylinder is provided with a fixed end and a movable end. The fixed end of the telescopic cylinder is fixedly connected to the bottom surface of the cross support plate through a cylinder bracket, and the movable end of the telescopic cylinder is connected to one of the vertical connecting plates, and the telescopic plane of the movable end of the telescopic cylinder and the telescopic plane of the hydraulic rod are in the same horizontal plane.

7. The adaptive box posture correction system according to claim 1, characterized in that: The conveying plane of the roller conveying mechanism is flush with the conveying plane of the posture sorting mechanism and the conveying direction is consistent. The correction conveying base frame includes a roller support frame and a support leg III arranged on the bottom end surface thereof. There are several conveying rollers, all of which are horizontally arranged on the top end surface of the roller support frame. The end of the correction connecting frame is fixedly connected to the middle position of the roller support frame, and the horizontal working plane of the correction connecting frame is located below the working plane of the roller support frame. The lifting cylinder is provided with a fixed end and a movable end. The fixed end of the lifting cylinder is vertically fixed to the middle position of the upper end surface of the correction connecting frame. The movable end of the lifting cylinder is connected to the rotating assembly. The rotating assembly includes a rotating platform and a support platform arranged at its top.

8. The adaptive box posture correction system according to claim 1, characterized in that: The extended conveying base has the function of providing support for the components thereon. The extended conveying base includes an extended support frame and a support leg III arranged on the bottom end surface thereof. The left and right ends of the extended conveying base are provided with an extended conveying circumference extending from the extended conveying base to the correcting conveying base. The extended conveying base is provided with a transmission shaft III, a pressure roller shaft III arranged below the extended conveying base and a driving roller shaft III arranged below the pressure roller shaft III. The driving roller shaft III is connected to an extended power motor through a transmission structure, and the extended conveyor belt surrounds the surfaces of the transmission shaft III, the pressure roller shaft III and the driving roller shaft III in sequence.

9. An adaptive box posture correction method, applied to the adaptive box posture correction system according to any one of claims 1 to 8, characterized in that: The specific steps include: S1. Box model identification and posture prediction In the process of conveying the box from the front end to the rear end of the box supply device, the first machine vision unit identifies the length, width and initial posture of the box, and predicts the box surface in contact with the lateral conveying component of the posture initial sorting device and the box size corresponding to the box surface, thereby obtaining the side length L corresponding to the box size in a vertical form of the contacted box surface, and the predicted posture that the box can reach after passing through the posture initial sorting device, that is, the first machine vision unit collects the original image of the top surface of the box on the conveying plane of the box supply device, and then uses the YOLOv8s-seg model to quickly identify and extract the contour of the top surface of the box, and uses the minimum circumscribed matrix algorithm to obtain the long side dimension (that is, the length dimension of the box) and the short side dimension (that is, the width dimension of the box) of the top surface of the box, and then obtains the angle θ between the long side of the top surface of the box and the conveying direction of the box. When When , it is predicted that the side conveying component of the initial posture sorting device is in contact with the box surface where the long side dimension is located, and the side length L is the short side dimension. At this time, the initial posture of the box is regarded as a completely standard posture; when When , it is predicted that the plane where the long side dimension of the box is located contacts the lateral conveying component of the initial posture sorting device, and the side length L is the short side dimension; when When , it is predicted that the side conveying component of the initial posture sorting device is in contact with the box surface where the short side dimension is located, and the side length L is the long side dimension. At this time, the initial posture of the box is regarded as a completely non-standard posture; when When , it is predicted that the plane where the short side dimension of the box is located is in contact with the lateral conveying component of the initial posture sorting device, and the side length L is the long side dimension; S2: Initial arrangement of the box posture In the initial state, the movable end of the telescopic cylinder is in an extended state. At this time, the opposing spacing adjustment component connected to the telescopic cylinder drives the lateral conveying component on its end side to be at the side edge position of the posture arranging mechanism. The spacing between the lateral conveying components symmetrically located at the side edge of the posture arranging mechanism is H. In the working state, the initial straightening and arranging of the box posture is achieved by adjusting the contraction amount of the movable end of the telescopic cylinder. That is, when the box reaches the conveying plane of the initial posture arranging device through the box feeding device, the contraction amount d of the movable end of the telescopic cylinder is adjusted according to the side length L corresponding to the box size in a vertical form of the box surface contacted by the lateral conveying component predicted in step S1, as follows: ， In order to prevent the box from being damaged due to excessive contraction of the movable end of the telescopic cylinder, or the box from being incomplete in the initial posture adjustment process due to too small contraction of the movable end of the telescopic cylinder, the movable end of the telescopic cylinder retracts a certain length, and under the action of the spacing driving component and the opposite spacing adjusting component, the lateral conveying components symmetrically located at the side end edges of the posture adjustment mechanism are driven to move toward the middle position of the posture adjustment mechanism, and the posture of the box passing through the lateral conveying components is preliminarily straightened and adjusted to obtain the actual posture of the box after the initial posture adjustment; S3: Identify and check whether the actual posture of the box after the initial posture adjustment is completely standard The box body after step S2 continues to be transported backward on the conveying plane of the posture sorting mechanism, and the second machine vision unit identifies the posture of the box body after step S2 to check whether the actual posture of the box body after step S2 is consistent with the predicted posture of the box body obtained in step S1. If they are inconsistent, the box body is manually removed and re-entered into the system. If they are consistent, it is further judged whether the actual posture of the box body is a completely standard posture, that is, the original image of the top surface of the box body on the conveying plane of the posture sorting mechanism is collected by the second machine vision unit, and then the YOLOv8s-seg model is used to quickly identify and extract the contour of the top surface of the box body, and the long side dimension (that is, the length dimension of the box body) and the short side dimension (that is, the width dimension of the box body) of the top surface of the box body are obtained by the minimum circumscribed matrix algorithm, and then the angle θ between the long side of the top surface of the box body and the conveying direction of the box body is obtained. When When , the actual posture of the box is judged to be a completely standard posture. When the actual posture of the box is judged to be completely non-standard, the box is further transmitted to the posture correction device so that the posture of the box is corrected according to the judgment result; S4: Cabinet posture correction When the actual posture of the box body after step S2 is a completely standard posture, the lifting cylinder and the rotating assembly of the posture correction device are in the initial position, that is, the movable end of the lifting cylinder is in a retracted state, and the box body is transferred to the stacking station by the roller conveyor mechanism; when the actual posture of the box body after step S2 is a completely non-standard posture, that is, it differs from the completely standard posture by 90°, when the box body moves to the top of the correction mechanism on the conveying plane of the roller conveyor mechanism, the photoelectric development triggers the external industrial computer to extend the movable end of the lifting cylinder, and drives the rotating assembly at its end to reach the posture adjustment position, and the rotating assembly lifts the box body and rotates 90°, thereby completing the 90° adjustment of the box body posture so that the actual posture of the box body is adjusted to a completely standard posture, and then, the movable end of the lifting cylinder retracts and drives the rotating assembly to descend, and the box body adjusted to a completely standard posture continues to reach the stacking station along the conveying plane of the roller conveyor mechanism via the conveying plane of the extension conveyor mechanism.

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