Box taking device, turnover device and full-automatic packaging system

Abstract

The utility model relates to a box taking device, a turnover device and a full-automatic packaging system.The box taking device comprises a support unit, two first driving units, two clamping units, at least one lifting unit, a second driving unit, a movable unit, two drawing units and at least one clamping unit, the truss manipulator is used for reciprocating in a three-dimensional space under the action of the truss manipulator; the two first driving units are symmetrically arranged at the top end of the support unit. The turnover box conveying device has the advantages that a turnover box can be clamped and fixed through cooperative use of the first driving unit and the clamping unit, so that the turnover box is conveniently conveyed to a designated position through the truss manipulator; the lifting unit, the second driving unit, the movable unit, the drawing unit and the clamping unit are used in cooperation to conduct drawing operation on the bottom of the turnover box, so that objects in the turnover box can be discharged conveniently, and the rhythm of the whole packaging process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field related to carton retrieval equipment for carton packaging, and in particular to a carton retrieval device, a turnover device and a full-automatic packaging system. Background Art

[0002] Turnover boxes, also known as logistics boxes, are containers used for storing, handling, and circulating items. In the manufacturing industry, turnover boxes are widely used to store and transport raw materials, parts, semi-finished products, and finished products. For example, in industries such as automotive manufacturing, electronic equipment production, and food processing, turnover boxes facilitate the transfer of various materials from one workstation to another, improving production efficiency. In logistics and distribution, as shipping packaging for goods, turnover boxes protect items from damage during transportation while facilitating loading and unloading, thereby improving logistics efficiency. Turnover boxes are commonly used logistics tools in express delivery, warehousing, and freight transportation.

[0003] Currently, paper packaging uses turnover boxes to transport items such as clothing, shoes, and beverages. These boxes facilitate transport from the warehouse to the production floor, reducing damage to the items during manual handling and improving handling efficiency. However, existing turnover box retrieval devices are inconvenient, requiring workers to spend more time and effort to retrieve items. This slows down the entire packaging process and reduces the number of packages completed per unit time.

[0004] Currently, no effective solution has been proposed for the problem of inconvenience in taking out objects from turnover boxes in related technologies. Utility Model Content

[0005] The purpose of the utility model is to address the deficiencies in the prior art and provide a box taking device, a turnover device and a fully automatic packaging system to solve the problem of inconvenience in taking out objects from turnover boxes in the related art.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] In a first aspect, a box-taking device is provided, comprising:

[0008] A bracket unit, the bracket unit being arranged on a horizontal plane and connected to the truss manipulator, and configured to reciprocate in a three-dimensional space under the action of the truss manipulator;

[0009] Two first driving units, the two first driving units are symmetrically arranged at the top end of the bracket unit and are respectively connected to the bracket unit;

[0010] Two clamping units, the two clamping units are symmetrically arranged at the bottom end of the bracket unit and are respectively connected to the corresponding first driving units, and are used to reciprocate along the first direction under the action of the first driving unit to clamp or release the turnover box;

[0011] At least one lifting unit, the lifting unit being disposed at the bottom end of the corresponding clamping unit and configured to reciprocate along a first direction under the action of the clamping unit to abut against or separate from the turnover box;

[0012] a second driving unit, wherein a driving end of the second driving unit is arranged at a side of the bracket unit, and a rotating end of the second driving unit is arranged at a bottom end of the bracket unit;

[0013] a movable unit, the movable unit being movably disposed at the bottom end of the bracket unit and rotatably connected to the rotating end of the second driving unit, and configured to reciprocate along a second direction under the action of the second driving unit, wherein the second direction is perpendicular to the first direction;

[0014] Two pulling units, each of which is slidably connected to the corresponding clamping unit and the movable unit, and is used to reciprocate along a first direction under the action of the clamping unit and reciprocate along a second direction under the action of the movable unit to abut against or separate from the turnover box;

[0015] At least one engaging unit is provided at the bottom end of the corresponding pulling unit and is used for reciprocating along the first direction and the second direction under the action of the pulling unit to engage with or separate from the turnover box.

[0016] In a second aspect, a turnover device is provided, which is used to be detachably connected to the box-removing device according to the first aspect, comprising:

[0017] A turnover unit, which is arranged below the support unit of the box-taking device and abuts against the two clamping units respectively, and is used to place the items to be packaged and reciprocate in a three-dimensional space under the action of the box-taking device;

[0018] a bottom plate unit, the bottom plate unit being movably disposed at the bottom end of the turnover unit and respectively abutting against the two drawer units of the box-taking device and being engaged with the engaging unit, and being configured to reciprocate along the second direction under the cooperation of the drawer unit and the engaging unit to open and close the bottom end of the turnover unit;

[0019] At least one limiting unit is arranged on the outside of the turnover unit, and is respectively connected to the turnover unit and the base unit in a limiting manner, and abuts against the lifting unit of the box-taking device, and is used for reciprocating in the vertical direction under the action of the lifting unit to be connected or separated with the base unit in a limiting manner.

[0020] In a third aspect, a fully automatic packaging system is provided, comprising:

[0021] The box-removing device as described in the first aspect.

[0022] In some embodiments, further comprising:

[0023] A control device is respectively connected to the two first driving units, the lifting unit, the second driving unit, and the clamping unit of the box-removing device.

[0024] The present invention adopts the above technical solution, and compared with the prior art, has the following technical effects:

[0025] The utility model provides a box-taking device, a turnover device and a fully automatic packaging system. The first drive unit and the clamping unit are used in coordination with each other to clamp and fix the turnover box, so that the turnover box can be transported to a designated position by a truss manipulator. The bottom of the turnover box is pulled and drawn by the coordination of the lifting unit, the second drive unit, the movable unit, the pulling unit and the clamping unit, so that the objects in the turnover box can be unloaded, thereby improving the rhythm of the entire packaging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure of the box-taking device according to an embodiment of the present utility model;

[0027] Figure 2 This is a schematic diagram of the three-dimensional structure of the box-taking device in another state according to an embodiment of the present utility model;

[0028] Figure 3 This is an exploded view of a box-taking device according to an embodiment of the present utility model;

[0029] Figure 4 This is a structural diagram of the combination of the bracket unit and the first driving unit according to an embodiment of the present utility model;

[0030] Figure 5 This is a schematic structural diagram of the combination of a clamping unit and a lifting unit according to an embodiment of the present utility model;

[0031] Figure 6 is an exploded view of the combination of the second driving unit and the movable unit according to an embodiment of the present utility model;

[0032] Figure 7 This is a structural diagram of the combination of the drawer unit and the clamping unit according to an embodiment of the present utility model;

[0033] Figure 8 This is a schematic diagram of the three-dimensional structure of the box-taking device and the turnover device according to an embodiment of the present utility model;

[0034] Figure 9 This is a schematic diagram of the three-dimensional structure of the turnover device according to an embodiment of the utility model;

[0035] Figure 10 This is a schematic diagram of the three-dimensional structure of the turnover unit according to an embodiment of the present utility model;

[0036] Figure 11 1 is a schematic diagram of the three-dimensional structure of the bottom plate unit according to an embodiment of the present utility model;

[0037] Figure 12 It is a partial schematic diagram and an overall exploded diagram of a limiting unit according to an embodiment of the present utility model;

[0038] Figure 13 It is a structural schematic diagram of a fully automatic packaging system according to an embodiment of the utility model.

[0039] The accompanying drawings are numerals 100, box taking device;

[0040] 110, bracket unit; 111, first bracket element; 112, first sliding element; 113, second bracket element; 114, second sliding element; 115, first through-slot element;

[0041] 120. First driving unit; 121. First driving element;

[0042] 130. Clamping unit; 131. Third bracket element; 132. Third sliding element; 133. Fourth bracket element; 134. Fourth sliding element; 135. Fifth bracket element; 136. Clamping element;

[0043] 140. Lifting unit; 141. Second driving element; 142. First lifting element;

[0044] 150. Second driving unit; 151. Third driving element; 152. First rotating element;

[0045] 160, movable unit; 161, sixth bracket element; 162, fifth sliding element; 163, seventh bracket element; 164, second rotating element; 165, eighth bracket element; 166, sixth sliding element;

[0046] 170, drawer unit; 171, ninth bracket element; 172, seventh sliding element; 173, tenth bracket element; 174, eighth sliding element; 175, drawer element;

[0047] 180, clamping unit; 181, fourth driving element; 182, first clamping element;

[0048] 200. Turnover device;

[0049] 210, turnover unit; 211, first frame element; 212, ninth sliding element; 213, second through-slot element; 214, first limiting element; 215, turnover element; 216, second frame element;

[0050] 220, bottom plate unit; 221, bottom plate element; 222, second limiting element; 223, second clamping element;

[0051] 230, limiting unit; 231, second lifting element; 232, third limiting element; 233, tenth sliding element; 234, eleventh sliding element; 235, fourth limiting element; 236, elastic element;

[0052] 300. Control device. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described 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 any creative work are within the scope of protection of the present invention.

[0054] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0055] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0056] Example 1

[0057] This embodiment relates to a box-taking device of the present utility model.

[0058] like Figure 1 、 Figure 2 、 Figure 3As shown, a box-taking device 100 includes a bracket unit 110, two first drive units 120, two clamping units 130, at least one lifting unit 140, a second drive unit 150, a movable unit 160, two pulling units 170 and at least one clamping unit 180. Among them, the bracket unit 110 is arranged on a horizontal plane and is connected to the truss manipulator, and is used to reciprocate in a three-dimensional space under the action of the truss manipulator; the two first driving units 120 are symmetrically arranged at the top of the bracket unit 110 and are respectively connected to the bracket unit 110; the two clamping units 130 are symmetrically arranged at the bottom end of the bracket unit 110 and are respectively connected to the corresponding first driving units 120, and are used to reciprocate along the first direction under the action of the first driving unit 120 to clamp or release the turnover box; the lifting unit 140 is arranged at the bottom end of the corresponding clamping unit 130, and is used to reciprocate along the first direction under the action of the clamping unit 130 to abut against or separate from the turnover box; the driving end of the second driving unit 150 is arranged on the side of the bracket unit 110, and the second driving The rotating end of the unit 150 is arranged at the bottom end of the bracket unit 110; the movable unit 160 is movably arranged at the bottom end of the bracket unit 110, and is rotatably connected to the rotating end of the second drive unit 150, and is used to reciprocate along the second direction under the action of the second drive unit 150, wherein the second direction is perpendicular to the first direction; the two pulling units 170 are respectively slidably connected to the corresponding clamping unit 130 and the movable unit 160, and are used to reciprocate along the first direction under the action of the clamping unit 130 and reciprocate along the second direction under the action of the movable unit 160 to abut or separate from the turnover box; the clamping unit 180 is arranged at the bottom end of the corresponding pulling unit 170, and is used to reciprocate along the first direction and the second direction under the action of the pulling unit 170 to clamp or separate from the turnover box.

[0059] The number of the lifting units 140 matches the number of the clamping units 130. Generally, the number of the lifting units 140 is an integer multiple of the number of the clamping units 130. That is, each clamping unit 130 is provided with at least one lifting unit 140.

[0060] In the case that a plurality of lifting units 140 are provided on each clamping unit 130 , the plurality of lifting units 140 are spaced apart along the length direction of the clamping unit 130 .

[0061] The number of the snap-in units 180 matches the number of the drawer units 170. Generally, the number of the snap-in units 180 is an integer multiple of the number of the drawer units 170. That is, each drawer unit 170 is provided with at least one snap-in unit 180.

[0062] When a plurality of engaging units 180 are provided on each drawer unit 170 , the plurality of engaging units 180 are spaced apart along the width direction of the drawer unit 170 .

[0063] like Figure 4 As shown, the bracket unit 110 includes a first bracket element 111 , two first sliding elements 112 , a second bracket element 113 , at least one second sliding element 114 and a first through-slot element 115 . Among them, the first bracket element 111 is arranged on a horizontal plane, and two first driving units 120 are arranged at the top of the first bracket element 111, and are respectively connected to the two first driving units 120 and the truss manipulator, for reciprocating in three-dimensional space under the action of the truss manipulator; the two first sliding elements 112 are symmetrically arranged at the bottom end of the first bracket element 111, and are respectively slidably connected to the corresponding clamping units 130; the second bracket element 113 is arranged at the bottom end of the first bracket element 111, and is located between the two first sliding elements 112, the outer side of the second bracket element 113 is provided with the driving end of the second driving unit 150, and the inner side of the second bracket element 113 is provided with the rotating end of the second driving unit 150; the second sliding element 114 is arranged at the bottom end of the second bracket element 113, and is slidably connected to the movable unit 160; the first through-groove element 115 is arranged on the inner side of the second bracket element 113, and is rotatably connected to the rotating end of the second driving unit 150.

[0064] The cross section of the first bracket element 111 is rectangular.

[0065] In some embodiments, the first bracket element 111 is a first support plate made of stainless steel.

[0066] In some embodiments, the first sliding element 112 includes a first sliding rail and at least one first sliding groove. The first sliding rail is disposed at the bottom end of the first support element 111 and connected to the first support element 111; the first sliding groove is disposed at the end of the first sliding rail and is slidably connected to the corresponding clamping unit 130.

[0067] In some embodiments, there are multiple first chutes. The multiple first chutes are spaced apart along the width direction of the first slide rail. Preferably, one first chute is provided on one side of the first slide rail, and another first chute is provided on the other side of the first slide rail.

[0068] Generally, the length of the first slide rail is smaller than the length of the first bracket element 111 , the width of the first slide rail is equal to the width of the first bracket element 111 , and the height of the first slide rail is greater than the height of the first bracket element 111 .

[0069] Generally, the radial dimension of the first sliding groove is smaller than the width and height of the first sliding rail, and the axial dimension of the first sliding groove is equal to the length of the first sliding rail.

[0070] In some embodiments, the first sliding element 112 is fixedly connected to the first bracket element 111 , including but not limited to a bolt connection.

[0071] In some embodiments, the first sliding element 112 is made of stainless steel.

[0072] The second support element 113 is a hollow structure.

[0073] Generally, the outer length of the second bracket element 113 is greater than the width of the first bracket element 111 , the outer width of the second bracket element 113 is smaller than the length of the first bracket element 111 , and the height of the second bracket element 113 is greater than the height of the first bracket element 111 .

[0074] In some embodiments, the second bracket element 113 is fixedly connected to the first bracket element 111 , including but not limited to bolt connection.

[0075] In some embodiments, the second support element 113 is a support frame made of stainless steel.

[0076] In some embodiments, the second sliding element 114 includes a second sliding rail and at least one second sliding groove. The second sliding rail is disposed at the bottom end of the second support element 113 and connected to the second support element 113; the second sliding groove is disposed at the end of the second sliding rail and is slidably connected to the corresponding movable unit 160.

[0077] In some embodiments, there are multiple second chutes. The multiple second chutes are spaced apart along the width direction of the second slide rail. Preferably, one second chute is provided on one side of the second slide rail, and another second chute is provided on the other side of the second slide rail.

[0078] Generally, the length of the second slide rail is equal to the outer length of the second support element 113, the width of the second slide rail is smaller than the outer width of the second support element 113, and the height of the second slide rail is smaller than the height of the second support element 113. Preferably, the width of the second slide rail is equal to the inner wall thickness of the second support element 113.

[0079] Generally, the radial dimension of the second sliding groove is smaller than the width and height of the second sliding rail, and the axial dimension of the second sliding groove is equal to the length of the second sliding rail.

[0080] In some embodiments, there are multiple second sliding elements 114. The multiple second sliding elements 114 are spaced apart along the width direction of the second support element 113. Preferably, one second sliding element 114 is disposed on one side of the bottom end of the second support element 113, and another second sliding element 114 is disposed on the other side of the bottom end of the second support element 113.

[0081] In some embodiments, the second sliding element 114 is fixedly connected to the second bracket element 113 , including but not limited to a bolt connection.

[0082] In some embodiments, the second sliding element 114 is made of stainless steel.

[0083] The cross section of the first through-groove element 115 is circular.

[0084] Generally, the radial dimension of the first through-groove element 115 is smaller than the inner width and height of the second bracket element 113 , and the axial dimension of the first through-groove element 115 is equal to the inner wall thickness of the second bracket element 113 .

[0085] In some embodiments, the first through-channel element 115 is a through hole.

[0086] like Figure 4 As shown, the first driving unit 120 includes a first driving element 121. The first driving element 121 is disposed at the top of the bracket unit 110 and is connected to the bracket unit 110 and the clamping unit 130 respectively, for driving the clamping unit 130 to reciprocate along the first direction.

[0087] Specifically, the first driving element 121 is disposed at the top of the first support element 111 and is connected to the first support element 111 .

[0088] In some embodiments, the first driving element 121 is fixedly connected to the first support element 111 , including but not limited to a bolt connection.

[0089] In some embodiments, the first driving element 121 is a telescopic electric cylinder.

[0090] like Figure 5 As shown, the clamping unit 130 includes a third bracket element 131 , a third sliding element 132 , a fourth bracket element 133 , a fourth sliding element 134 , a fifth bracket element 135 and a clamping element 136 . Among them, the third bracket element 131 is movably arranged at the bottom end of the bracket unit 110; the third sliding element 132 is arranged at the top end of the third bracket element 131 and is slidingly connected to the bracket unit 110; the fourth bracket element 133 is arranged at the top end of the third bracket element 131 and is connected to the corresponding first driving unit 120, which is used to drive the third bracket element 131 to reciprocate along the first direction under the action of the first driving unit 120; the fourth sliding element 134 is arranged at the bottom end of the third bracket element 131 and is slidingly connected to the corresponding pulling unit 170; the fifth bracket element 135 is arranged at the bottom end of the third bracket element 131 and is connected to the third bracket element 131; the clamping element 136 is arranged at the bottom end of the fifth bracket element 135, and the end of the clamping element 136 is provided with a corresponding lifting unit 140 for abutting against the turnover box.

[0091] Specifically, the third support element 131 is movably disposed below the corresponding first sliding element 112 ; the third sliding element 132 is slidably connected to the corresponding first sliding element 112 ; and the fourth support element 133 is connected to the output end of the corresponding first driving element 121 .

[0092] More specifically, the third bracket element 131 is movably disposed below the corresponding first slide rail; the third sliding element 132 is slidably connected to the corresponding first slide rail and the first slide groove.

[0093] The third support element 131 has an L-shaped cross-section. Specifically, the third support element 131 comprises a first support plate and a second support plate. The top of the first support plate is provided with a third sliding element 132 and a fourth support element 133, respectively. The bottom of the first support plate is provided with a fifth support element 135, positioned below the corresponding first sliding element 112. The bottom of the second support plate is provided with a fourth sliding element 134, which is connected to the first support plate.

[0094] Generally, the length of the second support plate is smaller than that of the first support plate, the width of the second support plate is smaller than that of the first support plate, and the height of the second support plate is equal to that of the first support plate.

[0095] In some embodiments, the third support element 131 is a second support plate made of stainless steel.

[0096] In some embodiments, the third sliding element 132 includes a first moving block and at least one first sliding block. The first moving block is disposed at the top of the first support plate and is slidably connected to the corresponding first slide rail; the first sliding block is disposed inside the first moving block and is slidably connected to the corresponding first slide groove.

[0097] The number of the first sliders matches the number of the first chutes. Generally, the number of the first sliders is equal to the number of the first chutes.

[0098] In some embodiments, there are multiple first sliders. The multiple first sliders are spaced apart along the length direction of the first moving block. Preferably, one first slider is disposed on one side of the interior of the first moving block, and another first slider is disposed on the other side of the interior of the first moving block.

[0099] Generally, the outer length of the first movable block is less than the length of the first support plate, the width of the first movable block is less than the width of the first support plate, and the outer height of the first movable block is greater than the height of the first support plate. The inner length of the first movable block is equal to the width of the first slide rail, the width of the first movable block is less than the length of the first slide rail, and the inner height of the first movable block is not less than the height of the first slide rail.

[0100] Generally, the radial dimension of the first slider is smaller than the inner length and inner height of the first moving block, and the axial dimension of the first slider is equal to the width of the first moving block. The radial dimension of the first slider is equal to the radial dimension of the first chute, and the axial dimension of the first slider is smaller than the axial dimension of the first chute.

[0101] In some embodiments, the third sliding element 132 is fixedly connected to the third bracket element 131 , including but not limited to a bolt connection.

[0102] In some embodiments, the third sliding element 132 is made of stainless steel.

[0103] The fourth support element 133 has an L-shaped cross-section. Specifically, the fourth support element 133 includes a third support plate and a fourth support plate. The third support plate is disposed on top of the first support plate and connected to the first support plate; the fourth support plate is disposed on top of the third support plate and connected to the third support plate and the corresponding first drive element 121.

[0104] Generally, the length of the third support plate is smaller than that of the first support plate, the width of the third support plate is smaller than that of the first support plate, and the height of the third support plate is greater than that of the first support plate.

[0105] Generally, the length of the fourth support plate is greater than that of the third support plate, the width of the fourth support plate is equal to the width of the third support plate, the height of the fourth support plate is not greater than that of the third support plate, and the length of the fourth support plate is less than that of the first support plate.

[0106] In some embodiments, the fourth support element 133 is fixedly connected to the third support element 131 and the first driving element 121 , respectively, including but not limited to bolt connections.

[0107] In some embodiments, the fourth bracket element 133 is a third support plate made of stainless steel.

[0108] In some embodiments, the fourth sliding element 134 includes a second moving block and at least one second sliding block. The second moving block is disposed at the bottom end of the second support plate and connected to the second support plate; the second sliding block is disposed inside the second moving block and is slidably connected to the corresponding pull-out unit 170.

[0109] In some embodiments, there are multiple second sliders. The multiple second sliders are spaced apart along the width direction of the second moving block. Preferably, one second slider is disposed on one side of the interior of the second moving block, and another second slider is disposed on the other side of the interior of the second moving block.

[0110] Generally, the length of the second moving block is smaller than the length of the second supporting plate, the outer width of the second moving block is equal to the width of the second supporting plate, and the outer height of the second moving block is greater than the height of the second supporting plate.

[0111] Generally, the radial dimension of the second sliding block is smaller than the inner width and inner height of the second moving block, and the axial dimension of the second sliding block is equal to the length of the first moving block.

[0112] In some embodiments, the fourth sliding element 134 is fixedly connected to the third bracket element 131 , including but not limited to a bolt connection.

[0113] In some embodiments, the fourth sliding element 134 is made of stainless steel.

[0114] The cross section of the fifth bracket element 135 is rectangular.

[0115] Generally, the length of the fifth support element 135 is smaller than the length of the first support plate, the width of the fifth support element 135 is smaller than the width of the first support plate, and the height of the fifth support element 135 is greater than the height of the first support plate.

[0116] In some embodiments, the fifth bracket element 135 is fixedly connected to the third bracket element 131 , including but not limited to bolt connection.

[0117] In some embodiments, the fifth support element 135 is a fourth support plate made of stainless steel.

[0118] In some embodiments, the clamping element 136 includes a clamping plate and a slot. The clamping plate is disposed at the bottom end of the fifth bracket element 135, a corresponding lifting unit 140 is disposed at the rear end of the clamping plate and connected to the fifth bracket element 135, and the slot is disposed at the front end of the clamping plate and abuts against the turnover box.

[0119] Generally, the length of the clamping plate is greater than the length of the fifth bracket element 135 , the width of the clamping plate is greater than the width of the fifth bracket element 135 , and the height of the clamping plate is less than the height of the fifth bracket element 135 .

[0120] Generally, the length of the card slot is equal to the length of the splint, the width of the card slot is smaller than the width of the splint, and the height of the card slot is smaller than the height of the splint.

[0121] In some embodiments, the clamping element 136 is fixedly connected to the fifth bracket element 135 , including but not limited to a bolt connection.

[0122] In some embodiments, the clamping element 136 is made of stainless steel.

[0123] like Figure 5As shown, the lifting unit 140 includes a second driving element 141 and a first lifting element 142. The second driving element 141 is disposed at the bottom end of the corresponding clamping unit 130 and is connected to the clamping unit 130, and is configured to reciprocate along the first direction under the action of the clamping unit 130; the first lifting element 142 is disposed on the second driving element 141 and abuts against the turnover box. Under the action of the second driving element 141, it is configured to reciprocate along the vertical direction and the first direction to abut or separate from the turnover box.

[0124] Specifically, the second driving element 141 is disposed at the end of the corresponding clamping element 136. More specifically, the second driving element 141 is disposed at the end of the corresponding clamping plate.

[0125] In some embodiments, the second driving element 141 is fixedly connected to the clamping element 136 , including but not limited to a bolt connection.

[0126] In some embodiments, the second driving element 141 is a telescopic electric cylinder.

[0127] The first lifting element 142 has an L-shaped cross-section. Specifically, the first lifting element 142 includes a first lifting plate and a second lifting plate. The first lifting plate is disposed at the output end of the second driving element 141; the second lifting plate is disposed at the end of the first lifting plate and abuts against the turnover box.

[0128] Generally, the length of the second lifting plate is less than that of the first lifting plate, the width of the second lifting plate is equal to the width of the first lifting plate, and the height of the second lifting plate is equal to the height of the first lifting plate.

[0129] In some embodiments, the first lifting element 142 is fixedly connected to the second driving element 141 , including but not limited to a bolt connection.

[0130] In some embodiments, the first lifting element 142 is made of stainless steel.

[0131] like Figure 6 As shown, the second drive unit 150 includes a third drive element 151 and a first rotating element 152. The third drive element 151 is disposed on the side of the bracket unit 110 and is connected to the bracket unit 110; the first rotating element 152 is disposed at the bottom end of the bracket unit 110 and is respectively connected to the third drive element 151 and the movable unit 160, and is used to drive the movable unit 160 to reciprocate along the second direction under the action of the third drive element 151.

[0132] Specifically, the third driving element 151 is disposed on the outside of the second bracket element 113 and is connected to the second bracket element 113 ; the first rotating element 152 is disposed on the inside of the second bracket element 113 and is rotatably connected to the first through-slot element 115 .

[0133] In some embodiments, the third driving element 151 is fixedly connected to the second support element 113 , including but not limited to a bolt connection.

[0134] In some embodiments, the third driving element 151 is a servo motor.

[0135] The cross section of the first rotating element 152 is circular.

[0136] Generally, the radial dimension of the first rotating element 152 is smaller than the inner width and height of the second support element 113, the axial dimension of the first rotating element 152 is larger than the inner length of the second support element 113, and the axial dimension of the first rotating element 152 is smaller than the outer length of the second support element 113. The radial dimension of the first rotating element 152 is equal to the radial dimension of the first through-slot element 115, and the axial dimension of the first rotating element 152 is larger than the axial dimension of the first through-slot element 115.

[0137] In some embodiments, the first rotating element 152 is fixedly connected to the third driving element 151 , including but not limited to a bolt connection.

[0138] In some embodiments, the first rotating element 152 is integrally connected to the first through-groove element 115 for rotation. For example, the first rotating element 152 is connected to the first through-groove element 115 via a bearing seat.

[0139] In some embodiments, the first rotating element 152 is a screw made of stainless steel.

[0140] like Figure 6As shown, the movable unit 160 includes a sixth support element 161 , at least one fifth sliding element 162 , a seventh support element 163 , a second rotating element 164 , two eighth support elements 165 and two sixth sliding elements 166 . Among them, the sixth bracket element 161 is movably arranged at the bottom end of the bracket unit 110; the fifth sliding element 162 is arranged at the top of the sixth bracket element 161 and is slidably connected to the bracket unit 110; the seventh bracket element 163 is arranged at the top of the sixth bracket element 161 and is connected to the sixth bracket element 161; the second rotating element 164 is arranged through the seventh bracket element 163 and is rotatably connected to the rotating end of the second driving unit 150, and is used to drive the sixth bracket element 161 to reciprocate along the second direction through the seventh bracket element 163 under the action of the second driving unit 150; the two eighth bracket elements 165 are symmetrically arranged at the bottom end of the sixth bracket element 161 and are respectively connected to the sixth bracket element 161, and are used to reciprocate along the first direction under the action of the sixth bracket element 161; the two sixth sliding elements 166 are respectively arranged at the ends of the corresponding eighth bracket element 165 and are respectively slidably connected to the corresponding pulling units 170.

[0141] Specifically, the sixth support element 161 is movably disposed below the second support element 113 ; the fifth sliding element 162 is slidably connected to the second sliding element 114 ; and the second rotating element 164 is rotatably connected to the first rotating element 152 .

[0142] More specifically, the fifth sliding element 162 is slidably connected to the second sliding rail and the second sliding groove.

[0143] The cross section of the sixth bracket element 161 is rectangular.

[0144] Generally, the length of the sixth support element 161 is greater than the outer width of the second support element 113 , the width of the sixth support element 161 is less than the outer length of the second support element 113 , and the height of the sixth support element 161 is less than the height of the second support element 113 .

[0145] In some embodiments, the sixth bracket element 161 is made of stainless steel.

[0146] In some embodiments, the sixth support element 161 is a fifth support plate.

[0147] In some embodiments, the fifth sliding element 162 includes a third moving block and at least one third sliding block. The third moving block is disposed at the top of the sixth bracket element 161 and is slidably connected to the second slide rail; the third sliding block is disposed inside the third moving block and is slidably connected to the second slide groove.

[0148] The number of the third sliders matches the number of the second chutes. Generally, the number of the third sliders is equal to the number of the second chutes.

[0149] In some embodiments, there are multiple third sliders. The multiple third sliders are spaced apart along the width direction of the third moving block. Preferably, one third slider is disposed on one side of the interior of the third moving block, and another third slider is disposed on the other side of the interior of the third moving block.

[0150] Generally, the length of the third moving block is less than the width of the sixth support element 161, the outer width of the third moving block is less than the length of the sixth support element 161, and the outer height of the third moving block is not greater than the height of the sixth support element 161. The length of the third moving block is less than the length of the second slide rail, the inner width of the third moving block is equal to the width of the second slide rail, and the inner height of the third moving block is not less than the height of the second slide rail.

[0151] Generally, the radial dimension of the third slider is smaller than the inner width and inner height of the third moving block, and the axial dimension of the third slider is equal to the length of the third moving block. The radial dimension of the third slider is equal to the radial dimension of the second chute, and the axial dimension of the third slider is smaller than the axial dimension of the second chute.

[0152] The number of the fifth sliding elements 162 matches the number of the second sliding elements 114 . Generally, the number of the fifth sliding elements 162 is equal to the number of the second sliding elements 114 .

[0153] In some embodiments, there are multiple fifth sliding elements 162. The multiple fifth sliding elements 162 are spaced apart along the length of the sixth support element 161. Preferably, one fifth sliding element 162 is disposed on one side of the top of the sixth support element 161, and another fifth sliding element 162 is disposed on the other side of the top of the sixth support element 161.

[0154] In some embodiments, the fifth sliding element 162 is fixedly connected to the sixth bracket element 161 , including but not limited to a bolt connection.

[0155] In some embodiments, the fifth sliding element 162 is made of stainless steel.

[0156] The seventh bracket element 163 has a rectangular cross section.

[0157] Generally, the length of the seventh support element 163 is shorter than that of the sixth support element 161 , the width of the seventh support element 163 is equal to that of the sixth support element 161 , and the height of the seventh support element 163 is greater than that of the sixth support element 161 .

[0158] In some embodiments, the seventh bracket element 163 is fixedly connected to the sixth bracket element 161 , including but not limited to bolt connection.

[0159] In some embodiments, the seventh bracket element 163 is a movable block made of stainless steel.

[0160] The cross section of the second rotating element 164 is circular.

[0161] Generally, the radial dimension of the second rotating element 164 is smaller than the length and height of the seventh support element 163, and the axial dimension of the second rotating element 164 is equal to the width of the seventh support element 163. The radial dimension of the second rotating element 164 is equal to the radial dimension of the first rotating element 152, and the axial dimension of the second rotating element 164 is smaller than the axial dimension of the first rotating element 152.

[0162] In some embodiments, the second rotating element 164 is a threaded hole.

[0163] The eighth bracket element 165 has a rectangular cross section.

[0164] Generally, the length of the eighth support element 165 is smaller than that of the sixth support element 161 , the width of the eighth support element 165 is smaller than that of the sixth support element 161 , and the height of the eighth support element 165 is greater than that of the sixth support element 161 .

[0165] In some embodiments, the eighth bracket element 165 is fixedly connected to the sixth bracket element 161 , including but not limited to bolt connection.

[0166] In some embodiments, the eighth support element 165 is a sixth support plate made of stainless steel.

[0167] In some embodiments, the sixth sliding element 166 includes a fourth moving block and at least one fourth sliding block. The fourth moving block is disposed at the end of the corresponding eighth bracket element 165 and connected to the eighth bracket element 165; the fourth sliding block is disposed inside the fourth moving block and is slidably connected to the corresponding pull-out unit 170.

[0168] In some embodiments, there are multiple fourth sliders. The multiple fourth sliders are spaced apart along the height direction of the fourth moving block. Preferably, one fourth slider is disposed at the top end of the fourth moving block, and one fourth slider is disposed at the bottom end of the fourth moving block.

[0169] Generally, the length of the fourth moving block is smaller than the length of the eighth bracket element 165 , the outer width of the fourth moving block is smaller than the width of the eighth bracket element 165 , and the outer height of the fourth moving block is smaller than the height of the eighth bracket element 165 .

[0170] Generally, the radial dimension of the fourth sliding block is smaller than the inner width and inner height of the fourth moving block, and the axial dimension of the fourth sliding block is equal to the length of the fourth moving block.

[0171] In some embodiments, the sixth sliding element 166 is fixedly connected to the eighth bracket element 165 , including but not limited to a bolt connection.

[0172] In some embodiments, the sixth sliding element 166 is made of stainless steel.

[0173] like Figure 7 As shown, the drawing unit 170 includes a ninth support element 171, a seventh sliding element 172, a tenth support element 173, an eighth sliding element 174, and a drawing element 175. The ninth support element 171 is movably disposed at the bottom end of the corresponding clamping unit 130; the seventh sliding element 172 is disposed at the top end of the ninth support element 171 and is slidably connected to the corresponding clamping unit 130; the tenth support element 173 is disposed at the first end of the ninth support element 171 and is connected to the ninth support element 171; the eighth sliding element 174 is disposed at the end of the tenth support element 173 and is slidably connected to the movable unit 160; and the drawing element 175 is disposed at the second end of the ninth support element 171 and abuts against the turnover box. Under the action of the ninth support element 171, the drawing element 175 is configured to reciprocate in the first and second directions to abut against or separate from the turnover box.

[0174] Specifically, the ninth support element 171 is movably disposed below the third support element 131, the seventh sliding element 172 is slidably connected to the corresponding fourth sliding element 134, and the eighth sliding element 174 is slidably connected to the corresponding sixth sliding element 166. More specifically, the ninth support element 171 is movably disposed below the first and second support plates; the seventh sliding element 172 is slidably connected to the corresponding second moving block and second sliding block; and the eighth sliding element 174 is slidably connected to the corresponding fourth moving block and fourth sliding block.

[0175] The ninth bracket element 171 has a rectangular cross section.

[0176] Generally, the length of the ninth support element 171 is greater than the sum of the lengths of the first support plate and the second support plate, the width of the ninth support element 171 is less than the width of the first support plate (the second support plate), and the height of the ninth support element 171 is greater than the height of the first support plate (the second support plate). The length of the ninth support element 171 is no greater than the outer length of the second support element 113.

[0177] In some embodiments, the ninth bracket element 171 is a seventh support plate made of stainless steel.

[0178] In some embodiments, the seventh sliding element 172 includes a third sliding rail and at least one third sliding slot. The third sliding rail is disposed at the bottom end of the ninth bracket element 171 and is slidably connected to the corresponding second moving block; the third sliding slot is disposed at the end of the third sliding rail and is slidably connected to the corresponding second sliding block.

[0179] The number of the third chute matches the number of the second sliders. Generally, the number of the third chute is equal to the number of the second sliders.

[0180] In some embodiments, there are multiple third chutes. The multiple third chutes are spaced apart along the width direction of the third slide rail. Preferably, one third chute is provided on one side of the third slide rail, and another third chute is provided on the other side of the third slide rail.

[0181] Generally, the length of the third slide rail is equal to the length of the ninth support element 171, the width of the third slide rail is no greater than the width of the ninth support element 171, and the height of the third slide rail is less than the height of the ninth support element 171. The length of the third slide rail is greater than the length of the second moving block, the width of the third slide rail is equal to the inner width of the second moving block, and the height of the third slide rail is no less than the inner height of the second moving block.

[0182] Generally, the radial dimension of the third chute is smaller than the width and height of the third slide rail, and the axial dimension of the third chute is equal to the length of the third slide rail. The radial dimension of the third chute is equal to the radial dimension of the second slider, and the axial dimension of the third chute is greater than the axial dimension of the second slider.

[0183] In some embodiments, the seventh sliding element 172 is fixedly connected to the ninth bracket element 171 , including but not limited to a bolt connection.

[0184] In some embodiments, the seventh sliding element 172 is made of stainless steel.

[0185] The cross section of the tenth bracket element 173 is rectangular.

[0186] Generally, the length of tenth bracket element 173 is greater than the width of ninth bracket element 171, the width of tenth bracket element 173 is less than the length of ninth bracket element 171, and the height of tenth bracket element 173 is less than the height of ninth bracket element 171. The length of tenth bracket element 173 is not less than the length of eighth bracket element 165.

[0187] In some embodiments, the tenth bracket element 173 is fixedly connected to the ninth bracket element 171 , including but not limited to bolt connection.

[0188] In some embodiments, the tenth support element 173 is an eighth support plate made of stainless steel.

[0189] In some embodiments, the eighth sliding element 174 includes a fourth sliding rail and at least one fourth sliding slot. The fourth sliding rail is disposed at the end of the tenth bracket element 173 and is slidably connected to the corresponding fourth moving block; the fourth sliding slot is disposed at the end of the fourth sliding rail and is slidably connected to the corresponding fourth sliding block.

[0190] The number of the fourth chute matches the number of the fourth slider. Generally, the number of the fourth chute is equal to the number of the fourth slider.

[0191] In some embodiments, there are a plurality of fourth chutes, which are spaced apart along the height direction of the fourth slide rail. Preferably, a fourth chute is provided at the top end of the fourth slide rail, and a fourth chute is provided at the bottom end of the fourth slide rail.

[0192] Generally, the length of the fourth slide rail is equal to the length of the tenth bracket element 173, the width of the fourth slide rail is less than the width of the tenth bracket element 173, and the height of the fourth slide rail is not greater than the height of the tenth bracket element 173. The length of the fourth slide rail is greater than the length of the fourth moving block, the width of the fourth slide rail is not less than the inner width of the fourth moving block, and the height of the fourth slide rail is equal to the inner height of the fourth moving block.

[0193] Generally, the radial dimension of the fourth chute is smaller than the width and height of the fourth slide rail, and the axial dimension of the fourth chute is equal to the length of the fourth slide rail. The radial dimension of the fourth chute is equal to the radial dimension of the fourth slider, and the axial dimension of the fourth chute is larger than the axial dimension of the fourth slider.

[0194] In some embodiments, the eighth sliding element 174 is fixedly connected to the tenth bracket element 173 , including but not limited to a bolt connection.

[0195] In some embodiments, the eighth sliding element 174 is made of stainless steel.

[0196] The pull element 175 has an L-shaped cross section. Specifically, the pull element 175 includes a vertical plate and a horizontal plate. The vertical plate is disposed at the second end of the ninth support element 171 and connected to the ninth support element 171; the horizontal plate is disposed at the bottom end of the vertical plate and abuts against the turnover box.

[0197] Generally, the length of the riser is smaller than the length of the ninth bracket element 171 , the width of the riser is smaller than the width of the ninth bracket element 171 , and the height of the riser is greater than the height of the ninth bracket element 171 .

[0198] Generally, the length of the horizontal board is greater than the length of the vertical board, the width of the horizontal board is equal to the width of the vertical board, and the height of the horizontal board is less than the height of the vertical board.

[0199] In some embodiments, the pulling element 175 is fixedly connected to the ninth bracket element 171 , including but not limited to a bolt connection.

[0200] In some embodiments, the pulling element 175 is made of stainless steel.

[0201] like Figure 7 As shown, the engaging unit 180 includes a fourth driving element 181 and a first engaging element 182. The fourth driving element 181 is provided at the bottom end of the corresponding drawing unit 170 and is used to reciprocate along the first direction and the second direction under the action of the drawing unit 170; the first engaging element 182 is provided on the fourth driving element 181 and is engaged with the turnover box, and is used to reciprocate along the vertical direction, the first direction, and the second direction under the action of the fourth driving element 181.

[0202] Specifically, the fourth driving element 181 is disposed at the bottom end of the corresponding pulling element 175 and is connected to the pulling element 175 .

[0203] More specifically, the fourth driving element 181 is disposed at the bottom end of the corresponding vertical plate and is connected to the vertical plate.

[0204] In some embodiments, the fourth driving element 181 is fixedly connected to the pulling element 175 , including but not limited to a bolt connection.

[0205] In some embodiments, the fourth driving element 181 is a telescopic electric cylinder.

[0206] In some embodiments, the first clamping element 182 includes a connecting plate and a clamping block. The connecting plate is disposed at the output end of the fourth driving element 181 and is connected to the fourth driving element 181; the clamping block is disposed at the bottom end of the connecting plate and is clamped to the turnover box.

[0207] Generally, the length of the connecting plate is not less than the length of the transverse plate, the width of the connecting plate is greater than the width of the transverse plate, and the height of the connecting plate is less than the height of the transverse plate.

[0208] Generally, the length of the clamping block is smaller than the width of the connecting plate, the width of the clamping block is smaller than the length of the connecting plate, and the height of the clamping block is smaller than the height of the connecting plate.

[0209] In some embodiments, the first clamping element 182 is fixedly connected to the fourth driving element 181 , including but not limited to a bolt connection.

[0210] In some embodiments, the first clamping element 182 is made of stainless steel.

[0211] The method of using the utility model is as follows:

[0212] (1) Installing the box removal device 100

[0213] The first bracket element 111 is placed on the truss manipulator and fixed to the truss manipulator via bolts.

[0214] (2) Unpacking operation

[0215] Move the box-taking device 100 to the designated position by the truss manipulator;

[0216] The two first driving elements 121 are activated to drive the two clamping elements 136 to move toward each other along the length direction of the corresponding first sliding element 112 through the corresponding fourth support element 133, so that the two clamping elements 136 gradually approach the turnover box until the two clamping elements 136 respectively abut against the turnover box;

[0217] During the process, the corresponding fourth support elements 133 drive the two first lifting elements 142 to move accordingly, so that the two first lifting elements 142 gradually approach the turnover box until the two first lifting elements 142 respectively abut against the turnover box;

[0218] The two pulling elements 175 are driven to move correspondingly by the corresponding fourth bracket elements 133 so that the two pulling elements 175 are in contact with the bottom of the turnover box.

[0219] (3) Unloading operations

[0220] The box-taking device 100 holding the turnover box is moved to the designated unloading location by the truss manipulator;

[0221] Start the two second driving elements 141 to drive the two first lifting elements 142 to move upward in the vertical direction, so as to release the limit of the bottom of the turnover box through the two first lifting elements 142;

[0222] Start the two fourth driving elements 181 to drive the two first engaging elements 182 to move downward in the vertical direction until they come into contact with the bottom of the turnover box;

[0223] Start the third driving element 151 to drive the first rotating element 152 to rotate along the circumference of the first through-slot element 115;

[0224] The first rotating element 152 drives the sixth supporting element 161 to move along the length direction of the second sliding element 114 through the seventh supporting element 163;

[0225] The sixth bracket element 161 drives the two pulling elements 175 and the two first clamping elements 182 to move accordingly through the corresponding eighth bracket element 165. The bottom of the turnover box is pulled and opened through the cooperation between the corresponding pulling elements 175 and the first clamping elements 182 to perform unloading operations.

[0226] The advantage of the present invention is that the turnover box can be clamped and fixed by the cooperation between the first drive unit and the clamping unit, so that the turnover box can be transported to a designated location by the truss manipulator, and the bottom of the turnover box can be pulled and pulled by the cooperation between the lifting unit, the second drive unit, the movable unit, the pulling unit and the clamping unit, so that the objects in the turnover box can be unloaded, thereby improving the rhythm of the entire packaging process.

[0227] Example 2

[0228] This embodiment relates to the turnover device of the present utility model.

[0229] like Figure 8 、 Figure 9 As shown, a turnover device 200 is used to be detachably connected to the box-taking device 100 as described in Example 1, and includes a turnover unit 210, a bottom plate unit 220 and at least one limiting unit 230. Among them, the turnover unit 210 is arranged below the bracket unit 110 of the box taking device 100, and is respectively abutted against the two clamping units 130, for placing the items to be packaged and moving back and forth in three-dimensional space under the action of the box taking device 100; the bottom plate unit 220 is movably arranged at the bottom end of the turnover unit 210, and is respectively abutted against the two pulling units 170 of the box taking device 100, and is clamped with the snap-on unit 180, for moving back and forth along the second direction to open and close the bottom end of the turnover unit 210 under the cooperation of the pulling unit 170 and the snap-on unit 180; the limiting unit 230 is arranged on the outside of the turnover unit 210, and is respectively connected to the turnover unit 210 and the bottom plate unit 220, and is abutted against the lifting unit 140 of the box taking device 100, for moving back and forth in the vertical direction under the action of the lifting unit 140 to be limitedly connected or separated with the bottom plate unit 220.

[0230] The number of the limiting units 230 matches the number of the lifting units 140. Generally, the number of the limiting units 230 is equal to the number of the lifting units 140.

[0231] In some embodiments, there are multiple limiting units 230, which are spaced apart along the length of the turnover unit 210. Preferably, one limiting unit 230 is provided on one side of the turnover unit 210, and another limiting unit 230 is provided on the other side of the turnover unit 210.

[0232] like Figure 10 As shown, the turnover unit 210 includes a first frame element 211 , a ninth sliding element 212 , at least one second through-slot element 213 , at least one first limiting element 214 , a turnover element 215 and a second frame element 216 . Among them, a bottom plate unit 220 is provided on the inner side of the first frame element 211; the ninth sliding element 212 is provided on the inner side of the first frame element 211 and is slidably connected to the bottom plate unit 220; the second through-groove element 213 is provided at the top end of the first frame element 211 and is connected to the ninth sliding element 212, for allowing the pulling unit 170 to pass through the first frame element 211; the first limiting element 214 is provided at the top end of the first frame element 211 and is limitedly connected to the limiting unit 230; the turnover element 215 is provided at the top end of the first frame element 211 and is connected to the first frame element 211, for placing items to be packaged; the second frame element 216 is provided at the top end of the turnover element 215 and is connected to the turnover element 215, and is respectively abutted against the two clamping units 130.

[0233] Specifically, the second through-slot element 213 allows the first clamping element 182 to pass through; the second frame element 216 respectively abuts against the two clamping elements 136. More specifically, the second through-slot element 213 allows the connecting plate and the clamping block to pass through; the second frame element 216 abuts against the clamping slot.

[0234] The first frame element 211 is a hollow structure.

[0235] In some embodiments, the first frame element 211 is a first frame made of stainless steel.

[0236] The ninth sliding element 212 has a rectangular cross section.

[0237] Generally, the length of the ninth sliding element 212 is greater than the inner length of the first frame element 211, the length of the ninth sliding element 212 is less than the outer length of the first frame element 211, the width of the ninth sliding element 212 is greater than the inner width of the first frame element 211, the width of the ninth sliding element 212 is less than the outer width of the first frame element 211, and the height of the ninth sliding element 212 is less than the height of the first frame element 211.

[0238] In some embodiments, the ninth sliding element 212 is a fifth sliding groove.

[0239] The cross section of the second through-groove element 213 is rectangular.

[0240] Generally, the length of the second through-groove member 213 is less than the inner length of the first frame member 211, the width of the second through-groove member 213 is less than the inner wall thickness of the first frame member 211, and the height of the second through-groove member 213 is equal to the height of the first frame member 211. The length of the second through-groove member 213 is greater than the width of the connecting plate, the width of the second through-groove member 213 is less than the length of the connecting plate, and the height of the second through-groove member 213 is greater than the height of the connecting plate.

[0241] The number of the second through-slot elements 213 matches the number of the snap-in units 180. Generally, the number of the second through-slot elements 213 is equal to the number of the snap-in units 180.

[0242] In some embodiments, there are multiple second through-slot elements 213, and the multiple second through-slot elements 213 are spaced apart along the length direction of the first frame element 211. Preferably, one second through-slot element 213 is provided on one side of the first frame element 211, and another second through-slot element 213 is provided on the other side of the first frame element 211.

[0243] In some embodiments, the second through-slot element 213 is a through-slot.

[0244] The cross section of the first limiting element 214 is circular.

[0245] Generally, the radial dimension of the first limiting element 214 is smaller than the inner width and inner wall of the first frame element 211, and the axial dimension of the first limiting element 214 is smaller than the height of the first frame element 211. The radial dimension of the first limiting element 214 is smaller than the length and width of the ninth sliding element 212.

[0246] The number of the first limiting elements 214 matches the number of the limiting units 230. Generally, the number of the first limiting elements 214 is equal to the number of the limiting units 230.

[0247] In some embodiments, there are multiple first limiting elements 214, and the multiple first limiting elements 214 are spaced apart along the length direction of the first frame element 211. Preferably, one first limiting element 214 is provided on one side of the first frame element 211, and one first limiting element 214 is provided on the other side of the first frame element 211.

[0248] In some embodiments, the first limiting element 214 is a first limiting hole.

[0249] The turnover element 215 is a hollow structure.

[0250] Generally, the inner length of the circulation element 215 is equal to the inner length of the first frame element 211, the outer length of the circulation element 215 is smaller than the outer length of the first frame element 211, the inner width of the circulation element 215 is equal to the inner width of the first frame element 211, the outer width of the circulation element 215 is smaller than the outer width of the first frame element 211, and the height of the circulation element 215 is greater than the height of the first frame element 211.

[0251] In some embodiments, the epicyclic element 215 is fixedly connected to the first frame element 211 , including but not limited to bolt connection.

[0252] In some embodiments, the turnover element 215 is a turnover box made of stainless steel.

[0253] The second frame element 216 has a hollow structure.

[0254] Generally, the inner length of the second frame member 216 is equal to the inner length of the epicyclic member 215, the outer length of the second frame member 216 is greater than the outer length of the epicyclic member 215, the inner width of the second frame member 216 is equal to the inner width of the epicyclic member 215, the outer width of the second frame member 216 is greater than the outer width of the epicyclic member 215, and the height of the second frame member 216 is less than the height of the epicyclic member 215. The length (e.g., inner length and outer length) of the second frame member 216 is equal to the length (e.g., inner length and outer length) of the first frame member 211, the width (e.g., inner width and outer width) of the second frame member 216 is equal to the length (e.g., inner width and outer width) of the first frame member 211, and the height of the second frame member 216 is equal to the height of the first frame member 211. The outer length of the second frame member 216 is greater than the length of the card slot, the inner wall thickness of the second frame member 216 is greater than the width of the card slot, and the height of the second frame member 216 is equal to the height of the card slot.

[0255] In some embodiments, the second frame member 216 is fixedly connected to the epicyclic member 215 , including but not limited to bolt connection.

[0256] In some embodiments, the second frame element 216 is a second frame made of stainless steel.

[0257] like Figure 11As shown, the bottom plate unit 220 includes a bottom plate element 221, at least one second limiting element 222, and at least one second engaging element 223. The bottom plate element 221 is movably disposed at the bottom end of the revolving unit 210 and abuts against the two drawer units 170, respectively, for reciprocating along the width direction of the revolving unit 210 to open and close the bottom end of the revolving unit 210; the second limiting element 222 is disposed through the bottom plate element 221 and is in position-limiting connection with the limiting unit 230; and the second engaging element 223 is disposed through the bottom plate element 221 and is engaged with the engaging unit 180.

[0258] Specifically, the bottom plate element 221 is movably mounted on the ninth sliding element 212; the second limiting element 222 corresponds to the first limiting element 214; the second engaging element 223 is connected to the second through-slot element 213 and engaged with the first engaging element 182. More specifically, the second engaging element 223 engages with the engaging block.

[0259] The cross section of the bottom plate member 221 is rectangular.

[0260] Generally, the length of the bottom plate element 221 is equal to the length of the ninth sliding element 212 , the width of the bottom plate element 221 is equal to the width of the ninth sliding element 212 , and the height of the bottom plate element 221 is equal to the height of the ninth sliding element 212 .

[0261] In some embodiments, the bottom plate component 221 is a bottom plate made of stainless steel.

[0262] The cross section of the second limiting element 222 is circular.

[0263] Generally, the radial dimension of the second limiting element 222 is smaller than the length and width of the bottom plate element 221 , and the axial dimension of the second limiting element 222 is equal to the height of the bottom plate element 221 . The radial dimension of the second limiting element 222 is equal to the radial dimension of the first limiting element 214 .

[0264] The number of the second limiting elements 222 matches the number of the first limiting elements 214. Generally, the number of the second limiting elements 222 is equal to the number of the first limiting elements 214.

[0265] In some embodiments, there are multiple second limiting elements 222, which are spaced apart along the length of the bottom plate element 221. Preferably, one second limiting element 222 is provided on one side of the bottom plate element 221, and another second limiting element 222 is provided on the other side of the bottom plate element 221.

[0266] In some embodiments, the second limiting element 222 is a second limiting hole.

[0267] The cross section of the second engaging element 223 is rectangular.

[0268] Generally, the length of the second clamping element 223 is less than the length of the base element 221, the width of the second clamping element 223 is less than the width of the base element 221, and the height of the second clamping element 223 is equal to the height of the base element 221. The length of the second clamping element 223 is less than the length of the second through-slot element 213, and the width of the second clamping element 223 is less than the width of the second through-slot element 213. The length of the second clamping element 223 is not less than the length of the clamping block, the width of the second clamping element 223 is not less than the width of the clamping block, and the height of the second clamping element 223 is not less than the height of the clamping block.

[0269] The number of the second engaging elements 223 matches the number of the second through-slot elements 213. Generally, the number of the second engaging elements 223 is equal to the number of the second through-slot elements 213.

[0270] In some embodiments, there are multiple second clamping elements 223, which are spaced apart along the length of the bottom plate element 221. Preferably, one second clamping element 223 is provided on one side of the bottom plate element 221, and another second clamping element 223 is provided on the other side of the bottom plate element 221.

[0271] In some embodiments, the second engaging element 223 is a engaging groove.

[0272] like Figure 12As shown, the limiting unit 230 includes a second lifting element 231, a third limiting element 232, at least one tenth sliding element 233, at least one eleventh sliding element 234, at least one fourth limiting element 235 and at least one elastic element 236. Among them, the second lifting element 231 is movably arranged on the outside of the turnover unit 210 and abuts against the lifting unit 140, and is used to move in the vertical direction under the action of the lifting unit 140; the third limiting element 232 is arranged at the bottom end of the second lifting element 231, and is respectively connected to the turnover unit 210 and the bottom plate unit 220, and is used to reciprocate in the vertical direction under the action of the second lifting element 231 to be connected or separated with the bottom plate unit 220; the tenth sliding element 233 is arranged through the second lifting element 231; the eleventh sliding element 234 is provided. 34 is arranged on the outside of the turnover unit 210 and is slidably connected to the tenth sliding element 233; the fourth limiting element 235 is arranged at the bottom end of the eleventh sliding element 234 and is located at the bottom end of the second lifting element 231, for preventing the second lifting element 231 from separating from the eleventh sliding element 234; the elastic element 236 is sleeved on the eleventh sliding element 234 and is located at the top end of the second lifting element 231, and is respectively connected to the second lifting element 231 and the turnover unit 210, for being squeezed and deformed under the action of the second lifting element 231.

[0273] Specifically, the second lifting element 231 is movably disposed outside the revolving element 215 and abuts against the first lifting element 142. The third limiting element 232 is respectively connected to the first limiting element 214 and the second limiting element 222. The eleventh sliding element 234 is disposed at the bottom end of the second frame element 216 and connected to the second frame element 216. The elastic element 236 is connected to the second frame element 216. More specifically, the bottom end of the second lifting element 231 abuts against the top end of the second lifting plate.

[0274] The cross section of the second lifting element 231 is rectangular.

[0275] Generally, the length of the second lifting element 231 is less than the outer width of the epicyclic element 215, the width of the second lifting element 231 is less than the outer length of the epicyclic element 215, and the height of the second lifting element 231 is less than the height of the epicyclic element 215. The length of the second lifting element 231 is greater than the length of the second lifting plate, the width of the second lifting element 231 is equal to the width of the second lifting plate, and the height of the second lifting element 231 is greater than the height of the second lifting plate.

[0276] In some embodiments, the second lifting element 231 is a third lifting plate made of stainless steel.

[0277] The cross section of the third limiting element 232 is circular.

[0278] Generally, the radial dimension of the third limiting element 232 is smaller than the length and width of the second lifting element 231, and the axial dimension of the third limiting element 232 is greater than the height of the second lifting element 231. The radial dimension of the third limiting element 232 is equal to the radial dimension of the first limiting element 214 (second limiting element 222), and the axial dimension of the third limiting element 232 is greater than the axial dimension of the first limiting element 214 (second limiting element 222).

[0279] In some embodiments, the third limiting element 232 is fixedly connected to the second lifting element 231 , including but not limited to a bolt connection.

[0280] In some embodiments, the third limiting element 232 is a limiting rod made of stainless steel.

[0281] The cross section of the tenth sliding element 233 is circular.

[0282] Generally, the radial dimension of the tenth sliding element 233 is smaller than the length and width of the second lifting element 231 , and the axial dimension of the tenth sliding element 233 is equal to the height of the second lifting element 231 .

[0283] In some embodiments, there are multiple tenth sliding elements 233, and the multiple tenth sliding elements 233 are spaced apart along the length direction of the second lifting element 231. Preferably, one tenth sliding element 233 is disposed on one side of the second lifting element 231, and another tenth sliding element 233 is disposed on the other side of the second lifting element 231.

[0284] In some embodiments, the tenth sliding element 233 is a sliding hole.

[0285] The cross section of the eleventh sliding element 234 is circular.

[0286] Generally, the radial dimension of the eleventh sliding element 234 is equal to the radial dimension of the tenth sliding element 233, and the axial dimension of the eleventh sliding element 234 is greater than the axial dimension of the tenth sliding element 233. The radial dimension of the eleventh sliding element 234 is smaller than the outer width and inner wall of the second frame element 216, and the axial dimension of the eleventh sliding element 234 is greater than the height of the second frame element 216. The axial dimension of the eleventh sliding element 234 is smaller than the height of the epicyclic element 215.

[0287] The number of the eleventh sliding elements 234 matches the number of the tenth sliding elements 233. Generally, the number of the eleventh sliding elements 234 is equal to the number of the tenth sliding elements 233.

[0288] In some embodiments, there are multiple eleventh sliding elements 234, and the multiple eleventh sliding elements 234 are spaced apart along the length direction of the second lifting element 231. Preferably, one eleventh sliding element 234 is disposed on one side of the second lifting element 231, and another eleventh sliding element 234 is disposed on the other side of the second lifting element 231.

[0289] In some embodiments, the eleventh sliding element 234 is fixedly connected to the second frame element 216 , including but not limited to a bolt connection.

[0290] In some embodiments, the eleventh sliding element 234 is a sliding rod made of stainless steel.

[0291] The cross section of the fourth limiting element 235 is circular.

[0292] Generally, the radial dimension of the fourth limiting element 235 is larger than the radial dimension of the eleventh sliding element 234, and the axial dimension of the fourth limiting element 235 is smaller than the axial dimension of the eleventh sliding element 234. The radial dimension of the fourth limiting element 235 is smaller than the length and width of the second lifting element 231, and the axial dimension of the fourth limiting element 235 is smaller than the height of the second lifting element 231.

[0293] The number of the fourth limiting elements 235 matches the number of the eleventh sliding elements 234. Generally, the number of the fourth limiting elements 235 is equal to the number of the eleventh sliding elements 234. That is, each eleventh sliding element 234 is provided with a corresponding fourth limiting element 235.

[0294] In some embodiments, the fourth limiting element 235 is fixedly connected to the eleventh sliding element 234 , including but not limited to being integrally formed.

[0295] In some embodiments, the fourth limiting element 235 is a limiting block made of stainless steel.

[0296] The number of the elastic elements 236 matches the number of the eleventh sliding elements 234. Generally, the number of the elastic elements 236 is equal to the number of the eleventh sliding elements 234. That is, each eleventh sliding element 234 is provided with a corresponding elastic element 236.

[0297] In some embodiments, the elastic element 236 is fixedly connected to the second lifting element 231 and the second frame element 216 respectively, including but not limited to bolt connections.

[0298] In some embodiments, the elastic element 236 is a spring made of stainless steel.

[0299] The method of using the utility model is as follows:

[0300] (1) Installing the box removal device 100

[0301] The method of use is basically the same as that in Example 1 (I), and will not be repeated here.

[0302] (2) Unpacking operation

[0303] Move the box-taking device 100 to the designated position by the truss manipulator;

[0304] The two first driving elements 121 are activated to drive the two clamping elements 136 to move toward each other along the length direction of the corresponding first sliding element 112 via the corresponding fourth support element 133, so that the two clamping elements 136 gradually approach the outer side of the second frame element 216 until the two clamping elements 136 respectively abut against the second frame element 216;

[0305] During the process, the corresponding fourth support elements 133 drive the two first lifting elements 142 to move accordingly, so that the top ends of the two first lifting elements 142 gradually approach the bottom ends of the corresponding second lifting elements 231, until the top ends of the two first lifting elements 142 respectively abut against the bottom ends of the corresponding second lifting elements 231.

[0306] The two pulling elements 175 are driven to move correspondingly by the corresponding fourth bracket elements 133 , so that the two pulling elements 175 are in contact with the bottom ends of the bottom plate element 221 .

[0307] (3) Unloading operations

[0308] The box-taking device 100 holding the turnover unit 210 is moved to the designated unloading location by the truss manipulator;

[0309] The two second driving elements 141 are activated to drive the two first lifting elements 142 to move upward in the vertical direction. The two first lifting elements 142 respectively drive the corresponding second lifting elements 231 to move upward along the circumferential direction of the eleventh sliding element 234. The second lifting elements 231 drive the third limiting elements 232 to move accordingly until they are separated from the corresponding first limiting elements 214 and second limiting elements 222, thereby releasing the limit of the bottom plate element 221.

[0310] The two fourth driving elements 181 are activated to drive the two first engaging elements 182 to move downward in the vertical direction until they come into contact with the corresponding second engaging elements 223 ;

[0311] Start the third driving element 151 to drive the first rotating element 152 to rotate along the circumference of the first through-slot element 115;

[0312] The first rotating element 152 drives the sixth supporting element 161 to move along the length direction of the second sliding element 114 through the seventh supporting element 163;

[0313] The sixth bracket element 161 drives the two pulling elements 175 and the two first clamping elements 182 to move accordingly through the corresponding eighth bracket element 165, and drives the bottom plate element 221 to move along the width direction of the ninth sliding element 212 away from the turnover element 215 through the cooperation between the corresponding pulling elements 175 and the first clamping elements 182, thereby opening the bottom of the turnover element 215 for unloading operations.

[0314] Example 3

[0315] This embodiment relates to a fully automatic packaging system of the present utility model.

[0316] like Figure 13 As shown, a fully automatic packaging system includes the box-taking device 100 as described in Example 1.

[0317] Furthermore, the fully automatic packaging system further includes a control device 300. The control device 300 is respectively connected to the two first driving units 120, the lifting unit 140, the second driving unit 150, and the clamping unit 180 of the box-removing device 100.

[0318] Specifically, the control device 300 is connected to the first driving element 121 , the second driving element 141 , the third driving element 151 , and the fourth driving element 181 , respectively.

[0319] In some embodiments, the control device 300 is a central control system, including but not limited to a PLC.

[0320] The above description is only a preferred embodiment of the present invention and does not limit the implementation method and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A box-taking device, characterized in that: include: A bracket unit (110), the bracket unit (110) is arranged on a horizontal plane and connected to the truss manipulator, and is used for reciprocating movement in a three-dimensional space under the action of the truss manipulator; Two first drive units (120), the two first drive units (120) being symmetrically arranged at the top end of the bracket unit (110) and respectively connected to the bracket unit (110); Two clamping units (130), the two clamping units (130) are symmetrically arranged at the bottom end of the bracket unit (110), and are respectively connected to the corresponding first driving units (120), and are used to reciprocate along the first direction under the action of the first driving unit (120) to clamp the turnover box or release the turnover box; At least one lifting unit (140), the lifting unit (140) being arranged at the bottom end of the corresponding clamping unit (130) and configured to reciprocate along a first direction under the action of the clamping unit (130) to abut against or separate from the turnover box; a second driving unit (150), wherein a driving end of the second driving unit (150) is arranged at a side of the bracket unit (110), and a rotating end of the second driving unit (150) is arranged at a bottom end of the bracket unit (110); a movable unit (160), the movable unit (160) being movably disposed at the bottom end of the bracket unit (110) and being rotatably connected to the rotating end of the second driving unit (150), and being configured to reciprocate along a second direction under the action of the second driving unit (150), wherein the second direction is perpendicular to the first direction; Two drawing units (170), the two drawing units (170) are respectively slidably connected to the corresponding clamping units (130) and the movable units (160), and are used to reciprocate in a first direction under the action of the clamping units (130) and reciprocate in a second direction under the action of the movable units (160) to abut against or separate from the turnover box; At least one engaging unit (180), the engaging unit (180) being arranged at the bottom end of the corresponding drawing unit (170), and being used for reciprocating along the first direction and the second direction under the action of the drawing unit (170) to engage with or separate from the turnover box.

2. The box-taking device according to claim 1, characterized in that: The bracket unit (110) comprises: A first support element (111), wherein the first support element (111) is arranged on a horizontal plane, and two first drive units (120) are provided at the top of the first support element (111), and are respectively connected to the two first drive units (120) and the truss manipulator, and are used for reciprocating movement in a three-dimensional space under the action of the truss manipulator; Two first sliding elements (112), the two first sliding elements (112) are symmetrically arranged at the bottom end of the first bracket element (111), and are respectively slidably connected to the corresponding clamping units (130); a second support element (113), the second support element (113) being arranged at the bottom end of the first support element (111) and being located between the two first sliding elements (112); a driving end of the second driving unit (150) being arranged on the outer side of the second support element (113); and a rotating end of the second driving unit (150) being arranged on the inner side of the second support element (113); at least one second sliding element (114), the second sliding element (114) being disposed at the bottom end of the second bracket element (113) and being slidably connected to the movable unit (160); A first through-slot element (115), wherein the first through-slot element (115) is disposed on the inner side of the second bracket element (113) and is rotatably connected to the rotating end of the second driving unit (150).

3. The box-taking device according to claim 1, characterized in that: The first driving unit (120) comprises: a first driving element (121), the first driving element (121) being arranged at the top end of the bracket unit (110) and being connected to the bracket unit (110) and the clamping unit (130) respectively, and being used for driving the clamping unit (130) to reciprocate along a first direction; and / or The clamping unit (130) comprises: a third bracket element (131), the third bracket element (131) being movably disposed at the bottom end of the bracket unit (110); a third sliding element (132), the third sliding element (132) being disposed at the top end of the third bracket element (131) and being slidably connected to the bracket unit (110); a fourth support element (133), the fourth support element (133) being arranged at the top end of the third support element (131) and connected to the corresponding first driving unit (120), and being used for driving the third support element (131) to reciprocate along the first direction under the action of the first driving unit (120); a fourth sliding element (134), the fourth sliding element (134) being arranged at the bottom end of the third bracket element (131) and being slidably connected to the corresponding drawing unit (170); a fifth support element (135), the fifth support element (135) being arranged at the bottom end of the third support element (131) and connected to the third support element (131); A clamping element (136) is provided at the bottom end of the fifth bracket element (135), and the end of the clamping element (136) is provided with the corresponding lifting unit (140) for abutting against the turnover box.

4. The box-taking device according to claim 1, characterized in that: The lifting unit (140) comprises: a second driving element (141), the second driving element (141) being disposed at the bottom end of the corresponding clamping unit (130) and connected to the clamping unit (130), and configured to reciprocate along a first direction under the action of the clamping unit (130); A first lifting element (142) is provided on the second driving element (141) and abuts against the turnover box, and is used for reciprocating along the vertical direction and the first direction under the action of the second driving element (141) to abut against or separate from the turnover box.

5. The box-taking device according to claim 1, characterized in that: The second driving unit (150) comprises: a third driving element (151), the third driving element (151) being disposed on a side of the bracket unit (110) and connected to the bracket unit (110); a first rotating element (152), the first rotating element (152) being arranged at the bottom end of the bracket unit (110) and being connected to the third driving element (151) and the movable unit (160) respectively, and being used for driving the movable unit (160) to reciprocate along the second direction under the action of the third driving element (151); and / or The movable unit (160) comprises: a sixth bracket element (161), the sixth bracket element (161) being movably disposed at the bottom end of the bracket unit (110); at least one fifth sliding element (162), the fifth sliding element (162) being disposed at the top end of the sixth bracket element (161) and being slidably connected to the bracket unit (110); a seventh support element (163), the seventh support element (163) being disposed at the top end of the sixth support element (161) and connected to the sixth support element (161); a second rotating element (164), the second rotating element (164) being arranged to penetrate the seventh support element (163) and being rotatably connected to the rotating end of the second driving unit (150), and being used for driving the sixth support element (161) to reciprocate along the second direction through the seventh support element (163) under the action of the second driving unit (150); Two eighth support elements (165), the two eighth support elements (165) are symmetrically arranged at the bottom end of the sixth support element (161), and are respectively connected to the sixth support element (161), and are used for reciprocating along the first direction under the action of the sixth support element (161); Two sixth sliding elements (166), the two sixth sliding elements (166) are respectively arranged at the ends of the corresponding eighth bracket elements (165), and are respectively slidably connected to the corresponding drawing units (170).

6. The box-taking device according to claim 1, characterized in that: The drawing unit (170) comprises: a ninth support element (171), the ninth support element (171) being movably disposed at the bottom end of the corresponding clamping unit (130); a seventh sliding element (172), the seventh sliding element (172) being disposed at the top end of the ninth bracket element (171) and being slidably connected to the corresponding clamping unit (130); a tenth support element (173), the tenth support element (173) being disposed at a first end of the ninth support element (171) and connected to the ninth support element (171); an eighth sliding element (174), the eighth sliding element (174) being disposed at an end portion of the tenth bracket element (173) and being slidably connected to the movable unit (160); A pulling element (175), wherein the pulling element (175) is arranged at the second end of the ninth bracket element (171) and abuts against the turnover box, and is used for reciprocating along the first direction and the second direction under the action of the ninth bracket element (171) to abut against or separate from the turnover box.

7. The box-taking device according to claim 1, characterized in that: The clamping unit (180) comprises: a fourth driving element (181), the fourth driving element (181) being arranged at the bottom end of the corresponding drawing unit (170) and being used for reciprocating along the first direction and the second direction under the action of the drawing unit (170); A first clamping element (182) is provided on the fourth driving element (181) and is clamped with the turnover box, and is used for reciprocating along the vertical direction, the first direction, and the second direction under the action of the fourth driving element (181).

8. A turnover device for detachably connecting to the box-taking device (100) according to any one of claims 1 to 7, characterized in that: include: A turnover unit (210), the turnover unit (210) being arranged below the support unit (110) of the box-taking device (100) and respectively abutting against the two clamping units (130), for placing articles to be packaged and reciprocating in a three-dimensional space under the action of the box-taking device (100); A bottom plate unit (220), the bottom plate unit (220) being movably arranged at the bottom end of the turnover unit (210), and respectively abutting against the two drawer units (170) of the box-taking device (100), and being engaged with the engaging unit (180), and being used for reciprocating along a second direction in cooperation with the drawer unit (170) and the engaging unit (180) to open and close the bottom end of the turnover unit (210); At least one limiting unit (230), the limiting unit (230) is arranged on the outside of the turnover unit (210), and is respectively connected to the turnover unit (210) and the bottom plate unit (220) in a limiting manner, and is in contact with the lifting unit (140) of the box-taking device (100), and is used for reciprocating in the vertical direction under the action of the lifting unit (140) to be connected to or separated from the bottom plate unit (220) in a limiting manner.

9. The turnover device according to claim 8, characterized in that: The turnover unit (210) comprises: a first frame element (211), wherein the bottom plate unit (220) is provided on an inner side of the first frame element (211); a ninth sliding element (212), the ninth sliding element (212) being arranged on the inner side of the first frame element (211) and being slidably connected to the bottom plate unit (220); at least one second through-slot element (213), the second through-slot element (213) being arranged at the top end of the first frame element (211) and being in communication with the ninth sliding element (212), and being used for allowing the drawing unit (170) to pass through the first frame element (211); at least one first limiting element (214), the first limiting element (214) being arranged at the top end of the first frame element (211), being in communication with the ninth sliding element (212), and being in limiting connection with the limiting unit (230); a turnover element (215), the turnover element (215) being arranged at the top end of the first frame element (211) and being in communication with the first frame element (211), and being used for placing items to be packaged; a second frame element (216), the second frame element (216) being disposed at the top end of the circulatory element (215), being in communication with the circulatory element (215), and respectively abutting against the two clamping units (130); and / or The bottom plate unit (220) includes: a bottom plate element (221), the bottom plate element (221) being movably disposed at the bottom end of the turnover unit (210) and respectively abutting against the two drawing units (170), and being used for reciprocating along the width direction of the turnover unit (210) to open and close the bottom end of the turnover unit (210); at least one second limiting element (222), the second limiting element (222) being disposed through the bottom plate element (221) and being connected to the limiting unit (230) in a limiting manner; At least one second clamping element (223), the second clamping element (223) being disposed through the base element (221) and being clamped to the clamping unit (180); and / or The limiting unit (230) includes: a second lifting element (231), the second lifting element (231) being movably disposed outside the turnover unit (210) and abutting against the lifting unit (140), and configured to move in a vertical direction under the action of the lifting unit (140); a third limiting element (232), the third limiting element (232) being arranged at the bottom end of the second lifting element (231) and being respectively connected to the turnover unit (210) and the bottom plate unit (220) in a limiting manner, and being used for reciprocating in a vertical direction under the action of the second lifting element (231) to be connected to or separated from the bottom plate unit (220) in a limiting manner; at least one tenth sliding element (233), the tenth sliding element (233) being disposed through the second lifting element (231); at least one eleventh sliding element (234), the eleventh sliding element (234) being disposed on the outside of the turnover unit (210) and being slidably connected to the tenth sliding element (233); at least one fourth limiting element (235), the fourth limiting element (235) being arranged at the bottom end of the eleventh sliding element (234) and located at the bottom end of the second lifting element (231), and being used to prevent the second lifting element (231) from being separated from the eleventh sliding element (234); At least one elastic element (236), the elastic element (236) is sleeved on the eleventh sliding element (234), is located at the top end of the second lifting element (231), and is respectively connected to the second lifting element (231) and the turnover unit (210), and is used for being squeezed and deformed under the action of the second lifting element (231).

10. A fully automatic packaging system, characterized in that: include: The box-removing device (100) according to any one of claims 1 to 7.

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