CN114180315B

CN114180315B - A turnover box loading and unloading device and a loading method and unloading method thereof

Info

Publication number: CN114180315B
Application number: CN202111525151.5A
Authority: CN
Inventors: 张贻弓; 樊恩川; 孟令文; 沈长鹏; 张小艺; 刘鹏
Original assignee: Lanjian Intelligent Technology Co ltd
Current assignee: Lanjian Intelligent Technology Co ltd
Priority date: 2021-12-14
Filing date: 2021-12-14
Publication date: 2025-01-21
Anticipated expiration: 2041-12-14
Also published as: CN114180315A

Abstract

The present invention discloses a turnover box loading and unloading device and a loading method and a unloading method thereof, comprising a truss robot, a carton conveyor and a turnover box conveyor arranged below the truss robot, and a host computer, a carton clamp, and a box cover opening device for opening and closing the turnover box arranged on the truss robot, wherein the carton clamp is located on the left side of the box cover opening device, and the host computer arranged on the truss robot is a driving power system, which drives the carton clamp and the box cover opening device to move left and right along the truss; through this device, the carton conveyor is used to transport cartons, the turnover box conveyor is used to transport turnover boxes, the box cover opening device opens and closes the turnover box, and the carton clamp is used to grab the carton and place the carton in the turnover box, or take the carton out of the turnover box, thereby automatically completing the unloading and loading operations of the turnover box, saving labor costs and improving production efficiency.

Description

Turnover box loading and unloading device, loading method thereof and unloading method thereof

Technical Field

The invention belongs to the technical field of pick-and-place devices, and particularly relates to a turnover box pick-and-place device, a pick-and-place method and a pick-and-place method.

Background

With the development of logistics industry and intelligent storage technology, the use of box cover turnover boxes is increasing. At present, in the turnover of a turnover box or a box taking turnover, after the turnover box is opened by manpower, a paper box is loaded or taken out, and then the turnover box of the loaded paper box or the paper box taken out from the turnover box and the empty turnover box are respectively placed at a designated position, so that the turnover box can work continuously and reciprocally, and the weight of the turnover box cover and the weight of the paper box to be loaded and taken out is heavier, so that the labor intensity of workers is greatly increased, the labor cost is increased, and the production efficiency is reduced.

Disclosure of Invention

In view of the defects and drawbacks existing in the prior art, the invention aims to provide a turnover box loading and unloading device, a loading method and an unloading method thereof, which solve the problems of improving the labor cost and reducing the production efficiency caused by loading and unloading the turnover box manually at present.

In order to solve the technical problems, the turnover box loading and unloading device comprises a truss robot, a box conveyer, a turnover box conveyer, an upper computer, a box clamp and a box cover opening device, wherein the box conveyer is arranged below the truss robot and used for conveying boxes, the turnover box conveyer is used for conveying the turnover boxes, the upper computer is arranged on the truss robot, the box clamp is used for transferring the boxes between the box conveyer and the turnover box conveyer, the box cover opening device is used for opening and closing the turnover boxes, the box clamp is arranged on the left side of the box cover opening device, the upper computer is arranged on the truss robot and used for driving a power system, and the power system drives the box clamp and the box cover opening device to move left and right along a truss.

As a further improvement of the invention, the carton conveyor comprises a carton conveyor A and a carton conveyor B which can respectively and independently operate, and the carton conveyor A, the turnover box conveyor and the carton conveyor B are arranged in sequence from right to left.

As a further improvement of the invention, the end part of the carton conveyor A is provided with a carton positioning mechanism, a first photoelectric sensor capable of detecting the in-place carton is arranged near the carton positioning mechanism, and the first photoelectric sensor is in signal connection with an upper computer.

As a further improvement of the invention, the carton conveyor A is further provided with a laser ranging sensor capable of detecting the size of the carton, and the upper computer is in signal connection with the laser ranging sensor, in front of the first photoelectric sensor.

As a further improvement of the invention, a turnover box positioning mechanism capable of positioning the turnover box is arranged below the truss robot on the turnover box conveyor, and a second photoelectric sensor capable of detecting the in-place of the paper box is arranged near the turnover box positioning mechanism and is in signal connection with the upper computer.

As a further improvement of the invention, a third photoelectric sensor capable of detecting the specification and the size of the turnover box is arranged near the turnover box positioning mechanism, and the third photoelectric sensor is in signal connection with the upper computer.

As a further improvement of the invention, the turnover box conveyor comprises a front section conveyor, a middle section conveyor and a rear section conveyor which are sequentially arranged from front to back, wherein the middle section conveyor is arranged below the truss robot and is connected with a lifter capable of lifting the middle section conveyor, and the second photoelectric sensor is arranged on one side of the middle section conveyor.

As a further improvement of the invention, the elevator comprises a bracket and a base which are connected together, wherein at least one pair of pulleys which are arranged up and down symmetrically are arranged on the bracket, an annular belt is wound on the two pulleys, one pulley is connected with a driving motor, a middle section conveyor is arranged above the base, one side of the middle section conveyor is fixed with the annular belt, at least two sliding blocks are arranged on the middle section conveyor, and a guide rail corresponding to the sliding blocks is arranged on the bracket.

As a further improvement of the invention, the pulleys are provided with two pairs, an annular belt is wound on each pair of pulleys, and the driving motor is provided with one belt pulley which is respectively connected with one belt pulley of each pair of belt pulleys through a synchronous belt module.

As a further improvement of the invention, the turnover box positioning mechanism comprises two adjusting plates which are respectively arranged at two sides of the turnover box conveyor and are respectively connected with a first cylinder, and the two first cylinders can drive the two adjusting plates to move towards or away from each other.

As a further improvement of the invention, the turnover box positioning mechanism also comprises a blocking plate capable of blocking the turnover box from going forward continuously and a second cylinder for driving the blocking plate to lift, the upper end of the blocking plate can extend out of the turnover box conveyor, and the lower end of the blocking plate is connected with the second cylinder capable of driving the turnover box conveyor to lift.

As a further improvement of the invention, the turnover box positioning mechanism also comprises a third cylinder, two pairs of chain wheels, conveying chains and check plates, wherein the check plates can prevent the turnover box from reversing, the chain wheels are arranged on two sides of the check plates and are connected through a transmission shaft, each pair of chain wheels is wound with an annular conveying chain, one conveying chain is connected with the check plate, and the other conveying chain is respectively connected with the check plates and the third cylinder.

As a further improvement of the invention, the truss robot is also provided with a dust removing device, and the dust removing device is positioned at the rightmost side of the truss robot.

The loading method of the turnover box loading and unloading device is characterized by comprising the following steps:

1a) Before working, the specification and model of the paper box and the turnover box are conveyed to an upper computer, the upper computer sends signals to a truss robot, and meanwhile the truss robot moves a box cover opening device and a paper box clamp to be in place;

2a) After the carton is positioned, the carton clamp descends, the sucking disc of the carton clamp is attached to the carton to adsorb and fix the carton, then the supporting tooth of the carton clamp extends out, the carton is pressed down, the supporting tooth of the carton clamp supports the carton, and finally the carton clamp drives the carton to be lifted upwards to a safe height;

3a) The turnover box is transported by the front section conveyor in synchronization with the step 2 until the turnover box is transported to a turnover box positioning mechanism at the middle section conveyor, at the moment, after the second photoelectric sensor detects that the paper box is in place, a second signal is sent to the upper computer, then the front section conveyor and the middle section conveyor stop working, meanwhile, two third cylinders operate, the third cylinders drive the check plates to extend out of the transport surface of the middle section conveyor through the transport chain, so that the turnover box is prevented from rebounding, and meanwhile, the two first cylinders drive the two regulating plates to move towards the surface, so that clamping and holding are carried out on the turnover box;

Meanwhile, the third photoelectric sensor rechecks the specification and the size of the turnover box, compares with the upper computer, compares correctly, the second photoelectric sensor sends a second signal to the upper computer, and the upper computer controls the lifter to lift upwards, so that the middle section conveyor and the turnover box are lifted to a certain height, the box cover opening device descends to clamp the box cover of the turnover box, and then the box cover opening device drives the box cover to lift upwards to a safe height together, so that the cover opening of the turnover box is completed;

4a) The upper computer controls the box cover opening device and the paper box clamp to move leftwards for a certain distance and then stop, at the moment, the paper box clamp is positioned right above the turnover box, the paper box clamp descends, meanwhile, the supporting teeth of the paper box clamp are retracted, and after the paper box clamp places the paper box into the turnover box, the paper box is loosened and lifted upwards to a safe height;

5a) The upper computer controls the box cover opening device and the carton clamp to move rightwards and then stop, at the moment, the box cover opening device is positioned right above the turnover box, the box cover opening device descends, the box cover of the turnover box is buckled on the box body of the turnover box, and the turnover box loosens the box cover and is lifted upwards to a safe height;

6a) The transfer box is transported, the lifter descends to reset the middle section conveyor, the second cylinder drives the blocking plate to retract after the reset of the middle section conveyor is completed, the first cylinder drives the two adjusting plates to move back to loosen the transfer box, the middle section conveyor and the rear section conveyor start to work, and the middle section conveyor conveys the transfer box to the rear section conveyor;

7a) The method comprises the steps of preparing a next boxing process, enabling a first cylinder to drive a blocking plate to lift upwards for resetting, extending out of a conveying surface of a middle-section conveyor, enabling a third cylinder to drive a check plate to descend through a conveying chain and retract below the conveying surface of the middle-section conveyor, enabling a rear-section conveyor to convey a turnover box on the middle-section conveyor to a destination, enabling an empty turnover box to be boxed to be conveyed onto a turnover box positioning mechanism of the middle-section conveyor through a front-section conveyor, and entering the next boxing process.

As a further improvement of the invention, in the step 3 a), the abnormal opening treatment of the turnover box is added, when the box cover opening device opens the cover, the step 4 a) and the step 5 a) are skipped, the step 6 a) and the step 7 a) are carried out, and the turnover box is transported to a manual position by a rear-stage conveyor for manual trimming.

As a further improvement of the invention, in the step 5 a), the abnormal handling of the buckling cover of the turnover box is added, when the box cover opening device buckles the cover, the abnormal buckling cover occurs, the box cover opening device lifts and resets together with the box cover, the truss robot controls the box cover opening device and the carton clamp to move leftwards and stop, at the moment, the carton clamp descends, after the carton is adsorbed and fixed, the carton is lifted upwards to take out the carton, the truss robot moves and resets the box cover opening device and the carton clamp rightwards, the box cover opening device descends obliquely, the box cover is lifted upwards to reset after being obliquely inserted into the turnover box, then the step 6 a) and the step 7 a) are carried out, and the turnover box with abnormal buckling cover is transported to a manual position by the rear conveyor to be manually trimmed.

The goods taking method of the turnover box goods taking device is characterized by comprising the following steps of:

1b) The front section conveyor conveys the turnover box which is already packaged to the middle section conveyor, the second photoelectric sensor sends a second signal after detecting that the paper box is in place, then the upper computer controls the front section conveyor and the middle section conveyor to stop working, the turnover box stops working, the third cylinder drives the check plate to extend out of the conveying surface of the middle section conveyor through the conveying chain so as to prevent the turnover box from rebounding;

2b) After the lifter is lifted in place, the box cover opening device descends, and after the box cover of the turnover box is adsorbed, the box cover opening device drives the box cover to reset and lift to a safe height;

3b) The truss robot moves the box cover opening device and the carton clamp to the left for a certain distance and then stops, at the moment, the carton clamp descends and falls into the turnover box, the carton is clamped and lifted upwards to a certain height, and the carton is taken out from the turnover box;

4b) The truss robot adjusts the box cover opening device and the carton clamps to move leftwards until the carton clamps are moved to the position right above the carton conveyor B and then stop, and simultaneously moves the dust removing device to the position right above the turnover box leftwards;

5b) The dust removing device falls down onto the turnover box, dust removing treatment is carried out inside the turnover box, and the dust removing device is lifted upwards to a safe height after dust removing is finished;

6b) Simultaneously with step 5B), lowering the carton clamp, placing the carton on the carton conveyor B by the carton clamp, then releasing the carton, and lifting up to a safe height, while the carton is transported to a destination by the carton conveyor B;

7b) The dust removing device, the carton clamp and the carton cover opening device move rightwards at the same time until the dust removing device moves rightwards to the right of the carton conveyor A, and the carton clamp moves rightwards to the right of the carton conveyor A;

8b) The box cover opening device descends, the turnover box cover is buckled on the turnover box, and the turnover box cover is lifted upwards to a safe height after being loosened;

9b) After the lifting device drives the middle section conveyor to descend and return to a position, the second air cylinder drives the blocking plate to descend below the conveying surface of the middle section conveyor, the first air cylinder drives the adjusting plate to loosen the turnover box, and meanwhile, the middle section conveyor starts to work, and the turnover box is conveyed to the rear section conveyor;

10b) The second cylinder drives the blocking plate to lift and reset upwards to stretch out of the conveying surface of the middle section conveyor, the third cylinder drives the check plate to descend through the conveying chain and retract below the conveying surface of the middle section conveyor, meanwhile, the rear section conveyor conveys the turnover box on the check plate to a destination, and the full turnover box to be taken is conveyed to a turnover box positioning mechanism of the middle section conveyor through the front section conveyor to enter the next box taking process.

As a further improvement of the invention, in the step 2 b), the abnormal opening treatment of the turnover box is added, when the box cover opening device opens the cover, the step 3 b) -the step 8 b) are skipped, the step 9 b) and the step 10 b) are carried out, and the turnover box is transported to a manual position by a rear-stage conveyor for manual trimming.

As a further improvement of the invention, in the step 8 b), the abnormal handling of the buckle closure of the turnover box is added, when the box closure opening device buckles the cover, the box closure opening device descends obliquely, the box cover is obliquely inserted into the turnover box and then lifted upwards for reset, then the step 9 b) and the step 10 b) are carried out, and the turnover box with abnormal buckle closure is transported to a manual position by the rear conveyor for manual trimming.

Compared with the prior art, the invention has the following beneficial effects:

1. Through setting up carton conveyer, carton anchor clamps, turnover case conveyer and unpacking lid device, the carton conveyer is used for transporting the carton, and the turnover case conveyer is used for transporting the turnover case, unpacks the lid device and uncaps the turnover case and buckle closure, and the carton anchor clamps are used for snatching the carton and place the carton in the turnover case, perhaps take out the carton from the turnover incasement to can accomplish automatically and get goods and shipment operation to the turnover case, saved the human cost greatly, improved production efficiency.

2. Through setting up carton positioning mechanism and first photoelectric sensor, the carton is in place after, but automated inspection, then host computer control carton conveyer A stop operation makes the carton stop, and carton positioning mechanism is fixed a position the carton simultaneously, and carton anchor clamps snatch the carton to equipment can automatic control and accomplish the snatch work of carton, improves degree of automation.

3. Through setting up laser rangefinder sensor, can detect the specification size of carton to the transmission is given the host computer, judges whether the specification of carton is correct, avoids appearing subsequent shipment error, reduces the error rate.

4. Through setting up turnover case positioning mechanism and second photoelectric sensor, the turnover case is in place after, can automated inspection, then other actuating mechanism actions of host computer automatic control improves degree of automation.

5. Through setting up the third photoelectric sensor, can detect the specification size of turnover case to transmit and give the host computer, judge whether the specification of turnover case is correct, avoid appearing subsequent shipment mistake, reduce the error rate.

6. The turnover box conveyor is set as a front section conveyor, a middle section conveyor and a rear section conveyor, and the middle section conveyor is connected with the lifter, so that after the turnover box arrives on the middle section conveyor, the lifter drives the middle section conveyor to ascend, and simultaneously the box cover opening device descends, thereby improving the operation efficiency, and in addition, the rear section conveyor and the front section conveyor respectively and independently operate, the rear section conveyor can transport the turnover boxes after the boxing or the box taking is completed to a destination, and the front section conveyor transports the turnover boxes to be taken or the boxes to be boxed to the middle section conveyor to carry out boxing or box taking, and the turnover boxes are independently operated and independently or in linkage, so that the operation parameters of a certain section of conveyor can be changed according to actual needs and actual conditions.

7. The turnover box positioning mechanism is arranged into a structure of a first air cylinder and an adjusting plate, and the first air cylinder drives the two adjusting plates to clamp the turnover box, so that the turnover box is aligned and positioned, and the follow-up operation is convenient.

8. Through setting up the barrier plate, can prevent that the turnover case from continuing to move ahead under inertial effect, prevent the turnover case promptly and overshoot.

9. Through setting up the non return board, can prevent that the turnover case from kick-backing at the in-process that stops, do benefit to the better location of turnover case.

10. Through setting up dust collector, can be at the in-process of getting goods, accomplish the dust removal operation to the turnover case voluntarily, avoid the problem of the inefficiency that the manual cleaning of later stage brought.

11. The loading method and the goods taking method by using the turnover box goods taking and placing device greatly improve the working efficiency, save the labor cost and reduce the error rate.

Drawings

The invention is further described below with reference to the accompanying drawings:

FIG. 1 is a schematic diagram of a first embodiment of the present invention;

FIG. 2 is a schematic diagram of a second embodiment of the present invention;

FIG. 3 is an enlarged view of FIG. 1 at A;

FIG. 4 is an enlarged view of FIG. 1 at B;

FIG. 5 is a schematic diagram of the connection of the elevator and the intermediate conveyor;

FIG. 6 is a schematic diagram II of the connection between the elevator and the intermediate conveyor;

FIG. 7 is a schematic diagram III of the connection of the elevator and the intermediate conveyor;

FIG. 8 is a schematic diagram of a connection between an elevator and a mid-section conveyor;

Fig. 9 is an enlarged view of fig. 5 at C;

fig. 10 is an enlarged view of fig. 7 at D;

In the figure, 1, a dust removing device, 2, a carton clamp, 201, a sucker, 202, a tooth supporting device, 3, a box cover opening device, 4, a turnover box conveyor, 401, a front section conveyor, 402, a middle section conveyor, 403, a rear section conveyor, 5, a carton conveyor A, 6, a carton conveyor B, 7, a carton, 8, a turnover box, 9, a truss robot, 10, a carton positioning mechanism, 1001, a baffle plate, 1002, a clamping plate, 11, an upper computer, 12, a platform, 13, a first photoelectric sensor, 14, a second photoelectric sensor, 15, a turnover box positioning mechanism, 1501, an adjusting plate, 1502, a third cylinder, 1503, a second cylinder, 1504, a check plate, 1505, a blocking plate, 1506, a conveying chain, 1507, a sprocket, 1508, a transmission shaft, 16, a third photoelectric sensor, 17, a laser sensor, 18, a lifter, 1801, a circular belt, 1802, a pulley, 1803, a guide rail, 1804, a bracket, 1805, a slider, 1806, a base, 7, a motor, a synchronous belt module 1808 and a synchronous belt module.

Detailed Description

The invention is described in further detail below with reference to fig. 1-10.

For convenience of description, the coordinate system is defined as shown in fig. 1, and the left-right direction is a transverse direction, the front-back direction is a longitudinal direction, and the up-down direction is a vertical direction.

The embodiment of the invention discloses a turnover box loading and unloading device. Referring to fig. 1 and 2, a turnover box loading and unloading device comprises a truss robot 9, a box conveyer 4 arranged below the truss robot 9 and used for conveying boxes 7, a turnover box conveyer 4 used for conveying turnover boxes 8, an upper computer 11 arranged on the truss robot 9, a box clamp 2 used for transferring the boxes 7 between the box conveyer and the turnover box conveyer 4, a box cover opening device 3 used for opening and closing the turnover boxes 8, a box clamp 2 arranged on the left side of the box cover opening device 3, and an upper computer 11 arranged on the truss robot 9, wherein the upper computer 11 is a driving power system, and the power system drives the box clamp 2 and the box cover opening device 3 to move left and right along the truss.

For getting goods and when loading, the carton 7 can carry with different transfer chain to according to actual need, carry out the rational planning transportation to the carton 7 of getting goods or loading in-process, as shown in fig. 1, the carton conveyer include carton conveyer A5 and carton conveyer B6 that can independent operation respectively, carton conveyer A5, turnover case conveyer 4 and carton conveyer B6 arrange in proper order from right to left and set up on platform 12, of course platform 12 also can be factory building ground etc.. Thus, when loading the turn-around box 8, the carton conveyor A5 is utilized to convey the carton 7, that is, the carton conveyor A5 conveys the carton of the previous process or site to the position of boxing, and then the subsequent boxing (loading) operation is performed, while the carton conveyor B6 works in the process of taking the goods, that is, the carton 7 taken out from the turn-around box 8 is placed on the carton conveyor B6 in the process of taking the goods, the carton conveyor B6 conveys the carton 7 to the destination, and the carton conveyor A5 and the carton conveyor B6 do not interfere with each other and operate independently. As shown in fig. 1, the transfer box conveyor 4, the carton conveyor A5, and the carton conveyor B6 described above all employ roller (roller) conveyors.

The box cover opening device is developed by the company, can finish the cover opening operation of the turnover box, is added with exception handling in the cover opening process of the turnover box, namely drives the box cover to rotate and incline by a certain angle when the cover opening or the cover opening is abnormal, and is obliquely inserted into the box body of the turnover box, and the box cover opening device mainly comprises a mounting plate, wherein the mounting plate is provided with a clamping mechanism for clamping the box cover, the clamping mechanism comprises a transverse slide plate and a longitudinal slide plate which are arranged on the mounting plate in a sliding manner, the transverse slide plate is provided with a transverse clamp plate for clamping the box cover, the longitudinal slide plate is provided with a longitudinal clamp plate for clamping the box cover and a cover opening mechanism for opening the box cover lock catch, and the mounting plate is provided with a third driving part for driving the transverse slide plate and the longitudinal slide plate to slide.

As shown in fig. 3, a carton positioning mechanism 10 is arranged at the end of the carton conveyor A5, a first photoelectric sensor 13 capable of detecting that the carton 7 is in place is arranged near the carton positioning mechanism 10, and the first photoelectric sensor 13 is in signal connection with an upper computer 11. The first photoelectric sensor 13 detects that the carton clamp 2 is in place, sends a first signal, and transmits the first signal to the upper computer 11, and the upper computer 11 sends an instruction to control the carton positioning mechanism 10, the carton clamp 2 and the carton conveyor A5 to act, namely, the carton conveyor A5 stops conveying after receiving the instruction of the upper computer 11, and the carton 7 stops advancing, so that the carton clamp 2 stops at the lower position, the carton positioning mechanism 10 starts to position the carton 7 after receiving the instruction of the upper computer 11, specifically, the carton positioning mechanism 10 can be a structure that two fourth cylinders (the fourth cylinders are not shown in the drawing) control two clamping plates 1002, namely, the two fourth cylinders control the two clamping plates 1002 to clamp and adjust the carton 7, in addition, on the carton conveyor A5, a carton 7 stop plate 1001 can be arranged in front of the stop position of the carton 7 to stop the carton 7 from continuing to advance, and the carton 7 is prevented from overshooting. After receiving the instruction of the upper computer 11, the carton clamp 2 starts to move, namely, descends to the height of the carton 7, clamps the carton 7, then lifts the carton 7 upwards, namely, the grabbing work of the carton 7 is completed, the carton clamp 2 in the embodiment adopts the clamp with the sucker 201 structure and is attached with the supporting teeth 202, namely, the sucker 201 is used for sucking the carton 7 and after lifting, the supporting teeth 202 extend out, so that the bottom of the carton 7 is supported, and the carton 7 is prevented from falling. Through this kind of setting, carton 7 back in place can automated inspection to through host computer 11 control carton conveyer A5 stop operation, make carton 7 stop, carton positioning mechanism 10 fixes a position carton 7 simultaneously, and carton anchor clamps 2 snatch carton 7, thereby equipment can automatic control and accomplish the work of snatching of carton 7, improves degree of automation.

In addition, the carton conveyor A5 is further provided with a laser ranging sensor 17 capable of detecting the size of the carton 7 in front of the first photoelectric sensor 13, and the upper computer 11 is in signal connection with the laser ranging sensor 17. That is, before the operation, the specification and the size of the cartons 7 to be boxed are input on the upper computer 11, before the cartons 7 are in place, the laser ranging sensor 17 detects the sizes of the cartons 7 running on the carton conveyor A5 and transmits data to the upper computer 11, the upper computer 11 rechecks the actual sizes of the cartons 7, and if the data are correct, the carton conveyor A5 continues to move the cartons 7 below the carton clamps 2. Through setting up laser rangefinder sensor 17, can detect the specification size of carton 7 to transmit to host computer 11, judge whether the specification of carton 7 is correct, avoid appearing subsequent shipment mistake, reduce the error rate.

As shown in fig. 4, the turnover box conveyor 4 is provided with a turnover box positioning mechanism 15 capable of positioning the turnover box 8 below the truss robot 9, and a second photoelectric sensor 14 capable of detecting the in-place of the paper box 7 is provided near the turnover box positioning mechanism 15, and the second photoelectric sensor 14 is in signal connection with the upper computer 11. The second photoelectric sensor 14 sends a second signal after detecting that the paper box 7 is in place, and transmits the second signal to the upper computer 11, and the upper computer 11 controls each mechanism to act after receiving the second signal. Through setting up turnover case positioning mechanism 15 and second photoelectric sensor 14, after turnover case 8 is put in place, can automated inspection, improve degree of automation.

In addition, a third photoelectric sensor 16 capable of detecting the specification and the size of the turnover box 8 is further arranged near the turnover box positioning mechanism 15, and the third photoelectric sensor 16 is in signal connection with the upper computer 11. Before operation, the specification and the size of the turnover box 8 are input into the upper computer 11, after the turnover box 8 is positioned, the third photoelectric sensor 16 detects the size of the turnover box 8 and transmits data to the upper computer 11, the upper computer 11 rechecks the actual size of the turnover box 8, if the data are correct, the follow-up operation such as uncovering the turnover box 8 is controlled, and if the rechecking is incorrect, the turnover box 8 is directly conveyed to a workstation by the turnover box conveyor 4. Through setting up the third photoelectric sensor 16, can detect the specification size of turnover case 8 to transmit and give host computer 11, judge whether the specification of turnover case 8 is correct, avoid appearing subsequent shipment mistake, reduce the error rate.

As shown in fig. 1 and 5, the turnover box conveyor 4 includes a front section conveyor 401, a middle section conveyor 402 and a rear section conveyor 403 which are sequentially arranged from front to back, in a normal state, conveying surfaces of the front section conveyor 401, the middle section conveyor 402 and the rear section conveyor 403 are at the same height, the front section conveyor 401, the middle section conveyor 402 and the rear section conveyor 403 can independently operate, and the turnover box 8 can be operated from the middle section conveyor 402 on the front section conveyor 401 to the rear section conveyor 403, and vice versa, the middle section conveyor 402 is under the truss robot 9 and connected with a lifter 18 capable of lifting the truss robot, and the second photoelectric sensor 14 is arranged at one side of the middle section conveyor 402 and is in signal connection with the upper computer 11.

When the turnover box 8 is in place, the second photoelectric sensor 14 sends a second signal after detecting that the turnover box 8 is in place, the second signal is transmitted to the upper computer 11, the upper computer 11 firstly controls the front section conveyor 401 and the middle section conveyor 402 to stop working, then controls the turnover box positioning mechanism 15 to position the turnover box, namely controls the third cylinder 1502 to drive the check plate 1504 to extend, the turnover box 8 is prevented from rebounding in the stopping process, meanwhile, controls the first cylinder to drive the two adjusting plates 1501 to finish clamping the turnover box 8, then the lifter 18 starts working, thereby driving the middle section conveyor 402 to rise to a certain height, simultaneously, the box cover opening device 3 starts working, namely the box cover opening device 3 starts descending until being in contact with the box cover of the turnover box 8, then the box cover of the turnover box 8 is grabbed, and then slowly and upwards resets and lifts, after opening the box cover of the turnover box 8 is completely fetched or placed with goods, the lifter 18 is controlled to descend to the original position, namely controls the first cylinder 1501 to drive the two adjusting plates 1501 to finish clamping the turnover box 8, then the lifter 18 starts working, thereby driving the second cylinder 403 to drive the turnover box 403 to descend, the turnover box 403 to drive the middle section conveyor 403 to move to the turnover box 403 to the middle section conveyor 403, and the turnover box 403 is driven by the cylinder 403 to move to the third cylinder 1502, and then the turnover box 8 is driven to move to the turnover box 403, and the turnover box 403 to be conveyed by the cylinder 403 after the cylinder is driven to move to be in a position.

Wherein the baffle 1505 includes large-size turnover box baffle and small-size turnover box baffle, and two kinds of baffle are controlled by corresponding second cylinder 1503 respectively, and large-size turnover box baffle is used for blockking large-size turnover box 8, and small-size turnover box baffle is used for blockking small-size turnover box 8 to ensure that the turnover box 8 of equidimension not can both pinpoint in same central point position, guarantee to uncap and buckle closure work go on smoothly.

The turnover box conveyor 4 is set to be a front section conveyor 401, a middle section conveyor 402 and a rear section conveyor 403, and the middle section conveyor 402 is connected with the lifter 18, so that after the turnover box 8 arrives on the middle section conveyor 402, the lifter 18 drives the middle section conveyor 402 to ascend, the box opening device 3 descends, the operation efficiency is improved, in addition, the rear section conveyor 403 and the front section conveyor 401 respectively and independently operate, the rear section conveyor 403 can transport the turnover box 8 after the box filling or the box taking is completed to a destination, the front section conveyor 401 transports the turnover box 8 to be taken or the box to be filled to the middle section conveyor 402, and the turnover box is filled or taken independently or in linkage, so that the operation parameters of a certain section of conveyor can be changed according to actual needs and actual conditions.

As shown in fig. 5, 6 and 10, the lifter 18 includes a support 1804 and a base 1806 connected together, at least a pair of pulleys 1802 symmetrically disposed up and down are disposed on the support 1804, an endless belt 1801 is wound on the two pulleys 1802, one of the pulleys 1802 is connected to a driving motor 1807, the middle conveyor 402 is disposed above the base 1806, one side of the middle conveyor is fixed to the endless belt 1801, at least two sliders 1805 are disposed on the middle conveyor, and a guide rail 1803 corresponding to the sliders 1805 is disposed on the support 1804. Specifically, in this embodiment, there are two pairs of pulleys 1802, each pair of pulleys 1802 is wound with an endless belt 1801, one driving motor 1807 is connected to one pulley 1802 of each pair of pulleys 1802 through a synchronous belt module 1808, that is, one pulley of each pair of pulleys 1802 is connected to the driving motor 1807 through the synchronous belt module 1808, so that each pair of pulleys 1802 can be driven to operate through one driving motor 1807, and then the two endless belts 1801 are driven to rotate synchronously, so as to drive the middle section conveyor 402 to lift.

As shown in fig. 5, the positioning mechanism 15 for a turnover box includes two adjusting plates 1501, where the adjusting plates 1501 are respectively disposed on two sides of the conveyer 4 for a turnover box and are respectively connected to a first cylinder (the first cylinders are not shown in the drawing), and the two first cylinders can drive the two adjusting plates 1501 to move towards or away from each other. The turnover box positioning mechanism 15 is arranged into a structure of a first cylinder and the adjusting plates 1501, and the first cylinder drives the two adjusting plates 1501 to clamp the turnover box 8, so that the turnover box 8 is aligned and positioned, and the follow-up operation is convenient.

As shown in fig. 5-8, the positioning mechanism 15 for the turnover box further comprises a blocking plate 1505 capable of blocking the turnover box 8 from moving forward and a second cylinder 1503 for driving the blocking plate 1505 to lift, wherein the upper end of the blocking plate 1502 can extend out of the turnover box conveyor 4, and the lower end of the blocking plate is connected with the second cylinder 1503 capable of driving the turnover box to lift. Under normal conditions, the baffle 1505 extends out of the transport surface of the turnover box conveyor 4, and after the turnover box 8 runs in front of the baffle 1505, the turnover box is blocked by the baffle 1505, so that the turnover box is prevented from continuing to move forward under the inertia of the turnover box. After the turnover box 8 is completely packaged, the lifter 18 drives the middle section conveyor 402 to descend to be flush with the front section conveyor 401 and the rear section conveyor 403, and the second cylinder 1503 drives the blocking plate 1502 to descend below the surface of the middle section conveyor 402, so that the subsequent movement of the turnover box 8 is prevented from being blocked.

As shown in fig. 6and 9, the positioning mechanism 15 for a turnover box further includes a third cylinder 1502, two pairs of sprockets 1507, a conveying chain 1506 and a check plate 1504 capable of blocking the turnover box from reversing, wherein the sprockets 1507 are disposed on both sides of the check plate 1504 and are connected by a transmission shaft 1508, each pair of sprockets 1507 is wound with an annular conveying chain 1506, one of the conveying chains 1506 is connected to the check plate 1507, and the other conveying chain 1506 is connected to the check plate 1507 and the third cylinder 1502. The third cylinder 1502 operates, and the telescopic rod drives the conveying chain 1506 connected with the third cylinder to rotate, and in the process of rotating the conveying chain 1506, the telescopic rod drives the chain wheel 1507 matched with the telescopic rod to rotate, and in the process of rotating the chain wheel 1507, the transmission shaft 1508 drives the other pair of chain wheels 1507 to rotate, so that the other conveying chain 1506 is driven to rotate, and then the check plate 1504 is driven to rotate, so that the check plate 1504 extends out of the turnover box conveyor 4. The states of the check plate 1504 and the blocking plate 1505 are opposite, namely, under the normal state, the check plate 1504 is positioned at the lower part of the conveying surface of the turnover box 8, the turnover box 8 is prevented from being blocked from moving to the lower part of the box cover opening device 3, when the second photoelectric sensor 14 detects that the paper box 7 is in place, a second signal is sent out and transmitted to the upper computer 11, and then the upper computer 11 controls the third cylinder 1502 to push the conveying chain 1506 to move, namely, to move to the upper part of the conveying surface of the turnover box conveyor 4, so that the turnover box 8 is prevented from rebounding, and more accurate positioning and clamping of the turnover box 8 are facilitated. By providing the check plate 1504, the turn-around box 8 can be prevented from rebounding in the stopping process, and better positioning of the turn-around box 8 is facilitated.

In addition, as shown in fig. 1, the truss robot 9 is further provided with a dust removing device 1, and the dust removing device 1 is positioned at the rightmost side of the truss robot 9. In this embodiment, the dust removing device 1 may use existing dust removing equipment. In the case taking link, after the case cover opening device 3 uncovers the turnover case 8, the dust removing device 1 and the case cover opening device 2 shift leftwards along with the case cover opening device 3, at this time, the case cover opening device 2 is just above the turnover case 8, then the case cover opening device 3 is lifted up while the case cover opening device 3 is moved leftwards under the control of the truss robot 9, and then the dust removing device 1, the case cover opening device 3 and the case cover opening device 2 are stopped after continuing to move leftwards for a certain distance, at this time, the case cover opening device 3 is positioned above the turnover case 8 while the case cover opening device 2 is positioned above the case conveyor B6, then the case cover opening device 3 is covered by the case cover opening device 3, and then the case cover opening device 2 is slowly lowered, the case cover 7 is placed on the case conveyor B6, and then lifted upwards for reset, at the same time, the case cover opening device 1 is lowered to start dust removing work for the turnover case 8, and after the dust removing is completed, the case cover opening device 1 is lifted upwards for reset, and finally, the case cover opening device 3 is moved and positioned right above the turnover case cover opening device 3 under the control of the truss robot 9. Through setting up dust collector 1, can be at the in-process of getting goods, accomplish the dust removal operation to turnover case 8 voluntarily, avoid the problem of the inefficiency that the manual cleaning of later stage brought.

The invention has very good effect, through setting up carton conveyer A5, carton conveyer B6, carton clamp 2, turnover case conveyer 4 and opening the case lid device 3, carton conveyer A5 and carton conveyer B6 are used for transporting the carton 7, turnover case conveyer 4 is used for transporting turnover case 8, opening the case lid device 3 uncaps and buckles turnover case 8, carton clamp 2 is used for snatching carton 7 and placing carton 7 in turnover case 8, or take out carton 7 from turnover case 8, thus can accomplish the goods taking and loading operation to turnover case 8 automatically, has saved the human cost greatly, has improved production efficiency.

The loading method of the turnover box loading and unloading device comprises the following steps:

1a) Before working, the specification models of the cartons 7 and the turnover boxes 8 are conveyed to an upper computer 11, the upper computer 11 sends signals to a truss robot 9, and meanwhile the truss robot 9 moves the carton cover opening device 3 and the cartons 7 clamp 2 to be in place;

2a) The carton 7 conveyor A5 starts to transport the cartons 7, the cartons 7 go through the laser ranging sensor 17 to recheck the height, meanwhile, the cartons 7 are compared with the model provided by the upper computer 11, after the comparison is correct, the cartons 7 continue to be transported to the carton positioning mechanism 10, the carton positioning mechanism 10 positions and sorts the cartons 7, after the cartons 7 are positioned, the cartons 7 clamp 2 descends, the suckers 201 of the cartons 7 clamp 2 are close to the cartons 7 to absorb and fix the cartons 7, then the supporting teeth 202 of the cartons 7 clamp 2 extend, meanwhile, the cartons 7 are pressed down, the supporting teeth 202 of the cartons 7 clamp 2 support the cartons 7, and finally the cartons 7 clamp 2 drives the cartons 7 to be lifted upwards to the safe height;

3a) In synchronization with the step 2, the turnover box 8 is transported by the front conveyor 401 until being transported to the turnover box positioning mechanism 15 at the middle conveyor 402, at the moment, after the second photoelectric sensor 14 detects that the paper box 7 is in place, a second signal is sent to the upper computer 11, then the front conveyor 401 and the middle conveyor 402 stop working, meanwhile, two third cylinders 1502 operate, the third cylinders 1502 drive the check plates 1504 to extend out of the transport surface of the middle conveyor 402 through the transport chain 1506, so that the turnover box 8 is prevented from rebounding, and meanwhile, the two first cylinders drive the two adjusting plates to move in a facing way, so that clamping and positioning are carried out on the turnover box 8;

Meanwhile, the third photoelectric sensor 16 rechecks the specification and the size of the turnover box 8, compares the specification and the size with the upper computer 11, compares correctly, the second photoelectric sensor 14 sends a second signal to the upper computer 11, and the upper computer 11 controls the lifter 18 to lift upwards, so that the middle section conveyor 402 and the turnover box 8 are lifted to a certain height, the box cover opening device 3 descends to clamp the box cover of the turnover box 8, and then the box cover opening device 3 drives the box cover to lift upwards to a safe height together, so that the cover opening of the turnover box 8 is completed;

4a) The upper computer 11 controls the box cover opening device 3 and the paper box 7 clamp 2 to move leftwards for a certain distance and then stop, at the moment, the paper box 7 clamp 2 is positioned right above the turnover box 8, the paper box 7 clamp 2 descends, meanwhile, the supporting teeth 202 of the paper box 7 clamp 2 are retracted, and after the paper box 7 clamp 2 places the paper box 7 into the turnover box 8, the paper box 7 is loosened and lifted upwards to a safe height;

5a) The upper computer 11 controls the box opening device 3 and the paper box 7 clamp 2 to move rightwards to reset and then stop, at the moment, the box opening device 3 is positioned right above the turnover box 8, the box opening device 3 descends, the box cover of the turnover box 8 is buckled on the box body of the turnover box 8, and the turnover box 8 loosens the box cover and is lifted upwards to a safe height;

6a) The transfer box 8 is transported, the lifter 18 descends to reset the middle section conveyor 402, after the middle section conveyor 402 is reset, the second cylinder 1503 drives the blocking plate 1505 to retract, the first cylinder drives the two adjusting plates to move back to loosen the transfer box 8, the middle section conveyor 402 and the rear section conveyor 403 start to work, and the middle section conveyor 402 transports the transfer box 8 to the rear section conveyor 403;

7a) The next boxing process is prepared, the first cylinder drives the blocking plate 1505 to lift and reset upwards, the blocking plate extends out of the conveying surface of the middle-section conveyor 402, the third cylinder 1502 drives the check plate 1504 to descend through the conveying chain 1506 and retract below the conveying surface of the middle-section conveyor 402, meanwhile, the rear-section conveyor 403 conveys the turnover boxes 8 on the blocking plate to a destination, the empty turnover boxes 8 to be boxed are conveyed to the turnover box positioning mechanism 15 of the middle-section conveyor 402 through the front-section conveyor 401, and the next boxing process is carried out.

In addition, in step3 a), the abnormal opening of the cover of the transfer box 8 is added, and when the cover opening device 3 opens the cover, step 4 a) and step 5 a) are skipped and step6 a) and step 7 a) are entered, and the transfer box 8 is transported to a personnel station by the rear conveyor 403 to be manually trimmed.

In step 5 a), the abnormal handling of the buckle closure of the turnover box 8 is added, when the box closure opening device 3 is in buckle closure, the abnormal buckle closure occurs, the box closure opening device 3 lifts and resets with the box closure together, the truss robot 9 controls the box closure opening device 3 and the box 7 clamp 2 to move leftwards and then stop, at this moment, the box 7 clamp 2 descends, after the box 7 clamp 2 is adsorbed and fixed, the box 7 is lifted upwards to take out the box 7, the truss robot 9 moves and resets the box closure opening device 3 and the box 7 clamp 2 rightwards, the box closure opening device 3 descends obliquely, the box closure is lifted upwards to reset after being obliquely inserted into the turnover box 8, then the box closure enters into step 6 a) and step 7 a), and the rear conveyor 403 conveys the turnover box 8 with abnormal buckle closure to a manual position for manual trimming.

The goods taking method of the turnover box goods taking device comprises the following steps:

1b) The front conveyor 401 conveys the boxed turnover box 8, the turnover box 8 is conveyed to the middle conveyor 402, the second photoelectric sensor 14 sends a second signal after detecting that the paper box 7 is in place, then the upper computer 11 controls the front conveyor 401 and the middle conveyor 402 to stop working, the turnover box 8 stops working, the third air cylinder 1502 drives the check plate 1504 to extend out of the conveying surface of the middle conveyor 402 through the conveying chain 1506, so that the turnover box 8 is prevented from rebounding, the two first air cylinders drive the two adjusting plates to move towards each other to clamp and hold the turnover box 8, and then the lifter 18 starts working to lift the middle conveyor 402 and the turnover box 8 to a certain height;

2b) After the lifter 18 is lifted in place, the box cover opening device 3 descends, and after the box cover of the turnover box 8 is adsorbed, the box cover opening device 3 drives the box cover to reset and lift to a safe height;

3b) The truss robot 9 moves the box cover opening device 3 and the carton 7 clamp 2 leftwards for a certain distance and then stops, at the moment, the carton 7 clamp 2 descends and falls into the turnover box 8, the carton 7 is clamped and lifted upwards to a certain height, and the carton 7 is taken out from the turnover box 8;

4b) The truss robot 9 adjusts the box cover opening device 3 and the carton 7 clamp 2 to continue to move leftwards until the carton 7 clamp 2 is stopped after moving to the position right above the carton 7 conveyor B6, and simultaneously, the dust removing device 1 is moved leftwards to the position right above the turnover box 8;

5b) The dust removing device 1 falls down onto the turnover box 8, dust removing treatment is carried out inside the turnover box 8, and the dust removing device is lifted upwards to a safe height after dust removing is finished;

6b) In synchronization with step 5B), the carton 7 clamp 2 is lowered, the carton 7 clamp 2 places the carton 7 on the carton 7 conveyor B6, then releases the carton 7 and is lifted up to a safe height, while the carton 7 is transported by the carton 7 conveyor B6 to a destination;

7b) The dust removing device 1, the paper box 7 clamp 2 and the box cover opening device 3 move rightwards at the same time until the dust removing device 1 moves rightwards to the right of the paper box 7 conveyor A5, and the paper box 7 clamp 2 moves rightwards to the right of the paper box 7 conveyor A5;

8b) The case cover opening device 3 descends, the case cover of the turnover case 8 is covered on the turnover case 8, and the case cover of the turnover case 8 is lifted upwards to a safe height after being loosened;

9b) After the lifting device drives the middle section conveyor 402 to descend and return to the original position, the second cylinder 1503 drives the blocking plate 1505 to descend below the conveying surface of the middle section conveyor 402, the first cylinder drives the adjusting plate 1501 to loosen the turnover box 8, and meanwhile, the middle section conveyor 402 starts to work, and the turnover box 8 is conveyed to the rear section conveyor 403;

10b) The next box taking process is prepared, the second cylinder 1503 drives the blocking plate 1505 to lift and reset upwards, the blocking plate 1505 stretches out of the conveying surface of the middle-section conveyor 402, the third cylinder 1502 drives the check plate 1504 to descend through the conveying chain 1506 and retract below the conveying surface of the middle-section conveyor 402, meanwhile, the rear-section conveyor 403 conveys the turnover boxes 8 on the check plate to a destination, and the full-box turnover boxes 8 to be taken are conveyed onto the turnover box positioning mechanism 15 of the middle-section conveyor 402 through the front-section conveyor 401 and enter the next box taking process.

In addition, in step 2 b), the abnormal opening of the cover of the transfer box 8 is added, and when the cover opening device 3 opens the cover, the step 3 b) -step 8 b) is skipped and steps 9 b) and 10 b) are entered, and the transfer box 8 is transported to a personnel station by the rear conveyor 403 to be manually trimmed.

In addition, in step 8 b), the abnormal handling of the cover of the transfer box 8 is added, when the cover opening device 3 is used for covering, the abnormal cover opening device 3 is inclined and descends, after the box cover is obliquely inserted into the transfer box 8, the box cover is lifted and reset upwards, then step 9 b) and step 10 b) are carried out, and the transfer box 8 with abnormal cover opening is transported to a personnel station by the rear conveyor 403 for manual trimming.

The loading method and the goods taking method by using the turnover box goods taking and placing device greatly improve the working efficiency, save the labor cost and reduce the error rate.

In the description of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. It should be understood that the detailed description is presented for purposes of understanding only and is not intended to limit the invention to all other embodiments that may be obtained by one skilled in the art without making any inventive effort.

Claims

1. The utility model provides a turnover case dress gets goods device which characterized in that: the device comprises a truss robot, a carton conveyor, a turnover box conveyor, an upper computer, a carton clamp and a box cover opening device, wherein the carton conveyor is arranged below the truss robot and is used for conveying cartons, the turnover box conveyor is used for conveying turnover boxes, the upper computer is arranged on the truss robot and is used for transferring cartons between the carton conveyor and the turnover box conveyor, the box cover opening device is used for opening and buckling the turnover boxes, the carton clamp is arranged on the left side of the box cover opening device, the upper computer is arranged on the truss robot and is used for driving a power system, and the power system drives the carton clamp and the box cover opening device to move left and right along the truss; the turnover box positioning mechanism comprises two adjusting plates and a check plate capable of blocking the turnover box from reversing, the turnover box conveyor comprises a front section conveyor, a middle section conveyor and a rear section conveyor which are sequentially arranged from front to back, the middle section conveyor is arranged below the truss robot and connected with a lifter capable of lifting the turnover box, the rear section conveyor and the front section conveyor respectively independently operate, the rear section conveyor can transport the turnover box after boxing or box taking is completed to a destination, the turnover box positioning mechanism further comprises a third cylinder, two pairs of chain wheels and conveying chains, the chain wheels are arranged on two sides of the check plate and connected through a transmission shaft, each pair of chain wheels is wound with an annular conveying chain, one conveying chain is connected with the check plate, the other conveying chain is connected with the check plate and the third cylinder, and the third cylinder drives the check plate to stretch out of the conveying surface of the conveying machine through the conveying chain, so that the turnover box is prevented from rebounding.

2. The turnover box loading and unloading device according to claim 1, wherein the carton conveyor comprises a carton conveyor A and a carton conveyor B which can respectively and independently operate, and the carton conveyor A, the turnover box conveyor and the carton conveyor B are sequentially arranged from right to left.

3. The turnover box loading and unloading device according to claim 2, wherein a box positioning mechanism is arranged at the end part of the box conveyor A, a first photoelectric sensor capable of detecting the position of the box is arranged near the box positioning mechanism, and the first photoelectric sensor is in signal connection with an upper computer.

4. The turnover box loading and unloading device according to claim 3, wherein the box conveyor A is further provided with a laser ranging sensor capable of detecting the size of the box in front of the first photoelectric sensor, and the upper computer is in signal connection with the laser ranging sensor.

5. The turnover box loading and unloading device according to claim 1, wherein a second photoelectric sensor capable of detecting the in-place of the paper box is arranged near the turnover box positioning mechanism and is in signal connection with the upper computer.

6. The turnover box loading and unloading device of claim 5, wherein a third photoelectric sensor capable of detecting the specification and the size of the turnover box is further arranged near the turnover box positioning mechanism and is in signal connection with the upper computer.

7. The tote pick device of claim 5, wherein the second photosensor is disposed on one side of the intermediate conveyor.

8. The turnover box loading and unloading device of claim 1, wherein the lifter comprises a bracket and a base which are connected together, at least one pair of pulleys which are symmetrically arranged up and down are arranged on the bracket, an annular belt is wound on the two pulleys, one pulley is connected with a driving motor, a middle section conveyor is arranged above the base, one side of the middle section conveyor is fixed with the annular belt, at least two sliding blocks are arranged on the middle section conveyor, and a guide rail corresponding to the sliding blocks is arranged on the bracket.

9. The turnover box goods taking device of claim 8, wherein the turnover box goods taking device comprises two pairs of belt wheels, an annular belt is wound on each pair of belt wheels, and one driving motor is connected with one belt wheel of each pair of belt wheels through a synchronous belt module.

10. A container loading and unloading device according to any one of claims 1 to 9, wherein the adjusting plates are respectively arranged at two sides of the container conveyor and are respectively connected with a first cylinder, and the two first cylinders can drive the two adjusting plates to move towards or away from each other.

11. The container loading and unloading device according to claim 10, wherein the container positioning mechanism further comprises a blocking plate capable of blocking the container from going forward and a second cylinder for driving the blocking plate to lift, the upper end of the blocking plate can extend out of the container conveyor, and the lower end of the blocking plate is connected with the second cylinder capable of driving the blocking plate to lift.

12. The turnover box loading and unloading device of claim 1, wherein the truss robot is further provided with a dust removing device, and the dust removing device is positioned at the rightmost side of the truss robot.

13. A loading method using a turnover box loading and unloading device as set forth in claim 1, comprising the steps of:

3a) The turnover box is transported by the front section conveyor until the turnover box is transported to a turnover box positioning mechanism at the middle section conveyor, at the moment, after the second photoelectric sensor detects that the paper box is in place, a second signal is sent to the upper computer, then the front section conveyor and the middle section conveyor stop working, meanwhile, two third cylinders operate, the third cylinders drive the check plates to extend out of the transport surface of the middle section conveyor through the transport chain, so that the turnover box is prevented from rebounding, and meanwhile, the two first cylinders drive the two adjusting plates to move towards the surface, so that clamping and positioning are carried out on the turnover box;

14. The method according to claim 13, wherein in step 3 a), the container is loaded with an abnormal lid opening process, and when the container lid opening device opens the lid, step 4 a) and step 5 a) are skipped and step 6 a) and step 7 a) are entered, and the rear conveyor conveys the container to a manual position for manual repair.

15. The loading method of a turnover loading and unloading device according to claim 13 or 14, wherein in step 5 a), abnormal handling of the buckle closure of the turnover box is added, when the box closure opening device is closed, the buckle closure is abnormal, the box closure opening device lifts and resets with the box cover together, the truss robot controls the box closure opening device and the box clamp to move leftwards and then stops, at this moment, the box clamp descends, after the box is adsorbed and fixed, the box is taken out by lifting upwards, the box closure opening device and the box clamp move rightwards and reset, the box closure opening device descends obliquely, the box closure is obliquely inserted into the turnover box, lifting and resetting upwards is carried out, then step 6 a) and step 7 a) are carried out, and the turnover box with abnormal buckle closure is transported to a manual position by a rear conveyor for manual trimming.

16. A method of picking up a container using a transfer case pick up apparatus as claimed in claim 1, comprising the steps of:

17. The method for picking up a container loading and unloading device according to claim 16, wherein in step 2 b), the container is loaded with abnormal opening process, and when the container opening device opens the cover, step 3 b) -step 8 b) are skipped, step 9 b) and step 10 b) are entered, and the container is transported to a manual position by a rear conveyor for manual trimming.

18. The method according to claim 16 or 17, wherein in step 8 b), the abnormal handling of the buckle closure of the transfer container is added, the abnormal buckle closure occurs when the container closure opening device is closed, the container closure opening device is inclined and lowered, the container cover is inclined and inserted into the transfer container, and then lifted and reset upwards, and then steps 9 b) and 10 b) are carried out, and the transfer container with abnormal buckle closure is transported to a manual position by the rear conveyor for manual trimming.