WO2018228245A1 - 衣服后整自动处理系统及其使用方法 - Google Patents

衣服后整自动处理系统及其使用方法 Download PDF

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Publication number
WO2018228245A1
WO2018228245A1 PCT/CN2018/090039 CN2018090039W WO2018228245A1 WO 2018228245 A1 WO2018228245 A1 WO 2018228245A1 CN 2018090039 W CN2018090039 W CN 2018090039W WO 2018228245 A1 WO2018228245 A1 WO 2018228245A1
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WO
WIPO (PCT)
Prior art keywords
clothes
box
automatic
conveying device
plastic box
Prior art date
Application number
PCT/CN2018/090039
Other languages
English (en)
French (fr)
Inventor
李志刚
黄柏豪
刘佩茵
Original Assignee
东莞晶苑毛织制衣有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201720710361.4U external-priority patent/CN207000992U/zh
Priority claimed from CN201710458912.7A external-priority patent/CN107161445B/zh
Application filed by 东莞晶苑毛织制衣有限公司 filed Critical 东莞晶苑毛织制衣有限公司
Publication of WO2018228245A1 publication Critical patent/WO2018228245A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties

Definitions

  • the present invention relates to the field of garment manufacturing, and in particular to a garment finishing automatic processing system and a method of using the same.
  • the clothes need to be folded, and then the folded clothes of the same specification are placed in the plastic box, and then the plastic boxes containing the clothes are transported to a designated place for storage, and then according to the requirements of the customer. , the clothes of different specifications are boxed according to the preset ratio, and finally sealed.
  • the present invention adopts the following technical solutions:
  • a garment finishing automatic processing system comprising: a center console, an AGV vehicle, an endless conveying device, and a scanning error-proofing device, a smart warehouse, a fully automatic intelligent packaging device and an out-of-box conveying device, which are sequentially disposed around the annular conveying device;
  • the console is respectively connected with a scanning error-proof device, a smart warehouse, a fully automatic intelligent packaging device and an out-of-box conveying device;
  • the scanning error-proof device is used for removing the plastic box with the different clothes, and supplying the plastic box without the different clothes to the a smart warehouse;
  • the smart warehouse is used for storing a glove box for scanning clothes provided by the error-proof device, and for supplying the glove box with the clothes to be packed to the fully automatic smart packaging device;
  • the automatic intelligent packaging device The clothes for different specifications supplied by the smart warehouse are mixed and packed according to a preset ratio;
  • the out-of-box conveying device is used for transporting the empty plastic box which is taken out by the automatic intelligent packaging device
  • the above-mentioned clothes after-automatic processing system realizes automatic detection of clothes by providing an annular conveying device, by providing scanning error-proofing equipment, intelligent warehouse, fully automatic intelligent packaging equipment and out-of-box conveying device around the endless conveying device, Storage and mixing, no manual operation, improved processing efficiency of the clothes, and less operational errors.
  • the endless conveying device comprises an annular rail and a transport vehicle disposed on the circular rail, and the transport vehicle is provided with a transport vehicle transport mechanism, and the transport direction of the transport vehicle transport mechanism is perpendicular to The direction of movement of the transport vehicle.
  • the scanning error protection device includes a main scanning transport mechanism, a foreign transport mechanism connected to the main scan transport mechanism, a unloading mechanism disposed on the main scan transport mechanism, a radio frequency counting machine, and a foreign product removal mechanism; the cargo mechanism, the wireless radio frequency point machine and the foreign product removal mechanism are sequentially disposed along a transport direction of the main scan transport mechanism; the wireless radio frequency point machine has a plurality of radio frequency read heads; and the foreign product removal mechanism The corresponding foreign transport mechanism is disposed on a side of the main scanning transport mechanism away from the foreign transport mechanism.
  • the wireless radio frequency point machine includes a hollow shielding box, a photoelectric sensor disposed in the shielding box, a roller conveying mechanism, and the plurality of radio frequency reading heads; a rectangular parallelepiped structure; the front surface and the rear surface of the shielding box each have an opening; the opening of the front surface of the shielding box is provided with a first movable door; and the opening of the rear surface of the shielding box is provided with a second movable door.
  • the smart warehouse includes a plurality of shelf storage devices; each of the shelf storage devices includes two shelves, a lifting mechanism, a shuttle, and an intermediate conveying mechanism; the shuttle has a shuttle passage between the shelves.
  • Each of the two shelves has a plurality of row positions corresponding to one side of the shuttle channel, and horizontal guide rails mounted on the shelves are disposed between adjacent two rows of the shelves;
  • the lifting mechanism is located at the shuttle At the entrance of the passage, the shuttle is slidably disposed on the horizontal rail and the lifting mechanism; the shuttle is provided with a shuttle push-pull grip;
  • the intermediate conveying mechanism is located at one side of the lifting mechanism, and is located at the annular conveying device Between the shelf storage device.
  • the fully automatic smart packaging apparatus includes an automatic confluence mechanism that connects the endless conveying device, an automatic gripping and packing mechanism that connects the automatic confluence mechanism, and a connection to the automatic gripping and packing mechanism.
  • the automatic confluence mechanism, the automatic gripping and packing mechanism, and the sealing machine are all electrically connected to the center console; the automatic confluence mechanism performs clothes of different sizes according to a preset ratio
  • the picking and merging is carried by the conveyor to the automatic picking and packing mechanism; the automatic picking and loading mechanism picks up the clothes into a carton according to a preset size ratio, and the carton is transported by the conveyor to the sealing machine.
  • the automatic manifold comprises a loading assembly, a plurality of buffering stations mounted on one side of the loading assembly, and correspondingly mounted on a side of the buffering station remote from the loading assembly.
  • a plurality of reclaiming stations corresponding to a plurality of cache transfer components installed on a side of the reclaiming station remote from the buffering station, correspondingly installed above the reclaiming station and the cache transfer component a material conveying mechanism vertically disposed on a side of the buffer conveying assembly away from the buffer conveying assembly; the number of the reclaiming station, the buffer conveying assembly and the reclaiming mechanism are equal, and one by one Corresponding arrangement; the feeding port of the loading assembly is connected to the annular conveying device.
  • a weighing platform connected to the sealing machine, a turning machine connected to the weighing platform, a printing mechanism respectively mounted at opposite ends of the turning machine, and a palletizing machine are further included.
  • the automatic grabbing and loading mechanism includes a chassis, a grabbing station extending through the chassis, a black box mounted on the grabbing station, and a grab robot mounted on the top of the chassis;
  • the illuminating body is mounted below the one end of the picking station near the needle detecting mechanism. When the illuminating body emits light, a bright area is formed on the surface of the grasping station; the black box is provided with a sensor and a vision system.
  • the method further includes an empty box detecting device located downstream of the fully automatic smart packaging device along a transport direction of the endless conveying device; the empty box detecting device includes a U-shaped empty box detecting and conveying device An empty box detecting machine disposed on the empty box detecting and conveying device, wherein both ends of the empty box detecting conveying device are connected with an endless conveying device; and the empty box detecting device is configured to detect whether the empty plastic box further contains clothes.
  • the garment automatic processing system comprises a center console, an AGV vehicle, an annular conveying device, and a scanning error prevention device, a smart warehouse, and a fully automatic intelligent device, which are sequentially disposed around the annular conveying device.
  • the AGV car automatically transports the plastic box in which the clothes are to be stored to the scanning error protection device, wherein the plastic box is provided with a box RFID card having the box identification number information, and the clothes are provided with Clothing RFID card with clothing information;
  • Detection scanning the error-proof device to scan the box of the plastic box of the glove box to read the service box number information, and simultaneously scan and read the clothing information of the clothing RFID card of all the clothes in the plastic box, and send it to the center console, the center The console will bind the box identification number information scanned from the box RFID card of the tank to the clothing information scanned from the RFID card of all the clothes in the glove box, and record it in the center console, the center console according to the scan. Obtain the clothing information and analyze whether the clothes in the plastic box have different products. If there is, the center console controls the scanning error-proof device to remove the plastic box with the foreign clothes. If not, the center console controls the scanning error-proof device. The plastic box with the different clothes is transported to the intelligent warehouse through the endless conveying device;
  • the central console analyzes the clothing information obtained by scanning the error-proofing device to obtain a storage instruction, and controls the smart warehouse to store the glove box in the designated position according to the storage instruction;
  • the automatic intelligent packaging equipment sends the clothing information of the missing clothes to the central console.
  • the center console analyzes the clothing information according to the lack of clothes in the box, and controls the smart warehouse according to the taking instruction.
  • the plastic box containing the clothes that need to be boxed is taken out from the designated position and sent to the endless conveying device, and the ring conveying device then transports the plastic box containing the clothes that need to be boxed to the fully automatic intelligent packaging equipment;
  • the central console controls the fully automatic intelligent packaging equipment according to the externally input packing information to mix clothes of different specifications into a carton in a preset proportion;
  • Send empty plastic box In the process of boxing clothes with automatic intelligent packaging equipment, when the clothes in the plastic box supplied by the intelligent warehouse to the automatic intelligent packaging equipment are taken as empty plastic boxes, the center console The automatic intelligent packaging equipment is controlled to transport the empty plastic tank to the AGV vehicle through the annular conveying device and the out conveying device in turn, and the AGV vehicle removes the empty plastic tank.
  • FIG. 1 is a schematic structural view of a garment finishing automatic processing system according to a preferred embodiment of the present invention
  • Figure 2 is a schematic structural view of the endless conveying device of the garment finishing automatic processing system shown in Figure 1;
  • FIG. 3 is a schematic structural view of the scanning error protection device shown in FIG. 1;
  • FIG. 4 is a detailed structural view of the radio frequency point counting machine shown in FIG. 3;
  • Figure 5 is a schematic structural view of the smart warehouse shown in Figure 1;
  • Figure 6 is a schematic structural view of the shelf storage device shown in Figure 5;
  • Figure 7 is a schematic structural view of the fully automatic intelligent packaging device shown in Figure 1;
  • Figure 8 is a schematic structural view of the automatic air-sending mechanism shown in Figure 7;
  • Figure 9 is a detailed plan view of the garment grasping and packaging device shown in Figure 7;
  • Figure 10 is a detailed structural view of the clothes grabbing and packaging device shown in Figure 9 for removing the carton transporting station;
  • Figure 11 is a block diagram showing the structure of the out-of-the-box conveying device shown in Figure 1.
  • AGV car 20, endless conveyor; 21, circular track; 22, transport vehicle; 23, transport vehicle transport mechanism; 30, scan code error-proof equipment; 31, main scanning transport mechanism; 32, unloading mechanism; Radio frequency point counting machine; 331, shielding box; 332, first movable door; 333, second movable door; 334, roller conveying mechanism; 335, photoelectric sensor; 336, radio frequency reading head; 34, foreign transport mechanism; 40, intelligent warehouse; 41, shelf storage device; 42, shelf; 43, warehouse; 44, horizontal rail; 45, lifting mechanism; 46, shuttle; 47, shuttle push and pull grip; 48, intermediate transport mechanism; Fully automatic intelligent packaging equipment; 60, automatic convergence mechanism; 61, loading assembly; 62, cache station; 63, reclaiming station; 64, cache transfer component; 65, confluence transfer component; 66, plastic box transfer component; 67, reclaiming mechanism; 68, confluence transfer component; 70, needle detector; 71, needle delivery assembly; 72, first needle detector; 73, second needle detector; 74, needle injection output component; Automatically
  • a garment finishing automatic processing system includes: a center console, an AGV (Automated Guided Vehicle) a vehicle 10, an endless conveying device 20, and a scanning error-proofing device 30, a smart warehouse 40, a fully automatic intelligent packaging device 50, and an out-of-box conveying device 100, which are sequentially disposed around the endless conveying device 20; and the central console is respectively connected with the scanning error-proof device. 30.
  • the intelligent warehouse 40, the fully automatic intelligent packaging device 50 and the outbound conveying device 100, the intelligent warehouse 40 has a plurality of positions 43.
  • the AGV cart 10 is used for transporting the glove box in which the clothes are to be stored to the scanning error protection device 30, and transporting the empty plastic box, wherein the clothes are provided with the recorded a RFID (Radio Frequency Identification) card of the clothing information, the box is provided with a box RFID card with the box identification number information; the scanning error protection device 30 is used for scanning the box identification number information of the reading box RFID card, and Read the clothing information of the clothing RFID card of all the clothes in the plastic box, and send the scanned and read information to the center console.
  • RFID Radio Frequency Identification
  • the center console receives the clothing information scanned by the scanning error protection device 30, analyzes and judges whether the clothes in the plastic box have different products, and controls the scanning error protection device 30 to remove the glue with the different clothes according to the analysis result.
  • the box and the glove box for supplying the clothing to the smart warehouse 40 are stored, and the scanned clothing information is stored in the box RFID card.
  • the center console scans the read clothing information according to the scanning error protection device 30.
  • the storage instruction is obtained, and the smart warehouse 40 is controlled according to the storage instruction to put the plastic box without the special product into the designated position 43 for storage.
  • the center console controls the whole according to the packing information input by the outside world.
  • the automatic smart packaging device 50 mixes clothes of different specifications in a predetermined ratio.
  • the center console When picking up the goods, the center console obtains the picking instruction according to the clothing information analysis of the clothes lacking the clothes sent by the fully automatic intelligent packaging device 50, and the center console controls the smart warehouse 40 to take out from the designated position 43 according to the taking instruction.
  • the plastic box for packing the missing clothes is sent to the endless conveying device 20; the endless conveying device 20 is for transporting the plastic box without the foreign clothes from the scanning error prevention device 30 to the intelligent warehouse 40, and the smart warehouse 40 is provided with the The plastic box for packing the clothes is transported to the fully automatic intelligent packaging device 50, and the empty plastic box for taking the clothes of the fully automatic smart packaging device 50 is transported to the outbound conveying device 100; the out conveying device 100 is used for the empty plastic box It is transported to the location where the AGV car 10 is located so that the AGV car 10 removes the empty carton.
  • the endless conveying device 20 includes an annular rail 21 and a transport cart 22 disposed on the circular rail 21.
  • the transport cart 22 is provided with a transport vehicle transport mechanism 23, and the transport direction of the transport vehicle transport mechanism 23 is perpendicular to the transport vehicle 22. The direction of movement.
  • the scanning error protection device 30 includes a main scanning transport mechanism 31, a foreign transport mechanism 34 that communicates with the main scan transport mechanism 31, a unloading mechanism 32 disposed on the main scan transport mechanism 31, a radio frequency point machine 33, and a foreign product removal mechanism (not shown); a discharge mechanism 32, a wireless radio frequency point machine 33, and a foreign product removal mechanism are sequentially disposed along the transport direction of the main scan transport mechanism 31, and the foreign product removal mechanism is disposed corresponding to the foreign product transport mechanism 34.
  • the main scanning conveyance mechanism 3 is away from the side of the foreign transportation mechanism 34.
  • the unloading mechanism 32 is used for transporting the plastic box from the AGV vehicle 10 to the main scanning transport mechanism 31; the wireless radio frequency counting machine 33 is used for scanning the box ID card of the plastic tank to read the box identification number information, and simultaneously scanning all the inside of the plastic box.
  • the clothing information of the clothes, and the scanned information is sent to the central console, and the center console determines whether there is a foreign product in the plastic box according to the clothing information obtained by the scanning; the foreign product removing mechanism is used to remove the plastic box with the foreign clothes.
  • the main scanning transport mechanism 31 is pushed up onto the foreign transport mechanism 34 to remove the plastic tank having the foreign clothes.
  • the center console determines, according to the scan information sent by the wireless radio frequency point machine 33, that the clothes in the plastic box have a different product, when the plastic box with the foreign clothes moves to the position where the foreign product removal mechanism is located, the center console The control foreign matter removing mechanism pushes the plastic box with the foreign clothes into the foreign goods transporting mechanism 34 to transport the plastic box with the unqualified clothes; if the center console judges the glue according to the information sent by the wireless radio frequency counting machine 33 The clothes in the box are all qualified products, the foreign matter removing mechanism does not operate, and the main scanning conveying mechanism 31 directly transports the plastic box to the endless conveying device 20.
  • the wireless radio frequency point machine 33 includes a hollow shielding box 331 and a photoelectric sensor 335 disposed in the shielding box 331, a roller transmitting mechanism 334 and a plurality of radio frequency reading heads 336.
  • the shielding box 331 has a rectangular parallelepiped structure.
  • the front surface and the rear surface of the shielding box 331 each have an opening; the opening of the front surface of the shielding box 331 is provided with a first movable door 332; and the opening of the rear surface of the shielding box 331 is provided with a second movable door 333.
  • a plurality of radio frequency read heads 336 are used to read the storage location information of the box RFID card of the plastic box and the clothing information of the clothing RFID card of all the clothes in the plastic box, and the photoelectric sensor 335 is used to sense whether the plastic box moves into the shielding box 331.
  • the first movable door 332 is opened, and the main scanning conveying mechanism 31 feeds the plastic box into the shielding box 331.
  • the center console controls the first movable door 332 to be closed, and several radio frequency readings are performed.
  • the head 336 scans the box and all the clothes in the box to read the storage location information of the box RFID card and the clothing information of all the RFID cards.
  • the center console controls the second movable door 333 to open, and the roller conveying mechanism 334 operates to drive the scanned plastic tank to move through the opening of the rear surface of the shielding box 331 to the main scanning conveying mechanism 31.
  • a 10-500-piece garment scan can be realized, thereby reducing labor costs, improving production efficiency and safety of operation. Sex, and can avoid human error.
  • the intelligent warehouse 40 includes a plurality of shelf storage devices 41.
  • each shelf storage device 41 includes two shelves 42, a lifting mechanism 45, a shuttle 46, and an intermediate conveying mechanism 48;
  • the mechanism 45 is located at the entrance of the shuttle channel, the shuttle 46 is slidably disposed on the horizontal rail 44 and the lifting mechanism 45; the shuttle 46 is provided with a shuttle push-pull grip 47; and the intermediate transport mechanism 48 is located at one side of the lifting mechanism 45.
  • the center console When storing the plastic box, the center console analyzes the clothing information scanned by the scanning error protection device 30 to obtain a storage instruction, and controls the transport vehicle 22 of the endless conveying device 20 to transport the plastic box to the designated shelf storage device 41 according to the storage instruction, and then The cart 22 transports the tank to its intermediate transport mechanism 48 via its cart transport mechanism 23, which in turn transfers the tank to the shuttle 46, which is based on the storage instructions.
  • the control lift mechanism 45 raises the shuttle 46 to the desired height position, then controls the shuttle 46 to move on the horizontal rail 44, transports the tank to the position where the designated position 43 is located, and then shuttles the shuttle 46 through the shuttle.
  • the push-pull grip 47 pushes the glue box into the position 43 for storage.
  • the center console obtains a picking instruction according to the clothing information analysis of the unpacked clothes sent by the fully automatic smart packaging device 50, and controls the shuttle 46 of the designated rack storage device 41 in the lifting mechanism 45 according to the taking instruction.
  • the designated position 43 is found, and then the plastic box in which the unpacked clothes are placed is taken out from the designated position 43, and then the shuttle 46 transports the plastic case to the exit of the shuttle passage, and then the shuttle 46 passes
  • the shuttle push-pull grip 47 thereon pushes the tank to the intermediate transfer mechanism 48, and finally the intermediate transfer mechanism 48 transfers the tank to the cart 22 of the endless conveyor 20, which transports the tank to fully automatic Intelligent packaging equipment 50.
  • the fully automatic intelligent packaging device 50 includes an automatic collecting mechanism 60, a needle detecting mechanism 70 connected to the automatic collecting mechanism 60, an automatic grasping and packing mechanism 80 connecting the needle detecting mechanism 70, and an automatic grabbing and packing mechanism 80.
  • the automatic convergence mechanism 60, the needle detecting mechanism 70, the automatic grasping and packing mechanism 80, the scanner 91, the sealing machine 92, the weighing platform 93, the turning machine 94, the coding mechanism 95, and the back sealing mechanism 96 are all electrically connected to the center console. .
  • the automatic convergence mechanism 60 is used to join garments of different specifications in a predetermined ratio.
  • the automatic manifold mechanism 60 includes a loading assembly 61, a plurality of buffer stations 62 mounted on one side of the loading assembly 61, and a plurality of reclaiming stations 63 corresponding to a side of the buffer station 62 remote from the loading assembly 61.
  • a plurality of buffer conveying assemblies 64 mounted on a side of the reclaimer away from the buffering station, corresponding to a plurality of reclaiming mechanisms 67 mounted above the reclaiming station 63 and the buffer conveying assembly 64, are vertically disposed away from the buffer conveying assembly 64.
  • a plurality of bus transfer assemblies 65 on one side of the reclaim station 63; the loading assembly 61 is disposed perpendicular to each of the cache stations 62.
  • the glove box with the clothes is fed from the endless conveyor 20 into the loading assembly 61 and then transferred by the loading assembly 61 to each of the buffer stations 62.
  • the buffer station 62 can temporarily buffer the glue box so that the rubber box with the clothes can be timely delivered to the reclaiming station 63 when needed, which is beneficial to improve work efficiency.
  • Each of the reclaiming stations 63 is respectively arranged in one-to-one correspondence with each of the caching stations 62.
  • the reclaiming station 63 is used for placing the rubber box for grasping clothes, and the unloading unit 63 is provided with a unloading component, corresponding to the reclaimer
  • a plastic box transfer assembly 66 is further disposed below the bit 63. The outlet end of the plastic box transfer assembly 66 is connected to the endless conveying device 20.
  • the plastic box on the reclaiming station 63 When the clothes in the plastic box on the reclaiming station 63 are grasped, the plastic box becomes an empty glue.
  • the tank, the unloading assembly is activated, the empty tank is transferred to the tank transfer assembly 66, and the tanks on each of the tank transfer assemblies 66 are transported to the combiner transfer assembly 68 for transfer by the combiner transfer assembly 68 to the endless conveyor 20.
  • Each of the buffer transporting components 64 is disposed in one-to-one correspondence with the reclaiming station 63 for transporting the clothes picked up by the reclaiming mechanism 67 from the reclaiming station 63 to the converging transport component 65.
  • the confluence transport assembly 65 is disposed perpendicular to the reclaiming station 63 and is disposed in parallel with the loading assembly 61 for converging the garments of different sizes in the buffer transport assembly 64 for transport to the next step, the needle detector 70.
  • the needle detecting mechanism 70 is for detecting whether or not the clothes conveyed from the bus transfer unit 65 contain broken needles and ferromagnetic fragments.
  • the needle detecting mechanism 70 includes a needle detecting unit 71, a first needle detector 72 and a second needle detector 73 which are disposed at intervals on the needle detecting unit 71, and a first needle detector 72 and a second needle.
  • the needle test output assembly 74 between the machines 73.
  • the needle probe transport assembly 71 corresponds to the bus transport assembly 65, and one end of the needle probe transport assembly 71 is coupled to one end of the bus transport assembly 65.
  • the first needle detector 72 is disposed at one end of the needle transport assembly 71 adjacent to the bus transport assembly 65. The garment passes from the first needle detector 72.
  • a needle pushing mechanism 71 is also mounted with a first pushing mechanism on one side of the needle detecting output assembly 74 for pushing unacceptable clothes from the needle detecting unit 71 to the needle detecting unit 74.
  • the automatic grasping and loading mechanism 80 is configured to take the clothes that have passed the needle-receiving mechanism 70 and take them into the carton in a preset size ratio.
  • the automatic grabbing and loading mechanism 80 includes a chassis 81, a grabbing station 82 and a two carton transporting station through the chassis 81, a black box 83 mounted on the grabbing station 82, and a gripper mounted on the top of the chassis 81.
  • the robot 84 is mounted below the one end of the needle detecting mechanism 70 with an illuminant.
  • the illuminator is a constant-voltage cross-flow LED lamp. When the LED lamp emits light, a surface is formed on the surface of the grasping station 82.
  • Bright area 821 when the clothes are in the bright area 821, the clothes in the bright place are viewed from above the grab station 82. Because of the backlight effect, the surface of the clothes forms a clear contrast with the bright area 821; the two carton transport stations 85 respectively Located on either side of the grab station 82.
  • the dark box 83 is located above the grabbing station 82, the lower end of the black box 83 is open, and the opening of the black box 83 corresponds to the bright area 821 on the grabbing station 82; the function of the black box 83 is to prevent outside light from entering the bright area. 821, affecting the backlight effect of the clothes in the bright area 821.
  • the black box 83 is provided with a sensor and a vision system; the clothes sensor is located at the lower end of the dark box 83 and close to the side of the needle detecting mechanism 70, and when the clothes enter the grasping station 82 from the needle detecting mechanism 70, the clothes sensor detects The entry of the garment is then sent to the vision system, while calculating the thickness value of the garment, and then transmitting the thickness value information to the grab robot 84.
  • the vision system is installed at the upper end of the black box 83. After receiving the signal sent by the sensor, the vision system waits until the clothes completely enter the bright area 821, and takes photos of the clothes, and the visual system performs binarization processing on the clothes photos, wherein the image 2 Image Binarization refers to the process of setting the gray value of a pixel on an image to 0 or 255, that is, the process of rendering the entire image a distinct black-and-white effect. After the binarization process, the color of the clothes becomes black, the bright area 821 is white, the visual system determines the area of the black part according to the black area of the clothes, searches from the white area to the black area, finds the side of the clothes, and calculates the clothes.
  • the image 2 Image Binarization refers to the process of setting the gray value of a pixel on an image to 0 or 255, that is, the process of rendering the entire image a distinct black-and-white effect.
  • the visual system will have the above information Sended to the grab robot 84, the grab robot 84 determines the center position of the garment based on the information sent by the vision system, and then performs an accurate capture.
  • a visual polarizer is disposed on the vision system, so the use of the visual polarizer and the black box 83 solves the problem that the visual system detection data is inaccurate due to the reflective surface of the clothing tape.
  • the backlight effect allows the vision system to recognize the contour of the garment; the combination of the thickness of the garment sensor and the visual system and backlighting effect, regardless of the shape, size, thickness, color, print, and how the garment changes, the system can calculate the garment.
  • the grasping robot 84 is fixedly connected to the top of the chassis 81 and suspended in the chassis 81.
  • the second suction cup of the grasping robot 84 is provided with a plurality of second suction cups for absorbing clothes and loading the clothes into the carton.
  • the center console drives the grasping robot 84 to automatically and automatically adjust the grab height and adjust the grab angle, by the second sucker.
  • the clothes are accurately sucked and grabbed, and the clothes are loaded into a carton on the carton transport station 85.
  • the carton transport station 85 transports the cartons containing the clothes to the next process, i.e., the scanner 91.
  • the scanner 91 performs a one-time scan on the clothing listing information in the carton to detect whether the size ratio of the clothes in the carton conforms to a preset value.
  • One end of the scanner 91 is connected to the two carton transport station 85 via a conveyor belt, and the carton transported from the carton transport station 85 is transported into the scanner 91.
  • the opposite end of the scanner 91 passes through the conveyor belt and the next process.
  • the sealing machine 92 is connected, and the scanned carton is transported to the sealing machine 92.
  • a scanner output unit 911 is mounted on one side of the conveyor belt connected to the sealing machine 92, and a second pushing mechanism (not shown) is mounted on one end of the corresponding scanning output unit 911. If the clothes in the carton are detected If the size ratio is incorrect, the second pushing mechanism pushes the unqualified carton on the conveyor belt into the scanning output component 911. If the test passes, the carton is transported to the next process, that is, the sealing machine 92.
  • the cartoner 92 seals the carton containing the clothes of acceptable size.
  • the sealing machine 92 is connected to the weighing platform 93 via a conveyor belt, and conveys the sealed carton to the weighing platform 93.
  • the carton is automatically weighed on the weighing platform 93, and then the center console automatically records the weighing information of the carton, and sends the weighing information to the coding mechanism 95.
  • the weighing platform 93 is connected to the turning machine 94 through the conveyor belt, and after weighing The carton enters the next process, that is, the code is printed.
  • Each of the coding mechanisms 95 includes two oppositely disposed printers 95.
  • the printer 95 is mounted on opposite sides of the conveyor belt connected to the inverting machine 94. After a printer mechanism 95 applies the opposite sides of the carton, The carton enters the turning machine 94, and the turning machine 94 reverses the carton, and the two sides of the carton are respectively corresponding to the printer 95 of the other printing mechanism 95, and then the code processing is performed. After the filming is completed, the palletizing machine is completed. Grab the carton for palletizing.
  • the backing mechanism 96 seals the bottom surface of the carton.
  • the backing mechanism 96 is connected to the two carton transport station 85 by a conveyor belt, and the carton after the back cover is transported to the two carton transport station 85.
  • the garment finishing system further includes an empty box detecting device 200 located downstream of the fully automatic smart packaging device 50 along the transport direction of the endless conveying device 20; the empty box detecting device 200 includes a U-shaped empty box detecting and conveying
  • the device 201 and the empty container detecting device 202 provided on the empty box detecting and conveying device 201 are connected to the endless conveying device 20 at both ends of the empty box detecting and conveying device 201.
  • the empty box detector 202 is used to detect whether the empty box still contains clothes.
  • the center console controls the endless conveying device 20 to transport the empty plastic box to the empty box detecting and conveying device 201, and when the empty plastic box passes the empty box detecting machine At 202 o'clock, the empty box detecting machine 202 detects whether there is any clothes in the empty rubber box.
  • the center console controls the endless conveying device 20 to return The empty plastic box with clothes is returned to the fully automatic intelligent packaging device, so that the clothes in the empty plastic box can be reused for packing; if not, the empty box detecting and conveying device 201 outputs the empty plastic box to the endless conveying device 20 Afterwards, the center console controls the loop conveyor 20 to transport the empty tank to the outbound conveyor 100, and the outbound conveyor 100 is used to transport the empty tank to the AGV 10 so that the AGV 10 will empty the tank Take it away.
  • the above-mentioned garment finishing automatic processing system is provided with a scanning error prevention device 30, a smart warehouse 40, a fully automatic intelligent packaging device 50 and an outbound conveying device 100 around the endless conveying device 20, thereby realizing automatic detection, storage and mixing of clothes. Packing, without manual operation, improves the processing efficiency of the clothes, and is not easy to cause operational errors.
  • the invention also discloses a method for using a garment finishing automatic processing system, the method comprising the following steps:
  • the garment finishing automatic processing system comprising a center console, an AGV vehicle 10, an endless conveying device 20, and a scanning error-proofing device 30, which is sequentially disposed around the endless conveying device 20, and a smart warehouse 40.
  • the automatic intelligent packaging device 50 and the outbound conveying device 90; the central console is respectively connected with the scanning error proofing device 30, the intelligent warehouse 40, the fully automatic intelligent packaging device 50 and the outbound conveying device 90; the intelligent warehouse 40 has several Position 43;
  • the AGV car 10 automatically transports the plastic box to which the clothes of the same specification are to be stored to the scanning error protection device 30, wherein the plastic box is provided with a box RFID card having the box identification number information, and the clothes are provided. Have an RFID card with clothing information;
  • Detection scanning the error-proof device 30 to scan the box of the plastic box, the RFID card reads the box identification number information, and simultaneously scans the clothing information of the clothing RFID card of all clothes in the plastic box, and sends it to the center console, and the center console will
  • the box identification number information scanned on the box RFID card of the plastic box is bound with the clothing information scanned from the RFID card of all clothes in the plastic box, and recorded in the center console, and the center console obtains the clothing information according to the scan. Analyze whether the clothes in the plastic box have different products. If there is, the center console controls the scanning error protection device 30 to remove the plastic box with the foreign clothes. If not, the center console control scanning error protection device 30 will not be different.
  • the plastic box of the clothes is transported to the intelligent warehouse 40 through the endless conveying device 20;
  • the central console analyzes and obtains the storage instruction according to the clothing information scanned by the scanning error protection device 30, and controls the smart warehouse 40 to store the plastic box in the designated position 43 according to the storage instruction;
  • the automatic intelligent packaging device 50 sends the clothing information of the missing clothes to the central console, and the center console analyzes the clothing information according to the lack of clothing in the boxing, and controls the intelligence according to the taking instruction.
  • the warehouse 40 takes out the plastic box in which the clothes that need to be packed are placed from the designated position 43 and sends them to the endless conveying device 20.
  • the annular conveying device 20 then transports the plastic box containing the clothes that need to be boxed to the automatic intelligent packaging.
  • Device 50
  • the central console controls the fully automatic intelligent packaging device 50 according to the externally input packing information, and mixes the clothes of different specifications into the carton in a preset proportion;
  • Sending away the empty plastic box in the process of boxing the clothes by the fully automatic intelligent packaging device 50, when the clothes in the plastic box supplied by the smart warehouse 40 to the fully automatic intelligent packaging device 50 are completed as empty plastic boxes,
  • the central console controls the fully automatic intelligent packaging device 50 to transport the empty plastic containers to the AGV vehicle 10 through the endless conveying device 20 and the outbound conveying device 100 in sequence, and the AGV vehicle 10 removes the empty plastic containers.

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Abstract

一种衣服后整自动处理系统及其使用方法，该衣服后整自动处理系统包括：中央控制台、AGV车（10）、环形输送装置（20）及依次设于环形输送装置（20）周边的扫描防错设备（30）、智能仓库（40）、全自动智能包装设备（50）和出箱输送装置（100）；中央控制台控制扫描防错设备（30）去除具有异品衣服的胶箱，并将不具有异品衣服的胶箱通过环形输送装置（20）运送至智能仓库（40）储存；中央控制台根据取衣指令控制智能仓库（40）取出所需衣服的胶箱送至环形输送装置（20），通过环形输送装置（20）将放置有所需衣服的胶箱运送至全自动智能包装设备（50），全自动智能包装设备（50）将不同规格的衣服按照预设比例混合装箱。

Description

衣服后整自动处理系统及其使用方法
本申请要求于2017年06月16日提交中国专利局、申请号为201710458912.7、发明名称为“衣服后整自动处理系统及其使用方法”以及申请号为201720710361.4、发明名称为“衣服后整自动处理系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及衣服制造领域，特别是涉及一种衣服后整自动处理系统及其使用方法。
背景技术
在衣服的生产过程中，需要将衣服折叠，然后将同一规格的折后的衣服放进胶箱内，然后将装有衣服的胶箱搬运至某个指定的地方储存，随后再根据客户的要求，将不同规格的衣服按照预设的比例进行装箱处理，最后封箱。
传统的储存和装箱均是通过人工的方式进行，但是这种方式会产生一些问题，例如：折后的衣服放入胶箱时，易使胶箱内放入错误的衣服，储存的过程中，需要搬运胶箱，费时费力，在按照客户的需要将不同规格的衣服按照预设的比例人工装箱时，易出现操作失误。
发明内容
基于此，有必要针对现有技术问题，提供一种衣服后整自动处理系统及其使用方法，其能实现自动检测、自动储存和自动装箱，不仅省时省力，还降低了衣服生产过程中出现的错误率。
为了实现本发明的目的，本发明采用以下技术方案：
一种衣服后整自动处理系统，包括：中央控制台、AGV车、环形输送装置及依次设于环形输送装置周边的扫描防错设备、智能仓库、全自动智能包装设备和出箱输送装置；中央控制台分别连接扫描防错设备、智能仓库、全自动智能包装设备和出箱输送装置；所述扫描防错设备用于去除具有异品衣服的胶箱，将无异品衣服的胶箱供应给智能仓库；所述智能仓库用于储存扫描防错设备供应的无异品衣服的胶箱，以及向全自动智能包装设备供应放置有需装箱的衣服的胶箱；所述全自动智能包装设备用于将智能仓库供应的不同规格的衣服按照预设的比例混合装箱；所述出箱输送装置用于将被全自动智能包装设备取完衣服的空胶箱运送给AGV车；所述AGV车用于将放置有待储存衣服的胶箱搬运至扫描防错设备，及将取完衣服的空胶箱运走；所述环形输送装置用于将放置有无异品的胶箱从扫描防错设备运送至智能仓库，将放置有需装箱衣服的胶箱从智能仓库运送至全自动智能包装设备，以及将取完衣服的空胶箱从全自动智能包装设备搬运至出箱输出装置。
上述的衣服后整自动处理系统，通过设置环形输送装置，在通过在环形输送装置的周边设置扫描防错设备、智能仓库、全自动智能包装设备和出箱输送装置，实现了衣服的自动化检测、储存以及混合装箱，无须人工操作，提高的衣服的加工效率，且不易出现操作上的失误。
在其中一实施例中，所述环形输送装置包括环形轨道及设于所述环形轨道上的运送车，所述运送车上设有运送车输送机构，所述运送车输送机构的送料方向垂直于所述运送车的运动方向。
在其中一实施例中，所述扫描防错设备包括主扫描输送机构、连通所述主扫描输送机构的异品运输机构以及设置于所述主扫描输送机构上的卸货机构、无线射频点数机和异品去除机构；所述货机构、无线射频点数机和异品去除机构沿所述主扫描输送机构的运送方向依次设置；所述无线射频点数机具有若干射频读头；所述异品去除机构对应所述异品运输机构设 于所述主扫描输送机构远离异品运输机构的一侧。
在其中一实施例中，所述无线射频点数机包括空心的屏蔽箱及设于所述屏蔽箱内的一光电感应器、一滚轴传送机构和所述若干射频读头；所述屏蔽箱为长方体结构；所述屏蔽箱的前表面和后表面均具有开口；屏蔽箱的前表面的开口处设有第一活动门；屏蔽箱的后表面的开口处设有第二活动门。
在其中一实施例中，所述智能仓库包括若干货架存储装置；各所述货架存储装置包括二货架、一升降机构、一穿梭车及一中间传送机构；所述货架之间具有穿梭通道，所述二货架均朝向所述穿梭通道的一侧对应设有若干排仓位，各所述货架的相邻的两排仓位之间设有安装于所述货架上的水平导轨；所述升降机构位于穿梭通道的入口处，所述穿梭车滑设于水平导轨上和升降机构上；所述穿梭车上设有穿梭车推拉抓手；所述中间传送机构位于升降机构的一侧，且位于环形输送装置和货架存储装置之间。
在其中一实施例中，所述全自动智能包装设备包括连接所述环形输送装置的自动汇流机构、连接所述自动汇流机构的自动抓取装箱机构、以及连接所述自动抓取装箱机构的封箱机；所述自动汇流机构、所述自动抓取装箱机构、以及所述封箱机均与中央控制台电连接；所述自动汇流机构将不同尺寸大小的衣服按预设的比例进行抓取汇合，通过传送带运送至自动抓取装箱机构；所述自动抓取装箱机构将衣服按预设的尺寸比例进行抓取装入纸箱里，纸箱由传送带运送至所述封箱机。
在其中一实施例中，所述自动汇流机构包括上料组件、安装在所述上料组件一侧的若干缓存工位、对应安装在所述缓存工位远离所述上料组件的一侧的若干取料工位、对应安装在所述取料工位远离所述缓冲工位的一侧的的若干缓存传送组件、对应安装在所述取料工位和所述缓存传送组件上方的若干取料机构、垂直设置于所述缓存传送组件远离所述缓存传送组件的一侧的汇流传送组件；所述取料工位、缓存传送组件和取料机构的数 量均相等，且彼此之间一一对应设置；所述上料组件的进料口连接所述环形输送装置。
在其中一实施例中，还包括连接所述封箱机的称重台、连接在所述称重台的翻转机、分别安装在翻转机相对两端的喷码机构、以及码垛机。
在其中一实施例中，所述自动抓取装箱机构包括一机箱、贯穿所述机箱的抓取工位、架设于所述抓取工位上的暗箱以及安装在机箱顶部的抓取机械手；所述抓取工位靠近验针机构的一端的下方安装有发光体，发光体发光时，在所述抓取工位的表面形成一亮区；所述暗箱上设置有传感器及视觉系统。
在其中一实施例中，还包括沿所述环形输送装置的运输方向位于所述全自动智能包装设备的下游的空箱检测设备；所述空箱检测设备包括U型的空箱检测输送装置及设于所述空箱检测输送装置上的空箱检测机，所述空箱检测输送装置的两端均连接环形输送装置；所述空箱检测机用于检测空胶箱内是否还含有衣服。
一种用于如上所述的衣服后整自动处理系统的使用方法，其特征在于，包括以下步骤：
a、提供一种衣服后整自动处理系统，该衣服后整自动处理系统包括中央控制台、AGV车、环形输送装置及依次设于环形输送装置周边的扫描防错设备、智能仓库、全自动智能包装设备和出箱输送装置；所述中央控制台分别连接所述扫描防错设备、智能仓库、全自动智能包装设备和出箱输送装置；所述智能仓库具有若干仓位；
b、送货：AGV车自动将待储存的放置有衣服的胶箱搬运至扫描防错设备，其中，所述胶箱上设有具有箱子身份编号信息的箱RFID卡，所述衣服上设有具有服装信息的衣RFID卡；
c、检测：扫描防错设备扫描胶箱的箱RFID卡读取服箱子身份编号信息，同时扫描读取胶箱内所有衣服的衣RFID卡的服装信息，并发送至中 央控制台，所述中央控制台将从胶箱的箱RFID卡上扫描到的箱子身份编号信息与从胶箱内的所有衣服的衣RFID卡扫描到的服装信息绑定，并记录在中央控制台，中央控制台根据扫描获取的服装信息，分析胶箱内的衣服是否有异品，若有，中央控制台控制扫描防错设备去除掉具有异品衣服的胶箱，若无，中央控制台控制扫描防错设备将不具有异品衣服的胶箱通过环形输送装置运送至智能仓库；
d、储存：中央控制台根据扫描防错设备扫描所得的服装信息分析得到储存指令，并根据储存指令控制智能仓库将胶箱储存至指定的仓位内；
e、取货：全自动智能包装设备向中央控制台发送装箱所缺衣服的服装信息，中央控制台根据装箱所缺衣服的服装信息分析得到取衣指令，并根据取衣指令控制智能仓库从指定的仓位内取出放置有需装箱所缺衣服的胶箱，并送至环形输送装置，环形输送装置再将放置有需装箱所缺衣服的胶箱运送至全自动智能包装设备；
f、装箱：中央控制台根据外部输入的装箱信息，控制所述全自动智能包装设备将不同规格的衣服按照预设的比例混合放入纸箱内装箱；
g、送走空胶箱：在全自动智能包装设备将衣服装箱的过程中，当智能仓库供应给全自动智能包装设备的胶箱内的衣服被取完成为空胶箱时，中央控制台控制全自动智能包装设备将空胶箱依次通过环形输送装置、出箱输送装置运送给AGV车，AGV车将空胶箱搬走。
附图说明
图1为本发明一较佳实施例所示的衣服后整自动处理系统的结构简图；
图2为图1所示的衣服后整自动处理系统的环形输送装置的结构简图；
图3为图1所示的扫描防错设备的结构简图；
图4为图3所示的无线射频点数机的结构详细图；
图5为图1所示的智能仓库的结构简图；
图6为图5所示的货架存储装置的结构简图；
图7为图1所示的全自动智能包装设备的结构简图；
图8为图7所示的自动汇流机构的结构简图；
图9为图7所示的衣服抓取装包装置的俯视结构详图；
图10为图9所示的衣服抓取装包装置去除纸箱传送工位的立体结构详图；
图11为图1所示的出箱输送装置的结构简图。
图中：
10、AGV车；20、环形输送装置；21、环形轨道；22、运送车；23、运送车输送机构；30、扫码防错设备；31、主扫描输送机构；32、卸货机构；33、无线射频点数机；331、屏蔽箱；332、第一活动门；333、第二活动门；334、滚轴传送机构；335、光电感应器；336、射频读头；34、异品运输机构；40、智能仓库；41、货架存储装置；42、货架；43、仓位；44、水平导轨；45、升降机构；46、穿梭车；47、穿梭车推拉抓手；48、中间传送机构；50、全自动智能包装设备；60、自动汇流机构；61、上料组件；62、缓存工位；63、取料工位；64、缓存传送组件；65、汇流传送组件；66、胶箱转移组件；67、取料机构；68、汇流转移组件；70、验针机构；71、验针传送组件；72、第一验针机；73、第二验针机；74、验针输出组件；80、自动抓取装箱机构；81、机箱；82、抓取工位；821、亮区；83、暗箱；84、抓取机械手；85、纸箱传送工位；91、扫描机；911、扫描输出组件；92、封箱机；93、称重台；94、翻转机；95、喷码机；96、封底机构；100、出箱输送装置；200、空箱检测设备；201、空箱检测输送装置；202、空箱检测机。
具体实施方式
为了便于理解本发明，下面将对本发明进行更全面的描述。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
请参阅图1至图11，为本发明一较佳实施例的一种衣服后整自动处理系统，该衣服后整自动处理系统包括：中央控制台、AGV(Automated Guided Vehicle，自动导引运输车)车10、环形输送装置20及依次设于环形输送装置20周边的扫描防错设备30、智能仓库40、全自动智能包装设备50和出箱输送装置100；中央控制台分别连接扫描防错设备30、智能仓库40、全自动智能包装设备50和出箱输送装置100，智能仓库40具有若干仓位43。
在上述的衣服后整自动处理系统中，AGV车10用于将待存储的放置有衣服的胶箱运送至扫描防错设备30，以及将空胶箱运走，其中，衣服上设有记载有服装信息的衣RFID(RadioFrequencyIdentification，频识别标签)卡，胶箱上设有记载有箱子身份编号信息的箱RFID卡；扫描防错设备30用于扫描读取箱RFID卡的箱子身份编号信息，以及读取胶箱内所有衣服的衣RFID卡的服装信息，并将扫描读取的信息发送至中央控制台。
扫描时，中央控制台接收扫描防错设备30扫描读取的服装信息，分析判断胶箱内的衣服是否有异品，根据分析所得结果控制扫描防错设备30去取掉具有异品衣服的胶箱及向智能仓库40供应无异品衣服的胶箱，并将扫描所得的服装信息存入至箱RFID卡中，存储胶箱时，中央控制台根据扫描防错设备30扫描读取的服装信息分析得到储存指令，并根据储存指令控制智能仓库40将无异品的胶箱放至指定的仓位43内存储，将衣服放入纸箱内装箱时，中央控制台根据外界输入的装箱信息控制全自动智能包装设备50将不同规格的衣服按照预设的比例混合装箱。
取货时，中央控制台根据全自动智能包装设备50发送的装箱所缺衣服的服装信息分析获得取衣指令，中央控制台根据取衣指令控制智能仓库40从指定的仓位43内取出放置有需装箱所缺衣服的胶箱送至环形输送装置20；环形输送装置20用于将无异品衣服的胶箱从扫描防错设备30运送至智能仓库40，将智能仓库40供应的放置有需装箱衣服的胶箱运送至全自动智能包装设备50，以及将全自动智能包装设备50取完衣服的空胶箱运送至出箱输送装置100；出箱输送装置100用于将空胶箱运至AGV车10所在的位置，以使AGV车10将空胶箱搬走。
请参阅图2，环形输送装置20包括环形轨道21及设于环形轨道21上的运送车22，运送车22上设有运送车输送机构23，运送车输送机构23的送料方向垂直于运送车22的运动方向。
请从参阅图3，扫描防错设备30包括主扫描输送机构31、连通主扫描输送机构31的异品运输机构34以及设置于主扫描输送机构31上的卸货机构32、无线射频点数机33和异品去除机构(图中未示出)；卸货机构32、无线射频点数机33和异品去除机构沿主扫描输送机构31的运送方向依次设置，异品去除机构对应异品运输机构34设于主扫描输送机构3远离异品运输机构34的一侧。卸货机构32用于将胶箱从AGV车10上搬运至主扫描输送机构31；无线射频点数机33用于扫描胶箱的箱ID卡读取箱子身份编号信息，同时一次性扫描胶箱内所有衣服的服装信息，并将扫描得到的信息发送给中央控制台，中央控制台根据扫描获取的服装信息判别胶箱内是否有异品；异品去除机构用于将具有异品衣服的胶箱从主扫描输送机构31上推至异品运输机构34上，以去除具有异品衣服的胶箱。
工作时，若中央控制台根据无线射频点数机33发送的扫描信息判断出胶箱内的衣服具有异品，当具有异品衣服的胶箱运动至异品去除机构所在的位置时，中央控制台控制异品去除机构将具有异品衣服的胶箱推入异品运输机构34上，以将具有不合格衣服的胶箱运走；若中央控制台根据无线 射频点数机33发送的信息判断出胶箱内的衣服均是合格品，异品去除机构不动作，主扫描输送机构31直接将胶箱运送至环形输送装置20上。
请参阅图4，无线射频点数机33包括空心的屏蔽箱331及设于屏蔽箱331内的一光电感应器335、一滚轴传送机构334及若干射频读头336；屏蔽箱331为长方体结构，屏蔽箱331的前表面和后表面均具有开口；屏蔽箱331前表面的开口处设有第一活动门332；屏蔽箱331后表面的开口处设有第二活动门333。若干射频读头336用于读取胶箱的箱RFID卡的存储位置信息和胶箱内所有衣服的衣RFID卡的服装信息，光电感应器335用于感应胶箱是否运动至屏蔽箱331内。
在扫描之前，第一活动门332打开，主扫描输送机构31将胶箱送入屏蔽箱331内，光电感应器335感应到胶箱后，中央控制台控制第一活动门332关闭，若干射频读头336扫描箱体及箱体内的所有衣服，以读取箱RFID卡的存储位置信息和所有衣RFID卡的服装信息。当读取完毕后，中央控制台控制第二活动门333打开，滚轴传送机构334运行，驱动扫描完毕的胶箱穿过屏蔽箱331后表面的开口重新运动至主扫描输送机构31上。通过高射频技术代替人手扫描取箱体的存储位置信息和取箱体内所有衣服的衣RFID卡的服装信息，可实现一次10-500件衣服扫描，从而降低人工成本、提高生产效率和操作的安全性，并能够避免人为出错。
请参阅图5，智能仓库40包括若干货架存储装置41，同时，请参阅图6，各货架存储装置41包括二货架42、一升降机构45、一穿梭车46及一中间传送机构48；货架42之间具有穿梭通道，二货架42均朝向穿梭通道的一侧对应设有若干排仓位43，各货架42的相邻的两排仓位43之间设有安装于货架42上的水平导轨44；升降机构45位于穿梭通道的入口处，穿梭车46滑设于水平导轨44上和升降机构45上；穿梭车46上设有穿梭车推拉抓手47；中间传送机构48位于升降机构45的一侧，且位于环形输送装置20和货架存储装置41之间，用于将胶箱从环形输送装置20上的运送 车22传送至放置于升降机构45上的穿梭车46上。
存储胶箱时，中央控制台根据扫描防错设备30扫描所得的服装信息分析得到储存指令，并根据储存指令控制环形输送装置20的运送车22将胶箱运送至指定的货架存储装置41，然后运送车22通过其运送车输送机构23将胶箱传送至该货架存储装置41的中间传送机构48上，中间传送机构48再将胶箱传送至穿梭车46上，中央控制台根据在根据储存指令控制升降机构45将穿梭车46升至所需的高度位置，然后控制穿梭车46在水平导轨44上移动，将胶箱运送至送至指定的仓位43所在的位置，然后穿梭车46通过穿梭车推拉抓手47将胶箱推至仓位43内存储。
提货时，中央控制台根据全自动智能包装设备50发送的装箱所缺衣服的服装信息分析得到取衣指令，并根据取衣指令控制指定的货架存储装置41的穿梭车46在升降机构45和水平导轨44的协助下找到指定的仓位43，然后从指定的仓位43内取出放置有装箱所缺衣服的胶箱，然后穿梭车46将胶箱运送至穿梭通道的出口，随后穿梭车46通过其上的穿梭车推拉抓手47将胶箱推至中间传送机构48上，最后中间传送机构48将胶箱传送至环形输送装置20的运送车22上，运送车22将胶箱运送至全自动智能包装设备50。
请参阅图7，全自动智能包装设备50包括自动汇流机构60、连接自动汇流机构60的验针机构70、连接验针机构70的自动抓取装箱机构80、连接自动抓取装箱机构80的扫描机91、连接扫描机91构的封箱机92、连接封箱机92的称重台93、连接在称重台93的翻转机94、分别安装在翻转机94相对两端的喷码机构95以及码垛机；自动抓取装箱机构80还连接有封底机构96。自动汇流机构60、验针机构70、自动抓取装箱机构80、扫描机91、封箱机92、称重台93、翻转机94、喷码机构95、封底机构96均与中央控制台电连接。
请参阅图8，自动汇流机构60用于将不同规格的衣服按预设的比例进 行汇合。自动汇流机构60包括上料组件61、安装在上料组件61的一侧的若干缓存工位62、对应安装在缓存工位62远离所述上料组件61的一侧的若干取料工位63、对应安装在取料工远离缓冲工位的一侧的若干缓存传送组件64、对应安装在取料工位63和缓存传送组件64上方的若干取料机构67、垂直设置于缓存传送组件64远离取料工位63的一侧的若干汇流传送组件65；上料组件61与各缓存工位62垂直设置。
放有衣服的胶箱从环形输送装置20进入上料组件61，然后由上料组件61传送到各缓存工位62上。缓存工位62可以将胶箱暂时缓存一下，以便需要时，能将放有衣服的胶箱及时传送给取料工位63，有利于提高工作效率。各取料工位63分别与各缓存工位62一一对应设置，取料工位63用于放置需要进行抓取衣服的胶箱，取料工位63上设置有卸货组件，对应取料工位63下方还安装有胶箱转移组件66，胶箱转移组件66的出口端连接环形输送装置20，当取料工位63上的胶箱里的衣服被抓取完后，胶箱成为空胶箱，启动卸货组件，空胶箱转移至胶箱转移组件66，各胶箱转移组件66上的胶箱输送至汇流转移组件68，由汇流转移组件68传送至环形输送装置20。各缓存传送组件64分别与取料工位63一一对应设置，用于将取料机构67从取料工位63上抓取的衣服传送至汇流传送组件65上。
汇流传送组件65与取料工位63垂直设置，且与上料组件61平行设置，用于将缓存传送组件64传送过来不同尺寸比例的衣服汇流传送至下一个工序，即验针机构70上。
验针机构70用于检测从汇流传送组件65传送过来的衣服里是否含有断针以及铁磁性碎片。验针机构70包括验针传送组件71、相对间隔设置在验针传送组件71上的第一验针机72及第二验针机73、以及设置于第一验针机72及第二验针机73之间的验针输出组件74。验针传送组件71与汇流传送组件65对应，验针传送组件71的一端与汇流传送组件65的一端连接。第一验针机72设置于验针传送组件71靠近汇流传送组件65的一端， 衣服从第一验针机72处经过，若检测到有断针或铁磁性碎片，衣服从验针输出组件74流出；若衣服合格，进入第二验针机73；若衣服在第二验针机73处检测合格，则进入到下一个工序，即自动抓取装箱机构80上；若在第二验针机73处检测有断针或铁磁性碎片，整个系统停机。验针传送组件71相对验针输出组件74的一侧还安装有第一推料机构，用于将不合格的衣服从验针传送组件71推送至验针输出组件74上。
请参阅图9和图10，自动抓取装箱机构80用于将从验针机构70传送过来合格的衣服按预设的尺寸比例进行抓取放入纸箱内装箱。自动抓取装箱机构80包括一机箱81、贯穿机箱81的一抓取工位82和二纸箱传送工位、架设于抓取工位82上的暗箱83、以及安装在机箱81顶部的抓取机械手84；所述抓取工位82靠近验针机构70的一端的下方安装有发光体，该发光体为恒压横流的LED灯，LED灯发光时，在抓取工位82的表面形成一亮区821，衣服在亮区821处时，从抓取工位82的上方看亮处的衣服，因为背光效果，衣服的表面与亮区821形成明显的明暗对比；二纸箱传送工位85分别位于抓取工位82的两侧。
暗箱83位于抓取工位82的上方，暗箱83的下端为开口设置，暗箱83的开口处与抓取工位82上的亮区821匹配对应；暗箱83的作用就是阻止外界的光线进入亮区821，影响衣服在亮区821处的背光效果。暗箱83上设置有传感器及视觉系统；衣服感应器位于暗箱83的下端且靠近验针机构70的一侧，当衣服从验针机构70进入抓取工位82上时，衣服感应器会检测到衣服的进入，然后将信号发送给视觉系统，同时计算衣服的厚度值，然后将厚度值信息发送给抓取机械手84。
视觉系统安装在暗箱83内上端部，视觉系统接收到传感器发送过来的信号后，等到衣服完全进入亮区821，对衣服进行拍照，视觉系统会对衣服照片进行二值化处理，其中，图像二值化(Image Binarization)指的是将图像上的像素点的灰度值设置为0或255，也就是将整个图像呈现出明 显的黑白效果的过程。经过二值化处理，使得衣服的颜色变成黑色，亮区821为白色，视觉系统根据衣服黑色面积，确定黑色部分的区域，由白色区域到黑色区域查找，找到衣服的边侧，计算衣服的尺寸大小及衣服与抓取工位82传动方向的夹角，即确定衣服在抓取工位82上的坐标位置、以及衣服相对抓取工位82传动方向的偏差角；然后视觉系统将上述信息发送给抓取机械手84，抓取机械手84根据视觉系统发过来的信息，确定衣服的中心位置，然后进行准确的抓取。
视觉系统上安置有视觉偏光镜，所以视觉偏光镜与暗箱83的配合使用解决了由于衣服胶带表面反光而导致视觉系统检测数据不准确的问题。背光效果使得视觉系统可以识别衣服轮廓；通过衣服传感器对衣服厚度的确定及视觉系统和背光效应的结合，无论衣服的外形、大小、厚度、颜色、印花、如何变化，系统都可以计算出衣服的厚度、中心位置、以及在抓取工位82上的角度等信息，以便抓取机械手84可以准确抓取衣服，减少由于抓取机械手84不能准确抓取衣服而使衣服掉落的现象，提高了工作效率。
抓取机械手84与机箱81的顶部固定连接，悬挂于机箱81内；抓取机械手84下端安置有若干第二吸盘，用于吸附衣服，将衣服装入纸箱中。当抓取机械手84收到衣服感应器发送过来的衣服厚度值信息和视觉系统的相关的信息时，中央控制台驱动抓取机械手84快速自动调节抓取高度和调整抓取角度，由第二吸盘对衣服进行准确的吸附抓取，将衣服装入纸箱传送工位85上的纸箱中，纸箱传送工位85将装有衣服的纸箱传送至下一个工序，即扫描机91上。
扫描机91对纸箱内的衣服挂牌信息进行一次性扫码，检测纸箱内的衣服尺寸大小比例是否符合预设值。扫描机91的一端通过传送带与二纸箱传送工位85相连接，将从纸箱传送工位85上传送过来的纸箱运送至扫描机91内，扫描机91相对的另一端通过传送带与下一工序的封箱机92连接， 将扫描后的纸箱运送至封箱机92上。扫描机91与封箱机92相连的传送带的一侧安装有扫描输出组件911，对应扫描输出组件911的一端安装有第二推料机构(图中未示出)，若检测到纸箱内的衣服尺寸配比值有误，第二推料机构将传送带上不合格的纸箱推入扫描输出组件911上，若检测合格，则将纸箱输送至下一个工序，即封箱机92上。
封箱机92对装有尺寸大小比例合格的衣服的纸箱进行封箱处理。封箱机92通过传送带与称重台93连接，将封箱完毕后的纸箱输送至称重台93上。
纸箱在称重台93上自动称重，然后中央控制台自动记录纸箱的称重信息，并将称重信息发送给喷码机构95，称重台93通过传送带与翻转机94连接，称重后的纸箱进入下一个工序，即喷码。
各喷码机构95包括二相对设置的喷码机95，喷码机95安装在与翻转机94相连的传送带的相对两侧，其中一喷码机构95对纸箱的相对两侧面进行喷码后，纸箱进入翻转机94，翻转机94对纸箱进行翻转，将纸箱相对空白的两侧面分别与另一喷码机构95的喷码机95对应，然后进行喷码处理，喷码完毕后，码垛机抓取纸箱进行码垛。
封底机构96对纸箱的底面进行封胶处理。封底机构96通过传送带与二纸箱传送工位85相连，将封底后的纸箱运送至二纸箱传送工位85上。
请参阅图11，衣服后整自动处理系统还包括沿环形输送装置20的运输方向位于全自动智能包装设备50的下游的空箱检测设备200；空箱检测设备200包括U型的空箱检测输送装置201及设于空箱检测输送装置201上的空箱检测机202，空箱检测输送装置201的两端均连接环形输送装置20。空箱检测机202用于检测空箱空胶箱内是否还含有衣服。当全自动智能包装设备50将空胶箱输出至环形输送装置20上后，中央控制台控制环形输送装置20将空胶箱输送至空箱检测输送装置201上，当空胶箱经过空箱检测机202时，空箱检测机202检测空胶箱内是否还有衣服，若有，空 箱检测输送装置201将空胶箱输出至环形输送装置20上后，中央控制台控制环形输送装置20将还具有衣服的空胶箱重新送回至全自动智能包装设备，使空胶箱内的衣服能重新被用来装箱；若无，空箱检测输送装置201将空胶箱输出至环形输送装置20上后，中央控制台控制环形输送装置20将空胶箱输送至出箱输送装置100，出箱输送装置100用于将空胶箱输送至AGV车10上，以使AGV车10将空胶箱运走。
上述的衣服后整自动处理系统，在环形输送装置20的周边设置扫描防错设备30、智能仓库40、全自动智能包装设备50和出箱输送装置100，实现了衣服的自动化检测、储存以及混合装箱，无须人工操作，提高了衣服的加工效率，且不易出现操作上的失误。
本发明还公开了一种用于衣服后整自动处理系统的使用方法，该方法包括以下步骤：
a、提供一种衣服后整自动处理系统，该衣服后整自动处理系统包括中央控制台、AGV车10、环形输送装置20及依次设于环形输送装置20周边的扫描防错设备30、智能仓库40、全自动智能包装设备50和出箱输送装置90；中央控制台分别连接扫描防错设备30、智能仓库40、全自动智能包装设备50和出箱输送装置90；所述智能仓库40具有若干仓位43；
b、送货：AGV车10自动将待储存的放置有同一规格的衣服的胶箱搬运至扫描防错设备30，其中，胶箱上设有具有箱子身份编号信息的箱RFID卡，衣服上设有具有服装信息的衣RFID卡；
c、检测：扫描防错设备30扫描胶箱的箱RFID卡读取箱子身份编号信息，同时扫描胶箱内所有衣服的衣RFID卡的服装信息，并发送至中央控制台，中央控制台将从胶箱的箱RFID卡上扫描到的箱子身份编号信息与从胶箱内的所有衣服的衣RFID卡扫描到的服装信息绑定，并记录在中央控制台，中央控制台根据扫描获取的服装信息，分析胶箱内的衣服是否有异品，若有，中央控制台控制扫描防错设备30去除掉具有异品衣服的胶 箱，若无，中央控制台控制扫描防错设备30将不具有异品衣服的胶箱通过环形输送装置20运送至智能仓库40；
d、储存：中央控制台根据扫描防错设备30扫描所得的服装信息分析得到储存指令，并根据储存指令控制智能仓库40将胶箱放至指定的仓位43内储存；
e、取货：全自动智能包装设备50向中央控制台发送装箱所缺衣服的服装信息，中央控制台根据装箱所缺衣服的服装信息分析得到取衣指令，并根据取衣指令控制智能仓库40从指定的仓位43内取出放置有需装箱所缺衣服的胶箱送至环形输送装置20，环形输送装置20再将装有需装箱所缺衣服的胶箱运送至全自动智能包装设备50；
f、装箱：中央控制台根据外部输入的装箱信息，控制全自动智能包装设备50将不同规格的衣服按照预设的比例混合放入纸箱内装箱；
g、送走空胶箱：在全自动智能包装设备50将衣服装箱的过程中，当由智能仓库40供应给全自动智能包装设备50的胶箱内的衣服取完成为空胶箱时，中央控制台控制全自动智能包装设备50将空胶箱依次通过环形输送装置20、出箱输送装置100运送给AGV车10，AGV车10将空胶箱搬走。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种衣服后整自动处理系统，其特征在于，包括：中央控制台、AGV车、环形输送装置及依次设于环形输送装置周边的扫描防错设备、智能仓库、全自动智能包装设备和出箱输送装置；中央控制台分别连接扫描防错设备、智能仓库、全自动智能包装设备和出箱输送装置；所述扫描防错设备用于去除具有异品衣服的胶箱，将无异品衣服的胶箱供应给智能仓库；所述智能仓库用于储存扫描防错设备供应的无异品衣服的胶箱，以及向全自动智能包装设备供应放置有需装箱的衣服的胶箱；所述全自动智能包装设备用于将智能仓库供应的不同规格的衣服按照预设的比例混合装箱；所述出箱输送装置用于将被全自动智能包装设备取完衣服的空胶箱运送给AGV车；所述AGV车用于将放置有待储存衣服的胶箱搬运至扫描防错设备，及将取完衣服的空胶箱运走；所述环形输送装置用于将放置有无异品的胶箱从扫描防错设备运送至智能仓库，将放置有需装箱衣服的胶箱从智能仓库运送至全自动智能包装设备，以及将取完衣服的空胶箱从全自动智能包装设备搬运至出箱输出装置。
  2. 根据权利要求1所述的衣服后整自动处理系统，其特征在于，所述环形输送装置包括环形轨道及设于所述环形轨道上的运送车，所述运送车上设有运送车输送机构，所述运送车输送机构的送料方向垂直于所述运送车的运动方向。
  3. 根据权利要求2所述的衣服后整自动处理系统，其特征在于，所述扫描防错设备包括主扫描输送机构、连通所述主扫描输送机构的异品运输机构以及设置于所述主扫描输送机构上的卸货机构、无线射频点数机和异品去除机构；所述货机构、无线射频点数机和异品去除机构沿所述主扫描输送机构的运送方向依次设置；所述无线射频点数机具有若干射频读头；所述异品去除机构对应所述异品运输机构设于所述主扫描输送机构远离异品运输机构的一侧。
  4. 根据权利要求3所述的衣服后整自动处理系统，其特征在于，所述无线射频点数机包括空心的屏蔽箱及设于所述屏蔽箱内的一光电感应器、一滚轴传送机构和所述若干射频读头；所述屏蔽箱为长方体结构；所述屏蔽箱的前表面和后表面均具有开口；所述屏蔽箱的前表面的开口处设有第一活动门；所述屏蔽箱的后表面的开口处设有第二活动门。
  5. 根据权利要求2所述的衣服后整自动处理系统，其特征在于，所述智能仓库包括若干货架存储装置；各所述货架存储装置包括二货架、一升降机构、一穿梭车及一中间传送机构；所述货架之间具有穿梭通道，所述二货架均朝向所述穿梭通道的一侧对应设有若干排仓位，各所述货架的相邻的两排仓位之间设有安装于所述货架上的水平导轨；所述升降机构位于穿梭通道的入口处，所述穿梭车滑设于水平导轨上和升降机构上；所述穿梭车上设有穿梭车推拉抓手；所述中间传送机构位于升降机构的一侧，且位于环形输送装置和货架存储装置之间。
  6. 根据权利要求1所述的衣服后整自动处理系统，其特征在于，所述全自动智能包装设备包括连接所述环形输送装置的自动汇流机构、连接所述自动汇流机构的自动抓取装箱机构、以及连接所述自动抓取装箱机构的封箱机；所述自动汇流机构、所述自动抓取装箱机构、以及所述封箱机均与中央控制台电连接；所述自动汇流机构将不同尺寸大小的衣服按预设的比例进行抓取汇合，通过传送带运送至自动抓取装箱机构；所述自动抓取装箱机构将衣服按预设的尺寸比例进行抓取装入纸箱里，纸箱由传送带运送至所述封箱机。
  7. 根据权利要求6所述的衣服后整自动处理系统，其特征在于，所述自动汇流机构包括上料组件、安装在所述上料组件一侧的若干缓存工位、对应安装在所述缓存工位远离所述上料组件的一侧的若干取料工位、对应安装在所述取料工位远离所述缓冲工位的一侧的的若干缓存传送组件、对应安装在所述取料工位和所述缓存传送组件上方的若干取料机构、垂直设 置于所述缓存传送组件远离所述缓存传送组件的一侧的汇流传送组件；所述取料工位、缓存传送组件和取料机构的数量均相等，且彼此之间一一对应设置；所述上料组件的进料口连接所述环形输送装置。
  8. 根据权利要求6所述的衣服后整自动处理系统，其特征在于，所述全自动智能包装设备还包括连接所述封箱机的称重台、连接在所述称重台的翻转机、分别安装在翻转机相对两端的喷码机构、以及码垛机。
  9. 根据权利要求6所述的衣服后整自动处理系统，其特征在于，所述自动抓取装箱机构包括一机箱、贯穿所述机箱的抓取工位、架设于所述抓取工位上的暗箱以及安装在机箱顶部的抓取机械手；所述抓取工位靠近验针机构的一端的下方放置有发光体，发光体发光时，在所述抓取工位的表面形成一亮区；所述暗箱上设置有传感器及视觉系统。
  10. 一种用于如权利要求1至9任一项所述的衣服后整自动处理系统的使用方法，其特征在于，包括以下步骤：
    a、提供一种衣服后整自动处理系统，该衣服后整自动处理系统包括中央控制台、AGV车、环形输送装置及依次设于环形输送装置周边的扫描防错设备、智能仓库、全自动智能包装设备和出箱输送装置；所述中央控制台分别连接所述扫描防错设备、智能仓库、全自动智能包装设备和出箱输送装置；所述智能仓库具有若干仓位；
    b、送货：AGV车自动将待储存的放置有衣服的胶箱搬运至扫描防错设备，其中，所述胶箱上设有具有箱子身份编号信息的箱RFID卡，所述衣服上设有具有服装信息的衣RFID卡；
    c、检测：扫描防错设备扫描胶箱的箱RFID卡读取服箱子身份编号信息，同时扫描胶箱内所有衣服的衣RFID卡的服装信息，并发送至中央控制台，中央控制台将从胶箱的箱RFID卡上扫描到的箱子身份编号信息与从胶箱内的所有衣服的衣RFID卡扫描到的服装信息绑定，并记录在中央控制台，中央控制台根据扫描获取的服装信息，分析胶箱内的衣服是否有 异品，若有，中央控制台控制扫描防错设备去除掉具有异品衣服的胶箱，若无，中央控制台控制扫描防错设备将不具有异品衣服的胶箱通过环形输送装置运送至智能仓库；
    d、储存：中央控制台根据扫描防错设备扫描所得的服装信息分析得到储存指令，并根据储存指令控制智能仓库将胶箱放至指定的仓位内储存；
    e、取货：全自动智能包装设备向中央控制台发送装箱所缺衣服的服装信息，中央控制台根据装箱所缺衣服的服装信息分析获取取衣指令，并根据取衣指令控制智能仓库从指定的仓位内取出放置有需装箱所缺衣服的胶箱送至环形输送装置，环形输送装置运再将放置有装箱所缺衣服的胶箱送至全自动智能包装设备；
    f、装箱：中央控制台根据外部输入的装箱信息，控制所述全自动智能包装设备将不同规格的衣服按照预设的比例混合装入装箱；
    g、送走空胶箱：在全自动智能包装设备将衣服装箱的过程中，当智能仓库供应给全自动智能包装设备的胶箱内的衣服取完成为空胶箱时，中央控制台控制全自动智能包装设备将空胶箱依次通过环形输送装置、出箱输送装置运送给AGV车，AGV车将空胶箱搬走。
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