Side lifting and bottom supporting type carrying manipulator for transferring box and carrying method

Abstract

The invention discloses a side lifting and bottom supporting type carrying manipulator for a transferring box and a carrying method. The manipulator comprises a base, an inserting and bottom supporting mechanism, a side lifting mechanism and a pressing and edge hooking mechanism, wherein the inserting and bottom supporting mechanism, the side lifting mechanism and the pressing and edge hooking mechanism are correspondingly arranged on the base. The carrying method comprises the following steps: lifting one side of the transferring box through the side lifting mechanism so as to form an inclined gap in the bottom part of the transferring box; inserting the inserting and bottom supporting mechanism into the inclination gap and supporting to bottom part of the transferring box; hooking one side, relative to the side lifting mechanism, on the transferring box, through the pressing and edge hooking mechanism, and synchronously compressing the top surface of the transferring box, so as to fix the upper surface, the lower surface, the left surface and the right surface of the transferring box; then driving robot wrists to move to carry the transferring box. The carrying manipulator and the carrying method are specifically designed according to the properties of the general transferring box; each transferring box can be grasped from a surface layer of a stack and then carried to a specified place. Therefore, a plastic transferring box can be automatically removed from the stack, and an existing manual carrying manner is replaced, and as a result, the production efficiency can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of storage, transportation and turnover of product packaging boxes, in particular to a side-lifting and bottom-supporting handling manipulator and a handling method for the turnover box. Background technique [0002] In the commercial processing of fruits and vegetables after picking, automatic production lines are becoming more and more popular, and robot technology, such as machine vision sorting and other technologies, has gradually begun to be applied. However, in the post-packaging process of fruits and vegetables, including boxing, palletizing, depalletizing and handling, etc., manual assistance is still widely used at present. [0003] Among the packaging methods of fruits and vegetables, plastic turnover boxes and cartons are mainly used at present, and the two account for the most weight. After the fruits and vegetables are packed, they must be stacked to form a certain number of cube combinations,...

AI Technical Summary

Problems solved by technology

Because after the turnover boxes are stacked, a combined cube is formed, which are close to each other with a small gap (such as Figure 1~3 shown), it is difficult for ordinary

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