Method of loading and unloading containers

Abstract

The application provides a container loading and unloading method in a container, which is performed by a loading and unloading robot, and is characterized in that the loading and unloading robot comprises a clamp main body, a pushing hand mechanism, a support plate mechanism and a mechanical arm, and comprises the following steps: controlling the clamp main body to suck one side of a target box; controlling the mechanical arm to move so that the clamp main body supports one side of the target box; and controlling the pushing hand mechanism to push the target box to slide along the clamp main body, so as to push the target box to a target position. The application can place a box in the top layer area of a box stack when the target box is pushed out from the first suction disc array and the second suction disc array, thereby improving the upper limit height of stacking when stacking in a limited space environment such as a container.

Description

Technical Field

[0001] This invention relates to industrial robots, and more specifically, to a method for loading and unloading containers. Background Technology

[0002] An industrial robot is an intelligent device equipped with sensors, lenses, and electro-optical systems that can quickly sort and transport goods.

[0003] More and more visual sensors and force sensors will be used in industrial robots, making them increasingly intelligent. With advancements in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled unidirectionally to storing and applying their own data, gradually becoming information-based.

[0004] When industrial robots sort and handle goods, they need to acquire images of the goods using vision sensors. The images are then used to determine the goods' posture, and the industrial robot uses grippers or suction cups to pick or move the goods. However, when industrial robots unpack goods from containers, the grippers used in picking scenarios such as depalletizing and palletizing are limited in their gripping range and are prone to wear and damage due to the restricted gripping direction. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this invention is to provide a method for loading and unloading containers.

[0006] According to the container loading method provided by the present invention, the loading and unloading is carried out by a loading and unloading robot, which includes a gripper body, a pusher mechanism, a support plate mechanism, and a robotic arm, and includes the following steps:

[0007] Step S1: Control the main body of the clamp to pick up one side of the target box;

[0008] Step S2: Control the movement of the robotic arm so that the gripper body supports one side of the target box;

[0009] Step S3: Control the pusher mechanism to push the target box along the clamp body to push the target box to a target position.

[0010] Preferably, step S2 includes the following steps:

[0011] Step S201: Control the movement of the robotic arm to move the gripper body to the front of the target position;

[0012] Step S202: Adjust the position of the fixture body so that the target box is located on the upper side of the fixture body;

[0013] Step S203: Reduce the suction force of the suction cup array on the target box so that the ball bearing support mechanism at the upper end of the clamp body supports the target box.

[0014] Preferably, step S3 includes the following steps:

[0015] Step S301: Obtain the target placement position on the bottom side of the container stack or container;

[0016] Step S302: Control the pusher mechanism to push the target box to slide along the clamp body towards the target placement position;

[0017] Step S303: When the pusher mechanism moves to the end of the clamp body, the target box detaches from the clamp body and slides forward to the target placement position.

[0018] Preferably, the ball bearing support mechanism includes: a first support rod, a second support rod, a mounting rod, and ball bearings;

[0019] The first support rod and the second support rod are disposed on one side of the fixture body;

[0020] One end of the mounting rod is fixed to the free end of the first support rod, and the other end is fixed to the free end of the second support rod.

[0021] Preferably, a plurality of the ball bearings are sequentially mounted on the mounting rod;

[0022] A first spring is fitted onto the first support rod, and one end of the mounting rod is limited between the outer end of the first spring and the free end of the first support rod.

[0023] A second spring is fitted onto the second support rod, and the other end of the mounting rod is positioned between the outer end of the second spring and the free end of the second support rod.

[0024] According to the container loading method provided by the present invention, the loading and unloading is carried out by a loading and unloading robot, which includes a gripper body, a pusher mechanism, a support plate mechanism, and a robotic arm, and includes the following steps:

[0025] Step M1: Control the main body of the clamp to pick up one side of the target box;

[0026] Step M2: Control the support plate mechanism to extend so that the support surface of the support plate mechanism is opposite to the other side of the target box;

[0027] Step M3: Control the movement of the robotic arm so that the support surface of the support plate mechanism supports the other side of the target box;

[0028] Step M4: Control the pusher mechanism to push the target box along the support surface to push the target box to a target position.

[0029] Preferably, one side of the fixture body is provided with a suction cup array, the suction cup array including a first suction cup array and a second suction cup array, and the other side is used to connect to the end flange of the robot;

[0030] The pusher mechanism is disposed between the first suction cup array and the second suction cup array. The pusher mechanism can extend or retract along the length direction of the clamp body to push the target box out from the top of the first suction cup array and the second suction cup array.

[0031] The clamp body is provided with support plate mechanisms at both ends. The support plate mechanisms can extend or retract in a direction perpendicular to the plane of the clamp body to support the target box picked up by the suction cup array.

[0032] Preferably, step M3 includes the following steps:

[0033] Step M301: Control the movement of the robotic arm to move the gripper body to the front of the target position;

[0034] Step M302: Adjust the position of the fixture body so that the target box is located on the upper side of the support surface, and the support surface of the support plate mechanism supports the other side of the target box;

[0035] Step M303: Reduce the suction force of the suction cup array on one side of the target box.

[0036] Preferably, step M4 includes the following steps:

[0037] Step M401: Obtain the target placement position on the bottom side of the container stack or container;

[0038] Step M402: Control the pusher mechanism to push the target box to slide along the direction of the support facing the target placement position;

[0039] Step M403: When the pusher mechanism moves to the end of the clamp body, the target box detaches from the support surface and slides forward to the target placement position.

[0040] The container unloading method provided by the present invention, which is carried out by a loading and unloading robot, includes a gripper body, a pusher mechanism, a support plate mechanism, and a robotic arm, and includes the following steps:

[0041] Step N1: Control the pusher mechanism to move to the end of the clamp body so that the suction cup on the pusher mechanism can adhere to one side of the target box;

[0042] Step N2: Control the pusher mechanism to move in the opposite direction, driving the target box to move onto the clamp body, so that the clamp body supports one side of the target box;

[0043] Step N3: Control the suction cup array on the clamp body to apply suction to one side of the target box to hold the target box;

[0044] Step N4: Control the movement of the robotic arm to place the target box at a target position.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] In this invention, a suction cup array is provided on one side of the clamp body. The suction cup array includes a first suction cup array and a second suction cup array. A pusher mechanism is provided between the first suction cup array and the second suction cup array. When the clamp body is controlled to pick up one side of the target box, the robotic arm is controlled to move so that the clamp body supports one side of the target box. Then, the pusher mechanism is controlled to push the target box to slide along the clamp body to push the target box to a target position. This makes it easier to place boxes on the top layer of the box stack for stacking, thereby increasing the upper limit of stacking height and the number of boxes when stacking in environments with limited space such as containers. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0048] Figure 1 This is a flowchart illustrating the steps of the packing method inside a container in an embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of a gripper used for loading and unloading robots in an embodiment of the present invention;

[0050] Figure 3 This is a flowchart illustrating the steps of controlling the fixture body to support the side of the target box in an embodiment of the present invention;

[0051] Figure 4 This is a flowchart illustrating the steps of placing the target box at the target placement position in an embodiment of the present invention;

[0052] Figure 5 This is a schematic diagram of another state of the gripper used for loading and unloading robots in an embodiment of the present invention;

[0053] Figure 6 This is a schematic diagram of the layout of the ball bearing support mechanism in an embodiment of the present invention;

[0054] Figure 7 This is a schematic diagram of the ball bearing support mechanism in an embodiment of the present invention;

[0055] Figure 8 This is a schematic diagram of the pusher mechanism in one direction in an embodiment of the present invention;

[0056] Figure 9 This is a schematic diagram of the pusher mechanism from another direction in an embodiment of the present invention;

[0057] Figure 10 This is a schematic diagram of the support plate mechanism in an embodiment of the present invention;

[0058] Figure 11 This is a schematic diagram of the loading and unloading robot in an embodiment of the present invention;

[0059] Figure 12 This is a flowchart illustrating the steps of the packing method inside a container in a modified embodiment of the present invention.

[0060] Figure 13 This is a flowchart illustrating the steps of controlling the fixture body to support the side of the box in a modified embodiment of the present invention.

[0061] Figure 14 This is a flowchart illustrating the steps of placing the target box at the target placement position in a modified embodiment of the present invention.

[0062] Figure 15 This is a flowchart illustrating the steps of the unpacking method inside a container in an embodiment of the present invention.

[0063] In the picture:

[0064] 1 is the main body of the clamp; 2 is the first suction cup array; 3 is the second suction cup array; 4 is the pusher mechanism; 5 is the support plate mechanism; 6 is the first support rod; 7 is the mounting rod; 8 is the first spring component; 9 is the ball component; 401 is the pusher plate; 402 is the first slider; 403 is the first guide rail; 404 is the connecting piece; 405 is the first photoelectric switch; 406 is the first drive motor; 407 is the conveyor belt; 408 is the driving wheel; 409 is the support wheel; 410 is the driven wheel; 501 is the support plate; 502 is the guide rail slide; 503 is the second guide rail; 504 is the second drive motor; 505 is the second photoelectric switch; 100 is the clamp for loading and unloading robots; 200 is the robotic arm; 300 is the movable base. Implementation

[0065] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0066] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0067] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0068] The technical solutions of the present invention and how they solve the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0069] Figure 1 This is a flowchart illustrating the steps of the container loading method in an embodiment of the present invention, as shown below. Figure 1As shown, the container loading method provided by the present invention is carried out by a loading and unloading robot, which includes a gripper body, a pusher mechanism, a support plate mechanism, and a robotic arm, and includes the following steps:

[0070] Step S1: Control the main body of the clamp to pick up one side of the target box;

[0071] Step S2: Control the movement of the robotic arm so that the gripper body supports one side of the target box;

[0072] Step S3: Control the pusher mechanism to push the target box along the clamp body to push the target box to a target position.

[0073] Figure 2 This is a schematic diagram of a gripper used for loading and unloading robots in an embodiment of the present invention, such as... Figure 2 As shown, a suction cup array is provided on one side of the fixture body 1, the suction cup array including a first suction cup array 2 and a second suction cup array 3, and the other side is used to connect to the end flange of the robot.

[0074] The pusher mechanism 4 is disposed between the first suction cup array 2 and the second suction cup array 3. The pusher mechanism 4 can extend or retract along the length direction of the clamp body 1 to push the target box out from the top of the first suction cup array 2 and the second suction cup array 3.

[0075] The clamp body 1 is provided with support plate mechanisms 5 at both ends. The support plate mechanisms 5 can extend or retract in a direction perpendicular to the plane of the clamp body 1 to support the target box picked up by the suction cup array.

[0076] Figure 3 This is a flowchart illustrating the steps of controlling the fixture body to support the side of the target box in an embodiment of the present invention, as follows: Figure 3 As shown, step S2 includes the following steps:

[0077] Step S201: Control the movement of the robotic arm to move the gripper body to the front of the target position;

[0078] Step S202: Adjust the position of the fixture body so that the target box is located on the upper side of the fixture body;

[0079] Step S203: Reduce the suction force of the suction cup array on the target box so that the ball bearing support mechanism on the clamp body supports the target box.

[0080] like Figure 5As shown, in the initial state, the pusher mechanism 4 is located at the inner end of the suction cup array, that is, in the retracted state. When the pusher mechanism 4 extends along the channel between the first suction cup array 2 and the second suction cup array 3, it pushes the target box on the suction cup array to the top layer of the box stack.

[0081] When the main body of the clamp is in a vertical position, that is, the vertical line of the plane where the suction cup array is located is perpendicular to the gravity line of the target box, the suction cup array needs to exert more force to lift the target box. At this time, the support plate mechanism 5 extends to support the target box in the vertical direction, reducing the suction force requirement of the suction cup array and avoiding damage to the suction cup array caused by the gravity of the target box.

[0082] like Figure 6 As shown, a ball bearing support mechanism is provided on one side of the clamp body 1; the ball bearing support mechanism is disposed within the suction cup array.

[0083] In this embodiment of the invention, both the first suction cup array 2 and the second suction cup array 3 include three columns of suction cups arranged in sequence, with each column containing 5 suction cups;

[0084] The ball bearing support mechanism is provided between each pair of suction cups.

[0085] Figure 4 This is a flowchart illustrating the steps of placing the target box at the target placement position in an embodiment of the present invention. Figure 4 As shown, step S3 includes the following steps:

[0086] Step S301: Obtain the target placement position on the bottom side of the container stack or container;

[0087] Step S302: Control the pusher mechanism to push the target box to slide along the clamp body towards the target placement position;

[0088] Step S303: When the pusher mechanism moves to the end of the clamp body, the target box detaches from the clamp body and slides forward to the target placement position.

[0089] In this embodiment of the invention, when the target box slides along the clamp body toward the target placement position, the ball bearings on the ball bearing support mechanism can reduce the friction between the target box and the clamp body.

[0090] like Figure 7 As shown, the ball bearing support mechanism includes: a first support rod 6, a second support rod, a mounting rod 7, and a ball bearing 9;

[0091] The first support rod 6 and the second support rod are disposed on one side of the clamp body 1;

[0092] One end of the mounting rod 7 is fixed to the free end of the first support rod 6, and the other end is fixed to the free end of the second support rod;

[0093] Multiple ball bearings 9 are sequentially mounted on the mounting rod 7.

[0094] In this embodiment of the invention, the end of the ball bearing 9 has a ball bearing. The ball bearing 9 is used to press down on the suction cup array when the robot moves to the position of the gripper body under the target box. At this time, the target box contacts the ball bearing 9 and supports the target box. When the pusher mechanism 4 extends along the channel between the first suction cup array 2 and the second suction cup array 3, it pushes the target box to move, thereby reducing the friction between the target box and the suction cup array.

[0095] In this embodiment of the invention, a first spring member 8 is sleeved on the first support rod 6, and one end of the mounting rod 7 is limited between the outer end of the first spring member 8 and the free end of the first support rod 6.

[0096] A second spring is fitted onto the second support rod, and the other end of the mounting rod 7 is positioned between the outer end of the second spring and the free end of the second support rod.

[0097] The first spring member 8 and the second spring member are used to cushion the weight of the target box.

[0098] Figure 8 This is a schematic diagram of the pusher mechanism in one direction in an embodiment of the present invention, as shown below. Figure 8 As shown, the pusher mechanism 4 includes a first guide rail 403, a first slider 402, a pusher plate 401, and a first drive motor 406;

[0099] An installation channel is formed between the first suction cup array 2 and the second suction cup array 3; the guide rail is disposed within the installation channel;

[0100] The push plate 401 is connected to the first guide rail 403 via the first slider 402 and can slide along the first guide rail 403.

[0101] The first drive motor 406 is used to drive the pusher plate 401 to slide along the first guide rail 403.

[0102] In this embodiment of the invention, the mounting channel is actually a rectangular cavity on the fixture body 1; one end of the first guide rail 403 is connected to one side of the rectangular cavity, and the other end is connected to one side of the rectangular cavity, and the space on both sides of the first guide rail 403 forms a sliding channel;

[0103] The push plate 401 is Z-shaped, one side of the push plate 401 is perpendicular to the first slider 402, and the other side of the push plate 401 is attached to and connected to the first slider 402.

[0104] Figure 9 This is a schematic diagram of the pusher mechanism from another direction in an embodiment of the present invention, as shown below. Figure 9 As shown, the pusher mechanism 4 also includes: a drive wheel 408, a support wheel 409, a driven wheel 410, and a transmission belt 407;

[0105] The first drive motor 406, the driven wheel 410, and the support wheel 409 are disposed on the other side of the clamp body 1; the conveyor belt 407 is disposed on the drive wheel 408, the support wheel 409, and the driven wheel 410;

[0106] The support wheel 409 is disposed between the driving wheel 408 and the driven wheel 410, and is used to support the conveyor belt 407.

[0107] The conveyor belt 407 is connected to the first slider 402;

[0108] The first drive motor 406 is used to drive the drive wheel 408 to rotate, and then drive the pusher plate 401 to slide along the first guide rail 403 through the transmission belt 407.

[0109] In this embodiment of the invention, the installation channel includes a first guide rail 403 and sliding channels disposed on both sides of the first guide rail 403;

[0110] The conveyor belt 407 is provided with an upper fixing plate and a lower fixing plate;

[0111] The two ends of the push plate 401 are connected to the push plate 401 by connecting pieces 404; the connecting pieces 404 pass through the sliding channel and can slide along the sliding channel.

[0112] In this embodiment of the invention, there are multiple first photoelectric switches 405, which are arranged along the length of the first guide rail 403 to indicate the position of the push plate 401.

[0113] Figure 10 This is a schematic diagram of the support plate mechanism in an embodiment of the present invention, as shown below. Figure 10As shown, the support plate mechanism 5 includes a second drive motor 504, a support plate 501, a second guide rail 503, and a guide rail slide 502.

[0114] The guide rail slide 502 is connected to the side of the clamp body 1, and the second guide rail 503 is disposed in the guide rail slide 502 and can slide along the guide rail slide 502;

[0115] The support plate 501 is disposed on the second guide rail 503;

[0116] The second drive motor 504 is used to drive the support plate 501 to slide along the second guide rail 503.

[0117] In this embodiment of the invention, there are two guide rail slides 502 and two second guide rails 503, which are arranged sequentially along the length of the support plate 501; the two guide rail slides 502 and two second guide rails 503 are parallel to each other along the support plate 501.

[0118] The second drive motor 504 drives the support plate 501 through a ball screw structure; the support plate 501 is disposed on the screw nut of the ball screw.

[0119] There are two second photoelectric switches 505. One second photoelectric switch is used to indicate the position of the support plate 501 after it is extended, and the other second photoelectric switch 505 is used to indicate the position of the support plate 501 after it is retracted.

[0120] Figure 11 This is a schematic diagram of the loading and unloading robot in an embodiment of the present invention, as shown below. Figure 11 As shown, the loading and unloading robot provided by the present invention includes the gripper 100 for loading and unloading the robot, as well as a robotic arm 200 and a movable base 300.

[0121] The gripper 100 for loading and unloading the robot is disposed at the end of the robotic arm 200;

[0122] The robotic arm 200 is mounted on the movable base 300, which is used to move the robotic arm.

[0123] Figure 12 This is a flowchart illustrating the steps of the packing method inside a container in a modified embodiment of the present invention, as shown below. Figure 12 As shown, the container loading method provided by the present invention is carried out by a loading and unloading robot, which includes a gripper body, a pusher mechanism, a support plate mechanism, and a robotic arm, and includes the following steps:

[0124] Step M1: Control the main body of the clamp to pick up one side of the target box;

[0125] Step M2: Control the support plate mechanism to extend so that the support surface of the support plate mechanism is opposite to the other side of the target box;

[0126] Step M3: Control the movement of the robotic arm so that the support surface of the support plate mechanism supports the other side of the target box;

[0127] Step M4: Control the pusher mechanism to push the target box along the support surface to push the target box to a target position.

[0128] like Figure 2 As shown, a suction cup array is provided on one side of the fixture body 1, the suction cup array including a first suction cup array 2 and a second suction cup array 3, and the other side is used to connect to the end flange of the robot.

[0129] The pusher mechanism 4 is disposed between the first suction cup array 2 and the second suction cup array 3. The pusher mechanism 4 can extend or retract along the length direction of the clamp body 1 to push the target box out from the top of the first suction cup array 2 and the second suction cup array 3.

[0130] The clamp body 1 is provided with support plate mechanisms 5 at both ends. The support plate mechanisms 5 can extend or retract in a direction perpendicular to the plane of the clamp body 1 to support the target box picked up by the suction cup array.

[0131] Figure 13 This is a flowchart illustrating the steps of controlling the fixture body to support the side of the box in a modified embodiment of the present invention, as shown below. Figure 13 As shown, step M3 includes the following steps:

[0132] Step M301: Control the movement of the robotic arm to move the gripper body to the front of the target position;

[0133] Step M302: Adjust the position of the fixture body so that the target box is located on the upper side of the support surface, and the support surface of the support plate mechanism supports the other side of the target box;

[0134] Step M303: Reduce the suction force of the suction cup array on one side of the target box.

[0135] like Figure 10 As shown, the support plate mechanism 5 includes a second drive motor 504, a support plate 501, a second guide rail 503, and a guide rail slide 502.

[0136] The guide rail slide 502 is connected to the side of the clamp body 1, and the second guide rail 503 is disposed in the guide rail slide 502 and can slide along the guide rail slide 502;

[0137] The support plate 501 is disposed on the second guide rail 503;

[0138] The second drive motor 504 is used to drive the support plate 501 to slide along the second guide rail 503.

[0139] In this embodiment of the invention, the inner side of the support plate 501, that is, the upper side of the support plate 501 that supports the target box, forms the support surface.

[0140] Figure 14 This is a flowchart illustrating the steps of placing the target box at the target placement position in a modified embodiment of the present invention, as shown below. Figure 14 As shown, step M4 includes the following steps:

[0141] Step M401: Obtain the target placement position on the bottom side of the container stack or container;

[0142] Step M402: Control the pusher mechanism to push the target box to slide along the direction of the support facing the target placement position;

[0143] Step M403: When the pusher mechanism moves to the end of the clamp body, the target box detaches from the support surface and slides forward to the target placement position.

[0144] In this embodiment of the invention, the target placement position is a plurality of sequentially arranged placement positions on the bottom side of the container. The plurality of sequentially arranged target boxes on the bottom side of the container form the first layer of the container stack. The upper side of the container stack forms a plurality of sequentially arranged target placement positions. The second layer of the container stack is formed by placing the target boxes at the plurality of sequentially arranged target placement positions on the upper side of the container stack.

[0145] Figure 15 This is a flowchart illustrating the steps of the unpacking method inside the container in an embodiment of the present invention, as shown below. Figure 15 As shown, the present invention provides a method for unpacking a container, which is carried out by a loading and unloading robot. The loading and unloading robot includes a gripper body, a pusher mechanism, a support plate mechanism, and a robotic arm, and includes the following steps:

[0146] Step N1: Control the pusher mechanism to move to the end of the clamp body so that the suction cup on the pusher mechanism can adhere to one side of the target box;

[0147] Step N2: Control the pusher mechanism to move in the opposite direction, driving the target box to move onto the clamp body, so that the clamp body supports one side of the target box;

[0148] Step N3: Control the suction cup array on the clamp body to apply suction to one side of the target box to hold the target box;

[0149] Step N4: Control the movement of the robotic arm to place the target box at a target position.

[0150] In this embodiment of the invention, the target location can be the placement location of the conveyor line, or any placement location on any layer of the transfer pallet.

[0151] In this embodiment of the invention, a suction cup array is provided on one side of the clamp body. The suction cup array includes a first suction cup array and a second suction cup array. A pusher mechanism is provided between the first suction cup array and the second suction cup array. When the clamp body is controlled to pick up one side of the target box, the robotic arm is controlled to move so that the clamp body supports one side of the target box. Then, the pusher mechanism is controlled to push the target box to slide along the clamp body to push the target box to a target position. This facilitates the placement of boxes in the top layer area of ​​the box stack for stacking, thereby increasing the upper limit of stacking height and the number of boxes packed when stacking in environments with limited space such as containers.

[0152] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0153] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A method for loading containers, performed using a loading and unloading robot, characterized in that, The loading and unloading robot includes a gripper body, a pusher mechanism, a support plate mechanism, and a robotic arm. One side of the gripper body is equipped with a suction cup array, including a first suction cup array and a second suction cup array. The other side is used to connect to the robot's end flange. The pusher mechanism is located between the first and second suction cup arrays and can extend or retract along the length of the gripper body to push the target box out from the top of the first and second suction cup arrays. Support plate mechanisms are provided at both ends of the gripper body. These support plate mechanisms can extend or retract in a direction perpendicular to the plane of the gripper body to support the target box picked up by the suction cup arrays, including the following steps: Step S1: Control the main body of the clamp to pick up one side of the target box; Step S2: Control the movement of the robotic arm so that the target box is positioned on the upper side of the clamp body, thereby allowing the clamp body to support one side of the target box and reducing the suction force of the suction cup array on the target box; Step S3: Control the pusher mechanism to push the target box along the clamp body to push the target box to a target position.

2. The method for packing containers according to claim 1, characterized in that, Step S2 includes the following steps: Step S201: Control the movement of the robotic arm to move the gripper body to the front of the target position; Step S202: Adjust the position of the fixture body so that the target box is located on the upper side of the fixture body; Step S203: Reduce the suction force of the suction cup array on the target box so that the ball bearing support mechanism on the clamp body supports the target box. The ball bearing support mechanism is located on one side of the clamp body and is within the suction cup array.

3. The method for packing containers according to claim 1, characterized in that, Step S3 includes the following steps: Step S301: Obtain the target placement position on the bottom side of the container stack or container; Step S302: Control the pusher mechanism to push the target box to slide along the clamp body towards the target placement position; Step S303: When the pusher mechanism moves to the end of the clamp body, the target box detaches from the clamp body and slides forward to the target placement position.

4. The container packing method according to claim 2, characterized in that, The ball bearing support mechanism includes: a first support rod, a second support rod, a mounting rod, and ball bearings; The first support rod and the second support rod are disposed on one side of the fixture body; One end of the mounting rod is fixed to the free end of the first support rod, and the other end is fixed to the free end of the second support rod.

5. The method for packing containers according to claim 4, characterized in that, Multiple ball bearings are sequentially mounted on the mounting rod; A first spring is fitted onto the first support rod, and one end of the mounting rod is limited between the outer end of the first spring and the free end of the first support rod. A second spring is fitted onto the second support rod, and the other end of the mounting rod is positioned between the outer end of the second spring and the free end of the second support rod.

6. A method for loading containers, performed using a loading and unloading robot, characterized in that, The loading and unloading robot includes a gripper body, a pusher mechanism, a support plate mechanism, and a robotic arm. One side of the gripper body is equipped with a suction cup array, including a first suction cup array and a second suction cup array. The other side is used to connect to the robot's end flange. The pusher mechanism is located between the first and second suction cup arrays and can extend or retract along the length of the gripper body to push the target box out from the first and second suction cup arrays. Support plate mechanisms are located at both ends of the gripper body and can extend or retract in a direction perpendicular to the plane of the gripper body to support the target box picked up by the suction cup arrays, including the following steps: Step M1: Control the main body of the clamp to pick up one side of the target box; Step M2: Control the support plate mechanism to extend so that the support surface of the support plate mechanism is opposite to the other side of the target box; Step M3: Control the movement of the robotic arm so that the support surface of the support plate mechanism supports the other side of the target box; Step M4: Control the pusher mechanism to push the target box along the support surface to push the target box to a target position.

7. The method for packing containers according to claim 6, characterized in that, Step M3 includes the following steps: Step M301: Control the movement of the robotic arm to move the gripper body to the front of the target position; Step M302: Adjust the position of the fixture body so that the target box is located on the upper side of the support surface, and the support surface of the support plate mechanism supports the other side of the target box; Step M303: Reduce the suction force of the suction cup array on one side of the target box.

8. The method for packing containers according to claim 6, characterized in that, Step M4 includes the following steps: Step M401: Obtain the target placement position on the bottom side of the container stack or container; Step M402: Control the pusher mechanism to push the target box to slide along the direction of the support facing the target placement position; Step M403: When the pusher mechanism moves to the end of the clamp body, the target box detaches from the support surface and slides forward to the target placement position.

9. A method for unpacking a container, performed using a loading and unloading robot, characterized in that... The loading and unloading robot includes a gripper body, a pusher mechanism, a support plate mechanism, and a robotic arm. One side of the gripper body is equipped with a suction cup array, including a first suction cup array and a second suction cup array. The other side is used to connect to the robot's end flange. The pusher mechanism is located between the first and second suction cup arrays and can extend or retract along the length of the gripper body to push the target box out from the top of the first and second suction cup arrays. Support plate mechanisms are provided at both ends of the gripper body. These support plate mechanisms can extend or retract in a direction perpendicular to the plane of the gripper body to support the target box picked up by the suction cup arrays, including the following steps: Step N1: Control the pusher mechanism to move to the end of the clamp body so that the suction cup on the pusher mechanism can adhere to one side of the target box; Step N2: Control the pusher mechanism to move in the opposite direction, driving the target box to move onto the clamp body, so that the clamp body supports the target box; Step N3: Control the suction cup array on the clamp body to apply suction to one side of the target box to hold the target box; Step N4: Control the movement of the robotic arm to place the target box at a target position.

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