A hook-support type box grasping device and its grasping posture adjustment method

Abstract

The present invention discloses a hook-support type box gripping device and a method for adjusting its gripping posture, which includes a gripper. There is a vacuum suction tool on the gripper, and the gripper can lift the box sucked by the sucked accessory. There is a movable bottom hook on the gripper. After the box is lifted, the bottom hook can move to hook on the bottom of the box to support the box. A long-side recognition mechanism is also provided on the gripper. The long-side recognition mechanism can recognize the long side of the box, so that the bottom hook can be adjusted to hook on the long side of the box. The long-side recognition mechanism includes a plurality of contact sensors. When the bottom hook is opposite to the long side or short side of the box, the contact sensors in contact with the box are different, so as to recognize the long side of the box. The present invention can optimize the gripping method of the box, especially can realize the stable gripping of heavy rectangular boxes, avoid gripping off-load and damage to the box surface, and the gripper can also grip the tray.

Description

Technical Field

[0001] The present invention relates to the field of logistics, and particularly to a hook - support type box gripping device and a method for adjusting its gripping posture. Background Art

[0002] For a medium - large - sized logistics center, the number of boxes entering the warehouse every day can reach tens of thousands. Therefore, the amount of manual handling of cardboard boxes by aisle machines is huge. At the box - loading and box - unloading stations of the aisle machine, the total number of boxes handled each day is 400 - 500, and the weight of each box is 20 - 30 kg. The labor intensity is high, and it is very difficult to stack the boxes neatly and uniformly by hand, which requires the proficiency of operators. In addition, the longer the working hours of personnel, the lower the efficiency and the worse the work quality. For the above reasons, suitable automatic palletizing and depalletizing equipment is needed to improve work efficiency and optimize the gripping method of cardboard boxes. Summary of the Invention

[0003] Object of the Invention: In order to overcome the deficiencies in the prior art, the present invention provides a hook - support type box gripping device and a method for adjusting its gripping posture, aiming to optimize the gripping method of boxes.

[0004] Technical Solution: To achieve the above object, a hook - support type box gripping device of the present invention includes a gripper. There are suction attachments on the gripper, and the gripper can lift the box sucked by the suction attachments. There is a movable bottom hook on the gripper. After the box is lifted, the bottom hook can move to hook on the bottom of the box to support the box. A long - side recognition mechanism is also provided on the gripper. The long - side recognition mechanism can recognize the long side of the box, so that the bottom hook can be adjusted to hook on the long side of the box. The long - side recognition mechanism includes several contact sensors. When the bottom hook is opposite to the long side or short side of the box, the contact sensors in contact with the box are different, so as to recognize the long side of the box. The suction attachments on the gripper form a square suction area. When the suction attachments suck the box, a corner of the square suction area is opposite to a corner of the box. There are at least two contact sensors. The two contact sensors are respectively located on two adjacent sides of the square suction area. The side of the square suction area opposite to the contact sensor is called the opposite side. The distance between the contact sensor and its opposite side is greater than the short - side length of the box and less than the long - side length of the box. The boxes are palletized on a pallet, and the pallet is placed at a fixed point at the depalletizing station. The gripper is installed on a displacement mechanism. The displacement mechanism can drive the gripper to move to the depalletizing station and make a corner of the square suction area opposite to a corner of the box. The gripper moves upward and lifts the sucked box. After the box moves upward, according to the contact sensors still in contact with the box, it is judged whether the bottom hook is opposite to the long side or the short side of the box.

[0005] Further, the contact sensor includes a pressing block and a proximity switch. The pressing block can move up and down, and the proximity switch is located above the pressing block. The contact sensor and the adsorbing member are on the same side of the gripper. Before the adsorbing member sucks the box body, the pressing block opposite to the box body can flatten the surface of the box body. When the adsorbing member sucks the box body, the pressing block pressing the box body will move up close to the proximity switch to trigger the contact sensor.

[0006] Further, a tray gripping mechanism is provided on the gripper so that the gripper can grip the tray. The tray gripping mechanism includes two sets of hook claws arranged oppositely. The two sets of hook claws can open and close under the drive of a drive mechanism, and cooperate to grip the tray when the two sets of hook claws are clamped relatively.

[0007] Further, the bottom hook is opposite to one side of the square adsorption area, and the bottom hook is rotatably arranged below the gripper. After the box body is lifted, the bottom hook can rotate to hook on the bottom of the box body.

[0008] Further, the bottom hook includes a hook arm. The upper end of the hook arm is hinged and installed on the gripper. A support plate is arranged at the lower end of the hook arm. The hook arm can rotate so that the support plate supports the bottom of the box body. The support plate is rotationally matched with the hook arm so that the support plate can swing to adapt to the bottom surface shape of the box body.

[0009] Further, the gripper includes a main board part and a side board part. The main board part is opposite to the top of the box body, and the side board part is opposite to the side of the box body. The bottom hook is correspondingly arranged at the lower end of the side board part. A plurality of contact sensors are also arranged on the side board part so that a gap can be maintained between the side board part and the box body when the side board part is displaced relative to the box body.

[0010] A method for adjusting the gripping posture of a hook-support type box gripping device. After the gripper moves to the unstacking station, make a corner of the square adsorption area opposite to a corner of the box body, then the gripper moves down to press on the top of the box body, and then the adsorbing member sucks the box body. The gripper moves up and lifts the sucked box body. After the box body moves up, according to the contact sensor still in contact with the box body, judge whether the bottom hook is opposite to the long side or the short side of the box body at this time. If it is judged that the bottom hook is opposite to the long side of the box body, the bottom hook directly moves to hook on the bottom of the box body. If it is judged that the bottom hook is opposite to the short side of the box body, then let the gripper put the box body back, and the displacement mechanism drives the gripper to rotate to adjust the bottom hook to be opposite to the long side of the box body, and then the gripper grabs the box body again.

[0011] Beneficial effects: A hook-support type box gripping device and a method for adjusting the gripping posture thereof according to the present invention have the following beneficial effects:

[0012] 1) The box body is grabbed through the combination of the adsorbing member and the bottom hook, with a large load capacity, capable of realizing stable gripping of the box body, and not easily damaging the surface of the cardboard box.

[0013] 2) Identify the long side of the box through the contact sensor, so that the bottom hook can be hooked onto the long side of the box correspondingly. The stress balance of the bottom hook at the center position of the long side of the box is good, and the box is not likely to fall off during the movement.

[0014] 3) The contact sensor adopts a combination of a pressure block and a proximity switch. The pressure block can flatten the surface of the box, creating a flat surface conducive to adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] FIG. Figure 1 is a schematic diagram of the tray placed on the unstacking station;

[0016] FIG. Figure 2 is a schematic diagram of the gripper mounted on the robotic arm;

[0017] FIG. Figure 3 is a schematic diagram of the structure of the gripper;

[0018] FIG. Figure 4 is a schematic diagram of the structure of the bottom hook;

[0019] FIG. Figure 5 is a schematic diagram of the gripper grasping the box;

[0020] FIG. Figure 6 is a schematic diagram of the gripper grasping the tray;

[0021] FIG. Figure 7 is a schematic diagram of the bottom of the gripper;

[0022] FIG. Figure 8 is a schematic diagram of the structure of the contact sensor;

[0023] FIG. Figure 9 is a schematic diagram of the bottom hook opposite to the long side of the box;

[0024] FIG. Figure 10 is a schematic diagram of the bottom hook opposite to the short side of the box;

[0025] FIG. Figure 11 is a layout diagram of the contact sensor on the side plate part;

[0026] FIG. Figure 12 is a partial enlarged view of the side plate part of the gripper. DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention will be further described in detail below with reference to the accompanying drawings.

[0028] As shown in Figures 1 to 12 a hook-support type box grasping device, which includes a gripper 1, and there is an adsorbing member 2 on the gripper 1. The gripper 1 can lift the box 3 adsorbed by the adsorbing member 2. In one embodiment, the adsorbing member 2 is a suction cup, the suction cup faces downward, and the suction cup can suck the top of the box 3 by using the vacuum principle.

[0029] The gripper 1 is provided with a movable bottom hook 4. As shown in the appendix Figure 5 As shown, after the adsorbing member 2 adsorbs the box body 3, the gripper 1 can lift the box body 3 upward by a certain distance, and then the bottom hook 4 can move to hook on the bottom of the box body 3 to support the box body 3. Since there is the bottom hook 4 supporting the bottom of the box body 3, the box body 3 is not easily detached from the gripper 1 during the process of the gripper 1 moving the box body 3.

[0030] The gripper 1 is also provided with a long side recognition mechanism. The long side recognition mechanism can recognize the long side of the box body 3, so that the bottom hook 4 can be adjusted to hook on the long side of the box body 3. When the bottom hook 4 correspondingly hooks at the center position of the long side of the box body 3, the force balance is better, and the box body 3 is less likely to fall off during the movement process.

[0031] The long side recognition mechanism includes a plurality of contact sensors 5. When the gripper 1 adsorbs the box body 3 through the adsorbing member 2, whether the bottom hook 4 faces the long side or the short side of the box body 3 will cause different contact sensors 5 in contact with the box body 3. Therefore, the long side of the box body 3 can be recognized according to the different signals of the contact sensors 5, and then the gripper 1 can adjust its posture so that the bottom hook 4 faces the long side of the box body 3, so that the bottom hook 4 can hook on the long side of the box body 3.

[0032] As shown in the appendix Figure 8 As shown, the contact sensor 5 includes a pressing block 6, a proximity switch 7 and a sleeve 15. The pressing block 6 is arranged at the lower end of the sleeve 15. A push rod 25 is connected to the pressing block 6. The push rod 25 is located in the sleeve 15 and can slide vertically along the sleeve 15, so that the pressing block 6 can move up and down. The proximity switch 7 is arranged at the upper end of the sleeve 15, that is, the proximity switch 7 is located above the pressing block 6. An elastic member 16 is also arranged in the sleeve 15. Under the elastic action of the elastic member 16, the pressing block 6 has a tendency to move downward. The contact sensor 5 and the adsorbing member 2 are located on the same side of the gripper 1. Specifically, the contact sensor 5 and the adsorbing member 2 are both located below the gripper 1. After the gripper 1 moves above the box body 3, the gripper 1 will move downward and approach the box body 3. In the natural state, the lower end of the pressing block 6 is lower than the adsorbing member 2. Therefore, before the adsorbing member 2 adsorbs the box body 3, the pressing block 6 opposite to the box body 3 can flatten the surface of the box body 3. After flattening the surface of the box body 3, a plane of the box body 3 beneficial to the adsorption of the adsorbing member 2 can be created; when the adsorbing member 2 adsorbs the box body 3, the pressing block 6 pressing the box body 3 will move upward to approach the proximity switch 7 to trigger the contact sensor 5, so as to judge which contact sensors 5 are in contact with the box body 3.

[0033] The adsorbing member 2 on the gripper 1 forms a square adsorption area 8, as shown in the appendix Figure 7In one embodiment shown in the figure, the adsorber 2 is composed of four groups of integrated suction cups, which cooperate to form a square adsorption area 8 corresponding to the cuboid-shaped box body 3. In addition, the suction cups are also equipped with components such as an air compressor, a solenoid valve, a PU pipeline, and a pneumatic joint, so that the suction cups can hold the box body 3 under the action of vacuum. The suction cups are made of polyurethane material to ensure high wear resistance and adaptability to uneven surfaces.

[0034] When the adsorber 2 adsorbs the box body 3, one corner of the square adsorption area 8 is opposite to one corner of the box body 3. There are at least two contact sensors 5, and the two contact sensors 5 are respectively located on two adjacent sides of the square adsorption area 8. The side of the square adsorption area 8 opposite to the contact sensor 5 is called the opposite side, and the distance between the contact sensor 5 and its opposite side is greater than the length of the short side of the box body 3 and less than the length of the long side of the box body 3.

[0035] As shown in the appendix Figure 9 and 10 shown in the figure, there are multiple contact sensors 5 on the gripper 1. Two of the sensors used to identify the long side are respectively named the first long side identification sensor 501 and the second long side identification sensor 502. In the appendix Figure 9 shown in the figure, the bottom hook 4 is opposite to the long side of the box body 3. Therefore, after the gripper 1 lifts the box body 3 that has been sucked for a certain distance, the second long side identification sensor 502 still has a contact signal, while the first long side identification sensor 501 will lose the contact signal. In the appendix Figure 10 shown in the figure, the bottom hook 4 is opposite to the short side of the box body 3. Therefore, after the gripper 1 lifts the box body 3 that has been sucked for a certain distance, the first long side identification sensor 501 still has a contact signal, while the second long side identification sensor 502 will lose the contact signal. Based on the above method, it can be determined whether the bottom hook 4 is opposite to the long side of the box body 3.

[0036] As shown in the appendix Figure 1 shown in the figure, the gripper 1 is applied to the previous process of the full-load pallet 9 entering the high-rise stereoscopic warehouse in the logistics center. A depalletizer 18 and a palletizer 19 are respectively arranged at both ends of the roller conveyor line 17, and the gripper 1 is applied to both the depalletizer 18 and the palletizer 19. The box bodies 3 are palletized on the pallet 9, and there are multiple layers of box bodies 3 palletized, and each layer of box bodies 3 is arranged in a state of three horizontal and two vertical. The pallet 9 is placed at a fixed point on the depalletizing station 10, so that the position of one corner of the box body 3 is determined. The gripper 1 is installed on the displacement mechanism. As shown in the appendix Figure 2 shown in the figure, the displacement mechanism is a robotic arm 11. Driven by the robotic arm 11, the robotic arm 11 can drive the gripper 1 to move to the depalletizing station 10, and make one corner of the square adsorption area 8 opposite to one corner of the box body 3. Then, the depalletizer 18 can grab the box body 3 from the pallet 9 at the depalletizing station 10 and place it on the roller conveyor line 17. The box body 3 passes through the passage machine 21 on the roller conveyor line 17, and then the palletizer 19 grabs the box body 3 from the roller conveyor line 17 and places it on the pallet 9 at the palletizing station 20.

[0037] In practical applications, since the positions of the palletizing station 10 and the depalletizing station 20 are determined, the robotic arm 11 can accurately drive the gripper 1 to move above the pallet 9 at the depalletizing station 10, and make a corner of the square adsorption area 8 opposite to a corner of the box body 3. The box bodies 3 on the pallet 9 are stacked in multiple layers in a three-horizontal and two-vertical manner. Therefore, as long as the placement state of one of the box bodies 3 is recognized, the placement states of the remaining box bodies 3 can be determined, thereby realizing grasping one by one.

[0038] After the box body 3 passes through the passage machine 21 and moves along the roller track line 17 to the palletizing station 20, since the length direction of the box body 3 always remains consistent with the moving direction, the long side of the box body 3 can be directly determined at the palletizing station 20. A pallet station 22 is also arranged adjacent to the palletizing station 20, and the pallet station 22 is used to place the pallet 9.

[0039] A pallet grasping mechanism is arranged on the gripper 1, so that the gripper 1 can grasp the pallet 9. The pallet grasping mechanism includes two groups of hook claws 12 arranged oppositely, and the two groups of hook claws 12 can make opening and closing movements driven by a driving mechanism. When the two groups of hook claws 12 are clamped relatively, they cooperate to grasp the pallet 9. As shown in an Figure 3 embodiment shown in the attachment, the driving mechanism is a piston rod 23. The piston rod 23 can push the hook claw 12 installed on the shaft body to rotate, so that the two groups of hook claws 12 make opening and closing movements. The width that the two groups of hook claws 12 can open is greater than the width of the pallet 9. When the two groups of hook claws 12 are closed, they are retracted above the gripper 1, and the retracted hook claws 12 will not cause interference during the process of the gripper 1 grasping the box body 3.

[0040] As shown in the Figure 3 attachment, the bottom hook 4 is opposite to one of the sides of the square adsorption area 8. Therefore, when a corner of the square adsorption area 8 is opposite to a corner of the box body 3, the bottom hook 4 is opposite to the long side or the short side of the box body 3. The bottom hook 4 is rotatably arranged below the gripper 1. As shown in the Figure 5 attachment, after the box body 3 is lifted, the bottom hook 4 can rotate to hook on the bottom of the box body 3. As shown in the Figure 4 attachment, the bottom hook 4 includes a hook arm 13. The upper end of the hook arm 13 is hinged and installed on the gripper 1. A support plate 14 is arranged at the lower end of the hook arm 13. A cylinder 24 is also arranged on the gripper 1. The cylinder 24 can push the hook arm 13 to rotate, so that the hook arm 13 can rotate to make the support plate 14 support the bottom of the box body 3.

[0041] Due to the deformation of the bottom surface of the cardboard box under the action of gravity, the support plate 14 is rotationally matched with the hook arm 13, so that the support plate 14 can swing to adapt to the bottom surface shape of the box body 3, that is, it can automatically swing a small angle according to the bottom surface shape of the cardboard box.

[0042] The gripper 1 includes a main board part 26 and a side board part 27. The main board part 26 is a horizontal plate body, and the side board part 27 is a vertical plate body. The upper end of the side board part 27 is connected to the main board part 26. Under the condition of ensuring strength and function, the main board part 26 and the side board part 27 are made of aluminum alloy material to reduce weight and make the movement flexible.

[0043] When the gripper 1 grabs the box body 3, the main board part 26 is opposite to the top of the box body 3, and the side board part 27 is opposite to the side of the box body 3. As shown in the appendix Figure 12 As shown, the bottom hook 4 is correspondingly arranged at the lower end of the side board part 27, and the cylinder 24 for driving the rotation of the bottom hook 4 is also arranged on the side board part 27. A number of contact sensors 5 are also arranged on the side board part 27. During the displacement of the gripper 1, the contact sensors 5 on the side board part 27 can sense the position of the box body 3, so that a gap can be maintained between the side board part 27 and the box body 3 when the side board part 27 is displaced relative to the box body 3, avoiding abrasion of the surface of the box body 3 when the side board part 27 moves up and down. The arrangement mode of the contact sensors 5 on the side board part 27 can be referred to as shown in Figure 11 as shown.

[0044] A flexible material layer 28 is arranged on one side of the side board part 27 facing the box body 3. When the box body 3 is deformed by force, the flexible material layer 28 can deform adaptively. In one embodiment, the flexible material layer 28 is sponge. Since in actual applications, the box body 3 is mostly a cardboard box, during the process of the gripper 1 grabbing and hooking the cardboard box, the local part of the cardboard box may be deformed and squeeze the side board part 27, and the sponge can deform adaptively to play a protective role.

[0045] The present invention also provides a method for adjusting the grasping posture of a hook-support type box body grasping device. The boxes 3 are stacked on the tray 9 at the unstacking station 10. After the gripper 1 moves to the unstacking station 10, one corner of the square adsorption area 8 is made to face one corner of the box body 3, and then the gripper 1 moves down to press on the top of the box body 3, and then the adsorbing member 2 adsorbs the box body 3. The gripper 1 moves up and lifts the adsorbed box body 3. After the box body 3 moves up, according to the contact sensor 5 that still remains in contact with the box body 3, it is judged whether the bottom hook 4 is opposite to the long side or the short side of the box body 3 at this time. As shown in the appendix Figure 9 As shown, if the second long side recognition sensor 502 still has a contact signal at this time, it is judged that the bottom hook 4 is opposite to the long side of the box body 3, and the bottom hook 4 directly moves to hook at the bottom of the box body 3. As shown in the appendix Figure 10 As shown, if the first long side recognition sensor 501 still has a contact signal at this time, it is judged that the bottom hook 4 is opposite to the short side of the box body 3. Let the gripper 1 put the box body 3 back, and the displacement mechanism drives the gripper 1 to rotate counterclockwise by 90 degrees to adjust the bottom hook 4 to be opposite to the long side of the box body 3, and then the gripper 1 grabs the box body 3 again.

[0046] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A hook-support type box gripping device, characterized in that: It includes a gripper (1) with an adsorbent (2) thereon. The gripper (1) can lift a box body (3) adsorbed by the adsorbent (2); there is a movable bottom hook (4) on the gripper (1). After the box body (3) is lifted, the bottom hook (4) can move to hook on the bottom of the box body (3) to support the box body (3); a long-side recognition mechanism is also arranged on the gripper (1), and the long-side recognition mechanism can recognize the long side of the box body (3) so that the bottom hook (4) can be adjusted to hook on the long side of the box body (3). The long-side recognition mechanism includes a number of contact sensors (5); when the bottom hook (4) is opposite to the long side or short side of the box body (3), the contact sensors (5) in contact with the box body (3) are different, thereby recognizing the long side of the box body (3). The adsorbent (2) on the gripper (1) forms a square adsorption area (8). When the adsorbent (2) adsorbs the box body (3), one corner of the square adsorption area (8) is opposite to one corner of the box body (3); there are at least two contact sensors (5), and the two contact sensors (5) are respectively located on two adjacent sides of the square adsorption area (8); the side of the square adsorption area (8) opposite to the contact sensor (5) is called the opposite side, and the distance between the contact sensor (5) and its opposite side is greater than the short side length of the box body (3) and less than the long side length of the box body (3). The box bodies (3) are palletized on a pallet (9), and the pallet (9) is placed at a fixed point on the depalletizing station (10); the gripper (1) is installed on a displacement mechanism, and the displacement mechanism can drive the gripper (1) to move to the depalletizing station (10) and make one corner of the square adsorption area (8) opposite to one corner of the box body (3). The gripper (1) moves upward to lift the adsorbed box body (3). After the box body (3) moves upward, according to the contact sensor (5) still in contact with the box body (3), it is judged whether the bottom hook (4) is opposite to the long side or the short side of the box body (3) at this time.

2. The hook support type box grabbing device according to claim 1, characterized in that: The contact sensor (5) includes a pressing block (6) and a proximity switch (7). The pressing block (6) can move up and down, and the proximity switch (7) is located above the pressing block (6); the contact sensor (5) and the adsorbent (2) are located on the same side of the gripper (1). Before the adsorbent (2) adsorbs the box body (3), the pressing block (6) opposite to the box body (3) can flatten the surface of the box body (3); when the adsorbent (2) adsorbs the box body (3), the pressing block (6) pressing the box body (3) will move upward to be close to the proximity switch (7) to trigger the contact sensor (5).

3. The hook support type box gripping device according to claim 1, characterized in that: A pallet gripping mechanism is arranged on the gripper (1) so that the gripper (1) can grip the pallet (9); the pallet gripping mechanism includes two groups of hook claws (12) arranged oppositely, and the two groups of hook claws (12) can make opening and closing movements driven by a driving mechanism, and the two groups of hook claws (12) cooperate to grip the pallet (9) when they are clamped oppositely.

4. The hook support type box gripping device according to claim 1, characterized in that: The bottom hook (4) is opposite to one of the sides of the square adsorption area (8), and the bottom hook (4) is rotatably arranged below the gripper (1). After the box body (3) is lifted, the bottom hook (4) can rotate to hook on the bottom of the box body (3).

5. The hook-type box grasping device according to claim 4, characterized in that: The bottom hook (4) includes a hook arm (13); the upper end of the hook arm (13) is hingedly installed on the gripper (1), the lower end of the hook arm (13) is provided with a support plate (14), and the hook arm (13) can rotate so that the support plate (14) supports the bottom of the box body (3); the support plate (14) is rotationally matched with the hook arm (13) so that the support plate (14) can swing to adapt to the bottom surface shape of the box body (3).

6. The hook support type box gripping device according to claim 4, wherein: The gripper (1) includes a main board part (26) and a side board part (27). The main board part (26) faces the top of the box body (3), the side board part (27) faces the side of the box body (3), and the bottom hook (4) is correspondingly arranged at the lower end of the side board part (27); a plurality of contact sensors (5) are also arranged on the side board part (27) so that a gap can be maintained between the side board part (27) and the box body (3) when the side board part (27) is displaced relative to the box body (3).

7. The grasping attitude adjustment method of a hook-support type box grasping device according to claim 1, characterized in that: After the gripper (1) moves to the unstacking station (10), make a corner of the square adsorption area (8) face a corner of the box body (3), then the gripper (1) moves down to press on the top of the box body (3), and then the adsorber (2) adsorbs the box body (3), and the gripper (1) moves up and lifts the adsorbed box body (3); after the box body (3) moves up, according to the contact sensor (5) that still contacts the box body (3), judge whether the bottom hook (4) faces the long side or the short side of the box body (3) at this time; if it is judged that the bottom hook (4) faces the long side of the box body (3), the bottom hook (4) directly moves to hook the bottom of the box body (3); if it is judged that the bottom hook (4) faces the short side of the box body (3), then let the gripper (1) put the box body (3) back, drive the gripper (1) to rotate by the displacement mechanism, adjust the bottom hook (4) to face the long side of the box body (3), and then the gripper (1) grabs the box body (3) again for the second time.

Images