Unpacking method and packing method in container

Abstract

The invention provides an unpacking method and a packing method in a container, the unpacking method and the packing method are carried out through a loading and unloading robot, the loading and unloading robot comprises a mechanical arm and a clamp arranged at the tail end of the mechanical arm, and the clamp comprises a suction cup array, a clamp mounting plate and a supporting mechanism; comprising the following steps that a suction cup array is controlled to suck one side face of a target box body on a box body stack; the mechanical arm is controlled to move, so that the suction cup array pulls the target box body to move in the direction away from the box body stack; and the supporting mechanism is controlled to stretch out, and the target box body is pulled along with the suction cup array to support the bottom side face of the target box body. According to the box stacking device, the situation that when the side face of a target box is sucked through a suction cup array, the target box falls off is avoided, in addition, stacking and unstacking of containing boxes in the top layer area of a box stack can be facilitated, and therefore the stacking upper limit height and the encasement number are increased when stacking is conducted in the space-limited environment such as containers.

Description

Technical Field

[0001] The present invention relates to an industrial robot, and in particular to an unpacking method and a packing method in a container. Background Art

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

[0003] More and more visual sensors and force sensors will be used in industrial robots, and industrial robots will become more and more intelligent. With the advancement of sensing and recognition systems, artificial intelligence and other technologies, robots are moving from being controlled in one direction to storing and applying data by themselves, and are gradually becoming information-based.

[0004] When an industrial robot is used to sort and transport goods, it is necessary to capture images of the goods through a visual sensor, identify the images of the goods to determine their posture, and then the industrial robot picks or transports the goods through a loaded clamp or suction cup.

[0005] When industrial robots are used to dismantle goods in containers with frames, top plates and partitions such as cargo boxes, shelves and cage trucks, due to the limitation that the goods need to be grabbed from the side, when the clamps used in picking scenarios such as depalletizing are applied to this scenario, the goods will easily fall off due to the gravity of the goods when they are sucked from the side, and are prone to wear and damage. Summary of the invention

[0006] In view of the defects in the prior art, an object of the present invention is to provide a method for unpacking and packing a container.

[0007] The unpacking method in a container provided by the present invention is performed by a loading and unloading robot, wherein the loading and unloading robot comprises a mechanical arm and a clamp arranged at the end of the mechanical arm, wherein the clamp comprises a suction cup array, a clamp mounting plate and a supporting mechanism, and comprises the following steps:

[0008] Step S1: Control the suction cup array to suck one side of a target box on the box stack;

[0009] Step S2: Control the movement of the robot arm so that the suction cup array pulls the target box to move away from the box stack;

[0010] Step S3: controlling the supporting mechanism to extend, and supporting the bottom side surface of the target box as the suction cup array pulls the target box.

[0011] Preferably, a suction cup array is used for sucking the target box;

[0012] A fixture mounting plate, one side of which is provided with the suction cup array, and the other side of which is used to connect to the end flange of the robot;

[0013] A support mechanism is arranged on the fixture mounting plate and located at the lower side of the suction cup array. The support plate mechanism can be extended or retracted toward the front side of the fixture mounting plate to support the target box when the suction cup array absorbs the target box.

[0014] Preferably, the support mechanism comprises a driving module, a connecting rod mechanism, a bearing seat and a support rod;

[0015] The step S3 comprises the following steps:

[0016] Step S301: controlling the driving module to rotate so that one end of the connecting rod mechanism rotates around the driving module;

[0017] Step S302: The other end of the link mechanism drives the rear end of the support rod to rotate, so that the front end of the support rod rotates from the lower side of the suction cup array to the front side of the suction cup array;

[0018] Step S303: As the suction cup array pulls the target box, the support rod gradually rotates and extends to support the bottom side of the target box.

[0019] Preferably, the driving module is arranged on the other side of the fixture mounting plate; the output end of the driving module is connected to one end of the connecting rod mechanism, and the other end of the connecting rod mechanism is connected to the rear end of the support rod;

[0020] The bearing seat is fixed on the lower end surface of the fixture mounting plate; the rear end of the support rod is connected to the bearing seat through a bearing;

[0021] The driving module is used to drive the support rod to rotate and extend or rotate and retract through the connecting rod mechanism.

[0022] Preferably, step S1 comprises the following steps:

[0023] Step S101: acquiring a stack image of the box stack, identifying the stack image, and determining a plurality of target box regions on the stack image;

[0024] Step S102: determining a plurality of target boxes to be sucked according to the positions of the plurality of target box areas;

[0025] Step S103: controlling the suction cup array to move to the front of the box stack according to a preset suction sequence to suck a side surface of a target box on the box stack.

[0026] Preferably, the connecting rod mechanism comprises a first connecting rod mechanism and a second connecting rod mechanism;

[0027] The support rod comprises a first support rod and a second support rod;

[0028] The drive module includes an output disk;

[0029] One end of the first link mechanism is connected to a fixing hole on one end surface of the output disk, and one end of the second link mechanism is connected to a fixing hole on the other end surface of the output disk;

[0030] The other end of the first link mechanism is connected to the rear end of the first support rod, and the other end of the second link mechanism is connected to the rear end of the second support rod.

[0031] Preferably, the first connecting rod mechanism comprises: a first connecting rod body, a first spherical bearing and a second spherical bearing;

[0032] One end of the first connecting rod body is rotatably connected to one end of the first joint bearing; the other end of the first joint bearing is fixed in a fixing hole on one end surface of the output disc;

[0033] The other end of the first connecting rod body is rotatably connected to one end of the second joint bearing; the other end of the second joint bearing is fixed in a fixing hole on the rear end surface of the first supporting rod.

[0034] Preferably, the second link mechanism comprises: a second link body, a third spherical bearing and a fourth spherical bearing;

[0035] One end of the second connecting rod body is rotatably connected to one end of the third joint bearing; the other end of the third joint bearing is fixed in a fixing hole on the other side end surface of the output disc;

[0036] The other end of the second connecting rod body is rotatably connected to one end of the fourth joint bearing; the other end of the fourth joint bearing is fixed in a fixing hole on the rear end surface of the second supporting rod.

[0037] Preferably, the bearing seat comprises a first bearing seat and a second bearing seat; the bearing comprises a first bearing and a second bearing;

[0038] The first bearing seat is arranged at one end of the lower end surface of the fixture mounting plate, and the second bearing seat is arranged at the other end of the lower end surface of the fixture mounting plate;

[0039] The rear end of the first support rod is connected to the first bearing seat via a first bearing; the rear end of the second support rod is connected to the second bearing seat via a second bearing;

[0040] The first bearing is fixed to the first bearing seat by a first fixing bolt and a first retaining spring; one end of the first fixing bolt and the first retaining spring passes through the inner ring of the first bearing to connect to the first bearing seat; a first fixing hole is provided on the first support rod, and the first support rod is fixed to the outer ring of the first bearing through the first fixing hole;

[0041] The second bearing is fixed to the second bearing seat by a second fixing bolt and a second retaining spring; one end of the second fixing bolt and the second retaining spring passes through the inner ring of the second bearing to connect to the second bearing seat; a second fixing hole is provided on the second support rod, and is fixed to the outer ring of the second bearing through the second fixing hole.

[0042] The container packing method provided by the present invention is performed by a loading and unloading robot, wherein the loading and unloading robot comprises a mechanical arm, a suction cup array, a fixture mounting plate and a supporting mechanism, and comprises the following steps:

[0043] Step M1: Control the suction cup array to suck one side of the target box;

[0044] Step M2: controlling the support mechanism to extend to support the bottom side of the target box;

[0045] Step M3: Control the movement of the robot arm to place the front end of the target box on a target position, control the suction cup array to move toward the target position, and simultaneously control the support mechanism to retract to the lower side of the suction cup array;

[0046] Step M4: controlling the suction cup array to release the target box.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] In the present invention, a suction cup array is arranged on one side of the fixture mounting plate, and a support mechanism is arranged on the fixture mounting plate. The support plate mechanism can be rotated and extended or rotated and retracted toward the front side of the fixture mounting plate to support the target box sucked by the suction cup array, thereby preventing the target box from falling when the side of the target box is sucked by the suction cup array. In addition, it can also facilitate the stacking and unstacking of boxes placed in the top area of ​​the box stack, thereby increasing the upper limit height of the stacking and the number of boxes when stacking in a limited space environment such as a container;

[0049] In the present invention, the driving module can control the support mechanism to stop at any position between fully extended and fully retracted, thereby supporting objects of different sizes. The two symmetrically arranged support mechanisms can provide support for grabbing at most two boxes at the same time.

[0050] When the present invention is used, the support mechanism can be retracted to be compatible with the effect of the ordinary suction cup array, such as to suck the middle area of ​​the target box; when the top surface of the object is sucked by the suction cup array, the robot's suction reliability is improved when the horizontal acceleration is large; the present invention uses the same motor to drive the support mechanisms on both sides, which has the characteristics of compact structure, few parts, low weight, and obvious cost advantages;

[0051] The clamp in the present invention is driven by a connecting rod and has a strong reverse driving ability. It can give the movement of the supporting mechanism a flexible control feature through motor control, so that the supporting mechanism can be compressed like a spring plate when it accidentally touches a box or an obstacle, thereby enhancing the stability of the overall process and the life of the clamp at the end of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0053] Figure 1 This is a flowchart of the steps of the method for unpacking a container in an embodiment of the present invention;

[0054] Figure 2 It is a structural schematic diagram of one direction of the unpacking method in a container according to an embodiment of the present invention;

[0055] Figure 3 It is a structural schematic diagram of another direction of the unpacking method in a container according to an embodiment of the present invention;

[0056] Figure 4 A flowchart of the steps of sucking a target box on a box stack in an embodiment of the present invention;

[0057] Figure 5 A flowchart of the steps of supporting the bottom side surface of the target box in an embodiment of the present invention;

[0058] Figure 6 A schematic diagram of a method for unpacking a container in an embodiment of the present invention for sucking in a box;

[0059] Figure 7 This is a schematic diagram of the storage state of the unpacking method in the container according to an embodiment of the present invention;

[0060] Figure 8 It is a structural schematic diagram of a support mechanism in an embodiment of the present invention;

[0061] Fig. 9 A schematic diagram of the cooperation between the support mechanism and the fixture mounting plate in an embodiment of the present invention;

[0062] Fig.10 An exploded view of a support mechanism in an embodiment of the present invention;

[0063] Fig.11 It is a structural schematic diagram of a connecting rod mechanism in an embodiment of the present invention;

[0064] Fig.12 This is a schematic diagram of the structure of a loading and unloading robot in an embodiment of the present invention;

[0065] Fig.13 The present invention is a flowchart of the steps of the method for unpacking a container in an embodiment of the present invention.

[0066] In the figure:

[0067] 1 is a suction cup array; 2 is a fixture mounting plate; 3 is a supporting mechanism; 301 is a driving module; 302 is an output disk; 303 is a first connecting rod mechanism; 3031 is a first connecting rod body; 3032 is a first joint bearing; 3033 is a second joint bearing; 304 is a second connecting rod mechanism; 305 is a second bearing seat; 306 is a first bearing seat; 307 is a second bearing; 308 is a first bearing; 309 is a second supporting rod; 310 is a first supporting rod; 100 is a method for unpacking in a container; 200 is a robotic arm; 300 is a mobile base. DETAILED DESCRIPTION

[0068] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0069] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing or for circuit connection.

[0070] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0071] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0072] Figure 1 FIG. 1 is a flow chart of the steps of the method for unpacking a container in an embodiment of the present invention. Figure 1 As shown, a method for unpacking a container is performed by a loading and unloading robot, wherein the loading and unloading robot comprises a mechanical arm and a clamp arranged at the end of the mechanical arm, wherein the clamp comprises a suction cup array, a clamp mounting plate and a supporting mechanism, and comprises the following steps:

[0073] Step S1: Control the suction cup array to suck one side of a target box on the box stack;

[0074] Step S2: Control the movement of the robot arm so that the suction cup array pulls the target box to move away from the box stack;

[0075] Step S3: controlling the supporting mechanism to extend, and supporting the bottom side surface of the target box as the suction cup array pulls the target box.

[0076] Figure 2 This is a structural schematic diagram of one direction of the unpacking method in a container according to an embodiment of the present invention. Figure 3 FIG. 2 is a structural schematic diagram of another direction of the unpacking method in a container according to an embodiment of the present invention. Figure 2 , Figure 3 And refer to Figures 4 to 12 The unpacking method in a container of the present invention comprises:

[0077] Suction cup array 1, used for sucking the target box;

[0078] A fixture mounting plate 2, one side of which is provided with a suction cup array 1, and the other side of which is used to connect to the end flange of the robot;

[0079] The support mechanism 3 is arranged on the clamp mounting plate 2 and is located at the lower side of the suction cup array. The support plate mechanism can be extended or retracted toward the front side of the clamp mounting plate 2, and is used to support the target box when the suction cup array 1 absorbs the target box.

[0080] In an embodiment of the present invention, when the support plate mechanism 3 extends in a direction perpendicular to the plane of the clamp mounting plate 2, it supports the target box. When the support plate mechanism 3 retracts in a direction perpendicular to the plane of the clamp mounting plate 2, interference touch effects caused when placing the target box can be avoided.

[0081] The suction cup array 1 is provided with a plurality of suction cups which are arranged in an array in sequence.

[0082] Figure 4 FIG. 1 is a flow chart of the steps of sucking a target box on a box stack according to an embodiment of the present invention. Figure 4 As shown, step S1 includes the following steps:

[0083] Step S101: acquiring a stack image of the box stack, identifying the stack image, and determining a plurality of target box regions on the stack image;

[0084] Step S102: determining a plurality of target boxes to be sucked according to the positions of the plurality of target box areas;

[0085] Step S103: controlling the suction cup array to move to the front of the box stack according to a preset suction sequence to suck a side surface of a target box on the box stack.

[0086] In an embodiment of the present invention, the preset suction order can be set to a suction order of left first then right and top first then bottom, the target box is located on the top layer of the box stack, and one side of the target box is the outer side of the target box or a side facing the loading and unloading robot.

[0087] Figure 5 FIG. 1 is a flow chart of steps for supporting the bottom side of the target box in an embodiment of the present invention, as shown in FIG. Figure 5 As shown, step S3 includes the following steps:

[0088] Step S301: controlling the driving module to rotate so that one end of the connecting rod mechanism rotates around the driving module;

[0089] Step S302: The other end of the link mechanism drives the rear end of the support rod to rotate, so that the front end of the support rod rotates from the lower side of the suction cup array to the front side of the suction cup array;

[0090] Step S303: As the suction cup array pulls the target box, the support rod gradually rotates and extends to support the bottom side of the target box.

[0091] In the embodiment of the present invention, one end of the two connecting rod mechanisms rotates around the driving module, respectively driving one of the supporting rods to move in an arc shape, rotating from the lower side of the suction cup array to the lower side of the suction cup array and extending to the front side.

[0092] Figure 8 is a schematic diagram of the structure of the support mechanism in an embodiment of the present invention, Fig. 9 FIG. 1 is a schematic diagram of the cooperation between the support mechanism and the fixture mounting plate in an embodiment of the present invention. Figure 8 , Fig. 9 As shown, the support mechanism 3 includes a driving module 301, a connecting rod mechanism, a bearing seat and a support rod;

[0093] The driving module 301 is arranged on the other side of the fixture mounting plate 2; the output end of the driving module 301 is connected to one end of the connecting rod mechanism, and the other end of the connecting rod mechanism is connected to the rear end of the support rod;

[0094] The bearing seat is fixed on the lower end surface of the fixture mounting plate 2; the rear end of the support rod is connected to the bearing seat through a bearing;

[0095] The driving module 301 is used to drive the support rod to rotate and extend or rotate and retract through the connecting rod mechanism.

[0096] In one embodiment of the present invention, the driving module 301 is disposed in the middle of the other side of the fixture mounting plate 2 and close to the lower end;

[0097] The bearing seat is in the shape of a flat sheet; the side surfaces of the bearing seat are perpendicular to the two side surfaces of the fixture mounting plate 2 .

[0098] In one embodiment of the present invention, the linkage mechanism includes a first linkage mechanism 303 and a second linkage mechanism 304;

[0099] The support rods include a first support rod 310 and a second support rod 309;

[0100] The driving module 301 includes an output disk 302;

[0101] One end of the first link mechanism 303 is connected to a fixing hole on one end surface of the output disk 302, and one end of the second link mechanism 304 is connected to a fixing hole on the other end surface of the output disk 302;

[0102] The other end of the first link mechanism 303 is connected to the rear end of the first support rod 310 , and the other end of the second link mechanism 304 is connected to the rear end of the second support rod 309 .

[0103] In an embodiment of the present invention, the output disk 302 is in a disc shape, and two fixing holes are respectively disposed at two ends of the output disk 302 , and the fixing holes extend along the radial direction of the output disk 302 .

[0104] The driving module 301 includes a driving motor and a reducer, and the driving motor outputs power to the output disk 302 through the reducer. The parameters of the driving motor can be controlled to adjust so that the support rod produces spring-like characteristics, thereby avoiding puncturing the material, that is, the target box.

[0105] In one embodiment of the present invention, the first link mechanism 303 and the second link mechanism 304 are arc-shaped;

[0106] When in the extended state, the central axes of the first support rod 310 and the second support rod 309 are parallel.

[0107] The first support rod 310 and the second support rod 309 are in a V-shape.

[0108] Fig.11 Schematic diagram of the structure of the connecting rod mechanism in the embodiment of the present invention. Fig.11 As shown, the first link mechanism 303 includes: a first link body 3031, a first joint bearing 3032 and a second joint bearing 3033;

[0109] One end of the first connecting rod body 3031 is rotatably connected to one end of the first joint bearing 3032; the other end of the first joint bearing 3032 is fixed in a fixing hole on one end surface of the output disk 302;

[0110] The other end of the first connecting rod body 3031 is rotatably connected to one end of the second joint bearing 3033 ; the other end of the second joint bearing 3033 is fixed in a fixing hole on the rear end surface of the first supporting rod 310 .

[0111] In this embodiment of the present invention, the other end of the first joint bearing 3032 is inserted into the fixing hole on one end face of the output disk 302 and is threadedly connected to the fixing hole; the other end of the second joint bearing 3033 is inserted into the fixing hole on the rear end face of the first support rod 310 and is threadedly connected to the fixing hole.

[0112] In one embodiment of the present invention, the second link mechanism 304 includes: a second link body, a third joint bearing and a fourth joint bearing;

[0113] One end of the second connecting rod body is rotatably connected to one end of the third joint bearing; the other end of the third joint bearing is fixed in a fixing hole on the other end surface of the output disk 302;

[0114] The other end of the second connecting rod body is rotatably connected to one end of the fourth joint bearing; the other end of the fourth joint bearing is fixed in a fixing hole on the rear end surface of the second supporting rod 309 .

[0115] In a variation of the present invention, the output disk 302 , the first spherical bearing 3032 , and the second spherical bearing 3033 may be provided as an integral structure.

[0116] In an embodiment of the present invention, the other end of the third joint bearing is inserted into the fixing hole on the other side end face of the output disk 302 and is threadedly connected to the fixing hole; the other end of the fourth joint bearing is inserted into the fixing hole on the rear end face of the first support rod 310 and is threadedly connected to the fixing hole.

[0117] In one embodiment of the present invention, the bearing seat includes a first bearing seat 306 and a second bearing seat 305; the bearing includes a first bearing 308 and a second bearing 307;

[0118] The first bearing seat 306 is arranged on one end of the lower end surface of the fixture mounting plate 2, and the second bearing seat 305 is arranged on the other end of the lower end surface of the fixture mounting plate 2;

[0119] The rear end of the first support rod 310 is connected to the first bearing seat 306 via a first bearing 308 ; the rear end of the second support rod 309 is connected to the second bearing seat 305 via a second bearing 307 .

[0120] In one embodiment of the present invention, the first bearing 308 is fixed to the first bearing seat 306 by a first fixing bolt and a first retaining spring; one end of the first fixing bolt and the first retaining spring passes through the inner ring of the first bearing 308 to connect to the first bearing seat 306; the first support rod 310 is provided with a first fixing hole, and is fixed to the outer ring of the first bearing 308 through the first fixing hole;

[0121] The second bearing 307 is fixed to the second bearing seat 305 by a second fixing bolt and a second retaining spring; one end of the second fixing bolt and the second retaining spring passes through the inner ring of the second bearing 307 to connect to the second bearing seat 305; a second fixing hole is provided on the second support rod 309, and is fixed to the outer ring of the second bearing 307 through the second fixing hole.

[0122] In one embodiment of the present invention, a first gasket installation groove is provided on the first bearing seat 306, a first dry gasket 311 is provided in the first gasket installation groove, and an inner end surface of the first bearing 308 is in contact with the first dry gasket 311;

[0123] A second gasket installation groove is provided on the second bearing seat 305 , a second dry gasket 312 is provided in the second gasket installation groove, and an inner end surface of the second bearing 307 is in contact with the second dry gasket 312 .

[0124] The first dry gasket 311 and the second dry gasket 312 use thrust sliding bearings and thrust needle roller bearings.

[0125] In a modified embodiment of the present invention, the first support rod 310 and the second support rod 309 are inclined toward a direction approaching the suction cup array 1 .

[0126] Therefore, when the first support rod 310 and the second support rod 309 support the target box, the center of gravity of the target box can be tilted toward the suction cup array 1, so that the target box is not easy to fall off.

[0127] In a modified embodiment of the present invention, when the support mechanism 3 is in the retracted state, the first support rod 310 is located at the lower side of the second support rod 309 .

[0128] By setting in this way, the length of the first support rod 310 and the second support rod 309 can be increased, thereby increasing the length of the target box that can be sucked.

[0129] Fig.12 FIG. 1 is a schematic diagram of the structure of a loading and unloading robot in an embodiment of the present invention. Fig.12 As shown, the loading and unloading robot provided by the present invention includes the unpacking method 100 in a container, and also includes a mechanical arm 200 and a mobile base 300;

[0130] The unpacking method 100 in the container is arranged at the end of the mechanical arm 200;

[0131] The mechanical arm 200 is arranged on the mobile base 300;

[0132] The movable base 300 is used to drive the mechanical arm 200 to move.

[0133] Fig.13 The flowchart of the unpacking method in the container according to the embodiment of the present invention is as follows. The packing method in the container provided by the present invention is performed by a loading and unloading robot. The loading and unloading robot includes a mechanical arm, a suction cup array, a fixture mounting plate and a support mechanism, and includes the following steps:

[0134] Step M1: Control the suction cup array to suck one side of the target box;

[0135] Step M2: controlling the support mechanism to extend to support the bottom side of the target box;

[0136] Step M3: Control the movement of the robot arm to place the front end of the target box on a target position, control the suction cup array to move toward the target position, and simultaneously control the support mechanism to retract to the lower side of the suction cup array;

[0137] Step M4: controlling the suction cup array to release the target box.

[0138] In the embodiment of the present invention, step M2, when controlling the support mechanism to extend, specifically controls the driving module to rotate so that one end of the connecting rod mechanism rotates around the driving module; the other end of the connecting rod mechanism drives the rear end of the support rod to rotate so that the front end of the support rod rotates from the lower side of the suction cup array to the front side of the suction cup array; as the suction cup array pulls the target box, the support rod gradually rotates and extends to support the bottom side of the target box.

[0139] In an embodiment of the present invention, a suction cup array is provided on one side of the clamp mounting plate, and a supporting mechanism is provided on the clamp mounting plate. The supporting plate mechanism can be extended or retracted in the direction of the front side of the clamp mounting plate to support the target box sucked by the suction cup array, thereby preventing the target box from falling when the side of the target box is sucked by the suction cup array. In addition, it can also facilitate the stacking and destacking of boxes placed in the top area of ​​the box stack, thereby increasing the upper limit height of stacking and the number of boxes to be packed when stacking in a limited space environment such as a container.

[0140] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0141] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may 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 unpacking a container by a loading and unloading robot, characterized in that: The loading and unloading robot comprises a mechanical arm and a fixture arranged at the end of the mechanical arm, wherein the fixture comprises a suction cup array, a fixture mounting plate and a supporting mechanism, and comprises the following steps: Step S1: Control the suction cup array to suck one side of a target box on the box stack; Step S2: Control the movement of the robot arm so that the suction cup array pulls the target box to move away from the box stack; Step S3: controlling the supporting mechanism to extend, and supporting the bottom side surface of the target box as the suction cup array pulls the target box.

2. The method for unpacking a container according to claim 1, characterized in that: Suction cup array, used for sucking the target box; A fixture mounting plate, one side of which is provided with the suction cup array, and the other side of which is used to connect to the end flange of the robot; A support mechanism is arranged on the fixture mounting plate and located at the lower side of the suction cup array. The support plate mechanism can be extended or retracted toward the front side of the fixture mounting plate to support the target box when the suction cup array absorbs the target box.

3. The method for unpacking a container according to claim 1, characterized in that: The support mechanism includes a driving module, a connecting rod mechanism, a bearing seat and a support rod; The step S3 comprises the following steps: Step S301: controlling the driving module to rotate so that one end of the connecting rod mechanism rotates around the driving module; Step S302: The other end of the link mechanism drives the rear end of the support rod to rotate, so that the front end of the support rod rotates from the lower side of the suction cup array to the front side of the suction cup array; Step S303: As the suction cup array pulls the target box, the support rod gradually rotates and extends to support the bottom side of the target box.

4. The method for unpacking a container according to claim 3, characterized in that: The driving module is arranged on the other side of the fixture mounting plate; the output end of the driving module is connected to one end of the connecting rod mechanism, and the other end of the connecting rod mechanism is connected to the rear end of the support rod; The bearing seat is fixed on the lower end surface of the fixture mounting plate; the rear end of the support rod is connected to the bearing seat through a bearing; The driving module is used to drive the support rod to rotate and extend or rotate and retract through the connecting rod mechanism.

5. The method for unpacking a container according to claim 3, characterized in that: The step S1 comprises the following steps: Step S101: acquiring a stack image of the box stack, identifying the stack image, and determining a plurality of target box regions on the stack image; Step S102: determining a plurality of target boxes to be sucked according to the positions of the plurality of target box areas; Step S103: controlling the suction cup array to move to the front of the box stack according to a preset suction sequence to suck a side surface of a target box on the box stack.

6. The method for unpacking a container according to claim 4, characterized in that: The connecting rod mechanism comprises a first connecting rod mechanism and a second connecting rod mechanism; The support rod comprises a first support rod and a second support rod; The drive module includes an output disk; One end of the first link mechanism is connected to a fixing hole on one end surface of the output disk, and one end of the second link mechanism is connected to a fixing hole on the other end surface of the output disk; The other end of the first link mechanism is connected to the rear end of the first support rod, and the other end of the second link mechanism is connected to the rear end of the second support rod.

7. The method for unpacking a container according to claim 6, characterized in that: The first link mechanism comprises: a first link body, a first spherical bearing and a second spherical bearing; One end of the first connecting rod body is rotatably connected to one end of the first joint bearing; the other end of the first joint bearing is fixed in a fixing hole on one end surface of the output disc; The other end of the first connecting rod body is rotatably connected to one end of the second joint bearing; the other end of the second joint bearing is fixed in a fixing hole on the rear end surface of the first supporting rod.

8. The method for unpacking a container according to claim 6, characterized in that: The second link mechanism comprises: a second link body, a third joint bearing and a fourth joint bearing; One end of the second connecting rod body is rotatably connected to one end of the third joint bearing; the other end of the third joint bearing is fixed in a fixing hole on the other side end surface of the output disc; The other end of the second connecting rod body is rotatably connected to one end of the fourth joint bearing; the other end of the fourth joint bearing is fixed in a fixing hole on the rear end surface of the second supporting rod.

9. The method for unpacking a container according to claim 6, characterized in that: The bearing seat comprises a first bearing seat and a second bearing seat; the bearing comprises a first bearing and a second bearing; The first bearing seat is arranged at one end of the lower end surface of the fixture mounting plate, and the second bearing seat is arranged at the other end of the lower end surface of the fixture mounting plate; The rear end of the first support rod is connected to the first bearing seat via a first bearing; the rear end of the second support rod is connected to the second bearing seat via a second bearing; The first bearing is fixed to the first bearing seat by a first fixing bolt and a first retaining spring; one end of the first fixing bolt and the first retaining spring passes through the inner ring of the first bearing to connect to the first bearing seat; a first fixing hole is provided on the first support rod, and the first support rod is fixed to the outer ring of the first bearing through the first fixing hole; The second bearing is fixed to the second bearing seat by a second fixing bolt and a second retaining spring; one end of the second fixing bolt and the second retaining spring passes through the inner ring of the second bearing to connect to the second bearing seat; a second fixing hole is provided on the second support rod, and is fixed to the outer ring of the second bearing through the second fixing hole.

10. A method for packing in a container, performed by a loading and unloading robot, characterized in that: The loading and unloading robot comprises a mechanical arm, a suction cup array, a fixture mounting plate and a supporting mechanism, and includes the following steps: Step M1: Control the suction cup array to suck one side of the target box; Step M2: controlling the support mechanism to extend to support the bottom side of the target box; Step M3: Control the movement of the robot arm to place the front end of the target box on a target position, control the suction cup array to move toward the target position, and simultaneously control the support mechanism to retract to the lower side of the suction cup array; Step M4: controlling the suction cup array to release the target box.

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