Container loading method and container unloading method in container

Abstract

The invention provides a boxing method in a container, which is carried out through a loading and unloading robot, the loading and unloading robot comprises a clamp main body, a first suction cup array, a second suction cup array, a first driving motor module and a mechanical arm, and the method comprises the following steps: controlling the clamp main body to suck a first side surface and a second side surface which are adjacent to each other of a target box body; wherein the first sucker array sucks the first side surface, and the second sucker array sucks the second side surface; the mechanical arm is controlled to move, so that the front end of the target box body is put on a target position; the second suction cup array is controlled to release the target box body, and the first driving motor module drives the second suction cup array to move to be in the same plane with the first suction cup array; and the mechanical arm is controlled to move so as to drive the first suction cup array to push the target box to the target position. According to the clamp, one side face or two side faces of a target box can be grabbed, the application scene and the application range of the clamp can be expanded, and box grabbing in limited spaces such as a container can be achieved.

Description

Technical Field

[0001] The present invention relates to an industrial robot, and in particular to a packing method and an unpacking 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 carry goods, it is necessary to collect images of the goods through visual sensors, identify the images of the goods to determine their posture, and then the industrial robot picks or carries the goods through the loaded clamps or suction cups. When an industrial robot is used to disassemble goods in a cargo box, due to the limitation of the grabbing direction of the goods, the clamps used in picking scenarios such as palletizing and depalletizing are not only limited in their grabbing range when applied to this scenario, but are also prone to wear and damage. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a method for packing and unpacking containers.

[0006] The container packing method provided by the present invention is performed by a loading and unloading robot, wherein the loading and unloading robot includes a clamp body, a first suction cup array, a second suction cup array, a first drive motor module and a mechanical arm, and includes the following steps:

[0007] Step S1: Control the clamp body to suck the adjacent first side and second side of the target box, wherein the first suction cup array sucks the first side, and the second suction cup array sucks the second side;

[0008] Step S2: controlling the movement of the robot arm to place the front end of the target box at a target position;

[0009] Step S3: controlling the second suction cup array to release the target box and driving the second suction cup array to move in the same plane as the first suction cup array through the first driving motor module;

[0010] Step S4: controlling the movement of the robot arm to drive the first suction cup array to push the target box to the target position.

[0011] Preferably, the end of the mechanical arm is provided with the clamp body, and the clamp body is provided with a first mounting seat and a second mounting seat arranged in sequence; the first suction cup array is provided on the first mounting seat; the second suction cup array is provided on the second mounting seat and is hinged to the second mounting seat;

[0012] The first driving motor module is used to drive the second suction cup array to rotate, so that the second suction cup array can be in a state perpendicular to the first suction cup array or in a state in the same plane as the first suction cup array.

[0013] Preferably, step S1 comprises the following steps:

[0014] Step S101: Control the first suction cup array to suck the first side surface of the target box, and the second suction cup array to suck the second side surface of the target box;

[0015] Step S102: controlling the second motor driving module in the second suction cup limiting device to drive the first supporting screw to extend so as to support the second suction cup array;

[0016] Step S103: controlling the movement of the robot arm so that the second suction cup array supports the second side surface of the target box.

[0017] Preferably, the second suction cup limiting device comprises a second motor drive module and a first supporting screw.

[0018] The output shaft of the second motor driving module is connected to the inner side of the first mounting plate or the second mounting plate through a first bearing and a second bearing; the output shaft of the second motor driving module is provided with a first driving gear;

[0019] The first mounting plate is provided with a screw rod passing hole; the first supporting screw rod is arranged in the screw rod passing hole and meshes with the first driving gear;

[0020] The second motor driving module is used to drive the first supporting screw to extend to support the second suction cup array when the second suction cup array is able to be perpendicular to the first suction cup array.

[0021] Preferably, step S3 comprises the following steps:

[0022] Step S301: controlling the second suction cup array to stop applying suction to the second side surface of the target box;

[0023] Step S302: driving the second suction cup array to move in the same plane as the first suction cup array by the first driving motor module;

[0024] Step S303: Control the latch piece in the first suction cup limiting device to move to match with the latch seat on the rear side of the second suction cup array to limit the rotation of the second suction cup array.

[0025] Preferably, the first suction cup limiting device comprises: a motor module, a latch plate, a third slide rail and a latch seat;

[0026] The motor module comprises a workbench capable of reciprocating along a straight line, and one end of the latch piece is fixedly connected to the workbench;

[0027] The third slide rail is arranged on the fixture body, and the latch piece is connected to the third slide rail via a slider;

[0028] The latch seat is arranged on the rear side of the second suction cup array;

[0029] When the second suction cup array is in a state of being in a plane with the first suction cup array, the latch plate moves to cooperate with the latch seat to limit the rotation of the second suction cup array.

[0030] Preferably, step S1 comprises the following steps:

[0031] Step S101: controlling the first suction cup array to suck the first side surface of the target box;

[0032] Step S102: controlling the second suction cup array to suck the second side surface of the target box, and as the second suction cup array sucks the second side surface, the target box moves upward, thereby driving the first suction cup array to slide upward along the first slide rail on the fixture body;

[0033] Step S103: When the second suction cup array is pulled downward by the gravity of the target box, the second suction cup array is stuck on the limiting piece at the lower side of the second mounting seat.

[0034] Preferably, the second mounting base comprises a rotating shaft; the second suction cup array is connected to one end of the rotating shaft through a first rotating shaft fixing member, and is connected to the other end of the rotating shaft through a second rotating shaft fixing member;

[0035] The rotating shaft fixing member includes a rotating shaft connecting member and a suction cup connecting piece; the rotating shaft connecting member is arranged on one side surface of the suction cup connecting piece, and the other side surface of the suction cup connecting piece is connected to the second suction cup array;

[0036] A first limiting plate is arranged on the lower side of the first rotating shaft fixing member, and a second limiting plate is arranged on the lower side of the second rotating shaft fixing member; when the second suction cup array is perpendicular to the first suction cup array, the suction cup connecting plate on the first rotating shaft fixing member is stuck on the first limiting plate, and the suction cup connecting plate on the second rotating shaft fixing member is stuck on the second limiting plate.

[0037] 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 includes a clamp body, a first suction cup array, a second suction cup array, a first drive motor module, and a mechanical arm, and includes the following steps:

[0038] Step N1: Control the first suction cup array to suck the first side surface of the target box, where the first side surface is the outer side surface of the target box facing the loading and unloading robot;

[0039] Step N2: controlling the movement of the robotic arm to pull the target box toward the loading and unloading robot;

[0040] Step N3: controlling the second suction cup array to rotate to a perpendicular state to the first suction cup array, so that the second suction cup array supports the second side surface of the target box and applies suction;

[0041] Step N4: controlling the movement of the robot arm to drive the fixture body to place the target box onto the target area.

[0042] Preferably, the step N3 comprises the following steps:

[0043] Step N301: controlling the second suction cup array to rotate to a perpendicular state to the first suction cup array, so that the second suction cup array is in contact with the second side surface of the target box and supports the target box;

[0044] Step N302: controlling the second suction cup array to apply suction;

[0045] Step N303: controlling the second motor driving module in the second suction cup limiting device to drive the first supporting screw to extend to support the second suction cup array.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] In the present invention, a first mounting seat and a second mounting seat arranged in sequence are provided on the clamp body, a first suction cup array is provided on the first mounting seat, and a second suction cup array is provided on the second mounting seat and is hinged to the second mounting seat, so that the second suction cup array can rotate under the drive of the first driving motor module, so that the second suction cup array can be in a state perpendicular to the first suction cup array or in a state in the same plane as the first suction cup array, so as to realize the grasping of one side or two sides of the target box, which can not only expand the application scenarios and use scope of the clamp, but also realize the grasping of boxes in confined spaces such as containers. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] 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:

[0049] Figure 1 A schematic diagram of a state of a clamp used for loading and unloading a robot in an embodiment of the present invention;

[0050] Figure 2 This is a flowchart of the steps of the method for packing in a container according to an embodiment of the present invention;

[0051] Figure 3 Schematic diagram of another state of a clamp for loading and unloading a robot in an embodiment of the present invention;

[0052] Figure 4 It is a schematic diagram of a state in which a clamp for a loading and unloading machine clamps a target box in an embodiment of the present invention;

[0053] Figure 5 It is a schematic diagram of another state in which a clamp for a loading and unloading machine clamps a target box in an embodiment of the present invention;

[0054] Figure 6 A flowchart of the steps of sucking a target box in an embodiment of the present invention;

[0055] Figure 7 A flow chart of the steps of releasing a target box in an embodiment of the present invention;

[0056] Figure 8 A flowchart of the steps of sucking a target box in a modified example of the present invention;

[0057] Fig. 9A schematic diagram showing the structure of a first suction cup limiting device in an embodiment of the present invention is shown;

[0058] Fig.10 A schematic diagram showing the structure of a mounting base in an embodiment of the present invention is shown;

[0059] Fig.11 A schematic diagram showing the structure of the second suction cup limiting device in an embodiment of the present invention is shown;

[0060] Fig.12 A schematic diagram showing the structure of the second suction cup limiting device in a modified example of the present invention is shown;

[0061] Fig.13 A schematic diagram showing the working state of the second suction cup limiting device in a modified example of the present invention;

[0062] Fig.14 This is a schematic diagram of the structure of a loading and unloading robot in an embodiment of the present invention;

[0063] Fig.15 This is a flowchart of the steps of the method for unpacking a container in an embodiment of the present invention;

[0064] Fig.16 This is a flow chart of the steps of supporting the second side surface of the target box in an embodiment of the present invention.

[0065] In the figure:

[0066] 1 is the fixture body; 2 is the first suction cup array; 3 is the second suction cup array; 4 is the first drive motor module; 5 is the first mounting seat; 501 is the first fixed seat; 502 is the second fixed seat; 503 is the first slide rail; 504 is the second slide rail; 6 is the second mounting seat; 601 is the first support; 602 is the second support; 603 is the rotating shaft; 604 is the driven wheel; 605 is the driving wheel; 606 is the rotating shaft fixing piece; 607 is the first limiting piece ; 701 is the motor module; 702 is the latch plate; 703 is the third slide rail; 704 is the latch seat; 705 is the slider; 801 is the second motor drive module; 802 is the first drive gear; 803 is the first support screw; 804 is the second drive gear; 805 is the second support screw; 901 is the first mounting plate; 902 is the second mounting plate; 100 is a fixture for loading and unloading the robot; 200 is a robotic arm; 300 is a mobile base. DETAILED DESCRIPTION

[0067] 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.

[0068] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0069] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0070] The following specific embodiments are used to describe in detail the technical solutions of the present invention and how the technical solutions of the present application solve the above-mentioned technical problems. The following 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 be described below in conjunction with the accompanying drawings.

[0071] Figure 1 FIG. 1 is a schematic diagram of a state of a clamp for loading and unloading a robot in an embodiment of the present invention, such as Figure 1 As shown, the clamp for loading and unloading a robot provided by the present invention comprises:

[0072] A fixture body 1, on which a first mounting seat 5 and a second mounting seat 6 are arranged in sequence;

[0073] A first suction cup array 2, wherein the first suction cup array 2 is arranged on a first mounting seat 5;

[0074] A second suction cup array 3, wherein the second suction cup array 3 is disposed on a second mounting seat 6 and is hinged to the second mounting seat 6;

[0075] The first driving motor module 4 is used to drive the second suction cup array 3 to rotate, so that the second suction cup array 3 can be in a state of being perpendicular to the first suction cup array 2 or in a state of being in the same plane with the first suction cup array 2.

[0076] In an embodiment of the present invention, the first suction cup array 2 and the second suction cup array 3 include suction cups arranged in a matrix. The first suction cup array 2 is provided with an 8×2 suction cup array, and the second suction cup array 3 is provided with an 8×3 suction cup array. The first suction cup array 2 can also be provided with a 6×3 suction cup array, and the second suction cup array 3 can be provided with a 6×2 suction cup array, that is, the number of suction cups on the first suction cup array 2 and the second suction cup array 3 can be changed according to the demand for grasping the target box.

[0077] In the embodiment of the present invention, the first suction cup array 2 and the second suction cup array 3 generate vacuum through a vacuum pump installed on the back plate.

[0078] Figure 2 FIG. 1 is a flow chart of the steps of the method for packing a container in an embodiment of the present invention. Figure 2 As shown, the container packing method provided by the present invention is performed by a loading and unloading robot, wherein the loading and unloading robot includes a clamp body, a first suction cup array, a second suction cup array, a first drive motor module and a mechanical arm, and includes the following steps:

[0079] Step S1: Control the clamp body 1 to suck the adjacent first side and second side of the target box, wherein the first suction cup array 2 sucks the first side, and the second suction cup array 3 sucks the second side;

[0080] Step S2: Control the robot arm 200 to move so as to place the front end of the target box at a target position;

[0081] Step S3: Control the second suction cup array 3 to release the target box and drive the second suction cup array to move 3 to be in the same plane as the first suction cup array 2 through the first driving motor module 4;

[0082] Step S4: controlling the robot arm 200 to move, so as to drive the first suction cup array 2 to push the target box to the target position.

[0083] In the embodiment of the present invention, the target position is a storage area on a target box stack formed by a plurality of target boxes, and the storage area is an upper side surface of a target box.

[0084] Figure 3 FIG. 2 is another schematic diagram of a clamp for loading and unloading a robot in an embodiment of the present invention. Figure 1As shown, the second suction cup array 3 and the first suction cup array 2 are in the same plane. At this time, the first suction cup array 2 and the second suction cup array 3 cooperate to achieve the grabbing of the target box. The cooperation between the first suction cup array 2 and the second suction cup array 3 can not only increase the upper limit of the weight of the grabbing target box, but also reduce the weight that each suction cup can bear, thereby increasing the service life of the suction cup.

[0085] like Figure 3 As shown, when the second suction cup array 3 is in a vertical position with respect to the first suction cup array 2, at this time, the first suction cup array 2 and the second suction cup array 3 cooperate to grab the side surfaces of one edge of the target box, so that not only the target box at the bottom layer of the box stack can be grabbed, and the second suction cup array 3 applies suction to the target box, but also the target box at the top layer of the box stack in the container can be grabbed, and the second suction cup array 3 applies suction to the target box and supports the target box at the same time.

[0086] Figure 4 FIG. 1 is a schematic diagram of a state in which a clamp for a loading and unloading robot clamps a target box in an embodiment of the present invention. Figure 4 As shown, it can be seen that the first suction cup array 2 and the second suction cup array 3 provided by the present invention are L-shaped, and cooperate to simultaneously grasp two adjacent side surfaces of the target box.

[0087] Fig. 9 The schematic diagram of the structure of the first suction cup limiting device in the embodiment of the present invention is shown as follows: Fig. 9 As shown, the clamp for loading and unloading a robot provided by the present invention further includes a first suction cup limiting device; the first suction cup limiting device includes: a motor module 701, a latch plate 702, a third slide rail 703 and a latch seat 704;

[0088] The motor module 701 includes a workbench capable of reciprocating along a straight line, and one end of the latch piece 702 is fixedly connected to the workbench;

[0089] The third slide rail 703 is arranged on the fixture body 1, and the latch piece 702 is connected to the third slide rail 703 via a slider 705;

[0090] The latch seat 704 is arranged on the rear side of the second suction cup array 3;

[0091] When the second suction cup array 3 is in a state of being in the same plane as the first suction cup array 2 , the latch piece 702 moves to cooperate with the latch seat 704 to limit the rotation of the second suction cup array 3 .

[0092] In the embodiment of the present invention, the motor module 701 adopts a direct motor module, and drives the workbench to reciprocate along a straight line through a ball screw. The latch piece 702 is T-shaped, and the latch piece 702 includes a vertical section and a horizontal section perpendicularly connected to the vertical section. The end of the horizontal section is connected to the workbench, and the vertical section is connected to the third slide rail 703 through a slider 705.

[0093] Figure 7 FIG. 1 is a flow chart of steps for releasing a target box in an embodiment of the present invention. Figure 7 As shown, step S3 includes the following steps:

[0094] Step S301: controlling the second suction cup array 3 to stop applying suction to the second side surface of the target box;

[0095] Step S302: driving the second suction cup array 3 to move in the same plane as the first suction cup array 2 by the first driving motor module 4;

[0096] Step S303: Control the latch piece 702 in the first suction cup limiting device to move to match with the latch seat 704 on the rear side of the second suction cup array 3 to limit the rotation of the second suction cup array 3.

[0097] In the embodiment of the present invention, by limiting the rotation of the second suction cup array, interference of the second suction cup array with the movement of the target box due to the rotation is avoided.

[0098] Fig.10 The schematic diagram of the structure of the mounting base in the embodiment of the present invention is shown as follows: Fig.10 As shown, the second mounting seat 6 includes a first support 601, a second support 602, a rotating shaft 603, a driven wheel 604 and a driving wheel 605;

[0099] The first support 601 and the second support 602 are arranged on the fixture body 1;

[0100] The rotating shaft 603 is connected to the first support 601 through a first bearing, and is connected to the second support 602 through a second bearing;

[0101] A driven wheel 604 is disposed on the rotating shaft 603 , a driving wheel 605 is disposed on the output shaft of the first driving motor module 4 , and the driving wheel 605 is connected to the driven wheel 604 via a driving belt.

[0102] In the embodiment of the present invention, the first support 601 and the second support 602 are arranged in parallel, and the first suction cup limiting device is arranged between the first support 601 and the second support 602;

[0103] When the driving wheel 605 and the driven wheel 604 are connected by a driving belt, the driving belt passes through the window of the first mounting plate 901 to connect the driving wheel 605 and the driven wheel 604 .

[0104] In the embodiment of the present invention, the first mounting seat 5 includes a first fixing seat 501, a second fixing seat 502, a first slide rail 503 and a second slide rail 504;

[0105] The first fixing seat 501 and the second fixing seat 502 are arranged on the clamp body 1;

[0106] The first fixed seat 501 is provided with a first slide rail 503, and the first slide rail 503 can slide along the first fixed seat 501; the second fixed seat 502 is provided with a first slide rail 503, and the second slide rail 504 can slide along the second fixed seat 502;

[0107] The first suction cup array 2 is fixedly connected to the first slide rail 503 via a first connecting piece, and is fixedly connected to the second slide rail 504 via a second connecting piece.

[0108] More specifically, the first fixing seat 501 is parallel to the second fixing seat 502, and the first slide rail 503 is parallel to the second slide rail 504. The first fixing seat 501 and the second fixing seat 502 are arranged on the front side of the first mounting plate 901.

[0109] In the embodiment of the present invention, the fixture body 1 includes: a first mounting plate 901 and a second mounting plate 902;

[0110] The first mounting plate 901 is connected to the second mounting plate 902, and a mounting space is formed between the first mounting plate 901 and the second mounting plate 902;

[0111] The first drive motor module 4 is arranged in the installation space;

[0112] The second mounting seat 6 , the motor module 701 and the third slide rail 703 are arranged on the outer side of the first mounting plate 901 .

[0113] The first mounting plate 901 and the second mounting plate 902 are arranged in parallel, the first mounting plate 901 is arranged on the front side of the second mounting plate 902, and the second mounting plate 902 is used to connect the end of the robot arm.

[0114] Fig.11 The schematic diagram of the structure of the second suction cup limiting device in the embodiment of the present invention is shown as follows: Fig.11As shown, the clamp for loading and unloading a robot provided by the present invention further includes a second suction cup limiting device, wherein the second suction cup limiting device includes a second motor driving module 801 and a first supporting screw 803.

[0115] The output shaft of the second motor driving module 801 is connected to the inner side of the first mounting plate 901 or the second mounting plate 902 through a first bearing and a second bearing; a first driving gear 802 is provided on the output shaft of the second motor driving module 801;

[0116] The first mounting plate 901 is provided with a screw hole; the first supporting screw 803 is disposed in the screw hole and meshes with the first driving gear 802;

[0117] The second motor driving module 801 is used for driving the first supporting screw 803 to extend to support the second suction cup array 3 when the second suction cup array 3 is able to be perpendicular to the first suction cup array 2.

[0118] When the second suction cup array 3 lifts the target box, Figure 5 As shown, the second suction cup array 3 is subjected to downward pressure, and at this time the second suction cup array 3 supports the target box, as shown in FIG. Figure 4 As shown, the second suction cup array 3 is prevented from rotating around the rotation axis 603 due to pressure.

[0119] Figure 6 FIG. 1 is a flow chart of the steps of sucking the target box in an embodiment of the present invention. Figure 6 As shown, step S1 includes the following steps:

[0120] Step S101: Control the first suction cup array 2 to suck the first side surface of the target box, and the second suction cup array 3 to suck the second side surface of the target box;

[0121] Step S102: controlling the second motor driving module 804 in the second suction cup limiting device to drive the first supporting screw 803 to extend so as to support the second suction cup array 3;

[0122] Step S103: Control the movement of the robot arm 200 so that the second suction cup array 3 supports the second side surface of the target box. Figure 5 shown.

[0123] In the embodiment of the present invention, the second suction cup array 3 is connected to one end of the rotating shaft 603 through a first rotating shaft fixing member 606 , and is connected to the other end of the rotating shaft 603 through a second rotating shaft fixing member.

[0124] The rotating shaft fixing member 606 includes a rotating shaft connecting member and a suction cup connecting piece; the rotating shaft connecting member is arranged on one side surface of the suction cup connecting piece, and the other side surface of the suction cup connecting piece is connected to the second suction cup array 3;

[0125] A first limiting plate 607 is provided on the lower side of the first rotating shaft fixing member 606, and a second limiting plate is provided on the lower side of the second rotating shaft fixing member; when the second suction cup array 3 is in a vertical position with respect to the first suction cup array 2, the suction cup connecting plate on the first rotating shaft fixing member 606 is stuck on the first limiting plate 607, and the suction cup connecting plate on the second rotating shaft fixing member is stuck on the second limiting plate.

[0126] In the embodiment of the present invention, the first limiting piece 607 is fixed on the first support 601, the second limiting piece is fixed on the second support 602, and the first limiting piece 607 and the second limiting piece are fixed in the same plane;

[0127] When the second suction cup array 3 supports the target box, Figure 4 As shown, when the suction cup connecting piece on the first rotating shaft fixing member 606 is stuck on the first limiting piece 607 and the suction cup connecting piece on the second rotating shaft fixing member is stuck on the second limiting piece, the second suction cup array 3 cannot continue to rotate around the rotating shaft 603, thereby limiting the second suction cup array 3 and preventing the target box from applying a pulling force to the second suction cup array 3 after the target box is sucked, causing the second suction cup array 3 to rotate downward.

[0128] Figure 8 FIG. 1 is a flow chart of the steps of sucking the target box in a modified example of the present invention, as shown in FIG. Figure 8 As shown, step S1 includes the following steps:

[0129] Step S101: controlling the first suction cup array 2 to suck the first side surface of the target box;

[0130] Step S102: Control the second suction cup array 3 to suck the second side surface of the target box, and as the second suction cup array 3 sucks the second side surface, the target box moves upward, thereby driving the first suction cup array 2 to slide upward along the first slide rail 503 on the fixture body 1;

[0131] Step S103 : when the second suction cup array 3 is pulled downward by the gravity of the target box, the second suction cup array 3 is stuck on the limiting piece at the lower side of the second mounting seat 6 .

[0132] In the embodiment of the present invention, the second suction cup array 3 is restricted from further downward movement by the limiting piece at the lower side of the second mounting seat 6, thereby preventing the second suction cup array 3 from moving downward when being pulled down by the gravity of the target box.

[0133] Fig.12 The schematic diagram of the structure of the second suction cup limiting device in the modified example of the present invention is shown. Fig.13 The schematic diagram of the working state of the second suction cup limiting device in the modified example of the present invention is shown as follows: Fig.12 , Fig.13 As shown, the clamp for loading and unloading a robot provided by the present invention further includes a second suction cup limiting device, and the second suction cup limiting device includes a second motor drive module 801, a first support screw 803 and a second support screw 805;

[0134] The output shaft of the second motor driving module 801 is connected to the inner side of the first mounting plate 901 or the second mounting plate 902 through the first bearing and the second bearing; the output shaft of the second motor driving module 801 is sequentially provided with a first driving gear 802 and a second driving gear 804;

[0135] A first screw hole is provided on one side end of the first mounting plate 901, and a second screw hole is provided on the other side end; the first support screw 803 is provided in the first screw hole and meshes with the first driving gear 802, and the second support screw 805 is provided in the second screw hole and meshes with the second driving gear 804;

[0136] The second motor driving module 801 is used to drive the first supporting screw 803 and the second supporting screw 805 to extend to support the second suction cup array 3 when the second suction cup array 3 is able to be perpendicular to the first suction cup array 2 .

[0137] In a variation of the present invention, the first support screw 803 and the second support screw 805 are parallel to each other, the first driving gear 802 is close to one side end of the first mounting plate 901 , and the second driving gear 804 is close to the other side end of the first mounting plate 901 .

[0138] The second mounting plate 902 is provided with a through hole for the first supporting screw 803 and / or the second supporting screw 805 to move.

[0139] Fig.14 FIG. 1 is a schematic diagram of the structure of a loading and unloading robot in an embodiment of the present invention. Fig.14 As shown, the loading and unloading robot provided by the present invention includes the fixture 100 for loading and unloading the robot, and also includes a mechanical arm 200 and a mobile base 300;

[0140] The fixture 100 for loading and unloading the robot is arranged at the end of the robot arm 200;

[0141] The mechanical arm 200 is disposed on the mobile base 300 , and the mobile base 300 is used to drive the mechanical arm to move.

[0142] Fig.15 FIG. 1 is a flow chart of the steps of the method for unpacking a container in an embodiment of the present invention. Fig.15 As shown, the unpacking method in a container provided by the present invention is performed by a loading and unloading robot, the loading and unloading robot includes a clamp body, a first suction cup array 2, a second suction cup array 3, a first drive motor module 4 and a mechanical arm 200, and includes the following steps:

[0143] Step N1: Control the first suction cup array 2 to suck the first side surface of the target box, where the first side surface is the outer side surface of the target box facing the loading and unloading robot;

[0144] Step N2: controlling the movement of the robot arm 200 to pull the target box toward the loading and unloading robot;

[0145] Step N3: controlling the second suction cup array 3 to rotate to a perpendicular state to the first suction cup array 2, so that the second suction cup array 3 supports the second side surface of the target box and applies suction;

[0146] Step N4: Control the robot arm 200 to move, so as to drive the fixture body 1 to place the target box onto the target area.

[0147] In an embodiment of the present invention, when the movement of the robotic arm is controlled to pull the target box toward the loading and unloading robot so that the lower side of the target box is no longer supported, space for accommodating a second suction cup array can be created. At this time, the second suction cup array can be controlled to rotate to a perpendicular state to the first suction cup array, so that the second suction cup array supports the second side of the target box.

[0148] The target area is an area on a pallet, or an area on a target box stack.

[0149] Fig.16 FIG. 1 is a flow chart of steps for supporting the second side surface of the target box in an embodiment of the present invention, such as Fig.16 As shown, the step N3 includes the following steps:

[0150] Step N301: controlling the second suction cup array to rotate to a perpendicular state to the first suction cup array, so that the second suction cup array is in contact with the second side surface of the target box and supports the target box;

[0151] Step N302: controlling the second suction cup array to apply suction;

[0152] Step N303: controlling the second motor driving module in the second suction cup limiting device to drive the first supporting screw to extend to support the second suction cup array.

[0153] In the embodiment of the present invention, Fig.11 As shown, the second suction cup limiting device includes a second motor driving module 801 and a first supporting screw 803.

[0154] The output shaft of the second motor driving module 801 is connected to the inner side of the first mounting plate 901 or the second mounting plate 902 through a first bearing and a second bearing; a first driving gear 802 is provided on the output shaft of the second motor driving module 801;

[0155] The first mounting plate 901 is provided with a screw hole; the first supporting screw 803 is disposed in the screw hole and meshes with the first driving gear 802;

[0156] The second motor driving module 801 is used to drive the first supporting screw 803 to extend to support the second suction cup array 3 when the second suction cup array 3 is in a state of being perpendicular to the first suction cup array 2. Fig.13 As shown, the second suction cup array 3 is prevented from rotating downward under the weight of the target box.

[0157] In an embodiment of the present invention, a first mounting seat and a second mounting seat arranged in sequence are provided on the clamp body, a first suction cup array is provided on the first mounting seat, and a second suction cup array is provided on the second mounting seat and is hinged to the second mounting seat, so that the second suction cup array can rotate under the drive of the first driving motor module, so that the second suction cup array can be in a state perpendicular to the first suction cup array or in a state in the same plane with the first suction cup array, so as to realize the grasping of one side or two sides of the target box. This can not only expand the application scenarios and use scope of the clamp, but also realize the grasping of boxes in confined spaces such as containers.

[0158] 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.

[0159] 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 packing in a container, performed by a loading and unloading robot, characterized in that: The loading and unloading robot comprises a fixture body, a first suction cup array, a second suction cup array, a first drive motor module and a mechanical arm, and comprises the following steps: Step S1: Control the clamp body to suck the adjacent first side and second side of the target box, wherein the first suction cup array sucks the first side, and the second suction cup array sucks the second side; Step S2: controlling the movement of the robot arm to place the front end of the target box at a target position; Step S3: controlling the second suction cup array to release the target box and driving the second suction cup array to move in the same plane as the first suction cup array through the first driving motor module; Step S4: controlling the movement of the robot arm to drive the first suction cup array to push the target box to the target position.

2. The method for packing in a container according to claim 1, characterized in that: The end of the mechanical arm is provided with the clamp body, and the clamp body is provided with a first mounting seat and a second mounting seat arranged in sequence; the first suction cup array is provided on the first mounting seat; the second suction cup array is provided on the second mounting seat and is hinged to the second mounting seat; The first driving motor module is used to drive the second suction cup array to rotate, so that the second suction cup array can be in a state perpendicular to the first suction cup array or in a state in the same plane as the first suction cup array.

3. The method for packing in a container according to claim 1, characterized in that: The step S1 comprises the following steps: Step S101: Control the first suction cup array to suck the first side surface of the target box, and the second suction cup array to suck the second side surface of the target box; Step S102: controlling the second motor driving module in the second suction cup limiting device to drive the first supporting screw to extend so as to support the second suction cup array; Step S103: controlling the movement of the robot arm so that the second suction cup array supports the second side surface of the target box.

4. The method for packing in a container according to claim 3, characterized in that: The second suction cup limiting device includes a second motor drive module and a first support screw. The output shaft of the second motor driving module is connected to the inner side of the first mounting plate or the second mounting plate through a first bearing and a second bearing; the output shaft of the second motor driving module is provided with a first driving gear; The first mounting plate is provided with a screw rod passing hole; the first supporting screw rod is arranged in the screw rod passing hole and meshes with the first driving gear; The second motor driving module is used to drive the first supporting screw to extend to support the second suction cup array when the second suction cup array is able to be perpendicular to the first suction cup array.

5. The method for packing in a container according to claim 1, characterized in that: The step S3 comprises the following steps: Step S301: controlling the second suction cup array to stop applying suction to the second side surface of the target box; Step S302: driving the second suction cup array to move in the same plane as the first suction cup array by the first driving motor module; Step S303: Control the latch piece in the first suction cup limiting device to move to match with the latch seat on the rear side of the second suction cup array to limit the rotation of the second suction cup array.

6. The method for packing in a container according to claim 5, characterized in that: The first suction cup limiting device comprises: a motor module, a latch plate, a third slide rail and a latch seat; The motor module comprises a workbench capable of reciprocating along a straight line, and one end of the latch piece is fixedly connected to the workbench; The third slide rail is arranged on the fixture body, and the latch piece is connected to the third slide rail via a slider; The latch seat is arranged on the rear side of the second suction cup array; When the second suction cup array is in a state of being in a plane with the first suction cup array, the latch plate moves to cooperate with the latch seat to limit the rotation of the second suction cup array.

7. The method for packing in a container according to claim 2, characterized in that: The step S1 comprises the following steps: Step S101: controlling the first suction cup array to suck the first side surface of the target box; Step S102: controlling the second suction cup array to suck the second side surface of the target box, and as the second suction cup array sucks the second side surface, the target box moves upward, thereby driving the first suction cup array to slide upward along the first slide rail on the fixture body; Step S103: When the second suction cup array is pulled downward by the gravity of the target box, the second suction cup array is stuck on the limiting piece at the lower side of the second mounting seat.

8. The method for packing in a container according to claim 7, characterized in that: The second mounting base includes a rotating shaft; the second suction cup array is connected to one end of the rotating shaft through a first rotating shaft fixing member, and is connected to the other end of the rotating shaft through a second rotating shaft fixing member; The rotating shaft fixing member includes a rotating shaft connecting member and a suction cup connecting piece; the rotating shaft connecting member is arranged on one side surface of the suction cup connecting piece, and the other side surface of the suction cup connecting piece is connected to the second suction cup array; A first limiting plate is arranged on the lower side of the first rotating shaft fixing member, and a second limiting plate is arranged on the lower side of the second rotating shaft fixing member; when the second suction cup array is perpendicular to the first suction cup array, the suction cup connecting plate on the first rotating shaft fixing member is stuck on the first limiting plate, and the suction cup connecting plate on the second rotating shaft fixing member is stuck on the second limiting plate.

9. A method for unpacking a container by a loading and unloading robot, characterized in that: The loading and unloading robot comprises a fixture body, a first suction cup array, a second suction cup array, a first drive motor module and a mechanical arm, and comprises the following steps: Step N1: Control the first suction cup array to suck the first side surface of the target box, where the first side surface is the outer side surface of the target box facing the loading and unloading robot; Step N2: controlling the movement of the robotic arm to pull the target box toward the loading and unloading robot; Step N3: controlling the second suction cup array to rotate to a perpendicular state to the first suction cup array, so that the second suction cup array supports the second side surface of the target box and applies suction; Step N4: controlling the movement of the robot arm to drive the fixture body to place the target box onto the target area.

10. The method for unpacking a container according to claim 9, characterized in that: The step N3 comprises the following steps: Step N301: controlling the second suction cup array to rotate to a perpendicular state to the first suction cup array, so that the second suction cup array is in contact with the second side surface of the target box and supports the target box; Step N302: controlling the second suction cup array to apply suction; Step N303: controlling the second motor driving module in the second suction cup limiting device to drive the first supporting screw to extend to support the second suction cup array.

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