Working method of loading and unloading robot

Abstract

The invention provides a working method of a loading and unloading robot, the loading and unloading robot comprises a mechanical arm and a supermarket bottom supporting mixed stacking clamp arranged at the tail end of the mechanical arm, and the working method comprises the steps that a side suction lifting mechanism is controlled to carry out side suction pulling lifting on a target object, and meanwhile a bottom supporting mechanism is controlled to slide out to support the bottom side face of the target object; controlling the movable pressing mechanism to slide downwards so as to enable the movable pressing mechanism to press the upper side surface of the target object downwards; the mechanical arm is controlled to move so that the target object can move to the front of the target position; and controlling the movable pressing mechanism to lift, controlling the bottom supporting mechanism to slide in the direction away from the rear side of the target position, and controlling the supermarket bottom supporting and mixing clamp to move in the direction close to the target position along with backward sliding of the bottom supporting mechanism so as to push the target object to the target position. According to the invention, the damage to goods due to the soft outer package of the product can be avoided, and the falling of the goods is avoided.

Description

Technical Field

[0001] The present invention relates to an industrial robot, and in particular to a working method of a loading and unloading robot. 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 cartons and plastic-sealed beverages, beer, mineral water and other goods in supermarkets, it is not only difficult to suck up the goods through top suction and side suction, but the goods are easily damaged because the outer packaging is relatively soft. Directly applying the clamps used in picking scenarios such as depalletizing to this scenario not only often causes parts to fall off, but is also prone to wear and damage. Summary of the invention

[0006] In view of the defects in the prior art, the object of the present invention is to provide a supermarket bottom-supporting mixed-code fixture and a robot.

[0007] According to the working method of the loading and unloading robot provided by the present invention, the loading and unloading robot comprises a mechanical arm and a supermarket bottom-supporting mixed-code clamp arranged at the end of the mechanical arm, and the supermarket bottom-supporting mixed-code clamp comprises a side suction lifting mechanism, a moving downward pressing mechanism, a bottom-supporting mechanism, a horizontal mounting plate and a vertical mounting plate, comprising the following steps:

[0008] Step S1: Control the side suction lifting mechanism to perform side suction lifting on the target object, and at the same time control the bottom supporting mechanism to slide out to lift the bottom side of the target object;

[0009] Step S2: Control the movable pressing mechanism to slide downward, so that the movable pressing mechanism presses down the upper side of the target object;

[0010] Step S3: controlling the movement of the robot arm to move the target object to a target position;

[0011] Step S4: Control the mobile pressing mechanism to lift, control the bottom supporting mechanism to slide toward the rear direction away from the target position, and as the bottom supporting mechanism slides backward, control the supermarket bottom supporting mixed code clamp to move toward the target position to push the target object to the target position.

[0012] Preferably, a transverse mounting plate, wherein the lower side of the transverse mounting plate is provided with a first guide mechanism extending in the axial direction;

[0013] A vertical mounting plate, the vertical mounting plate being vertically connected to the front end of the horizontal mounting plate, and a second guide mechanism extending in the axial direction is disposed on the rear side of the vertical mounting plate;

[0014] A bottom supporting mechanism, the bottom supporting mechanism is connected to the first guiding mechanism via a first slider, and is used to lift the target object;

[0015] A movable pressing mechanism, the movable pressing mechanism being connected to the second guiding mechanism via a second slider, and being used for pressing and limiting the target object;

[0016] A side suction lifting mechanism is arranged at the bottom end of the vertical mounting plate and is used for sucking the target object sideways and then pulling it onto the bottom supporting mechanism.

[0017] Preferably, the side suction lifting mechanism comprises a sliding cylinder and a suction cup body; and step S1 comprises the following steps:

[0018] Step S101: Controlling the side suction lifting mechanism to perform side suction on the target object;

[0019] Step S102: controlling the sliding cylinder to drive the suction cup body to move upward, so that the suction cup body pulls the target object onto the bottom supporting mechanism;

[0020] Step S103: controlling the bottom supporting mechanism to slide out along the first guiding mechanism to support the bottom side surface of the target object.

[0021] Preferably, the sliding cylinder is arranged at the bottom end of the vertical mounting plate; the suction cup body is connected to the sliding platform of the sliding cylinder;

[0022] The sliding cylinder is used to drive the suction cup body to move upward, so that the suction cup body pulls the target object onto the bottom supporting mechanism.

[0023] Preferably, the movable pressing mechanism and the side suction lifting mechanism are synchronously controlled by a linkage driving mechanism, and the movable pressing mechanism comprises a pressing plate, a synchronization plate and a connecting bracket; and the step S2 comprises the following steps:

[0024] Step S201: controlling the linkage driving mechanism to drive the synchronization plate to slide downward along the second guide mechanism;

[0025] Step S202: the synchronization plate drives the lower pressing plate to move downward through the connecting bracket, so that the lower pressing plate presses the upper side of the target object;

[0026] Step S203: controlling the lower pressing plate to apply pressure to the upper side of the target object so that the target object is limited between the lower pressing plate and the bottom supporting mechanism.

[0027] Preferably, the bottom supporting mechanism comprises: a flat plate shovel tooth, a connecting plate, a first synchronous belt connecting member, a synchronous belt and a first driving module;

[0028] The rear end of the flat plate shovel teeth is connected to the first guide mechanism through the connecting plate;

[0029] The transverse mounting plate is provided with a first channel extending in a transverse direction;

[0030] The connecting plate is provided with a first synchronous belt connecting member, and the first synchronous belt connecting member passes through the first channel to connect the synchronous belt;

[0031] The first driving module is used to drive the synchronous belt to move, so as to drive the flat plate shovel teeth to move forward and backward.

[0032] Preferably, the first guide mechanism comprises a first guide rail and a first slider;

[0033] The second guide mechanism includes a second guide rail and a second slide block;

[0034] The lower side of the horizontal mounting plate is provided with a first guide rail extending in the axial direction; the rear side of the vertical mounting plate is provided with a second guide rail extending in the axial direction;

[0035] The bottom supporting mechanism is connected to the first guide rail via a first slider; the moving downward pressing mechanism is connected to the second guide rail via a second slider.

[0036] Preferably, the first driving module includes a driving motor, a reducer, a first synchronous pulley, a second synchronous pulley, a third synchronous pulley and a fourth synchronous pulley;

[0037] The synchronous belt comprises a first synchronous belt and a second synchronous belt;

[0038] The driving motor drives the first synchronous belt pulley to rotate through the reducer, and the first synchronous belt pulley is connected to the second synchronous belt pulley through the first synchronous belt;

[0039] The second synchronous belt pulley and the third synchronous belt pulley are arranged on the same driving wheel pin shaft, so that the second synchronous belt pulley drives the third synchronous belt pulley to rotate; the third synchronous belt pulley is connected to the fourth synchronous belt pulley through the second synchronous belt; the fourth synchronous belt pulley is arranged at the rear end of the transverse mounting plate;

[0040] The first synchronous belt connecting member is connected to the second synchronous belt.

[0041] Preferably, the linkage drive mechanism comprises a first drive module, a fifth synchronous pulley, a sixth synchronous pulley, a third synchronous belt and a second synchronous belt connector;

[0042] The second synchronous belt pulley, the third synchronous belt pulley and the fifth synchronous belt pulley are arranged on the same driving wheel pin shaft, so that the second synchronous belt pulley drives the third synchronous belt pulley and the fifth synchronous belt pulley to rotate;

[0043] The fifth synchronous pulley is connected to the sixth synchronous pulley through the third synchronous belt; the sixth synchronous pulley is adjacent to the upper end of the second guide rail;

[0044] The second synchronous belt connecting member connects the third synchronous belt and the second sliding block.

[0045] Preferably, step S4 comprises the following steps:

[0046] Step S401: controlling the linkage driving mechanism to drive the synchronization plate to slide upward along the second guide mechanism so that the lower pressing plate is away from the upper side of the target object;

[0047] Step S402: synchronously controlling the bottom supporting mechanism to slide along the first guide mechanism toward the rear side away from the target position to expose the bottom side of the target object;

[0048] Step S403: As the bottom supporting mechanism slides backward, the supermarket bottom supporting and code mixing fixture is controlled to move toward the target position to push the target object to the target position.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] In the present invention, a first guide rail extending in the axial direction is provided on the lower side of the horizontal mounting plate, and a second guide rail extending in the axial direction is provided on the rear side of the vertical mounting plate. A side suction lifting mechanism is provided at the bottom end of the vertical mounting plate to suck the target object sideways and pull it onto the bottom supporting mechanism. The bottom supporting mechanism is connected to the first guide rail through a first slider to lift the target object, and a moving downward pressing mechanism is connected to the second guide rail through a second slider to press and limit the target object, thereby avoiding damage to the goods due to the relatively soft outer packaging of the product and avoiding falling parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] 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:

[0052] Figure 1 A flowchart of the working method of the loading and unloading robot in an embodiment of the present invention;

[0053] Figure 2 This is a schematic diagram of the structure of a supermarket bottom mixing fixture in an embodiment of the present invention;

[0054] Figure 3 Schematic diagram of the working state of the supermarket bottom mixing fixture in an embodiment of the present invention;

[0055] Figure 4 This is a flow chart of the steps of side suction lifting of a target object in an embodiment of the present invention;

[0056] Figure 5 A flowchart of the steps of controlling the moving pressing mechanism to slide downward in an embodiment of the present invention;

[0057] Figure 6 A flowchart of the steps of placing a target object at a target position in an embodiment of the present invention;

[0058] Figure 7 This is a schematic diagram of the internal structure of a supermarket bottom-supporting and code-mixing fixture in an embodiment of the present invention;

[0059] Figure 8 A schematic diagram of the structure of the movable pressing mechanism in an embodiment of the present invention is shown;

[0060] Fig. 9 A schematic diagram of the structure of a connecting bracket in an embodiment of the present invention is shown;

[0061] Fig.10 It shows a schematic structural diagram of a bottom supporting mechanism in one direction according to an embodiment of the present invention;

[0062] Fig.11 A schematic structural diagram of the bottom supporting mechanism in another direction in an embodiment of the present invention is shown;

[0063] Fig.12 A schematic diagram of the structure of the linkage drive mechanism in an embodiment of the present invention is shown;

[0064] Fig.13 A schematic diagram of the structure of the side suction lifting mechanism in an embodiment of the present invention is shown; and

[0065] Fig.14 Schematic diagram of the structure of the robot in the embodiment of the present invention.

[0066] In the figure:

[0067] 1 is a vertical mounting plate; 2 is a horizontal mounting plate; 3 is a moving pressing mechanism; 301 is a second driving module; 302 is a second guide rail; 303 is a synchronous plate; 304 is a connecting bracket; 3041 is a first cantilever; 3042 is a second cantilever; 3043 is a lifting plate; 3044 is a first pressing arm; 3045 is a second pressing arm; 3046 is a pressing mounting plate; 305 is a pressing plate; 4 is a bottom supporting mechanism; 401 is a flat plate shovel tooth; 402 403 is the first slider; 404 is the reducer; 405 is the motor seat; 406 is the first synchronous belt; 407 is the second synchronous belt; 408 is the rotating shaft; 409 is the synchronous belt toothed pressure plate; 410 is the first guide rail; 411 is the pad block; 5 is the side suction lifting mechanism; 501 is the suction cup body; 502 is the sliding cylinder; 6 is the first side rib plate; 7 is the second side rib plate; 100 is the supermarket bottom supporting mixed code clamp; 200 is the robot arm. 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] In the working method of the loading and unloading robot provided by the present invention, the loading and unloading robot comprises a mechanical arm and a supermarket bottom-supporting mixed-code clamp arranged at the end of the mechanical arm, and the supermarket bottom-supporting mixed-code clamp comprises a side suction lifting mechanism, a moving downward pressing mechanism, a bottom-supporting mechanism, a horizontal mounting plate and a vertical mounting plate, comprising the following steps:

[0073] Step S1: Control the side suction lifting mechanism to perform side suction lifting on the target object, and at the same time control the bottom supporting mechanism to slide out to lift the bottom side of the target object;

[0074] Step S2: Control the movable pressing mechanism to slide downward, so that the movable pressing mechanism presses down the upper side of the target object;

[0075] Step S3: controlling the movement of the robot arm to move the target object to a target position;

[0076] Step S4: Control the mobile pressing mechanism to lift, control the bottom supporting mechanism to slide toward the rear direction away from the target position, and as the bottom supporting mechanism slides backward, control the supermarket bottom supporting mixed code clamp to move toward the target position to push the target object to the target position.

[0077] In the present invention, a first guide rail extending in the axial direction is provided on the lower side of the horizontal mounting plate, and a second guide rail extending in the axial direction is provided on the rear side of the vertical mounting plate. A side suction lifting mechanism is provided at the bottom end of the vertical mounting plate to suck the target object sideways and pull it onto the bottom supporting mechanism. The bottom supporting mechanism is connected to the first guide rail through a first slider to lift the target object, and a moving downward pressing mechanism is connected to the second guide rail through a second slider to press and limit the target object, thereby avoiding damage to the goods due to the relatively soft outer packaging of the product and avoiding falling parts.

[0078] The above is the core idea of ​​the present invention. In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0079] Figure 1 FIG. 1 is a flow chart of the steps of the working method of the loading and unloading robot in an embodiment of the present invention. Figure 1 As shown, the working method of the loading and unloading robot provided by the present invention, the loading and unloading robot includes a mechanical arm and a supermarket bottom-supporting mixed-code fixture 100 arranged at the end of the mechanical arm, the supermarket bottom-supporting mixed-code fixture 100 includes a side suction lifting mechanism 5, a moving pressing mechanism 3, a bottom-supporting mechanism 4, a horizontal mounting plate 2 and a vertical mounting plate 1, and includes the following steps:

[0080] Step S1: Control the side suction lifting mechanism 5 to perform side suction lifting on the target object, and at the same time control the bottom supporting mechanism 4 to slide out to support the bottom side of the target object;

[0081] Step S2: Control the movable pressing mechanism 3 to slide downward, so that the movable pressing mechanism 3 presses down the upper side of the target object;

[0082] Step S3: controlling the movement of the robot arm to move the target object to a target position;

[0083] Step S4: Control the mobile pressing mechanism 3 to lift, control the bottom supporting mechanism 4 to slide toward the rear direction away from the target position, and as the bottom supporting mechanism 4 slides backward, control the supermarket bottom supporting mixed code clamp 100 to move toward the direction close to the target position to push the target object to the target position.

[0084] In the embodiment of the present invention, when the robot arm is controlled to move, the supermarket bottom-supporting mixed-code fixture 100 is driven to move, thereby moving the target object to the front of the target position.

[0085] Figure 2 This is a schematic diagram of the structure of the supermarket bottom mixing fixture in an embodiment of the present invention. Figure 3 This is a schematic diagram of the working state of the supermarket bottom mixing fixture in an embodiment of the present invention. Figure 7 FIG. 1 is a schematic diagram of the internal structure of the supermarket bottom mixing fixture in an embodiment of the present invention. Figures 2 to 12 As shown, the supermarket bottom mixing fixture provided by the present invention comprises:

[0086] A transverse mounting plate 2, wherein a first guide rail 410 extending in the axial direction is disposed on the lower side of the transverse mounting plate 2;

[0087] A vertical mounting plate 1, wherein the vertical mounting plate 1 is vertically connected to the front end of the horizontal mounting plate 2, and a second guide rail 302 extending in the axial direction is disposed on the rear side of the vertical mounting plate 1;

[0088] A bottom supporting mechanism 4, wherein the bottom supporting mechanism 4 is connected to the first guide rail 410 via a first slider 402, and is used to lift the target object;

[0089] A movable pressing mechanism 3, wherein the movable pressing mechanism 3 is connected to the second guide rail 302 via a second slider, and is used for pressing and limiting the target object;

[0090] The side suction lifting mechanism 5 is arranged at the bottom end of the vertical mounting plate 1 and is used for sucking the target object sideways and then pulling it onto the bottom supporting mechanism 4 .

[0091] In an embodiment of the present invention, when the supermarket bottom supporting and mixing code clamp provided by the present invention is used, the side suction lifting mechanism 5 is first controlled to suck and lift the target object; the bottom supporting mechanism 4 extends along the first guide rail 410 to support the target object; after the pressing mechanism 3 is moved downward along the second guide rail 302 to press the target object, the robot can now move the target object to the target placement position.

[0092] Figure 4 FIG. 1 is a flow chart of the steps of performing side suction lifting on a target object in an embodiment of the present invention. Figure 4 As shown, the side suction lifting mechanism includes a sliding cylinder and a suction cup body; the step S1 includes the following steps:

[0093] Step S101: Control the side suction lifting mechanism 5 to perform side suction on the target object;

[0094] Step S102: Control the sliding cylinder 202 to drive the suction cup body 501 to move upward, so that the suction cup body 501 pulls the target object onto the bottom supporting mechanism 4;

[0095] Step S103: controlling the bottom supporting mechanism 4 to slide out along the first guide rail to support the bottom side surface of the target object.

[0096] In the embodiment of the present invention, Fig.13 As shown, the side suction lifting mechanism 5 includes: a sliding cylinder 502 and a suction cup body 501;

[0097] The sliding cylinder 502 is arranged at the bottom end of the vertical mounting plate 1; the suction cup body 501 is connected to the sliding platform of the sliding cylinder 502;

[0098] The sliding cylinder 502 is used to drive the suction cup body 501 to move upward, so that the suction cup body 501 pulls the target object onto the bottom supporting mechanism 4.

[0099] Figure 5 FIG. 1 is a flow chart of the steps of controlling the mobile pressing mechanism to slide downward in an embodiment of the present invention. Figure 5 As shown, the movable pressing mechanism 3 and the side suction lifting mechanism 5 are synchronously controlled by a linkage driving mechanism, the movable pressing mechanism 3 includes a pressing plate 305, a synchronization plate 303 and a connecting bracket 304, and the step S2 includes the following steps:

[0100] Step S201: controlling the linkage driving mechanism to drive the synchronization plate 303 to slide downward along the second guide rail;

[0101] Step S202: The synchronization plate 303 drives the lower pressing plate 305 to move downward through the connecting bracket 304, so that the lower pressing plate 305 presses the upper side of the target object;

[0102] Step S203 : controlling the lower pressing plate 305 to apply pressure to the upper side of the target object, so that the target object is limited between the lower pressing plate 305 and the bottom supporting mechanism 4 .

[0103] In a variation of the present invention, the lower pressure plate 305 adopts a lower pressure gripper, which can apply suction to the upper side of the target object.

[0104] Fig.12 FIG. 4 shows a schematic diagram of the structure of the linkage drive mechanism in an embodiment of the present invention. Fig.12 As shown, the linkage drive mechanism includes a first drive module, a fifth synchronous pulley, a sixth synchronous pulley, a third synchronous belt 412 and a second synchronous belt connector 413;

[0105] The second synchronous belt pulley, the third synchronous belt pulley and the fifth synchronous belt pulley are arranged on the same driving wheel pin shaft, so that the second synchronous belt pulley drives the third synchronous belt pulley and the fifth synchronous belt pulley to rotate;

[0106] The fifth synchronous pulley is connected to the sixth synchronous pulley via the third synchronous belt 412; the sixth synchronous pulley is adjacent to the upper end of the second guide rail;

[0107] The second synchronous belt connector 413 connects the third synchronous belt 412 and the second slider.

[0108] In the embodiment of the present invention, the second synchronous belt connector 413 is connected to the second slider via the synchronous plate 303, so as to drive the moving pressing mechanism 3 to slide along the second guide rail 302;

[0109] In an embodiment of the present invention, when the mixed code clamp provided by the present invention is used, the side suction lifting mechanism 5 is first controlled to suck the target object and then lift it up; the linkage driving mechanism drives the bottom supporting mechanism 4 to extend along the first guide rail 410 to support the target object and at the same time control the moving pressing mechanism 3 to move downward along the second guide rail 302 to press the target object. At this time, the robot can move the target object to the target placement position.

[0110] In the embodiment of the present invention, Figure 8 As shown, the vertical mounting plate 1 is provided with a second channel extending vertically;

[0111] The lower pressing plate 305 is disposed on the lower side of one end of the connecting bracket 304, and the other end of the connecting bracket 304 passes through the second channel to connect with the second sliding block;

[0112] The second slider is connected to the second driving module 301 through the synchronization plate 303;

[0113] The second driving module 301 is used to drive the lower pressing plate 305 to slide downward along the second guide rail 302 to press and limit the target object or to slide upward to reset.

[0114] In the embodiment of the present invention, the second driving module 301 adopts a magnetic rodless cylinder. The magnetic rodless cylinder is arranged in parallel with the second guide rail 302. When the magnetic rodless cylinder has a moving block, the second slider is connected to the moving block through the synchronization plate 303. When the moving block moves along the cylinder rod on the magnetic rodless cylinder, the second slider is driven to slide along the second guide rail 302 through the synchronization plate 303, thereby realizing the upward or downward movement of the lower pressing plate 305.

[0115] The connecting bracket 304 is perpendicular to the transverse mounting plate 2 .

[0116] Figure 6 FIG. 1 is a flow chart of steps for placing a target object at a target position in an embodiment of the present invention. Figure 6 As shown, step S4 includes the following steps:

[0117] Step S401: controlling the linkage driving mechanism to drive the synchronization plate 303 to slide upward along the second guide rail 302 so that the lower pressing plate 305 is away from the upper side of the target object;

[0118] Step S402: synchronously controlling the bottom supporting mechanism 4 to slide along the first guide rail toward the rear side away from the target position to expose the bottom side of the target object;

[0119] Step S403: As the bottom supporting mechanism 4 slides backward, the supermarket bottom supporting and code mixing fixture 100 is controlled to move toward the target position to push the target object to the target position.

[0120] In the embodiment of the present invention, controlling the bottom supporting mechanism 4 to slide backward and controlling the supermarket bottom supporting mixed code fixture 100 to approach can be performed simultaneously;

[0121] Alternatively, after the front end of the target object is placed on the target position, the bottom supporting mechanism 4 is first controlled to slide backward to expose the bottom side of the target object, and then the supermarket bottom supporting mixed code clamp 100 is controlled to move in a direction close to the target position to push the target object to the target position.

[0122] Fig. 9 FIG. 4 shows a schematic diagram of the structure of the connecting bracket in an embodiment of the present invention. Fig. 9 As shown, the connecting bracket 304 includes: a first cantilever 3041, a second cantilever 3042, a lifting plate 3043, a first pressing arm 3044, a second pressing arm 3045 and a pressing mounting plate 3046;

[0123] The front ends of the first cantilever 3041 and the second cantilever 3042 are connected to the upper side of the lower pressing plate 305, and the rear ends are vertically connected to the lifting plate 3043; the lifting plate 3043 is arranged on the front side of the vertical mounting plate 1;

[0124] The front ends of the first pressing arm 3044 and the second pressing arm 3045 pass through the second channel to connect to the lifting plate 3043, and the rear ends are connected to the two side walls of the pressing mounting plate 3046;

[0125] One end of the synchronization plate 303 is connected to the upper side of the pressing mounting plate 3046 , and the other end is connected to the moving body on the second driving module 301 .

[0126] In the embodiment of the present invention, the first cantilever 3041 and the second cantilever 3042 are arranged in parallel, and a reinforcing rib is arranged between the first cantilever 3041 and the second cantilever 3042 .

[0127] The first pressing arm 3044 and the second pressing arm 3045 are arranged in parallel; the front ends of the first pressing arm 3044 and the second pressing arm 3045 are vertically connected to the lifting plate 3043, and the rear ends are vertically connected to the pressing mounting plate 3046.

[0128] Fig.10 It shows a schematic structural diagram of one direction of the bottom supporting mechanism in an embodiment of the present invention, Fig.11 FIG. 2 shows a schematic diagram of the structure of the bottom supporting mechanism in another direction according to an embodiment of the present invention. Fig.10 , Fig.11 As shown, the bottom supporting mechanism 4 includes: a flat plate shovel tooth 401, a connecting plate, a synchronous belt connecting piece, a synchronous belt and a first driving module;

[0129] The rear end of the flat plate shovel tooth 401 is connected to the first sliding block 402 through the connecting plate;

[0130] The transverse mounting plate 2 is provided with a first channel extending in the transverse direction;

[0131] The connecting plate is provided with a synchronous belt connector, and the synchronous belt connector passes through the first channel to connect with the synchronous belt;

[0132] The first driving module is used to drive the synchronous belt to move, so as to drive the flat plate shovel teeth 401 to move forward and backward.

[0133] In the embodiment of the present invention, the first driving module includes a driving motor 403, a motor base 405, a reducer 404, a first synchronous pulley, a second synchronous pulley, a third synchronous pulley and a fourth synchronous pulley;

[0134] The synchronous belt includes a first synchronous belt 406 and a second synchronous belt 407;

[0135] The driving motor 403 drives the first synchronous pulley to rotate through the reducer 404, and the reducer 404 is fixedly connected to the first side rib plate 6 through the motor seat 405; the first synchronous pulley is connected to the second synchronous pulley through the first synchronous belt 406;

[0136] The second synchronous belt pulley and the third synchronous belt pulley are arranged on the same driving wheel pin shaft, so that the second synchronous belt pulley drives the third synchronous belt pulley to rotate; the third synchronous belt pulley is connected to the fourth synchronous belt pulley through the second synchronous belt 407;

[0137] The synchronous belt connector is connected to the second synchronous belt 407 .

[0138] In one embodiment of the present invention, the first synchronous belt pulley is arranged in the motor seat 405; the second synchronous belt pulley and the third synchronous belt pulley are arranged at the front end of the transverse mounting plate 2, and the fourth synchronous belt pulley is arranged at the rear end of the transverse mounting plate 2; the fourth synchronous belt pulley is rotatably connected to the transverse mounting plate 2 via a rotating shaft.

[0139] The first channel extends from the fourth synchronous pulley to the third synchronous pulley.

[0140] In the embodiment of the present invention, the synchronous belt connecting member includes a pad block 411 and a synchronous belt toothed pressure plate 409;

[0141] The padding block 411 is arranged on the flat plate shovel teeth 401; the synchronous belt toothed pressing plate 409 is arranged on the upper end surface of the padding block 411;

[0142] The second synchronous belt 407 is limited between the synchronous belt toothed pressure plate 409 and the upper end surface of the raising block 411 .

[0143] In one embodiment of the present invention, the connecting plate is provided at the rear end of the flat plate shovel tooth 401 , and the first sliding block 402 is connected via the connecting plate.

[0144] The first guide rail 410 includes a guide rail A and a guide rail B which are parallel to each other; the guide rail A and the guide rail B are respectively located on two sides of the first channel;

[0145] The first slider 402 includes two sliders A matched with the guide rail A and two sliders B matched with the guide rail B; the connecting plate is connected to the guide rail A through the two sliders A and is connected to the guide rail B through the two sliders B.

[0146] In the embodiment of the present invention, a first installation notch and a second installation notch are provided on both sides of the front end of the flat plate shovel tooth 401;

[0147] A first rotating shaft seat is arranged in the first installation notch, and a second rotating shaft seat is arranged in the second installation notch;

[0148] A rotating shaft 408 is disposed between the front ends of the first rotating shaft seat and the second rotating shaft seat.

[0149] By setting the rotating shaft 408, when the flat plate shovel teeth 401 lift the target box, it is guided. The rotating shaft 408 is provided with a rotating drum, and the rotating drum can rotate on the rotating shaft 408, which can reduce friction and prevent the target box from being damaged.

[0150] like Figure 3 As shown, the supermarket bottom mixing fixture provided by the present invention further includes a first side rib plate 6 and a second side rib plate 7;

[0151] The first side rib plate 6 vertically connects the transverse mounting plate 2 and the vertical mounting plate 1 ; the second side rib plate 7 vertically connects the transverse mounting plate 2 and the vertical mounting plate 1 .

[0152] The first side rib plate 6 and the second side rib plate 7 are respectively located at two side ends of the transverse mounting plate 2 and the vertical mounting plate 1;

[0153] An installation space is formed between the first side rib plate 6 and the second side rib plate 7 , and the first driving module is disposed in the installation space and on the first side rib plate 6 .

[0154] In the embodiment of the present invention, the first side rib plate 6 and the second side rib plate 7 are parallel to each other.

[0155] Fig.14 FIG. 1 is a schematic diagram of the structure of a robot in an embodiment of the present invention. Fig.14 As shown, the robot provided by the present invention includes the supermarket bottom-supporting mixed-code fixture 100, and also includes a mechanical arm;

[0156] The supermarket bottom mixed code fixture 100 is arranged at the end of the mechanical arm.

[0157] In the embodiment of the present invention, a first guide rail extending in the axial direction is provided on the lower side of the horizontal mounting plate, and a second guide rail extending in the axial direction is provided on the rear side of the vertical mounting plate. A side suction lifting mechanism is provided at the bottom end of the vertical mounting plate to suck the target object sideways and pull it onto the bottom supporting mechanism. The bottom supporting mechanism is connected to the first guide rail via a first slider to lift the target object, and the moving downward pressing mechanism is connected to the second guide rail via a second slider to press and limit the target object, thereby avoiding damage to the goods due to the relatively soft outer packaging of the product and avoiding falling parts.

[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 working method of a loading and unloading robot, characterized in that: The loading and unloading robot includes a mechanical arm and a supermarket bottom-supporting mixed-code clamp arranged at the end of the mechanical arm, and the supermarket bottom-supporting mixed-code clamp includes a side suction lifting mechanism, a moving pressing mechanism, a bottom-supporting mechanism, a horizontal mounting plate and a vertical mounting plate, including the following steps: Step S1: Control the side suction lifting mechanism to perform side suction lifting on the target object, and at the same time control the bottom supporting mechanism to slide out to lift the bottom side of the target object; Step S2: Control the movable pressing mechanism to slide downward, so that the movable pressing mechanism presses down the upper side of the target object; Step S3: controlling the movement of the robot arm to move the target object to a target position; Step S4: Control the mobile pressing mechanism to lift, control the bottom supporting mechanism to slide toward the rear direction away from the target position, and as the bottom supporting mechanism slides backward, control the supermarket bottom supporting mixed code clamp to move toward the target position to push the target object to the target position.

2. The working method of the loading and unloading robot according to claim 1, characterized in that: A transverse mounting plate, wherein a first guide mechanism extending in the axial direction is disposed on a lower side of the transverse mounting plate; A vertical mounting plate, the vertical mounting plate being vertically connected to the front end of the horizontal mounting plate, and a second guide mechanism extending in the axial direction is disposed on the rear side of the vertical mounting plate; A bottom supporting mechanism, the bottom supporting mechanism is connected to the first guiding mechanism via a first slider, and is used to lift the target object; A movable pressing mechanism, the movable pressing mechanism being connected to the second guiding mechanism via a second slider, and being used for pressing and limiting the target object; A side suction lifting mechanism is arranged at the bottom end of the vertical mounting plate and is used for sucking the target object sideways and then pulling it onto the bottom supporting mechanism.

3. The working method of the loading and unloading robot according to claim 2, characterized in that: The side suction lifting mechanism includes a sliding cylinder and a suction cup body; the step S1 includes the following steps: Step S101: Controlling the side suction lifting mechanism to perform side suction on the target object; Step S102: controlling the sliding cylinder to drive the suction cup body to move upward, so that the suction cup body pulls the target object onto the bottom supporting mechanism; Step S103: controlling the bottom supporting mechanism to slide out along the first guiding mechanism to support the bottom side surface of the target object.

4. The working method of the loading and unloading robot according to claim 3, characterized in that: The sliding cylinder is arranged at the bottom end of the vertical mounting plate; the suction cup body is connected to the sliding table of the sliding cylinder; The sliding cylinder is used to drive the suction cup body to move upward, so that the suction cup body pulls the target object onto the bottom supporting mechanism.

5. The working method of the loading and unloading robot according to claim 2, characterized in that: The movable pressing mechanism and the side suction lifting mechanism are synchronously controlled by a linkage driving mechanism, and the movable pressing mechanism includes a pressing plate, a synchronization plate and a connecting bracket; the step S2 includes the following steps: Step S201: controlling the linkage driving mechanism to drive the synchronization plate to slide downward along the second guide mechanism; Step S202: the synchronization plate drives the lower pressing plate to move downward through the connecting bracket, so that the lower pressing plate presses the upper side of the target object; Step S203: controlling the lower pressing plate to apply pressure to the upper side of the target object so that the target object is limited between the lower pressing plate and the bottom supporting mechanism.

6. The working method of the loading and unloading robot according to claim 5, characterized in that: The bottom supporting mechanism comprises: a flat plate shovel tooth, a connecting plate, a first synchronous belt connecting piece, a synchronous belt and a first driving module; The rear end of the flat plate shovel teeth is connected to the first guide mechanism through the connecting plate; The transverse mounting plate is provided with a first channel extending in a transverse direction; The connecting plate is provided with a first synchronous belt connecting member, and the first synchronous belt connecting member passes through the first channel to connect the synchronous belt; The first driving module is used to drive the synchronous belt to move, so as to drive the flat plate shovel teeth to move forward and backward.

7. The working method of the loading and unloading robot according to claim 6, characterized in that: The first guide mechanism includes a first guide rail and a first slider; The second guide mechanism includes a second guide rail and a second slide block; The lower side of the horizontal mounting plate is provided with a first guide rail extending in the axial direction; the rear side of the vertical mounting plate is provided with a second guide rail extending in the axial direction; The bottom supporting mechanism is connected to the first guide rail via a first slider; the moving downward pressing mechanism is connected to the second guide rail via a second slider.

8. The working method of the loading and unloading robot according to claim 7, characterized in that: The first driving module includes a driving motor, a reducer, a first synchronous pulley, a second synchronous pulley, a third synchronous pulley and a fourth synchronous pulley; The synchronous belt comprises a first synchronous belt and a second synchronous belt; The driving motor drives the first synchronous belt pulley to rotate through the reducer, and the first synchronous belt pulley is connected to the second synchronous belt pulley through the first synchronous belt; The second synchronous belt pulley and the third synchronous belt pulley are arranged on the same driving wheel pin shaft, so that the second synchronous belt pulley drives the third synchronous belt pulley to rotate; the third synchronous belt pulley is connected to the fourth synchronous belt pulley through the second synchronous belt; the fourth synchronous belt pulley is arranged at the rear end of the transverse mounting plate; The first synchronous belt connecting member is connected to the second synchronous belt.

9. The working method of the loading and unloading robot according to claim 8, characterized in that: The linkage drive mechanism includes a first drive module, a fifth synchronous pulley, a sixth synchronous pulley, a third synchronous belt and a second synchronous belt connector; The second synchronous belt pulley, the third synchronous belt pulley and the fifth synchronous belt pulley are arranged on the same driving wheel pin shaft, so that the second synchronous belt pulley drives the third synchronous belt pulley and the fifth synchronous belt pulley to rotate; The fifth synchronous pulley is connected to the sixth synchronous pulley through the third synchronous belt; the sixth synchronous pulley is adjacent to the upper end of the second guide rail; The second synchronous belt connecting member connects the third synchronous belt and the second sliding block.

10. The working method of the loading and unloading robot according to claim 5, characterized in that: The step S4 comprises the following steps: Step S401: controlling the linkage driving mechanism to drive the synchronization plate to slide upward along the second guide mechanism so that the lower pressing plate is away from the upper side of the target object; Step S402: synchronously controlling the bottom supporting mechanism to slide along the first guide mechanism toward the rear side away from the target position to expose the bottom side of the target object; Step S403: As the bottom supporting mechanism slides backward, the supermarket bottom supporting and code mixing fixture is controlled to move toward the target position to push the target object to the target position.

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