Using method of single-control underpinning clamp

Abstract

The use method of the single-control underpinning clamp is carried out through a loading and unloading robot, the loading and unloading robot comprises the single-control underpinning clamp and a mechanical arm, the single-control underpinning clamp is arranged at the tail end of the mechanical arm, and the use method comprises the steps that the single-control underpinning clamp is controlled to suck a plurality of target box bodies at the same time; the mechanical arm is controlled to move so that the clamp body can move to the target discharging position, and the target box can be placed; and the single-control bottoming clamp is controlled to place the multiple target box bodies at the same time or place the target box bodies of the multiple target box bodies in sequence. The single-control bottom supporting clamp is controlled to suck a plurality of target box bodies at the same time, the mechanical arm is controlled to move so that the clamp body can move to the target discharging position, the target box bodies can be placed, multi-grabbing and multi-placing and multi-grabbing and single-placing of the target box bodies can be achieved through the single-control bottom supporting clamp, and the stacking, loading and multi-grabbing and single-placing efficiency of the robot is improved. And the taking and placing efficiency in scenes such as unloading is improved.

Description

Technical Field

[0001] The present invention relates to a picking robot, and in particular to a method for using a single-control bottom supporting clamp. Background Art

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

[0003] More and more visual sensors and force sensors will be used in picking robots, and picking 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 goods are sorted and transported by a picking robot, it is necessary to capture images of the goods through a visual sensor, identify the images of the goods to determine the posture of the goods, and then the picking robot picks or transports the goods through a loaded clamp or suction cup.

[0005] When picking robots are used to disassemble goods in containers with frames, top plates and partitions such as cargo boxes, shelves and cage trucks, they need to grab one side of the goods. However, when the size of the goods is smaller than the size of the clamp, two adjacent goods are often sucked. Not only does it require the replacement of clamps of different sizes, but it also often causes adjacent goods to be accidentally pulled off. In addition, when sucking multiple goods, they can only be placed at the same time. Summary of the invention

[0006] In view of the defects in the prior art, an object of the present invention is to provide a method for using a single-control bottom supporting clamp.

[0007] The method for using the single-control bottom supporting fixture provided by the present invention is performed by a loading and unloading robot, wherein the loading and unloading robot comprises a single-control bottom supporting fixture and a mechanical arm, wherein the single-control bottom supporting fixture is arranged at the end of the mechanical arm, and comprises the following steps:

[0008] Step S1: controlling the single-control bottom-supporting fixture to simultaneously absorb multiple target boxes;

[0009] Step S2: Control the movement of the robot arm to move the fixture body to a target discharge position to place the target box;

[0010] Step S3: controlling the single-control bottom supporting fixture to place the multiple target boxes simultaneously, or to place the target boxes of the multiple target boxes sequentially.

[0011] Preferably, the single-control bottom supporting fixture comprises:

[0012] The fixture body;

[0013] A suction cup bracket, on which the single valve-controlled suction cup array is arranged, the single valve-controlled suction cup array is used to suck the target box, the suction cup bracket is arranged on a side surface of the clamp body, and can move along a first direction, the single valve-controlled suction cup array includes a plurality of adjacently arranged suction cup areas, and each suction cup area can suck a target box alone;

[0014] A bottom supporting mechanism, located on the clamp body, capable of moving in a second direction opposite to the first direction;

[0015] A driving module, wherein the driving module is connected to the suction cup bracket and the bottom supporting mechanism via a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom supporting mechanism to perform reverse movements simultaneously.

[0016] Preferably, step S3 comprises the following steps:

[0017] Step S301: acquiring a depth image of a stack body, and determining an optional material discharge position on the stack body according to the depth image of the stack body;

[0018] Step S302: obtaining the number of the target boxes, and when the number of the target boxes is consistent with the number of target boxes that can be accommodated at the discharge position, controlling the single-control bottom supporting fixture to place the plurality of target boxes at the discharge position at one time;

[0019] Step S303: When the number of the target boxes is greater than the number of the target boxes that can be accommodated at the discharge position, the single-control bottom supporting fixture is controlled to place part of the plurality of target boxes onto the discharge position.

[0020] Preferably, step S3 comprises the following steps:

[0021] Step S301: Control the single-control bottom supporting fixture to place a target box among the multiple target boxes on the conveyor line;

[0022] Step S302: Obtain a preset time threshold;

[0023] Step S303: When the time interval is greater than the preset time threshold, the single-control bottom supporting fixture is controlled to place another target box among the multiple target boxes on the conveyor line.

[0024] Preferably, step S3 comprises the following steps:

[0025] Step S301: Control the single-control bottom supporting fixture to place a target box among the multiple target boxes in the center on the conveyor line;

[0026] Step S302: Control the movement of the robot arm so that another target box among the multiple target boxes on the single-control bottom holding fixture is located at the center of the conveyor line;

[0027] Step S303: Control the single-control bottom supporting fixture to place another target box among the multiple target boxes in the center on the conveyor line.

[0028] Preferably, step S1 comprises the following steps:

[0029] Step S101: controlling the movement of the robot arm so that the single-control bottom supporting fixture moves to the front side or upper side of the target box;

[0030] Step S102: controlling the single-control bottom supporting fixture to apply suction to hold the plurality of target boxes;

[0031] Step S103: controlling the driving module to pull the single-control bottom supporting fixture to move in a direction close to the robot arm, and at the same time driving the bottom supporting mechanism to extend toward the lower side of the target box to support the target box.

[0032] Preferably, after the single valve-controlled suction cup array absorbs the target box, the driving module drives the single valve-controlled suction cup array to move from the front end of the fixture body to the rear end of the fixture body, and the bottom supporting mechanism extends from the front end of the fixture body;

[0033] When releasing the target box, the driving module drives the single valve to control the suction cup array to move from the rear end of the clamp body to the front end of the clamp body to push the target box out, and the bottom supporting mechanism retracts into the clamp body.

[0034] Preferably, the single valve controlled suction cup array comprises:

[0035] A suction cup mounting mainboard, wherein a cavity structure is formed inside the suction cup mounting mainboard, and a plurality of first mounting holes arranged in a matrix are provided on the suction cup mounting mainboard;

[0036] A suction cup, the suction cup is arranged in the first mounting hole and is located at the front side of the suction cup mounting mainboard;

[0037] A suction cup mounting cover plate, the suction cup mounting cover plate and the rear side cover of the suction cup mounting mainboard are used to close the cavity structure, and the suction cup mounting cover plate is provided with a plurality of second mounting holes arranged in a matrix and suction holes for vacuuming the cavity structure;

[0038] A solenoid valve is disposed in the second mounting hole; wherein the suction cup is connected to the cavity structure through the solenoid valve.

[0039] Preferably, a plurality of mounting brackets arranged in sequence are provided in the cavity structure;

[0040] Each of the mounting brackets is provided with a plurality of first air holes and a plurality of second air holes; the first air holes are connected to the air inlet and outlet holes of the suction cup on one hand, and are connected to the second air holes through the air channel of the solenoid valve on the other hand;

[0041] The second air hole is connected to the cavity structure;

[0042] The solenoid valve is used to control the connection between the first air hole and the multiple second air holes. When the first air hole and the multiple second air holes are connected, the suction cup can be controlled to apply suction through the first air hole. When the first air hole and the multiple second air holes are not connected, the suction cup cannot be controlled to apply suction through the first air hole.

[0043] Preferably, the solenoid valves are arranged in one-to-one correspondence with the suction cups.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] In the present invention, the single-controlled bottom supporting clamp is controlled to suck up multiple target boxes at the same time, and the movement of the robotic arm is controlled to move the clamp body to the target discharge position to place the target boxes, and then the single-controlled bottom supporting clamp is controlled to place the multiple target boxes at the same time, or the target boxes of the multiple target boxes are placed one by one. That is, in the present invention, the single-controlled bottom supporting clamp can realize multiple grasping and multiple placing and multiple grasping and single placing of target boxes, thereby improving the picking and placing efficiency of the present invention in scenarios such as palletizing, loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] 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:

[0047] Figure 1 This is a flowchart of the steps of the method for using the single-control bottom supporting fixture in an embodiment of the present invention;

[0048] Figure 2 Schematic diagram of the structure of a single-control bottom supporting fixture in an embodiment of the present invention;

[0049] Figure 3 A flowchart of the steps of sucking multiple target boxes in an embodiment of the present invention;

[0050] Figure 4 It is a flow chart of the steps of controlling a single-control bottom supporting fixture to grasp and release multiple items in an embodiment of the present invention;

[0051] Figure 5 It is a flow chart of the steps of controlling the sequential placement of multiple grippers of a single-control bottom supporting fixture in an embodiment of the present invention;

[0052] Figure 6 It is a flow chart of the steps of controlling the single-control bottom supporting fixture to place multiple grippers in the center in sequence according to an embodiment of the present invention;

[0053] Figure 7 It is a schematic diagram of the partitions of the single-control bottom supporting fixture in an embodiment of the present invention;

[0054] Figure 8 It is a schematic diagram of the structure of a single valve controlled suction cup array in an embodiment of the present invention;

[0055] Fig. 9 A schematic diagram of the inner side of a suction cup mounted on a mainboard according to an embodiment of the present invention; and

[0056] Fig.10 Schematic diagram of the structure of the loading and unloading robot in an embodiment of the present invention.

[0057] In the figure:

[0058] 1 is the fixture body; 101 is the mounting vertical plate; 201 is the suction cup mounting main board; 202 is the suction cup mounting cover plate; 203 is the suction cup; 204 is the solenoid valve; 205 is the mounting bracket; 206 is the suction cup bracket; 3 is the bottom supporting mechanism; 4 is the driving module; 5 is the single valve controlled suction cup array; 501 is the first suction cup area; 502 is the second suction cup area; 503 is the third suction cup area; 100 is a single-control bottom supporting fixture; 200 is a robotic arm; 300 is a mobile base. DETAILED DESCRIPTION

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] Figure 1 FIG. 1 is a flow chart of the steps of the method for using the single-control bottom supporting fixture in an embodiment of the present invention. Figure 1 As shown, the method for using the single-control bottom supporting fixture provided by the present invention is performed by a loading and unloading robot, the loading and unloading robot comprises a single-control bottom supporting fixture 100 and a mechanical arm 200, the single-control bottom supporting fixture is arranged at the end of the mechanical arm 200, and comprises the following steps:

[0064] Step S1: controlling the single-control bottom holding fixture 100 to simultaneously absorb multiple target boxes;

[0065] Figure 3 FIG. 1 is a flow chart of the steps of sucking multiple target boxes in an embodiment of the present invention. Figure 3 As shown, step S1 includes the following steps:

[0066] Step S101: Control the robot arm 200 to move so that the single-control bottom supporting fixture 100 moves to the front side or upper side of the target box;

[0067] Step S102: controlling the single-control bottom supporting fixture 100 to apply suction to hold the plurality of target boxes;

[0068] Step S103: Control the driving module 4 to pull the single-control bottom supporting fixture 100 to move in a direction close to the robot arm 200, and at the same time drive the bottom supporting mechanism 3 to extend to the lower side of the target box to support the target box.

[0069] Step S2: Control the robot arm 200 to move so that the fixture body 1 moves to the target discharge position to place the target box;

[0070] Step S3: controlling the single-control bottom supporting fixture 100 to place the multiple target boxes simultaneously, or to place the target boxes of the multiple target boxes sequentially.

[0071] Figure 4 FIG. 1 is a flow chart of the steps of controlling a single-control bottom-supporting fixture to grasp and release multiple items in an embodiment of the present invention. Figure 4 As shown, step S3 includes the following steps:

[0072] Step S301: acquiring a depth image of a stack body, and determining an optional material discharge position on the stack body according to the depth image of the stack body;

[0073] Step S302: obtaining the number of the target boxes, and when the number of the target boxes is consistent with the number of target boxes that can be accommodated at the discharge position, controlling the single-control bottom supporting fixture 100 to place the plurality of target boxes at the discharge position at one time;

[0074] Step S303: When the number of the target boxes is greater than the number of the target boxes that can be accommodated by the discharge position, the single-control bottom supporting fixture 100 is controlled to place some of the multiple target boxes on the discharge position.

[0075] In the embodiment of the present invention, when the single-control bottom supporting fixture 100 is controlled to suck two target boxes during palletizing, when the optional discharge position on the stack body can support the placement of two target boxes at a time, the two target boxes can be placed on the optional discharge position at one time; when the optional discharge position on the stack body can support the placement of one target box at a time, one of the two target boxes can be placed on the optional discharge position, and the other can be placed on the other optional discharge position. When placing, the solenoid valve of the suction cup in the suction cup area corresponding to each target box is controlled to disconnect the connection between the suction cup and the vacuum source to realize the release and placement of a single target box;

[0076] For example, when palletizing, when the single-control bottom supporting clamp 100 is controlled to absorb the three target boxes, when the optional discharge position on the stack body can support the placement of three target boxes at a time, the three target boxes can be placed on the optional discharge position at one time; when the optional discharge position on the stack body can support the placement of two target boxes at a time, two of the three target boxes can be placed on the optional discharge position, and the other can be placed on the other optional discharge position; when the optional discharge position on the stack body can support the placement of one target box at a time, one of the three target boxes can be placed on the optional discharge position, another can be placed on the other optional discharge position, and another can be placed on the other optional discharge position.

[0077] Figure 5 Flow chart of the steps of controlling the sequential placement of multiple grippers of a single-control bottom support fixture according to an embodiment of the present invention. Figure 5 As shown, step S3 includes the following steps:

[0078] Step S301: Control the single-control bottom supporting fixture 100 to place a target box among the multiple target boxes on the conveyor line;

[0079] Step S302: Obtain a preset time threshold;

[0080] Step S303: when the time interval is greater than the preset time threshold, the single-control bottom supporting fixture 100 is controlled to place another target box among the multiple target boxes on the conveyor line.

[0081] In an embodiment of the present invention, the preset time threshold can be set to 1 to 3 seconds, or can be set to other time intervals. By setting the time interval, the close placement of multiple target boxes is avoided, the target boxes are placed at intervals on the conveyor line, and it is also convenient for the downstream of the conveyor line to grab the target boxes on the conveyor line in sequence.

[0082] Figure 6 Flow chart of the steps of controlling the single-control bottom supporting fixture to place multiple grippers in the center in sequence according to an embodiment of the present invention. Figure 6 As shown, step S3 includes the following steps:

[0083] Step S301: Control the single-control bottom supporting fixture 100 to place a target box among the multiple target boxes in the center on the conveyor line;

[0084] Step S302: Control the movement of the robot arm 200 so that another target box among the multiple target boxes on the single-control bottom holding fixture 100 is located at the center of the conveyor line;

[0085] Step S303: Control the single-control bottom supporting fixture 100 to place another target box among the multiple target boxes in the center on the conveyor line.

[0086] In an embodiment of the present invention, when the target box needs to be placed in the center, one target box can be released to the center position of the conveyor line in turn, and then the robot arm 200 can be controlled to move so that another target box is located in the center position of the conveyor line and then placed again.

[0087] Figure 2 FIG. 1 is a schematic diagram of the structure of a single-control bottom supporting fixture in an embodiment of the present invention. Figure 2 As shown, the single-control bottom supporting fixture 100 includes:

[0088] Clamp body 1;

[0089] A suction cup bracket 206, on which the single valve-controlled suction cup array 5 is arranged, and the single valve-controlled suction cup array 5 is used to suck the target box. The suction cup bracket 206 is arranged on a side surface of the fixture body 1 and can move along a first direction. The single valve-controlled suction cup array 5 includes a plurality of suction cup areas arranged adjacent to each other, and each suction cup area can suck a target box alone;

[0090] A bottom supporting mechanism 3, located on the clamp body 1, capable of moving in a second direction opposite to the first direction;

[0091] The driving module 4 is connected to the suction cup bracket 206 and the bottom supporting mechanism 3 via a driving transmission mechanism, and is used to drive the suction cup bracket 206 and the bottom supporting mechanism 3 to move in opposite directions at the same time.

[0092] In the embodiment of the present invention, the driving module 4 is disposed on the mounting vertical plate 101 of the fixture body 1. The driving module 4 is a driving motor or a cylinder.

[0093] In the embodiment of the present invention, after the single valve control suction cup array 5 absorbs the target box, the driving module 4 drives the single valve control suction cup array 5 to move from the front end of the clamp body 1 to the rear end of the clamp body 1, and the bottom supporting mechanism 3 extends from the front end of the clamp body 1;

[0094] When releasing the target box, the driving module 4 drives the single valve to control the suction cup array 5 to move from the rear end of the clamp body 1 to the front end of the clamp body 1 to push the target box out, and at the same time the bottom supporting mechanism 3 retracts into the clamp body 1.

[0095] Figure 7 FIG. 1 is a schematic diagram of the partitioning of the single-control bottom supporting fixture in an embodiment of the present invention. Figure 7 The single valve control suction cup array 5 includes a first suction cup area 501, a second suction cup area 502 and a third suction cup area 503 which are adjacently arranged;

[0096] The first suction cup area 501, the second suction cup area 502 and the third suction cup area 503 are used to provide suction alone to suck the side of a target box of one size and to provide suction all or partly at the same time to suck the side of a target box of another size.

[0097] That is, by controlling the suction cup array 5 through a single valve for zone control, a target box side with a small area can be sucked, that is, the first suction cup area 501, the second suction cup area 502 or the third suction cup area 503 are individually controlled to suck a target box side with a certain area, thereby avoiding pulling the adjacent target box; at this time, the first suction cup area 501, the second suction cup area 502 or the third suction cup area 503 is smaller than the area of ​​the sucked surface of the target box.

[0098] In the embodiment of the present invention, Figure 7 As shown, the first suction cup area 501, the second suction cup area 502 and the third suction cup area 503 have the same height, but the width of the first suction cup area 501, the second suction cup area 502 and the third suction cup area 503 is smaller than the single valve control suction cup array 5, and thus can be used to suck the target box whose width is smaller than the first suction cup area 501, the second suction cup area 502 and the third suction cup area 503.

[0099] In the embodiment of the present invention, since each suction cup 203 can be individually controlled by the solenoid valve 204, any one or more of the first suction cup area 501, the second suction cup area 502 and the third suction cup area 503 can be controlled to perform vacuum suction at the same time, thereby realizing multiple grabbing and single release of the target box.

[0100] In a variation of the present invention, the first suction cup area 501 is provided with a first suction channel, the second suction cup area 502 is provided with a second suction channel, and the third suction cup area 503 is provided with a third suction channel. Three vacuum generators or vacuum sources can be provided to provide suction to the first suction cup area 501, the second suction cup area 502 and the third suction cup area 503 respectively. A vacuum generator or vacuum source can also be provided to connect the first suction channel, the second suction channel and the third suction channel through a four-way valve to provide suction to the first suction cup area 501, the second suction cup area 502 and the third suction cup area 503 at the same time, or to provide suction to the first suction cup area 501, the second suction cup area 502 and the third suction cup area 503 respectively.

[0101] In summary, whether to select the single valve to control the suction cup array 5 or any one or more of the first suction cup area 501, the second suction cup area 502 and the third suction cup area 503 is determined according to the area of ​​the sucked side of the target box. Generally, the suction cup area needs to be located inside the sucked side and be able to provide sufficient suction to lift the target box.

[0102] Figure 8 FIG. 1 is a schematic diagram of the structure of a single valve controlled suction cup array according to an embodiment of the present invention. Figure 8 As shown, the single valve controlled suction cup array 5 comprises:

[0103] A suction cup mounting mainboard 201, wherein a cavity structure is formed inside the suction cup mounting mainboard 201, and a plurality of first mounting holes arranged in a matrix are provided on the suction cup mounting mainboard 201;

[0104] A suction cup 203, wherein the suction cup 203 is disposed in the first mounting hole and is located at the front side of the suction cup mounting mainboard 201;

[0105] A suction cup mounting cover plate 202, the suction cup mounting cover plate 202 and the rear side cover of the suction cup mounting main board 201 are used to close the cavity structure, and the suction cup mounting cover plate 202 is provided with a plurality of second mounting holes arranged in a matrix and suction holes for vacuuming the cavity structure;

[0106] The solenoid valve 204 is disposed in the second mounting hole; wherein the suction cup is connected to the cavity structure through the solenoid valve 204 .

[0107] In the embodiment of the present invention, the solenoid valve 204 is disposed in a one-to-one correspondence with the suction cup 203 .

[0108] Fig. 9 FIG. 1 is a schematic diagram of the inner side of the motherboard mounted with the suction cup in an embodiment of the present invention. Fig. 9 As shown, a plurality of mounting brackets 205 arranged in sequence are arranged in the cavity structure;

[0109] Each of the mounting brackets 205 is provided with a plurality of first air holes and a plurality of second air holes; the first air holes are connected to the air inlet and outlet holes of the suction cup 203 on one hand, and are connected to the second air holes through the air channel of the solenoid valve 204 on the other hand;

[0110] The second air hole is connected to the cavity structure;

[0111] The solenoid valve 204 is used to control the connection between the first air hole and the multiple second air holes. When the first air hole and the multiple second air holes are connected, the suction cup 203 can be controlled to apply suction through the first air hole. When the first air hole and the multiple second air holes are not connected, the suction cup 203 cannot be controlled to apply suction through the first air hole.

[0112] In the embodiment of the present invention, the single valve controlled suction cup array 5 further includes a vacuum connector and a controller unit; the vacuum connector is connected to the cavity structure through the suction hole;

[0113] The vacuum connector is used to connect to a vacuum source to provide vacuum to the cavity structure.

[0114] The controller unit is electrically connected to each of the solenoid valves 204 , and is used to control the on and off of each of the solenoid valves 204 .

[0115] In an embodiment of the present invention, the controller unit includes an industrial computer and a communication notification board, the communication notification board includes an STM32 chip, the STM32 controls the solenoid valve 204 by driving MOS transistors through multiple DO ports, and one DO port controls one solenoid valve 204.

[0116] Fig.10 FIG. 1 is a schematic diagram of the structure of a loading and unloading robot in an embodiment of the present invention. Fig.10 As shown, the loading and unloading robot provided by the present invention includes the single-control bottom supporting fixture 100, and also includes a mechanical arm 200 and a mobile base 300;

[0117] The single-control bottom supporting fixture 100 is arranged at the end of the mechanical arm 200;

[0118] The robotic arm 200 is disposed on the mobile base 300 , and the mobile base 300 is used to drive the robotic arm 200 to move.

[0119] When the loading and unloading robot provided by the present invention is used to unload the target box, the process includes:

[0120] Control the suction cup bracket 206 to move to the front end of the clamp body 1 to suck a side surface of the target box;

[0121] Control the driving module 4 to drive the suction cup bracket 206 to move from the front end of the clamp body 1 to the rear end of the clamp body 1, and at the same time, the bottom supporting mechanism 3 extends from the front end of the clamp body 1 to support the target box;

[0122] The driving module 4 is controlled to drive the suction cup bracket 206 to move from the rear end of the clamp body 1 to the front end of the clamp body 1 to push out the target box, and at the same time, the bottom supporting mechanism 3 is retracted into the clamp body 1.

[0123] More specifically, it includes:

[0124] Acquire a stack image of the box stack, identify the stack image, and determine a plurality of target box areas on the stack image;

[0125] Determine a plurality of target boxes to be sucked according to the positions of the plurality of target box areas, and then determine the length and height of the target boxes;

[0126] When the height of the side to be sucked is greater than the height of the single valve controlled suction cup array 5 and the length of the side to be sucked is greater than the length of the single valve controlled suction cup array 5, the target box is sucked by the single valve controlled suction cup array 5;

[0127] When the height of the side to be sucked is greater than the height of the single valve controlled suction cup array 5 and the length of the side to be sucked is less than the length of the single valve controlled suction cup array 5, the target box is sucked by the first suction cup area 501 or the second suction cup area 502 of the single valve controlled suction cup array 5.

[0128] In an embodiment of the present invention, the single-controlled bottom supporting clamp is controlled to simultaneously absorb multiple target boxes, and the movement of the robotic arm is controlled to move the clamp body to the target discharge position to place the target boxes, and then the single-controlled bottom supporting clamp is controlled to place the multiple target boxes at the same time, or the target boxes of the multiple target boxes are placed one by one. That is, in the present invention, the single-controlled bottom supporting clamp can realize multiple-grabbing and multiple-releasing and multiple-grabbing and single-releasing of target boxes, thereby improving the picking and placing efficiency of the present invention in scenarios such as palletizing, loading and unloading.

[0129] 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.

[0130] 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 using a single-control bottom supporting fixture, characterized in that: The loading and unloading robot is used, and the loading and unloading robot includes a single-control bottom-supporting fixture and a mechanical arm, and the single-control bottom-supporting fixture is arranged at the end of the mechanical arm, and includes the following steps: Step S1: controlling the single-control bottom-supporting fixture to simultaneously absorb multiple target boxes; Step S2: Control the movement of the robot arm to move the fixture body to a target discharge position to place the target box; Step S3: controlling the single-control bottom supporting fixture to place the multiple target boxes simultaneously, or to place the target boxes of the multiple target boxes sequentially.

2. The method for using the single-control bottom supporting fixture according to claim 1, characterized in that: The single-control bottom supporting fixture comprises: The fixture body; A suction cup bracket, wherein a single valve-controlled suction cup array is disposed on the suction cup bracket, wherein the single valve-controlled suction cup array is used to suck a target box, wherein the suction cup bracket is disposed on a side surface of the fixture body and can move along a first direction, wherein the single valve-controlled suction cup array includes a plurality of adjacently disposed suction cup areas, and each suction cup area can suck a target box alone; A bottom supporting mechanism, located on the clamp body, capable of moving in a second direction opposite to the first direction; A driving module, wherein the driving module is connected to the suction cup bracket and the bottom supporting mechanism via a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom supporting mechanism to perform reverse movements simultaneously.

3. The method for using the single-control bottom supporting fixture according to claim 1, characterized in that: The step S3 comprises the following steps: Step S301: acquiring a depth image of a stack body, and determining an optional material discharge position on the stack body according to the depth image of the stack body; Step S302: obtaining the number of the target boxes, and when the number of the target boxes is consistent with the number of target boxes that can be accommodated at the discharge position, controlling the single-control bottom supporting fixture to place the plurality of target boxes at the discharge position at one time; Step S303: When the number of the target boxes is greater than the number of the target boxes that can be accommodated at the discharge position, the single-control bottom supporting fixture is controlled to place part of the plurality of target boxes onto the discharge position.

4. The method for using the single-control bottom supporting fixture according to claim 1, characterized in that: The step S3 comprises the following steps: Step S301: Control the single-control bottom supporting fixture to place a target box among the multiple target boxes on the conveyor line; Step S302: Obtain a preset time threshold; Step S303: When the time interval is greater than the preset time threshold, the single-control bottom supporting fixture is controlled to place another target box among the multiple target boxes on the conveyor line.

5. The method for using the single-control bottom supporting fixture according to claim 1, characterized in that: The step S3 comprises the following steps: Step S301: Control the single-control bottom supporting fixture to place a target box among the multiple target boxes in the center on the conveyor line; Step S302: Control the movement of the robot arm so that another target box among the multiple target boxes on the single-control bottom holding fixture is located at the center of the conveyor line; Step S303: Control the single-control bottom supporting fixture to place another target box among the multiple target boxes in the center on the conveyor line.

6. The method for using the single-control bottom supporting fixture according to claim 2, characterized in that: The step S1 comprises the following steps: Step S101: controlling the movement of the robot arm so that the single-control bottom supporting fixture moves to the front side or upper side of the target box; Step S102: controlling the single-control bottom supporting fixture to apply suction to hold the plurality of target boxes; Step S103: controlling the driving module to pull the single-control bottom supporting fixture to move in a direction close to the robot arm, and at the same time driving the bottom supporting mechanism to extend toward the lower side of the target box to support the target box.

7. The method for using the single-control bottom supporting fixture according to claim 2, characterized in that: When the single valve control suction cup array absorbs the target box, the driving module drives the single valve control suction cup array to move from the front end of the fixture body to the rear end of the fixture body, and the bottom supporting mechanism extends from the front end of the fixture body; When releasing the target box, the driving module drives the single valve to control the suction cup array to move from the rear end of the clamp body to the front end of the clamp body to push the target box out, and the bottom supporting mechanism retracts into the clamp body.

8. The method for using the single-control bottom supporting fixture according to claim 2, characterized in that: The single valve controlled suction cup array comprises: A suction cup mounting mainboard, wherein a cavity structure is formed inside the suction cup mounting mainboard, and a plurality of first mounting holes arranged in a matrix are provided on the suction cup mounting mainboard; A suction cup, the suction cup is arranged in the first mounting hole and is located at the front side of the suction cup mounting mainboard; A suction cup mounting cover plate, the suction cup mounting cover plate and the rear side cover of the suction cup mounting mainboard are used to close the cavity structure, and the suction cup mounting cover plate is provided with a plurality of second mounting holes arranged in a matrix and suction holes for vacuuming the cavity structure; A solenoid valve is disposed in the second mounting hole; wherein the suction cup is connected to the cavity structure through the solenoid valve.

9. The method for using the single-control bottom supporting fixture according to claim 8, characterized in that: A plurality of mounting brackets arranged in sequence are arranged in the cavity structure; Each of the mounting brackets is provided with a plurality of first air holes and a plurality of second air holes; the first air holes are connected to the air inlet and outlet holes of the suction cup on one hand, and are connected to the second air holes through the air channel of the solenoid valve on the other hand; The second air hole is connected to the cavity structure; The solenoid valve is used to control the connection between the first air hole and the multiple second air holes. When the first air hole and the multiple second air holes are connected, the suction cup can be controlled to apply suction through the first air hole. When the first air hole and the multiple second air holes are not connected, the suction cup cannot be controlled to apply suction through the first air hole.

10. The method for using the single-control bottom supporting fixture according to claim 8, characterized in that: The solenoid valves are arranged in one-to-one correspondence with the suction cups.

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