Box carrying device and box carrying method

Abstract

The invention provides a box carrying device and a box carrying method. The box carrying device comprises a connecting plate, a first side plate, a second side plate, an upper clamping mechanism, an upper fixing mechanism, a lower clamping mechanism and a lower fixing mechanism. The connecting plate is connected with the manipulator; one end of the first side plate is movably connected with the connecting plate, one end of the second side plate is movably connected with the connecting plate, and the upper clamping mechanism is connected with the first side plate and the second side plate. The upper fixing mechanism is fixed to the connecting plate, and the bottom of the upper fixing mechanism is used for making contact with the upper box body. The two lower clamping mechanisms are connected with the first side plate and the second side plate correspondingly, penetrate through the first side plate and the second side plate correspondingly and make contact with the lower box body located between the first side plate and the second side plate correspondingly. And the two lower fixing mechanisms are respectively connected with the first side plate and the second side plate. The box carrying reliability is improved, the situation that a gap is formed in the connecting position between the upper box body and the lower box body is eliminated, and the packaging reliability is improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a box transporting device and a box transporting method. Background Art

[0002] Currently, the packaging of equipment usually includes an upper box and a lower box. The upper box is used to buckle on the lower box to package the equipment in the lower box.

[0003] The existing packaging and handling device first grabs the upper box from top to bottom, and moves the upper box to the top of the lower box through a robot. After the worker connects the upper box and the lower box, the robot grabs the connected upper box and the lower box to the designated position.

[0004] However, the inventors have discovered that, when carrying an upper box and a lower box, the existing packaging and handling devices are prone to causing the upper box and / or the lower box to shake or even flip over, resulting in poor reliability in box handling. At the same time, when connecting the upper box and the lower box, the mounting surface of the upper box and the mounting surface of the lower box cannot be made to fit together, resulting in a gap at the connection between the upper box and the lower box, causing poor packaging reliability. Summary of the invention

[0005] The present application provides a box handling device and a box handling method, which are used to solve the problems that the upper box and / or the lower box are easily shaken or even turned over when the existing packaging and handling devices are carrying the upper box and the lower box, resulting in poor box handling reliability, and when connecting the upper box and the lower box, the mounting surface of the upper box cannot be made to fit the mounting surface of the lower box, resulting in a gap at the connection between the upper box and the lower box, causing poor packaging reliability.

[0006] In a first aspect, the present application provides a box handling device, comprising: a connecting plate, a first side plate, a second side plate, an upper clamping mechanism, an upper fixing mechanism, a lower clamping mechanism and a lower fixing mechanism;

[0007] The connecting plate is connected to the manipulator;

[0008] One end of the first side plate is movably connected to the connecting plate, one end of the second side plate is movably connected to the connecting plate, and the upper clamping mechanism is respectively connected to the first side plate and the second side plate; the upper clamping mechanism is used to control the relative movement of the first side plate and the second side plate so that the first side plate and the second side plate clamp the upper box body; the upper clamping mechanism is also used to control the first side plate and the second side plate to move away from each other so that the first side plate and the second side plate are loosened from the upper box body;

[0009] The upper fixing mechanism fixes the connecting plate, and the bottom of the upper fixing mechanism is used to contact the upper box body and provide pressure to the upper box body;

[0010] The two lower clamping mechanisms are connected to the first side plate and the second side plate respectively, and the two lower clamping mechanisms pass through the first side plate and the second side plate respectively, and are in contact with the lower box body located between the first side plate and the second side plate respectively, so that the two lower clamping mechanisms clamp the lower box body;

[0011] The two lower fixing mechanisms are respectively connected to the first side plate and the second side plate, and the two lower fixing mechanisms are respectively inserted into the lower box body to fix the lower box body.

[0012] The above solution also includes: an adapter plate and an anti-fall hanging plate;

[0013] The adapter plate is fixed on the upper surface of the connecting plate, the anti-fall hanging plate is connected to the adapter plate, and the anti-fall hanging plate is connected to the manipulator so that the connecting plate is connected to the manipulator.

[0014] In the above scheme, the upper clamping mechanism comprises: a slide rail, a first clamping block, a second clamping block, an upper clamping cylinder, an upper guide rod and a guide rail lock;

[0015] The slide rail is connected to the lower surface of the connecting plate;

[0016] The first clamping block and the second clamping block are respectively movably connected to the slide rail;

[0017] The first clamping block is connected to the first side plate, and the second clamping block is connected to the second side plate;

[0018] The upper clamping cylinder is connected to the first side plate, one end of the upper guide rod is connected to the upper clamping cylinder, and the other end of the upper guide rod is detachably connected to the second side plate;

[0019] The guide rail lock is movably connected to the slide rail, and the guide rail lock is also connected to the first clamping block.

[0020] In the above scheme, the upper clamping mechanism further includes: an upper locking cylinder and a cross locking sleeve;

[0021] The cross locking sleeve is fixed on the second side plate, and one end of the upper guide rod away from the upper clamping cylinder passes through the horizontal channel of the cross locking sleeve;

[0022] The cylinder rod of the upper locking cylinder is inserted into the vertical channel of the cross locking sleeve and contacts the upper guide rod located in the horizontal channel, so that the upper guide rod is detachably connected to the second side plate.

[0023] In the above solution, the upper fixing mechanism includes: a guide column, a support, a limiting structure, a fixing structure and a spring;

[0024] The support is fixed to the connecting plate, and one end of the guide column passes through the support;

[0025] The limiting structure is connected to one end of the guide post located above the connecting plate, and the limiting structure is used to prevent the guide post from passing through the support;

[0026] The fixing structure is connected to one end of the guide column located below the connecting plate, and the fixing structure is used to contact the upper box body;

[0027] The spring is sleeved on the portion of the guide post located below the connecting plate, and the spring is used to provide pressure to the upper box body through the fixing mechanism.

[0028] In the above solution, the limiting structure includes a gasket and a top end cover;

[0029] The top end cover is connected to one end of the guide post located above the connecting plate;

[0030] The gasket is connected to the bottom of the top end cap.

[0031] In the above scheme, the lower clamping mechanism comprises: a first mounting plate, a first lower cylinder mechanism, a first telescopic block, a second mounting plate, a second lower cylinder mechanism and a second telescopic block;

[0032] The first mounting plate is located at one end of the first side plate away from the connecting plate, and the first mounting plate is located at a side of the first side plate away from the second side plate;

[0033] The first lower cylinder mechanism is fixed on the first mounting plate, the first lower cylinder mechanism is connected to one end of the first telescopic block, and the other end of the first telescopic block passes through the first side plate;

[0034] The second mounting plate is located at one end of the second side plate away from the connecting plate, and the second mounting plate is located at a side of the second side plate away from the second side plate;

[0035] The second lower cylinder mechanism is fixed on the second mounting plate, the second lower cylinder mechanism is connected to one end of the second telescopic block, and the other end of the second telescopic block passes through the second side plate.

[0036] In the above scheme, the first lower cylinder mechanism comprises: a first fixed seat, a first lower clamping cylinder and a first floating joint;

[0037] The first fixing seat is connected to the upper surface of the first mounting plate;

[0038] The first lower clamping cylinder is fixed inside the first fixing seat.

[0039] The cylinder rod of the first lower clamping cylinder is connected to one end of the first floating joint, and the other end of the first floating joint is connected to one end of the first telescopic block;

[0040] The second lower cylinder mechanism comprises: a second fixed seat, a second lower clamping cylinder and a second floating joint;

[0041] The second fixing seat is connected to the upper surface of the second mounting plate;

[0042] The second lower clamping cylinder is fixed inside the second fixing seat;

[0043] The cylinder rod of the second lower clamping cylinder is connected to one end of the second floating joint, and the other end of the second floating joint is connected to one end of the second telescopic block.

[0044] In the above solution, the lower fixing mechanism includes: a first fixing pin and a second fixing pin;

[0045] One end of the first fixing pin passes through the first side plate and is detachably connected to the first side plate;

[0046] The first fixing pin passes through one end of the first side plate and is used to be inserted into the lower box between the first side plate and the second side plate;

[0047] One end of the second fixing pin passes through the second side plate and is detachably connected to the second side plate;

[0048] The second fixing pin passes through one end of the second side plate and is used to be inserted into the lower box body located between the first side plate and the second side plate.

[0049] In a second aspect, the present application provides a box transport method, which is applied to the above-mentioned box transport device, and the method includes:

[0050] S1: Control the manipulator to move the box transporting device onto the upper box, and make the upper box be located between the first side plate and the second side plate;

[0051] S2: Control the manipulator to make the upper fixing mechanism contact with the upper box body and provide pressure to the upper box body;

[0052] S3: controlling the upper clamping mechanism to make the first side plate and the second side plate clamp the upper box body, and the upper box body will be fixed in the space surrounded by the first side plate, the second side plate and the upper fixing mechanism;

[0053] S4: Control the manipulator to move the upper box handling device to the top of the lower box, and align the installation surface at the bottom of the upper box with the installation surface at the top of the lower box;

[0054] S5: controlling the upper clamping mechanism to loosen the first side plate and the second side plate from the upper box body, and the pressure provided by the upper fixing mechanism to the upper box body will be applied to the upper box body and the lower box body to close the gap between the mounting surface of the upper box body and the mounting surface of the lower box body;

[0055] S6: in response to the installation completion signal, controlling the upper clamping mechanism to make the first side plate and the second side plate clamp the upper box body;

[0056] S7: controlling the two lower clamping mechanisms to contact the lower box body between the first side plate and the second side plate respectively, so that the two lower clamping mechanisms clamp the lower box body;

[0057] S8: Control the two lower fixing mechanisms to be inserted into the lower box body respectively to fix the lower box body;

[0058] S9: Control the robot arm to move the box transport device to move the upper box and the lower box to a specified position.

[0059] The present application provides a box handling device and a box handling method, which avoid shaking or even flipping of the upper box and / or the lower box during handling through an upper clamping mechanism, an upper fixing mechanism, a lower clamping mechanism and a lower fixing mechanism, thereby improving the reliability of box handling; at the same time, the pressure provided to the upper box by the upper fixing mechanism will be applied to the upper box and the lower box to bridge the gap between the mounting surface of the upper box and the mounting surface of the lower box, thereby eliminating the gap at the connection between the upper box and the lower box, and improving the reliability of packaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0061] Figure 1 A schematic structural diagram of an embodiment of a box handling device provided in the present application.

[0062] Reference numerals:

[0063] 1: Connecting plate;

[0064] 2: first side panel;

[0065] 3: Second side panel;

[0066] 4: Upper clamping mechanism;

[0067] 5: Upper fixing mechanism;

[0068] 6: Lower clamping mechanism;

[0069] 7: Lower fixing mechanism;

[0070] 8: Adapter board;

[0071] 9: Anti-fall hanging plate;

[0072] 41: slide rail;

[0073] 42: first clamping block;

[0074] 43: second clamping block;

[0075] 44: upper clamping cylinder;

[0076] 45: upper guide rod;

[0077] 46: rail lock;

[0078] 47: Upper locking cylinder;

[0079] 48: Cross locking sleeve;

[0080] 461: locking bolt;

[0081] 481: horizontal channel;

[0082] 482: vertical channel;

[0083] 51: guide column;

[0084] 52: support;

[0085] 53: Limiting structure;

[0086] 54: Fixed structure;

[0087] 55: Spring;

[0088] 531: Washer;

[0089] 532: top cover;

[0090] 61: first mounting plate;

[0091] 62: first lower cylinder mechanism;

[0092] 63: first telescopic block;

[0093] 64: second mounting plate;

[0094] 65: second lower cylinder mechanism;

[0095] 66: second telescopic block;

[0096] 621: first fixed seat;

[0097] 622: first clamping cylinder;

[0098] 623: first floating joint;

[0099] 651: second fixing seat;

[0100] 652: second clamping cylinder;

[0101] 653: second floating joint;

[0102] 71: first fixing pin;

[0103] 72: Second fixing pin.

[0104] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0105] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0106] The following specific embodiments are used to describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0107] See also Figure 1 , the present application provides a box handling device, comprising: a connecting plate 1, a first side plate 2, a second side plate 3, an upper clamping mechanism 4, an upper fixing mechanism 5, a lower clamping mechanism 6 and a lower fixing mechanism 7;

[0108] The connecting plate 1 is connected to the manipulator;

[0109] One end of the first side plate 2 is movably connected to the connecting plate 1, and one end of the second side plate 3 is movably connected to the connecting plate 1. The upper clamping mechanism 4 is respectively connected to the first side plate 2 and the second side plate 3; the upper clamping mechanism 4 is used to control the relative movement of the first side plate 2 and the second side plate 3, so that the first side plate 2 and the second side plate 3 clamp the upper box body; the upper clamping mechanism 4 is also used to control the first side plate 2 and the second side plate 3 to move away from each other, so that the first side plate 2 and the second side plate 3 are loosened from the upper box body;

[0110] The upper fixing mechanism 5 is fixed on the connecting plate 1, and the bottom of the upper fixing mechanism 5 is used to contact with the upper box body and provide pressure to the upper box body;

[0111] The two lower clamping mechanisms 6 are connected to the first side plate 2 and the second side plate 3 respectively, and the two lower clamping mechanisms 6 pass through the first side plate 2 and the second side plate 3 respectively, and contact the lower box body located between the first side plate 2 and the second side plate 3 respectively, so that the two lower clamping mechanisms 6 clamp the lower box body;

[0112] The two lower fixing mechanisms 7 are connected to the first side plate 2 and the second side plate 3 respectively, and the two lower fixing mechanisms 7 are respectively inserted into the lower box body to fix the lower box body.

[0113] In this example, the robot is controlled to move the box handling device to the upper box and place the upper box between the first side plate 2 and the second side plate 3; the robot is controlled to make the upper fixing mechanism 5 contact with the upper box and provide pressure to the upper box; the upper clamping mechanism 4 is controlled to make the first side plate 2 and the second side plate 3 clamp the upper box, and the upper box will be fixed in the space surrounded by the first side plate 2, the second side plate 3 and the upper fixing mechanism 5; the robot is controlled to move the upper box handling device to the top of the lower box and align the mounting surface of the bottom of the upper box with the mounting surface of the top of the lower box; the upper clamping mechanism 4 is controlled to make the first side plate 2 and the second The side panel 3 is loosened from the upper box body, and the pressure provided by the upper fixing mechanism 5 to the upper box body will be applied to the upper box body and the lower box body to close the gap between the mounting surface of the upper box body and the mounting surface of the lower box body; the upper clamping mechanism 4 is controlled to make the first side panel 2 and the second side panel 3 clamp the upper box body; the two lower clamping mechanisms 6 are controlled to contact the lower box body located between the first side panel 2 and the second side panel 3 respectively, so that the two lower clamping mechanisms 6 clamp the lower box body; the two lower fixing mechanisms 7 are controlled to be inserted into the lower box body respectively to fix the lower box body; the manipulator is controlled to move the upper box body and the lower box body to the specified position by moving the box body handling device.

[0114] Therefore, the present application avoids shaking or even overturning of the upper box and / or the lower box during transportation through the upper clamping mechanism 4, the upper fixing mechanism 5, the lower clamping mechanism 6 and the lower fixing mechanism 7, thereby improving the reliability of box transportation; at the same time, the pressure provided to the upper box by the upper fixing mechanism 5 will be applied to the upper box and the lower box to bridge the gap between the mounting surface of the upper box and the mounting surface of the lower box, thereby eliminating the gap at the connection between the upper box and the lower box, thereby improving the reliability of packaging.

[0115] In a preferred embodiment, the box handling device further includes: an adapter plate 8 and an anti-fall hanging plate 9;

[0116] The adapter plate 8 is fixed on the upper surface of the connecting plate 1 , the anti-falling hanging plate 9 is connected to the adapter plate 8 , and the anti-falling hanging plate 9 is connected to the manipulator to connect the connecting plate 1 to the manipulator.

[0117] In this example, the anti-fall hanging plate 9 is connected to the manipulator, and the anti-fall hanging plate 9 is set to avoid direct connection between the adapter plate 8 and the connecting plate 1, so that the force applied by the manipulator to the anti-fall hanging plate 9 will not be directly transmitted to the connecting plate 1, thereby avoiding stress concentration at the connection part between the anti-fall hanging plate 9 and the connecting plate 1 and causing damage to the connecting plate 1.

[0118] In a preferred embodiment, the upper clamping mechanism 4 comprises: a slide rail 41, a first clamping block 42, a second clamping block 43, an upper clamping cylinder 44, an upper guide rod 45 and a guide rail lock 46;

[0119] The slide rail 41 is connected to the lower surface of the connecting plate 1;

[0120] The first clamping block 42 and the second clamping block 43 are respectively movably connected to the slide rail 41;

[0121] The first clamping block 42 is connected to the first side plate 2, and the second clamping block 43 is connected to the second side plate 3;

[0122] The upper clamping cylinder 44 is connected to the first side plate 2, one end of the upper guide rod 45 is connected to the upper clamping cylinder 44, and the other end of the upper guide rod 45 is detachably connected to the second side plate 3;

[0123] The guide rail lock 46 is movably connected to the slide rail 41 , and the guide rail lock 46 is also connected to the first clamping block 42 .

[0124] In this example, by setting the slide rail 41, the first clamping block 42 and the second clamping block 43, the first side plate 2 and the second side plate 3 can be stably moved along the extension direction of the slide rail 41, and by setting the upper clamping cylinder 44 and the upper guide rod 45 to provide power for the movement of the first side plate 2 and the second side plate 3, the worker can operate the locking bolt 461 of the guide rail lock 46 to press the locking bolt 461 tightly on the slide rail 41, so that the guide rail lock 46 clamps the slide rail 41, thereby achieving the technical effect of locking the first clamping block 42 on the slide rail 41

[0125] By setting the guide rail lock 46 , when the first side plate 2 and the second side plate 3 reach a predetermined position, the guide rail lock 46 will lock the position of the first clamping block 42 , thereby locking the distance between the first side plate 2 and the second side plate 3 .

[0126] Furthermore, the upper clamping mechanism 4 further comprises: an upper locking cylinder 47 and a cross locking sleeve 48;

[0127] The cross locking sleeve 48 is fixed on the second side plate 3, and one end of the upper guide rod 45 away from the upper clamping cylinder 44 passes through the horizontal channel 481 of the cross locking sleeve 48;

[0128] The cylinder rod of the upper locking cylinder 47 is inserted into the vertical channel 482 of the cross locking sleeve 48 and contacts the upper guide rod 45 located in the horizontal channel 481, so that the upper guide rod 45 is detachably connected to the second side plate 3.

[0129] In this example, by inserting the upper guide rod 45 into the horizontal channel 481 of the cross locking sleeve 48 and inserting the cylinder rod of the upper locking cylinder 47 into the vertical channel 482 of the cross locking sleeve 48, the technical effect of controlling the detachable connection between the upper guide rod 45 and the second side panel 3 by the upper locking cylinder 47 is achieved.

[0130] In a preferred embodiment, the upper fixing mechanism 5 includes: a guide column 51, a support 52, a limiting structure 53, a fixing structure 54 and a spring 55;

[0131] The support 52 is fixed on the connecting plate 1, and one end of the guide column 51 passes through the support 52;

[0132] The limiting structure 53 is connected to one end of the guide post 51 located above the connecting plate 1, and the limiting structure 53 is used to prevent the guide post 51 from passing through the support 52;

[0133] The fixing structure 54 is connected to one end of the guide column 51 located below the connecting plate 1, and the fixing structure 54 is used to contact the upper box body;

[0134] The spring 55 is sleeved on the portion of the guide post 51 below the connecting plate 1 , and the spring 55 is used to provide pressure to the upper box body through the fixing mechanism.

[0135] In this example, the upper box body is positioned by providing a support 52, a guide column 51 and a fixing structure 54, and a limiting structure 53 is provided to prevent the guide column 51 from passing through the support 52 and falling off from the support 52 to the bottom of the connecting plate 1; a spring 55 is provided to provide pressure to the upper box body.

[0136] Further, the limiting structure 53 includes a gasket 531 and a top end cover 532;

[0137] The top cover 532 is connected to one end of the guide post 51 located above the connecting plate 1;

[0138] The gasket 531 is connected to the bottom of the top end cover 532.

[0139] In this example, the top cover 532 is connected to one end of the guide post 51 located above the connecting plate 1, and the top cover 532 is used to prevent the guide post 51 from passing through the support 52 and falling off from the support 52 to the bottom of the connecting plate 1;

[0140] The washer 531 is connected to the bottom of the top cover 532 , and the washer 531 is used to contact the top of the support 52 to cushion the impact of the top cover 532 on the support 52 .

[0141] In a preferred embodiment, the lower clamping mechanism 6 comprises: a first mounting plate 61, a first lower cylinder mechanism 62, a first telescopic block 63, a second mounting plate 64, a second lower cylinder mechanism 65 and a second telescopic block 66;

[0142] The first mounting plate 61 is located at one end of the first side plate 2 away from the connecting plate 1 , and the first mounting plate 61 is located at one side of the first side plate 2 away from the second side plate 3 ;

[0143] The first lower cylinder mechanism 62 is fixed on the first mounting plate 61, the first lower cylinder mechanism 62 is connected to one end of the first telescopic block 63, and the other end of the first telescopic block 63 passes through the first side plate 2;

[0144] The second mounting plate 64 is located at one end of the second side plate 3 away from the connecting plate 1 , and the second mounting plate 64 is located at one side of the second side plate 3 away from the second side plate 3 ;

[0145] The second lower cylinder mechanism 65 is fixed on the second mounting plate 64 . The second lower cylinder mechanism 65 is connected to one end of the second telescopic block 66 . The other end of the second telescopic block 66 passes through the second side plate 3 .

[0146] In this example, the first lower cylinder mechanism 62 is connected to one end of the first telescopic block 63, and the other end of the first telescopic block 63 passes through the first side plate 2 to contact the lower box between the first side plate 2 and the second side plate 3;

[0147] The second lower cylinder mechanism 65 is connected to one end of the second telescopic block 66 , and the other end of the second telescopic block 66 passes through the second side plate 3 to contact the lower box body between the first side plate 2 and the second side plate 3 .

[0148] Further, the first lower cylinder mechanism 62 includes: a first fixed seat 621, a first lower clamping cylinder 622 and a first floating joint 623;

[0149] The first fixing seat 621 is connected to the upper surface of the first mounting plate 61;

[0150] The first lower clamping cylinder 622 is fixed inside the first fixing seat 621.

[0151] The cylinder rod of the first lower clamping cylinder 622 is connected to one end of the first floating joint 623, and the other end of the first floating joint 623 is connected to one end of the first telescopic block 63;

[0152] The second lower cylinder mechanism 65 comprises: a second fixed seat 651, a second lower clamping cylinder 652 and a second floating joint 653;

[0153] The second fixing seat 651 is connected to the upper surface of the second mounting plate 64;

[0154] The second lower clamping cylinder 652 is fixed inside the second fixing seat 651;

[0155] The cylinder rod of the second lower clamping cylinder 652 is connected to one end of the second floating joint 653 , and the other end of the second floating joint 653 is connected to one end of the second telescopic block 66 .

[0156] In this example, by providing the first fixing seat 621, the first lower clamping cylinder 622 and the first floating joint 623, the technical effect of automatically clamping the lower box body by the cylinder is achieved;

[0157] By providing the second fixing seat 651, the second lower clamping cylinder 652 and the second floating joint 653, the technical effect of automatically clamping the lower box body by the cylinder is achieved.

[0158] In a preferred embodiment, the lower fixing mechanism 7 comprises: a first fixing pin 71 and a second fixing pin 72;

[0159] One end of the first fixing pin 71 passes through the first side plate 2 and is detachably connected to the first side plate 2;

[0160] The first fixing pin 71 passes through one end of the first side plate 2 and is used to be inserted into the lower box between the first side plate 2 and the second side plate 3;

[0161] One end of the second fixing pin 72 passes through the second side plate 3 and is detachably connected to the second side plate 3;

[0162] The second fixing pin 72 passes through one end of the second side plate 3 and is used to be inserted into the lower box between the first side plate 2 and the second side plate 3 .

[0163] In this example, a first fixing pin 71 and a second fixing pin 72 are provided to insert the lower box body and position the lower box body, thereby preventing the lower box body from shifting and turning over.

[0164] See also Figure 1 The present application also provides a box handling method, which is applied to a box handling device, and the method comprises:

[0165] S1: Control the robot to move the box transporting device onto the upper box, and make the upper box be located between the first side plate 2 and the second side plate 3.

[0166] S2: Control the robot arm to make the upper fixing mechanism 5 contact with the upper box body and provide pressure to the upper box body.

[0167] Preferably, S2 comprises:

[0168] S21: Control the robot arm to make the fixing structure 54 of the upper fixing mechanism 5 contact with the upper surface of the upper box body.

[0169] S22: Control the manipulator to make the fixing mechanism test the pressure on the upper box body and compress the spring 55 of the upper fixing mechanism 5.

[0170] S3: Control the upper clamping mechanism 4 to make the first side plate 2 and the second side plate 3 clamp the upper box body, and the upper box body will be fixed in the space surrounded by the first side plate 2, the second side plate 3 and the upper fixing mechanism 5.

[0171] Preferably, S3 includes:

[0172] S31: Control the upper clamping cylinder 44 of the upper clamping mechanism 4 to work, so that the upper clamping cylinder 44 controls the first side plate 2 and the second side plate 3 to move relative to each other, and makes the first clamping block 42 and the second clamping block 43 slide on the slide rail 41, so that the first side plate 2 and the second side plate 3 clamp the upper box body;

[0173] S32: Control the locking mechanism of the upper clamping mechanism 4 to operate so that the cylinder rod of the upper locking cylinder 47 of the locking mechanism is inserted into the vertical channel 482 of the cross locking sleeve 48 of the locking mechanism, and the cylinder rod of the upper locking cylinder 47 contacts the upper guide rod 45 located in the horizontal channel 481 of the cross locking sleeve 48; wherein, the cylinder rod of the upper locking cylinder 47 fixes the upper guide rod 45 of the upper clamping mechanism 4 in the cross locking sleeve 48, so that the upper box body will be fixed in the space surrounded by the first side panel 2, the second side panel 3 and the upper fixing mechanism 5.

[0174] S4: Control the robot to move the upper box transport device to the top of the lower box, and align the installation surface at the bottom of the upper box with the installation surface at the top of the lower box.

[0175] Preferably, S4 includes:

[0176] S41: Input the coordinates of the lower center line of the lower box into the robot, control the robot to move the upper box to the top of the lower box according to the coordinates of the center point of the lower box, and make the upper center line of the upper box coincide with the lower center line of the lower box, so as to align the installation surface of the bottom of the upper box with the installation surface of the top of the lower box.

[0177] S5: Control the upper clamping mechanism 4 to loosen the first side plate 2 and the second side plate 3 from the upper box body, and the pressure provided by the upper fixing mechanism 5 to the upper box body will be applied to the upper box body and the lower box body to close the gap between the installation surface of the upper box body and the installation surface of the lower box body.

[0178] Preferably, S5 includes:

[0179] S51: Control the upper clamping cylinder 44 of the upper clamping mechanism 4 to work, so that the upper clamping cylinder 44 controls the first clamping block 42 and the second clamping block 43 to move away from each other, so that the first clamping block 42 drives the first side plate 2, and the second clamping block 43 drives the second side plate 3 to loosen the upper box body.

[0180] S6: In response to the installation completion signal, the upper clamping mechanism 4 is controlled to make the first side plate 2 and the second side plate 3 clamp the upper box body.

[0181] In this step, the installation completion signal is data information input by the worker after the worker installs the installation surface of the upper box body on the installation surface of the lower box body.

[0182] Preferably, S6 includes:

[0183] S61: Control the upper clamping cylinder 44 of the upper clamping mechanism 4 to work, so that the upper clamping cylinder 44 controls the relative movement of the first clamping block 42 and the second clamping block 43, so that the first clamping block 42 drives the first side plate 2, and the second clamping block 43 drives the second side plate 3 to clamp the upper box body.

[0184] S7: Control the two lower clamping mechanisms 6 to contact the lower box body between the first side plate 2 and the second side plate 3 respectively, so that the two lower clamping mechanisms 6 clamp the lower box body.

[0185] Preferably, S7 includes:

[0186] S71: Control the first lower cylinder mechanism 62 of the lower clamping mechanism 6 to work, so that the first lower cylinder mechanism 62 drives the first telescopic block 63 of the lower clamping mechanism 6 to be inserted between the first side plate 2 and the second side plate 3, so that the first telescopic block contacts the lower box body located between the first side plate 2 and the second side plate 3;

[0187] S72: Control the second lower cylinder mechanism 65 of the lower clamping mechanism 6 to work, so that the second lower cylinder mechanism 65 drives the second telescopic block 66 of the lower clamping mechanism 6 to be inserted between the first side plate 2 and the second side plate 3, so that the second telescopic block contacts the lower box body located between the first side plate 2 and the second side plate 3.

[0188] S8: Control the two lower fixing mechanisms 7 to be inserted into the lower box body respectively to fix the lower box body.

[0189] Preferably, S8 includes:

[0190] S81: Pass one end of the first fixing pin 71 in the lower fixing mechanism 7 through the first side plate 2, insert the first fixing pin 71 into the lower box body, and connect the first fixing pin 71 to the first side plate 2 in a detachable manner;

[0191] S82: Pass one end of the second fixing pin 72 in the lower fixing mechanism 7 through the first side plate 2, insert the second fixing pin 72 into the lower box body, and connect the second fixing pin 72 to the second side plate 3 in a detachable manner.

[0192] S9: Control the robot to move the upper box and the lower box to the specified position by moving the box transport device.

[0193] In this step, the box transporting device is moved as a whole by controlling the manipulator, so that the box transporting device moves the upper box and the lower box as a whole to the specified position.

[0194] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0195] Those skilled in the art will readily come to other embodiments of the present application embodiments after considering the specification and practicing the invention disclosed herein. The present application embodiments are intended to cover any variations, uses or adaptations of the present application embodiments, which follow the general principles of the present application embodiments and include common knowledge or customary technical means in the art that are not disclosed in the present application embodiments. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present application embodiments are indicated by the following claims.

[0196] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

Claims

1. A box handling device, characterized in that: include: A connecting plate, a first side plate, a second side plate, an upper clamping mechanism, an upper fixing mechanism, a lower clamping mechanism and a lower fixing mechanism; The connecting plate is connected to the manipulator; One end of the first side plate is movably connected to the connecting plate, one end of the second side plate is movably connected to the connecting plate, and the upper clamping mechanism is respectively connected to the first side plate and the second side plate; the upper clamping mechanism is used to control the relative movement of the first side plate and the second side plate so that the first side plate and the second side plate clamp the upper box body; the upper clamping mechanism is also used to control the first side plate and the second side plate to move away from each other so that the first side plate and the second side plate are loosened from the upper box body; The upper fixing mechanism fixes the connecting plate, and the bottom of the upper fixing mechanism is used to contact the upper box body and provide pressure to the upper box body; The two lower clamping mechanisms are connected to the first side plate and the second side plate respectively, and the two lower clamping mechanisms pass through the first side plate and the second side plate respectively, and are in contact with the lower box body located between the first side plate and the second side plate respectively, so that the two lower clamping mechanisms clamp the lower box body; The two lower fixing mechanisms are respectively connected to the first side plate and the second side plate, and the two lower fixing mechanisms are respectively inserted into the lower box body to fix the lower box body.

2. The box transport device according to claim 1, characterized in that: Also includes: Adapter plate and anti-fall hanging plate; The adapter plate is fixed on the upper surface of the connecting plate, the anti-fall hanging plate is connected to the adapter plate, and the anti-fall hanging plate is connected to the manipulator so that the connecting plate is connected to the manipulator.

3. The box transport device according to claim 1, characterized in that: The upper clamping mechanism comprises: a slide rail, a first clamping block, a second clamping block, an upper clamping cylinder, an upper guide rod and a guide rail lock; The slide rail is connected to the lower surface of the connecting plate; The first clamping block and the second clamping block are respectively movably connected to the slide rail; The first clamping block is connected to the first side plate, and the second clamping block is connected to the second side plate; The upper clamping cylinder is connected to the first side plate, one end of the upper guide rod is connected to the upper clamping cylinder, and the other end of the upper guide rod is detachably connected to the second side plate; The guide rail lock is movably connected to the slide rail, and the guide rail lock is also connected to the first clamping block.

4. The box transport device according to claim 3, characterized in that: The upper clamping mechanism further comprises: an upper locking cylinder and a cross locking sleeve; The cross locking sleeve is fixed on the second side plate, and one end of the upper guide rod away from the upper clamping cylinder passes through the horizontal channel of the cross locking sleeve; The cylinder rod of the upper locking cylinder is inserted into the vertical channel of the cross locking sleeve and contacts the upper guide rod located in the horizontal channel, so that the upper guide rod is detachably connected to the second side plate.

5. The box transport device according to claim 1, characterized in that: The upper fixing mechanism comprises: a guide column, a support, a limiting structure, a fixing structure and a spring; The support is fixed to the connecting plate, and one end of the guide column passes through the support; The limiting structure is connected to one end of the guide post located above the connecting plate, and the limiting structure is used to prevent the guide post from passing through the support; The fixing structure is connected to one end of the guide column located below the connecting plate, and the fixing structure is used to contact the upper box body; The spring is sleeved on the portion of the guide column below the connecting plate, and the spring is used to provide pressure to the upper box body through the fixing mechanism.

6. The box transport device according to claim 5, characterized in that: The limiting structure includes a gasket and a top end cover; The top end cover is connected to one end of the guide post located above the connecting plate; The gasket is connected to the bottom of the top end cap.

7. The box transport device according to claim 1, characterized in that: The lower clamping mechanism comprises: a first mounting plate, a first lower cylinder mechanism, a first telescopic block, a second mounting plate, a second lower cylinder mechanism and a second telescopic block; The first mounting plate is located at one end of the first side plate away from the connecting plate, and the first mounting plate is located at a side of the first side plate away from the second side plate; The first lower cylinder mechanism is fixed on the first mounting plate, the first lower cylinder mechanism is connected to one end of the first telescopic block, and the other end of the first telescopic block passes through the first side plate; The second mounting plate is located at one end of the second side plate away from the connecting plate, and the second mounting plate is located at a side of the second side plate away from the second side plate; The second lower cylinder mechanism is fixed on the second mounting plate, the second lower cylinder mechanism is connected to one end of the second telescopic block, and the other end of the second telescopic block passes through the second side plate.

8. The box transport device according to claim 7, characterized in that: The first lower cylinder mechanism comprises: a first fixed seat, a first lower clamping cylinder and a first floating joint; The first fixing seat is connected to the upper surface of the first mounting plate; The first lower clamping cylinder is fixed inside the first fixing seat. The cylinder rod of the first lower clamping cylinder is connected to one end of the first floating joint, and the other end of the first floating joint is connected to one end of the first telescopic block; The second lower cylinder mechanism comprises: a second fixed seat, a second lower clamping cylinder and a second floating joint; The second fixing seat is connected to the upper surface of the second mounting plate; The second lower clamping cylinder is fixed inside the second fixing seat; The cylinder rod of the second lower clamping cylinder is connected to one end of the second floating joint, and the other end of the second floating joint is connected to one end of the second telescopic block.

9. The box transport device according to claim 1, characterized in that: The lower fixing mechanism comprises: a first fixing pin and a second fixing pin; One end of the first fixing pin passes through the first side plate and is detachably connected to the first side plate; The first fixing pin passes through one end of the first side plate and is used to be inserted into the lower box between the first side plate and the second side plate; One end of the second fixing pin passes through the second side plate and is detachably connected to the second side plate; The second fixing pin passes through one end of the second side plate and is used to be inserted into the lower box body located between the first side plate and the second side plate.

10. A box transport method, characterized in that: Applicable to the box handling device according to any one of claims 1 to 9, the method comprising: S1: Control the manipulator to move the box transporting device onto the upper box, and make the upper box be located between the first side plate and the second side plate; S2: Control the manipulator to make the upper fixing mechanism contact with the upper box body and provide pressure to the upper box body; S3: controlling the upper clamping mechanism to make the first side plate and the second side plate clamp the upper box body, and the upper box body will be fixed in the space surrounded by the first side plate, the second side plate and the upper fixing mechanism; S4: Control the manipulator to move the upper box handling device to the top of the lower box, and align the installation surface at the bottom of the upper box with the installation surface at the top of the lower box; S5: controlling the upper clamping mechanism to loosen the first side plate and the second side plate from the upper box body, and the pressure provided by the upper fixing mechanism to the upper box body will be applied to the upper box body and the lower box body to close the gap between the mounting surface of the upper box body and the mounting surface of the lower box body; S6: in response to the installation completion signal, controlling the upper clamping mechanism to make the first side plate and the second side plate clamp the upper box body; S7: controlling the two lower clamping mechanisms to contact the lower box body between the first side plate and the second side plate respectively, so that the two lower clamping mechanisms clamp the lower box body; S8: Control the two lower fixing mechanisms to be inserted into the lower box body respectively to fix the lower box body; S9: Control the robot arm to move the box transport device to move the upper box and the lower box to a specified position.

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