Fixing part, robot fixing part comprising fixing part, and method for clamping turnover box

Abstract

Embodiments of the present disclosure generally relate to a fixture, a robotic fixture including the fixture, and a method for gripping a turnover box. A fixture, the fixture comprising: a corner fixture assembly configured to support a turnover box at a top corner of the turnover box; the driving mechanism comprises a first driving guide rail and a second driving guide rail; the first side fixing piece assembly can move along the first driving guide rail, and the second side fixing piece assembly can move along the second driving guide rail; the first side fastener assembly and the second side fastener assembly are configured to support the turnover box at side walls of the turnover box adjacent to the top corner, respectively. Embodiments of the present disclosure provide a fixture with an asymmetric clamp combination having structural simplicity, self-indicating capability, and clamping stability.

Description

Technical Field

[0001] The present disclosure relates to a fixing member, a robot fixing member including the fixing member, and a method for clamping a turnover box. Background Art

[0002] Stacking devices are used to stack boxes, bags, and barrels on pallets according to a specific arrangement to achieve automatic stacking. Multi-layer stacking can then be carried out and pushed out to facilitate transportation by forklift to a warehouse for storage.

[0003] Palletizing robots are widely used in industries such as food, beverage, beer, and automatic logistics. Palletizing robots greatly save labor and make palletizing operations more flexible, accurate, and stable.

[0004] To meet the requirements of different industries, general palletizing robot fixing members need to be customized according to customer needs. The mechanical structure design of the fixing members has some common features, that is, the center of the fixing mechanism and the center of the clamping mechanism are symmetrical. For example, a cylinder with a specific stroke is used as the driving force to drive and control the aligned jaws to clamp materials.

[0005] However, the disadvantages of this general design are also very obvious: Fixing members with a general structure and even composite function fixing members designed to adapt to more working conditions usually adopt a centrally symmetric mechanical structure design. Thus, the fixing member must meet the strict requirements of symmetrically clamping materials, and therefore cannot adapt to materials with complex structures and even application environments with complex stacking conditions, resulting in limited adaptability and poor flexibility. The quality of the fixing member directly affects the working ability, quality, efficiency, and cost of the palletizing robot. Summary of the Invention

[0006] In view of the above problems, the present disclosure provides an improved fixing member, a robot fixing member including the fixing member, and a method for clamping a turnover box.

[0007] In a first aspect of the present disclosure, a fixture is provided, the fixture comprising: a corner fixture assembly configured to support a turnover box at the top corner of the turnover box, the corner fixture assembly including a corner positioning block and a support member, when the corner fixture assembly supports the turnover box, the corner positioning block abuts against the upper surface of the top corner of the turnover box and the inner surface of the wall of the turnover box; a driving mechanism including a first driving guide rail and a second driving guide rail on a plane, the first driving guide rail extending from the corner fixture assembly in a first direction, the second driving guide rail extending from the corner fixture assembly in a second direction different from the first direction; a first side fixture assembly and a second side fixture assembly, the first side fixture assembly being movable along the first driving guide rail, the second side fixture assembly being movable along the second driving guide rail, the first side fixture assembly and the second side fixture assembly being configured to support the turnover box at the wall adjacent to the top corner of the turnover box, and each including a side positioning block and a support member, when the corresponding side fixture assembly in the first side fixture assembly and the second side fixture assembly supports the turnover box, the side positioning block abuts against the upper surface of the wall of the turnover box and the inner surface of the wall.

[0008] In a second aspect of the present disclosure, a method for clamping a turnover box is provided, the method using a corner fixture assembly to clamp the turnover box at the top corner of the turnover box, the corner fixture assembly including a corner positioning block and a support member, when the corner fixture assembly supports the turnover box, the corner positioning block abuts against the upper surface of the top corner of the turnover box and the inner surface of the wall of the turnover box; and using a first side fixture assembly and a second side fixture assembly to clamp the turnover box at the wall adjacent to the top corner of the turnover box, the first side fixture assembly being movable along a first driving guide rail extending from the corner fixture assembly in a first direction, the second side fixture assembly being movable along a second driving guide rail extending from the corner fixture assembly in a second direction different from the first direction, the first side fixture assembly and the second side fixture assembly each including a side positioning block and a support member, when the corresponding side fixture assembly in the first side fixture assembly and the second side fixture assembly supports the turnover box, the side positioning block abuts against the upper surface of the wall of the turnover box and the inner surface of the wall.

[0009] In a third aspect of the present disclosure, a robot fixture is provided, the robot fixture including the fixture according to the first aspect of the present disclosure.

[0010] By using an embodiment according to the present disclosure, a fixture is provided. The fixture has a combination of multiple fixture components arranged asymmetrically, and this combination can clamp an object in an asymmetric clamping position, thus adapting to complex application environments and disassembling complex stacks. Moreover, the fixture has multiple fixture components that can robustly clamp a turnover box in both the horizontal and vertical directions. Each fixture component among the multiple fixture components is positioned using a positioning block structure, with a simple structure and no need for additional sensors. Additionally, the fixture may further include cameras that can be set at different positions, enabling flexible clamping according to different situations of the turnover box.

[0011] It should be understood that the summary is not intended to identify the key or essential features of the embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure. Through the following description, other features of the present disclosure will become clear. Brief Description of the Drawings

[0012] According to the following more specific description of the exemplary embodiments of the present disclosure illustrated in the drawings, the foregoing and other objects, features, and advantages of the present disclosure will become clearer. The same or similar reference numerals are used throughout the drawings to refer to the same or similar parts.

[0013] Figure 1 Schematic diagram of a fixture according to an embodiment of the present disclosure;

[0014] Figure 2 Detail view of the fixture;

[0015] Figure 3 Block diagram of the side fixture components of the fixture;

[0016] Figure 4 Schematic diagram of the side fixture components when supporting a turnover box;

[0017] Figure 5 Bottom view of the corner fixture components of the fixture;

[0018] Figure 6 Schematic diagram of the corner fixture components when supporting a turnover box;

[0019] Figure 7 Bottom view of the fixture;

[0020] Figure 8 Block diagram of the drive mechanism of the fixture; and

[0021] Figure 9 Schematic diagram of a robotic fixture including the fixture. Detailed Description of the Embodiments

[0022] Preferred embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0023] As used herein, the term "comprising" and variations thereof mean open-ended inclusion, i.e., "including but not limited to". Unless otherwise expressly stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may be included hereinafter.

[0024] The present disclosure provides a fixing member, a robotic fixing member including the fixing member, and a method for clamping a turnover box. The fixing member of the present disclosure includes a plurality of fixing member assemblies arranged in an asymmetric manner, and the plurality of fixing member assemblies can support an object by only clamping the side surface of the object without using a symmetric fixing member, having the advantages of simple structure, self-indicating ability, and clamping stability.

[0025] Figure 1 A schematic diagram of a fixing member 1 according to an embodiment of the present disclosure is illustrated. The fixing member 1 includes a driving mechanism 4, a corner fixing member assembly 5, a first side fixing member assembly 6, and a second side fixing member assembly 7. The corner fixing member assembly 5 is a reference positioning assembly that remains stationary relative to the fixing member 1. In one embodiment, the corner fixing member assembly 5 may be fixed to the driving mechanism 4. The specific structure of the corner fixing member assembly 5 will be described in detail below in conjunction with Figures 3 to 6 the specific structure of the corner fixing member assembly 5 will be described in detail.

[0026] The driving mechanism 4 is the main body part of the fixing member 1. In one embodiment, the driving mechanism may be a frame structure for attaching various components of the fixing member 1. In particular, the driving mechanism 4 may be a rectangular frame structure. The driving mechanism 4 includes at least a first driving guide rail 9 and a second driving guide rail 10 on a plane, and the first driving guide rail and the second driving guide rail are respectively used to guide the first side fixing member assembly 6 and the second side fixing member assembly 7. The first driving guide rail 9 extends from the corner fixing member assembly 1 in a first direction, and the second driving guide rail 10 extends from the corner fixing member assembly 1 in a second direction different from the first direction. In actual operation, since the object to be clamped (e.g., Figure 1 the turnover box 8 in

[0027] The first side fixing component 6 and the second side fixing component 7 can move along the first driving guide rail 9 and the second driving guide rail 10 respectively. In one embodiment, the first side fixing component 6 and the second side fixing component 7 can be attached to the driving mechanism 4. The first side fixing component 6 and the second side fixing component 7 are used to clamp the two sides adjacent to the top corner of the object after the corner fixing component 5 clamps the top corner of the object ( Figure 1 the turnover box 8 in it) to determine the clamping reference position. To adapt to the size of the object to be clamped, the first side fixing component 6 and the second side fixing component 7 can move along the first driving guide rail 9 and the second driving guide rail 10 respectively. The first side fixing component 6 and the second side fixing component 7 can be manually positioned, or the first side fixing component 6 and the second side fixing component 7 can also be driven via the driving mechanism 4. For ease of replacement, in one embodiment, the first side fixing component 6 and the second side fixing component 7 are the same. The specific configurations of the first side fixing component 6 and the second side fixing component 7 will be described in detail below in conjunction with Figures 3 to 6 the details.

[0028] In the automatic clamping scenario, to identify the object (in Figure 1 the turnover box 8), the fixture 1 further includes a camera 2. The camera 2 is used to identify the position of the object and determine the size of the object. For an object with a standard gauge (such as the turnover box 8), in one embodiment, the camera 2 can identify the type of the turnover box 8 to determine the size of the turnover box 8, for adaptively adjusting the position of the first side fixing component 6 on the first driving guide rail 9 and the position of the second side fixing component 7 on the second driving guide rail 10. In another embodiment, to facilitate clamping the object by the fixture components, the camera 2 can identify the easily clamped position on the turnover box 8, such as a ridge protruding from the outside of the turnover box 8. As Figure 1 shown, the camera 2 can be connected to the driving mechanism 4 via a mechanical rod 3 to photograph the entire working scene. In one embodiment, the camera 2 can also be arranged at other positions of the driving mechanism 4 as needed.

[0029] As Figure 1 shown, when clamping the object, first use the corner fixing component 5 to clamp the turnover box 8 at the top corner of the turnover box 8, and then use the first side fixing component 6 and the second side fixing component 7 to clamp two of the walls adjacent to the top corner of the turnover box 8. In one embodiment, the turnover box 8 can be identified by the camera 2, and the corner fixing component 5, the first side fixing component 6, and the second side fixing component 7 can clamp the turnover box at least based on the identification of the turnover box 8 by the camera 2.

[0030] Figure 2 shows a detailed block diagram of the fixture. AsFigure 2 As can be seen, the corner fixing component 5 is fixed to the driving mechanism 4, and the first side fixing component 6 and the second side fixing component 7 are respectively connected to the driving mechanism 4 through the connecting plate 21 to move along the first driving guide rail 9 and the second driving guide rail 10. In one embodiment, the first side fixing component 6 and the second side fixing component 7 can be manually operated respectively to move along the first driving guide rail 9 and the second driving guide rail 10. In another embodiment, the first side fixing component 6 and the second side fixing component 7 can be driven by the driving mechanism 4.

[0031] As Figure 2 shown, the corner fixing component 5, the first side fixing component 6 and the second side fixing component 7 each include a positioning portion and a supporting portion. The positioning portion of the corner fixing component 5 is the corner positioning block 11, and the positioning portions of the first side fixing component 6 and the second side fixing component 7 are the side positioning plates 13. The corner positioning block 11 and the side positioning plates 13 have the same function, which is to determine the supporting positions where the supporting portions abut against the upper surface and the inner surface of the turnover box when the corresponding fixing components clamp the turnover box, and to prevent the object from moving horizontally or vertically relative to the fixing components in the supporting positions. The supporting portions of the corner fixing component 5, the first side fixing component 6 and the second side fixing component 7 each include a support member 12 and a driving portion for driving the support member 12.

[0032] During operation, when first positioning the top corner of the object through the corner positioning block 11 of the corner fixing component 5 (the corner positioning block 5 abuts against the upper surface and the inner surface of the top corner of the object), the driving portion of the corner fixing component 5 drives the support member 12 of the corner fixing component 5 to support the top corner of the object. Then, the driving portions of the first side fixing component 6 and the second side fixing component 7 drive the support members 12 of the first side fixing component 6 and the second side fixing component 7 to support the side wall of the object through the side positioning plates 13. By sequentially supporting parts of the object in this way, it is possible to prevent clamping failure due to improper cooperation of the fixing components, thus improving the clamping efficiency and clamping stability. And this clamping method only needs to clamp the side of the object, so this clamping method is applicable regardless of how the object is placed. The specific configuration of the fixing component will be described in detail below Figures 3 to 4 as an example of the first fixing component 6.

[0033] Figure 3A block diagram of the first side fixing member assembly 6 of the fixing member 1 is shown. The first side fixing member assembly 6 includes a side positioning plate 13, a support member 12, and a first cylinder 16 and a second cylinder 17 for driving the support member 12. The side positioning plate 13 is used to position the side of an object. In one embodiment, the side positioning plate 13 further includes a positioning plate 15 protruding from its bottom. When the side of the object is positioned, the bottom portion of the side positioning plate 13 abuts against the upper surface of the side wall of the object, and the side wall of the positioning plate 15 abuts against the inner surface of the side wall of the object. At this position, the side positioning plate 13 abuts against the side wall of the object in both the horizontal and vertical directions, so that the object will not slide relative to the side positioning plate 13 in both the horizontal and vertical directions.

[0034] As Figure 3 shown, the support portion of the side fixing member assembly 6 includes a support member 12, a first cylinder 16, and a second cylinder 17. The first cylinder 16 is connected to the support member 12, and the second cylinder 17 is connected to the first cylinder 16. The first cylinder 16 is configured to drive the support member 12 to move in a first direction to switch the support member 12 between a support position and a first release position. In one embodiment, the first cylinder 16 is a vertical cylinder, the first direction is the vertical direction, and the first cylinder 16 drives the support member 12 to move up and down. When it is necessary to move the side fixing member assembly 6, the first cylinder 16 is released so that the support member 12 is in the first release position at the bottom; when it is necessary to clamp an object, the first cylinder 16 is tightened so that the support member 12 is raised to the support position for supporting the object. The second cylinder 17 is configured to drive the first cylinder 16 together with the support member 12 to move in a second direction different from the first direction to switch the first cylinder 16 between a load position and a second release position. In one embodiment, the second cylinder 17 is a horizontal cylinder, and the second direction is the horizontal direction perpendicular to the first direction. The second cylinder 17 drives the first cylinder 17 and the support member 12 to move horizontally. When it is necessary to move the side fixing member assembly 6, the second cylinder 17 is released so that the first cylinder 16 is in the second release position farther from the object; when it is necessary to clamp an object, the second cylinder 17 is tightened so that the first cylinder 16 moves to the load position, at which position the support member 12 will be lifted. In one embodiment, the driving portion may also use other driving devices such as servo motors according to needs in addition to cylinders. Compared with conventional clamping methods, the way the positioning plate and the support member of the fixing member assembly of the present disclosure cooperate has multiple benefits: for example, using the positioning plate to determine the clamping position and positioning accuracy and avoiding the use of additional positioning sensors; using the support member to support the object, improving the support load compared with conventional fixing members and reducing damage to the object during clamping; driving the support member with two cylinders, with a simple structure and avoiding clamping failure.

[0035] In one embodiment, to adapt to the structure of the turnover box, the support member 12 is a fork-shaped member including at least two teeth 24. The fork-shaped member can place the vertical ridges on the outer surface of the turnover box in the space between the two teeth 24 to support at least two horizontal ridges separated by the vertical ridges, thereby improving the support accuracy and stability.

[0036] The clamping steps of the side fixing member assembly will be described in detail in conjunction with Figure 4 Detailed description of the clamping steps of the side fixing member assembly.

[0037] Figure 4 A schematic diagram showing the side fixing member assembly when supporting the turnover box 8 is shown. When the first side fixing member assembly 6 moves on the first driving guide rail 9, the support member 12 is in the first release position and the first clamp 16 is in the second release position. When the position of the first side fixing member assembly 6 on the driving guide rail 9 is determined, the second cylinder 17 is operated to place the first clamp 16 in the load position so that the support member is directly below the position to be supported. In particular, in one embodiment, the support member 12 (a fork-shaped element) places the vertical ridges of the turnover box 8 between the two teeth 24 of the support member 12 so that the support member 12 rises along the vertical ridges during lifting, thereby improving the support accuracy. When the support member is directly below the position to be supported, the first cylinder 16 is operated to place the support member 12 in the support position, in which the support member 12 is raised against the horizontal ridges of the turnover box 8 to support the turnover box. Compared with the operation of conventional fixing members, the fixing member operation of the embodiments of the present disclosure requires fewer steps, is simple and reliable.

[0038] Also refer to Figure 3 and Figure 4 In one embodiment, during operation, in order to clamp more stably, it is necessary to fix the position of the first side fixing member assembly 6 on the first driving guide rail 9. The first side fixing member assembly 6 also has a lock 18 for locking the position of the side fixing member assembly on the corresponding driving guide rail. In one embodiment, the lock 18 can be a manual lock, which manually locks the first side fixing member assembly 6 when it is determined that the first side fixing member assembly 6 reaches the appropriate position. In one embodiment, the lock can also be an automatic lock, which automatically locks when the first side fixing member assembly 6 is driven a suitable distance.

[0039] The structure and operation of the second side fixing member assembly 7 are similar to those of the first side fixing member assembly 6 and will not be described again for the sake of clarity. In one embodiment, the first side fixing member assembly 6 and the second side fixing member assembly 7 can be the same to facilitate manufacturing and installation.

[0040] Figure 5Shows a bottom view of the corner fixing component of the fixing member. The support part of the corner fixing component 5 is similar to that of the first side fixing component 6, so it will not be described again. The corner positioning plate 11 is used to position the top corner of the object. In one embodiment, the corner positioning block 11 further includes positioning posts 14 protruding from its bottom, where the positioning posts 14 have two sides angled with each other, and optionally, these two sides form a 90° angle when clamping the turnover box. When positioning the top corner of the object, a part of the bottom of the corner positioning block 11 abuts against the upper surface of the top corner of the object, the positioning posts 14 abut against the inner surface of the top corner of the object, and the two sides of the positioning posts 14 respectively abut against the inner surfaces of the two side walls adjacent to the top corner, thereby fixing the position of the corner positioning plate 11 relative to the top corner of the object. At this time, the relative position of the object fixed to the fixing member 1 is fixed by clamping the top corner with the support part of the corner fixing component 5. Compared with the conventional technology, the present disclosure first clamps the object with the corner fixing component to ensure that the fixing member will not shift relative to the object during subsequent clamping, thus increasing the clamping stability, and positioning the clamping position through the corner fixing component, which helps the positioning of the side fixing component, thereby reducing the operation difficulty. The clamping steps of the corner fixing component will be described in detail in conjunction with Figure 6 The clamping steps of the corner fixing component will be described in detail.

[0041] Figure 6 Shows a schematic diagram of the corner fixing component when supporting the turnover box. The specific operation of the corner fixing component 5 is similar to that of the first side fixing component 6, so it will not be described again. During clamping, the difference between the corner fixing component 5 and the first side fixing component 6 is that the support member 12 of the corner fixture component 5 supports the ridges on the outer surfaces of the two side walls adjacent to the top corner. In one embodiment, when the support member 12 is a fork-shaped member, the two teeth 24 of the support member 12 simultaneously support different ridges on the two side walls adjacent to the top corner respectively.

[0042] Figure 7 Shows a bottom view of the fixing member. In one embodiment, for convenient identification, the camera 2 can be arranged on the surface of the driving mechanism 4 facing the object. Arranging the camera on the surface facing the object can identify the entire object and can identify the actual clamping positions of the three fixing components on the object, which can make the identification more accurate and help to adjust and control the fixing member. In the embodiment with the camera 2, the position of the first side fixing component 6 on the first driving guide rail 9 and the position of the second side fixing component 7 on the second driving guide rail 10 can be determined based on the identification of the object by the camera 2.

[0043] The following will be described in conjunction with Figure 8 The driving structure 4 will be described in detail.

[0044] Figure 8A block diagram of a drive mechanism for a fixing member is shown. The drive mechanism 4 includes at least two drive guide rails ( Figure 8 the first drive guide rail 9 and the second drive guide rail 10 in Figure 8 ), and the first side fixing member assembly 6 and the second side fixing member assembly 7 move on the first drive guide rail 9 and the second drive guide rail 10 respectively. As required, the first drive guide rail 9 and the second drive guide rail 10 can have any length. Although

[0045] the first drive guide rail 9 shown is longer than the second drive guide rail 10, in one embodiment, the first drive guide rail 9 and the second drive guide rail 10 can have the same length to increase the flexibility of the fixing member device 1 and facilitate the fixing member 1 to hold objects of different sizes without changing direction. In one embodiment, the drive mechanism 4 can have more drive guide rails depending on actual operation needs or as a backup. In one embodiment, drive guide rails parallel to the first drive guide rail 9 and the second drive guide rail 10 can be provided. Figure 8 In one embodiment, the drive mechanism 4 further includes a drive device 19 for driving the first drive guide rail 9 and the second drive guide rail 10, and a timing belt 20 for transmitting the driving force. In one embodiment, for ease of operation, the drive device 19 can be a rotary cylinder. In another embodiment, for more precise operation, the drive device 19 can also be a servo motor. As

[0046] According to one embodiment, the drive mechanism 4 further includes a drag chain 22 for guiding the cables necessary for the first side fixing member assembly 6 and the second side fixing member assembly 7 and moving with the first side fixing member assembly 6 and the second side fixing member assembly 7 to prevent the cables from breaking. The drive mechanism 4 further includes a pressure plate 23 connected to the connecting plate 21 and movable together with the first side fixing member assembly 6 or the second side fixing member assembly 7. The pressure plate 23 is used to flatten the drag chain 22 to prevent the drag chain 22 from interfering with the movement of the first side fixing member assembly 6 and the second side fixing member assembly 7. Compared with conventional fixing members, the components of the drive mechanism of the fixing member of the present disclosure are removable, easy to replace, have lower operation difficulty and higher reliability.

[0047] Figure 9 A robot fixture 100 is illustrated, which includes a fixture 1 for automatic palletizing of turnover boxes. The robot fixture 100 has a fixture robot arm 101, wherein the robot arm 101 is connected to the fixture 1 for moving the fixture 1 to a position for gripping an object. In one embodiment, the robot fixture 100 can be manually and remotely controlled to grip an object. In one embodiment, the robot fixture 100 further includes a computing device. When there is a camera in the fixture 1, the computing device can identify the object through the camera, calculate the specific gripping position, and drive the fixture 1 to grip the object. In one embodiment, the robot fixture 100 further includes a storage device in which shape data of the object (e.g., the size of the turnover box) is stored. When there is a camera in the fixture 1, the object can be identified by the camera, and the identified data is transmitted to the computing device. The computing device drives the side fixing member assembly in the fixture 1 to move to an appropriate position by comparing the identified dimension data with the shape data in the storage device, and grips the object by the fixture 1. The body part of the robot fixture 100 according to the embodiment of the present disclosure is only used to move the fixture 1, while the specific gripping operation is completed by the fixture 1 itself. Therefore, an appropriate fixture 1 can be replaced based on different application scenarios.

[0048] It should be understood that the above detailed embodiments of the present disclosure are only for the purpose of illustrating or explaining the principles of the present disclosure, rather than limiting the present disclosure. Therefore, any modification, equivalent, improvement within the spirit and principles of the present disclosure is intended to be included within the scope of the present disclosure. In addition, the appended claims are intended to cover all variations and modifications falling within the scope of the claims and their equivalents.

Claims

1. A fixing member (1), comprising: A corner fixing member assembly (5), which is configured to support a turnover box (8) at the top corner of the turnover box (8). The corner fixing member assembly (5) includes a corner positioning block (11) and a support member (12). When the corner fixing member assembly (5) supports the turnover box (8), the corner positioning block (11) abuts against the upper surface of the top corner of the turnover box (8) and the inner surface of the wall of the turnover box (8); A driving mechanism (4), the driving mechanism includes a first driving guide rail (9) and a second driving guide rail (10) on a plane. The first driving guide rail (9) extends from the corner fixing member assembly (5) in a first direction, and the second driving guide rail (10) extends from the corner fixing member assembly (5) in a second direction different from the first direction; A first side fixing member assembly (6) and a second side fixing member assembly (7). The first side fixing member assembly can move along the first driving guide rail (9), and the second side fixing member assembly (7) can move along the second driving guide rail (10). The first side fixing member assembly (6) and the second side fixing member assembly (7) are configured to support the turnover box (8) at the wall adjacent to the top corner of the turnover box (8), and each includes a side positioning block (13) and a support member (12). When the corresponding side fixing member assembly in the first side fixing member assembly (6) and the second side fixing member assembly (7) supports the turnover box (8), the side positioning block (13) abuts against the upper surface of the wall of the turnover box (8) and the inner surface of the wall.

2. The fixing member (1) according to claim 1, wherein, The corner positioning block (11) includes a positioning post (14) protruding from its bottom. Among them, the positioning post (14) includes two sides that form an angle with each other. When the corner fixing member assembly (5) supports the turnover box (8), the two sides of the positioning post (14) respectively abut against the inner surfaces of two walls among the walls adjacent to the top corner.

3. The fixing member (1) according to claim 1, wherein, The side positioning block (13) includes a positioning plate (15) protruding from its bottom. When the corresponding side fixing member assembly in the first side fixing member assembly (6) and the second side fixing member assembly (7) supports the turnover box (8), the side of the positioning plate (15) of the side positioning block (13) abuts against the inner surface of the wall of the turnover box (8).

4. The fixing member (1) according to claim 1, wherein, When the corresponding fixing member assembly in the corner fixing member assembly (5), the first side fixing member assembly (6) and the second side fixing member assembly (7) supports the turnover box (8), the support member (12) is in a support position, wherein the upper surface of the support member (12) abuts against the ridge on the wall of the turnover box (8).

5. The fixing member (1) according to claim 4, wherein, The support members (12) of the corner fixing member assembly (5), the first side fixing member assembly (6) and the second side fixing member assembly (7) are fork-shaped members including at least two teeth (24).

6. The fixing member (1) according to claim 4, wherein, The corner fixing member assembly (5), the first side fixing member assembly (6), and the second side fixing member assembly (7) each include a first cylinder body (16) coupled to the support member (12) and a second cylinder body (17) coupled to the first cylinder body (16). Wherein, the first cylinder body (16) is configured to drive the support member (12) to move in a first moving direction, so that the support member (12) switches between the support position and a first release position, and the second cylinder body (17) is configured to drive the first cylinder body (16) and the support member (12) to move in a second moving direction different from the first moving direction, so that the first cylinder body (16) switches between a load position and a second release position.

7. The fixing member (1) according to claim 1, wherein, The first side fixing member assembly (6) and the second side fixing member assembly (7) each include a lock (18), and the locks are respectively used to lock the position of the first side fixing member assembly (6) on the first driving guide rail (9) and the position of the second side fixing member assembly (7) on the second driving guide rail (10).

8. The fixing member (1) according to claim 7, wherein, The positions of the first side fixing member assembly (6) on the first driving guide rail (9) and the second side fixing member assembly (7) on the second driving guide rail (10) are manually adjustable.

9. The fixing member (1) according to claim 1, wherein, The driving mechanism (4) includes a driving device (19) and a timing belt (20) for the first driving guide rail (9) and the second driving guide rail (10), and the driving device (19) is configured to drive the first side fixing member assembly (6) and the second side fixing member assembly (7) to move along the first driving guide rail (9) and the second driving guide rail (10) respectively via the timing belt (20).

10. The fixing member (1) according to claim 9, wherein, At least one of the driving devices (19) is a motor and / or a rotary cylinder.

11. The fixing member (1) according to claim 9, wherein, The driving mechanism (4) further includes a connecting plate (21) that connects the first side fixing member assembly (6) and the second side fixing member assembly (7) to the driving mechanism (4) respectively, and the first side fixing member assembly (6) and the second side fixing member assembly (7) are removably coupled to the driving mechanism (4) via the connecting plate (21).

12. The fixing member (1) according to claim 1, further comprising at least one camera (2), the at least one camera being configured to identify the turnover box (8). Among them, The corner fixing member assembly (5), the driving mechanism (4), the first side fixing member assembly (6), and the second side fixing member assembly (7) are configured to operate at least based on the identification of the turnover box (8).

13. The fixing member (1) according to claim 1, wherein, The at least one camera (2) is connected to the driving mechanism (4) via a mechanical rod (3) or is disposed on a side of the driving mechanism (4) facing the turnover box (8).

14. A robot fixing member (100), comprising: A robot arm (101); And The fixing member (1) according to any one of claims 1 to 13, the fixing member being coupled to the robot arm (101).

15. A method for clamping a turnover box (8), comprising: clamping the turnover box (8) at the top corners thereof by using a corner fixing component (5), the corner fixing component (5) including a corner positioning block (11) and a support member (12), when the corner fixing component (5) supports the turnover box (8), the corner positioning block (11) abuts against the upper surface of the top corner of the turnover box (8) and the inner surface of the wall of the turnover box (8); and clamping the turnover box (8) at the wall adjacent to the top corner of the turnover box (8) by using a first side fixing component (6) and a second side fixing component (7), the first side fixing component (6) being capable of moving along a first driving guide rail (9), the first driving guide rail extending from the corner fixing component (5) in a first direction, the second side fixing component (7) being capable of moving along a second driving guide rail (10), the second driving guide rail extending from the corner fixing component (5) in a second direction different from the first direction, the first side fixing component (6) and the second side fixing component (7) each including a side positioning block (13) and a support member (12), when the corresponding side fixing component in the first side fixing component (6) and the second side fixing component (7) supports the turnover box (8), the side positioning block (13) abuts against the upper surface of the wall of the turnover box (8) and the inner surface of the wall.

16. The method according to claim 15, wherein, Clamping the turnover box (8) by using the corner fixing component (5), the first side fixing component (6) and the second side fixing component (7) further includes using the upper surface of the support member to abut against a ridge on the wall of the turnover box (8).

17. The method according to claim 15, wherein, The corner fixing component (5), the first side fixing component (6) and the second side fixing component (7) each include a first cylinder body (16) connected to the support member (12) and a second cylinder body (17) connected to the first cylinder body (16), wherein the first cylinder body (16) is configured to drive the support member (12) to move in a first moving direction so that the support member (12) switches between a support position and a first release position, the second cylinder body (17) is configured to drive the first cylinder body (16) and the support member (12) to move in a second moving direction so that the first cylinder body (16) switches between a load position and a second release position, wherein clamping the turnover box (8) by using the corner fixing component (5), the first side fixing component (6) and the second side fixing component (7) further includes: controlling the second cylinder body (17) to set the first cylinder body (16) at the second release position and controlling the first cylinder body (16) to set the support member at the first release position; When the corresponding corner positioning block (11) or the side positioning block (13) includes the inner surface abutting against the wall of the turnover box (8), control the second cylinder block (17) to set the first cylinder block (16) at the load position; When the first cylinder block (16) has been set at the load position, control the first cylinder block (16) to set the support member (12) at the support position.

18. The method according to any one of claims 15 to 17, further comprising: Using a camera to identify the turnover box (8), wherein clamping the turnover box (8) is at least based on the identification of the turnover box (8).

19. The method according to claim 18, further comprising determining at least based on the identification of the turnover box (8) the position of the first side fixing member assembly (6) on the first drive rail (9) and the position of the second side fixing member assembly (7) on the second drive rail (10).

20. The method according to claim 19, further comprising using a drive device (19) and a timing belt (20) to drive the first side fixing member assembly (6) to the determined position of the first side fixing member assembly (6) on the first drive rail (9) and drive the second side fixing member assembly (7) to the determined position of the second side fixing member assembly (7) on the second drive rail (10).

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