Side suction bottom supporting clamp for loading and unloading robot and loading and unloading robot

Abstract

The side-suction bottom-supporting clamp comprises a clamp body, a first guide rail and a second guide rail, the first guide rail and the second guide rail extend in the length direction of the clamp body, the first guide rail is located on one side face of the clamp body, and the second guide rail is located on the other side face of the clamp body. The suction cup support is provided with a suction cup array, the suction cup array is used for sucking a target box body, and the suction cup support is connected with the first guide rail through a first sliding block and can slide along the first guide rail; the bottom supporting mechanism is located on the bottom side of the clamp body, connected with the second guide rail through a second sliding block and capable of sliding along the second guide rail; the driving module is connected with the suction cup support and the bottom supporting mechanism through the driving transmission mechanism and used for driving the suction cup support and the bottom supporting mechanism to move reversely at the same time. According to the utility model, loading, unloading and unstacking of the box body can be realized in a limited space environment such as a container and the like.

Description

Technical Field

[0001] The utility model relates to an industrial robot, and particularly to a side suction and bottom supporting fixture for a loading and unloading robot and a loading and unloading robot. Background Art

[0002] An industrial robot is an intelligent device equipped with sensors, objective lenses, and electro-optical systems, which can quickly perform cargo sorting and handling.

[0003] More and more visual sensors and force sensors are used in industrial robots, and industrial robots will become more and more intelligent. With the progress of technologies such as sensing and recognition systems and artificial intelligence, robots are developing from being unidirectionally controlled to storing and applying data by themselves, and are gradually becoming informatized.

[0004] When sorting and handling goods through an industrial robot, it is necessary to collect images of the goods through a visual sensor, identify the posture of the goods by recognizing the images of the goods, and then the industrial robot picks or transports the goods through a loaded fixture or suction cup.

[0005] When disassembling the goods in containers with frames, top plates, and partitions such as cargo boxes, shelves, and cage trucks through an industrial robot, due to the limitation that the goods need to be grabbed from the side, when the fixture in picking scenarios such as palletizing and depalletizing is applied to this scenario, the goods are likely to fall off due to the pulling of the gravity of the goods during side suction, and are also prone to wear and damage. Summary of the Utility Model

[0006] Aiming at the defects in the prior art, the purpose of the utility model is to provide a side suction and bottom supporting fixture for a loading and unloading robot and a loading and unloading robot.

[0007] The side suction and bottom supporting fixture for a loading and unloading robot according to the utility model includes:

[0008] A fixture main body;

[0009] A suction cup bracket, on which a suction cup array is arranged, the suction cup array is used for sucking a target box body, and the suction cup bracket is arranged on one side surface of the fixture main body and can move along a first direction;

[0010] A bottom supporting mechanism, which is located on the fixture main body and can move along a second direction opposite to the first direction;

[0011] A driving module, the driving module is connected to the suction cup bracket and the bottom supporting mechanism through a driving transmission mechanism, and is used for driving the suction cup bracket and the bottom supporting mechanism to move in opposite directions simultaneously.

[0012] Preferably, after the suction cup bracket sucks the target box body, the driving module drives the suction cup bracket to move from the front end of the fixture body to the rear end of the fixture body, and the bottom support mechanism extends from the front end of the fixture body;

[0013] When releasing the target box body, the driving module drives the suction cup bracket to move from the rear end of the fixture body to the front end of the fixture body to push out the target box body, and at the same time the bottom support mechanism retracts into the fixture body.

[0014] Preferably, the fixture body includes a support chassis and a mounting vertical plate;

[0015] The mounting vertical plate is connected to the rear end of the support chassis; the driving module is arranged on the mounting vertical plate;

[0016] A first guiding mechanism is arranged on one side surface of the support chassis, and a second guiding mechanism is arranged on the other side surface;

[0017] A bottom support mechanism is arranged between the first guiding mechanism and the second guiding mechanism.

[0018] Preferably, the driving and transmission mechanism includes: a driving wheel, a driven wheel and a transmission belt;

[0019] The driving wheel is arranged on the output shaft of the driving module;

[0020] The driven wheel is arranged at the front end of the suction cup bracket; the driving wheel is connected to the driven wheel through the transmission belt;

[0021] One side of the suction cup bracket is connected to the transmission belt, and the other side of the bottom support mechanism is connected to the transmission belt.

[0022] Preferably, the suction cup bracket includes: a suction cup mounting plate and a first moving plate;

[0023] The first moving plate is connected to the first guiding mechanism and is connected to one side of the transmission belt through a first fixing plate;

[0024] The suction cup mounting plate is arranged on the first moving plate, and the suction cup array is arranged on the first moving plate.

[0025] Preferably, the support chassis includes a first support frame, a second support frame and a connecting cross bar;

[0026] The rear ends of the first support frame and the second support frame are connected to both side ends of the mounting vertical plate; the front ends of the first support frame and the second support frame are connected to both ends of the connecting cross bar.

[0027] Preferably, the bottom supporting mechanism includes a first bottom supporting rod, a second bottom supporting rod, and a second moving plate;

[0028] The first bottom supporting rod and the second bottom supporting rod are arranged on the second moving plate; the second moving plate is connected to the second guiding mechanism and can move along the second guiding mechanism;

[0029] The second moving plate is connected to the other side of the conveyor belt through a second fixing plate.

[0030] Preferably, the first guiding mechanism includes a first guide rail and a first slider; the second guiding mechanism includes a second guide rail and a second slider;

[0031] The first guide rail is located on one side surface of the fixture main body, and the second guide rail is located on the other side surface of the fixture main body;

[0032] The suction cup bracket is connected to the first guide rail through the first slider and can slide along the first guide rail; the bottom supporting mechanism is connected to the second guide rail through the second slider and can slide along the second guide rail.

[0033] Preferably, the suction cup array includes a first suction cup array and a second suction cup array;

[0034] The first suction cup array is arranged on the suction cup bracket; the second suction cup array is connected to the back surface of the first suction cup array or the suction cup bracket through a suction cup connecting plate;

[0035] The first suction cup array is located on one side of the bottom supporting mechanism, and the second suction cup array is located on the other side of the bottom supporting mechanism.

[0036] Preferably, the first suction cup array includes a first suction cup area and a second suction cup area arranged adjacent to each other;

[0037] The first suction cup area and the second suction cup area are used to provide suction force separately or simultaneously to suck the side surface of the target box body of different sizes.

[0038] Preferably, the first suction cup array and the second suction cup array are used to jointly form a suction surface at the front end of the fixture main body to simultaneously suck the side surface of the target box body of the first size. At this time, the bottom supporting mechanism does not support the target box body;

[0039] The first suction cup array is used to suck the side surface of the target box body of the second size;

[0040] The second suction cup array is used to suck the side surface of the target box body of the third size and can avoid interference with the top of the cargo box;

[0041] Among them, the areas of the side surfaces of the target boxes of the first size, the second size, and the third size decrease in sequence.

[0042] Preferably, it further includes a vacuum source and a three-way valve;

[0043] A first air suction channel is provided in the first suction cup area; a second air suction channel is provided in the second suction cup area;

[0044] The vacuum source is connected to the first air suction channel and the second air suction channel through the three-way valve, so as to provide suction force to the first suction cup area and the second suction cup area simultaneously, or provide suction force to the first suction cup area or the second suction cup area separately.

[0045] The side suction and bottom support fixture for a loading and unloading robot provided by the present utility model includes:

[0046] A fixture main body;

[0047] A suction cup bracket, on which a suction cup array is provided, the suction cup array is used to suck a target box, and the suction cup bracket is arranged on one side surface of the fixture main body and can move along a first direction;

[0048] A bottom support mechanism, which is located on the fixture main body and can move along a second direction opposite to the first direction;

[0049] A first driving unit, which is used to drive the suction cup bracket to move along the first direction;

[0050] A second driving unit, which is used to drive the bottom support mechanism to move along the second direction, wherein the suction cup bracket and the bottom support mechanism move in opposite directions.

[0051] The loading and unloading robot provided by the present utility model includes the side suction and bottom support fixture for a loading and unloading robot as described above, and further includes a robotic arm and a mobile base;

[0052] The side suction and bottom support fixture for a loading and unloading robot is arranged at the end of the robotic arm;

[0053] The robotic arm is arranged on the mobile base, and the mobile base is used to drive the robotic arm to move.

[0054] Compared with the prior art, the present utility model has the following beneficial effects:

[0055] In the present utility model, a first guide rail and a second guide rail extending along the length direction are provided on the fixture main body. The first guide rail is located on one side surface of the fixture main body, and the second guide rail is located on the other side surface of the fixture main body. The suction cup bracket is connected to the first guide rail through a first slider and can slide along the first guide rail. The bottom support mechanism is connected to the second guide rail through a second slider and can slide along the second guide rail. When the suction cup array provided on the suction cup bracket sucks the target box body, the suction cup bracket is driven by a driving module to move towards the rear end of the fixture main body to realize the grasping of the target box body. At the same time, the driving module drives the bottom support mechanism to extend from the front end of the fixture main body to support the target box body, so that the loading, unloading and palletizing and depalletizing of the box body can be realized in an environment with limited space such as a container. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present utility model will become more obvious:

[0057] Figure 1 FIG. is a schematic diagram of a state of the side suction and bottom support fixture for a loading and unloading robot in an embodiment of the present utility model;

[0058] Figure 2 FIG. is another schematic diagram of a state of the side suction and bottom support fixture for a loading and unloading robot in an embodiment of the present utility model;

[0059] Figure 3 FIG. is a schematic diagram of the working state of the side suction and bottom support fixture for a loading and unloading robot in an embodiment of the present utility model;

[0060] Figure 4 FIG. is a schematic diagram of a state of the side suction and bottom support fixture for a loading and unloading robot in a variant embodiment of the present utility model;

[0061] Figure 5 FIG. is another schematic diagram of a state of the side suction and bottom support fixture for a loading and unloading robot in a variant embodiment of the present utility model;

[0062] Figure 6 FIG. is a schematic diagram of the structure of the suction cup bracket in an embodiment of the present utility model;

[0063] Figure 7 FIG. shows a schematic diagram of the installation relationship of the moving plate in an embodiment of the present utility model;

[0064] Figure 8 Shows a schematic structural diagram of a fixture main body in an embodiment of the present utility model;

[0065] Figure 9 Is a schematic diagram of the bottom side of a side suction and bottom supporting fixture for a loading and unloading robot in an embodiment of the present utility model;

[0066] Figure 10 Is a schematic diagram of the working state of a second suction cup array in a modified example of the present utility model

[0067] Figure 11 Is a schematic structural diagram of a loading and unloading robot in an embodiment of the present utility model.

[0068] In the figure:

[0069] 1 is the fixture main body; 101 is the installation vertical plate; 102 is the first support frame; 103 is the second support frame; 104 is the connecting cross bar; 2 is the suction cup support; 201 is the suction cup mounting plate; 202 is the first moving plate; 203 is the first slider; 204 is the first guide rail; 3 is the bottom supporting mechanism; 301 is the first bottom supporting support rod; 302 is the second bottom supporting support rod; 303 is the second slider; 304 is the first fixing plate, 305 is the second moving plate; 306 is the second guide rail; 4 is the driving module; 5 is the first suction cup array; 601 is the conveyor belt; 602 is the driven wheel; 603 is the driving wheel; 604 is the second fixing plate; 7 is the second suction cup array; 100 is the side suction and bottom supporting fixture for the loading and unloading robot; 200 is the robotic arm; 300 is the moving base. Specific embodiments

[0070] The present utility model will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made. These all belong to the protection scope of the present utility model.

[0071] In the description, claims and above-mentioned drawings of the present utility model, terms such as "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present utility model described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0072] The technical solution of the present utility model will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0073] The technical solution of the present utility model and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present utility model will be described below with reference to the drawings.

[0074] As Figures 1 to 11 shown, the side suction and bottom support fixture for a loading and unloading robot provided by the present utility model includes:

[0075] A fixture main body 1, a first guide rail 204 and a second guide rail 306 extending along the length direction of the fixture main body 1, the first guide rail 204 is located on one side surface of the fixture main body 1, and the second guide rail 306 is located on the other side surface of the fixture main body 1;

[0076] A suction cup bracket 2, a first suction cup array 5 is arranged on the suction cup bracket 2, the first suction cup array 5 is used for sucking a target box body, and the suction cup bracket 2 is connected to the first guide rail 204 through a first slider 203 and can slide along the first guide rail 204;

[0077] A bottom support mechanism 3, located at the bottom side of the fixture main body 1, the bottom support mechanism 3 is connected to the second guide rail 306 through a second slider 303 and can slide along the second guide rail 306;

[0078] A drive module 4, the drive module 4 is connected to the suction cup bracket 2 and the bottom support mechanism 3 through a drive transmission mechanism, and is used to drive the suction cup bracket 2 and the bottom support mechanism 3 to move in opposite directions simultaneously.

[0079] In the embodiment of the present utility model, the driving module 4 is arranged on the mounting vertical plate 101 of the fixture main body 1. The driving module 4 adopts a driving motor or a cylinder.

[0080] Figure 1 It is a schematic diagram of a state of the side suction and bottom supporting fixture for a loading and unloading robot in the embodiment of the present utility model. Figure 3 It is a schematic diagram of the working state of the side suction and bottom supporting fixture for a loading and unloading robot in the embodiment of the present utility model. As Figure 1 、 Figure 3 shown, when the suction cup bracket 2 sucks the target box body, the driving module 4 drives the suction cup bracket 2 to move from the front end of the fixture main body 1 to the rear end of the fixture main body 1, and the bottom supporting mechanism 3 extends from the front end of the fixture main body 1.

[0081] Figure 2 It is another schematic diagram of the state of the side suction and bottom supporting fixture for a loading and unloading robot in the embodiment of the present utility model. As Figure 2 shown, when releasing the target box body, the driving module 4 drives the suction cup bracket 2 to move from the rear end of the fixture main body 1 to the front end of the fixture main body 1 to push out the target box body, and at the same time the bottom supporting mechanism 3 retracts into the fixture main body 1.

[0082] Figure 4 It is a schematic diagram of a state of the side suction and bottom supporting fixture for a loading and unloading robot in a modified example of the present utility model. Figure 5 It is another schematic diagram of the state of the side suction and bottom supporting fixture for a loading and unloading robot in a modified example of the present utility model. As Figure 4 、 Figure 5 shown, the suction cup module includes a first suction cup array 5 and a second suction cup array 7.

[0083] The first suction cup array 5 is arranged on the suction cup bracket 2; the second suction cup array 7 is connected to the back side of the first suction cup array or the suction cup bracket through a suction cup connecting plate.

[0084] The first suction cup array 5 is located on one side of the bottom supporting mechanism 3, and the second suction cup array 7 is located on the other side of the bottom supporting mechanism 3.

[0085] In the embodiment of the present utility model, the first suction cup array 5 is used for sucking a target box body with a larger area, and the second suction cup array 7 is used for sucking a target box body with a smaller area.

[0086] When sucking the target box body through the first suction cup array 5, the bottom supporting mechanism 3 supports the target box body on the side facing the first suction cup array 5. When sucking the target box body through the second suction cup array 7, the bottom supporting mechanism 3 supports the target box body on the side facing the second suction cup array 7.

[0087] In the embodiment of the present utility model, the first suction cup array 5 and the second suction cup array 7 have the same width, but the height of the first suction cup array 5 is greater than that of the second suction cup array 7;

[0088] By sucking the target box body through the second suction cup array 7, it can also avoid the interference between the fixture and the top of the cargo box when loading and unloading the material in the cargo box by the loading and unloading robot.

[0089] When the height of the target box body is less than the height of the first suction cup array 5, the second suction cup array 7 can be used to suck the target box body, as Figure 10 shown.

[0090] In this variant, a receiving channel extending in the length direction is provided on the bottom supporting mechanism 3, so that when the bottom supporting mechanism 3 slides along the second guide rail 306, it can avoid the blocking of the movement of the bottom supporting mechanism 3 by the connecting cross bar 104 in the fixture body 1;

[0091] A groove can also be provided at the front end of the connecting cross bar 104, so that the front end of the bottom supporting mechanism 3 can be received in the groove when it retracts, shortening the length of the entire fixture.

[0092] The first suction cup array 5 and the second suction cup array 7 are in the same plane, and the first suction cup array 5 and the second suction cup array 7 can cooperate to suck the side surface of the target box body with the largest area, such as sucking the top of the target box body.

[0093] In the embodiment and variant of the present utility model, the first suction cup array 5 includes a first suction cup area 501 and a second suction cup area 502 arranged adjacent to each other;

[0094] The first suction cup area 501 and the second suction cup area 502 are used to separately provide suction force to suck the side surface of a target box body of one size or to simultaneously provide suction force to suck the side surface of a target box body of another size.

[0095] That is, by controlling the first suction cup array 5 in a partitioned manner, the side surface of a small-area target box body can be sucked. That is, by separately controlling the first suction cup area 501 or the second suction cup area 502, the side surface of a target box body of one area can be sucked, avoiding the pulling of the adjacent target box body; at this time, the area of the first suction cup area 501 or the second suction cup area 502 is smaller than the area of the sucked surface of the target box body.

[0096] In the embodiment of the present utility model, as Figure 5 shown, the first suction cup area 501 and the second suction cup area 502 have the same height, but the widths of the first suction cup area 501 and the second suction cup area 502 are smaller than those of the first suction cup array 5. Therefore, they can be used to suck a target box body with a width smaller than that of the first suction cup area 501 and the second suction cup area 502.

[0097] The first suction cup area 501 is provided with a first air suction channel, and the second suction cup area 502 is provided with a second air suction channel. Two vacuum generators or vacuum sources can be provided to respectively provide suction force to the first suction cup area and the second suction cup area 502. Or one vacuum generator or vacuum source can be provided to connect the first air suction channel and the second air suction channel through a three-way valve to simultaneously provide suction force to the first suction cup area 501 and the second suction cup area 502, or suction force can be provided to the first suction cup area or the second suction cup area 502 respectively.

[0098] The three-way valve adopts a three-way check valve.

[0099] When suction force is simultaneously provided to the first suction cup area 501 and the second suction cup area 502, the side of a target box body with another area can be sucked, that is, a target box body with a larger area can be sucked.

[0100] The first suction cup area 501 and the second suction cup area 502 are located on the left and right sides of the first suction cup array 5, and in a deformation example, they can also be located on the upper and lower sides of the first suction cup array 5.

[0101] In short, whether to select the first suction cup array 5, the second suction cup array 7, or the first suction cup area 501 and the second suction cup area 502 is determined according to the area of the sucked side of the target box body to be sucked. Generally, the suction cup area needs to be located within the sucked side and be able to provide sufficient suction force to lift the target box body.

[0102] Figure 6 This is a schematic structural diagram of the suction cup bracket in the embodiment of the present utility model. As Figure 6 shown, the suction cup bracket 2 includes: a suction cup mounting plate 201 and a first moving plate 202;

[0103] The first moving plate 202 is connected to the first guide rail 204 through the first slider 203, and is connected to one side of the conveyor belt 601 through the first fixing plate 304;

[0104] The suction cup mounting plate 201 is arranged on the first moving plate 202, and the suction cup array 5 is arranged on the first moving plate 202.

[0105] The suction cup mounting plate 201 includes a first support frame, a second support frame, and a suction cup mounting plate; the first support frame and the second support frame are arranged on the first moving plate 202, and the suction cup mounting plate is mounted on the front sides of the first support frame and the second support frame.

[0106] In the embodiment of the present invention, as Figure 8 shown, the first guide rail 204 includes a first left guide rail and a first right guide rail; the first slider 206 can be an entire slider that simultaneously connects the first left guide rail and the first right guide rail, or can be provided as two sub-sliders that respectively cooperate with the first left guide rail and the first right guide rail.

[0107] The first left guide rail and the first right guide rail are parallel to each other.

[0108] In the embodiment of the present invention, the suction cup array 5 all includes a plurality of suction cups arranged in sequence. A plurality of suction cups arranged in sequence in each column are staggered, the number of suction cups in each column is 10, and the number of columns of suction cups is 6 columns.

[0109] Figure 7 The schematic diagram of the installation relationship of the moving plate in the embodiment of the present invention is shown. As Figure 7 shown, the bottom supporting mechanism 3 includes a first bottom supporting support rod 301, a second bottom supporting support rod 302, and a second moving plate 305;

[0110] The first bottom supporting support rod 301 and the second bottom supporting support rod 302 are arranged on the second moving plate 305; the second moving plate 305 is connected to the second guide rail 306 through a second slider 303 and can slide along the second guide rail 306;

[0111] The second moving plate 305 is connected to the other side of the conveyor belt 601 through a second fixing plate 604.

[0112] In the embodiment of the present invention, the first bottom supporting support rod 301 and the second bottom supporting support rod 302 are parallel to each other and perpendicular to the second moving plate 305.

[0113] In the embodiment of the present invention, the second guide rail 306 includes a second left guide rail and a second right guide rail; the second slider 303 can be an entire slider that simultaneously connects the second left guide rail and the second right guide rail, or can be provided as two sub-sliders that respectively cooperate with the second left guide rail and the second right guide rail;

[0114] The second left guide rail and the second right guide rail are parallel to each other.

[0115] Figure 8 The schematic diagram of the structure of the fixture main body in the embodiment of the present invention is shown. AsFigure 8 As shown, the fixture body 1 includes a supporting base frame and a mounting vertical plate 101;

[0116] The mounting vertical plate 101 is connected to the rear end of the supporting base frame; the driving module 4 is arranged on the mounting vertical plate 101;

[0117] A first guide rail 204 is arranged on one side surface of the supporting base frame, and a second guide rail 306 is arranged on the other side surface;

[0118] A bottom supporting mechanism 3 is arranged between the first guide rail 204 and the second guide rail 306.

[0119] In the embodiment of the present utility model, the mounting vertical plate 101 is perpendicular to the supporting base frame.

[0120] Figure 9 It is a schematic diagram of the bottom side of the side suction and bottom supporting fixture for a loading and unloading robot in the embodiment of the present utility model. As Figure 8 、 Figure 9 shown, the driving and transmission mechanism includes: a driving wheel 603, a driven wheel 602 and a transmission belt 601;

[0121] The driving wheel 603 is arranged on the output shaft of the driving module 4;

[0122] The driven wheel 602 is arranged at the front end of the suction cup bracket 2; the driving wheel 603 is connected to the driven wheel 602 through the transmission belt 601;

[0123] The suction cup bracket 2 is connected to one side of the transmission belt 601, and the bottom supporting mechanism 3 is connected to the other side of the transmission belt 601.

[0124] In the embodiment of the present utility model, the driving module 4 is connected to the driving wheel 603 through a speed reducer to drive the driving wheel 603 to rotate; the driven wheel 602 is arranged in the middle area of the connecting cross bar 104, the driven wheel 602 is connected to the connecting cross bar 104 through a synchronous wheel mounting plate, four support rods are arranged on the synchronous wheel mounting plate, and a synchronous wheel cover plate is arranged at the top end of the support rods. The synchronous wheel cover plate and the four support rods form a protective cover for the driven wheel 602.

[0125] As Figure 9 shown, the supporting base frame includes a first support frame 102, a second support frame 103 and a connecting cross bar 104;

[0126] The rear ends of the first support frame 102 and the second support frame 103 are connected to both side ends of the mounting vertical plate 101; the front ends of the first support frame 102 and the second support frame 103 are connected to both ends of the connecting cross bar 104.

[0127] In an embodiment of the present utility model, the first support frame 102, the second support frame 103, the connecting cross bar 104 and the mounting vertical plate 101 enclose a rectangular structure.

[0128] A first right guide rail is provided on the upper side surface of the first support frame 102, and a second right guide rail is provided on the lower side surface; a first left guide rail is provided on the upper side surface of the second support frame 103, and a second left guide rail is provided on the lower side surface.

[0129] In a variant embodiment of the present utility model, the side suction and bottom supporting fixture for a loading and unloading robot provided by the present utility model includes:

[0130] A fixture main body 1, a first guide rail 204 and a second guide rail 306 extending along the length direction of the fixture main body 1, the first guide rail 204 is located on one side surface of the fixture main body 1, and the second guide rail 306 is located on the other side surface of the fixture main body 1;

[0131] A suction cup support 2, on which a suction cup array 5 is provided, the suction cup array 5 is used for sucking a target box body, and the suction cup support 2 is connected to the first guide rail 204 through a first slider 203 and can slide along the first guide rail 204;

[0132] A bottom supporting mechanism 3, located at the bottom side of the fixture main body 1, the bottom supporting mechanism 3 is connected to the second guide rail 306 through a second slider 303 and can slide along the second guide rail 306;

[0133] A first driving unit, used for driving the suction cup support 2 to move along the first guiding mechanism 204;

[0134] A second driving unit, used for driving the bottom supporting mechanism 3 to move along the second guiding mechanism 306, wherein the suction cup support 2 and the bottom supporting mechanism 3 move in opposite directions.

[0135] That is, in this variant embodiment, the suction cup support 2 and the bottom supporting mechanism 3 are driven by different driving units, and the suction cup support 2 and the bottom supporting mechanism 3 can be controlled to move in opposite directions simultaneously through a controller, or the suction cup support 2 can be controlled to move several seconds earlier than the bottom supporting mechanism 3, or the suction cup support 2 can be controlled to move several seconds later than the bottom supporting mechanism 3. The several seconds can be any second from 1 to 3 seconds, such as two seconds.

[0136] Figure 11 It is a structural schematic diagram of a loading and unloading robot in an embodiment of the present utility model. As Figure 11 shown, the loading and unloading robot provided by the present utility model includes the side suction and bottom supporting fixture for a loading and unloading robot as described above, and further includes a robotic arm and a mobile base;

[0137] The side suction and bottom supporting fixture for the loading and unloading robot is arranged at the end of the robotic arm;

[0138] The robotic arm is arranged on the moving base, and the moving base is used to drive the robotic arm to move.

[0139] When discharging the target box using the loading and unloading robot provided by the present utility model, the following steps are included:

[0140] Step S1: Control the suction cup bracket 2 to move to the front end of the fixture body 1 to suck one side of the target box;

[0141] Step S2: Control the drive module 4 to drive the suction cup bracket 2 to move from the front end of the fixture body 1 to the rear end of the fixture body 1, and at the same time, the bottom supporting mechanism 3 extends from the front end of the fixture body 1 to support the target box;

[0142] Step S3: Control the drive module 4 to drive the suction cup bracket 2 to move from the rear end of the fixture body 1 to the front end of the fixture body 1 to push out the target box, and at the same time, the bottom supporting mechanism 3 retracts into the fixture body 1.

[0143] More specifically, the following steps are included:

[0144] Obtain the stack image of the box stack, identify the stack image, and determine multiple target box areas on the stack image;

[0145] Determine multiple target boxes to be sucked according to the positions of the multiple target box areas, and further determine the length and height of the target box;

[0146] When it is judged according to the length and height that the length and width of the side to be sucked of the target object are greater than the length and width of the plane formed by the first suction cup array 5 and the second suction cup array 7, the first suction cup array 5 and the second suction cup array 7 are used to suck the target object at the same time, and at this time, the bottom supporting mechanism 3 does not need to extend to support the target box;

[0147] When the height of the side to be sucked is greater than the height of the first suction cup array 5 and the length of the side to be sucked is greater than the length of the first suction cup array 5, the first suction cup array 5 is used to suck the target box;

[0148] When the height of the side to be sucked is less than the height of the first suction cup array 5 and the length of the side to be sucked is greater than the length of the first suction cup array 5, the second suction cup array 7 is used to suck the target box;

[0149] When the height of the side to be sucked is greater than the height of the first suction cup array 5 and the length of the side to be sucked is less than the length of the first suction cup array 5, the target box body is sucked by the first suction cup area 501 or the second suction cup area 502 of the first suction cup array 5.

[0150] In addition, when there is interference in sucking the target box body by the first suction cup array 5 during loading and unloading by the handling robot in the cargo box, the target box body is sucked by the second suction cup array 7.

[0151] In the embodiment of the present invention, a first guide rail and a second guide rail extending along the length direction are provided on the fixture main body of the present invention. The first guide rail is located on one side surface of the fixture main body, and the second guide rail is located on the other side surface of the fixture main body. The suction cup bracket is connected to the first guide rail through a first slider and can slide along the first guide rail. The bottom support mechanism is connected to the second guide rail through a second slider and can slide along the second guide rail. When the suction cup array provided on the suction cup bracket sucks the target box body, the suction cup bracket is driven by the driving module to move towards the rear end of the fixture main body to grab the target box body. At the same time, the driving module drives the bottom support mechanism to extend from the front end of the fixture main body to support the target box body, so that the loading, unloading and palletizing and depalletizing of the box body can be realized in an environment with limited space such as a container.

[0152] In this specification, the various embodiments are described in a progressive manner. The key point of each embodiment is to describe the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0153] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the present invention.

Claims

1. A side suction bottom support fixture for a loading and unloading robot, characterized in that: include: The fixture body; A suction cup bracket, on which a suction cup array is arranged, the suction cup array is used to suck the target box, and the suction cup bracket is arranged on a side surface of the clamp body and can move along a first direction; A bottom supporting mechanism, located on the clamp body, capable of moving in a second direction opposite to the first direction; A driving module, wherein the driving module is connected to the suction cup bracket and the bottom supporting mechanism via a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom supporting mechanism to perform reverse movements simultaneously.

2. The side suction bottom supporting fixture for loading and unloading robots according to claim 1, characterized in that: When the suction cup bracket absorbs the target box, the driving module drives the suction cup bracket to move from the front end of the clamp body to the rear end of the clamp body, and the bottom supporting mechanism extends from the front end of the clamp body; When the target box is released, the driving module drives the suction cup bracket to move from the rear end of the clamp body to the front end of the clamp body to push the target box out, and the bottom supporting mechanism retracts into the clamp body.

3. The side suction bottom supporting fixture for loading and unloading robots according to claim 1, characterized in that: The fixture body includes a supporting base frame and a mounting riser; The mounting vertical plate is connected to the rear end of the supporting chassis; the driving module is arranged on the mounting vertical plate; A first guide mechanism is provided on one side of the support frame, and a second guide mechanism is provided on the other side; A bottom supporting mechanism is arranged between the first guiding mechanism and the second guiding mechanism.

4. The side suction bottom supporting fixture for loading and unloading robots according to claim 3, characterized in that: The drive transmission mechanism comprises: a driving wheel, a driven wheel and a transmission belt; The driving wheel is arranged on the output shaft of the driving module; The driven wheel is arranged at the front end of the suction cup bracket; the driving wheel is connected to the driven wheel through the transmission belt; The suction cup bracket is connected to one side of the conveyor belt, and the bottom supporting mechanism is connected to the other side of the conveyor belt.

5. The side suction bottom supporting fixture for loading and unloading robots according to claim 4, characterized in that: The suction cup bracket comprises: a suction cup mounting plate and a first movable plate; The first movable plate is connected to the first guide mechanism and is connected to one side of the conveyor belt through a first fixed plate; The suction cup mounting plate is arranged on the first movable plate, and the suction cup array is arranged on the first movable plate.

6. The side suction bottom supporting fixture for loading and unloading robots according to claim 4, characterized in that: The supporting chassis comprises a first supporting frame, a second supporting frame and a connecting cross bar; The rear ends of the first support frame and the second support frame are connected to the two side ends of the mounting vertical plate; the front ends of the first support frame and the second support frame are connected to the two ends of the connecting cross bar.

7. The side suction bottom supporting fixture for loading and unloading robots according to claim 6, characterized in that: The bottom supporting mechanism comprises a first bottom supporting rod, a second bottom supporting rod and a second movable plate; The first bottom supporting rod and the second bottom supporting rod are arranged on the second movable plate; the second movable plate is connected to the second guide mechanism and can move along the second guide mechanism; The second movable plate is connected to the other side of the conveyor belt through a second fixed plate.

8. The side suction bottom supporting fixture for loading and unloading robots according to claim 3, characterized in that: The first guide mechanism includes a first guide rail and a first slider; the second guide mechanism includes a second guide rail and a second slider; The first guide rail is located on one side surface of the clamp body, and the second guide rail is located on the other side surface of the clamp body; The suction cup bracket is connected to the first guide rail via a first slider and can slide along the first guide rail; the bottom supporting mechanism is connected to the second guide rail via a second slider and can slide along the second guide rail.

9. A side suction bottom supporting fixture for a loading and unloading robot, characterized in that: include: The fixture body; A suction cup bracket, on which a suction cup array is arranged, the suction cup array is used to suck the target box, and the suction cup bracket is arranged on a side surface of the clamp body and can move along a first direction; A bottom supporting mechanism, located on the clamp body, capable of moving in a second direction opposite to the first direction; A first driving unit, used for driving the suction cup bracket to move along the first direction; The second driving unit is used to drive the bottom supporting mechanism to move along the second direction, wherein the suction cup bracket and the bottom supporting mechanism move in opposite directions.

10. A loading and unloading robot, characterized in that: A side suction bottom supporting fixture for a loading and unloading robot according to any one of claims 1 to 9, further comprising a mechanical arm and a mobile base; The side suction bottom supporting fixture for loading and unloading the robot is arranged at the end of the mechanical arm; The mechanical arm is arranged on the mobile base, and the mobile base is used for driving the mechanical arm to move.

Images