Single valve control clamp, bottoming clamp and loading and unloading robot

Abstract

The utility model provides a single valve control clamp, a bottom support clamp and a loading and unloading robot, which comprise a mounting main board, a plurality of first mounting holes arranged in a matrix are arranged on the front side surface of the mounting main board, and a plurality of second mounting holes arranged in a matrix are arranged on the back side surface of the mounting main board; the suction cup is arranged in the first mounting hole; the electromagnetic valve is arranged in the second mounting hole; the air hole of the suction cup is communicated with or disconnected from the cavity structure through the electromagnetic valve. Each suction cup can be independently controlled through the corresponding electromagnetic valve, so that the suction cup device can be suitable for target box bodies with different side areas, the multiple suction cups for providing vacuum can be determined according to the length and the width of the side faces of the target box bodies, and therefore the situation that the adjacent target box bodies are sucked can be avoided.

Description

Technical Field

[0001] This utility model relates to a loading and unloading robot, specifically, to a single-unit valve control fixture, a bottom-supporting fixture, and a loading and unloading robot. Background Technology

[0002] A loading and unloading robot is an intelligent device equipped with sensors, lenses, and electro-optical systems that can quickly sort and move goods.

[0003] More and more visual sensors and force sensors will be used in loading and unloading robots, making them increasingly intelligent. With advancements in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled unidirectionally to storing and applying their own data, gradually becoming information-based.

[0004] When sorting and handling goods using loading and unloading robots, visual sensors are needed to capture images of the goods. The posture of the goods is determined by recognizing the images of the goods, and then the loading and unloading robot picks or handles the goods using the loaded grippers or suction cups.

[0005] When loading and unloading robots disassemble goods from containers with frames, tops, and partitions, such as boxes, shelves, and cages, they need to grip one side of the goods. However, when the size of the goods is smaller than the size of the gripper, it often sucks up two adjacent goods. This not only requires replacing the gripper with one of the wrong size, but also often causes adjacent goods to be accidentally pulled off. Utility Model Content

[0006] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a single valve control fixture, a bottom support fixture, and a loading and unloading robot.

[0007] The single valve control fixture provided by this utility model includes:

[0008] The mounting motherboard has a cavity structure inside, and the front side of the mounting motherboard has a plurality of first mounting holes arranged in a matrix, and the back side has a plurality of second mounting holes arranged in a matrix.

[0009] A suction cup, wherein the suction cup is disposed within the first mounting hole;

[0010] A solenoid valve is disposed in the second mounting hole; wherein the air hole of the suction cup is connected or disconnected from the cavity structure through the solenoid valve.

[0011] Preferably, when the air hole of the suction cup is connected to the cavity structure, suction force can be applied to the suction cup through the cavity structure;

[0012] When the air vent of the suction cup is disconnected from the cavity structure, suction force cannot be applied to the suction cup through the cavity structure.

[0013] Preferably, it also includes a vacuum connector;

[0014] The back side of the mounting motherboard is provided with an air intake hole that connects to the cavity structure; the vacuum connector connects to the cavity structure through the air intake hole;

[0015] The vacuum connector is used to connect to a vacuum source to provide a vacuum to the cavity structure.

[0016] Preferably, it also includes a controller unit;

[0017] The controller unit is electrically connected to each of the solenoid valves and is used to control the opening and closing of each solenoid valve. Each solenoid valve is correspondingly set with a suction cup.

[0018] Preferably, it also includes a rear cover; the rear cover is connected to the back side of the mounting motherboard to form a receiving space;

[0019] The communication information board and the solenoid valve in the controller unit are located within the accommodating space.

[0020] The bottom-supporting clamp provided by this utility model includes the aforementioned single-unit valve control clamp, and further includes:

[0021] Fixture body;

[0022] A suction cup bracket is provided with the single-unit valve control clamp, which is used to pick up the target box. The suction cup bracket is provided on the clamp body and can move along a first direction.

[0023] The bottom support mechanism, located on the clamp body, is capable of moving in a second direction opposite to the first direction;

[0024] The driving module is connected to the suction cup bracket and the bottom support mechanism through a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom support mechanism to move in opposite directions simultaneously.

[0025] Preferably, after the individual valve control clamp picks up the target box, the drive module drives the individual valve control clamp to move from the front end of the clamp body to the rear end of the clamp body, and the bottom support mechanism extends from the front end of the clamp body;

[0026] When the target box is released, the drive module drives the single valve control clamp to move from the rear end of the clamp body to the front end of the clamp body to push out the target box, while the bottom support mechanism retracts into the clamp body.

[0027] Preferably, the drive transmission mechanism includes: a driving wheel, a driven wheel, and a transmission belt;

[0028] The drive wheel is mounted on the drive shaft of the drive module;

[0029] The driven wheel is disposed at the front end of the clamp body; the driving wheel is connected to the driven wheel via the transmission belt;

[0030] The suction cup bracket is connected to one side of the conveyor belt, and the bottom support mechanism is connected to the other side of the conveyor belt.

[0031] Preferably, the fixture body includes a supporting base frame and a mounting vertical plate;

[0032] The mounting plate is connected to the rear end of the support base frame, and a robot connection flange is provided on the mounting plate;

[0033] The support base frame is equipped with a clamping guide mechanism and a bottom-supporting guide mechanism;

[0034] The bottom support mechanism is mounted on the bottom support guide mechanism and can slide along the bottom support guide mechanism; the suction cup bracket is mounted on the clamp guide mechanism and can slide along the clamp guide mechanism.

[0035] Preferably, the clamping guide mechanism includes a first guide rail, a first slider, a second guide rail, and a second slider;

[0036] The first guide rail and the second guide rail are mounted on a pair of support rods of the support base. The suction cup bracket is connected to the first guide rail via a first slider and to the second guide rail via a second slider, and can slide along the first guide rail and the second guide rail.

[0037] Preferably, the bottom-supporting guide mechanism includes a third guide rail, a third slider, a fourth guide rail, and a fourth slider;

[0038] The third guide rail and the fourth guide rail are mounted on another pair of support rods of the support base. The bottom support mechanism is connected to the third guide rail via a third slider and to the fourth guide rail via a fourth slider, and can slide along the third guide rail and the fourth guide rail.

[0039] Preferably, the bottom support mechanism includes a guide rod, a first bottom support plate, a first connecting plate, a second bottom support plate, and a second connecting plate;

[0040] The guide rod is connected to the front ends of the first base plate and the second base plate;

[0041] The first base plate is connected to the third slider via the first connecting plate;

[0042] The second base plate is connected to the fourth slider via the second connecting plate.

[0043] Preferably, the drive module includes a drive motor, a power output gear, a power transmission gear, and a drive shaft;

[0044] The drive motor is located on the lower side of the fixture body, and the transmission shaft is located on multiple bearings at the rear end of the fixture body;

[0045] The power transmission gear is mounted on the drive shaft;

[0046] The drive motor is used to drive the transmission shaft to rotate sequentially through a power output gear and a power transmission gear.

[0047] Preferably, the support base includes a front support frame, a rear support frame, a first support rod, a second support rod, a third support rod, and a fourth support rod;

[0048] The front end of the first support rod is connected to one end of the front support frame, and the rear end is connected to one end of the rear support frame; the front end of the second support rod is connected to the other end of the front support frame, and the rear end is connected to the other end of the rear support frame.

[0049] The third support rod and the fourth support rod are disposed between the first support rod and the second support rod, and the front end of the third support rod is connected to the front support frame and the rear end is connected to the rear support frame; the front end of the fourth support rod is connected to the front support frame and the rear end is connected to the rear support frame.

[0050] The loading and unloading robot provided by this utility model includes the single valve control fixture or the bottom support fixture, and also includes a robotic arm and a mobile base.

[0051] The individual valve control fixture or the bottom support fixture is disposed at the end of the robotic arm;

[0052] The robotic arm is mounted on the movable base, which is used to move the robotic arm.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] In this invention, each suction cup can be individually controlled by a solenoid valve, thus it can be applied to target boxes with different side areas. Multiple suction cups that provide vacuum can be determined according to the length and width of the side of the target box, thereby avoiding suction to adjacent target boxes.

[0055] In this utility model, the clamp body is provided with a clamp guide mechanism and a bottom support guide mechanism extending along the length direction. The suction cup bracket is connected to the clamp guide mechanism and can slide along the clamp guide mechanism. The bottom support mechanism is connected to the bottom support guide mechanism and can slide along the bottom support guide mechanism. When the suction cup array on the suction cup bracket picks up the target box, the drive module drives the suction cup bracket to move towards the rear end of the clamp body to pick up the target box. At the same time, the drive module drives the bottom support mechanism to extend from the front end of the clamp body to support the target box, thereby enabling the loading, unloading, and stacking of boxes in environments with restricted spaces such as shipping containers. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of this utility model will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0057] Figure 1 This is a schematic diagram of the structure of the single valve control fixture in the embodiment of this utility model;

[0058] Figure 2 This is a schematic diagram of the back plate structure of the single valve control fixture in this embodiment of the present invention;

[0059] Figure 3 This is a cross-sectional schematic diagram of the single valve control fixture in an embodiment of this utility model;

[0060] Figure 4 This is a schematic diagram of the bottom support clamp structure in an embodiment of this utility model;

[0061] Figure 5 This is a schematic diagram of one state of the bottom support clamp in an embodiment of this utility model;

[0062] Figure 6 This is a schematic diagram of another state of the bottom support clamp in an embodiment of this utility model;

[0063] Figure 7 This is a schematic diagram of the working state of the bottom support clamp in the embodiment of this utility model;

[0064] Figure 8 A schematic diagram of the bottom support mechanism in an embodiment of this utility model is shown;

[0065] Figure 9A schematic diagram of the fixture body in an embodiment of this utility model is shown;

[0066] Figure 10 A schematic diagram of the drive module in an embodiment of this utility model is shown;

[0067] Figure 11 A schematic diagram of the drive transmission mechanism in an embodiment of this utility model is shown; and

[0068] Figure 12 This is a schematic diagram of the loading and unloading robot in an embodiment of this utility model.

[0069] In the picture:

[0070] 1 is the main body of the clamp; 101 is the mounting plate; 1021 is the front support frame; 1022 is the rear support frame; 1023 is the first support rod; 1024 is the second support rod; 1025 is the third support rod; 1026 is the fourth support rod; 2 is the individual valve control clamp; 201 is the mounting main board; 202 is the suction cup; 203 is the solenoid valve; 204 is the cavity structure; 205 is the communication information board; 206 is the vacuum connector; 207 is the rear cover; 208 is the suction cup bracket; 3 is the bottom support mechanism; 301 is... Guide rod; 302 is the first support plate; 303 is the first connecting plate; 304 is the second support plate; 4 is the drive module; 401 is the drive motor; 402 is the power output gear; 403 is the power transmission gear; 404 is the transmission shaft; 405 is the driving wheel; 406 is the driven wheel; 407 is the transmission belt; 408 is the first transmission fixing block; 409 is the second transmission fixing block; 5 is the clamping guide mechanism; 6 is the support guide mechanism; 100 is the support clamp; 200 is the robotic arm; 300 is the movable base. Detailed Implementation

[0071] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0072] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the utility model described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0073] The technical solution of this utility model will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0074] The technical solutions of this utility model and this application solve the above-mentioned technical problems in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this utility model will now be described with reference to the accompanying drawings.

[0075] Figure 1 This is a schematic diagram of the structure of the single valve control fixture in an embodiment of this utility model, as shown below. Figure 1 As shown, the single valve control fixture 2 provided by this utility model includes:

[0076] The mounting motherboard 201 has a cavity structure 204 formed inside it. The front side of the mounting motherboard 201 is provided with a plurality of first mounting holes arranged in a matrix, and the back side is provided with a plurality of second mounting holes arranged in a matrix.

[0077] Suction cup 202, wherein the suction cup 202 is disposed in the first mounting hole;

[0078] Solenoid valve 203 is disposed in the second mounting hole; wherein, the air hole of the suction cup 202 is connected or disconnected from the cavity structure 204 through the solenoid valve 203.

[0079] In this embodiment of the utility model, the solenoid valve 203 and the suction cup 202 are arranged in a one-to-one correspondence.

[0080] When the air hole of the suction cup 202 is connected to the cavity structure 204, suction force can be applied to the suction cup 202 through the cavity structure 204;

[0081] When the air hole of the suction cup 202 is disconnected from the cavity structure 204, suction force cannot be applied to the suction cup 202 through the cavity structure 204.

[0082] Figure 2 This is a schematic diagram of the back plate structure of the single valve control fixture in an embodiment of this utility model. Figure 3 This is a cross-sectional schematic diagram of the single valve control fixture in an embodiment of this utility model, as shown below. Figure 2 , Figure 3 As shown, this utility model provides a single valve control fixture 2, which also includes a vacuum connector 206, a controller unit, and a rear cover 207;

[0083] The mounting motherboard 201 has an air intake hole on its back side that connects to the cavity structure 204; the vacuum connector 206 connects to the cavity structure 204 through the air intake hole.

[0084] The vacuum connector 206 is used to connect to a vacuum source to provide a vacuum to the cavity structure 204.

[0085] The controller unit is electrically connected to each of the solenoid valves 203 and is used to control the opening and closing of each of the solenoid valves 203. Each of the solenoid valves 203 is correspondingly set with a suction cup 202.

[0086] In this embodiment of the utility model, the controller unit includes a communication notification board 205, which is electrically connected to an industrial control computer. The communication notification board 205 includes an STM32 chip, which drives MOSFETs through multiple DO ports to control each solenoid valve 203. One DO port controls one solenoid valve 203.

[0087] The rear cover 207 is connected to the back side of the mounting motherboard 201 to form an accommodating space;

[0088] The communication notification board 205 and the solenoid valve 203 in the controller unit are located within the accommodating space.

[0089] Figure 4 This is a schematic diagram of the bottom support clamp structure in an embodiment of the present utility model, as shown below. Figure 4 As shown, the bottom support clamp 100 provided by this utility model includes the aforementioned single-unit valve control clamp 2, and further includes:

[0090] Fixture body 1;

[0091] The suction cup bracket 208 is provided with the single valve control clamp 2, which is used to pick up the target box. The suction cup bracket 208 is provided on the clamp body 1 and can move along the first direction.

[0092] The bottom support mechanism 3 is located on the clamp body 1 and can move in a second direction opposite to the first direction;

[0093] The drive module 4 is connected to the suction cup bracket 208 and the bottom support mechanism 3 through a drive transmission mechanism, and is used to drive the suction cup bracket 208 and the bottom support mechanism 3 to move in opposite directions at the same time.

[0094] In this embodiment of the invention, the drive module 4 is a drive motor or a cylinder.

[0095] Figure 5 This is a schematic diagram of one state of the bottom support clamp in an embodiment of this utility model. Figure 6 This is a schematic diagram of another state of the bottom support clamp in an embodiment of this utility model, as shown below. Figure 5 , Figure 6 As shown,

[0096] After the individual valve control clamp 2 picks up the target box, the drive module 4 drives the individual valve control clamp 2 to move from the front end of the clamp body 1 to the rear end of the clamp body 1, and the bottom support mechanism 3 extends from the front end of the clamp body 1, as shown. Figure 7 As shown;

[0097] When the target box is released, the drive module 4 drives the single valve control clamp 2 to move from the rear end of the clamp body 1 to the front end of the clamp body 1 to push out the target box, while the bottom support mechanism 3 retracts into the clamp body 1.

[0098] Figure 9 A schematic diagram of the fixture body in an embodiment of this utility model is shown, as follows: Figure 9 As shown, the fixture body 1 includes a support base frame and a mounting vertical plate 101;

[0099] The mounting plate 101 is connected to the rear end of the support base frame, and the mounting plate 101 is provided with a robot connection flange for connecting the end of the robotic arm;

[0100] The support base is equipped with a clamping guide mechanism 5 and a bottom-supporting guide mechanism 6;

[0101] The bottom support mechanism 3 is mounted on the bottom support guide mechanism 6 and can slide along the bottom support guide mechanism 6; the suction cup bracket 208 is mounted on the clamp guide mechanism 5 and can slide along the clamp guide mechanism 5.

[0102] In this embodiment of the utility model, the clamping guide mechanism 5 includes a first guide rail, a first slider, a second guide rail, and a second slider;

[0103] The first guide rail and the second guide rail are mounted on a pair of support rods of the support base. The suction cup bracket 208 is connected to the first guide rail via a first slider and to the second guide rail via a second slider, and can slide along the first guide rail and the second guide rail.

[0104] The bottom-supporting guide mechanism 6 includes a third guide rail, a third slider, a fourth guide rail, and a fourth slider;

[0105] The third guide rail and the fourth guide rail are mounted on another pair of support rods of the support base. The bottom support mechanism 3 is connected to the third guide rail via a third slider and to the fourth guide rail via a fourth slider, and can slide along the third guide rail and the fourth guide rail.

[0106] The first guide rail and the second guide rail are parallel to each other; the third guide rail and the fourth guide rail are parallel to each other.

[0107] In one embodiment of the present invention, the support base includes a front support frame 1021, a rear support frame 1022, a first support rod 1023, a second support rod 1024, a third support rod 1025, and a fourth support rod 1026.

[0108] The front end of the first support rod 1023 is connected to one end of the front support frame 1021, and the rear end is connected to one end of the rear support frame 1022; the front end of the second support rod 1024 is connected to the other end of the front support frame 1021, and the rear end is connected to the other end of the rear support frame 1022.

[0109] The third support rod 1025 and the fourth support rod 1026 are disposed between the first support rod 1023 and the second support rod 1024, and the front end of the third support rod 1025 is connected to the front support frame 1021 and the rear end is connected to the rear support frame 1022; the front end of the fourth support rod 1026 is connected to the front support frame 1021 and the rear end is connected to the rear support frame 1022.

[0110] In this embodiment of the utility model, the front support frame 1021, the rear support frame 1022, the first support rod 1023, and the second support rod 1024 form a rectangular frame structure; the third support rod 1025 and the fourth support rod 1026 are disposed between the first support rod 1023 and the second support rod 1024; the first support rod 1023, the second support rod 1024, the third support rod 1025, and the fourth support rod 1026 are arranged in parallel.

[0111] Figure 8 A schematic diagram of the bottom support mechanism in an embodiment of this utility model is shown, as follows: Figure 8 As shown, the bottom support mechanism 3 includes a guide rod 301, a first bottom support plate 302, a first connecting plate 303, a second bottom support plate 304, and a second connecting plate.

[0112] The front ends of the first base plate 302 and the second base plate 304 are connected to the guide rod 301;

[0113] The first base plate 302 is connected to the third slider via the first connecting plate 303;

[0114] The second base plate 304 is connected to the fourth slider via the second connecting plate.

[0115] In this embodiment of the utility model, the first base plate 302 and the second base plate 304 are arranged in parallel and perpendicular to the guide rod 301;

[0116] The first connecting plate 303 is perpendicular to the first base plate 302 and is located at the outer end of the first connecting plate 303;

[0117] The second connecting plate is perpendicular to the second base plate 304 and is located at the outer end of the second connecting plate.

[0118] Figure 10 A schematic diagram of the drive module in an embodiment of this utility model is shown, as follows: Figure 10 As shown, the drive module 4 includes a drive motor 401, a power output gear 402, a power transmission gear 403, and a transmission shaft 404.

[0119] The drive motor 401 is disposed on the lower side of the clamp body 1, and the transmission shaft 404 is disposed on multiple bearings at the rear end of the clamp body 1.

[0120] The power transmission gear 403 is mounted on the transmission shaft 404; the drive motor 401 is used to drive the transmission shaft 404 to rotate in sequence through the power output gear 402 and the power transmission gear 403.

[0121] The drive shaft 404 then drives the drive wheel 405 to rotate.

[0122] Figure 11 A schematic diagram of the drive transmission mechanism in an embodiment of this utility model is shown, as follows: Figure 10 , Figure 11 As shown, the drive transmission mechanism includes: a drive wheel 405, a driven wheel 406, and a transmission belt 407;

[0123] The drive wheel 405 is mounted on the transmission shaft 404 of the drive module 4;

[0124] The driven wheel 406 is disposed at the front end of the clamp body 1; the driving wheel 405 is connected to the driven wheel 406 through the transmission belt 407;

[0125] The suction cup bracket 208 is connected to one side of the conveyor belt 407, and the bottom support mechanism 3 is connected to the other side of the conveyor belt 407.

[0126] In this embodiment of the present invention, the suction cup bracket 208 is connected to the lower side of the conveyor belt 407 via the second transmission fixing block 409; the bottom support mechanism 3 is connected to the upper side of the conveyor belt 407 via the first transmission fixing block 408.

[0127] In this embodiment of the utility model, the single valve control fixture 2 includes multiple suction cup areas arranged adjacent to each other;

[0128] Each of the suction cup areas is used to provide suction individually for side suction of a target box of one size and to provide suction, in whole or in part, simultaneously for side suction of a target box of another size.

[0129] That is, by controlling the clamp 2 with a single valve in a zone, it is possible to pick up the side of a target box with a small area. In other words, each suction cup area is controlled separately to pick up the side of a target box of a certain area, avoiding pulling on the adjacent target boxes. At this time, the suction cup area is smaller than the area of ​​the surface of the target box to be picked up.

[0130] In one embodiment of this utility model, the plurality of suction cup areas have the same height, but the width of the plurality of suction cup areas is smaller than that of the single valve control clamp 2, so it can be used to pick up target boxes whose width is smaller than that of the plurality of suction cup areas.

[0131] In one embodiment of this utility model, since each suction cup can be individually controlled by the solenoid valve 203, any one or more of the plurality of suction cup areas can be controlled to perform vacuum suction simultaneously.

[0132] In summary, the choice between the single valve control fixture 2 and any one or more of the suction cup areas depends on the area of ​​the suction side of the target box. Generally, the suction cup area needs to be located inside the suction side and be able to provide sufficient suction to lift the target box.

[0133] In a variation of this utility model, the bottom support clamp 100 provided by this utility model includes:

[0134] Fixture body 1;

[0135] The suction cup bracket 208 is provided with the single valve control clamp 2, which is used to pick up the target box. The suction cup bracket 208 is provided on the clamp body 1 and can move along the first direction.

[0136] The bottom support mechanism 3 is located on the clamp body 1 and can move in a second direction opposite to the first direction;

[0137] The first driving unit is used to drive the suction cup bracket 208 to move along the guide mechanism;

[0138] The second driving unit is used to drive the bottom support mechanism 3 to move along the bottom support guide mechanism 6, wherein the suction cup bracket 208 and the bottom support mechanism 3 move in opposite directions.

[0139] In this modified example, the suction cup bracket 208 and the bottom support mechanism 3 are driven by different drive units. The suction cup bracket 208 and the bottom support mechanism 3 can be controlled by the controller to move in opposite directions at the same time, or the suction cup bracket 208 can be controlled to move several seconds before the bottom support mechanism 3, or the suction cup bracket 208 can be controlled to move several seconds after the bottom support mechanism 3. The number of seconds can be any number of seconds from 1 to 3 seconds, such as two seconds.

[0140] Figure 12 This is a schematic diagram of the loading and unloading robot in an embodiment of the present invention, as shown below. Figure 12 As shown, the loading and unloading robot provided by this utility model includes the single valve control clamp 2 or bottom clamp 100, as well as a robotic arm 200 and a mobile base 300.

[0141] The individual valve control clamp 2 or the bottom support clamp 100 is disposed at the end of the robotic arm 200;

[0142] The robotic arm 200 is mounted on the movable base 300, which is used to move the robotic arm 200.

[0143] When using the loading and unloading robot provided by this utility model to unload the target box, the following steps are included:

[0144] Step S1: Control the suction cup bracket 208 to move to the front end of the clamp body 1 to pick up one side of the target box;

[0145] Step S2: Control the drive module 4 to drive the suction cup bracket 208 to move from the front end of the clamp body 1 to the rear end of the clamp body 1, while the bottom support mechanism 3 extends from the front end of the clamp body 1 to support the target box.

[0146] Step S3: Control the drive module 4 to drive the suction cup bracket 208 to move from the rear end of the clamp body 1 to the front end of the clamp body 1 to push out the target box, while the bottom support mechanism 3 retracts into the clamp body 1.

[0147] More specifically, it includes the following steps:

[0148] Obtain a stack image of the box stack, identify the stack image, and determine multiple target box areas on the stack image;

[0149] Multiple target boxes to be extracted are determined based on the positions of the multiple target box areas, and then the length and height of the target boxes are determined;

[0150] When the height of the side to be sucked is greater than the height of the individual valve control clamp and the length of the side to be sucked is greater than the length of the individual valve control clamp, the target box is sucked up by the individual valve control clamp.

[0151] When the height of the side to be sucked is greater than the height of the individual valve control fixture and the length of the side to be sucked is less than the length of the individual valve control fixture, the target box is sucked up through a suction cup area of ​​the individual valve control fixture.

[0152] In this embodiment of the invention, each suction cup can be individually controlled by a solenoid valve, thus making it suitable for target boxes with different side areas. Multiple suction cups providing vacuum can be determined based on the length and width of the target box's side, thereby avoiding suction of adjacent target boxes. The clamp body is equipped with a clamp guide mechanism and a bottom support guide mechanism extending along its length. The suction cup bracket is connected to the clamp guide mechanism and can slide along it. The bottom support mechanism is connected to the bottom support guide mechanism and can slide along it. When the suction cup array on the suction cup bracket picks up the target box, the drive module drives the suction cup bracket to move towards the rear end of the clamp body to grip the target box. Simultaneously, the drive module drives the bottom support mechanism to extend from the front end of the clamp body to support the target box, thereby enabling loading, unloading, and destacking of boxes in confined spaces such as shipping containers.

[0153] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0154] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A single-unit valve control fixture, characterized in that, include: The mounting motherboard has a cavity structure inside, and the front side of the mounting motherboard has a plurality of first mounting holes arranged in a matrix, and the back side has a plurality of second mounting holes arranged in a matrix. A suction cup, wherein the suction cup is disposed within the first mounting hole; A solenoid valve is disposed in the second mounting hole; wherein the air hole of the suction cup is connected or disconnected from the cavity structure through the solenoid valve.

2. The single-unit valve control fixture according to claim 1, characterized in that, When the air hole of the suction cup is connected to the cavity structure, suction force can be applied to the suction cup through the cavity structure; When the air vent of the suction cup is disconnected from the cavity structure, suction force cannot be applied to the suction cup through the cavity structure.

3. The single-unit valve control fixture according to claim 1, characterized in that, It also includes vacuum connectors; The back side of the mounting motherboard is provided with an air intake hole that connects to the cavity structure; the vacuum connector connects to the cavity structure through the air intake hole; The vacuum connector is used to connect to a vacuum source to provide a vacuum to the cavity structure.

4. The single valve control fixture according to claim 1, characterized in that, It also includes a controller unit; The controller unit is electrically connected to each of the solenoid valves and is used to control the opening and closing of each solenoid valve. Each solenoid valve is correspondingly set with a suction cup.

5. The single-unit valve control fixture according to claim 4, characterized in that, It also includes a back cover; the back cover is connected to the back side of the mounting motherboard to form a receiving space; The communication information board and the solenoid valve in the controller unit are located within the accommodating space.

6. A bottom-supporting clamp, characterized in that, The single-unit valve control fixture according to any one of claims 1 to 5 further includes: Fixture body; A suction cup bracket is provided with the single-unit valve control clamp, which is used to pick up the target box. The suction cup bracket is provided on the clamp body and can move along a first direction. The bottom support mechanism, located on the clamp body, is capable of moving in a second direction opposite to the first direction; The driving module is connected to the suction cup bracket and the bottom support mechanism through a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom support mechanism to move in opposite directions simultaneously.

7. The bottom support clamp according to claim 6, characterized in that, After the individual valve control clamp picks up the target box, the drive module drives the individual valve control clamp to move from the front end of the clamp body to the rear end of the clamp body, and the bottom support mechanism extends from the front end of the clamp body; When the target box is released, the drive module drives the single valve control clamp to move from the rear end of the clamp body to the front end of the clamp body to push out the target box, while the bottom support mechanism retracts into the clamp body.

8. The bottom-supporting clamp for a loading and unloading robot according to claim 6, characterized in that, The drive transmission mechanism includes: a driving wheel, a driven wheel, and a transmission belt; The drive wheel is mounted on the drive shaft of the drive module; The driven wheel is disposed at the front end of the clamp body; the driving wheel is connected to the driven wheel via the transmission belt; The suction cup bracket is connected to one side of the conveyor belt, and the bottom support mechanism is connected to the other side of the conveyor belt.

9. The bottom-supporting clamp for a loading and unloading robot according to claim 6, characterized in that, The fixture body includes a supporting base frame and a mounting vertical plate; The mounting plate is connected to the rear end of the support base frame, and a robot connection flange is provided on the mounting plate; The support base frame is equipped with a clamping guide mechanism and a bottom-supporting guide mechanism; The bottom support mechanism is mounted on the bottom support guide mechanism and can slide along the bottom support guide mechanism; the suction cup bracket is mounted on the clamp guide mechanism and can slide along the clamp guide mechanism.

10. The bottom-supporting clamp for a loading and unloading robot according to claim 9, characterized in that, The clamping guide mechanism includes a first guide rail, a first slider, a second guide rail, and a second slider; The first guide rail and the second guide rail are mounted on a pair of support rods of the support base. The suction cup bracket is connected to the first guide rail via a first slider and to the second guide rail via a second slider, and can slide along the first guide rail and the second guide rail.

11. The bottom-supporting clamp for a loading and unloading robot according to claim 9, characterized in that, The bottom-supporting guide mechanism includes a third guide rail, a third slider, a fourth guide rail, and a fourth slider; The third guide rail and the fourth guide rail are mounted on another pair of support rods of the support base. The bottom support mechanism is connected to the third guide rail via a third slider and to the fourth guide rail via a fourth slider, and can slide along the third guide rail and the fourth guide rail.

12. The bottom-supporting clamp for a loading and unloading robot according to claim 11, characterized in that, The bottom support mechanism includes a guide rod, a first bottom support plate, a first connecting plate, a second bottom support plate, and a second connecting plate; The guide rod is connected to the front ends of the first base plate and the second base plate; The first base plate is connected to the third slider via the first connecting plate; The second base plate is connected to the fourth slider via the second connecting plate.

13. The bottom-supporting clamp for a loading and unloading robot according to claim 6, characterized in that, The drive module includes a drive motor, a power output gear, a power transmission gear, and a transmission shaft; The drive motor is located on the lower side of the fixture body, and the transmission shaft is located on multiple bearings at the rear end of the fixture body; The power transmission gear is mounted on the drive shaft; The drive motor is used to drive the transmission shaft to rotate sequentially through a power output gear and a power transmission gear.

14. The bottom-supporting clamp for a loading and unloading robot according to claim 9, characterized in that, The supporting base frame includes a front support frame, a rear support frame, a first support rod, a second support rod, a third support rod, and a fourth support rod; The front end of the first support rod is connected to one end of the front support frame, and the rear end is connected to one end of the rear support frame; the front end of the second support rod is connected to the other end of the front support frame, and the rear end is connected to the other end of the rear support frame. The third support rod and the fourth support rod are disposed between the first support rod and the second support rod, and the front end of the third support rod is connected to the front support frame and the rear end is connected to the rear support frame; the front end of the fourth support rod is connected to the front support frame and the rear end is connected to the rear support frame.

15. A loading and unloading robot, characterized in that, The device includes the single valve control clamp as described in any one of claims 1 to 5 or the bottom support clamp as described in any one of claims 6 to 14, and further includes a robotic arm and a movable base. The individual valve control fixture or the bottom support fixture is disposed at the end of the robotic arm; The robotic arm is mounted on the movable base, which is used to move the robotic arm.

Images