Side-suction bottom-supporting fixture for loading and unloading robot and loading and unloading robot

Abstract

A side-suction bottom-supporting fixture (100) for a loading and unloading robot and a loading and unloading robot. The side-suction bottom-supporting fixture (100) comprises: a fixture body (1), wherein a first guide rail (204) and a second guide rail (306) extending in the length direction of the fixture body (1) are provided, the first guide rail (204) is located on one side surface of the fixture body (1), and the second guide rail (306) is located on the other side surface of the fixture body (1); a suction cup support (2), wherein a suction cup array (5, 7) is arranged on the suction cup support (2), the suction cup array (5, 7) is used for suctioning a target box, and the suction cup support (2) is connected to the first guide rail (204) by means of a first sliding block (203) and can slide along the first guide rail (204); a bottom-supporting mechanism (3), located on the bottom side of the fixture body (1), wherein the bottom-supporting mechanism (3) is connected to the second guide rail (306) by means of a second sliding block (303) and can slide along the second guide rail (306); and a driving module (4), wherein the driving module (4) is connected to the suction cup support (2) and the bottom-supporting mechanism (3) by means of a driving transmission mechanism, and is used for driving the suction cup support (2) and the bottom-supporting mechanism (3) to move in opposite directions at the same time. Thus, loading, unloading, depalletizing, and palletizing of boxes in an environment with limited space such as a container can be implemented.

Description

Side suction bottom supporting fixture for loading and unloading robot and loading and unloading robot Technical Field

[0001] The present disclosure relates to an industrial robot, and in particular to a side suction bottom supporting fixture for a loading and unloading robot and the loading and unloading robot. Background Art

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

[0003] Industrial robots will increasingly be equipped with vision sensors and force sensors, making them increasingly intelligent. With advances in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled in a one-way manner to storing and applying their own data, becoming increasingly information-based.

[0004] When industrial robots are used to sort and transport goods, they need to capture images of the goods through visual sensors, identify the images of the goods and determine their posture, and then the industrial robots pick or transport the goods through loaded clamps or suction cups. Technical issues

[0005] When industrial robots are used to dismantle goods in containers with frames, top plates and partitions, such as cargo boxes, shelves and cage trucks, the goods need to be grabbed from the side. When the clamps used in picking scenarios such as depalletizing are applied to this scenario, the goods are easily pulled off by the gravity during side suction, and are prone to wear and damage. Technical Solutions

[0006] The side suction bottom supporting fixture for loading and unloading robots provided by the present disclosure includes:

[0007] fixture body;

[0008] A suction cup bracket, wherein the suction cup bracket is provided with a suction cup array, the suction cup array is used to suck the target box, and the suction cup bracket is provided on a side surface of the clamp body and can move along a first direction;

[0009] a bottom supporting mechanism, located on the clamp body and capable of moving in a second direction opposite to the first direction;

[0010] A driving module is connected to the suction cup bracket and the bottom supporting mechanism through a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom supporting mechanism to move in opposite directions at the same time.

[0011] Optionally, after 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;

[0012] 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 at the same time the bottom supporting mechanism retracts into the clamp body.

[0013] Optionally, the fixture body includes a support base and a mounting riser;

[0014] The mounting vertical plate is connected to the rear end of the supporting chassis; the driving module is arranged on the mounting vertical plate;

[0015] A first guide mechanism is provided on one side of the support frame, and a second guide mechanism is provided on the other side;

[0016] A bottom supporting mechanism is provided between the first guide mechanism and the second guide mechanism.

[0017] Optionally, the drive transmission mechanism includes: a driving wheel, a driven wheel and a transmission belt;

[0018] The driving wheel is arranged on the output shaft of the driving module;

[0019] 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;

[0020] 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.

[0021] Optionally, the suction cup bracket includes: a suction cup mounting plate and a first movable plate;

[0022] 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;

[0023] The suction cup mounting plate is arranged on the first movable plate, and the suction cup array is arranged on the first movable plate.

[0024] Optionally, the support chassis includes a first support frame, a second support frame and a connecting crossbar;

[0025] 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.

[0026] Optionally, the bottom supporting mechanism includes a first bottom supporting rod, a second bottom supporting rod and a second movable plate;

[0027] 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;

[0028] The second movable plate is connected to the other side of the conveyor belt through a second fixed plate.

[0029] Optionally, 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;

[0030] 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;

[0031] 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.

[0032] Optionally, the suction cup array includes a first suction cup array and a second suction cup array;

[0033] The first suction cup array is arranged on the suction cup bracket; the second suction cup array is connected to the back side of the first suction cup array or the suction cup bracket via a suction cup connecting plate;

[0034] 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.

[0035] Optionally, the first suction cup array includes a first suction cup area and a second suction cup area that are adjacently arranged;

[0036] The first suction cup area and the second suction cup area are used to provide suction force separately or simultaneously to perform side suction of target boxes of different sizes.

[0037] Optionally, the first suction cup array and the second suction cup array are used to cooperate with each other to form a suction surface when they move to the front end of the clamp body to simultaneously suck the side surfaces of the target box of the first size, and at this time, the bottom supporting mechanism does not support the target box;

[0038] The first suction cup array is used for sucking the side of a target box of a second size;

[0039] The second suction cup array is used for sucking the side of a target box of a third size and can avoid interference with the top of the box;

[0040] The areas of the side surfaces of the target box of the first size, the side surfaces of the target box of the second size, and the side surfaces of the target box of the third size decrease in sequence.

[0041] Optionally, a vacuum source and a three-way valve are also included;

[0042] The first suction cup area is provided with a first suction channel; the second suction cup area is provided with a second suction channel;

[0043] The vacuum source is connected to the first suction channel and the second suction channel through a three-way valve, so as to provide suction to the first suction cup area and the second suction cup area at the same time, or provide suction to the first suction cup area or the second suction cup area separately.

[0044] The side suction bottom supporting fixture for loading and unloading robots provided by the present disclosure includes:

[0045] fixture body;

[0046] A suction cup bracket, wherein the suction cup bracket is provided with a suction cup array, the suction cup array is used to suck the target box, and the suction cup bracket is provided on a side surface of the clamp body and can move along a first direction;

[0047] a bottom supporting mechanism, located on the clamp body and capable of moving in a second direction opposite to the first direction;

[0048] a first driving unit, configured to drive the suction cup bracket to move along the first direction;

[0049] 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.

[0050] The loading and unloading robot provided by the present disclosure includes the side suction bottom supporting fixture for loading and unloading the robot, and also includes a mechanical arm and a mobile base;

[0051] The side suction bottom supporting fixture for loading and unloading the robot is arranged at the end of the robotic arm;

[0052] The mechanical arm is arranged on the movable base, and the movable base is used for driving the mechanical arm to move. Beneficial effects

[0053] In the present disclosure, a first guide rail and a second guide rail extending along the length direction are provided on the clamp body, 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 through a first slider, and can slide along the first guide rail, and the bottom supporting 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 absorbs the target box, the suction cup bracket is driven to move toward the rear end of the clamp body by the driving module to realize the grabbing of the target box, and at the same time, the driving module drives the bottom supporting mechanism to extend from the front end of the clamp body to support the target box, thereby realizing the loading, unloading and destacking of boxes in a confined space environment such as a container. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without inventive work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present disclosure will become more apparent:

[0055] FIG1 is a schematic diagram of a side suction bottom supporting fixture for a loading and unloading robot according to an embodiment of the present disclosure;

[0056] FIG2 is a schematic diagram of another state of the side suction bottom supporting fixture for loading and unloading robots according to an embodiment of the present disclosure;

[0057] FIG3 is a schematic diagram of a working state of a side suction bottom supporting fixture for a loading and unloading robot according to an embodiment of the present disclosure;

[0058] FIG4 is a schematic diagram of a state of a side suction bottom supporting fixture for a loading and unloading robot in a modified example of the present disclosure;

[0059] FIG5 is a schematic diagram of another state of the side suction bottom supporting fixture for loading and unloading robots in a modified example of the present disclosure;

[0060] FIG6 is a schematic structural diagram of a suction cup bracket according to an embodiment of the present disclosure;

[0061] FIG7 shows a schematic diagram of the installation relationship of the movable plate in an embodiment of the present disclosure;

[0062] FIG8 shows a schematic structural diagram of a clamp body in an embodiment of the present disclosure;

[0063] FIG9 is a schematic diagram of the bottom and side surfaces of a side suction and bottom supporting fixture for a loading and unloading robot according to an embodiment of the present disclosure;

[0064] FIG10 is a schematic diagram of the working state of the second suction cup array in a modified example of the present disclosure;

[0065] FIG11 is a schematic structural diagram of a loading and unloading robot in an embodiment of the present disclosure.

[0066] In the picture:

[0067] 1 is the fixture body; 101 is the mounting 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 bracket; 201 is the suction cup mounting plate; 202 is the first movable plate; 203 is the first slider; 204 is the first guide rail; 3 is the bottom supporting mechanism; 301 is the first bottom supporting rod; 302 is the second bottom supporting rod; 303 is the second slider; 304 is the first fixed plate, 305 is the second movable plate; 306 is the second guide rail; 4 is the driving module; 5 is the first suction cup array; 601 is the transmission belt; 602 is the driven wheel; 603 is the driving wheel; 604 is the second fixed plate; 7 is the second suction cup array; 100 is the side suction bottom supporting fixture for loading and unloading robots; 200 is the robotic arm; 300 is the movable base. Modes for Carrying Out the Invention

[0068] The present disclosure is described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art further understand the present disclosure, but are not intended to limit the present disclosure in any way. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the scope of the present disclosure. These modifications and improvements are all within the scope of protection of the present disclosure.

[0069] The terms "first," "second," "third," "fourth," and the like (if any) in the specification and claims of the present disclosure and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present disclosure described herein, for example, can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or apparatus.

[0070] The following specific embodiments are used to describe the technical solution of the present disclosure in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0071] The following specific embodiments describe in detail the technical solutions of the present disclosure and how the technical solutions of the present application solve the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present disclosure will be described below in conjunction with the accompanying drawings.

[0072] As shown in Figures 1 to 11, the side suction bottom supporting fixture for loading and unloading robots provided by the present disclosure includes:

[0073] A clamp body 1, a first guide rail 204 and a second guide rail 306 extending along the length of the clamp body 1, wherein the first guide rail 204 is located on one side of the clamp body 1, and the second guide rail 306 is located on the other side of the clamp body 1;

[0074] A suction cup bracket 2 is provided with a first suction cup array 5, which is used to suck the target box. The suction cup bracket 2 is connected to the first guide rail 204 via a first slider 203 and can slide along the first guide rail 204;

[0075] A bottom supporting mechanism 3 is located at the bottom side of the clamp body 1 , and the bottom supporting mechanism 3 is connected to the second guide rail 306 via a second slider 303 and can slide along the second guide rail 306 ;

[0076] The driving module 4 is connected to the suction cup bracket 2 and the bottom supporting mechanism 3 through a driving transmission mechanism, and is used to drive the suction cup bracket 2 and the bottom supporting mechanism 3 to move in opposite directions at the same time.

[0077] In the embodiment of the present disclosure, the driving module 4 is disposed on the mounting vertical plate 101 of the fixture body 1. The driving module 4 is a driving motor or a cylinder.

[0078] FIG1 is a schematic diagram of a state of a side suction and bottom supporting fixture for a loading and unloading robot according to an embodiment of the present disclosure, and FIG3 is a schematic diagram of a working state of the side suction and bottom supporting fixture for a loading and unloading robot according to an embodiment of the present disclosure. As shown in FIG1 and FIG3, after the suction cup bracket 2 absorbs the target box, the driving module 4 drives 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 the bottom supporting mechanism 3 extends from the front end of the fixture body 1;

[0079] Figure 2 is a schematic diagram of another state of the side suction and bottom supporting clamp for the loading and unloading robot in the embodiment of the present disclosure. As shown in Figure 2, when the target box is released, the driving module 4 drives the suction cup bracket 2 to move from the rear end of the clamp body 1 to the front end of the clamp body 1 to push the target box out, and at the same time the bottom supporting mechanism 3 retracts into the clamp body 1.

[0080] FIG4 is a schematic diagram of a state of a side suction and bottom supporting fixture for loading and unloading a robot in a modified example of the present disclosure, and FIG5 is a schematic diagram of another state of a side suction and bottom supporting fixture for loading and unloading a robot in a modified example of the present disclosure. As shown in FIG4 and FIG5, the suction cup module includes a first suction cup array 5 and a second suction cup array 7;

[0081] 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;

[0082] 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 .

[0083] In the embodiment of the present disclosure, the first suction cup array 5 is used for sucking target boxes with a larger area, and the second suction cup array 7 is used for sucking target boxes with a smaller area;

[0084] When the target box is sucked by the first suction cup array 5, the bottom supporting mechanism 3 supports the target box toward the side of the first suction cup array 5. When the target box is sucked by the second suction cup array 7, the bottom supporting mechanism 3 supports the target box toward the side of the second suction cup array 7.

[0085] In the embodiment of the present disclosure, the first suction cup array 5 and the second suction cup array 7 have the same width, but the first suction cup array 5 is taller than the second suction cup array 7;

[0086] By sucking the target box through the second suction cup array 7, interference between the clamp and the top of the cargo box can be avoided when the loading and unloading robot loads and unloads the cargo box.

[0087] When the height of the target box is smaller than the height of the first suction cup array 5 , the second suction cup array 7 may be used to suck the target box, as shown in FIG10 .

[0088] In this variation, the bottom supporting mechanism 3 is provided with a receiving channel extending in the longitudinal direction, so that when the bottom supporting mechanism 3 slides along the second guide rail 306, the connecting cross bar 104 in the clamp body 1 can avoid blocking the movement of the bottom supporting mechanism 3.

[0089] A groove may also be provided at the front end of the connecting cross bar 104 so that the front end of the bottom supporting mechanism 3 is accommodated in the groove when the bottom supporting mechanism 3 is retracted, thereby shortening the length of the entire clamp.

[0090] 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 perform side suction of the largest area of ​​the target box, such as top suction of the target box.

[0091] In the embodiment and variations of the present disclosure, the first suction cup array 5 includes a first suction cup area 501 and a second suction cup area 502 that are adjacently arranged;

[0092] The first suction cup area 501 and the second suction cup area 502 are used to provide suction alone to suck the side of a target box of one size or to provide suction simultaneously to suck the side of a target box of another size.

[0093] That is, by dividing the first suction cup array 5 into zones and controlling them, it is possible to suck the side of a target box with a small area, that is, by separately controlling the first suction cup area 501 or the second suction cup area 502 to suck the side of a target box with a certain area, thereby avoiding pulling the adjacent target box; 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.

[0094] In an embodiment of the present disclosure, as shown in Figure 5, the first suction cup area 501 and the second suction cup area 502 have the same height, but the width of the first suction cup area 501 and the second suction cup area 502 is smaller than the first suction cup array 5, and can therefore be used to suck a target box whose width is smaller than the first suction cup area 501 and the second suction cup area 502.

[0095] The first suction cup area 501 is provided with a first suction channel, and the second suction cup area 502 is provided with a second suction channel. Two vacuum generators or vacuum sources can be provided to provide suction to the first suction cup area and the second suction cup area 502 respectively, or a vacuum generator or vacuum source can be provided to connect the first suction channel and the second suction channel through a three-way valve to provide suction to the first suction cup area 501 and the second suction cup area 502 at the same time, or to provide suction to the first suction cup area or the second suction cup area 502 separately.

[0096] The three-way valve is a three-way check valve.

[0097] When suction is provided to the first suction cup area 501 and the second suction cup area 502 at the same time, suction can be performed on a target box side with another area, that is, a target box area with a larger area.

[0098] 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 modified embodiment, they can also be located on the upper and lower sides of the first suction cup array 5 .

[0099] In short, the choice of 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 by the area of ​​the sucked side of the target box. Generally, the suction cup area needs to be located inside the sucked side and be able to provide sufficient suction to lift the target box.

[0100] FIG6 is a schematic structural diagram of a suction cup bracket according to an embodiment of the present disclosure. As shown in FIG6 , the suction cup bracket 2 includes: a suction cup mounting plate 201 and a first movable plate 202;

[0101] The first movable plate 202 is connected to the first guide rail 204 via the first slider 203 and is connected to one side of the conveyor belt 601 via the first fixed plate 304;

[0102] The suction cup mounting plate 201 is disposed on the first movable plate 202 , and the suction cup array 5 is disposed on the first movable plate 202 .

[0103] 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 movable plate 202, and the suction cup mounting plate is installed on the front side of the first support frame and the second support frame.

[0104] In the embodiment of the present disclosure, as shown in Figure 8, the first guide rail 204 includes a first left guide rail and a first right guide rail; the first slider 206 can be a whole slider that connects the first left guide rail and the first right guide rail at the same time, or it can be set as two sub-sliders that respectively cooperate with the first left guide rail and the first right guide rail.

[0105] The first left guide rail and the first right guide rail are parallel to each other.

[0106] In the embodiment of the present disclosure, the suction cup array 5 includes a plurality of suction cups arranged in sequence, and each column of the plurality of suction cups arranged in sequence are staggered. The number of suction cups in each column is 10, and the number of suction cups in the column is 6.

[0107] FIG7 shows a schematic diagram of the installation relationship of the movable plate in an embodiment of the present disclosure. As shown in FIG7 , the bottom supporting mechanism 3 includes a first bottom supporting rod 301 , a second bottom supporting rod 302 and a second movable plate 305 ;

[0108] The first bottom supporting rod 301 and the second bottom supporting rod 302 are arranged on the second movable plate 305; the second movable plate 305 is connected to the second guide rail 306 through the second slider 303 and can slide along the second guide rail 306;

[0109] The second movable plate 305 is connected to the other side of the conveyor belt 601 through a second fixed plate 604 .

[0110] In the embodiment of the present disclosure, the first bottom supporting rod 301 and the second bottom supporting rod 302 are parallel to each other and perpendicular to the second movable plate 305 .

[0111] In the embodiment of the present disclosure, the second guide rail 306 includes a second left guide rail and a second right guide rail; the second slider 303 can be a whole slider that connects the second left guide rail and the second right guide rail at the same time, or can be configured as two sub-sliders that respectively cooperate with the second left guide rail and the second right guide rail;

[0112] The second left guide rail and the second right guide rail are parallel to each other.

[0113] FIG8 shows a schematic structural diagram of a clamp body in an embodiment of the present disclosure. As shown in FIG8 , the clamp body 1 includes a supporting base and a mounting riser 101 ;

[0114] The mounting plate 101 is connected to the rear end of the supporting frame; the driving module 4 is arranged on the mounting plate 101;

[0115] The first guide rail 204 is provided on one side of the support frame, and the second guide rail 306 is provided on the other side;

[0116] A bottom supporting mechanism 3 is provided between the first guide rail 204 and the second guide rail 306 .

[0117] In the embodiment of the present disclosure, the mounting riser 101 is perpendicular to the supporting base.

[0118] FIG9 is a schematic diagram of the bottom and side of the side suction bottom support fixture for loading and unloading robots in an embodiment of the present disclosure. As shown in FIG8 and FIG9 , the drive transmission mechanism includes: a driving wheel 603, a driven wheel 602, and a transmission belt 601;

[0119] The driving wheel 603 is arranged on the output shaft of the driving module 4;

[0120] 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;

[0121] The suction cup bracket 2 is connected to one side of the conveyor belt 601 , and the bottom supporting mechanism 3 is connected to the other side of the conveyor belt 601 .

[0122] In the embodiment of the present disclosure, the driving module 4 is connected to the driving wheel 603 through a 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, and the driven wheel 602 is connected to the connecting cross bar 104 through a synchronous wheel mounting plate, and four support rods are provided on the synchronous wheel mounting plate, and a synchronous wheel cover plate is provided on the top of the support rod, and the synchronous wheel cover plate and the four support rods form a protective cover for the driven wheel 602.

[0123] As shown in FIG9 , the support chassis includes a first support frame 102 , a second support frame 103 and a connecting crossbar 104 ;

[0124] The rear ends of the first support frame 102 and the second support frame 103 are connected to both side ends of the mounting riser 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 .

[0125] In the embodiment of the present disclosure, the first support frame 102 , the second support frame 103 , the connecting cross bar 104 , and the mounting vertical plate 101 form a rectangular structure.

[0126] The first support frame 102 has a first right guide rail on its upper side and a second right guide rail on its lower side. The second support frame 103 has a first left guide rail on its upper side and a second left guide rail on its lower side.

[0127] In a modified embodiment of the present disclosure, the side suction bottom supporting fixture for loading and unloading robots provided by the present disclosure includes:

[0128] A clamp body 1, a first guide rail 204 and a second guide rail 306 extending along the length of the clamp body 1, wherein the first guide rail 204 is located on one side of the clamp body 1, and the second guide rail 306 is located on the other side of the clamp body 1;

[0129] A suction cup bracket 2 is provided with a suction cup array 5 for sucking the target box. The suction cup bracket 2 is connected to the first guide rail 204 via a first slider 203 and can slide along the first guide rail 204;

[0130] A bottom supporting mechanism 3 is located at the bottom side of the clamp body 1 , and the bottom supporting mechanism 3 is connected to the second guide rail 306 via a second slider 303 and can slide along the second guide rail 306 ;

[0131] A first driving unit, configured to drive the suction cup bracket 2 to move along the first guide mechanism 204;

[0132] The second driving unit is used to drive the bottom supporting mechanism 3 to move along the second guide mechanism 306, wherein the suction cup bracket 2 and the bottom supporting mechanism 3 move in opposite directions.

[0133] That is, in this variation, the suction cup bracket 2 and the bottom supporting mechanism 3 are driven by different driving units. The controller can be used to control the suction cup bracket 2 and the bottom supporting mechanism 3 to move in opposite directions at the same time, or the suction cup bracket 2 can be controlled to move several seconds before the bottom supporting mechanism 3, or the suction cup bracket 2 can be controlled to move several seconds later than the bottom supporting mechanism 3. The several seconds can be any seconds from 1 to 3 seconds, such as two seconds.

[0134] FIG11 is a schematic structural diagram of a loading and unloading robot according to an embodiment of the present disclosure. As shown in FIG11 , the loading and unloading robot provided by the present disclosure includes the side suction bottom supporting fixture for loading and unloading the robot, a robotic arm, and a mobile base.

[0135] The side suction bottom supporting fixture for loading and unloading the robot is arranged at the end of the robotic arm;

[0136] The mechanical arm is arranged on the movable base, and the movable base is used for driving the mechanical arm to move.

[0137] When the loading and unloading robot provided by the present disclosure is used to unload the target box, the following steps are included:

[0138] Step S1: Control the suction cup bracket 2 to move to the front end of the clamp body 1 to suck one side of the target box;

[0139] Step S2: controlling the driving module 4 to drive the suction cup bracket 2 to move from the front end of the clamp body 1 to the rear end of the clamp body 1, and at the same time, the bottom supporting mechanism 3 extends from the front end of the clamp body 1 to support the target box;

[0140] Step S3: Control the driving module 4 to drive the suction cup bracket 2 to move from the rear end of the clamp body 1 to the front end of the clamp body 1 to push the target box out, and at the same time, the bottom supporting mechanism 3 retracts into the clamp body 1.

[0141] More specifically, the following steps are included:

[0142] Acquire a stack image of the box stack, identify the stack image, and determine a plurality of target box areas on the stack image;

[0143] Determining a plurality of target boxes to be sucked according to the positions of the plurality of target box areas, and then determining the length and height of the target boxes;

[0144] When it is determined based on the length and height that the length and width of the side surface of the target object to be sucked 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 target object is sucked simultaneously by the first suction cup array 5 and the second suction cup array 7, and the bottom supporting mechanism 3 does not need to extend to support the target box;

[0145] 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 target box is sucked by the first suction cup array 5;

[0146] 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 target box is sucked by the second suction cup array 7;

[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 less than the length of the first suction cup array 5, the target box is sucked by the first suction cup area 501 or the second suction cup area 502 of the first suction cup array 5.

[0148] In addition, when loading and unloading materials in the cargo box is performed by the loading and unloading robot, if there is interference with the suction of the target box by the first suction cup array 5, the target box is sucked by the second suction cup array 7.

[0149] In the embodiment of the present disclosure, a first guide rail and a second guide rail extending along the length direction are provided on the clamp body of the present disclosure, 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 through a first slider, and can slide along the first guide rail, and 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 absorbs the target box, the suction cup bracket is driven to move toward the rear end of the clamp body by the driving module to realize the grabbing of the target box, and at the same time, the driving module drives the bottom support mechanism to extend from the front end of the clamp body to support the target box, thereby realizing the loading, unloading and destacking of boxes in a confined space environment such as a container.

[0150] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present disclosure. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features disclosed herein.

[0151] The above describes the specific embodiments of the present disclosure. It should be understood that the present disclosure is not limited to the above specific embodiments, and those skilled in the art may make various variations or modifications within the scope of the claims, which do not affect the essence of the present disclosure.

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 1, 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 3, 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 3, 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. The side suction bottom supporting fixture for loading and unloading robots according to claim 1, characterized in that: The suction cup array includes a first suction cup array and a second suction cup array; The first suction cup array is arranged on the suction cup bracket; the second suction cup array is connected to the back side of the first suction cup array or the suction cup bracket through a suction cup connecting plate; 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.

10. The side suction bottom supporting fixture for loading and unloading robots according to claim 9, characterized in that: The first suction cup array includes a first suction cup area and a second suction cup area that are adjacently arranged; The first suction cup area and the second suction cup area are used to provide suction force alone or simultaneously to perform side suction of target boxes of different sizes.

11. The side suction bottom supporting fixture for loading and unloading robots according to claim 9, characterized in that: The first suction cup array and the second suction cup array are used to cooperate with each other to form a suction surface when moving to the front end of the clamp body to simultaneously suck the side of the target box of the first size, and at this time, the bottom supporting mechanism does not support the target box; The first suction cup array is used for sucking the side of a target box of a second size; The second suction cup array is used for sucking the side of a target box of a third size and can avoid interference with the top of the box; Among them, the areas of the target box side surface of the first size, the target box side surface of the second size, and the target box side surface of the third size decrease in sequence.

12. The side suction bottom supporting fixture for loading and unloading robots according to claim 10, characterized in that: Also included is a vacuum source and a three-way valve; The first suction cup area is provided with a first suction channel; the second suction cup area is provided with a second suction channel; The vacuum source is connected to the first suction channel and the second suction channel through a three-way valve, so as to provide suction to the first suction cup area and the second suction cup area at the same time, or to provide suction to the first suction cup area or the second suction cup area separately.

13. 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.

14. 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 13, 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.

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