Method for using bottom support holder capable of single-target control

Abstract

A method for using a bottom support holder capable of single-target control, the method comprising: controlling a bottom support holder (100) capable of single-target control to suction a plurality of target boxes at the same time; controlling a mechanical arm (200) to move such that a holder main body (1) moves to a target material-placing position; and controlling the bottom support holder (100) capable of single-target control to place the plurality of target boxes at the same time. The bottom support holder capable of single-target control (100) can implement multiple-target picking, multiple-target placing and multiple-target picking, single-target placing on target boxes, thus improving the pick-and-place efficiency in scenarios such as palletizing, loading, and unloading.

Description

Method for using single-control bottom supporting clamp TECHNICAL FIELD

[0001] The present disclosure relates to a picking robot, in particular, to a method for using a single-control bottom supporting clamp. BACKGROUND

[0002] The picking robot is an intelligent device with sensors, objectives and electronic optical systems, which can quickly sort and carry goods.

[0003] More and more visual sensors and force sensors will be used on the picking robot, and the picking robot will become more and more intelligent. With the progress of sensing and identification systems, artificial intelligence and other technologies, robots are developing from being controlled in one direction to storing and applying data themselves, gradually becoming information-based.

[0004] When sorting and carrying goods by the picking robot, the goods need to be image collected by the visual sensor, and the posture of the goods is determined by identifying the image of the goods, and then the picking robot sorts or carries the goods by the loaded clamp or suction cup.

[0005] When the goods in the container with frame, top plate and partition layer such as box, shelf and cage are disassembled by the picking robot, one side of the goods needs to be grabbed. However, when the size of the goods is smaller than the size of the clamp, the adjacent two goods are often sucked, not only the required size of the clamp cannot be replaced, but also the adjacent goods are often pulled off by mistake, and when multiple goods are sucked, only one-time placement can be performed at a time SUMMARY

[0006] In view of the defects in the prior art, the purpose of the present disclosure is to provide a method for using a single-control bottom supporting clamp.

[0007] The method for using a single-control bottom supporting clamp provided by the present disclosure is performed by a loading and unloading robot, the loading and unloading robot includes a single-control bottom supporting clamp and a mechanical arm, the single-control bottom supporting clamp is arranged at the end of the mechanical arm, and includes the following steps:

[0008] Step S1: controlling the single-control bottom supporting clamp to suck multiple target boxes at the same time;

[0009] Step S2: controlling the mechanical arm to move so that the clamp body moves to a target placement position to place the target boxes;

[0010] Step S3: controlling the single-control bottom supporting clamp to place the multiple target boxes at the same time, or placing the target boxes of the multiple target boxes one by one.

[0011] Optionally, the single-control bottom-supporting clamp comprises:

[0012] a clamp body;

[0013] a suction disc support provided with the single-valve-control suction disc array configured to suck the target box, the suction disc support being arranged on one side surface of the clamp body and being movable in a first direction, the single-valve-control suction disc array comprising a plurality of suction disc areas arranged adjacently, each suction disc area being capable of sucking a target box individually;

[0014] a bottom-supporting mechanism arranged on the clamp body and being movable in a second direction opposite to the first direction;

[0015] a driver connecting the suction disc support and the bottom-supporting mechanism through a driving transmission mechanism and configured to drive the suction disc support and the bottom-supporting mechanism to move reversely simultaneously.

[0016] Optionally, the step S3 comprises the following steps:

[0017] Step S301: acquiring a depth image of the stack, and determining optional loading positions on the stack according to the depth image of the stack;

[0018] Step S302: acquiring the number of target boxes, and when the number of target boxes is consistent with the number of target boxes that can be accommodated by a loading position of the loading positions, controlling the single-control bottom-supporting clamp to place the plurality of target boxes on the loading position at one time;

[0019] Step S303: when the number of target boxes is greater than the number of target boxes that can be accommodated by the loading position of the loading positions, controlling the single-control bottom-supporting clamp to place part of the plurality of target boxes on the loading position.

[0020] Optionally, the step S3 comprises the following steps:

[0021] Step S301: controlling the single-control bottom-supporting clamp to place a target box of the plurality of target boxes on a conveying line;

[0022] Step S302: acquiring a pre-set time threshold;

[0023] Step S303: when the time interval is greater than the pre-set time threshold, controlling the single-control bottom-supporting clamp to place another target box of the plurality of target boxes on the conveying line.

[0024] Optionally, the step S3 comprises the following steps:

[0025] Step S301: control the single control bottom clamp to place a target box among the plurality of target boxes in the center of the conveying line;

[0026] Step S302: control the movement of the mechanical arm to make another target box among the plurality of target boxes on the single control bottom clamp be in the center position of the conveying line;

[0027] Step S303: control the single control bottom clamp to place another target box among the plurality of target boxes in the center of the conveying line.

[0028] Optionally, the step S1 comprises the following steps:

[0029] Step S101: control the movement of the mechanical arm to make the single control bottom clamp move to the front side or the upper side of the target box;

[0030] Step S102: control the single control bottom clamp to exert suction force to suck the plurality of target boxes;

[0031] Step S103: control the driver to pull the single control bottom clamp to move in the direction close to the mechanical arm, and drive the bottom supporting mechanism to extend to the lower side of the target box to support the target box.

[0032] Optionally, when the single-body valve-controlled suction disc array sucks the target box, the driver drives the single-body valve-controlled suction disc array 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;

[0033] When the release of the target box is performed, the driver drives the single-body valve-controlled suction disc array to move from the rear end of the clamp body to the front end of the clamp body to push out the target box, and the bottom supporting mechanism is retracted into the clamp body.

[0034] Optionally, the single-body valve-controlled suction disc array comprises:

[0035] A suction disc mounting main plate, a cavity structure is formed in the suction disc mounting main plate, and a plurality of first mounting holes arranged in a matrix are arranged on the suction disc mounting main plate;

[0036] A suction disc, the suction disc is arranged in the first mounting hole and located at the front side of the suction disc mounting main plate;

[0037] A suction disc mounting cover plate, the suction disc mounting cover plate covers the rear side of the suction disc mounting main plate to close the cavity structure, a plurality of second mounting holes arranged in a matrix and a suction hole configured to suck vacuum in the cavity structure are arranged on the suction disc mounting cover plate;

[0038] An electromagnetic valve is arranged in the second mounting hole; wherein the suction cup is connected to the cavity structure through the electromagnetic valve.

[0039] Optionally, a plurality of mounting brackets are arranged in the cavity structure in sequence.

[0040] A plurality of first air holes and a plurality of second air holes are arranged on each mounting bracket; the first air holes are connected to the air inlet and outlet holes of the suction cup on one hand, and connected to the second air holes through the gas passage of the electromagnetic valve on the other hand.

[0041] The second air holes are connected to the cavity structure.

[0042] The electromagnetic valve is configured to control the connection of the first air holes and the plurality of second air holes; when the first air holes and the plurality of second air holes are connected, the suction cup can exert suction force through the first air holes; when the first air holes and the plurality of second air holes are not connected, the suction cup cannot exert suction force through the first air holes.

[0043] Optionally, the electromagnetic valve is arranged one-to-one with the suction cup.

[0044] Compared with the prior art, the present disclosure has the following beneficial effects:

[0045] In the present disclosure, the single-control bottom supporting clamp is controlled to simultaneously suck a plurality of target boxes, the mechanical arm is controlled to move, so that the clamp body moves to a target unloading position to place the target boxes, and then the single-control bottom supporting clamp is controlled to simultaneously place the plurality of target boxes or sequentially place the target boxes of the plurality of target boxes, that is, the single-control bottom supporting clamp can realize multi-grabbing and multi-placing or multi-grabbing and single-placing of the target boxes, thereby improving the taking and placing efficiency of the present disclosure in scenarios such as stacking, loading, and unloading. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present disclosure, and those skilled in the art can obtain other drawings according to the provided drawings without creative labor. Other features, objects and advantages of the present disclosure will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0047] FIG. 1 is a step flow chart of the use method of the single-control bottom supporting clamp in the embodiment of the present disclosure;

[0048] FIG. 2 is a structural schematic view of the single-control bottom supporting clamp in the embodiment of the present disclosure;

[0049] Fig. 3 is a flow chart of the steps of sucking multiple target boxes in the embodiment of the present disclosure;

[0050] Fig. 4 is a flow chart of the steps of controlling the single-control bottom-supporting clamp to suck and place multiple times in the embodiment of the present disclosure;

[0051] Fig. 5 is a flow chart of the steps of controlling the single-control bottom-supporting clamp to suck and place in sequence in the embodiment of the present disclosure;

[0052] Fig. 6 is a flow chart of the steps of controlling the single-control bottom-supporting clamp to suck and place in sequence and in the center in the embodiment of the present disclosure;

[0053] Fig. 7 is a schematic diagram of the partition of the single-control bottom-supporting clamp in the embodiment of the present disclosure;

[0054] Fig. 8 is a schematic diagram of the structure of the single-body valve-controlled suction disc array in the embodiment of the present disclosure;

[0055] Fig. 9 is a schematic diagram of the inner side of the suction disc mounting main plate in the embodiment of the present disclosure; and

[0056] Fig. 10 is a schematic diagram of the structure of the loading and unloading robot in the embodiment of the present disclosure.

[0057] In the drawings: 1 is a clamp main body; 101 is a mounting vertical plate; 201 is a suction disc mounting main plate; 202 is a suction disc mounting cover plate; 203 is a suction disc; 204 is a solenoid valve; 205 is a mounting bracket; 206 is a suction disc bracket; 3 is a bottom-supporting mechanism; 4 is a driver; 5 is a single-body valve-controlled suction disc array; 501 is a first suction disc area; 502 is a second suction disc area; 503 is a third suction disc area; 100 is a single-control bottom-supporting clamp; 200 is a mechanical arm; 300 is a moving base. DETAILED DESCRIPTION

[0058] The present disclosure will be described in detail below with specific embodiments. The following embodiments will help those skilled in the art to further understand the present disclosure, but do not limit the present disclosure in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present disclosure. These all belong to the protection scope of the present disclosure.

[0059] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be configured to have a fixed effect or to have an electrical circuit communication effect.

[0060] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0061] In addition, the terms "first", "second" are only configured for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0062] Figure 1 is a step flow chart of the use method of the single control bottom supporting clamp in the embodiments of the present disclosure, as shown in Figure 1, the use method of the single control bottom supporting clamp provided by the present disclosure is carried out by a loading and unloading robot, the loading and unloading robot includes a single control bottom supporting clamp 100 and a mechanical arm 200, the single control bottom supporting clamp is arranged at the end of the mechanical arm 200, and includes the following steps:

[0063] Step S1: control the single control bottom supporting clamp 100 to simultaneously suck multiple target boxes;

[0064] Figure 3 is a step flow chart of sucking multiple target boxes in the embodiments of the present disclosure, as shown in Figure 3, the step S1 includes the following steps:

[0065] Step S101: control the mechanical arm 200 to move, so that the single control bottom supporting clamp 100 moves to the front side or the upper side of the target box;

[0066] Step S102: control the single control bottom supporting clamp 100 to apply suction force to suck multiple target boxes;

[0067] Step S103: control the driver 4 to pull the single control bottom supporting clamp 100 to move in the direction close to the mechanical arm 200, and drive the bottom supporting mechanism 3 to extend to the lower side of the target box to support the target box.

[0068] Step S2: control the mechanical arm 200 to move, so that the clamp body 1 moves to a target placement position to place the target boxes;

[0069] Step S3: control the single control bottom supporting clamp 100 to simultaneously place the multiple target boxes, or sequentially place the target boxes of the multiple target boxes.

[0070] Figure 4 is a step flow chart of controlling the single-control bottom support clamp to place multiple targets one by one in the embodiment of the present disclosure, as shown in Figure 4, the step S3 includes the following steps:

[0071] Step S301: Obtain the depth image of the stack, and determine the optional placing position on the stack according to the depth image of the stack;

[0072] Step S302: Obtain the number of target boxes, when the number of target boxes is consistent with the number of target boxes that can be accommodated by the placing position of the placing position, control the single-control bottom support clamp 100 to place the multiple target boxes on the placing position at one time;

[0073] Step S303: When the number of target boxes is greater than the number of target boxes that can be accommodated by the placing position of the placing position, control the single-control bottom support clamp 100 to place part of the multiple target boxes on the placing position.

[0074] In the embodiment of the present disclosure, when controlling the single-control bottom support clamp 100 to suck two target boxes during stacking, when the optional placing position on the stack can support placing two target boxes at one time, the two target boxes can be placed on the optional placing position at one time; when the optional placing position on the stack can support placing one target box at one time, one of the two target boxes can be placed on the optional placing position, and the other can be placed on another optional placing position, and the single target box is released and placed by controlling the electromagnetic valve of the corresponding suction cup area of each target box to disconnect the communication between the suction cup and the vacuum source;

[0075] When controlling the single-control bottom support clamp 100 to suck three target boxes during stacking, when the optional placing position on the stack can support placing three target boxes at one time, the three target boxes can be placed on the optional placing position at one time; when the optional placing position on the stack can support placing two target boxes at one time, two of the three target boxes can be placed on the optional placing position, and the other can be placed on another optional placing position; when the optional placing position on the stack can support placing one target box at one time, one of the three target boxes can be placed on the optional placing position, and the other can be placed on another optional placing position, and the other can be placed on another optional placing position.

[0076] Figure 5 is a step flow chart of controlling the single-control bottom support clamp to place multiple targets one by one in the embodiment of the present disclosure, as shown in Figure 5, the step S3 includes the following steps:

[0077] Step S301: control the single-control bottom supporting clamp 100 to place a target box among the plurality of target boxes on the conveying line;

[0078] Step S302: obtain a pre-set time threshold;

[0079] Step S303: when the time interval is greater than the pre-set time threshold, control the single-control bottom supporting clamp 100 to place another target box among the plurality of target boxes on the conveying line.

[0080] In the embodiment of the present disclosure, the pre-set time threshold can be set to 1-3 seconds, or other time intervals, through the setting of the time interval, the close placement of the plurality of target boxes is avoided, the interval placement of the target boxes on the conveying line is realized, and the downstream of the conveying line is facilitated to grasp the target boxes on the conveying line in sequence.

[0081] FIG. 6 is a step flow chart of controlling the single-control bottom supporting clamp to place the plurality of target boxes in sequence and in the center in the embodiment of the present disclosure, as shown in FIG. 6, the step S3 includes the following steps:

[0082] Step S301: control the single-control bottom supporting clamp 100 to place a target box among the plurality of target boxes in the center on the conveying line;

[0083] Step S302: control the movement of the mechanical arm 200, so that another target box among the plurality of target boxes on the single-control bottom supporting clamp 100 is located at the center position of the conveying line;

[0084] Step S303: control the single-control bottom supporting clamp 100 to place another target box among the plurality of target boxes in the center on the conveying line.

[0085] In the embodiment of the present disclosure, when the target boxes need to be placed in the center, one target box can be released to the center position of the conveying line in sequence, and then the movement of the mechanical arm 200 is controlled to make another target box be located at the center position of the conveying line, and then placed again.

[0086] FIG. 2 is a structural schematic diagram of the single-control bottom supporting clamp in the embodiment of the present disclosure, as shown in FIG. 2, the single-control bottom supporting clamp 100 includes:

[0087] a clamp body 1;

[0088] A suction cup support 206 is provided on one side of the clamp body 1 and is movable in a first direction, and the single-valve-controlled suction cup array 5 provided on the suction cup support 206 is configured to suck a target box, and the single-valve-controlled suction cup array 5 includes a plurality of suction cup areas arranged adjacently, and each suction cup area is capable of sucking a target box individually.

[0089] A bottom supporting mechanism 3 is provided on the clamp body 1 and is movable in a second direction opposite to the first direction.

[0090] A driver 4 is connected to the suction cup support 206 and the bottom supporting mechanism 3 through a driving transmission mechanism and is configured to drive the suction cup support 206 and the bottom supporting mechanism 3 to move reversely at the same time.

[0091] In the embodiment of the present disclosure, the driver 4 is provided on the mounting vertical plate 101 of the clamp body 1, and the driver 4 is a driving motor or a pneumatic cylinder.

[0092] In the embodiment of the present disclosure, when the single-valve-controlled suction cup array 5 sucks a target box, the driver 4 drives the single-valve-controlled suction cup array 5 to move from the front end of the clamp body 1 to the rear end of the clamp body 1, and the bottom supporting mechanism 3 is extended from the front end of the clamp body 1.

[0093] When releasing the target box, the driver 4 drives the single-valve-controlled suction cup array 5 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 is retracted into the clamp body 1.

[0094] FIG. 7 is a partitioned schematic view of the single-control bottom supporting clamp in the embodiment of the present disclosure, as shown in FIG. 7, the single-valve-controlled suction cup array 5 includes a first suction cup area 501, a second suction cup area 502 and a third suction cup area 503 arranged adjacently.

[0095] The first suction cup area 501, the second suction cup area 502 and the third suction cup area 503 are configured to provide suction individually, to suck the side of a target box of one size, and to provide suction all at once or partially to suck the side of a target box of another size.

[0096] That is, by partitioning and controlling the single-valve-controlled suction cup array 5, the side of a small-area target box can be sucked, that is, the side of a target box of one size is controlled by the first suction cup area 501, the second suction cup area 502 or the third suction cup area 503 individually, so as to avoid pulling the adjacent target box, and at this time, the first suction cup area 501, the second suction cup area 502 or the third suction cup area 503 is smaller than the area of the sucked surface of the target box.

[0097] In the embodiment of the present disclosure, as shown in FIG. 7, the first suction area 501, the second suction area 502 and the third suction area 503 have the same height, but the width of the first suction area 501, the second suction area 502 and the third suction area 503 is smaller than the single valve control suction disc array 5, so it can be used to suck the target box with a width smaller than the first suction area 501, the second suction area 502 and the third suction area 503.

[0098] In the embodiment of the present disclosure, since each suction disc 203 can be controlled individually by the electromagnetic valve 204, the simultaneous vacuum suction of any one or more of the first suction area 501, the second suction area 502 and the third suction area 503 can be controlled, realizing the multi-grabbing and single-placing of the target box.

[0099] In the deformation example of the present disclosure, the first suction area 501 is provided with a first suction passage, the second suction area 502 is provided with a second suction passage, and the third suction area 503 is provided with a third suction passage. Three vacuum generators or vacuum sources can be provided to provide suction force to the first suction area 501, the second suction area 502 and the third suction area 503 respectively, or one vacuum generator or vacuum source can be provided to communicate the first suction passage, the second suction passage and the third suction passage through a four-way valve to provide suction force to the first suction area 501, the second suction area 502 and the third suction area 503 simultaneously, or the first suction area 501, the second suction area 502 and the third suction area 503 can be provided with suction force respectively.

[0100] In summary, whether to choose the single valve control suction disc array 5 or any one or more of the first suction area 501, the second suction area 502 and the third suction area 503 is determined according to the area of the suction side of the target box to be sucked. Generally, the suction disc area needs to be located in the suction side and can provide sufficient suction force to suck up the target box.

[0101] FIG. 8 is a structural schematic diagram of the single valve control suction disc array in the embodiment of the present disclosure. As shown in FIG. 8, the single valve control suction disc array 5 comprises:

[0102] a suction disc mounting main plate 201, a cavity structure is formed in the suction disc mounting main plate 201, and a plurality of first mounting holes arranged in a matrix are arranged on the suction disc mounting main plate 201;

[0103] a suction disc 203, the suction disc 203 is arranged in the first mounting hole and located on the front side of the suction disc mounting main plate 201;

[0104] A suction disc mounting cover plate 202 is provided on the rear side of the suction disc mounting main plate 201 to seal the cavity structure, and a plurality of second mounting holes and a suction hole configured to suck vacuum in the cavity structure are arranged on the suction disc mounting cover plate 202;

[0105] An electromagnetic valve 204 is arranged in the second mounting hole; wherein the suction disc is connected to the cavity structure through the electromagnetic valve 204.

[0106] In the embodiment of the present disclosure, the electromagnetic valve 204 is arranged one-to-one corresponding to the suction disc 203.

[0107] FIG. 9 is a schematic view of the inner side of the suction disc mounting main plate in the embodiment of the present disclosure, as shown in FIG. 9, a plurality of mounting supports 205 are arranged in the cavity structure in sequence;

[0108] A plurality of first air holes and a plurality of second air holes are arranged on each mounting support 205; the first air hole is connected to the air inlet and outlet hole of the suction disc 203 on one hand, and is connected to the second air hole through the gas passage of the electromagnetic valve 204 on the other hand;

[0109] The second air hole is connected to the cavity structure.

[0110] The electromagnetic valve 204 is configured to control the connection of the first air hole and the plurality of second air holes, when the first air hole and the plurality of second air holes are connected, the suction disc 203 can be controlled to exert suction force through the first air hole, and when the first air hole and the plurality of second air holes are not connected, the suction disc 203 cannot be controlled to exert suction force through the first air hole.

[0111] In the embodiment of the present disclosure, the single valve controlled suction disc array 5 further comprises a vacuum connector and a controller; the vacuum connector is connected to the cavity structure through the suction hole;

[0112] The vacuum connector is configured to be connected to a vacuum source to provide vacuum to the cavity structure.

[0113] The controller is electrically connected to each electromagnetic valve 204 and is configured to control the on-off of each electromagnetic valve 204.

[0114] In the embodiment of the present disclosure, the controller comprises an industrial computer and a communication notification board card, the communication notification board card comprises an stm32 chip, the stm32 controls the electromagnetic valve 204 by driving a plurality of mos transistors through a plurality of do ports, and one do port controls one electromagnetic valve 204.

[0115] FIG. 10 is a schematic diagram of the structure of the loading and unloading robot according to the embodiment of the present disclosure. As shown in FIG. 10, the loading and unloading robot according to the present disclosure comprises the single-control bottom-supporting clamp 100, a mechanical arm 200, and a mobile base 300.

[0116] The single-control bottom-supporting clamp 100 is arranged at the end of the mechanical arm 200.

[0117] The mechanical arm 200 is arranged on the mobile base 300, and the mobile base 300 is configured to drive the mechanical arm 200 to move.

[0118] When the loading and unloading robot according to the present disclosure is used to unload the target box, the method comprises the following steps.

[0119] The suction cup support 206 is controlled to move to the front end of the clamp body 1 to suck one side of the target box.

[0120] The driver 4 is controlled to drive the suction cup support 206 to move from the front end of the clamp body 1 to the rear end of the clamp body 1, and the bottom-supporting mechanism 3 is extended from the front end of the clamp body 1 to support the target box.

[0121] The driver 4 is controlled to drive the suction cup support 206 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, and the bottom-supporting mechanism 3 is retracted into the clamp body 1.

[0122] More specifically, the method comprises the following steps.

[0123] An image of the box stack is acquired, and the image is recognized to determine a plurality of target box regions on the image.

[0124] A plurality of target boxes to be sucked are determined according to the positions of the target box regions, and the length and height of the target box are further determined.

[0125] When the height of the side to be sucked is greater than the height of the single-valve-controlled suction cup array 5 and the length of the side to be sucked is greater than the length of the single-valve-controlled suction cup array 5, the target box is sucked by the single-valve-controlled suction cup array 5.

[0126] When the height of the side to be sucked is greater than the height of the single-valve-controlled suction cup array 5 and the length of the side to be sucked is less than the length of the single-valve-controlled 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 single-valve-controlled suction cup array 5.

[0127] In the embodiments of the present disclosure, by controlling the single-control bottom supporting clamp to simultaneously suck multiple target boxes, the movement of the mechanical arm is controlled to move the clamp body to a target placement position to place the target boxes, and then the single-control bottom supporting clamp is controlled to simultaneously place the multiple target boxes or sequentially place the target boxes of the multiple target boxes, that is, the single-control bottom supporting clamp can realize multiple grabbing and multiple placing or multiple grabbing and single placing of the target boxes, and the placing efficiency of the present disclosure in the scenarios of stacking, loading, unloading and the like is improved.

[0128] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present disclosure. Various modifications to the embodiments will be apparent to those skilled in the art, 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 scope consistent with the principles and novel features disclosed herein.

[0129] The specific embodiments of the present disclosure are described above. It should be understood that the present disclosure is not limited to the specific embodiments described above, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present disclosure.

Claims

1. A method of using a single control back-up clamp, wherein, By a loading and unloading robot, the loading and unloading robot comprises a single-control bottom supporting clamp and a mechanical arm, the single-control bottom supporting clamp is arranged at the end of the mechanical arm, and the method comprises the following steps: Step S1: controlling the single-control bottom supporting clamp to simultaneously suck a plurality of target boxes; Step S2: controlling the mechanical arm to move so that the clamp body moves to a target placing position to place the target boxes; Step S3: controlling the single-control bottom supporting clamp to simultaneously place the plurality of target boxes or sequentially place target boxes of the plurality of target boxes.

2. The method of using a single control underpinnings clamp of claim 1, wherein, The single-control bottom supporting clamp comprises: a clamp body; a suction disc support provided with a single-valve control suction disc array configured to suck target boxes, the suction disc support being arranged on one side of the clamp body and being capable of moving in a first direction, the single-valve control suction disc array comprising a plurality of suction disc areas arranged adjacent to each other, each suction disc area being capable of individually sucking a target box; a bottom supporting mechanism arranged on the clamp body and capable of moving in a second direction opposite to the first direction; a driver connected to the suction disc support and the bottom supporting mechanism through a driving transmission mechanism and configured to drive the suction disc support and the bottom supporting mechanism to simultaneously move in opposite directions.

3. The method of using a single control underpinnings clamp of claim 1, wherein, The step S3 comprises the following steps: Step S301: acquiring a depth image of a stack, and determining selectable placing positions on the stack according to the depth image of the stack; Step S302: acquiring the number of target boxes, and when the number of target boxes is consistent with the number of target boxes that can be accommodated by a placing position of the placing positions, controlling the single-control bottom supporting clamp to one-time place the plurality of target boxes on the placing position; Step S303: when the number of target boxes is greater than the number of target boxes that can be accommodated by the placing position of the placing positions, controlling the single-control bottom supporting clamp to place part of the plurality of target boxes on the placing position.

4. The method of using a single control underpinnings clamp of claim 1, wherein, The step S3 comprises the following steps: Step S301: controlling the single-control bottom supporting clamp to place a target box of the plurality of target boxes on a conveying line; Step S302: acquiring a preset time threshold; Step S303: when a time interval is greater than the preset time threshold, controlling the single-control bottom supporting clamp to place another target box of the plurality of target boxes on the conveying line.

5. The method of using a single control underpinnmg clamp of claim 1 wherein, The step S3 comprises the following steps: Step S301: controlling the single-control bottom supporting clamp to centrally place a target box of the plurality of target boxes on a conveying line; Step S302: controlling the mechanical arm to move so that another target box of the plurality of target boxes on the single-control bottom supporting clamp is located at a central position of the conveying line; Step S303: controlling the single-control bottom supporting clamp to centrally place another target box of the plurality of target boxes on the conveying line.

6. The method of using a single control floor clamp of claim 2, wherein, The step S1 comprises the following steps: Step S101: controlling the mechanical arm to move so that the single-control bottom supporting clamp moves to a front side or an upper side of a target box; Step S102: controlling the single-control bottom supporting clamp to apply suction force to suck a plurality of target boxes. Step S103: the controller drives the single valve control suction disc array to move towards the rear end of the clamp body, and the bottom supporting mechanism is extended from the front end of the clamp body.

7. The method of using a single control floor clamp of claim 2, wherein, When the single valve control suction disc array sucks the target box, the controller drives the single valve control suction disc array to move from the front end of the clamp body to the rear end of the clamp body, and the bottom supporting mechanism is extended from the front end of the clamp body. When the target box is released, the controller drives the single valve control suction disc array to move from the rear end of the clamp body to the front end of the clamp body, and the bottom supporting mechanism is retracted into the clamp body.

8. The method of using a single control floor clamp of claim 2, wherein, The single valve control suction disc array comprises: a suction disc mounting main plate, wherein a cavity structure is formed in the suction disc mounting main plate, and a plurality of first mounting holes arranged in a matrix are arranged on the suction disc mounting main plate; a suction disc arranged in the first mounting hole and located on the front side of the suction disc mounting main plate; a suction disc mounting cover plate covering the rear side of the suction disc mounting main plate to close the cavity structure, wherein a plurality of second mounting holes arranged in a matrix and a suction hole configured to suck vacuum in the cavity structure are arranged on the suction disc mounting cover plate; an electromagnetic valve arranged in the second mounting hole; wherein the suction disc is connected to the cavity structure through the electromagnetic valve.

9. The method of using a single control underpinnings clamp of claim 8, wherein, A plurality of mounting supports arranged in sequence are arranged in the cavity structure. A plurality of first air holes and a plurality of second air holes are arranged on each mounting support; the first air holes are connected to the air inlet and outlet holes of the suction disc on one hand, and connected to the second air holes through the gas passage of the electromagnetic valve on the other hand; The second air holes are connected to the cavity structure. The electromagnetic valve is configured to control the connection of the first air holes and the plurality of second air holes; when the first air holes and the plurality of second air holes are connected, the suction disc can exert suction force through the first air holes; when the first air holes and the plurality of second air holes are not connected, the suction disc cannot exert suction force through the first air holes.

10. The method of using a single control floor clamp of claim 8, wherein, The electromagnetic valve is arranged one-to-one corresponding to the suction disc.

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