CN113443428B - Carrying system adopting empty container carrying robot and carrying method thereof - Google Patents

Abstract

The invention discloses a carrying system adopting an empty container carrying robot and a carrying method thereof, wherein the empty container carrying robot comprises a driving robot body, a plurality of carrying devices are also arranged on the driving robot body in a driving mode, the carrying devices comprise a driving mechanism I arranged on the driving robot body, a first telescopic mechanism I is arranged on the driving mechanism I, a first opening and closing mechanism I is arranged on the first telescopic mechanism I, a plurality of clamping mechanisms are arranged on the first opening and closing mechanism in a driving mode, and a plurality of pairs of clamping arms capable of opening and closing relatively are arranged on the clamping mechanisms in a driving mode. The invention provides an empty container carrying robot and a carrying system thereof, wherein the empty container carrying robot is convenient to operate and high in carrying efficiency.

Description

Carrying system adopting empty container carrying robot and carrying method thereof

Technical Field

The invention relates to the logistics industry, in particular to the field of storage logistics, and particularly relates to an empty container carrying robot and a carrying system thereof.

Background

In the logistics industry, containers are the most widely used cargo carriers in logistics, and cartons are the most commonly used storage and transfer devices in containers. Therefore, the carton becomes a consumable material with extremely large use amount in the logistics storage process. The flat sheets are easy to handle but are folded for on-site use. The folded empty cartons lack a relatively convenient carrying mode for carrying the folded cartons in batches.

Disclosure of Invention

The empty container carrying robot and the carrying system thereof overcome the defects of the prior art and are convenient to operate and high in carrying efficiency.

In order to achieve the purpose, the invention adopts the technical scheme that: the empty container carrying robot comprises a driving robot body, wherein a plurality of carrying devices are further arranged on the driving robot body in a driving mode, each carrying device comprises a first driving mechanism arranged on the driving robot body, a first telescopic mechanism is arranged on the first driving mechanism, a first opening and closing mechanism is arranged on the first telescopic mechanism, a plurality of clamping mechanisms are arranged on the first opening and closing mechanism in a driving mode, and a plurality of clamping arms capable of opening and closing relatively are arranged on the clamping mechanisms in a driving mode.

In a preferred embodiment of the invention, the first driving mechanism comprises a first driving base arranged on the driving robot body, a first swinging part is arranged on the first driving base, one end of the first swinging part is in driving connection with the first driving base, and the other end of the first swinging part is in driving connection with the first telescopic mechanism.

In a preferred embodiment of the invention, the first telescopic mechanism comprises a first telescopic driving seat arranged on the first swinging part, a first telescopic column is arranged on the first telescopic driving seat, a telescopic sleeve is arranged on the first telescopic column in a driving manner, one end of the telescopic sleeve is in driving connection with the first telescopic column, and the other end of the first telescopic column is in driving connection with the first opening and closing mechanism.

In a preferred embodiment of the present invention, the first opening and closing mechanism includes a driving frame driving the telescopic tube, the driving frame is vertically connected to the telescopic tube, and at least one pair of displacement seats capable of opening and closing relatively is slidably embedded in the driving frame, and the displacement seats are driven to displace by the second telescopic mechanism respectively.

In a preferred embodiment of the invention, the first opening and closing mechanism and the clamping mechanism are in driving connection through a swinging mechanism; or/and the clamping mechanism comprises a second opening and closing mechanism arranged on the swinging mechanism, and the second opening and closing mechanism is provided with a pair of clamping arms capable of opening and closing relatively.

In a preferred embodiment of the present invention, the swing mechanism includes a second swing base disposed on the displacement seat of the clamping mechanism, a second swing portion is drivingly disposed on the second swing base, and a swing arm is drivingly disposed on the second swing portion, and the swing arm can swing relative to the second swing base.

In a preferred embodiment of the invention, a third telescopic mechanism is further arranged between the clamping arm and the second opening and closing mechanism, the third telescopic mechanism comprises a third telescopic driving seat arranged on the clamping block of the second opening and closing mechanism, a third telescopic column is arranged on the third telescopic driving seat, and the clamping arm capable of reciprocating displacement relative to the third telescopic driving seat is arranged on the third telescopic column in a driving manner.

In a preferred embodiment of the present invention, the bottom of the driving robot body is provided with a plurality of driving wheels for walking, the driving robot body is further provided with a plurality of detection probes and obstacle avoidance sensors for monitoring external environments, the driving robot body is provided with a driving table, the driving table is provided with at least one pair of conveying devices, and the clamping directions of the clamping mechanisms of the conveying devices extend outwards from the upper portion of the driving robot body.

In a preferred embodiment of the invention, the carrying system adopting the empty container carrying robot comprises the empty container carrying robot and a receiving seat matched with the empty container carrying robot for use, wherein a receiving platform is arranged on the receiving seat, an overturning part is pivotally arranged on the receiving platform, an open type accommodating groove with an L-shaped structure is arranged in the overturning part, the side walls of the overturning part, which are positioned at two sides of the accommodating groove, respectively correspond to the receiving platform, and the two side walls of the overturning part can be overturned inside and outside the receiving platform around the pivoting part arranged on the receiving platform.

In a preferred embodiment of the present invention, a method for transporting an empty container transporting robot includes the following steps;

driving a robot body to move to an area to be carried;

step two, driving a first driving mechanism arranged on the robot body to swing outwards to enable the clamping side of the clamping mechanism to face outwards;

driving the telescopic mechanism to move towards the middle of the cargo box group, so that the clamping mechanism is right opposite to the opening of an empty cargo box of the cargo box group;

driving a telescopic mechanism III to enable a clamping arm on each opening and closing mechanism I to extend into the container, and enabling the oppositely arranged clamping arms to extend into the empty container to correspond to the inner wall of the empty container;

driving each second opening and closing mechanism to clamp the side walls of two adjacent empty containers, and then driving the clamping arms of a pair of adjacent clamping mechanisms to enable the clamping arms to drive the two groups of adjacent empty containers to be close, so that the two groups of clamping arms are arranged in a field shape, and clamping and positioning the groups of empty containers arranged in the field shape;

step six, the obtained container group is transferred to a designated area to release the container group by driving the robot body; or, the packing box group that will acquire shifts to and accepts seat department through drive robot body, and the packing box group that will acquire through handling device is the field word structure and places into and hold in the holding tank of the upset portion in the bench upset to the outside, and the upset of drive upset portion makes the holding tank 90 degrees angles towards the opposite side upset, with the uncovered upset of the empty packing box of packing box group up, then carry out subsequent goods and load and empty packing box shift.

According to the technical scheme disclosed by the embodiment, the beneficial effects are achieved as follows:

an empty container carrying robot and a carrying system thereof are convenient to operate and high in carrying efficiency.

1. The body loading of drive robot has a plurality of sets of handling device, and the fixture through the outside extension of handling device can carry the packing box group of folding equipment, and handling device's fixture simple structure is convenient, can convenient and fast carry out centre gripping transport in batches to the empty packing box of packing box group.

2. The empty container group with different sizes and structures can be preliminarily aligned and clamped by matching the driving mechanism I, the telescopic mechanism I, the opening and closing mechanism I, the swinging mechanism, the clamping mechanism and the telescopic mechanism III which are combined in the carrying device. Can carry a plurality of empty packing boxes that have been folded in turn.

3. Simultaneously, the combined structure through the carrying device can adjust the posture of the empty containers, so that the open orientation adjustment when the empty containers of the container group are placed is facilitated, and the adjustment of the releasing posture of the transferred container group is facilitated.

Drawings

The invention is further explained below with reference to the figures and examples;

FIG. 1 is an axial view schematically illustrating an empty container handling robot according to an embodiment of the present invention;

FIG. 2 is an enlarged view of part A of FIG. 1 in the embodiment;

FIG. 3 is an axial view of an embodiment of an empty container handling robot for handling groups of containers;

FIG. 4 is a first schematic axial view of an empty container handling robot with a first set of containers mounted on a susceptor in accordance with an embodiment;

FIG. 5 is a second schematic axial view of the empty container handling robot with the containers on the receptacles;

the system comprises a drive robot body, a drive wheel 11, a detection probe 12, a drive table 13, a drive mechanism 2, a drive base 21, a swing part 22, a telescopic mechanism 3, a telescopic drive seat 31, a telescopic column 32, a telescopic sleeve 33, an opening and closing mechanism 4, a drive frame 41, a telescopic mechanism 42, a displacement seat 43, a swing mechanism 5, a swing base 51, a swing part 52, a swing arm 53, a clamping mechanism 61, an opening and closing mechanism 61, a telescopic mechanism 7, a telescopic drive seat 72, a telescopic column 73, a clamping arm 8, a carrying device 9, a carrying seat 91, a carrying table 92, a pivoting part 93, a turnover part 931, a limiting block 94, a containing groove 96, a turnover drive mechanism 10, a cargo container group 101 and an empty cargo container.

Detailed description of the preferred embodiments

The invention will now be described in further detail with reference to the accompanying drawings and examples, which are simplified schematic drawings and illustrate only the basic structure of the invention in a schematic manner, and thus show only the constituents relevant to the invention.

It should be noted that, if directional indications (such as up, down, bottom, top, etc.) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative position relationship, motion situation, etc. of each component in a certain posture, and if the certain posture is changed, the directional indications are changed accordingly. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are intended to be inclusive and mean, for example, that there may be a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

As shown in fig. 1-3, an empty container transfer robot comprises a driving robot body 1, wherein a driving walking structure in the driving robot body 1 adopts mature product models in the prior art, and the empty container transfer robot is developed and improved on the basis of the structure of the driving robot body 1. The bottom of the driving robot body 1 is provided with a plurality of driving wheels 11 for walking, the number of the driving wheels 11 is selected according to actual requirements, and the driving wheels 11 in the prior art can be adopted as the driving wheels 11. Still be provided with at least one detecting probe 12 and a plurality of obstacle avoidance sensor that are used for the monitoring of external environment on the driving robot body 1, obstacle avoidance sensor and detecting probe 12 directly adopt the product among the prior art, as long as can realize the function that image acquisition monitoring and distance gathered and detect can, do not enumerate the product model that can adopt in detail here again. The driving robot body 1 is provided with a driving table 13, the driving table 13 is provided with at least one pair of conveying devices 8, and the clamping directions of the clamping mechanisms 6 of the conveying devices 8 extend outwards from the upper part of the driving robot body 1. In the present embodiment, two pairs of oppositely disposed conveying devices 8 are used, that is, four sets of conveying devices 8 with the clamping directions facing outward respectively; the driving robot body 1 in this embodiment is a long bar-shaped structure in order to cooperate with the structure of the cargo box group 10 to be carried. However, the number of the conveying devices 8 may be selected according to actual use requirements in other embodiments.

Specifically, the carrying device 8 comprises a first driving mechanism 2 arranged on the driving robot body 1, a first telescopic mechanism 3 is arranged on the first driving mechanism 2, a first opening and closing mechanism 4 is arranged on the first telescopic mechanism 3, a plurality of clamping mechanisms 6 are arranged on the first opening and closing mechanism 4 in a driving mode, and the first opening and closing mechanism 4 and the clamping mechanisms 6 are in driving connection through a swinging mechanism 5; the clamping mechanism 6 comprises a second opening and closing mechanism 61 arranged on the swing arm 53, and a pair of clamping arms 73 capable of opening and closing relatively is arranged on the second opening and closing mechanism 61 of the clamping mechanism 6. Furthermore, a clamping cylinder is adopted by the second opening and closing mechanism 61. The outside of the gripping arm 73 is provided with an anti-slip rubber sleeve.

Specifically, the first driving mechanism 2 comprises a first driving base 21 arranged on the driving robot body 1, a first swinging portion 22 is arranged on the first driving base 21, one end of the first swinging portion 22 is in driving connection with the first driving base 21, and the other end of the first swinging portion 22 is in driving connection with the first telescoping mechanism 3. The first telescopic mechanism 3 comprises a first telescopic driving seat 31 arranged on the first swinging part 22, a first telescopic column 32 is arranged on the first telescopic driving seat 31, a telescopic sleeve 33 is arranged on the first telescopic column 32 in a driving mode, one end of the telescopic sleeve 33 is connected with the first telescopic column 32 in a driving mode, and the other end of the first telescopic column 32 is connected with a first opening and closing mechanism 4 in a driving mode. The first opening and closing mechanism 4 comprises a driving frame 41 which is arranged on the telescopic sleeve 33 in a driving mode, the driving frame 41 is vertically connected with the telescopic sleeve 33, at least one pair of displacement seats 43 capable of opening and closing relatively is embedded on the driving frame 41 in a sliding mode, and the displacement seats 43 are driven to displace through a second telescopic mechanism 42 respectively. The swing mechanism 5 comprises a second swing base 51 arranged on the displacement seat 43 of the clamping mechanism 6, a second swing part 52 is arranged on the second swing base 51 in a driving mode, a swing arm 53 is further arranged on the second swing part 52 in a driving mode, and the swing arm 53 can swing relative to the second swing base 51. A third telescopic mechanism 7 is further arranged between the clamping arm 73 and the second opening and closing mechanism 61, the third telescopic mechanism 7 comprises a third telescopic driving seat 71 arranged on the clamping block of the second opening and closing mechanism 61, a third telescopic column 72 is arranged on the third telescopic driving seat 71, and the clamping arm 73 capable of reciprocating displacement relative to the third telescopic driving seat 71 is arranged on the third telescopic column 72 in a driving mode.

Further, the driving mechanism one 2 adopts a combined angular pivotal displacement mechanism of the driving base one 21 and the swinging part one 22. One end of the first swinging part 22 is pivotally connected to the first driving base 21, the other end of the first swinging part 22 is in driving connection with the first telescopic driving base 31, the first driving base 21 drives the first swinging part 22 to pivotally swing relative to the first driving base 21, meanwhile, a damping device and an angle limiting part are arranged between the first driving base 21 and the first swinging part 22, and angle limiting swinging displacement is achieved through interaction and matching of the damping device and the angle limiting part. The swing mechanism 5 adopts an angular pivot displacement mechanism combining a swing base 51, a swing part 52 and a swing arm 53. One end of the second swinging part 52 is pivotally connected to the second swinging base 51, the other end of the second swinging part 52 is in driving connection with one end of the swinging arm 53, the other end of the swinging arm 53 is in driving connection with the second opening and closing mechanism 61 of the clamping mechanism 6, the second swinging base 51 drives the second swinging part 52 to pivotally swing relative to the second swinging base 51, meanwhile, a damping device and an angle limiting part are arranged between the second swinging base 51 and the second swinging part 52, and the angle limiting swinging displacement is realized through the interaction and the cooperation of the damping device and the angle limiting part.

Further, the telescoping mechanism one 3 drives the telescoping tube 33 to reciprocate on the telescoping post one 32 relative to the telescoping driving seat one 31 through the telescoping driving seat one 31. The telescopic mechanism III 7 drives the clamping arm 73 to reciprocate on the telescopic column III 72 relative to the telescopic driving seat III 71 through the telescopic driving seat III 71. The telescopic driving combination structure adopted by the first telescopic mechanism 3 and the third telescopic mechanism 7 can be a combination structure of a driving motor, a screw rod, a driving sliding sleeve and a lifting sliding rail in the prior art. However, the present invention is not limited thereto, and in other embodiments, a combined telescopic displacement structure of a telescopic cylinder and a telescopic tube 33 in the prior art may be adopted as the telescopic driving structure.

Furthermore, the second telescopic mechanism 42 adopts a driving structure that a driving motor drives the displacement seat 43 slidably embedded on the driving frame 41 to displace relatively, and a combined structure of a linear motor and a lead screw can be adopted through the driving motor, and a combined driving displacement structure of the driving motor, a rack and a gear can also be adopted. Even a pushing cylinder can be adopted, and the pushing rod of the pushing cylinder drives the displacement seat 43 to reciprocate on the slide rail on the driving frame 41 to realize relative telescopic action.

Example two

As shown in fig. 1 to 3, in the first embodiment, a plurality of lateral displacement mechanisms are provided on the driving table 13, and at least one conveying device 8 is provided on each lateral displacement mechanism. The carrying device 8 which is arranged on the driving platform 13 in a driving mode can be driven by the transverse displacement mechanism to displace relative to the driving platform 13, the relative distance between the carrying devices 8 arranged on the driving platform 13 can be adjusted conveniently, and clamping and transferring of the container group 10 of the empty containers 101 which are suitable for various sizes are facilitated.

EXAMPLE III

As shown in fig. 1 to 5, a carrying system using an empty container carrying robot includes an empty container 101 carrying robot according to one or two embodiments, and a receiving base 9 used in cooperation with the empty container 101 carrying robot, a receiving table 91 is provided on the receiving base 9, an overturning portion 93 is pivotally provided on the receiving table 91, an open L-shaped receiving groove 94 is provided in the overturning portion 93, side walls of the overturning portion 93 located at two sides of the receiving groove 94 respectively correspond to the receiving table 91, and two side walls of the overturning portion 93 can be turned inside and outside on the receiving table 91 around a pivot portion 92 provided on the receiving table 91. Further, in order to prevent displacement of the hollow containers 101 of the container group 10 during turning, the limiting blocks 931 are provided on the outer edges of the receiving grooves 94 in the turning part 93, thereby improving the limiting function of the hollow containers 101 of the container group 10.

Example four

As shown in fig. 1 to 5, the pivot portion 92 provided on the receiving platform 91 in the third embodiment includes a pivot bracket, an outer edge of the outer side of the turnover portion 93 is pivotally connected to the pivot bracket through a pivot shaft on the pivot bracket, the pivot shaft in the pivot portion 92 is drivingly connected through a turnover driving mechanism 96, and a braking device in the prior art is further provided between the turnover driving mechanism 96 and the pivot shaft. The turnover part 93 can be driven to repeatedly swing around the pivot shaft and the bearing table 91 on the pivot bracket relative to the bearing seat 9 through the turnover driving mechanism 96, and the swinging angle is 90 degrees, so that the turnover part 93 can be turned inside and outside, and the loaded container group 10 is driven to be integrally turned over by 90 degrees.

EXAMPLE five

As shown in fig. 1 to 3, in addition to the first or second embodiment, a method for transporting an empty box transporting robot includes the following steps;

step one, the robot body 1 is driven to move to an area to be carried.

And step two, driving a first driving mechanism 2 arranged on the robot body 1 to swing outwards so that the clamping side of the clamping mechanism 6 faces outwards.

And step three, driving the first telescopic mechanism 3 to displace towards the middle part of the container group 10, so that the clamping mechanism 6 is right opposite to the opening of the empty container 101 of the container group 10.

And step four, driving the telescopic mechanisms three 7 to enable the clamping arms 73 on each opening and closing mechanism one 4 to extend into the empty container 101, and enabling the clamping arms 73 arranged oppositely to extend into the empty container 101 to correspond to the inner wall of the empty container 101.

And step five, driving each opening and closing mechanism I4 to clamp the side walls of two adjacent empty containers 101, and then driving the clamping arms 73 of the pair of adjacent clamping mechanisms 6 to enable the clamping arms 73 to drive the two groups of adjacent empty containers 101 to be close, enabling the two groups of clamping arms 73 to be arranged in a shape like a Chinese character 'tian', and clamping and positioning the container groups 10 arranged in a shape like a Chinese character 'tian'.

And step six, transferring the obtained container group 10 to a specified area to release the container group 10 by driving the robot body 1.

EXAMPLE six

As shown in fig. 1 to 5, in addition to the third or fourth embodiment, a method for transporting an empty container 101 transporting robot in a transporting system using the empty container 101 transporting robot includes the following steps;

step one, the robot body 1 is driven to move to an area to be carried.

And step two, driving a first driving mechanism 2 arranged on the robot body 1 to swing outwards so that the clamping side of the clamping mechanism 6 faces outwards.

And step three, driving the first telescopic mechanism 3 to displace towards the middle part of the container group 10, so that the clamping mechanism 6 is aligned with the opening of the empty container 101 of the container group 10.

And step four, driving the telescopic mechanisms three 7 to enable the clamping arms 73 on each opening and closing mechanism one 4 to extend into the empty container 101, and enabling the clamping arms 73 arranged oppositely to extend into the empty container 101 to correspond to the inner wall of the empty container 101.

And step five, driving each opening and closing mechanism I4 to clamp the side walls of two adjacent empty containers 101, and then driving the clamping arms 73 of the pair of adjacent clamping mechanisms 6 to enable the clamping arms 73 to drive the two groups of adjacent empty containers 101 to be close, enabling the two groups of clamping arms 73 to be arranged in a shape like a Chinese character 'tian', and clamping and positioning the container groups 10 arranged in a shape like a Chinese character 'tian'.

Step six, the obtained container group 10 is transferred to the bearing seat 9 through the driving robot body 1, the obtained container group 10 is placed into the containing groove 94 of the overturning part 93 which is overturned to the outer side on the bearing platform 91 in a field-shaped structure through the carrying device 8, the overturning part 93 is driven to overturn so that the containing groove 94 overturns for 90 degrees towards the other side, the open overturning part of the empty container 101 of the container group 10 faces upwards, and then subsequent cargo loading and empty container 101 transferring are carried out.

The working principle is as follows:

as shown in fig. 1 to 5, the driving robot body 1 is moved to the area to be transported, and the driving mechanisms one 2 of the four sets of oppositely disposed transporting devices 8 disposed on the driving robot body 1 swing outward so that the clamping side of the clamping mechanism 6 faces outward. The first telescoping mechanism 3 is driven to displace toward the middle of the container group 10 so that the clamping mechanism 6 is aligned with the opening of the empty container 101 of the container group 10. The three telescopic mechanisms 7 are driven to enable the clamping arms 73 on each first opening and closing mechanism 4 to extend into the empty container 101, so that the oppositely arranged clamping arms 73 extend into the empty container 101 and correspond to the inner wall of the empty container 101. Each opening and closing mechanism 4 is driven to clamp the side walls of two adjacent empty containers 101, then the clamping arms 73 of the pair of clamping mechanisms 6 which are adjacently arranged are driven, so that the clamping arms 73 drive the adjacent empty containers 101 which are clamped to be close to each other, the two groups of clamping arms 73 are arranged in a shape like a Chinese character tian, and the container groups 10 which are arranged in a shape like a Chinese character tian are clamped and positioned. The acquired container group 10 is transferred to a designated position by driving the robot body 1 to wait for a subsequent cargo loading operation.

In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (5)

1. The utility model provides an adopt empty container transfer robot's handling system which characterized in that: the container carrying robot comprises an empty container carrying robot and a bearing seat matched with the empty container carrying robot for use, wherein a bearing table is arranged on the bearing seat, an overturning part is arranged on the bearing table in a pivoting mode, an open type L-shaped containing groove is arranged in the overturning part, the side walls of the overturning part, which are located on two sides of the containing groove, respectively correspond to the bearing table, and the two side walls of the overturning part can be overturned inside and outside the bearing table around the pivoting part arranged on the bearing table;

the empty cargo box carrying robot comprises a driving robot body, wherein a plurality of carrying devices are arranged on the driving robot body in a driving mode, each carrying device comprises a first driving mechanism arranged on the driving robot body, a first telescopic mechanism is arranged on the first driving mechanism, a first opening and closing mechanism is arranged on the first telescopic mechanism, a plurality of clamping mechanisms are arranged on the first opening and closing mechanism in a driving mode, and a plurality of pairs of oppositely openable and closable clamping arms are arranged on the clamping mechanisms in a driving mode;

the first telescopic mechanism comprises a first telescopic driving seat arranged on the first swinging part, a first telescopic column is arranged on the first telescopic driving seat, a telescopic sleeve is arranged on the first telescopic column in a driving mode, one end of the telescopic sleeve is connected with the first telescopic column in a driving mode, and the other end of the first telescopic column is connected with a first opening and closing mechanism in a driving mode;

the first opening and closing mechanism is in driving connection with the clamping mechanism through a swinging mechanism;

the clamping mechanism comprises a second opening and closing mechanism arranged on the swinging mechanism, and the second opening and closing mechanism is provided with a pair of clamping arms capable of opening and closing relatively;

the swing mechanism comprises a second swing base arranged on the displacement seat of the clamping mechanism, a second swing part is arranged on the second swing base in a driving mode, a swing arm is further arranged on the second swing part in a driving mode, and the swing arm can swing relative to the second swing base;

the clamping arm and the opening and closing mechanism II are also provided with a third telescopic mechanism, the third telescopic mechanism comprises a third telescopic driving seat arranged on a clamping block of the opening and closing mechanism II, a third telescopic column is arranged on the third telescopic driving seat, and the third telescopic column is driven to be provided with the clamping arm capable of relatively moving in a reciprocating manner.

2. The handling system of claim 1 employing an empty container handling robot, wherein: the first driving mechanism comprises a first driving base arranged on the driving robot body, a first swinging portion is arranged on the first driving base, one end of the first swinging portion is in driving connection with the first driving base, and the other end of the first swinging portion is in driving connection with the first telescopic mechanism.

3. The handling system using an empty box handling robot according to claim 2, wherein: the first opening and closing mechanism comprises a driving frame which is arranged on the telescopic sleeve in a driving mode, the driving frame is vertically connected with the telescopic sleeve, at least one pair of displacement seats which can be opened and closed relatively are embedded in the driving frame in a sliding mode, and the displacement seats are driven to displace through the second telescopic mechanism respectively.

4. A handling system using empty container handling robots as claimed in claim 3 wherein: the bottom of driving robot body is provided with the drive wheel that a plurality of is used for the walking, still be provided with the test probe that a plurality of is used for external environment monitoring on the driving robot body and keep away barrier sensor, be provided with the drive platform on the driving robot body, be provided with at least a pair of handling device on the drive platform, and handling device's fixture centre gripping direction outwards extends by the upper portion of driving robot body.

5. A carrying method of an empty container carrying robot is characterized in that: a handling system using an empty container handling robot as claimed in any one of claims 1~4 is adopted, and the handling method of the empty container handling robot comprises the following steps;

firstly, driving a robot body to move to an area to be carried;

driving a first driving mechanism arranged on the robot body to swing outwards so that the clamping side of the clamping mechanism faces outwards;

driving the telescopic mechanism to move towards the middle of the cargo box group, so that the clamping mechanism is right opposite to an opening of an empty cargo box of the cargo box group;

driving the telescopic mechanisms III to enable the clamping arms on the first opening and closing mechanisms to extend inwards to the container, and enabling the oppositely arranged clamping arms to extend into the container to correspond to the inner wall of the empty container;

driving each second opening and closing mechanism to clamp the side walls of two adjacent empty containers, and then driving the clamping arms of a pair of adjacent clamping mechanisms to enable the clamping arms to drive the two groups of adjacent empty containers to be close, so that the two groups of clamping arms are arranged in a shape like a Chinese character 'tian', and clamping and positioning the container groups arranged in a shape like a Chinese character 'tian';

step six, the obtained container group is transferred to a designated area to release the container group by driving the robot body; or, the packing box group that will acquire shifts to and accepts seat department through drive robot body, and the packing box group that will acquire through handling device is the field word structure and places into and hold in the holding tank of the upset portion in the bench upset to the outside, and the upset of drive upset portion makes the holding tank 90 degrees angles towards the opposite side upset, with the uncovered upset of the empty packing box of packing box group up, then carry out subsequent goods and load and empty packing box shift.

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