CN116969186B - Method for boxing and unpacking in container - Google Patents
Method for boxing and unpacking in container Download PDFInfo
- Publication number
- CN116969186B CN116969186B CN202311225783.9A CN202311225783A CN116969186B CN 116969186 B CN116969186 B CN 116969186B CN 202311225783 A CN202311225783 A CN 202311225783A CN 116969186 B CN116969186 B CN 116969186B
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- sucker
- box body
- sucking disc
- module
- supporting mechanism
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims description 37
- 230000002441 reversible effect Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 4
- 238000012856 packing Methods 0.000 claims description 3
- 238000012986 modification Methods 0.000 description 14
- 230000004048 modification Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 5
- 241000252254 Catostomidae Species 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a boxing method and an unpacking method in a container, comprising the following steps: the loading and unloading robot includes the arm and sets up the terminal anchor clamps of arm, anchor clamps include anchor clamps main part, sucking disc support, sucking disc module, hold in the palm end mechanism and drive module, include: the control driving module drives the sucking disc module to move to the front end of the clamp main body to suck one side surface of a target box body on the box body stack; controlling the sucking disc module to move towards the rear end of the clamp main body so as to pull the target box body to move away from the box body stack and pull the target box body onto the bottom supporting mechanism; and controlling the bottom supporting mechanism to extend out so as to support the bottom side surface of the target box body along with the sucking disc module pulling the target box body to extend out of the front end of the clamp main body. The invention can realize the disassembly of the box body stack in the environment of limited space such as a container and the like.
Description
Technical Field
The invention relates to an industrial robot, in particular to a boxing method and an unpacking method in a container.
Background
An industrial robot is an intelligent device with a sensor, an objective lens and an electronic optical system, and can be used for rapidly sorting and carrying cargoes.
More and more visual sensors and force sensors are used on industrial robots, and the industrial robots become more and more intelligent. With the technical progress of sensing and recognition systems, artificial intelligence and the like, robots are gradually informationized from unidirectional control to self-storage and self-application data development.
When goods are sorted and carried by the industrial robot, the goods are required to be subjected to image acquisition by the visual sensor, the gesture of the goods is determined by identifying the images of the goods, and then the goods are sorted or carried by the industrial robot through the loaded clamp or sucker.
When dismantling the goods in the container of taking frame, roof and interlayer such as packing box, goods shelves, cage car through industrial robot, because the restriction that needs follow side snatched of goods, can easily drop because of the gravity pulling of goods when carrying out the side to the goods when the anchor clamps in selecting the scene such as destacking in this kind of scene are applied to in this kind of scene, easy wearing and tearing and damage moreover.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a boxing method and an unpacking method in a container.
According to the method for unpacking the container, provided by the invention, the unpacking is carried out by a loading and unloading robot, the loading and unloading robot comprises a mechanical arm and a clamp arranged at the tail end of the mechanical arm, the clamp comprises a clamp main body, a sucker support, a sucker module, a bottom supporting mechanism and a driving module, and the method comprises the following steps:
step S1: the control driving module drives the sucking disc module to move to the front end of the clamp main body to suck one side surface of a target box body on the box body stack;
step S2: controlling the sucking disc module to move towards the rear end of the clamp main body so as to pull the target box body to move away from the box body stack and pull the target box body onto the bottom supporting mechanism;
step S3: and controlling the bottom supporting mechanism to extend out so as to support the bottom side surface of the target box body along with the sucking disc module pulling the target box body to extend out of the front end of the clamp main body.
Preferably, it comprises: the sucker support is provided with a sucker module, the sucker module is used for sucking a target box body, and the sucker support is arranged on one side surface of the clamp main body and can move along a first direction;
The bottom supporting mechanism is positioned on the clamp main body and can move along a second direction opposite to the first direction;
the driving module is connected with the sucker support and the bottom supporting mechanism through the driving transmission mechanism and is used for driving the sucker support and the bottom supporting mechanism to simultaneously perform reverse movement.
Preferably, the sucker support is provided with a sucker array, the sucker array is used for sucking a target box body, and the sucker support is arranged on one side surface of the clamp main body and can move along a first direction;
the bottom supporting mechanism is positioned on the clamp main body and can move along a second direction opposite to the first direction;
the driving module comprises a first driving unit and a second driving unit; the first driving unit is used for driving the sucker support to move along the first direction; and the second driving unit is used for driving the bottom supporting mechanism to move along the second direction, wherein the sucker support and the bottom supporting mechanism perform reverse movement.
Preferably, the step S1 includes the steps of:
step S101: acquiring a stack body image of the box body stack, identifying the stack body image, and determining a plurality of target box body areas on the stack body image;
Step S102: determining a plurality of target boxes to be sucked according to the positions of the target box areas, and further determining the length and the height of the target boxes;
step S103: and selecting a first sucker array or a second sucker array in the sucker module according to the length and the height to suck one side surface of a target box on the box stack.
Preferably, the suction cup module comprises a first suction cup array and a second suction cup array;
the first sucker array is arranged on the sucker support; the second sucker array is connected with the back side surface of the first sucker array or the sucker support through a sucker connecting plate;
the first sucker array is positioned on one side of the bottom supporting mechanism, and the second sucker array is positioned on the other side of the bottom supporting mechanism.
Preferably, the step S2 includes the steps of:
step S201: controlling the driving module to output power through a driving transmission mechanism so as to enable a transmission belt in the driving transmission mechanism to move along the axial direction of the clamp main body;
step S202: the sucker module is driven to move towards the rear end of the clamp main body along the first guide mechanism by a transmission belt;
step S203: and the sucking disc module moves along with the direction of pulling the target box body to move away from the box body stack so as to pull the target box body to the bottom supporting mechanism.
Preferably, the drive transmission mechanism includes: a driving wheel, a driven wheel and a transmission belt;
the driving wheel is arranged on an output shaft of the driving module;
the driven wheel is arranged at the front end of the sucker support; the driving wheel is connected with the driven wheel through the transmission belt;
the sucker support is connected with one side of the transmission belt, and the bottom supporting mechanism is connected with the other side of the transmission belt.
Preferably, the step S3 includes the steps of:
step S301: the bottom supporting mechanism is driven by a conveying belt to move towards the front end of the clamp main body along the second guide mechanism;
step S302: as the sucking disc module pulls the target box body, the bottom supporting mechanism extends out from the front end of the clamp main body to support the bottom side surface of the target box body;
step S303: and simultaneously controlling the mechanical arm to move so as to drive the clamp main body to move in a direction away from the box body stack.
Preferably, the step S1 includes the steps of:
step S101: acquiring a stack body image of the box body stack, identifying the stack body image, and determining a plurality of target box body areas on the stack body image;
step S102: determining a plurality of target boxes to be sucked according to the positions of the target box areas, and further determining the length and the height of the target boxes;
Step S103: and selecting a first sucking disc area and/or a second sucking disc area in a first sucking disc array in the sucking disc module according to the length and the height to suck one side surface of a target box on the box stack.
Preferably, the method further comprises the following steps:
step S4: the control driving module drives the first sucker array and the second sucker array to move to the front end of the clamp main body and simultaneously absorbs the other side face of one target box body or the side faces of a plurality of target box bodies on the box body stack.
The invention provides a container packing method in a container, which is carried out by a loading and unloading robot, wherein the loading and unloading robot comprises a mechanical arm and a clamp arranged at the tail end of the mechanical arm, the clamp comprises a clamp main body, a sucker support, a sucker module, a bottom supporting mechanism and a driving module, and the method comprises the following steps:
step M1: the control driving module drives the sucking disc module to move to the front end of the clamp main body to suck one side surface of a target box body on the box body stack;
step M2: controlling the sucking disc module to move towards the rear end of the clamp main body so as to pull the target box body to move away from the box body stack and pull the target box body onto the bottom supporting mechanism;
Step M3: controlling the mechanical arm to move so as to put the front end of the target box body on a target position, controlling the sucker module to move towards a direction close to the target position, and simultaneously controlling the bottom supporting mechanism to retract to the clamp main body;
step M4: and controlling the sucking disc module to release the target box body.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the first guide rail and the second guide rail which extend along the length direction are arranged on the clamp main body, the first guide rail is positioned on one side surface of the clamp main body, the second guide rail is positioned on the other side surface of the clamp main body, the sucker support is connected with the first guide rail through the first sliding block and can slide along the first guide rail, the bottom supporting mechanism is connected with the second guide rail through the second sliding block and can slide along the second guide rail, when a sucker module arranged on the sucker support sucks a target box body, the sucker support is driven to move towards the rear end of the clamp main body through the driving module so as to grasp the target box body, and meanwhile, the driving module drives the bottom supporting mechanism to extend out from the front end of the clamp main body so as to support the target box body, so that the box body can be disassembled, unloaded and stacked in the environment of a limited space such as a container.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art. Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of steps of a method for unpacking a container in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of a side suction bottom clamp for a loading and unloading robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of another state of a side suction bottom clamp for a loading and unloading robot according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating steps for sucking a target box from a stack of boxes according to an embodiment of the present invention;
FIG. 5 is a flowchart showing steps for pulling the target box to the backing mechanism according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating a step of supporting the bottom side of the target box according to an embodiment of the present invention;
FIG. 7 is a schematic view of a working state of a side suction bottom clamp for a loading and unloading robot according to an embodiment of the present invention;
FIG. 8 is a schematic view showing a state of a side suction bottom clamp for a loading and unloading robot according to a modification of the present invention;
fig. 9 is a schematic view showing another state of the side suction bottom holding jig for the loading and unloading robot in the modification of the present invention;
FIG. 10 is a flowchart showing steps for sucking a target box from a box stack according to a modification of the present invention;
FIG. 11 is a schematic view of a sucker support according to an embodiment of the present invention;
FIG. 12 is a schematic diagram showing the mounting relationship of a moving plate in an embodiment of the present invention;
FIG. 13 is a schematic view showing the structure of a jig main body in the embodiment of the invention;
FIG. 14 is a bottom side schematic view of a side suction bottom clamp for a handling robot in an embodiment of the invention;
FIG. 15 is a schematic view illustrating an operation state of the second chuck array according to the embodiment of the invention;
FIG. 16 is a schematic view of a loading and unloading robot according to an embodiment of the present invention;
fig. 17 is a flow chart showing the steps of a method of boxing in a container in accordance with an embodiment of the present invention.
In the figure:
1 is a clamp main body; 101 is an installation riser; 102 is a first support frame; 103 is a second support frame; 104 is a connecting cross bar; 2 is a sucker bracket; 201 is a suction cup mounting plate; 202 is a first moving plate; 203 is a first slider; 204 is a first rail; 3 is a bottom supporting mechanism; 301 is a first sole support bar; 302 is a second sole support bar; 303 is a second slider; 304 is a first fixed plate, 305 is a second movable plate; 306 is a second rail; 4 is a driving module; 5 is a first suction cup array; 601 is a transmission belt; 602 is a driven wheel; 603 is a driving wheel; 604 is a second securing plate; 7 is a second suction cup array; 100 is a side suction bottom clamp for a loading and unloading robot; 200 is a mechanical arm; 300 is a mobile base.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
The following describes the technical scheme of the present invention and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a flow chart of steps of an unpacking method in a container according to an embodiment of the present invention, and as shown in fig. 1, the unpacking method in a container provided by the present invention is performed by a loading and unloading robot, where the loading and unloading robot includes a mechanical arm and a clamp disposed at a distal end of the mechanical arm, and the clamp includes a clamp body 1, a suction cup support 2, a column 5 of first suction cups, a bottom supporting mechanism 3, and a driving module 4, and includes the following steps:
step S1: the control driving module 4 drives the sucking disc module to move to one side surface of a target box body on the box body stack at the front end of the clamp main body 1;
Step S2: controlling the first suction cup column 5 to move towards the rear end of the clamp main body 1 so as to pull the target box body to move away from the box body stack to pull the target box body onto the bottom supporting mechanism 3;
step S3: the bottom supporting mechanism 3 is controlled to extend so as to pull the target box body along with the first sucking disc row 5 to extend from the front end of the clamp main body 1 to support the bottom side surface of the target box body.
In the embodiment of the present invention, the first guide rail 204 and the second guide rail 306 of the clamp body 1 extend along the length direction, the first guide rail 204 is located on one side surface of the clamp body 1, and the second guide rail 306 is located on the other side surface of the clamp body 1;
the suction cup support 2 is provided with a first suction cup row 5, the first suction cup row 5 is used for sucking a target box, and the suction cup support 2 is connected with the first guide rail 204 through a first sliding block 203 and can slide along the first guide rail 204;
the bottom supporting mechanism 3 is positioned at the bottom side of the clamp main body 1, is connected with the second guide rail 306 through a second sliding block 303 and can slide along the second guide rail 306;
the driving module 4 is connected with the sucker support 2 and the bottom supporting mechanism 3 through a driving transmission mechanism and is used for driving the sucker support 2 and the bottom supporting mechanism 3 to simultaneously perform reverse movement.
In the embodiment of the present invention, the driving module 4 is provided on the mounting riser 101 of the jig main body 1. The driving module 4 adopts a driving motor or a cylinder.
Fig. 2 is a schematic diagram of a state of a side suction bottom supporting clamp for a loading and unloading robot according to an embodiment of the present invention, and fig. 7 is a schematic diagram of a working state of a side suction bottom supporting clamp for a loading and unloading robot according to an embodiment of the present invention, as shown in fig. 2 and 7, after the suction cup support 2 sucks a target box, the driving module 4 drives the suction cup support 2 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 extends from the front end of the clamp body 1;
fig. 3 is a schematic diagram of another state of the side suction bottom supporting clamp for the loading and unloading robot according to the embodiment of the present invention, as shown in fig. 3, when the target box is released, the driving module 4 drives the suction cup support 2 to move from the rear end of the clamp body 1 to the front end of the clamp body 1, so as to push out the target box, and at the same time, the bottom supporting mechanism 3 is retracted into the clamp body 1.
Fig. 4 is a flowchart of a step of sucking a target box on a box stack according to an embodiment of the present invention, as shown in fig. 4, the step S1 includes the following steps:
Step S101: acquiring a stack body image of the box body stack, identifying the stack body image, and determining a plurality of target box body areas on the stack body image;
step S102: determining a plurality of target boxes to be sucked according to the positions of the target box areas, and further determining the length and the height of the target boxes;
step S103: and selecting a first sucker array or a second sucker array in the sucker module according to the length and the height to suck one side surface of a target box on the box stack.
In the embodiment of the present invention, the first suction cup array 5 and the second suction cup array 7 have the same width, and the height of the first suction cup array 5 is greater than that of the second suction cup array 7;
the second sucker array 7 is used for sucking the target box body, and interference between the clamp and the top of the container can be avoided when loading and unloading is performed in the container through the loading and unloading robot;
the second suction cup array 7 is used to suck the target tank when the height of the target tank is smaller than the height of the second suction cup array 7, as shown in fig. 10.
Fig. 5 is a flowchart of a step of pulling the target box to the bottom supporting mechanism in the embodiment of the present invention, as shown in fig. 5, the step S2 includes the following steps:
Step S201: controlling the driving module to output power through a driving transmission mechanism so as to enable a transmission belt in the driving transmission mechanism to move along the axial direction of the clamp main body;
step S202: the sucker module is driven to move towards the rear end of the clamp main body along the first guide mechanism by a transmission belt;
step S203: and the sucking disc module moves along with the direction of pulling the target box body to move away from the box body stack so as to pull the target box body to the bottom supporting mechanism.
In an embodiment of the present invention, as shown in fig. 14, the drive transmission mechanism includes: a driving pulley 603, a driven pulley 602, and a transmission belt 601;
the driving wheel 603 is arranged on the output shaft of the driving module 4;
the driven wheel 602 is arranged at the front end of the sucker support 2; the driving wheel 603 is connected with the driven wheel 602 through the transmission belt 601;
the sucker support 2 is connected with one side of the transmission belt 601, and the bottom supporting mechanism 3 is connected with the other side of the transmission belt 601.
In the embodiment of the present invention, the driving module 4 is connected to the driving wheel 603 through a speed reducer, so as to drive the driving wheel 603 to rotate; the driven wheel 602 is arranged in the middle area of the connecting cross rod 104, the driven wheel 602 is connected with the connecting cross rod 104 through a synchronous wheel mounting plate, four support rods are arranged on the connecting cross rod 104, a synchronous wheel cover plate is arranged at the top ends of the support rods, and the synchronous wheel cover plate and the four support rods form a protective cover of the driven wheel 602.
Fig. 6 is a flowchart of the step of supporting the bottom side of the target box according to the embodiment of the present invention, as shown in fig. 6, the step S3 includes the following steps:
step S301: the bottom supporting mechanism is driven by a conveying belt to move towards the front end of the clamp main body along the second guide mechanism;
step S302: as the sucking disc module pulls the target box body, the bottom supporting mechanism extends out from the front end of the clamp main body to support the bottom side surface of the target box body;
step S303: and simultaneously controlling the mechanical arm to move so as to drive the clamp main body to move in a direction away from the box body stack.
Fig. 7 is a schematic view showing a state of a side suction bottom clamp for a loading and unloading robot in a modification of the present invention, and fig. 8 is a schematic view showing another state of a side suction bottom clamp for a loading and unloading robot in a modification of the present invention, as shown in fig. 7 and 8, the suction cup module includes a first suction cup array 5 and a second suction cup array 7;
the first sucker array 5 is arranged on the sucker support 2; the second sucker array 7 is connected with the back side surface of the first sucker array or the sucker support through a sucker connecting plate;
the first sucker array 5 is located on one side of the bottom supporting mechanism 3, and the second sucker array 7 is located on the other side of the bottom supporting mechanism 3.
In the embodiment of the present invention, the first sucker array 5 is used for sucking the side surface of the target box with a larger area, and the second sucker array 7 is used for sucking the side surface of the target box with a smaller area;
when the target box is sucked through the first sucker array 5, the bottom supporting mechanism 3 faces the side face of the first sucker array 5 to support the target box, and when the target box is sucked through the second sucker array 7, the bottom supporting mechanism 3 faces the side face of the second sucker array 7 to support the target box.
In this modification, the supporting mechanism 3 is provided with a receiving channel extending in a length direction, so that when the 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 supporting mechanism 3;
a groove may be provided at the front end of the connecting rail 104, so that the front end is accommodated in the groove when the sole holding mechanism 3 is retracted, thereby shortening the length of the whole clamp.
The first sucker array 5 and the second sucker array 7 are in the same plane, and the first sucker array 5 and the second sucker array 7 can be matched to absorb the side surface of the larger area of the target box body, such as top suction of the target box body.
In the embodiment and the modification of the present invention, the first chuck array 5 includes a first chuck area 501 and a second chuck area 502 that are adjacently disposed;
the first suction cup area 501 and the second suction cup area 502 are used for providing suction force alone to suck the side of the target box with one size or providing suction force simultaneously to suck the side of the target box with the other size.
The first sucker array 5 is controlled in a partition mode, so that the side face of the target box with a small area can be sucked, namely, the side face of the target box with one area is independently controlled through the first sucker area 501 or the second sucker area 502, and the traction of the adjacent target box is avoided; 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 casing.
The first suction cup area 501 is provided with a first suction channel, the second suction cup area 502 is provided with a second suction channel, two vacuum generators or vacuum sources can be arranged to respectively provide suction force for the first suction cup area and the second suction cup area 502, and one vacuum generator or vacuum source can be also arranged to be communicated with the first suction channel and the second suction channel through a three-way valve so as to simultaneously provide suction force for the first suction cup area 501 and the second suction cup area 502, and suction force can be also provided for the first suction cup area or the second suction cup area 502.
The three-way valve adopts a three-way check valve.
When suction is simultaneously provided to the first suction cup region 501 and the second suction cup region 502, suction can be performed to a target box side of another area, that is, a target box side of a larger area.
The first chuck area 501 and the second chuck area 502 are located on the left and right sides of the first chuck array 5, and may be located on the upper and lower sides of the first chuck array 5 in a modification.
The choice of first suction cup array 5, second suction cup array 7 or first suction cup region 501 and second suction cup region 502 is determined by the area of the sucked side of the sucked target box, and the suction cup regions generally need to be located in the sucked side and can provide enough suction force to suck the target box.
Fig. 10 is a flowchart of a step of sucking a target box on a box stack according to a modification of the present invention, and as shown in fig. 10, the step S1 includes the following steps:
step S101: acquiring a stack body image of the box body stack, identifying the stack body image, and determining a plurality of target box body areas on the stack body image;
step S102: determining a plurality of target boxes to be sucked according to the positions of the target box areas, and further determining the length and the height of the target boxes;
Step S103: the first suction cup area 501 and/or the second suction cup area 502 in the first suction cup array 5 in the suction cup module are selected to suck a side of a target box on the box stack according to the length and the height.
In the embodiment of the present invention, as shown in fig. 9, the first suction cup region 501 and the second suction cup region 502 have the same height, but the first suction cup region 501 and the second suction cup region 502 have a smaller width than the first suction cup array 5, and thus can be used to suck the target box having a smaller width than the first suction cup region 501 and the second suction cup region 502.
In the embodiment of the invention, the method for unpacking the container provided by the invention further comprises the following steps:
step S4: the control driving module drives the first sucker array and the second sucker array to move to the front end of the clamp main body and simultaneously absorbs the other side face of one target box body or the side faces of a plurality of target box bodies on the box body stack.
At this time, 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 absorb the side surface of the largest area of the target box body, for example, the target box body is in a top suction mode, and a plurality of target box bodies can be absorbed simultaneously.
Fig. 11 is a schematic structural view of a suction cup stand according to an embodiment of the present invention, as shown in fig. 11, the suction cup stand 2 includes: a suction cup mounting plate 201 and a first moving plate 202;
the first moving plate 202 is connected to the first guide rail 204 through the first slider 203, and is connected to one side of the conveyor belt 601 through a first fixing plate 304;
the sucker mounting plate 201 is disposed on the first moving plate 202, and the sucker module is disposed on the first moving plate 202.
The sucker mounting plate 201 comprises a first supporting frame, a second supporting frame and a sucker mounting plate; the first support frame and the second support frame are arranged on the first moving plate 202, and the sucker mounting plate is mounted on the front side surfaces of the first support frame and the second support frame.
In an embodiment of the present invention, as shown in fig. 13, the first rail 204 includes a first left rail and a first right rail; the first slider 203 may be an entire slider that connects the first left side rail and the first right side rail at the same time, or may be two sub-sliders that are respectively engaged with the first left side rail and the first right side rail.
The first left side rail and the first right side rail are parallel to each other.
In the embodiment of the invention, the sucker modules comprise a plurality of suckers which are sequentially arranged, the suckers which are sequentially arranged in each row are staggered, the number of the suckers in each row is 10, and the number of the sucker columns is 6.
Fig. 12 is a schematic diagram showing the installation relationship of the moving plate in the embodiment of the present invention, and as shown in fig. 12, the supporting mechanism 3 includes a first supporting base supporting rod 301, a second supporting base supporting rod 302, and a second moving plate 305;
the first supporting base support bar 301 and the second supporting base support bar 302 are disposed on the second moving plate 305; the second moving plate 305 is connected to the second guide rail 306 through a second slider 303, and is slidable along the second guide rail 306;
the second moving plate 305 is connected to the other side of the transfer belt 601 through a second fixing plate 604.
In the embodiment of the present invention, the first supporting base supporting rod 301 and the second supporting base supporting rod 302 are parallel to each other and perpendicular to the second moving plate 305.
In an embodiment of the present invention, the second guide rail 306 includes a second left guide rail and a second right guide rail; the second slider 303 may be an entire slider that connects the second left side rail and the second right side rail at the same time, or may be two sub-sliders that respectively cooperate with the second left side rail and the second right side rail;
The second left side rail and the second right side rail are parallel to each other.
Fig. 13 shows a schematic structural view of a jig main body in the embodiment of the invention, and as shown in fig. 13, the jig main body 1 includes a support chassis and a mounting riser 101;
the mounting vertical plate 101 is connected with the rear end of the supporting underframe; the driving module 4 is arranged on the mounting riser 101;
the first guide rail 204 is arranged on one side surface of the supporting underframe, and the second guide rail 306 is arranged on the other side surface of the supporting underframe;
a bottom supporting mechanism 3 is arranged between the first guide rail 204 and the second guide rail 306.
In an embodiment of the present invention, the mounting riser 101 is perpendicular to the support chassis.
As shown in fig. 14, the support chassis includes a first support frame 102, a second support frame 103, and a connecting rail 104;
the rear ends of the first support frame 102 and the second support frame 103 are connected with the two side ends of the mounting vertical plate 101; the front ends of the first support frame 102 and the second support frame 103 are connected to two ends of the connecting cross bar 104.
In the embodiment of the present invention, the first supporting frame 102, the second supporting frame 103, the connecting rail 104 and the mounting riser 101 enclose a rectangular structure.
The upper side surface of the first supporting frame 102 is provided with a first right side guide rail, and the lower side surface is provided with a second right side guide rail; the upper side of the second supporting frame 103 is provided with a first left side guide rail, and the lower side is provided with a second left side guide rail.
In a modification of the present invention, a side suction bracket for a loading and unloading robot according to the present invention includes:
a clamp body 1, a first guide rail 204 and a second guide rail 306 extending in a length direction of the clamp body 1, the first guide rail 204 being located on one side surface of the clamp body 1, the second guide rail 306 being located on the other side surface of the clamp body 1;
the sucking disc support 2 is provided with a sucking disc module, the sucking disc module is used for sucking a target box body, and the sucking disc support 2 is connected with the first guide rail 204 through a first sliding block 203 and can slide along the first guide rail 204;
the bottom supporting mechanism 3 is positioned at the bottom side of the clamp main body 1, and the bottom supporting mechanism 3 is connected with the second guide rail 306 through a second sliding block 303 and can slide along the second guide rail 306;
a first driving unit for driving the sucker support 2 to move along the first guiding mechanism;
and the second driving unit is used for driving the bottom supporting mechanism 3 to move along the second guiding mechanism, wherein the sucker support 2 and the bottom supporting mechanism 3 perform reverse movement.
That is, in this modification, the suction cup support 2 and the bottom supporting mechanism 3 are driven by different driving units, and the suction cup support 2 and the bottom supporting mechanism 3 may be controlled to simultaneously perform reverse movement by a controller, or the suction cup support 2 may be controlled to perform movement for several seconds before the bottom supporting mechanism 3, or the suction cup support 2 may be controlled to perform movement for several seconds after the bottom supporting mechanism 3, and several seconds may be any seconds, such as two seconds, from 1 to 3 seconds.
Fig. 16 is a schematic structural view of a loading and unloading robot according to an embodiment of the present invention, as shown in fig. 16, where the loading and unloading robot provided by the present invention includes a side suction bottom clamp for loading and unloading a robot, and further includes a mechanical arm and a moving base;
the side suction support bottom clamp for the loading and unloading robot is arranged at the tail end of the mechanical arm;
the mechanical arm is arranged on the movable base, and the movable base is used for driving the mechanical arm to move.
When the loading and unloading robot provided by the invention is used for unloading the target box, the loading and unloading robot comprises the following steps:
step S1: controlling the sucker support 2 to move to one side of the front end of the clamp main body 1 to suck the target box;
Step S2: controlling the driving module 4 to drive the sucker support 2 to move from the front end of the clamp body 1 to the rear end of the clamp body 1, and simultaneously enabling the bottom supporting mechanism 3 to extend out from the front end of the clamp body 1 so as to support the target box;
step S3: the driving module 4 is controlled to drive the sucker support 2 to move from the rear end of the clamp body 1 to the front end of the clamp body 1 so as to push out a target box body, and the bottom supporting mechanism 3 is retracted into the clamp body 1.
More specifically, the method comprises the following steps:
acquiring a stack body image of the box body stack, identifying the stack body image, and determining a plurality of target box body areas on the stack body image;
determining a plurality of target boxes to be sucked according to the positions of the target box areas, and further determining the length and the height of the target boxes;
when judging that the length and width of the side surface to be sucked of the target box body are larger than the length and width of a plane formed by the first sucker array 5 and the second sucker array 7 according to the length and the height, sucking the target box body through the first sucker array 5 and the second sucker array 7 at the same time, and at the moment, the bottom supporting mechanism 3 does not need to extend out to support the target box body;
Sucking the target box through the first sucker array 5 when the height of the side to be sucked is larger than the height of the first sucker array 5 and the length of the side to be sucked is larger than the length of the first sucker array 5;
when the height of the side surface to be sucked is smaller than the height of the first sucker array 5 and the length of the side surface to be sucked is larger than the length of the first sucker array 5, sucking the target box through the second sucker array 7;
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, sucking the target box through the first suction cup area 501 or the second suction cup area 502 of the first suction cup array 5.
In addition, when there is interference in the suction of the target box by the first suction cup array 5 when loading and unloading are performed in the container by the loading and unloading robot, the target box is sucked by the second suction cup array 7.
Fig. 17 is a step flowchart of a method for boxing in a container according to an embodiment of the present invention, and as shown in fig. 17, the method for boxing in a container provided by the present invention is performed by a loading and unloading robot, the loading and unloading robot includes a mechanical arm and a clamp disposed at the end of the mechanical arm, the clamp includes a clamp main body, a suction cup bracket, a suction cup module, a bottom supporting mechanism, and a driving module, and includes the following steps:
Step M1: the control driving module drives the sucking disc module to move to the front end of the clamp main body to suck one side surface of a target box body on the box body stack;
step M2: controlling the sucking disc module to move towards the rear end of the clamp main body so as to pull the target box body to move away from the box body stack and pull the target box body onto the bottom supporting mechanism;
step M3: controlling the mechanical arm to move so as to put the front end of the target box body on a target position, controlling the sucker module to move towards a direction close to the target position, and simultaneously controlling the bottom supporting mechanism to retract to the clamp main body;
step M4: and controlling the sucking disc module to release the target box body.
In the embodiment of the invention, the first guide rail and the second guide rail which extend along the length direction are arranged on the clamp main body, the first guide rail is positioned on one side surface of the clamp main body, the second guide rail is positioned on the other side surface of the clamp main body, the sucker support is connected with the first guide rail through the first sliding block and can slide along the first guide rail, the bottom supporting mechanism is connected with the second guide rail through the second sliding block and can slide along the second guide rail, when the sucker module arranged on the sucker support sucks a target box body, the sucker support is driven to move towards the rear end of the clamp main body through the driving module so as to grasp the target box body, and meanwhile, the driving module drives the bottom supporting mechanism to extend out from the front end of the clamp main body so as to support the target box body, so that the box body can be loaded, unloaded and palletized in the environment of a limited space such as a container.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.
Claims (8)
1. The method for unpacking the container is carried out by a loading and unloading robot, and is characterized in that the loading and unloading robot comprises a mechanical arm and a clamp arranged at the tail end of the mechanical arm, the clamp comprises a clamp main body, a sucker support, a sucker module, a bottom supporting mechanism and a driving module, the sucker support is provided with the sucker module, the sucker module is used for sucking a target container body, and the sucker support is arranged on one side surface of the clamp main body and can move along a first direction; the bottom supporting mechanism is positioned on the clamp main body and can move along a second direction opposite to the first direction; the driving module is connected with the sucker support and the bottom supporting mechanism through the driving transmission mechanism and is used for driving the sucker support and the bottom supporting mechanism to simultaneously perform reverse movement, and the driving module comprises the following steps:
Step S1: the control driving module drives the sucking disc module to move to the front end of the clamp main body to suck one side surface of a target box body on the box body stack;
step S2: controlling the sucking disc module to move towards the rear end of the clamp main body so as to pull the target box body to move away from the box body stack and pull the target box body onto the bottom supporting mechanism;
step S3: controlling the bottom supporting mechanism to extend out so as to support the bottom side surface of the target box body along with the sucking disc module pulling the target box body to extend out of the front end of the clamp main body;
the drive transmission mechanism includes: a driving wheel, a driven wheel and a transmission belt;
the driving wheel is arranged on an output shaft of the driving module;
the driven wheel is arranged at the front end of the sucker support; the driving wheel is connected with the driven wheel through the transmission belt;
the sucker support is connected with one side of the transmission belt, and the bottom supporting mechanism is connected with the other side of the transmission belt;
the sucker module comprises a first sucker array and a second sucker array;
the first sucking disc array is arranged on the sucking disc support, the second sucking disc array is connected with the other side face of the first sucking disc array opposite to the sucking disc installation side or the sucking disc support through a sucking disc connecting plate, the first sucking disc array is located on one side of the bottom supporting mechanism, and the second sucking disc array is located on the other side of the bottom supporting mechanism.
2. The method of unpacking a container according to claim 1, wherein the suction cup support is provided with a suction cup array for sucking a target container, and the suction cup support is provided on one side surface of the jig main body so as to be movable in a first direction;
the bottom supporting mechanism is positioned on the clamp main body and can move along a second direction opposite to the first direction;
the driving module comprises a first driving unit and a second driving unit; the first driving unit is used for driving the sucker support to move along the first direction; and the second driving unit is used for driving the bottom supporting mechanism to move along the second direction, wherein the sucker support and the bottom supporting mechanism perform reverse movement.
3. The method of unpacking a container according to claim 1 or 2, wherein said step S1 comprises the steps of:
step S101: acquiring a stack body image of the box body stack, identifying the stack body image, and determining a plurality of target box body areas on the stack body image;
step S102: determining a plurality of target boxes to be sucked according to the positions of the target box areas, and further determining the length and the height of the target boxes;
Step S103: and selecting a first sucker array or a second sucker array in the sucker module according to the length and the height to suck one side surface of a target box on the box stack.
4. A method of unpacking a container according to claim 3, wherein said step S2 comprises the steps of:
step S201: controlling the driving module to output power through a driving transmission mechanism so as to enable a transmission belt in the driving transmission mechanism to move along the length direction of the clamp main body;
step S202: the sucker module is driven to move towards the rear end of the clamp main body along the first guide mechanism by the transmission belt;
step S203: and the sucking disc module moves along with the direction of pulling the target box body to move away from the box body stack so as to pull the target box body to the bottom supporting mechanism.
5. The method of unpacking a container according to claim 2, wherein said step S3 comprises the steps of:
step S301: the bottom supporting mechanism is driven by the conveying belt to move towards the front end of the clamp main body along the second guide mechanism;
step S302: as the sucking disc module pulls the target box body, the bottom supporting mechanism extends out from the front end of the clamp main body to support the bottom side surface of the target box body;
Step S303: and simultaneously controlling the mechanical arm to move so as to drive the clamp main body to move in a direction away from the box body stack.
6. The method of unpacking a container according to claim 1, wherein said step S1 comprises the steps of:
step S101: acquiring a stack body image of the box body stack, identifying the stack body image, and determining a plurality of target box body areas on the stack body image;
step S102: determining a plurality of target boxes to be sucked according to the positions of the target box areas, and further determining the length and the height of the target boxes;
step S103: and selecting a first sucking disc area and/or a second sucking disc area in a first sucking disc array in the sucking disc module according to the length and the height to suck one side surface of a target box on the box stack.
7. The method of unpacking a container according to claim 4, further comprising the steps of:
step S4: the control driving module drives the first sucker array and the second sucker array to move to the front end of the clamp main body and simultaneously absorbs the other side face of one target box body or the side faces of a plurality of target box bodies on the box body stack.
8. The container packing method in the container is carried out by a loading and unloading robot, and is characterized in that the loading and unloading robot comprises a mechanical arm and a clamp arranged at the tail end of the mechanical arm, the clamp comprises a clamp main body, a sucker support, a sucker module, a bottom supporting mechanism and a driving module, the sucker support is provided with the sucker module, the sucker module is used for sucking a target container body, and the sucker support is arranged on one side surface of the clamp main body and can move along a first direction; the bottom supporting mechanism is positioned on the clamp main body and can move along a second direction opposite to the first direction; the driving module is connected with the sucker support and the bottom supporting mechanism through the driving transmission mechanism and is used for driving the sucker support and the bottom supporting mechanism to simultaneously perform reverse movement, and the driving module comprises the following steps:
Step M1: the control driving module drives the sucking disc module to move to the front end of the clamp main body to suck one side surface of a target box body on the box body stack;
step M2: controlling the sucking disc module to move towards the rear end of the clamp main body so as to pull the target box body to move away from the box body stack and pull the target box body onto the bottom supporting mechanism;
step M3: controlling the mechanical arm to move so as to put the front end of the target box body on a target position, controlling the sucker module to move towards a direction close to the target position, and simultaneously controlling the bottom supporting mechanism to retract to the clamp main body;
step M4: controlling the sucking disc module to release the target box body;
the drive transmission mechanism includes: a driving wheel, a driven wheel and a transmission belt;
the driving wheel is arranged on an output shaft of the driving module;
the driven wheel is arranged at the front end of the sucker support; the driving wheel is connected with the driven wheel through the transmission belt;
the sucker support is connected with one side of the transmission belt, and the bottom supporting mechanism is connected with the other side of the transmission belt; the sucker module comprises a first sucker array and a second sucker array;
The first sucking disc array is arranged on the sucking disc support, the second sucking disc array is connected with the other side face of the first sucking disc array opposite to the sucking disc installation side or the sucking disc support through a sucking disc connecting plate, the first sucking disc array is located on one side of the bottom supporting mechanism, and the second sucking disc array is located on the other side of the bottom supporting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311225783.9A CN116969186B (en) | 2023-09-22 | 2023-09-22 | Method for boxing and unpacking in container |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311225783.9A CN116969186B (en) | 2023-09-22 | 2023-09-22 | Method for boxing and unpacking in container |
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| CN116969186A CN116969186A (en) | 2023-10-31 |
| CN116969186B true CN116969186B (en) | 2024-03-19 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11885A (en) * | 1997-06-10 | 1999-01-06 | Meidensha Corp | Robot hand and work gripping method using it |
| JPH11123687A (en) * | 1997-10-22 | 1999-05-11 | Tsubakimoto Chain Co | Gripping device |
| CN210210443U (en) * | 2019-06-10 | 2020-03-31 | 北京京东乾石科技有限公司 | Bottom end supporting pick-up device |
| JP2021094662A (en) * | 2019-12-18 | 2021-06-24 | 村田機械株式会社 | Transfer device |
| CN116715022A (en) * | 2023-08-03 | 2023-09-08 | 星猿哲科技(深圳)有限公司 | Method for boxing and unpacking in container |
-
2023
- 2023-09-22 CN CN202311225783.9A patent/CN116969186B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11885A (en) * | 1997-06-10 | 1999-01-06 | Meidensha Corp | Robot hand and work gripping method using it |
| JPH11123687A (en) * | 1997-10-22 | 1999-05-11 | Tsubakimoto Chain Co | Gripping device |
| CN210210443U (en) * | 2019-06-10 | 2020-03-31 | 北京京东乾石科技有限公司 | Bottom end supporting pick-up device |
| JP2021094662A (en) * | 2019-12-18 | 2021-06-24 | 村田機械株式会社 | Transfer device |
| CN116715022A (en) * | 2023-08-03 | 2023-09-08 | 星猿哲科技(深圳)有限公司 | Method for boxing and unpacking in container |
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| CN116969186A (en) | 2023-10-31 |
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