An image recognition-based special-shaped cargo mechanical arm grabbing device and a use method thereof

Abstract

The present application relates to the technical field of special-shaped cargo grabbing, and discloses a special-shaped cargo mechanical arm grabbing device based on image recognition, which comprises a mechanical arm body, and a grabbing execution unit is installed at the free end of the mechanical arm body; the grabbing execution unit comprises a connecting mechanism, a sliding mechanism, a grabbing mechanism and a visual acquisition mechanism; the connecting mechanism comprises a connecting shaft seat and a cross beam, one end of the connecting shaft seat is fixedly connected with the free end of the mechanical arm body, and the other end of the connecting shaft seat is fixedly connected on the cross beam; the sliding mechanism is fixedly installed at the lower end of the cross beam; and the grabbing mechanism is fixedly installed on the sliding mechanism. The sliding mechanism drives the mounting plate to slide relatively or apart along the slide rail, so that the distance between the grabbing mechanisms can be flexibly adjusted to adapt to special-shaped cargos of different sizes; meanwhile, the setting of multiple types of grabbing mechanisms improves the universality and application range of the grabbing device and adapts to the grabbing requirements of multiple special-shaped cargos in industrialized batch production.

Description

Technical Field

[0001] This invention relates to the field of irregular cargo grasping technology, specifically to an image recognition-based robotic arm grasping device for irregular cargo and its usage method. Background Technology

[0002] In industrial production and logistics handling, the handling of irregularly shaped goods (such as block-shaped, toothed, strip-shaped, and tubular goods) is a core process. Currently, there are two main methods for handling irregularly shaped goods: manual handling and traditional robotic arm gripping devices. Manual handling is not only labor-intensive and inefficient, but also prone to damage and even personal injury to operators when handling heavy, irregularly shaped, or fragile goods. The latter method is difficult to adapt to the needs of industrialized mass production. Traditional robotic arm gripping devices often use fixed-specification gripping components, which can only handle single types and sizes of irregularly shaped goods, resulting in poor versatility. When handling different types and sizes of irregularly shaped goods, frequent changes of gripping components are required, making operation cumbersome and impacting efficiency.

[0003] Meanwhile, traditional robotic arms lack precise visual recognition and posture adjustment capabilities, making it impossible to accurately capture the shape, size, and placement posture of irregularly shaped goods. This can easily lead to grasping deviations, resulting in unstable grasping, loss of goods, or even damage to the goods.

[0004] Therefore, developing a versatile, precise, stable, reliable, and automated robotic arm for grasping irregularly shaped goods is key to solving current technological challenges. Summary of the Invention

[0005] (a) Technical problems to be solved To address the shortcomings of existing technologies, this application provides a robotic arm gripping device for irregularly shaped goods based on image recognition.

[0006] (II) Technical Solution To address the aforementioned issues, this application provides the following technical solution: an image recognition-based robotic arm gripping device for irregularly shaped goods, comprising a robotic arm body, wherein a gripping execution unit is mounted on the free end of the robotic arm body for performing gripping actions; The gripping execution unit includes a connecting mechanism, a sliding mechanism, a gripping mechanism, and a vision acquisition mechanism. The connecting mechanism includes a connecting shaft seat and a crossbeam. One end of the connecting shaft seat is fixedly connected to the free end of the robotic arm body, and the other end of the connecting shaft seat is fixedly connected to the crossbeam. The sliding mechanism is fixedly installed at the lower end of the crossbeam, and the gripping mechanism is fixedly installed on the sliding mechanism for gripping irregularly shaped goods placed on the worktable. The sliding mechanism includes two sets of slide rails symmetrically installed at the bottom of the crossbeam. Each set of slide rails has a mounting plate fixedly installed on it by a slider. The two sets of mounting plates are arranged correspondingly. When driven by the drive component, the two sets of mounting plates slide relative to or away from each other on the slide rails, which is used to adjust the distance between the two mounting plates according to the size of the irregularly shaped goods. An installation component is fixedly installed below the mounting plate. At least two sets of gripping mechanisms are provided. The two sets of gripping mechanisms are fixedly installed on the installation component. The two sets of gripping mechanisms are adjusted according to the size of the irregularly shaped goods by a drive component. The visual acquisition mechanism includes at least two sets of industrial cameras, which are arranged on both sides of the crossbeam to acquire images containing irregularly shaped goods to be grasped.

[0007] (III) Beneficial Effects Compared with the prior art, this application provides an image recognition-based robotic arm gripping device for irregularly shaped goods, which has the following advantages: 1. This image recognition-based robotic arm for grasping irregularly shaped goods uses a sliding mechanism to drive the mounting plate to slide relative to or away from each other along the slide rail, which can flexibly adjust the spacing of the grasping mechanism to adapt to irregularly shaped goods of different sizes. At the same time, it is equipped with various types of grasping mechanism lifting devices to meet the grasping needs of various irregularly shaped goods in industrial mass production.

[0008] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0009] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of the capture and execution unit in this application; Figure 2 This is a schematic diagram of the grabbing mechanism in this application; Figure 3 This is a structural schematic diagram of the beam in this application; Figure 4 For this application Figure 3 Enlarged structural diagram at point A; Figure 5 This is a schematic diagram of the structure for mounting the industrial camera in this application; Figure 6 This is a schematic diagram of the gripper structure of this application; Figure 7 This is a schematic diagram of the gear disk gripping structure of this application; Figure 8 This is a schematic diagram of the structure of the clamping block in this application; Figure 9 This is a structural schematic diagram of the support component of this application; Figure 10 This is a schematic diagram of the irregular tube clamping structure of this application; Figure 11 This is a schematic diagram of the structure of the finger-gripping cylinder of this application; Figure 12 This is a schematic diagram of the structure of the robotic arm body of this application.

[0010] Reference numerals: 100—robotic arm body; 200—control box; 31—connecting shaft seat; 32—crossbeam; 33—reinforcing rib; 34—slide rail; 35—drive motor; 36—industrial camera; 37—pressure sensor; 38—mounting component; 39—motor; 301—finger gripper cylinder; 302—gripper block; 303—support column; 304—top head; 305—clamping plate; 306—spring; 341—slider; 342—mounting plate; 343—rack; 344—positioning groove; 345—gear; 361—L-shaped plate; 391—gripper; 392—anti-slip mat; 400—worktable; 500—irregularly shaped goods. Detailed Implementation

[0011] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0013] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0014] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0015] Please see Figures 1-12 This application provides a new technical solution: an image recognition-based robotic arm gripping device for irregularly shaped goods, including a robotic arm body 100, wherein a gripping execution unit 300 is installed at the free end of the robotic arm body 100 for performing gripping actions; The gripping execution unit 300 includes a connecting mechanism, a sliding mechanism, a gripping mechanism, and a vision acquisition mechanism. The connecting mechanism includes a connecting shaft seat 31 and a crossbeam 32. One end of the connecting shaft seat 31 is fixedly connected to the free end of the robotic arm body 100, and the other end of the connecting shaft seat 31 is fixedly connected to the crossbeam 32. The sliding mechanism is fixedly installed at the lower end of the crossbeam 32, and the gripping mechanism is fixedly installed on the sliding mechanism for gripping irregularly shaped goods 500 placed on the workbench 400. The sliding mechanism includes two sets of slide rails 34 symmetrically installed at the bottom of the crossbeam 32. Mounting plates 342 are fixedly installed on the two sets of slide rails 34 by sliders 341. The two sets of mounting plates 342 are arranged correspondingly. When driven by the drive component, the two sets of mounting plates 342 slide relative to or away from each other on the slide rails 34, which is used to adjust the distance between the two mounting plates 342 according to the size of the irregular cargo 500. An installation component 38 is fixedly installed below the installation plate 342. At least two sets of gripping mechanisms are provided. The two sets of gripping mechanisms are fixedly installed on the installation component 38. The two sets of gripping mechanisms are adjusted according to the size of the irregular cargo 500 by the drive component. The visual acquisition mechanism includes at least two sets of industrial cameras 36, which are arranged on both sides of the crossbeam 32 to acquire images containing the irregularly shaped goods 500 to be grasped.

[0016] Specifically, the robotic arm body 100 serves as the motion carrier of the entire device, providing multi-degree-of-freedom motion support for the grasping action. It can drive the grasping execution unit 300 to move and turn within space, precisely approaching the irregularly shaped goods 500 on the workbench 400. The connecting mechanism achieves a stable connection between the robotic arm body 100 and the crossbeam 32 through the connecting shaft seat 31, providing a stable mounting base for the sliding mechanism and the grasping mechanism, ensuring coordinated movement of all components. In the sliding mechanism, two sets of slide rails 34 are symmetrically fixed at the bottom of the crossbeam 32, and the slider 341 slides in cooperation with the slide rails 34. The mounting plate 342 is connected to the slide rails 34 through the slider 341. Under the power of the drive component, the two sets of mounting plates 342... The slide rail 34 can slide relative to or away from each other, thereby driving the gripping mechanism on the mounting part 38 to adjust the spacing to adapt to irregularly shaped goods 500 of different sizes; the two sets of industrial cameras 36 of the vision acquisition mechanism are symmetrically arranged on both sides of the crossbeam 32, which can simultaneously acquire images of irregularly shaped goods 500 on the workbench 400, capture key information such as the shape, size, and placement posture of the goods, and provide accurate image data support for subsequent goods identification and gripping posture adjustment; the gripping mechanism is fixed to the mounting plate 342 of the sliding mechanism through the mounting part 38. After the sliding mechanism is adjusted to the position, it performs the gripping action on the irregularly shaped goods 500. All components work together to complete the complete process of gripping and transferring the irregularly shaped goods 500.

[0017] In some embodiments, reinforcing ribs 33 are fixedly installed on both sides of the crossbeam 32. The reinforcing ribs 33 are made of steel plate and are fixed to both sides of the crossbeam 32 by welding. They form a triangular support structure with the crossbeam 32 and the connecting shaft seat 31. Utilizing the stability characteristics of a triangle, the load borne by the crossbeam 32 is effectively distributed, including the weight of the gripping mechanism, the sliding mechanism, the mounting plate 342, and the gripped irregularly shaped goods 500. This reduces the elastic deformation and vibration of the crossbeam 32 during gripping and transfer, ensures the structural strength of the crossbeam 32, provides reliable support for the stable operation of the sliding mechanism and the gripping mechanism, and avoids gripping position deviation caused by deformation of the crossbeam 32.

[0018] In some embodiments, the drive assembly includes a drive motor 35, the output shaft of the drive motor 35 is mounted with a gear 345, and racks 343 are respectively meshed on both sides of the gear 345. The other ends of the two racks 343 are respectively fixedly connected to one side of the mounting plates 342 on both sides. The bottom of the crossbeam 32 is equipped with a positioning groove 344, and the rack 343 slides through the positioning groove 344.

[0019] Specifically, when the drive motor 35 starts, the output shaft drives the gear 345 to rotate forward or reverse. The gear 345 meshes with and drives the racks 343 on both sides to slide relative to or away from each other along the positioning groove 344, thereby driving the mounting plate 342 fixed to the rack 343 to slide synchronously along the slide rail 34, realizing precise adjustment of the distance between the two sets of mounting plates 342, adapting to irregularly shaped goods 500 of different sizes; the positioning groove 344 plays a guiding and limiting role for the rack 343, preventing the rack 343 from deviating when sliding, and ensuring the accuracy of the distance adjustment.

[0020] In some embodiments, the gripping mechanism consists of two grippers 391, which are fixedly mounted on the mounting member 38. The two grippers 391 are arranged in a "V" shape and are equipped with anti-slip pads 392 on the inner side of the grippers 391 for gripping the block-shaped goods 500. One end of the gripper 391 is connected to a motor 39, which drives the gripper 391 to rotate and grip the goods horizontally, vertically, or at an angle according to their shape.

[0021] Specifically, during gripping, the drive assembly drives the two sets of mounting plates 342 to move towards each other, causing the two grippers 391 to approach the block-shaped cargo 500 from both sides. The anti-slip pads 392 on the inner side of the grippers 391 contact the cargo surface, increasing the coefficient of friction and preventing the cargo from slipping during gripping. When the placement of the block-shaped cargo 500 does not match the opening direction of the grippers 391, the control box 200 controls the motor 39 to rotate the grippers 391. The output shaft of the motor 39 is connected to the mounting base of the grippers 391, allowing the grippers 391 to rotate within a range of 0° to 180°. For example, when the cargo is placed horizontally, the grippers 391 adjust to a horizontal orientation; when the cargo is placed vertically, the grippers 391 adjust to a vertical orientation; when the cargo is placed at an angle, the grippers 391 can be adjusted to the corresponding angle, ensuring optimal contact between the gripping surface of the grippers 391 and the surface of the cargo to be gripped.

[0022] In some embodiments, the gripping mechanism consists of two clamping blocks 302, which are fixedly mounted on the mounting member 38. The two clamping blocks 302 are arranged in a "V" shape. Multiple sets of support members are installed on the inner side of the gripper 391. Each support member includes a support column 303. One end of the support column 303 is fixedly mounted on the inner side of the clamping block 302, and the other end of the support column 303 is equipped with a top head 304. The top head 304 is arc-shaped, and clamping plates 305 are rotatably connected to both sides of the top head 304. A spring 306 is provided between the clamping plates 305 and the support column 303. The clamping plate 305 between adjacent support members is adjusted according to the tooth pitch of the toothed disc-shaped goods 500, and is used to clamp toothed disc-shaped goods 500 with different tooth pitches. One end of the clamping block 302 is connected to a motor 39, which is used to drive the gripper 391 to rotate, and is used to grasp and place the goods horizontally or vertically according to the shape of the goods.

[0023] Specifically, when gripping the toothed disc-shaped cargo 500, the spacing of the clamping plates 305 between adjacent support members is first adjusted according to the tooth pitch of the cargo, so that the position of the clamping plates 305 corresponds to the tooth gap. The drive assembly drives the two sets of mounting plates 342 to move towards each other, and the clamping blocks 302 approach the toothed disc-shaped cargo 500 from both sides. The top head 304 at the end of the support column 303 is arc-shaped and abuts against the root of the tooth of the toothed disc-shaped cargo 500. At the same time, the clamping plates 305 open outward under the action of the spring 306 and abut against the side wall of the adjacent tooth, forming a lateral clamping of the tooth.

[0024] The clamping plate 305 is rotatably connected to the support column 303, and can adaptively adjust the contact angle according to the tilt angle of the teeth. The spring 306 provides continuous elastic pressure, ensuring that the clamping plate 305 always maintains contact with the sidewall of the teeth. The motor 39 can drive the clamping block 302 to rotate, realizing horizontal or vertical gripping and placement.

[0025] In some embodiments, the gripping mechanism is a set of two finger gripping cylinders 301, which are fixedly installed on the mounting component 38. The gripping cylinder 301 includes two gripping fingers 302 for gripping strip-shaped or tubular irregularly shaped goods 500.

[0026] Specifically, during the gripping process, the drive assembly drives the two sets of mounting plates 342 to move towards each other, causing the two sets of finger gripping cylinders 301 to approach the strip-shaped or tubular irregularly shaped goods 500. The control box 200 sends a control signal to the gripping cylinder 301, and compressed air enters the cylinder, pushing the piston to move and causing the two gripping fingers 302 to close towards each other, gripping the goods from both sides.

[0027] For long, narrow goods, both sets of gripping cylinders 301 can operate simultaneously, forming two gripping points and increasing gripping stability. For short, tubular goods, only one set of gripping cylinders 301 can be selected to operate. The opening size of the gripping fingers 302 can be controlled by adjusting the cylinder stroke according to the outer diameter of the goods, achieving flexible gripping.

[0028] In some embodiments, the industrial camera 36 is mounted via an L-shaped plate 361.

[0029] In some embodiments, a control box 200 is provided on one side of the robotic arm body 100. The control box 200 integrates a controller, an image processor, a motor driver, pneumatic control components, etc., and is electrically connected to the robotic arm body 100 and the gripping execution unit 300 via cables.

[0030] In some embodiments, a pressure sensor 37 is disposed between the mounting plate 342 and the mounting member 38 for weighing the gripped goods. When the gripping mechanism grips the irregularly shaped goods 500, the weight of the goods is transmitted through the gripping mechanism to the mounting member 38, and then to the pressure sensor 37. The pressure sensor 37 detects the pressure signal, converts it into an electrical signal, and transmits it to the control box 200.

[0031] The control box 200 calculates the weight of the grasped goods based on the output signal of the pressure sensor 37. Simultaneously, the pressure sensor 37 can also be used to monitor changes in the clamping force during the grasping process.

[0032] A method for using an image recognition-based robotic arm for grasping irregularly shaped goods includes the following steps: The device is initialized by opening the control box 200, starting the robotic arm body 100, the gripping execution unit 300 and the vision acquisition mechanism, completing the device self-test, resetting the robotic arm body 100 to the preset initial position, positioning the gripping execution unit 300 at a preset height above the worktable 400, and adjusting the two sets of industrial cameras 36 to the acquisition state. Image acquisition and cargo recognition: Control two sets of industrial cameras 36 to simultaneously acquire images of the irregularly shaped cargo 500 to be grabbed on the workbench 400, obtain information on the shape, size and placement of the cargo, and determine the type of the irregularly shaped cargo 500. The gripping mechanism and spacing adjustment are controlled according to the type and size of the irregular cargo 500. The drive component is controlled to move. The drive motor 35 drives the gear 345 to rotate. The gear 345 meshes and drives the racks 343 on both sides to slide in the positioning slide groove 344, thereby driving the two sets of mounting plates 342 to slide relative to or away from each other along the slide rail 34. The distance between the two sets of mounting plates 342 is adjusted so that the gripping mechanism on the mounting part 38 is adapted to the gripping position of the irregular cargo 500. The gripping posture can be adjusted according to the placement posture of the irregularly shaped goods 500. If the gripping mechanism is a gripper 391 or a clamping block 302, the motor 39 is controlled to drive the gripper 391 or clamping block 302 to rotate and adjust to a suitable gripping posture in the horizontal, vertical or tilt direction. If the gripping mechanism is a finger gripping cylinder 301, the gripping finger 302 is directly adjusted to the open state to adapt to the gripping needs of strip-shaped and tubular goods. Grasping execution: control the robotic arm body 100 to move the gripping execution unit 300 to the gripping position of the irregularly shaped goods 500, and control the action of the gripping mechanism; Grab and transfer: Control the robotic arm body 100 to drive the gripping execution unit 300 and the gripped irregularly shaped goods 500 to move to the preset placement position, and maintain the gripping state of the gripping mechanism in a stable manner during the process. Placement and reset: Control the gripping mechanism to release and smoothly place the irregularly shaped cargo 500 in the preset position. Then, control the robotic arm body 100 to drive the gripping execution unit 300 to reset to the initial position, completing one gripping process.

[0033] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0034] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm gripping device for irregularly shaped goods based on image recognition, characterized in that, It includes a robotic arm body, and a gripping execution unit is installed at the free end of the robotic arm body for performing gripping actions; The gripping execution unit includes a connecting mechanism, a sliding mechanism, a gripping mechanism, and a vision acquisition mechanism. The connecting mechanism includes a connecting shaft seat and a crossbeam. One end of the connecting shaft seat is fixedly connected to the free end of the robotic arm body, and the other end of the connecting shaft seat is fixedly connected to the crossbeam. The sliding mechanism is fixedly installed at the lower end of the crossbeam, and the gripping mechanism is fixedly installed on the sliding mechanism for gripping irregularly shaped goods placed on the worktable. The sliding mechanism includes two sets of slide rails symmetrically installed at the bottom of the crossbeam. Each set of slide rails has a mounting plate fixedly installed on it by a slider. The two sets of mounting plates are arranged correspondingly. When driven by the drive component, the two sets of mounting plates slide relative to or away from each other on the slide rails, which is used to adjust the distance between the two mounting plates according to the size of the irregularly shaped goods. An installation component is fixedly installed below the mounting plate. At least two sets of gripping mechanisms are provided. The two sets of gripping mechanisms are fixedly installed on the installation component. The two sets of gripping mechanisms are adjusted according to the size of the irregularly shaped goods by a drive component. The visual acquisition mechanism includes at least two sets of industrial cameras, which are arranged on both sides of the crossbeam to acquire images containing irregularly shaped goods to be grasped.

2. The image recognition-based robotic arm gripping device for irregularly shaped goods according to claim 1, characterized in that, Reinforcing ribs are fixedly installed on both sides of the crossbeam.

3. The image recognition-based robotic arm gripping device for irregularly shaped goods according to claim 1, characterized in that, The drive assembly includes a drive motor, the output shaft of which is equipped with a gear, and racks are meshed on both sides of the gear. The other ends of the two racks are fixedly connected to one side of the mounting plates on both sides. The bottom of the crossbeam is equipped with a positioning groove, and the rack slides through the positioning groove.

4. The image recognition-based robotic arm gripping device for irregularly shaped goods according to claim 1, characterized in that, The gripping mechanism consists of two grippers, which are fixedly mounted on the mounting component. The two grippers are arranged in a "V" shape and are equipped with anti-slip pads on the inner side of the grippers for gripping block-shaped goods. One end of the gripper is connected to a motor, which drives the gripper to rotate and grip the goods horizontally, vertically, or at an angle according to their shape.

5. A robotic arm gripping device for irregularly shaped goods based on image recognition according to claim 4, characterized in that, The gripping mechanism consists of two clamping blocks, which are fixedly mounted on the mounting component. The two clamping blocks are arranged in a "V" shape and correspond to each other. Multiple sets of support members are installed on the inner side of the gripper. Each support member includes a support column. One end of the support column is fixedly mounted on the inner side of the clamping block, and the other end of the support column is equipped with a top head. The top head is arc-shaped, and clamping plates are rotatably connected to both sides of the top head. A spring is provided between the clamping plates and the support column. The clamping plates between adjacent support members are adjusted according to the tooth pitch of the toothed disc-shaped goods to clamp toothed disc-shaped goods with different tooth pitches. One end of the clamping block is connected to a motor, which drives the gripper to rotate and is used to grip and place the goods horizontally or vertically according to their shape.

6. The image recognition-based robotic arm gripping device for irregularly shaped goods according to claim 1, characterized in that, The gripping mechanism consists of two sets of finger-gripping cylinders, which are fixedly installed on the mounting component. Each gripping cylinder includes two gripping fingers for gripping strip-shaped or tubular irregularly shaped goods.

7. The image recognition-based robotic arm gripping device for irregularly shaped goods according to claim 1, characterized in that, The industrial camera is mounted via an L-shaped plate.

8. The image recognition-based robotic arm gripping device for irregularly shaped goods according to claim 1, characterized in that, A control box is located on one side of the robotic arm body.

9. A robotic arm gripping device for irregularly shaped goods based on image recognition according to claim 1, characterized in that, A pressure sensor is installed between the mounting plate and the mounting component to weigh the clamped goods.

10. The method of using the image recognition-based robotic arm gripping device for irregularly shaped goods according to claim 1, characterized in that, The application of the gripping device according to any one of claims 1-8 includes the following steps: The device is initialized, the control box is turned on, the robotic arm body, the gripping execution unit and the vision acquisition mechanism are started, the equipment self-test is completed, the robotic arm body is reset to the preset initial position, the gripping execution unit is positioned at the preset height above the worktable, and the two sets of industrial cameras are adjusted to the acquisition state. Image acquisition and cargo recognition: Control two sets of industrial cameras to simultaneously acquire images of irregularly shaped cargo to be grabbed on the worktable, obtain information on the shape, size and placement of the cargo, and determine the type of irregularly shaped cargo; The gripping mechanism and spacing adjustment control the drive components according to the type and size of the irregularly shaped goods. The drive motor drives the gear to rotate, and the gear meshes to drive the racks on both sides to slide in the positioning groove, thereby driving the two sets of mounting plates to slide relative to or away from each other along the slide rail. The distance between the two sets of mounting plates is adjusted so that the gripping mechanism on the mounting part is adapted to the gripping position of the irregularly shaped goods. The gripping posture can be adjusted according to the placement posture of irregularly shaped goods. If the gripping mechanism is a gripper or a clamping block, the motor is controlled to drive the gripper or clamping block to rotate and adjust to a suitable gripping posture, such as horizontal, vertical or inclined. If the gripping mechanism is a finger gripping cylinder, the gripping fingers are directly adjusted to the open state to adapt to the gripping needs of strip-shaped or tubular goods. Grasping execution: Control the robotic arm body to move the gripping execution unit to the gripping position of the irregularly shaped goods, and control the gripping mechanism to move; Grab and transfer: Control the robotic arm to move the gripping execution unit and the gripped irregularly shaped goods to the preset placement position, while maintaining the gripping mechanism in a stable clamping state during the process; Placement and reset: The gripping mechanism is released to smoothly place the irregularly shaped goods in the preset position. Then, the robotic arm body is controlled to drive the gripping execution unit to reset to the initial position, completing one gripping process.

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