Visual positioning gripper for automatically unstacking and stacking

Abstract

The utility model discloses a visual positioning gripper for automatically unstacking and stacking, which comprises a mounting bracket, a buffer system is arranged on the outer surface of one end of the mounting bracket, and a negative pressure attaching mechanism is arranged between the mounting bracket and the buffer system. The vacuum suction cup module can be tightly attached to the outer surface of the flexible package through the negative pressure attaching mechanism to form stable negative pressure, and then stable adsorption force during carrying is ensured. According to the visual positioning gripper for automatically unstacking and stacking, the buffer rod is provided with four or more groups of independent spring buffer guide rods, so that a flexible deformable wear-resistant material can be adsorbed on the outer surface of a flexible package while the buffer rod is tightly attached to the flexible package, and then a pin inserting cylinder can be started, so that a pin inserting group can be pushed out and inserted into the flexible package bag; the flexible packaging bag made of the breathable material can still be grabbed, and the flexible packaging bag can be grabbed and adsorbed more firmly by being matched with the flexible deformable wear-resistant material and the vacuum opening.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing positioning grippers, in particular to a visual positioning gripper for automatically disassembling pallets. Background Art

[0002] With the development of industrial production, more and more processed materials need to be stored. In the process of raw material storage, materials need to be stacked and taken. In order to store and stack materials better and more conveniently, it is necessary to use automatic depalletizing and stacking devices and grippers for palletizing. Automatic depalletizing and stacking devices can effectively reduce the intensity of manual work, and are therefore widely used in logistics, warehousing, raw material processing and production, and turnover. The grippers currently used in robotic automated handling applications mostly use pneumatic grippers, vacuum suction cup groups, pneumatic splines or splints, etc., which are designed to correspond to the use scenarios of cartons or rigid shell packaging. However, they are not ideal for grabbing flexible packaging bags. Due to the complex shape of flexible packaging bags, it is easy to cause irregular stacking during palletizing, and it is impossible to grab and correct them according to the bag shape and position. After the stack is stacked high, it is very easy for the flexible packaging to fall to the ground, which is dangerous because the stack is difficult to grab and position. Utility Model Content

[0003] The purpose of the utility model is to provide a visual positioning gripper for automatic palletizing and unpalletizing, so as to solve the problem in the above background technology that flexible packaging bags are difficult to grasp and position.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a visual positioning gripper for automatic depalletizing and stacking, comprising a mounting bracket, a buffer system is provided on the outer surface of one end of the mounting bracket, and a vacuum suction cup module is fixedly installed on the end of the buffer system away from the mounting bracket, the buffer system is composed of 4 or more groups of independent spring buffer guide rods, a buffered pin module is fixedly installed on the outer surface of one end of the vacuum suction cup module, the mounting bracket connects the gantry robot and the buffer system on the gripper to provide load-bearing capacity for the entire gripper, a negative pressure bonding mechanism is provided between the mounting bracket and the buffer system, and the negative pressure bonding mechanism allows the vacuum suction cup module to be tightly attached to the outer surface of the soft package to form a stable negative pressure, thereby ensuring stable adsorption force during transportation.

[0005] Preferably, the negative pressure fitting mechanism includes: a vacuum port, which is evenly arranged inside the vacuum suction cup module, and the vacuum suction cup module is an arc-shaped cover made of aluminum alloy, and a vacuum generator is provided inside the vacuum suction cup module, and a mesh protective sheet is embedded in the interior of the vacuum suction cup module, and a soft deformable wear-resistant material is fixedly installed on the side surface of the vacuum suction cup module away from the mounting bracket, and the soft deformable wear-resistant material is a ring-shaped object made of chloroprene rubber CR, silicone or nitrile rubber material, and the outer surface of the soft deformable wear-resistant material is fitted with the outer surface of the package.

[0006] By adopting the above technical solution, the weight of the gripper can be reduced through the aluminum alloy design of the vacuum suction cup module, and the material of the soft deformable wear-resistant material can be changed to adapt to the adsorption of soft bag goods or hard goods. The uniform design of the vacuum port enables the vacuum generator to cooperate with the soft deformable wear-resistant material to adsorb soft packaging during use. The mesh protective sheet is used to prevent foreign matter from being sucked into the vacuum port and causing blockage. The soft deformable wear-resistant material can be replaced to facilitate the adsorption of hard goods. At the same time, the evenly set vacuum port makes it easier to evenly adsorb, grasp and transport soft packaging.

[0007] Preferably, a central camera module is provided inside the vacuum suction cup module, and a visual fill light recognition mechanism is provided between the central camera module and the mesh protection sheet, so that the visual fill light recognition mechanism facilitates visual recognition of the soft package and position correction.

[0008] By adopting the above technical solution, the identification features or QR codes on the packaging bag can be visually captured through the central camera module and lens, and it can be identified and judged whether it is the material to be sucked, and the grabbing center point or shape mark can be directly printed on the packaging bag.

[0009] Preferably, the visual fill light recognition mechanism includes: an industrial 2D camera, which is fixedly installed inside the central camera module, and a lens is provided inside the central camera module, and the lens is connected to the industrial 2D camera, a distance sensor is fixedly installed inside the central camera module, and the distance sensor, the industrial 2D camera, and the lens are located behind the mesh protective sheet, a light source is fixedly installed on the outer surface of the mesh protective sheet, and the light source and the lens are concentrically designed, and sealant is filled between the lens, the distance sensor and the mesh protective sheet.

[0010] By adopting the above technical solution, the recognition rate of the industrial 2D camera and the stability of the system can be improved through the combination of the industrial 2D camera and the distance sensor. It can very effectively solve the position recognition of the stack type offset, reduce the position restriction requirements of the incoming pallet and the stack type, effectively improve the practicality of the system, reduce the cost of use and reduce the size of the gripper.

[0011] Preferably, a bracket mounting hole is provided on the outer surface of the vacuum suction cup module, a connecting bracket is provided on the outer surface of the vacuum suction cup module, and the connecting bracket and the bracket mounting hole are fixedly connected by screws, and the buffered pin module is located on both sides of the vacuum suction cup module.

[0012] By adopting the above technical solution, the connecting bracket can be conveniently installed on the outer surface of the vacuum suction cup module through the bracket mounting hole, and the industrial 2D camera is located in the center of the vacuum suction cup module, which can effectively reduce the processing difficulty and accuracy of the visual processing accuracy caused by the deformation of the angle and the surrounding position when the industrial 2D camera takes pictures. The buffered pin modules are arranged on both sides of the vacuum suction cup module to ensure that the grasped object will not be blocked by the buffered pin modules when photographing, thereby reducing the impact during imaging and improving the accuracy of imaging.

[0013] Preferably, a sliding piercing mechanism is provided between the connecting bracket and the buffered pin module, and the packaging bag is pierced and clamped by the sliding piercing mechanism to ensure the adsorption and fixation effects and reduce the chance of goods falling.

[0014] By adopting the above technical solution, through the combination of the pin cylinder and the soft, deformable, wear-resistant material, soft-packaged goods made of breathable packaging materials can be sucked to ensure the packaging grabbing effect. It can also be used in transportation situations where there is no need to worry about small holes on the surface of the goods due to the pin group, making it convenient to insert, fix and transport various soft packages.

[0015] Preferably, the sliding puncture mechanism includes: a buffer rod, which is fixedly mounted on the outer surfaces of both ends of the connecting bracket, and a pin cylinder is fixedly mounted on one end of the connecting bracket, and the buffer rod is composed of 4 or more groups of independent spring buffer guide rods, and a pin group is fixedly mounted on the output end of the pin cylinder, and the pin group passes through the outer surface of the buffer rod.

[0016] By adopting the above technical solution, when the bag is broken, the damaged bag will be fixed in the buffered pin module, and the vacuum formed by the vacuum port and the soft deformable wear-resistant material can be released to make the bag vibrate continuously, so that the material left in the bag can be quickly discharged, thereby increasing the unloading speed.

[0017] Compared with the prior art, the beneficial effects of the present invention are: the visual positioning gripper for automatic palletizing:

[0018] 1. When grasping flexible packaging, the gantry robot will descend with the mounting bracket, allowing the vacuum suction cup module to descend along with it. The buffer system works together to ensure that the vacuum suction cup module can be in close contact with the outer surface of the flexible packaging. The vacuum generator uses the evenly distributed vacuum ports to remove the air between the soft, deformable, wear-resistant material and the flexible packaging, thus forming a stable negative pressure. This ensures a stable adsorption force during handling, allowing the flexible packaging to be easily grasped and handled.

[0019] 2. The light source enables the industrial 2D camera and lens to provide good lighting in low-light environments, reducing the impact of ambient light on image capture. At the same time, gripping icons, features, or QR codes can be printed on the packaging bag to accurately determine the gripping location and whether it is the desired material. The distance sensor provides the distance and position between the gripper and the workpiece, providing a basis for calculating the offset value. This can effectively solve the position identification of pallet offsets, reduce the position restrictions on incoming pallets and pallets, and effectively improve the practicality of the system. It prevents the mechanism from colliding with packaging or objects and can detect and determine the falling of goods. At the same time, compared with the use of 3D cameras, the combination of 2D cameras and distance sensors currently has great cost and volume advantages, improving the recognition rate of gripping packages and the stability of the system.

[0020] 3. When grabbing the soft package, the buffered pin module will drop so that the buffer rod fits the outer surface of the soft package. Through the 4 or more independent spring buffer guide rods of the buffer rod, the buffer rod is close to the soft package, and the soft deformable wear-resistant material can be adsorbed on the outer surface of the soft package. Then the pin cylinder can be started to push the pin group out and insert it into the soft package bag, so that the soft package bag made of breathable material can still be grabbed. The soft deformable wear-resistant material and the vacuum port make the packaging bag more firmly grasped. At the same time, when the bag is broken for unloading, the soft package bag can be continuously vibrated through the adsorption and relaxation of the soft deformable wear-resistant material and the vacuum port, so that the material in the package can be discharged more quickly. At the same time, it can adsorb and clamp the packaging bag made of breathable material, and can easily and quickly break the bag for unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of the mounting bracket and the vacuum suction cup module with vision of the utility model;

[0022] Figure 2 This is a schematic diagram of the three-dimensional structure of the mesh protection sheet and the lens of the utility model;

[0023] Figure 3 This is a schematic diagram of the top view of the connecting bracket and the buffer rod of the utility model;

[0024] Figure 4For this utility model Figure 3 Schematic diagram of the cross-sectional structure at AA in the middle;

[0025] Figure 5 This is a side view of the structure of the buffer rod and the pin cylinder of the utility model;

[0026] Figure 6 This is a schematic diagram of the front view structure of the pin cylinder and the pin assembly of the utility model;

[0027] Figure 7 This is a schematic diagram of the three-dimensional structure of the mounting bracket and buffer system of the utility model.

[0028] In the figure: 1. Mounting bracket; 2. Buffer system; 3. Vacuum suction cup module with vision; 4. Pin module with buffer; 5. Vacuum port; 6. Central camera module; 7. Mesh protection sheet; 8. Industrial 2D camera; 9. Lens; 10. Light source; 11. Distance sensor; 12. Soft, deformable, wear-resistant material; 13. Bracket mounting hole; 14. Connecting bracket; 15. Buffer rod; 16. Pin cylinder; 17. Pin assembly. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] See also Figure 1-7 The utility model provides a technical solution: a visual positioning gripper for automatic depalletizing and stacking, comprising a mounting bracket 1, a buffer system 2 is provided on the outer surface of one end of the mounting bracket 1, and a vacuum suction cup module 3 is fixedly installed on the end of the buffer system 2 away from the mounting bracket 1, the buffer system 2 is composed of 4 or more groups of independent spring buffer guide rods, and a buffered pin module 4 is fixedly installed on the outer surface of one end of the vacuum suction cup module 3, the mounting bracket 1 connects a gantry-type robot such as a gantry robot or a six-joint robot with the buffer system 2 on the gripper to provide load-bearing capacity for the entire gripper.

[0031] The mounting bracket 1 is driven to move by the gantry robot so that the vacuum suction cup module 3 can be moved to the outer surface of the package to be grasped, and then the vacuum suction cup module 3 can be lowered, allowing the buffer system 2 to be lowered together. The four or more independent spring buffer guide rods of the buffer system 2 provide compensation for the sucked object, increase the actual working space, angle and a certain fitting pressure, and ensure that the lower vacuum suction cup module 3 can stick to the outer surface of the sucked goods to form a stable negative pressure, thereby ensuring stable adsorption force when transporting objects.

[0032] A negative pressure fitting mechanism is provided between the mounting bracket 1 and the buffer system 2, and the negative pressure fitting mechanism allows the vacuum suction cup module 3 to be tightly attached to the outer surface of the soft package to form a stable negative pressure, thereby ensuring stable adsorption force during transportation. The negative pressure fitting mechanism includes: a vacuum port 5, the vacuum port 5 is evenly arranged inside the vacuum suction cup module 3, and the vacuum suction cup module 3 is an arc-shaped cover made of aluminum alloy, and a vacuum generator is provided inside the vacuum suction cup module 3, and a mesh protective sheet 7 is embedded in the interior of the vacuum suction cup module 3, and a soft deformable wear-resistant material 12 is fixedly installed on the side surface of the vacuum suction cup module 3 away from the mounting bracket 1, and the soft deformable wear-resistant material 12 is a ring-shaped object made of chloroprene rubber CR, silicone or nitrile rubber material, and the outer surface of the soft deformable wear-resistant material 12 fits with the outer surface of the package.

[0033] The aluminum alloy design of the vacuum suction cup module 3 can greatly reduce its own weight. When the soft deformable wear-resistant material 12 contacts the outer surface of the object, the vacuum generator will operate and allow the gas to pass through the vacuum port 5. The mesh protective sheet 7 can prevent foreign matter from entering and causing blockage of the vacuum port 5, and the chance of damage to the vacuum generator can be reduced. By replacing the soft deformable wear-resistant material 12 with different materials, the application of soft bag goods is usually sponge, such as neoprene CR, etc., and for hard goods such as cartons, it can be replaced with hard elastic materials such as silicone or nitrile rubber, etc. The uniform design of the vacuum port 5 ensures that the adsorption force is evenly applied when the object is sucked, so that the center of gravity of the goods in the soft bag is offset and there is still a high adsorption force, so that the gripper can adsorb soft and hard goods.

[0034] A central camera module 6 is provided inside the vacuum suction cup module 3, and a visual fill light recognition mechanism is provided between the central camera module 6 and the mesh protection sheet 7. The visual fill light recognition mechanism facilitates visual recognition of the soft package and position correction.

[0035] In dim light conditions, the light source 10 in the central camera module 6 can be turned on to provide fill light for the industrial 2D camera 8 and lens 9, reducing the adverse effects of ambient light on image capture. The distance sensor 11 can provide the position distance between the soft deformable wear-resistant material 12 and the actual workpiece, providing a basis for calculating the offset value for the industrial 2D camera 8 to take photos. It can also be used for mechanism anti-collision and detection and judgment of intermediate cargo drops.

[0036] The visual fill light recognition mechanism includes: an industrial 2D camera 8, which is fixedly installed inside the central camera module 6, and a lens 9 is provided inside the central camera module 6, and the lens 9 is connected to the industrial 2D camera 8. A distance sensor 11 is fixedly installed inside the central camera module 6, and the distance sensor 11, the industrial 2D camera 8, and the lens 9 are located behind the mesh protective sheet 7. A light source 10 is fixedly installed on the outer surface of the mesh protective sheet 7, and the light source 10 and the lens 9 are concentrically designed, and sealant is filled between the lens 9, the distance sensor 11 and the mesh protective sheet 7.

[0037] The industrial 2D camera 8 and lens 9 can be used to capture the identification features or QR codes on the packaging bag, and can be used to identify and determine whether the material is the material that needs to be sucked. The grabbing center point or shape mark can also be printed directly on the packaging bag, making the 2D vision solution have extremely efficient recognition rate and system stability.

[0038] A bracket mounting hole 13 is provided on the outer surface of the vacuum suction cup module 3 , and a connecting bracket 14 is provided on the outer surface of the vacuum suction cup module 3 , and the connecting bracket 14 is fixedly connected to the bracket mounting hole 13 by screws, and the buffered pin module 4 is located on both sides of the vacuum suction cup module 3 .

[0039] The connecting bracket 14 can be fixedly connected to the vacuum suction cup module 3 through the bracket mounting hole 13, which facilitates the installation of the connecting bracket 14. Corresponding to other methods of biasing the camera to one side of the gripper, the industrial 2D camera 8 is arranged in the center of the soft deformable wear-resistant material 12, which can effectively reduce the processing difficulty and accuracy of the angle and edge position deformation when taking pictures on the visual processing accuracy, and can ensure that the gripper mechanism will not block the edge of the industrial 2D camera 8 when shooting the grasped object. At the same time, it can also reduce the interference between the mechanism and wiring caused by the rotation of the gripper. The vertical installation of the industrial 2D camera 8 and the soft deformable wear-resistant material 12 can effectively avoid the interference of the industrial 2D camera 8 field of view by the gripper mechanism, and save the action mechanism for changing the shooting and grasping posture, and at the same time save the work beat occupied by changing this posture.

[0040] A sliding piercing mechanism is provided between the connecting bracket 14 and the buffered pin module 4, and the packaging bag is pierced and clamped by the sliding piercing mechanism to ensure the adsorption and fixation effect and reduce the probability of the goods falling.

[0041] By the descent of the gantry robot, the buffered pin module 4 is driven to press down to the outer surface of the soft bag goods, so that the bottom surface of the buffer rod 15 can stick to the outer surface of the soft bag, and then the pin cylinder 16 is pushed out, so that the pin group 17 can penetrate into the interior of the packaging bag or goods, and then hook the packaging bag to fix it, so that the gripper can grab the soft packaging made of breathable material, and cooperate with the soft deformable wear-resistant material 12 and the vacuum port 5 to reduce the risk of goods falling.

[0042] The sliding insertion mechanism includes: a buffer rod 15, which is fixedly mounted on the outer surfaces of both ends of the connecting bracket 14, and a pin cylinder 16 is fixedly mounted on one end of the connecting bracket 14. The buffer rod 15 is composed of 4 or more groups of independent spring buffer guide rods. A pin group 17 is fixedly mounted on the output end of the pin cylinder 16, and the pin group 17 passes through the outer surface of the buffer rod 15.

[0043] Through the design of 4 or more independent spring buffer guide rods of the buffer rod 15, the packaging deformation amount when sucking the soft package is reserved, providing the necessary pressure for suction. At the same time, the multi-column structure also provides a certain spatial angle deformation amount. When the soft package is broken and fed, the soft package can be grasped by the pin group 17. In conjunction with the suction and deflation of the vacuum port 5 and the soft deformable wear-resistant material 12, the soft packaging bag can be deformed and vibrated, thereby accelerating the discharge speed of the material from the packaging bag and improving the efficiency of breaking and feeding.

[0044] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A visual positioning gripper for automatic pallet removal, comprising a mounting bracket (1), a buffer system (2) provided on the outer surface of one end of the mounting bracket (1), and a vacuum suction cup module (3) fixedly mounted on the end of the buffer system (2) away from the mounting bracket (1), the buffer system (2) being composed of four or more groups of independent spring buffer guide rods, a buffered pin module (4) fixedly mounted on the outer surface of one end of the vacuum suction cup module (3), the mounting bracket (1) connecting the gantry robot and the buffer system (2) on the gripper, providing the bearing capacity of the entire gripper, characterized in that: A negative pressure laminating mechanism is provided between the mounting bracket (1) and the buffer system (2), and the negative pressure laminating mechanism enables the vacuum suction cup module (3) to be tightly attached to the outer surface of the flexible package to form a stable negative pressure, thereby ensuring a stable adsorption force during transportation.

2. The visual positioning gripper for automatic palletizing according to claim 1, characterized in that: The negative pressure laminating mechanism comprises: a vacuum port (5), the vacuum port (5) being evenly arranged inside the vacuum suction cup module (3), the vacuum suction cup module (3) being an arc-shaped cover made of aluminum alloy, and a vacuum generator being arranged inside the vacuum suction cup module (3), a mesh protective sheet (7) being embedded and installed inside the vacuum suction cup module (3), a soft deformable wear-resistant material (12) being fixedly installed on the side surface of the vacuum suction cup module (3) away from the mounting bracket (1), and the soft deformable wear-resistant material (12) being an annular object made of chloroprene rubber CR, silicone or nitrile rubber, and the outer surface of the soft deformable wear-resistant material (12) being in contact with the outer surface of the package.

3. The visual positioning gripper for automatic palletizing according to claim 1, characterized in that: A central camera module (6) is provided inside the vacuum suction cup module (3), and a visual fill light recognition mechanism is provided between the central camera module (6) and the mesh protection sheet (7). The visual fill light recognition mechanism facilitates visual recognition of the soft package and position correction.

4. The visual positioning gripper for automatic palletizing according to claim 3, characterized in that: The visual fill light recognition mechanism comprises: an industrial 2D camera (8), the industrial 2D camera (8) is fixedly mounted inside a central camera module (6), a lens (9) is provided inside the central camera module (6), and the lens (9) is connected to the industrial 2D camera (8), a distance sensor (11) is fixedly mounted inside the central camera module (6), and the distance sensor (11), the industrial 2D camera (8), and the lens (9) are located behind a mesh protective sheet (7), a light source (10) is fixedly mounted on the outer surface of the mesh protective sheet (7), and the light source (10) and the lens (9) are concentrically designed, and sealant is filled between the lens (9), the distance sensor (11), and the mesh protective sheet (7).

5. The visual positioning gripper for automatic palletizing according to claim 1, characterized in that: The outer surface of the vacuum suction cup module (3) is provided with a bracket mounting hole (13), the outer surface of the vacuum suction cup module (3) is provided with a connecting bracket (14), and the connecting bracket (14) and the bracket mounting hole (13) are fixedly connected by screws, and the buffered pin module (4) is located on both sides of the vacuum suction cup module (3).

6. The visual positioning gripper for automatic palletizing according to claim 5, characterized in that: A sliding piercing mechanism is provided between the connecting bracket (14) and the buffered pin module (4), and the packaging bag is pierced and clamped by the sliding piercing mechanism to ensure the adsorption and fixing effects and reduce the probability of the goods falling.

7. The visual positioning gripper for automatic palletizing according to claim 6, characterized in that: The sliding puncture mechanism comprises: a buffer rod (15), the buffer rod (15) being fixedly mounted on the outer surfaces of both ends of the connecting bracket (14), and a pin cylinder (16) being fixedly mounted on one end of the connecting bracket (14), the buffer rod (15) being composed of four or more groups of independent spring buffer guide rods, a pin group (17) being fixedly mounted on the output end of the pin cylinder (16), and the pin group (17) penetrating the outer surface of the buffer rod (15).

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