A conveyor belt type end effector for multi-package handling

Abstract

The application discloses a conveying belt type end effector for multi-package loading and unloading, which comprises a package loading mechanism, a roller conveying mechanism, a transmission switching device, a transmission mechanism and an intelligent loading module. The package loading mechanism is in a U-shaped structure and is arranged around the top edge of the roller conveying mechanism. The transmission mechanism is arranged at the bottom of the roller conveying mechanism, and the transmission shaft of the transmission mechanism is in transmission connection with the roller conveying mechanism. The transmission switching device is arranged at the bottom of the transmission mechanism, the input end of the transmission switching device is connected with the mechanical arm of an industrial robot, the first output end of the transmission switching device is connected with the shell of the transmission mechanism, and the second output end of the transmission switching device is connected with the transmission shaft of the transmission mechanism. The intelligent loading module is arranged on the roller conveying mechanism. The application can effectively solve the problems of low automation efficiency, waste of a large amount of manpower and resources, inability to connect with a sorting module and inability to match the speed of an automatic sorting link in the existing package unloading link.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent logistics, in particular to a conveyor belt type end effector for multi-package loading and unloading. BACKGROUND

[0002] Package unloading is an indispensable primary link in the modern logistics industry, between the middle stream sorting and the downstream users in the logistics industry, responsible for quickly and accurately putting truck freight packages into the logistics loop, so as to meet the needs of package weighing and package sorting. In recent years, with the continuous explosive growth of express business volume, the logistics flow increases, although the automation level of the middle stream sorting is improved, the automation level of the package unloading is low, which cannot fully meet the sorting demand, and the package transportation line is prone to congestion. In addition, the traditional manual handling and forklift loading and unloading are used for package unloading, the unloading link is low in automation efficiency, a large amount of manpower and resources are wasted, and due to the narrowness of the truck box, the sorting module cannot be connected, and the speed of the automatic sorting link cannot be matched. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art, and provides a conveyor belt type end effector for multi-package loading and unloading, which can effectively solve the problems of low automation efficiency of the existing package unloading link, waste of a large amount of manpower and resources, inability to connect the sorting module, and inability to match the speed of the automatic sorting link.

[0004] The present application aims to provide a conveyor belt type end effector for multi-package loading and unloading.

[0005] The object of the present application can be achieved by adopting the following technical solutions:

[0006] A conveyor belt type end effector for multi-package loading and unloading, comprising a package loading mechanism, a roller conveying mechanism, a transmission switching device, a transmission mechanism and an intelligent loading module, the package loading mechanism is in a U-shaped structure and is arranged around the top edge of the roller conveying mechanism, the transmission mechanism is arranged at the bottom of the roller conveying mechanism, the transmission shaft of the transmission mechanism is connected with the roller conveying mechanism, the transmission switching device is arranged at the bottom of the transmission mechanism, the input end of the transmission switching device is connected with the mechanical arm of an industrial robot, the first output end of the transmission switching device is connected with the housing of the transmission mechanism, and the second output end of the transmission switching device is connected with the transmission shaft of the transmission mechanism, the transmission switching device is used for double power output of the single shaft power input by the industrial robot, the double power output is switched, that is, the first output end and the second output end are switched, so as to control the overall rotation of the end effector or the rotation of the roller of the roller conveying mechanism, respectively, the intelligent loading module is arranged on the roller conveying mechanism, and is used for identifying the positions of the package and the sorting module and obtaining three-dimensional data of the multi-package stack according to a depth estimation algorithm, then an optimal unloading path is obtained according to a short path high carrying path planning strategy, and the package loading is maximized according to the optimal unloading path.

[0007] Further, the transmission switching device comprises a box, a box body, a hydraulic module, a power input shaft installed in the box, an input bevel gear, a first transmission bevel gear, a second transmission bevel gear, a first installed inner shaft, a second installed inner shaft, a first inner shaft cylindrical gear, a second inner shaft cylindrical gear, a first outer connecting shaft sleeve, a second outer connecting shaft sleeve, a first shaft sleeve cylindrical gear, a first output bevel gear, a second shaft sleeve cylindrical gear, a second output bevel gear, a power tooth inner tooth meshing auxiliary mechanism, a power tooth outer tooth meshing auxiliary mechanism, a clutch unit, a push rod and a guide rail, and an outer tooth output wheel and an inner tooth output wheel installed in the box body, the power input shaft is used as an input end, the bottom end thereof extends out of the box and is connected with a mechanical arm of an industrial robot, the top end is connected with the input bevel gear, the left and right sides of the input bevel gear are respectively meshed with the first transmission bevel gear and the second transmission bevel gear, the first transmission bevel gear and the second transmission bevel gear are respectively connected with the first installed inner shaft and the second installed inner shaft, the two installed inner shafts are respectively connected with the left and right sides of the box through bearings, the outer sides of the first installed inner shaft and the second installed inner shaft are respectively sleeved with the first inner shaft cylindrical gear and the second inner shaft cylindrical gear, each inner shaft cylindrical gear can synchronously rotate with the corresponding installed inner shaft, the gear pump of the hydraulic module is arranged outside the box and is connected with the first installed inner shaft, the outer sides of the first installed inner shaft and the second installed inner shaft are respectively sleeved with the first outer connecting shaft sleeve and the second outer connecting shaft sleeve, the two ends of the first outer connecting shaft sleeve are respectively sleeved with the first shaft sleeve cylindrical gear and the first output bevel gear, the two ends of the second outer connecting shaft sleeve are respectively sleeved with the second shaft sleeve cylindrical gear and the second output bevel gear, and the first shaft sleeve cylindrical gear and the second shaft sleeve cylindrical gear are located at one end close to the power input shaft, each shaft sleeve cylindrical gear and output bevel gear can synchronously rotate with the corresponding outer connecting shaft sleeve, the first output bevel gear is externally meshed with the bottom end of the power tooth inner tooth meshing auxiliary mechanism, the second output bevel gear is externally meshed with the bottom end of the power tooth outer tooth meshing auxiliary mechanism, the top end of the power tooth inner tooth meshing auxiliary mechanism extends out of the box and is internally meshed with the inner tooth output wheel arranged above the box, the top end of the power tooth outer tooth meshing auxiliary mechanism extends out of the box and is externally meshed with the outer tooth output wheel arranged above the box, the outer tooth output wheel and the inner tooth output wheel are coaxially arranged, the inner tooth output wheel is connected with the housing of the transmission mechanism as a first output end, the outer tooth output wheel is connected with the bevel gear of the transmission shaft of the transmission mechanism as a second output end, the outer tooth output wheel and the inner tooth output wheel are jointly installed in the box body, the box body is connected with the box, the clutch unit comprises two first clutch units and second clutch units, the two clutch units are respectively slidably installed on the guide rail and are connected through the push rod, the push rod is connected with the hydraulic cylinder of the hydraulic module, when the hydraulic cylinder of the hydraulic module applies a pushing force to the push rod, the clutch gears of the second clutch unit are externally meshed with the second inner shaft cylindrical gear and the second shaft sleeve cylindrical gear, so that the power input shaft is output by the second output end,When the hydraulic cylinder of the hydraulic module applies a pulling force to the push rod, the clutch gear of the first clutch unit is engaged with the first inner shaft cylindrical gear and the first shaft sleeve cylindrical gear, and the power input shaft is output by the first output end.

[0008] Further, each clutch unit comprises a sliding base, two clutch gear flaps and a clutch gear, the sliding base is installed on the guide rail, the two clutch gear flaps are installed on the sliding base in parallel and symmetrically, and the clutch gear is fixed on the two clutch gear flaps.

[0009] Further, the power tooth inner tooth meshing auxiliary mechanism comprises a first power receiving bevel gear, a first connecting shaft, a first outer tooth output wheel auxiliary gear, a first inner tooth output wheel auxiliary gear and a first auxiliary gear positioning sleeve, the first power receiving bevel gear is engaged with the first output bevel gear, one end of the first connecting shaft is connected with the first power receiving bevel gear, the first outer tooth output wheel auxiliary gear is arranged on the first connecting shaft through a bearing, and the first inner tooth output wheel auxiliary gear is sleeved on the other end of the first connecting shaft through the first auxiliary gear positioning sleeve.

[0010] Further, the power tooth outer tooth meshing auxiliary mechanism comprises a second power receiving bevel gear, a second connecting shaft, a second outer tooth output wheel auxiliary gear, a second inner tooth output wheel auxiliary gear and a second auxiliary gear positioning sleeve, the second power receiving bevel gear is engaged with the second output bevel gear, one end of the second connecting shaft is connected with the second power receiving bevel gear, the second outer tooth output wheel auxiliary gear is sleeved on the second connecting shaft through the second auxiliary gear positioning sleeve, and the second inner tooth output wheel auxiliary gear is arranged on the other end of the second connecting shaft through a bearing.

[0011] Further, two non-power tooth auxiliary mechanisms are further arranged between the outer tooth output wheel and the inner tooth output wheel, the two non-power tooth auxiliary mechanisms are uniformly arranged between the outer tooth output wheel and the inner tooth output wheel in a planetary gear transmission mode with the power tooth inner tooth meshing auxiliary mechanism and the power tooth outer tooth meshing auxiliary mechanism, the non-power tooth auxiliary mechanism comprises a third connecting shaft, a third outer tooth output wheel auxiliary gear and a third inner tooth output wheel auxiliary gear, the third outer tooth output wheel auxiliary gear and the third inner tooth output wheel auxiliary gear are sleeved on the third connecting shaft through bearings respectively, the third outer tooth output wheel auxiliary gear is engaged with the outer tooth output wheel, and the third inner tooth output wheel auxiliary gear is engaged with the inner tooth output wheel.

[0012] Further, the hydraulic module comprises a gear pump, a liquid storage tank, a hydraulic cylinder, an electromagnetic reversing valve and an overflow valve, the oil suction port of the gear pump is connected with the liquid storage tank through a pipeline, the oil outlet of the gear pump is connected with the oil inlet of the overflow valve and the first interface of the electromagnetic reversing valve through pipelines respectively, the oil outlet of the overflow valve is connected with the liquid storage tank through a pipeline, the second interface and the third interface of the electromagnetic reversing valve are connected with the upper end and the lower end of the piston of the hydraulic cylinder through pipelines respectively, and the fourth interface of the electromagnetic reversing valve is connected with the liquid storage tank through a pipeline.

[0013] Further, the package loading mechanism comprises two foldable support rod assemblies and a guard plate, the two foldable support rod assemblies are arranged in parallel and symmetrically on the left and right sides of the roller conveying mechanism, the guard plate is connected between the two foldable support rod assemblies, the two foldable support rod assemblies and the guard plate form a U-shaped structure, and the two foldable support rod assemblies, the guard plate and the roller conveying mechanism enclose a load area for loading packages, each foldable support rod assembly comprises a plurality of telescopic support rods, a circular surface contact rod, a folding fixed rod and a protective net, the plurality of telescopic support rods are arranged at equal intervals on the roller conveying mechanism, and the telescopic support rods on the left and right sides of the roller conveying mechanism correspond one by one, the bottom of each telescopic support rod is hinged to the roller conveying mechanism, the protective net is connected between every two adjacent telescopic support rods, the distance between the bottoms of the two corresponding telescopic support rods is greater than the distance between the tops of the two corresponding telescopic support rods, so that the load area forms a structure with a narrow top and a wide bottom, and the package is squeezed into the load area through the narrow top, the cross section of the circular surface contact rod is in a semicircular structure, the circular surface contact rod is hinged to the top of the plurality of telescopic support rods, the top of the folding fixed rod is hinged to the upper part of the telescopic support rod away from the guard plate, and the bottom of the folding fixed rod is hinged to the roller conveying mechanism, the guard plate is provided with a pressure sensor for identifying the gravity center of the package and judging whether the package is stable in the surrounding area of the package loading mechanism.

[0014] Further, the transmission mechanism comprises a housing, a transmission shaft and a transmission sprocket, the transmission shaft is rotatably installed in the housing, and a bevel gear is sleeved on the transmission shaft, one end of the transmission shaft extends out of the housing and is connected with the transmission sprocket, and the transmission sprocket is connected with the sprocket of the roller conveying mechanism through a chain.

[0015] Further, the intelligent loading module comprises a distance measuring module, an infrared alignment module and a camera unit, the distance measuring module is used for identifying the position of the package, the infrared alignment module is used for identifying the position of the sorting module, and then a signal is sent to the mechanical arm to stop rotating, the camera unit is used for recording the position information of each plane of the package stacking area, and then the gravity center and three-dimensional data of each package are obtained through the EPnP depth estimation algorithm according to the position information of each plane, so as to calculate the volume and gravity of each package, and the optimal unloading path is obtained according to the path planning strategy of the maximum load and the shortest path as the standard, and the optimal unloading path is converted into angle information and transmitted to the mechanical arm, and then the mechanical arm drives the end effector to complete the maximum distribution of package loading according to the planned path.

[0016] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0017] 1. The end effector of the present application has a compact overall structure, can effectively utilize the limited space in the cargo box, realize intelligent functions such as multi-package handling, maximum distribution of package loading, and connection with the sorting module during the package unloading process, and improve the flow and efficiency of cargo transportation, thereby reducing costs and increasing benefits for logistics enterprises.

[0018] 2. The end effector of the present application is used in cooperation with the mechanical arm of an industrial robot, can greatly improve the transportation capacity and load of packages, and through the transmission switching device, the clutch principle is used as the core to complete the switching of output power, so that the overall rotation of the end effector and the rotation of the roller can be carried out respectively, and the two working conditions do not affect each other, so that a large number of packages can be sent into the sorting link in a short time, and the transportation efficiency is effectively improved; at the same time, through the package loading mechanism, it can effectively ensure that the packages will not scatter and collide during transportation, and the transportation quality is obviously improved.

[0019] 3. The present application uses a depth estimation algorithm to obtain three-dimensional data of multiple package stacks, and then according to the path planning strategy of short path high carrying, the optimal unloading path is obtained, and the sorting module is aligned according to the optimal unloading path and the infrared alignment module, so that the end effector can be more accurately connected to the automatic sorting link to complete the maximum distribution of package loading, and at the same time, the transportation time is shortened, and the transportation efficiency is further improved.

[0020] 4. The present application realizes the switching of output power of the inner and outer gears based on the clutch unit and the hydraulic module, wherein the hydraulic module uses four major components, i.e. M-type electromagnetic reversing valve, overflow valve, gear pump and hydraulic cylinder, the power of the pump in the gear pump comes from the power input shaft that is always running, and the reversing power of the M-type electromagnetic reversing valve can be driven by the power supply module of the mechanical arm. In this way, under the same power working condition, the transmission switching device can effectively utilize resources and further reduce consumables and energy. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Overall structure diagram of the end effector of the present application.

[0022] Figure 2 Top view of the transmission switching device of the present application.

[0023] Figure 3 Bottom view of the transmission switching device of the present application.

[0024] Figure 4 Internal structure diagram of the transmission switching device of the present application.

[0025] Figure 5 Sectional view of the transmission switching device of the present application.

[0026] Figure 6 Structure diagram of the hydraulic module of the present application.

[0027] Figure 7 Structure diagram of the transmission switching device of the present application using an internally toothed output wheel to output power.

[0028] Figure 8 Structure diagram of the transmission switching device of the present application using an externally toothed output wheel to output power.

[0029] Figure 9 Structure diagram of the power tooth internally toothed meshing auxiliary mechanism of the present application.

[0030] Figure 10 Structure diagram of the power tooth externally toothed meshing auxiliary mechanism of the present application.

[0031] Figure 11 Structure diagram of the non-power tooth auxiliary mechanism of the present application.

[0032] Figure 12 Structure diagram of the package loading mechanism of the present application.

[0033] Figure 13 Diagram of the package loading mechanism of the present application loading a package.

[0034] Figure 14 Internal structure diagram of the transmission mechanism of the present application.

[0035] Figure 15 Side view of the end effector of the present application.

[0036] Figure 16 Working diagram of the end effector of the present application. DETAILED DESCRIPTION

[0037] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0038] As shown in Figure 1 The present embodiment provides a conveyor belt type end effector for multi-package loading and unloading, which comprises a transmission switching device 1, a transmission mechanism 2, a roller conveying mechanism 3, a package loading mechanism 4 and an intelligent loading module 5. The package loading mechanism 4 is in a U-shaped structure and is arranged around the top edge of the roller conveying mechanism 3. The transmission mechanism 2 is installed at the bottom of the roller conveying mechanism 3, and the transmission shaft 202 thereof is in transmission connection with the roller conveying mechanism 3. The transmission switching device 1 is installed at the bottom of the transmission mechanism 2, and its input end is connected with the mechanical arm of an industrial robot. Its first output end is connected with the housing 201 of the transmission mechanism 2, and its second output end is connected with the transmission shaft 202 of the transmission mechanism 2. The transmission switching device 1 is used to perform double-power output on the single-axis power input by the industrial robot. By switching the double-power output, i.e. by switching the first output end and the second output end, the overall rotation of the end effector or the rotation of the rollers of the roller conveying mechanism 3 can be controlled respectively. The intelligent loading module 5 is arranged on the roller conveying mechanism 3 and is used to identify the package and the sorting module position and obtain the three-dimensional data of the multi-package stacking according to the depth estimation algorithm. Then, according to the path planning strategy of short path and high carrying, the optimal unloading path is obtained, and the package loading maximum distribution is completed according to the optimal unloading path.

[0039] As shown in Figures 2 to 5As shown, the transmission switching device 1 comprises a box body 101, a box 102, a hydraulic module, a power input shaft 104 installed inside the box body 101, an input bevel gear 105, a first transmission bevel gear 1061, a second transmission bevel gear 1062, a first installed inner shaft 1071, a second installed inner shaft 1072, a first inner shaft cylindrical gear 1081, a second inner shaft cylindrical gear 1082, a first outer connecting shaft sleeve 1091, a second outer connecting shaft sleeve 1092, a first shaft sleeve cylindrical gear 1101, a first output bevel gear 1111, a second shaft sleeve cylindrical gear 1102, a second output bevel gear 1112, a power tooth inner tooth meshing auxiliary mechanism 112, a power tooth outer tooth meshing auxiliary mechanism 113, a clutch unit, a push rod 114 and a guide rail 115, and an outer tooth output wheel 117 and an inner tooth output wheel 118 installed inside the box 102, the power input shaft 104 as an input end, the bottom end thereof extending out of the box body 101 and connected with a mechanical arm of an industrial robot, the top end thereof connected with the input bevel gear 105, the left and right sides of the input bevel gear 105 meshed with the first transmission bevel gear 1061 and the second transmission bevel gear 1062 respectively, the first transmission bevel gear 1061 and the second transmission bevel gear 1062 connected with the first installed inner shaft 1071 and the second installed inner shaft 1072 respectively, the two installed inner shafts connected with the left and right sides of the box body 101 through bearings, the outer sides of the first installed inner shaft 1071 and the second installed inner shaft 1072 sleeved with the first inner shaft cylindrical gear 1081 and the second inner shaft cylindrical gear 1082 respectively, each inner shaft cylindrical gear capable of rotating synchronously with the corresponding installed inner shaft, the gear pump 103 of the hydraulic module arranged outside the box body 101 and connected with the first installed inner shaft 1071, the outer sides of the first installed inner shaft 1071 and the second installed inner shaft 1072 sleeved with the first outer connecting shaft sleeve 1091 and the second outer connecting shaft sleeve 1092 respectively, the two ends of the first outer connecting shaft sleeve 1091 sleeved with the first shaft sleeve cylindrical gear 1101 and the first output bevel gear 1111 respectively, the two ends of the second outer connecting shaft sleeve 1092 sleeved with the second shaft sleeve cylindrical gear 1102 and the second output bevel gear 1112 respectively, and the first shaft sleeve cylindrical gear 1101 and the second shaft sleeve cylindrical gear 1102 located at one end close to the power input shaft 104, each shaft sleeve cylindrical gear and output bevel gear capable of rotating synchronously with the corresponding outer connecting shaft sleeve, the first output bevel gear 1111 externally meshed with the bottom end of the power tooth inner tooth meshing auxiliary mechanism 112, the second output bevel gear 1112 externally meshed with the bottom end of the power tooth outer tooth meshing auxiliary mechanism 113, the top end of the power tooth inner tooth meshing auxiliary mechanism 112 extending out of the box body 101 and internally meshed with the inner tooth output wheel 118 arranged above the box body 101, the top end of the power tooth outer tooth meshing auxiliary mechanism 113 extending out of the box body 101 and externally meshed with the outer tooth output wheel 117 arranged above the box body 101, the outer tooth output wheel 117 and the inner tooth output wheel 118 coaxially arranged,The inner tooth output wheel 118 is connected with the housing 201 of the transmission mechanism 2 as a first output end, the outer tooth output wheel 117 is connected with the bevel gear 204 on the transmission shaft 202 of the transmission mechanism 2 through a bevel gear as a second output end, the outer tooth output wheel 117 and the inner tooth output wheel 118 are jointly installed inside the box body 102, the box body 102 is connected with the box body 101, the clutch unit has two, which are a first clutch unit 119 and a second clutch unit 120, the two clutch units are slidingly installed on the guide rail 115, and the two clutch units are connected through the push rod 114, the push rod 114 is connected with the hydraulic cylinder 116 of the hydraulic module.

[0040] Each clutch unit comprises a sliding base 1191, two clutch gear flaps 1192 and a clutch gear 1193, the sliding base 1191 is installed on the guide rail 115, the two clutch gear flaps 1192 are symmetrically installed on the sliding base 1191 in parallel with each other, and the clutch gear 1193 is fixed on the two clutch gear flaps 1192.

[0041] As shown in Figure 6 The hydraulic module comprises a gear pump 103, a liquid storage tank 122, a hydraulic cylinder 116, an electromagnetic reversing valve 123 and an overflow valve 124, the oil suction port of the gear pump is connected with the liquid storage tank through a pipeline, the oil outlets are respectively connected with the oil inlet of the overflow valve and the first interface 1231 of the electromagnetic reversing valve through pipelines, the oil outlet of the overflow valve is connected with the liquid storage tank through a pipeline, the electromagnetic reversing valve is an M-shaped electromagnetic reversing valve, the second interface 1232 and the third interface 1233 of the electromagnetic reversing valve are respectively connected with the upper end and the lower end of the piston of the hydraulic cylinder through pipelines, and the fourth interface 1234 is connected with the liquid storage tank through a pipeline, the electromagnetic reversing valve is responsible for switching the direction of the liquid flow by using the electromagnetic principle, and the overflow valve can guide the liquid pumped out by the gear pump back into the liquid storage tank when the electromagnetic reversing valve fails.

[0042] When the electromagnetic reversing valve is in the middle position without moving, the oil pumped out by the gear pump returns to the liquid storage tank through the first interface 1231 and the fourth interface 1234 in turn, at this time, the hydraulic cylinder does not move. When the electromagnetic reversing valve moves to one side, the oil pumped out by the gear pump enters the upper end of the hydraulic cylinder piston through the first interface 1231 and the second interface 1232 in turn, and the oil in the lower end of the hydraulic cylinder piston is discharged to the liquid storage tank through the third interface 1233 and the fourth interface 1234 in turn, so that the hydraulic cylinder piston moves downward, and finally the pushing movement of the hydraulic cylinder is formed; similarly, when the electromagnetic reversing valve moves to the other side, the oil pumped out by the gear pump enters the lower end of the hydraulic cylinder piston through the first interface 1231 and the third interface 1233 in turn, and the oil in the upper end of the hydraulic cylinder piston is discharged to the liquid storage tank through the second interface 1232 and the fourth interface 1234 in turn, so that the hydraulic cylinder piston moves upward, and finally the pulling movement of the hydraulic cylinder is formed.

[0043] In this embodiment, since the gear shaft of the gear pump 103 is always connected with the first mounting inner shaft 1071, the first mounting inner shaft 1071 always receives power from the first driving bevel gear 1061, so the gear pump 103 can always work by using the power of the first driving bevel gear 1061, thereby effectively utilizing resources and reducing energy consumption.

[0044] As shown in Figure 7 When the hydraulic cylinder 116 applies a pulling force to the push rod 114, the clutch gear 1193 of the first clutch unit 119 can be engaged with the first inner shaft cylindrical gear 1081 and the first shaft sleeve cylindrical gear 1101, thereby realizing that the power input shaft 104 is output by the inner tooth output wheel 118 (first output end).

[0045] As shown in Figure 8 When the hydraulic cylinder 116 of the hydraulic module applies a pushing force to the push rod 114, the clutch gear of the second clutch unit 120 can be engaged with the second inner shaft cylindrical gear 1082 and the second shaft sleeve cylindrical gear 1102, thereby realizing that the power input shaft 104 is output by the outer tooth output wheel 117 (second output end).

[0046] Specifically, the length of the push rod 114 is set as follows: when the first clutch unit 119 is moved to engage the clutch gear with the first inner shaft cylindrical gear 1081 and the first shaft sleeve cylindrical gear 1101, it can be seen from Figure 6 that the other clutch gear can just miss the second inner shaft cylindrical gear 1082, so that when the inner tooth output wheel 118 rotates and outputs, the outer tooth output wheel 117 does not transmit power, and finally realizes the effect of transmission switching.

[0047] As shown in Figure 9As shown, the power tooth inner tooth meshing auxiliary mechanism 112 is mainly responsible for receiving the torque transmitted from the first output bevel gear 1111, keeping the inner tooth meshing with the inner tooth output gear 118 and transmitting power, while keeping the outer tooth meshing with the outer tooth output gear 117 and isolating power, ensuring the stability of the structure of the outer tooth output gear 117. It includes a first power receiving bevel gear 1121, a first connecting shaft 1122, a first outer tooth output gear auxiliary gear 1123, a first inner tooth output gear auxiliary gear 1124 and a first auxiliary gear positioning sleeve 1125, the first power receiving bevel gear 1121 is in external meshing with the first output bevel gear 1111, one end of the first connecting shaft 1122 is connected with the first power receiving bevel gear 1121, the first outer tooth output gear auxiliary gear 1123 is arranged on the first connecting shaft 1122 through a bearing, the first inner tooth output gear auxiliary gear 1124 is sleeved on the other end of the first connecting shaft 1122 through the first auxiliary gear positioning sleeve 1125, and the first outer tooth output gear auxiliary gear 1123 and the first inner tooth output gear auxiliary gear 1124 can be isolated through the first auxiliary gear positioning sleeve 1125, so as to better transmit power.

[0048] As shown in Figure 10 The power tooth outer tooth meshing auxiliary mechanism 113 is mainly responsible for receiving the torque transmitted from the second output bevel gear 1112, keeping the outer tooth meshing with the outer tooth output gear 117 and transmitting power, while keeping the inner tooth meshing with the inner tooth output gear 118 and isolating power, ensuring the stability of the structure of the inner tooth output gear 118. It includes a second power receiving bevel gear 1131, a second connecting shaft 1132, a second outer tooth output gear auxiliary gear 1133, a second inner tooth output gear auxiliary gear 1134 and a second auxiliary gear positioning sleeve 1135, the second power receiving bevel gear 1131 is in external meshing with the second output bevel gear 1112, one end of the second connecting shaft 1132 is connected with the second power receiving bevel gear 1131, the second outer tooth output gear auxiliary gear 1133 is sleeved on the second connecting shaft 1132 through the second auxiliary gear positioning sleeve 1135, the second inner tooth output gear auxiliary gear 1134 is arranged on the other end of the second connecting shaft 1132 through a bearing, and the second outer tooth output gear auxiliary gear 1133 and the second inner tooth output gear auxiliary gear 1134 can be isolated through the second auxiliary gear positioning sleeve 1135, so as to better transmit power.

[0049] Two non-power tooth auxiliary mechanisms 121 are also arranged between the outer tooth output gear 117 and the inner tooth output gear 118, which are uniformly arranged in planetary gear transmission mode between the outer tooth output gear 117 and the inner tooth output gear 118. Figure 11As shown, the non-power tooth auxiliary mechanism 121 includes a third connecting shaft 1211, a third outer tooth output wheel auxiliary gear 1212 and a third inner tooth output wheel auxiliary gear 1213, the third outer tooth output wheel auxiliary gear 1212 and the third inner tooth output wheel auxiliary gear 1213 are respectively sleeved on the third connecting shaft 1211 through bearing, and the third outer tooth output wheel auxiliary gear 1212 is engaged with the outer tooth output wheel 117, and the third inner tooth output wheel auxiliary gear 1213 is engaged with the inner tooth output wheel 118.

[0050] When the power input shaft gets the rotation power given by the mechanical arm, the transmission bevel gear and the transmission bevel gear start to transmit the same rotation speed and torque because of the same transmission ratio with the input bevel gear, and the input torque and the transmitted torque are perpendicular to each other. The transmission bevel gear and the inner shaft cylindrical gear are connected to the corresponding installation inner shaft, so they rotate together with the power input shaft. The outer shaft sleeve is the outer shaft sleeve without power source, so when the installation inner shaft is driven, the shaft sleeve cylindrical gear and the output bevel gear connected to each outer shaft sleeve do not rotate with the installation inner shaft. When the outer shaft sleeve gets the transmission power, the corresponding shaft sleeve cylindrical gear and the output bevel gear rotate together.

[0051] As shown in the figure, Figure 12 As shown, the roller conveying mechanism 3 includes a support 301, a driving roller 302, a driven roller 303 and a sprocket 304, the driving roller and the driven roller are rotatably installed on the support, the sprocket is connected with the driving roller and drives the driven roller to rotate through the driving roller.

[0052] The package loading mechanism 4 comprises two foldable support rod assemblies arranged in parallel and symmetrically on the left and right sides of the support frame 301 of the roller conveying mechanism 3, and a guard plate 405 connected between the two foldable support rod assemblies, the three forming a U-shaped structure, and a load area for loading packages is formed by the package loading mechanism 4 and the roller conveying mechanism 3. Each foldable support rod assembly comprises a plurality of telescopic support rods 401, a circular surface contact rod 402, a folding fixing rod 403 and a protective net 404. The telescopic support rods 401 are arranged at equal intervals on the support frame 301, and the telescopic support rods 401 on the left and right sides correspond one by one. The bottom of each telescopic support rod 401 is hinged to the support frame 301. The protective net 404 is connected between every two adjacent telescopic support rods 401. The protective net 404 is made of soft nylon material, which fills the gap between the telescopic support rods 401 to prevent goods from falling from the gap, and enables the end effector to better grasp a large number of goods, and can follow the telescopic support rods 401 and the folding fixing rod 403 to fold. The distance between the bottoms of the two corresponding telescopic support rods 401 is greater than the distance between the tops of the two corresponding telescopic support rods 401, so that the load area forms a structure with a narrow top and a wide bottom, and the package is squeezed into the load area through the narrow top. The cross section of the circular surface contact rod 402 is in a semicircular structure, and the circular surface contact rod 402 is hinged to the top of the telescopic support rods 401. The top of the folding fixing rod 403 is hinged to the upper part of the telescopic support rod 401 farthest from the guard plate 405, and the bottom of the folding fixing rod 403 is hinged to the roller conveying mechanism 3. The folding fixing rod 403 fixes the telescopic support rods 401 connected thereto, thereby stabilizing the shape of the load area. When the end effector stops working and is retracted, the package loading mechanism 4 can be folded by the folding fixing rod 403, thereby avoiding occupying more storage space in the warehouse, facilitating stacking, and the guard plate 405 is made of an alloy structure with high toughness and strength, which can improve the carrying capacity of the goods and protect the package from being damaged. A pressure sensor is arranged on the guard plate 405 for identifying the center of gravity of the package and determining whether the package is stable in the surrounding area of the package loading mechanism 4.

[0053] As shown in Figure 13 The circular surface contact rod 402 in a semicircular structure in the embodiment is responsible for contacting and squeezing into the gap between the packages, ensuring that the packages enter the load area more smoothly. When the packages are squeezed into the load area, the circular surface contact rod 402 can better ensure that the packages will not be jammed during the squeezing process, avoiding the interruption of the task due to the failure of the end effector to reset and perform the task when the packages cannot enter the load area smoothly.

[0054] The telescopic support rod 401 is made of Q235A steel, which has good processing plasticity and a certain degree of toughness (i.e., it is not easily deformed by plastic). It is processed into a telescopic rod with a certain degree of deflection. The bottom span distance of the telescopic support rods 401 on both sides is the average value of the package length, while the top span distance is slightly less than this average value. When the end effector extends forward, the two sets of parallel telescopic support rods 401 expand as the package enters. After the package enters, the telescopic support rods 401 on the mesh surface rebound using their own toughness, thereby playing a certain role in clamping the package and preventing it from falling off during transportation.

[0055] In addition, multiple adjustment holes 4011 are machined along the length of the telescopic support rod 401. The length of the telescopic support rod 401 can be adjusted according to the width of the package through the adjustment holes 4011 so that the package loading mechanism 4 can better clamp the package.

[0056] like Figure 14 , Figure 15 As shown, the transmission mechanism 2 includes a housing 201, a transmission shaft 202, and a transmission sprocket 203. The transmission shaft 202 is rotatably mounted inside the housing 201, and a bevel gear 204 is sleeved on the transmission shaft 202. One end of the transmission shaft 202 extends out of the housing 201 and is connected to the transmission sprocket 203. The transmission sprocket 203 is connected to the sprocket 304 of the roller conveying mechanism 3 via a chain. The torque of the external gear output wheel 117 of the transmission switching device 1 can be transmitted to the transmission shaft 202. The torque transmitted to the transmission shaft 202 will drive the transmission sprocket 203 to rotate, thereby driving the rollers of the roller conveying mechanism 3 to rotate, and finally causing the conveyor belt to rotate. The internal gear output wheel 118 of the transmission switching device 1 rotates, which can drive the transmission mechanism 2 to rotate as well, and at the same time cause the entire end effector to rotate. The transmission mechanism 2 is responsible for connecting the roller conveying mechanism 3 and the transmission switching device 1. Due to the use of gear transmission and the fact that the robotic arm itself has a high-precision servo motor, it can accurately realize the docking of the end effector with the front end of the sorting module. The internal space is large, and when the end effector requires to perform more tasks, the remaining space inside its housing can be increased to carry additional transmission. Other service devices can be added as needed.

[0057] The intelligent loading module 5 comprises a distance measuring module, an infrared alignment module and a camera unit. The distance measuring module is a laser distance measuring or ultrasonic distance measuring, used to identify the position of the package. The infrared alignment module is used to identify the position of the sorting module, and then sends a signal to the mechanical arm to stop rotating. The camera unit is used to record the position information of each plane of the package stacking area, and then according to the position information of each plane, the gravity center and three-dimensional data of each package are obtained through the EPnP depth estimation algorithm, so as to calculate the volume and gravity of each package. According to the path planning strategy of the maximum load and the shortest path as the standard, the optimal unloading path is obtained, and the optimal unloading path is converted into angle information and transmitted to the mechanical arm, so that the mechanical arm drives the end effector to complete the package loading maximum distribution according to the planned path.

[0058] As Figure 16As shown, the working process of the present application is as follows: the mechanical arm of the industrial robot is connected with the end effector, when the package arrives at the unloading window of the cargo box, the mechanical arm drives the end effector to move to the vicinity of the package stacking area, the package position is identified through the distance measuring module, the mechanical arm adjusts the posture to drive the end effector to move to the package position, and the output power is switched through the transmission switching device, the output power is switched to the first output end, and then the whole end effector is controlled to rotate to adjust the angle of the package loading mechanism, so that the package loading mechanism can face the goods. In the loading process, the mechanical arm drives the end effector to stretch forward, and then the package is squeezed into the load area, at this time, the telescopic support rod of the package loading mechanism expands and rebounds after entering the package, realizes the clamping effect, and at the same time, the baffle is provided with a pressure sensor, which can identify the gravity center of the package group, and can judge whether the package is stable in the surrounding area, the judgment condition is that the gravity center of the package group is perpendicular to the bisection line of the baffle within about 30°, which is the best. At this time, the camera unit of the intelligent loading module records the plane position information of the package stacking area, and then the gravity center and three-dimensional data of each package are obtained through the EPnP depth estimation algorithm according to the plane position information, so as to calculate the volume and gravity of each package, and according to the path planning strategy of the maximum load and the shortest path as the standard, the optimal unloading path is obtained, and the optimal unloading path is converted into angle information and transmitted to the mechanical arm. In the unloading process, the mechanical arm moves the end effector to the oblique upper side of the package sorting area according to the path planned in advance, and at the same time, the end effector is rotated as a whole to make the roller conveying mechanism always keep horizontal with the ground, so as to prevent the package from falling off. When the infrared alignment module identifies the output signal of the telescopic conveyor at the front end of the package sorting module, the mechanical arm stops moving the end effector, and the angle of the end effector is further rotated as a whole to make the roller conveying mechanism form about 135° with the telescopic conveyor. At this time, the output power is switched through the transmission switching device, the output power is switched to the second output end, and then the rotation of the roller of the roller conveying mechanism is controlled, so that the package in the package loading mechanism is smoothly transmitted to the telescopic conveyor under the action of gravity and the roller. In the resetting process, the mechanical arm returns to the starting point according to the original path, and at the same time, the current nearest package position is modified according to the package position information recorded by the EPnP depth estimation algorithm, and is moved to the vicinity again, and the second transportation process can be started.

[0059] The above is only a preferred embodiment of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can make equivalent replacement or change within the scope disclosed by the present application, according to the technical scheme and inventive concept of the present application, which belongs to the protection scope of the present application.

Claims

1. A conveyor belt type end effector for multi-package handling, characterized by: The utility model provides a kind of package loading mechanism, roller conveying mechanism, transmission switching device, transmission mechanism and intelligent loading module, the package loading mechanism is U-shaped structure and is located in the top edge of roller conveying mechanism, the transmission mechanism is located in the bottom of roller conveying mechanism, its transmission shaft is connected with roller conveying mechanism, the input end of transmission switching device is connected with the mechanical arm of industrial robot, the first output end is connected with the shell of transmission mechanism, the second output end is connected with the transmission shaft of transmission mechanism, the single-axis power inputted by industrial robot is carried out double power output by transmission switching device, by switching double power output, by switching first output end and second output end, the whole rotation of end effector can be controlled or the roller rotation of roller conveying mechanism is further controlled, the transmission switching device includes box, box, hydraulic module, power input shaft installed in the inside of box, input cone gear, first transmission cone gear, second transmission cone gear, first installation inner shaft, second installation inner shaft, first inner shaft cylindrical gear, second inner shaft cylindrical gear, first outer connecting shaft sleeve, second outer connecting shaft sleeve, first shaft sleeve cylindrical gear, first output cone gear, second shaft sleeve cylindrical gear, second output cone gear, power tooth inner tooth meshing auxiliary mechanism, power tooth outer tooth meshing auxiliary mechanism, clutch unit, push rod and guide rail, and outer tooth output wheel and inner tooth output wheel installed in the inside of box, the bottom end of power input shaft as input end is stretched out of box and is connected with the mechanical arm of industrial robot, the top end is connected with input cone gear, the left and right sides of input cone gear are meshed with first transmission cone gear and second transmission cone gear respectively, first transmission cone gear and second transmission cone gear are connected with first installation inner shaft and second installation inner shaft respectively, two installation inner shafts are connected with the left and right sides of box through bearing respectively, the outside of first installation inner shaft and second installation inner shaft is respectively sleeved with first inner shaft cylindrical gear and second inner shaft cylindrical gear, each inner shaft cylindrical gear can rotate synchronously with corresponding installation inner shaft, the gear pump of hydraulic module is located outside box and is connected with first installation inner shaft, the outside of first installation inner shaft and second installation inner shaft is respectively sleeved with first outer connecting shaft sleeve and second outer connecting shaft sleeve, the two ends of first outer connecting shaft sleeve are respectively sleeved with first shaft sleeve cylindrical gear and first output cone gear, the two ends of second outer connecting shaft sleeve are respectively sleeved with second shaft sleeve cylindrical gear and second output cone gear, and first shaft sleeve cylindrical gear and second shaft sleeve cylindrical gear are located at one end close to power input shaft, each shaft sleeve cylindrical gear and output cone gear can rotate synchronously with corresponding outer connecting shaft sleeve, the bottom end of first output cone gear is meshed with power tooth inner tooth meshing auxiliary mechanism, the bottom end of second output cone gear is meshed with power tooth outer tooth meshing auxiliary mechanism, the top end of power tooth inner tooth meshing auxiliary mechanism is stretched out of box and is meshed with inner tooth output wheel located above box, the top end of power tooth outer tooth meshing auxiliary mechanism is stretched out of box and is meshed with outer tooth output wheel located above box, the outer tooth output wheel and inner tooth output wheel are coaxially arranged,The inner tooth output wheel is connected with the housing of the transmission mechanism as a first output end, the outer tooth output wheel is connected with the bevel gear of the transmission shaft of the transmission mechanism through a bevel gear as a second output end, the outer tooth output wheel and the inner tooth output wheel are jointly installed inside the box body, the box body is connected with the box, the clutch unit has two, which are a first clutch unit and a second clutch unit, the two clutch units are slidingly installed on the guide rail, and the two clutch units are connected through a push rod, the push rod is connected with the hydraulic cylinder of the hydraulic module, when the hydraulic cylinder of the hydraulic module applies a pushing force to the push rod, the clutch gear of the second clutch unit is externally engaged with the second inner shaft cylindrical gear and the second shaft sleeve cylindrical gear, thereby realizing that the power input shaft is output by the second output end, when the hydraulic cylinder of the hydraulic module applies a pulling force to the push rod, the clutch gear of the first clutch unit is externally engaged with the first inner shaft cylindrical gear and the first shaft sleeve cylindrical gear, thereby realizing that the power input shaft is output by the first output end, the intelligent loading module is arranged on the roller conveying mechanism, is used for identifying the parcel and the sorting module position and obtaining three-dimensional data of a plurality of parcel stacks according to a depth estimation algorithm, and then an optimal unloading path is obtained according to a short path high carrying path planning strategy, and parcel loading maximization distribution is completed according to the optimal unloading path.

2. A conveyor belt-type end effector for multi-package handling according to claim 1, characterized in that: Each clutch unit comprises a sliding base, two clutch gear shifting pieces and a clutch gear, the sliding base is installed on the guide rail, the two clutch gear shifting pieces are installed on the sliding base in parallel and symmetry, and the clutch gear is fixed on the two clutch gear shifting pieces.

3. A conveyor belt-type end effector for multi-package handling according to claim 1, characterized in that: The power tooth inner tooth meshing auxiliary mechanism comprises a first power receiving bevel gear, a first connecting shaft, a first outer tooth output wheel auxiliary gear, a first inner tooth output wheel auxiliary gear and a first auxiliary gear positioning sleeve, the first power receiving bevel gear is externally meshed with the first output bevel gear, one end of the first connecting shaft is connected with the first power receiving bevel gear, the first outer tooth output wheel auxiliary gear is arranged on the first connecting shaft through a bearing, and the first inner tooth output wheel auxiliary gear is sleeved on the other end of the first connecting shaft through the first auxiliary gear positioning sleeve.

4. The conveyor belt-type end effector for multi-package handling of claim 1, wherein: The power tooth outer tooth meshing auxiliary mechanism comprises a second power receiving bevel gear, a second connecting shaft, a second outer tooth output wheel auxiliary gear, a second inner tooth output wheel auxiliary gear and a second auxiliary gear positioning sleeve, the second power receiving bevel gear is externally meshed with the second output bevel gear, one end of the second connecting shaft is connected with the second power receiving bevel gear, the second outer tooth output wheel auxiliary gear is sleeved on the second connecting shaft through the second auxiliary gear positioning sleeve, and the second inner tooth output wheel auxiliary gear is arranged on the other end of the second connecting shaft through a bearing.

5. A conveyor belt-type end effector for multi-package handling according to claim 1, characterized in that: The outer tooth output wheel and the inner tooth output wheel are further provided with two non-power tooth auxiliary mechanisms which are uniformly arranged between the outer tooth output wheel and the inner tooth output wheel in a planetary gear transmission mode with the power tooth inner tooth meshing auxiliary mechanism and the power tooth outer tooth meshing auxiliary mechanism, the non-power tooth auxiliary mechanism comprises a third connecting shaft, a third outer tooth output wheel auxiliary gear and a third inner tooth output wheel auxiliary gear, the third outer tooth output wheel auxiliary gear and the third inner tooth output wheel auxiliary gear are respectively sleeved on the third connecting shaft through bearings, the third outer tooth output wheel auxiliary gear is meshed with the outer tooth output wheel, and the third inner tooth output wheel auxiliary gear is meshed with the inner tooth output wheel.

6. A conveyor belt-type end effector for multi-package handling according to claim 1, characterized in that: The hydraulic module comprises a gear pump, a liquid storage tank, a hydraulic cylinder, an electromagnetic reversing valve and an overflow valve, the oil suction port of the gear pump is connected with the liquid storage tank through a pipeline, the oil outlets of the gear pump are respectively connected with the oil inlet of the overflow valve and the first interface of the electromagnetic reversing valve through pipelines, the oil outlet of the overflow valve is connected with the liquid storage tank through a pipeline, the second interface and the third interface of the electromagnetic reversing valve are respectively connected with the upper end and the lower end of the piston of the hydraulic cylinder through pipelines, and the fourth interface of the electromagnetic reversing valve is connected with the liquid storage tank through a pipeline.

7. A conveyor belt-type end effector for multi-package handling according to claim 1, characterized in that: The package loading mechanism comprises two foldable support rod assemblies and a guard plate, the two foldable support rod assemblies are arranged in parallel and symmetrically on the left and right sides of the roller conveying mechanism, the guard plate is connected between the two foldable support rod assemblies, the two foldable support rod assemblies and the guard plate form a U-shaped structure, and the two foldable support rod assemblies, the guard plate and the roller conveying mechanism enclose a load area for loading packages, each foldable support rod assembly comprises a plurality of telescopic support rods, a round surface contact rod, a folding fixing rod and a protective net, the plurality of telescopic support rods are arranged at equal intervals on the roller conveying mechanism, and the telescopic support rods on the left and right sides of the roller conveying mechanism correspond one by one, the bottom of each telescopic support rod is hinged to the roller conveying mechanism, the protective net is connected between every two adjacent telescopic support rods, the distance between the bottoms of the two corresponding telescopic support rods is greater than the distance between the tops of the two corresponding telescopic support rods, so that the load area forms a structure with a narrow top and a wide bottom, and the packages are squeezed into the load area through the narrow top, the cross section of the round surface contact rod is in a semicircular structure, the round surface contact rod is hinged to the top of the plurality of telescopic support rods, the top of the folding fixing rod is hinged to the upper part of the telescopic support rod away from the guard plate, and the bottom of the folding fixing rod is hinged to the roller conveying mechanism, and the guard plate is provided with a pressure sensor for identifying the gravity center of the package and judging whether the package is stable in the surrounding area of the package loading mechanism.

8. A conveyor belt-type end effector for multi-package handling according to claim 1, characterized in that: The transmission mechanism comprises a housing, a transmission shaft and a transmission sprocket, the transmission shaft is rotatably installed in the housing, a bevel gear is sleeved on the transmission shaft, one end of the transmission shaft extends out of the housing and is connected with the transmission sprocket, and the transmission sprocket is connected with the sprocket of the roller conveying mechanism through a chain.

9. A conveyor belt-type end effector for multi-package handling according to claim 1, characterized in that: The intelligent loading module comprises a distance measuring module, an infrared alignment module and a camera unit, the distance measuring module is used for identifying the position of the package, the infrared alignment module is used for identifying the position of the sorting module, and then sends a signal to the mechanical arm to stop rotating, the camera unit is used for recording the plane position information of the package stacking area, and then the gravity center and three-dimensional data of each package are obtained through the EPnP depth estimation algorithm according to the plane position information, so as to calculate the volume and gravity of each package, the optimal unloading path is obtained according to the path planning strategy of the maximum load and the shortest path as the standard, the optimal unloading path is converted into angle information and transmitted to the mechanical arm, and then the mechanical arm drives the end effector to complete the package loading maximization distribution according to the planned path.

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