A robot gripper and palletizing device for positioning by visual recognition

Abstract

This invention relates to a robotic gripper and palletizing device that uses visual recognition for positioning. The gripper assembly includes a gripper frame, a stepper motor, a lead screw, a drive block, a clamping arm, a clamping seat, a clamping bracket, a clamping plate, a guide rail, and a camera. The stepper motor is located on the inner side of the gripper frame, and its power output end is fixedly connected to the top of the lead screw. Through the use of the gripper assembly, the clamping plate remains vertical and moves horizontally during clamping, providing a higher contact area when transporting items such as household appliances. This ensures secure clamping without damaging the outer wall. The use of conversion wheels, track grooves, a support frame, track rods, and connecting columns ensures that the support frame remains horizontal during the transfer process with the conversion wheels, reducing fluctuations in the items during the movement of the pallet, preventing changes in posture, and avoiding collisions.

Description

Technical Field

[0001] This invention belongs to the field of palletizing equipment, specifically a robotic gripper and palletizing equipment that uses visual recognition for positioning. Background Technology

[0002] During the loading and unloading of equipment such as home appliances, the outer walls of these devices are flat and thin, so it is necessary to ensure stable clamping and prevent damage to the surface during the clamping and transfer process.

[0003] Existing gripping devices generally have high working efficiency, with their gripper structures typically being cross-shaped "scissor-like" and having relatively fast response speeds. However, when gripping with these gripper structures, the contact area between the gripper and the outer wall of the appliance is relatively small. This can lead to slippage due to insufficient gripping force or scratches due to excessive gripping force during appliance transfer. Furthermore, since some parts of the appliance are relatively fragile, the appliance needs to be kept in an upright position for more stable transportation. However, the pallets of existing robotic grippers and palletizing devices that use visual recognition for positioning are generally placed statically and lack reliable coordination with forklifts and other equipment for transportation, thus affecting transfer efficiency. Therefore, a robotic gripper and palletizing device that uses visual recognition for positioning is proposed. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] Given the following technical problems in the existing technology: when this type of gripper structure clamps, the contact area between the gripper and the outer wall of the appliance is small, which may lead to slippage due to insufficient clamping force or scratches due to excessive clamping force during the transfer of the appliance. In addition, since some parts of the appliance are relatively fragile, the appliance needs to be kept in an upright position for more stable transportation. However, the pallet of the existing robot gripper and palletizing equipment that uses visual recognition for positioning is generally placed statically and lacks reliable ability to cooperate with forklifts and other equipment for transportation, thus affecting the transfer efficiency.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a robot gripper and palletizing device for positioning by visual recognition, comprising a gripper assembly, wherein the gripper assembly includes a gripper frame, a stepper motor, a lead screw, a drive block, a clamping arm, a clamping seat, a clamping bracket, a clamping plate, a guide rail and a camera, wherein a stepper motor is provided on the inner side of the gripper frame, the power output end of the stepper motor is fixedly connected to the top end of the lead screw, the lead screw is threadedly connected to the drive block, a clamping arm is hinged to each side of the drive block, and a clamping seat is sleeved at each end of the outer side of the cross frame;

[0007] A camera is installed at the bottom of the cross frame, a clamping bracket is installed at the bottom of the clamping seat, a clamping plate is installed on the clamping bracket, and the clamping arms are rotatably connected to a clamping seat respectively.

[0008] A stepper motor controls the lead screw to rotate, which in turn moves the drive block. The drive block, through the clamping arm, controls the two clamping seats to move closer or further apart along the axis of the crossbeam. The clamping seats, through the clamping bracket, move the clamping plates closer or further apart. When the two clamping plates move closer, they clamp the object between them. The camera transmits image data in real time for auxiliary positioning. The computer analyzes and adjusts the operation of the frame assembly to align the two clamping plates on the gripper assembly with the two sides of the material.

[0009] As a preferred technical solution for a robot gripper and palletizing equipment that uses visual recognition for positioning, the gripper assembly also includes a load-bearing wheel, a crossbar, and a stabilizing slider. The clamping seat is U-shaped, and the load-bearing wheel is rotatably connected to the top of the inner side of the clamping seat. The load-bearing wheel is installed above the crossbar, and the stabilizing slider is inserted into the crossbar and slidably connected to the crossbar.

[0010] The load-bearing wheel works in conjunction with the crossbeam, and the crossbeam supports the load-bearing wheel to support the clamping seat. The stabilizing slider works in conjunction with the guide rail to make the operation of the clamping seat, clamping bracket and clamping plate smoother.

[0011] A preferred technical solution for a robot gripper and palletizing equipment that uses visual recognition for positioning includes a conversion mechanism, a lifting mechanism, a gripper assembly, and an adjustment frame assembly. The top of the conversion mechanism is provided with an adjustment frame assembly, one end of the adjustment frame assembly is provided with a gripper assembly, and the bottom of the conversion mechanism is provided with a lifting mechanism.

[0012] The adjustment frame assembly includes a rotary adjustment platform, a second servo motor, a cross arm, an adjustment platform, a rack, a fixing sleeve, a servo electric cylinder, and a drive gear. The second servo motor is located inside the rotary adjustment platform and is rotatably connected to the adjustment platform. The power output end of the adjustment platform is connected to the adjustment platform. The cross arm is inserted into the inner side of the adjustment platform. A rack is located on the top of the adjustment platform. A drive gear is rotatably connected to the inner side of the adjustment platform and meshes with the rack. A third servo motor is located inside the adjustment platform, and the power output end of the third servo motor is connected to the drive gear. The output end of the servo electric cylinder is connected to the gripper assembly.

[0013] The servo motor controls the rotation of the adjustment table, which in turn drives the gripper assembly to rotate around the axis of the servo motor's second shaft via a rack, a fixed sleeve, and a servo electric cylinder, thus changing its horizontal position. The servo electric cylinder controls and adjusts the vertical position of the gripper assembly, thereby changing the position of the gripper assembly and the item it holds, which in turn allows the item to be lifted and transferred onto the support frame.

[0014] As a preferred technical solution for a robot gripper and palletizing equipment that uses visual recognition for positioning, the conversion mechanism includes a frame, a conversion wheel, a connecting arm, a track groove, a support frame, a track rod, a connecting column, a turntable, and a servo motor. The servo motor is installed on one side of the frame, and the power output end of the servo motor is connected to a rotating shaft. The rotating shaft is fixedly connected to the turntable, and the turntable is connected to the conversion wheel through the connecting arm. Four support frames are installed on the conversion wheel, and the support frames are rotatably connected to the conversion wheel through the connecting columns.

[0015] The support frame is provided with a track rod, and the frame is provided with a track groove, into which the track rod extends;

[0016] A servo motor controls the rotation of the turntable, which in turn drives the conversion wheel to rotate via a connecting arm. The conversion wheel controls the movement of the support frame via a connecting column, meaning the support frame rotates around the central axis of the turntable. During the movement of the support frame, the track groove and track rod work together to constrain the support frame, ensuring that the support frame remains horizontal throughout its movement.

[0017] As a preferred technical solution for a robotic gripper and palletizing equipment that uses visual recognition for positioning, the four connecting columns are located on the same circle, the radius of which is the same as the average radius of the track groove, and the horizontal distance between the centers of the two circles is equal to the distance between the central axis of the track rod and the central axis of the connecting column; a mating groove is provided on each side of the support frame, and two support rollers are provided on each side of the support tray, with the support rollers located in the mating groove; this ensures that the support frame remains horizontal during the transfer process with the conversion wheel, thereby reducing the fluctuation of the items during the movement of the support tray, avoiding changes in posture, and preventing collisions.

[0018] As a preferred technical solution for a robot gripper and palletizing equipment that uses visual recognition for positioning, the lifting mechanism includes a movable cavity, a return spring, a swing plate, a vertical frame, a main column, a movable column, a shifting wheel, and shifting grooves. A main column is located at one end of the frame, and a movable cavity is formed on the inner side of the frame. A swing plate is movably connected to the inner side of the movable cavity. A movable column is slidably connected to the inner side of the main column. One end of the swing plate movably abuts against the bottom end of the movable column. The other end of the swing plate is hinged to the vertical frame. A fulcrum is provided on the inner bottom wall of the movable cavity, and the fulcrum is movably connected to the bottom wall of the swing plate. A shifting wheel is rotatably connected to the top of the main column and is connected to a turntable. Four shifting grooves are evenly formed on the outer side of the shifting wheel. The top of the movable column extends into the shifting grooves, which are V-shaped. The top of the vertical frame movably abuts against the bottom end of the carrying pallet. A roller is provided at the top of the movable column, and the roller is slidably connected to the inner wall of the shifting groove.

[0019] When the turntable rotates, it will cause the actuating wheel to rotate. The actuating wheel will cause the actuating groove to change position. The outer circumference of the actuating wheel will press the movable column downward. The movable column presses one end of the swing plate. Using the fulcrum as the fulcrum, the other end of the swing plate will be raised. The other end of the swing plate controls the vertical frame to move upward. The vertical frame controls the bearing platform to insert into the insertion groove and lift the bearing tray.

[0020] As the actuating wheel continues to rotate, the inner cavity of the actuating groove aligns with the top of the movable column. Under the elastic force of the return spring, the return spring pulls the swing plate to swing back to its original position. The swing plate pulls the vertical frame down and against the movable column as it lifts up, causing the vertical frame and the bearing platform to disengage from the inner cavity of the bearing frame.

[0021] As a preferred technical solution for a robot gripper and palletizing equipment that uses visual recognition for positioning, the bottom end of the carrying pallet is provided with an insertion slot, and the top end of the vertical frame is provided with a carrying platform that is movably connected to the insertion slot.

[0022] The support platform works in conjunction with the insertion slot to control the lifting of the support tray and even its detachment from the support frame.

[0023] (105) When the vertical frame moves or moves downward, the inner cavity length of the support frame is sufficient to allow the vertical frame to leave the inner cavity of the support frame without touching the inner wall of the support frame.

[0024] As a preferred technical solution for a robot gripper and palletizing equipment that uses visual recognition for positioning, the top of the movable column is provided with a rolling wheel, and the outer side of the rolling wheel is in movable contact with the inner wall of the actuation groove and the outer side of the actuation wheel.

[0025] Roller wheels can effectively reduce the frictional resistance when the moving column interacts with the actuating wheel and actuating groove.

[0026] The beneficial effects of the robot gripper and palletizing device for positioning by visual recognition of the present invention are as follows: by using the gripper assembly, the clamping plate remains vertical and moves horizontally during the clamping process, so that it has a higher contact area when transporting items such as home appliances, thereby achieving a firm clamping while ensuring that the outer wall is not damaged.

[0027] By using conversion wheels, track grooves, support frames, track rods, and connecting columns, the support frame remains horizontal as it moves with the conversion wheels, thereby reducing fluctuations of items during the movement of the support pallet, preventing changes in posture, and avoiding collisions.

[0028] The vertical frame controls the insertion of the load-bearing platform into the interlocking slot, lifting the load-bearing pallet and even detaching it from the load-bearing frame, thus facilitating the transportation of the load-bearing pallet with equipment such as forklifts, thereby greatly accelerating production and transportation efficiency. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0030] Figure 1 This is a front cross-sectional view of the present invention;

[0031] Figure 2 This is a side view of the present invention;

[0032] Figure 3 This is a schematic diagram illustrating the positional relationship between the support frame and the support tray of the present invention. Figure 1 ;

[0033] Figure 4 This is a schematic diagram illustrating the positional relationship between the support frame and the support tray of the present invention. Figure 2 ;

[0034] Figure 5 This is a schematic diagram of the gripper assembly structure of the present invention;

[0035] Figure 6 This is a schematic diagram showing the positional relationship between the movable column and the actuating groove of the present invention;

[0036] Figure 7 This is a schematic diagram showing the positional relationship between the clamping seat and the bearing wheel of the present invention;

[0037] Figure 8 For the present invention Figure 2 A magnified schematic diagram of part E in the middle section.

[0038] Reference numerals: Conversion mechanism—100, Frame—101, Conversion wheel—102, Connecting arm—103, Track groove—104, Bearing frame—105, Track rod—106, Connecting column—107, Turntable—108, Servo motor—109, Bearing tray—110, Mating groove—111, Support roller—112, Insertion groove—113, Lifting mechanism—200, Movable cavity—201, Return spring—202, Swing plate—203, Vertical frame—204, Main column—205, Movable column—206, Actuating wheel—207, Actuating groove—208, Bearing platform—20 9. Fulcrum—210. Gripper assembly—300. Gripper frame—301. Stepper motor—302. Lead screw—303. Drive block—304. Clamping arm—305. Clamping seat—306. Bearing wheel—307. Cross frame—308. Clamping bracket—309. Clamping plate—310. Stabilizing slider—311. Guide rail—312. Camera—313. Adjustment frame assembly—400. Rotary adjustment table—401. Servo motor II—402. Cross arm—403. Adjustment table—404. Rack—405. Fixing sleeve—406. Servo electric cylinder—407. Drive gear—408. Detailed Implementation

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0040] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0041] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0042] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0043] like Figure 1 , 5As shown in Figure 7, the present invention proposes a robot gripper and palletizing device for positioning by visual recognition, including a gripper assembly 300. The gripper assembly 300 includes a gripper frame 301, a stepper motor 302, a lead screw 303, a drive block 304, a clamping arm 305, a clamping seat 306, a clamping bracket 309, a clamping plate 310, a guide rail 312, and a camera 313. The stepper motor 302 is provided on the inner side of the gripper frame 301. The power output end of the stepper motor 302 is fixedly connected to the top end of the lead screw 303. The lead screw 303 is threadedly connected to the drive block 304. A clamping arm 305 is hinged to each side of the drive block 304. A clamping seat 306 is sleeved at each end of the outer side of the cross frame 308.

[0044] A camera 313 is provided at the bottom of the cross frame 308, a clamping bracket 309 is provided at the bottom of the clamping seat 306, a clamping plate 310 is provided on the clamping bracket 309, and the clamping arms 305 are rotatably connected to a clamping seat 306 respectively.

[0045] Stepper motor 302 controls lead screw 303 to rotate, lead screw 303 moves drive block 304, drive block 304 controls two clamping seats 306 to move closer or further apart along the axis of cross frame 308 via clamping arm 305. Clamping seats 306 move closer or further apart via clamping bracket 309 with clamping plates 310. When the two clamping plates 310 move closer, they clamp the object between the two clamping plates 310. The camera 313 transmits image data back in real time for auxiliary positioning. The computer analyzes and adjusts the operation of the frame assembly 400 so that the two clamping plates 310 on the gripper assembly 300 are aligned with both sides of the material.

[0046] The gripper assembly 300 also includes a support wheel 307, a crossbeam 308, and a stabilizing slider 311. The clamping seat 306 is U-shaped. The support wheel 307 is rotatably connected to the top of the inner side of the clamping seat 306. The support wheel 307 is installed above the crossbeam 308. The stabilizing slider 311 is inserted into the crossbeam 308 and is slidably connected to the crossbeam 308.

[0047] The bearing wheel 307 cooperates with the cross frame 308, and the cross frame 308 supports the bearing wheel 307 to support the clamping seat 306. The stabilizing slider 311 cooperates with the guide rail 312 to make the operation of the clamping seat 306, the clamping bracket 309 and the clamping plate 310 smoother.

[0048] like Figure 1 and 3As shown in Figure 4, the device includes a conversion mechanism 100, a lifting mechanism 200, a gripper assembly 300, and an adjustment frame assembly 400. The top of the conversion mechanism 100 is provided with the adjustment frame assembly 400, one end of the adjustment frame assembly 400 is provided with the gripper assembly 300, and the bottom of the conversion mechanism 100 is provided with the lifting mechanism 200.

[0049] The adjustment frame assembly 400 includes a rotary adjustment table 401, a second servo motor 402, a cross arm 403, an adjustment table 404, a rack 405, a fixing sleeve 406, a servo electric cylinder 407, and a drive gear 408. The second servo motor 402 is disposed inside the rotary adjustment table 401, and the second servo motor 402 is rotatably connected to the adjustment table 404. The power output end of the adjustment table 404 is connected to the adjustment table 404. The cross arm 403 is inserted into the inner side of the adjustment table 404. The rack 405 is disposed on the top of the adjustment table 404. The drive gear 408 is rotatably connected to the inner side of the adjustment table 404, and the drive gear 408 meshes with the rack 405. A third servo motor is disposed inside the adjustment table 404, and the drive gear 408 is disposed at the power output end of the third servo motor. The output end of the servo electric cylinder 407 is connected to the gripper assembly 300.

[0050] The drive gear 408 drives the rack 405 to move, and the servo motor 402 controls the adjustment table 404 to rotate. The rack 405 drives the fixed sleeve 406, the servo cylinder 407 and the gripper assembly 300 to rotate around the axis of the servo motor 402, thereby changing their horizontal position. The servo cylinder 407 controls and adjusts the vertical position of the gripper assembly 300, thereby changing the position of the gripper assembly 300 and the item held by the gripper assembly 300, so that the item can be lifted and transferred to the support frame 105.

[0051] The conversion mechanism 100 includes a frame 101, a conversion wheel 102, a connecting arm 103, a track groove 104, a support frame 105, a track rod 106, a connecting column 107, a turntable 108, and a servo motor 109. The servo motor 109 is provided on one side of the frame 101. The power output end of the servo motor 109 is connected to a rotating shaft. The rotating shaft is fixedly connected to the turntable 108. The turntable 108 is connected to the conversion wheel 102 through the connecting arm 103. Four support frames 105 are provided on the conversion wheel 102. The support frames 105 are rotatably connected to the conversion wheel 102 through the connecting column 107.

[0052] The support frame 105 is provided with a track rod 106, and the frame 101 is provided with a track groove 104, with the track rod 106 extending into the track groove 104;

[0053] Servo motor 109 controls the rotation of turntable 108. Turntable 108 drives the conversion wheel 102 to rotate via connecting arm 103. Conversion wheel 102 controls the movement of support frame 105 via connecting column 107. That is, support frame 105 rotates around the central axis of turntable 108. During the movement of support frame 105, track groove 104 and track rod 106 cooperate to constrain support frame 105, so that support frame 105 always maintains a horizontal posture during the movement.

[0054] The four connecting posts 107 are located on the same circle, the radius of which is the same as the average radius of the track groove 104, and the horizontal distance between the centers of the two circles is equal to the distance between the central axis of the track rod 106 and the central axis of the connecting post 107; a mating groove 111 is opened on each side of the support frame 105, and two support rollers 112 are respectively provided on each side of the support tray 110, the support rollers 112 being located in the mating groove 111; so that the support frame 105 remains horizontal during the transfer process with the conversion wheel 102, thereby reducing the fluctuation of the items during the movement of the support tray 110, avoiding changes in posture and collisions.

[0055] like Figure 1 As shown in Figures 2, 6, and 8, the lifting mechanism 200 includes a movable cavity 201, a return spring 202, a swing plate 203, a vertical frame 204, a main column 205, a movable column 206, a turning wheel 207, and a turning groove 208. A main column 205 is provided at one end of the frame 101. A movable cavity 201 is formed on the inner side of the frame 101. A swing plate 203 is movably connected to the inner side of the movable cavity 201. A movable column 206 is slidably connected to the inner side of the main column 205. One end of the swing plate 203 movably abuts against the bottom end of the movable column 206. The other end of the swing plate 203 is hinged to the vertical frame 204. The inner bottom wall of the movable cavity 201 is provided with a fulcrum 210, which is movably connected to the bottom wall of the swing plate 203. The top of the main column 205 is rotatably connected with a deflector wheel 207, which is connected to the turntable 108. Four deflector grooves 208 are evenly opened on the outer side of the deflector wheel 207. The top of the movable column 206 extends into the deflector groove 208. The deflector groove 208 is V-shaped. The top of the vertical frame 204 is movably abutted against the bottom of the bearing tray 110. The top of the movable column 206 is provided with a roller, which is slidably connected to the inner wall of the deflector groove 208.

[0056] When the turntable 108 rotates, it will cause the actuating wheel 207 to rotate. The actuating wheel 207 will cause the actuating groove 208 to change position. The outer periphery of the actuating wheel 207 will press the movable column 206 to move downward. The movable column 206 will press one end of the swing plate 203. With the fulcrum 210 as the fulcrum, the other end of the swing plate 203 will be raised. The other end of the swing plate 203 will control the vertical frame 204 to move upward. The vertical frame 204 will control the bearing platform 209 to insert into the insertion groove 113 and lift the bearing tray 110.

[0057] The actuating wheel 207 continues to rotate, and the inner cavity of the actuating groove 208 corresponds to the top of the movable column 206. Under the elastic force of the return spring 202, the return spring 202 pulls the swing plate 203 to swing back to its original position. The swing plate 203 pulls the vertical frame 204 down and abuts against the movable column 206 to lift it up, so that the vertical frame 204 and the bearing platform 209 are separated from the inner cavity of the bearing frame 105.

[0058] The bottom end of the carrying tray 110 is provided with a plug-in groove 113, and the top end of the vertical frame 204 is provided with a carrying platform 209 that is movably plugged into the plug-in groove 113.

[0059] The support platform 209 cooperates with the insertion slot 113 to control the lifting of the support tray 110 and even its detachment from the support frame 105.

[0060] When the vertical frame 204 moves downward, the inner length of the support frame 105 is sufficient to allow the vertical frame 204 to disengage from the inner cavity of the support frame 105 without touching the inner wall of the support frame 105.

[0061] The top of the movable column 206 is provided with a rolling wheel, and the outer side of the rolling wheel is in movable contact with the inner wall of the actuation groove 208 and the outer side of the actuation wheel 207.

[0062] The rolling wheel can effectively reduce the frictional resistance when the movable column 206 interacts with the actuating wheel 207 and the actuating groove 208.

[0063] The specific implementation method is as follows: the camera 313 transmits image data back in real time for auxiliary positioning, and the computer analyzes and controls the operation of the adjustment frame assembly 400 so that the two clamping plates 310 on the gripper assembly 300 are aligned with the two sides of the material. The stepper motor 302 controls the lead screw 303 to rotate, and the lead screw 303 moves the drive block 304. The drive block 304 controls the two clamping seats 306 to move closer or further apart along the axis of the cross frame 308 through the clamping arm 305. The clamping seats 306 move closer or further apart with the clamping plates 310 through the clamping bracket 309. When the two clamping plates 310 move closer, they will clamp the object between the two clamping plates 310.

[0064] Servo motor 109 controls the rotation of turntable 108. Turntable 108 drives conversion wheel 102 to rotate via connecting arm 103. Conversion wheel 102 controls the movement of carrier frame 105 via connecting column 107. That is, carrier frame 105 rotates around the central axis of turntable 108. During the movement of carrier frame 105, track groove 104 and track rod 106 cooperate to constrain carrier frame 105, so that carrier frame 105 always maintains a horizontal posture during the movement. When carrier frame 105 approaches gripper assembly 300, it is convenient for gripper assembly 300 and adjustment frame assembly 400 to cooperate to clamp items onto carrier frame 105. At the same time, carrier frame 105 that has been loaded and stacked is moved to the corresponding position of vertical frame 204. Then turntable 108 stops rotating. During this period, items are stacked on carrier frame 105 and carrier frame 105 is unloaded.

[0065] When the turntable 108 rotates, it will cause the actuating wheel 207 to rotate. The actuating wheel 207 will cause the actuating groove 208 to change position. The outer periphery of the actuating wheel 207 will press the movable column 206 downward. The movable column 206 will press one end of the swing plate 203. With the fulcrum 210 as the fulcrum, the other end of the swing plate 203 will be raised. The other end of the swing plate 203 will control the vertical frame 204 to move upward. The vertical frame 204 will control the bearing platform 209 to insert into the insertion slot 113 and lift the bearing pallet 110, or even detach it from the bearing frame 105, so as to facilitate the transportation of the bearing pallet 110 with equipment such as forklifts.

[0066] The actuating wheel 207 continues to rotate, and the inner cavity of the actuating groove 208 corresponds to the top of the movable column 206. Under the elastic force of the return spring 202, the return spring 202 pulls the swing plate 203 to swing back to its original position. The swing plate 203 pulls the vertical frame 204 down and abuts against the movable column 206 to lift it up, so that the vertical frame 204 and the bearing platform 209 are separated from the inner cavity of the bearing frame 105, so that the main column 205 can continue to rotate.

[0067] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0068] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A robotic gripper that uses visual recognition for positioning, characterized in that: The system includes a conversion mechanism (100), a lifting mechanism (200), a gripper assembly (300), and an adjustment frame assembly (400). The adjustment frame assembly (400) is located at the top of the conversion mechanism (100), a gripper assembly (300) is located at one end of the adjustment frame assembly (400), and a lifting mechanism (200) is located at the bottom of the conversion mechanism (100). The adjustment frame assembly (400) includes a rotary adjustment table (401), a servo motor (402), a cross arm (403), an adjustment table (404), a rack (405), a fixing sleeve (406), and a servo motor. The rotary adjustment platform (401) is equipped with a cylinder (407) and a drive gear (408). A servo motor (402) is mounted on the inner side of the rotary adjustment platform (401). The servo motor (402) is rotatably connected to an adjustment platform (404). A cross arm (403) is inserted into the inner side of the adjustment platform (404). A rack (405) is mounted on the top of the adjustment platform (404). A drive gear (408) is rotatably connected to the inner side of the adjustment platform (404). The drive gear (408) meshes with the rack (405). A servo motor (3) is mounted inside the adjustment platform (404). The servo motor (3) has a moving... A drive gear (408) is provided at the force output end, and the output end of the servo electric cylinder (407) is connected to the gripper assembly (300); the gripper assembly (300) includes a gripper frame (301), a stepper motor (302), a lead screw (303), a drive block (304), a clamping arm (305), a clamping seat (306), a crossbar (308), a clamping bracket (309), a clamping plate (310), a guide rail (312), and a camera (313). A stepper motor (302) is provided on the inner side of the gripper frame (301), and the power output end of the stepper motor (302) is... The top end of the lead screw (303) is fixedly connected to the lead screw (303), which is threadedly connected to a drive block (304). A clamping arm (305) is hinged to each side of the drive block (304). A clamping seat (306) is sleeved on each end of the outer side of the cross frame (308). A camera (313) is provided at the bottom of the cross frame (308). A clamping bracket (309) is provided at the bottom end of the clamping seat (306). A clamping plate (310) is provided on the clamping bracket (309). The clamping arm (305) is rotatably connected to a clamping seat (306) respectively.The conversion mechanism (100) includes a frame (101), a conversion wheel (102), a connecting arm (103), a track groove (104), a support frame (105), a track rod (106), a connecting column (107), a turntable (108), and a servo motor (109). The servo motor (109) is provided on one side of the frame (101). The power output end of the servo motor (109) is connected to a rotating shaft, and the rotating shaft is fixedly connected to the turntable (108). The turntable (108) and the conversion wheel (102) are connected by a connecting arm (103). Four support frames (105) are mounted on the conversion wheel (102), and each support frame (105) is rotatably connected to the conversion wheel (102) via a connecting column (107). A track rod (106) is mounted on each support frame (105), and a track groove (104) is formed on the frame (101). The track rod (106) extends into the track groove (104).

2. The robotic gripper for positioning via visual recognition according to claim 1, characterized in that: The gripper assembly (300) also includes a support wheel (307) and a stabilizing slider (311). The clamping seat (306) is U-shaped. The support wheel (307) is rotatably connected to the top of the inner side of the clamping seat (306). The support wheel (307) is installed above the crossbeam (308). The stabilizing slider (311) is inserted into the crossbeam (308). The stabilizing slider (311) is slidably connected to the crossbeam (308).

3. A robotic gripper for positioning via visual recognition according to claim 1, characterized in that: The four connecting posts (107) are located on the same circle, the radius of which is the same as the average radius of the trajectory groove (104).

4. A robotic gripper for positioning via visual recognition according to claim 2, characterized in that: The support frame (105) has a mating groove (111) on each side, and the support tray (110) has two support rollers (112) on each side, with the support rollers (112) located in the mating groove (111).

5. A robotic gripper for positioning via visual recognition according to claim 4, characterized in that: The lifting mechanism (200) includes a movable cavity (201), a return spring (202), a swing plate (203), a vertical frame (204), a main column (205), a movable column (206), a turning wheel (207), and a turning groove (208). A main column (205) is provided at one end of the frame (101). A movable cavity (201) is opened on the inner side of the frame (101). A swing plate (203) is movably connected to the inner side of the movable cavity (201). A movable column (206) is slidably connected to the inner side of the main column (205). One end of the swing plate (203) movably abuts against the bottom end of the movable column (206). The other end of (203) is hinged to a vertical frame (204). The inner bottom wall of the movable cavity (201) is provided with a fulcrum (210). The fulcrum (210) is movably connected to the bottom wall of the swing plate (203). The top of the main column (205) is rotatably connected to a push wheel (207). The push wheel (207) is connected to the turntable (108). Four push grooves (208) are evenly opened on the outer side of the push wheel (207). The top of the movable column (206) extends into the push groove (208). The push groove (208) is V-shaped. The top of the vertical frame (204) is movably abutted against the bottom of the bearing tray (110).

6. A robotic gripper for positioning via visual recognition according to claim 5, characterized in that: The bottom end of the carrying tray (110) is provided with a plug-in groove (113), and the top end of the vertical frame (204) is provided with a carrying platform (209) that is movably plugged into the plug-in groove (113).

7. A robotic gripper for positioning via visual recognition according to claim 6, characterized in that: The top of the movable column (206) is provided with a rolling wheel, and the outer side of the rolling wheel is in contact with the inner wall of the actuation groove (208) and the outer side of the actuation wheel (207).

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