Dynamic grasping robot based on trajectory prediction

Abstract

The present invention relates to the technical field of industrial automation equipment, and in particular to a dynamic grabbing robot arm based on trajectory prediction, comprising: a carrying robot arm and a picking robot arm, wherein the picking robot arm is arranged at the execution end of the carrying robot arm and is used to grab goods, and is characterized in that the picking robot arm comprises: a carrying frame, a picking module and a supporting module; the carrying frame is fixedly connected to the execution end of the carrying robot arm; the supporting module is arranged on the carrying frame and is used to carry goods; the picking module is arranged on the carrying frame and is used to grab goods. The present invention solves the problem that the bottom port of the carton is prone to loosening and opening during the suspended transportation process in the prior art, thereby causing the goods to fall off, and has the characteristic of strong stability in cargo transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation equipment, and in particular to a dynamic grasping mechanical arm based on trajectory prediction. Background Art

[0002] In the process of cargo transshipment and transportation, it is usually necessary to rely on industrial robots to sort logistics goods. In the prior art, the Chinese invention patent with authorization announcement number: CN219543173U discloses a mechanical arm for logistics sorting, including a support base, a mobile adjustment mechanism, a mobile component, an arm and a gripper, the mobile adjustment mechanism is arranged on the bottom wall of the support base, the mobile component is arranged under the top wall of the support base, the arm is installed on the mobile component, and the gripper is arranged on one end of the arm; the mobile adjustment mechanism includes an embedded groove, a bidirectional screw, a servo motor, a screw pair 1, a screw pair 2, a fixed shaft, a support leg, a connecting rod, a connecting block and a mobile drive component, the embedded groove is arranged on the bottom wall of the support base, the servo motor is arranged on the outer wall of the support base, and one end of the bidirectional screw is rotatably arranged on the inner wall of the embedded groove.

[0003] For the above-mentioned logistics sorting robotic arm, in the process of using the robotic arm to sort goods, it is necessary to use its vacuum suction cup to hold and fix the logistics goods so as to achieve the purpose of sorting and transporting the goods; however, in real life, logistics goods are generally packed inside cartons during transportation. Therefore, in the process of using the robotic arm to transport logistics goods in the air, the carton is prone to being unable to withstand the gravity of the logistics goods, resulting in the bottom port of the carton loosening and opening, and the logistics goods falling to the outside of the carton. Summary of the invention

[0004] In view of the technical problems existing in the prior art, an embodiment of the present invention provides a dynamic grabbing robot arm based on trajectory prediction, comprising: a carrying robot arm and a picking robot arm, wherein the picking robot arm is arranged at the execution end of the carrying robot arm and is used to grab goods, and is characterized in that the picking robot arm comprises: a carrying frame, a picking module and a supporting module;

[0005] The carrying frame is fixedly connected to the execution end of the carrying mechanical arm;

[0006] The supporting module is arranged on the carrying frame and is used to carry the goods;

[0007] The picking module is arranged on the carrying frame and is used for grabbing goods.

[0008] Furthermore, the supporting module comprises: a pair of guide shafts, a pair of first bushings, a pair of return springs, a plurality of first bearing components and a plurality of second bearing components;

[0009] A pair of guide shafts are arranged at the bottom of the inner cavity of the load-bearing frame, the tail end of any guide shaft is fixedly connected to the tail end of the load-bearing frame, any guide shaft is arranged along the length direction of the load-bearing frame, and the guide shaft is a prism;

[0010] A pair of first sleeves are movably sleeved on a pair of guide shafts respectively, the first sleeves are slidably connected with the guide shafts along the axial direction of the guide shafts, and the radial cross-sectional shape of the inner cavity of the first sleeves matches the radial cross-sectional shape of the guide shafts;

[0011] A pair of return springs are respectively sleeved on a pair of guide shafts, one end of the return spring is connected to the guide shaft, and the other end of the return spring is connected to the first sleeve, for driving the first sleeve to return;

[0012] A plurality of first bearing assemblies are arranged on one of the first shaft sleeves for bearing goods;

[0013] A plurality of second bearing assemblies are arranged on another first shaft sleeve for bearing goods.

[0014] Furthermore, the first bearing assembly includes: a plurality of first assembly protruding grooves, a plurality of first bearing rods and a plurality of first torsion springs;

[0015] A plurality of first assembly convex grooves are fixedly arranged on the circumferential side wall of one of the first sleeves, any one of the first assembly convex grooves is identical to the central axis of the first sleeve, and the plurality of first assembly convex grooves are sequentially arranged along the axial direction of the first sleeve;

[0016] The tail ends of the plurality of first bearing rods are rotatably sleeved on one of the first shaft sleeves, the tail ends of the plurality of first bearing rods are respectively matched with the positions of the plurality of first assembly convex grooves, the head end of any first bearing rod is movably overlapped on another first shaft sleeve, and the head end of the first bearing rod is located between the first shaft sleeve and the bearing frame;

[0017] A plurality of first torsion springs are sleeved on one of the first shaft sleeves, and the plurality of first torsion springs are respectively matched with the positions of the plurality of first assembly convex grooves. One end of any first torsion spring is fixedly connected to the tail end of the corresponding first bearing rod, and the other end of any first torsion spring is fixedly connected to the inner wall of the corresponding first assembly convex groove, so as to drive the first bearing rod to flip and reset.

[0018] Furthermore, the second bearing assembly includes: a plurality of second assembly protrusions, a plurality of second bearing rods and a plurality of second torsion springs;

[0019] A plurality of second assembly convex grooves are fixedly arranged on the circumferential side wall of one of the first sleeves, any second assembly convex groove is identical to the central axis of the first sleeve, and the plurality of second assembly convex grooves are sequentially arranged along the axial direction of the first sleeve;

[0020] The tail ends of the plurality of second bearing rods are rotatably sleeved on one of the first sleeves, the tail ends of the plurality of second bearing rods are respectively matched with the positions of the plurality of second assembly convex grooves, the head end of any second bearing rod is movably overlapped on another first sleeve, and the head end of the second bearing rod is located between the first sleeve and the bearing frame;

[0021] A plurality of second torsion springs are sleeved on one of the first shaft sleeves, and the plurality of second torsion springs are respectively matched with the positions of the plurality of second assembly convex grooves. One end of any second torsion spring is fixedly connected to the tail end of the corresponding second bearing rod, and the other end of any second torsion spring is fixedly connected to the inner wall of the corresponding second assembly convex groove, so as to drive the second bearing rod to flip and reset.

[0022] Furthermore, the first bearing bars of the plurality of first bearing assemblies and the second bearing bars of the plurality of second bearing assemblies are arranged alternately with each other, and any first bearing bar is located between a pair of adjacent second bearing bars.

[0023] Further, one of the angles between any adjacent first bearing rods and second bearing rods is a bearing angle, the bearing angle faces the top of the inner cavity of the bearing frame, and the angle of the bearing angle is less than 180°.

[0024] Furthermore, the picking module includes: a pair of linear modules, a pair of slide blocks, a first bearing shaft, a plurality of blocking rods and a plurality of third torsion springs;

[0025] A pair of linear modules are fixedly arranged on the top of the carrying frame, and any one of the linear modules is arranged along the length direction of the carrying frame, and the pair of linear modules are arranged in parallel;

[0026] A pair of sliders are respectively fixedly arranged at the execution ends of a pair of linear modules;

[0027] The first bearing shaft is arranged between a pair of sliders, and both ends of the first bearing shaft are fixedly connected to the pair of sliders respectively;

[0028] The top ends of the plurality of baffles are rotatably connected to the first bearing shaft, the plurality of baffles are sequentially arranged along the axial direction of the first bearing shaft, and the bottom end of any baffle is vertical to the bottom of the bearing frame;

[0029] A plurality of third torsion springs are respectively arranged at the rotational connection between a plurality of baffle rods and the first bearing shaft, one end of the third torsion spring is fixedly connected to the first bearing shaft, and the other end of the third torsion spring is fixedly connected to the baffle rod, for driving the baffle rod to flip and reset.

[0030] Furthermore, the pickup module further comprises: a pair of second bearing shafts and a plurality of leaf springs;

[0031] Two ends of one of the second bearing shafts are respectively fixedly connected to a pair of sliders, another second bearing shaft is arranged at the top of the inner cavity of the bearing frame, and two ends of the other second bearing shaft are fixedly connected to the bearing frame, and the pair of second bearing shafts are arranged in parallel;

[0032] Both ends of any leaf spring are rotatably connected to a pair of second bearing shafts respectively, and a plurality of leaf springs are arranged in parallel.

[0033] Furthermore, the picking robot further comprises: an assembly window, a plurality of third bearing shafts and a plurality of second shaft sleeves;

[0034] The assembly window is arranged at the rear end of the carrying frame, and the assembly window is communicated with the inner cavity of the carrying frame;

[0035] A plurality of third bearing shafts are arranged in the assembly window, both ends of any third bearing shaft are fixedly connected to the bearing frame, any third bearing shaft is arranged along the width direction of the bearing frame, and a plurality of third bearing shafts are sequentially arranged in parallel along the height direction of the bearing frame;

[0036] A plurality of second shaft sleeves are rotatably sleeved on a plurality of third assembly shafts respectively.

[0037] Furthermore, a camera is provided on the carrying frame for collecting image information of the goods, and a controller is provided on the transporting robotic arm, and the controller is electrically connected to the camera.

[0038] The dynamic grasping robot arm based on trajectory prediction according to the embodiment of the present invention has the following beneficial effects:

[0039] 1. The device is configured to rotate and set a plurality of first bearing rods and a plurality of second bearing rods on a pair of first shaft sleeves respectively, and limit the first bearing rods and the second bearing rods to be able to flip only toward the upper side of the inner cavity of the bearing frame. However, the target goods can smoothly pass through the gap between the pair of first shaft sleeves and enter the inner cavity of the bearing frame from bottom to top, and by setting a picking module, the linear module can be used to drive the blocking rod to push the target goods to dump to the upper side of the first bearing rod and the second bearing rod. In this process, a portion of the first bearing rod and the second bearing rod lifted by the target goods play a limiting role on the target goods, so as to enhance the stability of the device in the process of picking up the target goods. Secondly, in the process of suspending the target goods by the device, the first bearing rod and the second bearing rod play a supporting role on the target goods, which solves the problem in the prior art that the bottom port of the carton is easily loosened and opened, and the goods fall to the outside of the carton due to the use of a suction and fixing scheme for suspending the target goods.

[0040] 2. The device sets a pair of second bearing shafts and a plurality of leaf springs in parallel on the upper side of the supporting module, and connects the two ends of one of the second bearing shafts to a pair of sliders respectively, so that when a pair of linear modules drives a pair of sliders to move toward the tail end of the bearing frame, the pair of second bearing shafts move toward each other, and the deformation degree of the plurality of leaf springs increases accordingly. The part of the leaf springs corresponding to the position of the target cargo presses the target cargo, and the remaining leaf springs that do not correspond to the position of the target cargo limit the target cargo, thereby enhancing the stability of the device during the suspended transportation of the cargo.

[0041] 3. The device alternately arranges a plurality of first load-bearing bars and a plurality of second load-bearing bars so that sufficient space is retained between any adjacent first load-bearing bars or second load-bearing bars, thereby making the device have stronger cargo handling stability when carrying target cargo with a relatively soft texture.

[0042] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is an assembly schematic diagram according to an embodiment of the present invention;

[0044] Figure 2 It is a schematic diagram of the assembly of a picking robot according to an embodiment of the present invention;

[0045] Figure 3 is a structural exploded view of a picking robot according to an embodiment of the present invention;

[0046] Figure 4 for Figure 3 A partial enlarged schematic diagram of the middle A area;

[0047] Figure 5 for Figure 3 A partial enlarged schematic diagram of area B in the middle.

[0048] Description of the accompanying drawings:

[0049] 1-carrying robot arm, 2-picking robot arm, 21-carrying frame, 22-supporting module, 221-guide shaft, 222-first bushing, 223-reset spring, 2241-first assembly groove, 2242-first bearing rod, 2251-second assembly groove, 2252-second bearing rod, 226-bearing angle, 23-picking module, 231-linear module, 232-slider, 233-first bearing shaft, 234-blocking rod, 235-second bearing shaft, 236-leaf spring, 24-third bearing shaft, 25-second bushing, 26-controller. DETAILED DESCRIPTION

[0050] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further illustrate the present invention.

[0051] The above and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front or back, etc., are only reference directions of the accompanying drawings. Therefore, the directional terms used are used to illustrate and not to limit the present invention. In addition, in all embodiments, the same reference numerals represent the same elements.

[0052] First, combine Figures 1 to 5 A dynamic grasping robot arm based on trajectory prediction according to an embodiment of the present invention is described, which is used for logistics transportation and has a wide range of application scenarios.

[0053] like Figure 1 , 2 As shown, the dynamic grasping robot arm based on trajectory prediction of an embodiment of the present invention includes: a carrying robot arm 1 and a picking robot arm 2. The picking robot arm 2 is arranged at the execution end of the carrying robot arm 1 and is used to grasp the goods. It is characterized in that the picking robot arm 2 includes: a carrying frame 21, a picking module 23 and a supporting module 22.

[0054] Specifically, Figure 1 , 2 As shown, the carrying frame 21 is fixedly connected to the execution end of the carrying robot arm 1; the supporting module 22 is arranged on the carrying frame 21 for carrying goods; and the picking module 23 is arranged on the carrying frame 21 for grabbing goods.

[0055] Further, if Figures 1 to 3As shown, the supporting module 22 includes: a pair of guide shafts 221, a pair of first shaft sleeves 222, a pair of return springs 223, a plurality of first bearing components and a plurality of second bearing components; the pair of guide shafts 221 are arranged at the bottom of the inner cavity of the bearing frame 21, the tail end of any guide shaft 221 is fixedly connected to the tail end of the bearing frame 21, any guide shaft 221 is arranged along the length direction of the bearing frame 21, and the guide shaft 221 is a prism; a pair of first shaft sleeves 222 are respectively movably sleeved on the pair of guide shafts 221, and the first shaft sleeves 222 are axially connected to the guide shafts 221 The guide shaft 221 is slidably connected, and the radial cross-sectional shape of the inner cavity of the first sleeve 222 matches the radial cross-sectional shape of the guide shaft 221; a pair of return springs 223 are respectively sleeved on the pair of guide shafts 221, one end of the return spring 223 is connected to the guide shaft 221, and the other end of the return spring 223 is connected to the first sleeve 222, which is used to drive the first sleeve 222 to reset; a plurality of first bearing assemblies are arranged on one of the first sleeves 222 for carrying goods; a plurality of second bearing assemblies are arranged on the other first sleeve 222 for carrying goods.

[0056] Further, if Figures 2~4 As shown, the first bearing assembly includes: a plurality of first assembly convex grooves 2241, a plurality of first bearing rods 2242 and a plurality of first torsion springs (not shown in the figure); the plurality of first assembly convex grooves 2241 are fixedly arranged on the circumferential side wall of one of the first shaft sleeves 222, any one of the first assembly convex grooves 2241 is the same as the central axis of the first shaft sleeve 222, and the plurality of first assembly convex grooves 2241 are arranged in sequence along the axial direction of the first shaft sleeve 222; the tail ends of the plurality of first bearing rods 2242 are rotatably sleeved on one of the first shaft sleeves 222, and the tail ends of the plurality of first bearing rods 2242 are respectively connected to the plurality of first assembly convex grooves 2 241, the head end of any first load-bearing rod 2242 is movably overlapped on another first sleeve 222, and the head end of the first load-bearing rod 2242 is located between the first sleeve 222 and the load-bearing frame 21; a plurality of first torsion springs are sleeved on one of the first sleeves 222, and the plurality of first torsion springs respectively match the positions of a plurality of first assembly grooves 2241, one end of any first torsion spring is fixedly connected to the tail end of the corresponding first load-bearing rod 2242, and the other end of any first torsion spring is fixedly connected to the inner wall of the corresponding first assembly groove 2241, so as to drive the first load-bearing rod 2242 to flip and reset.

[0057] Further, if Figures 2~4As shown, the second bearing assembly includes: a plurality of second assembly convex grooves 2251, a plurality of second bearing rods 2252 and a plurality of second torsion springs (not shown in the figure); the plurality of second assembly convex grooves 2251 are fixedly arranged on the circumferential side wall of one of the first shaft sleeves 222, any second assembly convex groove 2251 is the same as the central axis of the first shaft sleeve 222, and the plurality of second assembly convex grooves 2251 are arranged in sequence along the axial direction of the first shaft sleeve 222; the tail ends of the plurality of second bearing rods 2252 are rotatably sleeved on one of the first shaft sleeves 222, and the tail ends of the plurality of second bearing rods 2252 are respectively connected to the plurality of second assembly convex grooves 2 251, the head end of any second load-bearing rod 2252 is movably overlapped on another first sleeve 222, and the head end of the second load-bearing rod 2252 is located between the first sleeve 222 and the load-bearing frame 21; a plurality of second torsion springs are sleeved on one of the first sleeves 222, and the plurality of second torsion springs are respectively matched with the positions of a plurality of second assembly grooves 2251, one end of any second torsion spring is fixedly connected to the tail end of the corresponding second load-bearing rod 2252, and the other end of any second torsion spring is fixedly connected to the inner wall of the corresponding second assembly groove 2251, so as to drive the second load-bearing rod 2252 to flip and reset.

[0058] Further, if Figure 2 , 3 As shown in FIG. 5 , a plurality of first bearing rods 2242 of the first bearing assemblies and a plurality of second bearing rods 2252 of the second bearing assemblies are arranged alternately, and any first bearing rod 2242 is located between a pair of adjacent second bearing rods 2252 .

[0059] Further, if Figure 2 , 3 As shown in Figure 5, one of the angles between any adjacent first bearing rod 2242 and second bearing rod 2252 is a bearing angle 226, and the bearing angle 226 faces the top of the inner cavity of the bearing frame 21. The angle of the bearing angle 226 is less than 180°, so that a V-shaped cavity space is formed on the upper side of the first bearing rod 2242 and the second bearing rod 2252, which has a certain guiding effect on the goods carried by the first bearing rod 2242 and the second bearing rod 2252. When the goods carried by the first bearing rod 2242 and the second bearing rod 2252 are subjected to a vertical downward force, the goods can move toward the middle position of a pair of first shaft sleeves 222.

[0060] Further, if Figures 1 to 3As shown, the picking module 23 includes: a pair of linear modules 231, a pair of sliders 232, a first bearing shaft 233, a plurality of blocking rods 234 and a plurality of third torsion springs (not shown in the figure); the pair of linear modules 231 are fixedly arranged on the top of the bearing frame 21, any one of the linear modules 231 is arranged along the length direction of the bearing frame 21, and the pair of linear modules 231 are arranged in parallel; the pair of sliders 232 are respectively fixedly arranged at the execution ends of the pair of linear modules 231; the first bearing shaft 233 is arranged between the pair of sliders 232, and the first bearing shaft 233 The two ends are respectively fixedly connected to a pair of sliders 232; the top ends of several blocking rods 234 are rotatably connected to the first bearing shaft 233, and the several blocking rods 234 are arranged in sequence along the axial direction of the first bearing shaft 233, and the bottom end of any blocking rod 234 is vertical to the bottom of the bearing frame 21; several third torsion springs are respectively arranged at the rotation connection between the several blocking rods 234 and the first bearing shaft 233, one end of the third torsion spring is fixedly connected to the first bearing shaft 233, and the other end of the third torsion spring is fixedly connected to the blocking rod 234, which is used to drive the blocking rod 234 to flip and reset.

[0061] Further, if Figures 1 to 3 As shown, the picking module 23 also includes: a pair of second bearing shafts 235 and a plurality of leaf springs 236; the two ends of one of the second bearing shafts 235 are respectively fixedly connected to a pair of sliders 232, and the other second bearing shaft 235 is arranged at the top of the inner cavity of the bearing frame 21, and the two ends of the other second bearing shaft 235 are fixedly connected to the bearing frame 21, and the pair of second bearing shafts 235 are arranged in parallel; the two ends of any leaf spring 236 are respectively rotatably connected to a pair of second bearing shafts 235, and the plurality of leaf springs 236 are arranged in parallel.

[0062] Further, if Figures 1 to 3 As shown, the picking robot 2 further comprises: an assembly window (not shown in the figure), a plurality of third bearing shafts 24 and a plurality of second shaft sleeves 25; the assembly window is arranged at the rear end of the bearing frame 21, and the assembly window is communicated with the inner cavity of the bearing frame 21; a plurality of third bearing shafts 24 are arranged in the assembly window, both ends of any third bearing shaft 24 are fixedly connected to the bearing frame 21, any third bearing shaft 24 is arranged along the width direction of the bearing frame 21, and a plurality of third bearing shafts 24 are sequentially arranged in parallel along the height direction of the bearing frame 21; A plurality of second sleeves 25 are rotatably sleeved on a plurality of third assembly shafts respectively; the device sets an assembly window, a plurality of third bearing shafts 24 and a plurality of second sleeves 25 at the rear end of the bearing frame 21, so that when the picking robot 2 grabs target goods with irregular shapes, soft textures and large volumes, the target goods are pressed by the blocking rod 234 toward the plurality of second sleeves 25, and after the target goods come into contact with the second sleeves 25, they are guided upward by the plurality of second sleeves 25 to make full use of the inner space of the bearing ore body.

[0063] Further, if Figure 1 , 2 As shown, a camera (not shown in the figure) is provided on the supporting frame 21 for collecting image information of the goods, and a controller 26 is provided on the carrying robot arm 1. The controller 26 is electrically connected to the camera so that the controller 26 can predict the trajectory of the target goods according to the image information of the target goods transported by the conveyor belt collected by the camera, and then control the carrying robot arm 1 and the picking robot 2 to grab the target goods.

[0064] When the equipment is running, the carrying robot arm 1 drives the picking robot 2 to move to the upper side of the conveyor belt, so that the picking robot 2 is above the target goods to be grabbed, and the head end of the carrying frame 21 points in the same direction as the transmission direction of the conveyor belt; then, the carrying robot arm 1 drives the picking robot 2 to descend, so that the target goods pass through the gap between the pair of guide shafts 221 and enter the cavity between the plurality of blocking rods 234 and the carrying frame 21. In this process, a part of the first bearing rod 2242 and a part of the second bearing rod 2252 near the head end of the carrying frame 21 are pushed upward by the target goods to a certain angle until they are sleeved on the pair of guide shafts. The pair of first shaft sleeves 222 on 221 abut against the upper surface of the transmission belt of the conveyor belt, and the picking robot 2 stops descending; after the target goods enter the cavity between the plurality of blocking rods 234 and the supporting frame 21, as the conveyor belt is further conveyed, the target goods are driven by the conveyor belt to continue to move toward the plurality of blocking rods 234, thereby driving some of the blocking rods 234 to flip a certain angle toward the head end of the supporting frame 21. At the same time, as the conveyor belt is further conveyed, the transmission belt of the conveyor belt drives the pair of first shaft sleeves 222 movably sleeved on the pair of guide shafts 221 to extend toward the blocking rod 234, thereby The plurality of first bearing rods 2242 and the plurality of second bearing rods 2252 arranged on the pair of first shaft sleeves 222 are driven to move synchronously toward the plurality of blocking rods 234 following the target goods; as the turning angle of the blocking rod 234 pushed by the target goods to turn toward the head end direction of the carrying frame 21 increases, the target goods gradually tilt toward the tail end direction of the carrying frame 21 to the upper side of the first bearing rod 2242 and the second bearing rod 2252 located between the target goods and the plurality of second shaft sleeves 25; thereafter, the pair of linear modules 231 drives the pair of sliders 232 to move a certain distance toward the tail end direction of the carrying frame 21, and a driving The first bearing shaft 233 and the plurality of blocking rods 234 disposed on the pair of sliders 232 are displaced a certain distance toward the plurality of second shaft sleeves 25, and the blocking rods 234 are used to push the target goods to slide a certain distance toward the plurality of second shaft sleeves 25, so that the second goods are separated from the upper surface of the transmission belt. At the same time, the carrying robot arm 1 drives the picking robot arm 2 to rise, and the target goods are carried in mid-air. After the bottom of the pair of first shaft sleeves 222 is separated from the upper surface of the transmission belt, the pair of first shaft sleeves 222 are retracted and reset under the elastic force of the reset spring 223, thereby driving the target goods to further move toward the plurality of second shaft sleeves 25.As the pair of linear modules 231 drive the pair of sliders 232 to move toward the tail end direction of the carrying frame 21, the pair of second bearing shafts 235 approach each other, and the plurality of leaf springs 236 disposed on the pair of second bearing shafts 235 also undergo elastic deformation, so that the terminal ends of the leaf springs 236 protrude toward the bottom of the inner cavity of the carrying frame 21, the purpose of which is to press the target goods against the upper side of the first bearing rod 2242 and the second bearing rod 2252, and as the deformation degree of the plurality of leaf springs 236 gradually increases, a portion of the leaf springs 236 corresponding to the position of the target goods abuts against the target goods to press and fix the target goods against the upper side of the first bearing rod 2242 and the second bearing rod 2252, and the middle sections of the remaining plurality of leaf springs 236 corresponding to the position of the target goods continue to protrude downward to achieve the purpose of limiting the target goods, thereby enhancing the stability of the device in the process of transporting the target goods. ;

[0065] After the target cargo is transported to the predetermined position, the transport robot arm 1 controls the robot arm to flip to a certain angle, so that a plurality of second sleeves 25 are located above a plurality of blocking rods 234, and then a pair of linear modules 231 drives a pair of sliders 232 to synchronously move toward the head end direction of the supporting frame 21, thereby driving the first supporting shaft 233 and a plurality of blocking rods 234 arranged on the pair of sliders 232 to move toward the head end direction of the supporting frame 21. During this process, the pair of second supporting shafts 235 move away from each other, and the leaf springs 236 arranged on the pair of second supporting shafts 235 exert a smaller force on the target cargo, and the target cargo slides to the predetermined position under the influence of gravity.

[0066] Above, refer to Figures 1 to 5 The present invention describes a dynamic grasping robot arm based on trajectory prediction according to an embodiment of the present invention, which has the following beneficial effects:

[0067] 1. The device is configured to rotate and set a plurality of first bearing rods and a plurality of second bearing rods on a pair of first shaft sleeves respectively, and limit the first bearing rods and the second bearing rods to be able to flip only toward the upper side of the inner cavity of the bearing frame. However, the target goods can smoothly pass through the gap between the pair of first shaft sleeves and enter the inner cavity of the bearing frame from bottom to top, and by setting a picking module, the linear module can be used to drive the blocking rod to push the target goods to dump to the upper side of the first bearing rod and the second bearing rod. In this process, a portion of the first bearing rod and the second bearing rod lifted by the target goods play a limiting role on the target goods, so as to enhance the stability of the device in the process of picking up the target goods. Secondly, in the process of suspending the target goods by the device, the first bearing rod and the second bearing rod play a supporting role on the target goods, which solves the problem in the prior art that the bottom port of the carton is easily loosened and opened, and the goods fall to the outside of the carton due to the use of a suction and fixing scheme for suspending the target goods.

[0068] 2. The device sets a pair of second bearing shafts and a plurality of leaf springs in parallel on the upper side of the supporting module, and connects the two ends of one of the second bearing shafts to a pair of sliders respectively, so that when a pair of linear modules drives a pair of sliders to move toward the tail end of the bearing frame, the pair of second bearing shafts move toward each other, and the deformation degree of the plurality of leaf springs increases accordingly. The part of the leaf springs corresponding to the position of the target cargo presses the target cargo, and the remaining leaf springs that do not correspond to the position of the target cargo limit the target cargo, thereby enhancing the stability of the device during the suspended transportation of the cargo.

[0069] 3. The device alternately arranges a plurality of first load-bearing bars and a plurality of second load-bearing bars so that sufficient space is retained between any adjacent first load-bearing bars or second load-bearing bars, thereby making the device have stronger cargo handling stability when carrying target cargo with a relatively soft texture.

[0070] It should be noted that, in this specification, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0071] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A dynamic grabbing robot arm based on trajectory prediction, comprising: a carrying robot arm and a picking robot arm, wherein the picking robot arm is arranged at the execution end of the carrying robot arm and is used to grab goods, characterized in that: The picking robot comprises: a carrying frame, a picking module and a supporting module; The carrying frame is fixedly connected to the execution end of the carrying mechanical arm; The supporting module is arranged on the carrying frame and is used to carry the goods; The picking module is arranged on the carrying frame and is used to grab the goods; The supporting module comprises: a pair of guide shafts, a pair of first sleeves, a pair of return springs, a plurality of first bearing components and a plurality of second bearing components; The pair of guide shafts are arranged at the bottom of the inner cavity of the carrying frame, the tail end of any one of the guide shafts is fixedly connected to the tail end of the carrying frame, any one of the guide shafts is arranged along the length direction of the carrying frame, and the guide shaft is a prism; The pair of first sleeves are movably sleeved on the pair of guide shafts respectively, the first sleeves are slidably connected with the guide shafts along the axial direction of the guide shafts, and the radial cross-sectional shape of the inner cavity of the first sleeves matches the radial cross-sectional shape of the guide shafts; The pair of return springs are respectively sleeved on the pair of guide shafts, one end of the return spring is connected to the guide shaft, and the other end of the return spring is connected to the first sleeve, for driving the first sleeve to return; The plurality of first bearing assemblies are arranged on one of the first shaft sleeves, and are used to bear the cargo; The plurality of second bearing assemblies are arranged on another of the first shaft sleeves, and are used to bear the cargo; The first bearing assembly comprises: a plurality of first assembly protrusions, a plurality of first bearing rods and a plurality of first torsion springs; The plurality of first assembly convex grooves are fixedly arranged on the circumferential side wall of one of the first sleeves, any one of the first assembly convex grooves is identical to the central axis of the first sleeve, and the plurality of first assembly convex grooves are sequentially arranged along the axial direction of the first sleeve; The tail ends of the plurality of first bearing rods are rotatably sleeved on one of the first shaft sleeves, the tail ends of the plurality of first bearing rods are respectively matched with the positions of the plurality of first assembly convex grooves, the head end of any first bearing rod is movably overlapped on another first shaft sleeve, and the head end of the first bearing rod is located between the first shaft sleeve and the bearing frame; The plurality of first torsion springs are sleeved on one of the first shaft sleeves, the plurality of first torsion springs are respectively matched with the positions of the plurality of first assembly convex grooves, one end of any one of the first torsion springs is fixedly connected to the tail end of the corresponding first bearing rod, and the other end of any one of the first torsion springs is fixedly connected to the inner wall of the corresponding first assembly convex groove, so as to drive the first bearing rod to flip and reset; The second bearing assembly comprises: a plurality of second assembly protrusions, a plurality of second bearing rods and a plurality of second torsion springs; The plurality of second assembly convex grooves are fixedly arranged on the circumferential side wall of one of the first sleeves, any one of the second assembly convex grooves is aligned with the central axis of the first sleeve, and the plurality of second assembly convex grooves are sequentially arranged along the axial direction of the first sleeve; The tail ends of the plurality of second bearing rods are rotatably sleeved on one of the first shaft sleeves, the tail ends of the plurality of second bearing rods are respectively matched with the positions of the plurality of second assembly convex grooves, the head end of any second bearing rod is movably overlapped on another first shaft sleeve, and the head end of the second bearing rod is located between the first shaft sleeve and the bearing frame; The plurality of second torsion springs are sleeved on one of the first shaft sleeves, the plurality of second torsion springs are respectively matched with the positions of the plurality of second assembly convex grooves, one end of any second torsion spring is fixedly connected to the tail end of the corresponding second bearing rod, and the other end of any second torsion spring is fixedly connected to the inner wall of the corresponding second assembly convex groove, so as to drive the second bearing rod to flip and reset; The pickup module comprises: a pair of linear modules, a pair of slide blocks, a first bearing shaft, a plurality of blocking rods and a plurality of third torsion springs; The pair of linear modules are fixedly arranged on the top of the supporting frame, any one of the linear modules is arranged along the length direction of the supporting frame, and the pair of linear modules are arranged in parallel; The pair of slide blocks are respectively fixedly arranged at the execution ends of the pair of linear modules; The first bearing shaft is disposed between the pair of sliders, and both ends of the first bearing shaft are fixedly connected to the pair of sliders respectively; The top ends of the plurality of baffles are rotatably connected to the first bearing shaft, the plurality of baffles are sequentially arranged along the axial direction of the first bearing shaft, and the bottom end of any of the baffles is vertical to the bottom of the bearing frame; The plurality of third torsion springs are respectively arranged at the rotational connection between the plurality of baffle rods and the first bearing shaft, one end of the third torsion spring is fixedly connected to the first bearing shaft, and the other end of the third torsion spring is fixedly connected to the baffle rod, for driving the baffle rod to flip and reset; The pickup module further comprises: a pair of second bearing shafts and a plurality of leaf springs; Two ends of one of the second bearing shafts are respectively fixedly connected to the pair of sliders, another second bearing shaft is arranged at the top of the inner cavity of the bearing frame, and two ends of another second bearing shaft are fixedly connected to the bearing frame, and the pair of second bearing shafts are arranged in parallel; Both ends of any one of the leaf springs are rotatably connected to the pair of second bearing shafts respectively, and the plurality of leaf springs are arranged in parallel.

2. The dynamic grasping robot arm based on trajectory prediction as claimed in claim 1, characterized in that: The first bearing bars of the plurality of first bearing assemblies and the second bearing bars of the plurality of second bearing assemblies are arranged alternately, and any one of the first bearing bars is located between a pair of adjacent second bearing bars.

3. The dynamic grasping robot arm based on trajectory prediction as claimed in claim 2, characterized in that: One of the angles between any adjacent first bearing rods and the second bearing rods is a bearing angle, the bearing angle faces the top of the inner cavity of the bearing frame, and the angle of the bearing angle is less than 180°.

4. The dynamic grasping robot arm based on trajectory prediction as claimed in claim 3, characterized in that: The picking robot also includes: an assembly window, a plurality of third bearing shafts and a plurality of second shaft sleeves; The assembly window is arranged at the rear end of the carrying frame, and the assembly window is communicated with the inner cavity of the carrying frame; The plurality of third bearing shafts are arranged in the assembly window, both ends of any one of the third bearing shafts are fixedly connected to the bearing frame, any one of the third bearing shafts is arranged along the width direction of the bearing frame, and the plurality of third bearing shafts are sequentially arranged in parallel along the height direction of the bearing frame; The plurality of second shaft sleeves are rotatably sleeved on the plurality of third assembly shafts respectively.

5. The dynamic grasping robot arm based on trajectory prediction as claimed in claim 1, characterized in that: The carrying frame is provided with a camera for collecting image information of the goods, and the transporting mechanical arm is provided with a controller, which is electrically connected to the camera.

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