A mechanical arm gripper, a robot and a method for grabbing a storage frame

Abstract

The embodiment of the present application provides a robotic arm gripper, a robot and a method for grasping a storage frame, the robotic arm gripper includes a mounting frame, a first clamp and a second clamp, a second clamp driving device and a first sliding assembly; the first connecting frame of the first clamp is connected to the mounting frame; the first clamping member is slidably connected to the first connecting frame, and the first clamping driving device drives the first clamping member to slide along the second direction; the second connecting frame of the second clamp is slidably connected to the mounting frame; the second clamping member is slidably connected to the second connecting frame, and the second clamping member can move along the second direction; the first clamp and the second clamp can approach or move away from each other; the first clamping part and the second clamping part can respectively extend into the hollow holes in the two side surfaces of the storage frame, so that the storage frame is overlapped with the first clamping part and the second clamping part; the first claw can move along the second direction so that the first claw and the first clamping part clamp the top edge of the storage frame.

Description

Technical Field

[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a robotic arm gripper, a robot, and a method for gripping a storage frame. Background Art

[0002] In the unloading process of goods in the fields of production, warehousing and logistics, it has become a development trend to use automatic loading and unloading robots to replace manual labor. Goods often need to be stored in storage boxes. Automatic loading and unloading robots use mechanical arm grippers to grab and transfer storage boxes by sucking the sides or tops of the storage boxes or forking the bottoms of the storage boxes.

[0003] However, some storage frames have grooves, holes and other structures on the sides and no cover on the top, so the storage frames cannot be sucked up by the suction cup; and when multiple storage boxes are stacked together, the upper and lower adjacent storage frames are tightly connected, so it is also impossible to grab them by forking from the bottom of the storage frame; for this type of storage frame, it can only be grabbed and carried manually, resulting in reduced production efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a mechanical arm gripper, a robot, and a method for grabbing a storage frame, which can grab a storage frame with a perforated structure through the mechanical arm gripper, thereby improving production efficiency. The specific technical solution is as follows:

[0005] An embodiment of the first aspect of the present application provides a robotic arm gripper, comprising: a mounting frame, a first sliding component, a first clamp, a second clamp, and a second clamp driving device; the first clamp is arranged on the mounting frame, comprising a first clamping piece, a first clamping driving device, a first claw and a third driving device, the first clamping piece has a first clamping portion, and the first clamping driving device is used to drive the first clamping piece to slide along the second direction; the third driving device is used to drive the first claw so that the first claw and the first clamping portion clamp the top edge of the first side of the storage frame; the second clamp is slidably connected to the mounting frame through the first sliding component, comprising a second clamping piece and a second clamping driving device; the second clamping piece has a second clamping portion, and the second clamping driving device is used to drive the second clamping piece to slide along the second direction; the second clamp driving device is used to drive the second clamping piece to move along the first direction.

[0006] In some embodiments, the first clamp includes a first connecting frame and a second sliding assembly, and the second clamp includes a second connecting frame and a third sliding assembly; the first connecting frame is connected to the mounting frame; the first clamp is slidably connected to the first connecting frame through the second sliding assembly; the second connecting frame is slidably connected to the mounting frame through the first sliding assembly; and the second clamp is slidably connected to the second connecting frame through the third sliding assembly.

[0007] In some embodiments, the first clamp includes a first connecting plate and a second connecting plate that are perpendicular to each other, and the first connecting plate is connected to the output shaft of the third driving device; when the first clamp clamps the storage frame, the lower surface of the first connecting plate can abut against the upper surface of the top edge, and the second connecting plate is located on the inner side of the top edge.

[0008] In some embodiments, the first fixture further comprises a guide assembly, wherein the guide assembly comprises a guide member and a guide mating member;

[0009] The guide fitting is provided with a guide groove along the second direction, and the guide fitting is fixedly connected to the first connecting frame;

[0010] The guide member is connected to the first claw, and at least a portion of the guide member is disposed in the guide groove and can slide along the guide groove.

[0011] In some embodiments, the first clamping member further comprises a first sliding frame, the first sliding frame is slidably connected to the first connecting frame via the second sliding assembly, and the first clamping portion is disposed at the bottom of the inner side of the first sliding frame;

[0012] The second clamping member further includes a second sliding frame, the second sliding frame is slidably connected to the second connecting frame through the third sliding assembly, and the second clamping portion is arranged at the bottom of the inner side of the second sliding frame.

[0013] In some embodiments, the first clamping portion includes a first mounting plate and at least one first support block, the first mounting plate is fixedly connected to the first sliding frame, and the first support block is fixedly connected to a side of the first mounting plate away from the first sliding frame;

[0014] The second clamping portion includes at least one second supporting block, and the second supporting block is fixedly connected to a side of the second sliding frame close to the first clamp.

[0015] In some embodiments, the first sliding assembly includes a first sliding rail and a plurality of second sub-sliders;

[0016] The first slide rail is arranged on the mounting frame along the first direction; the second sub-slider is slidably connected to the first slide rail;

[0017] The second sub-slider is fixedly connected to the second connecting frame.

[0018] In some embodiments, the gripper further includes a visual recognition device, and the visual recognition device is disposed on a side of the mounting frame.

[0019] An embodiment of the second aspect of the present application provides a robot comprising the gripper described above.

[0020] The embodiment of the third aspect of the present application provides a method for grabbing a storage frame, comprising:

[0021] The visual recognition device recognizes the position information of the storage frame stack, the size information, the position information and the quantity information of the storage frame group to be grasped, and transmits them to the controller.

[0022] The controller controls the robot arm to drive the robot arm gripper to approach the storage frame to be grasped in the palletizing pile, and makes the robot arm gripper be located above the storage frame.

[0023] The angle of the robot arm is adjusted so that the first clamping portion of the first clamp and the second clamping portion of the second clamp are parallel to the first top edge and the second top edge of the storage frame respectively; the first top edge and the second top edge are opposite to each other along a first direction.

[0024] Under the action of the mechanical arm and the first clamping driving device, the first clamping portion of the first clamping member extends into the hollow hole of the first side of the storage frame, and the first clamping portion abuts against the first surface of the first top edge of the storage frame.

[0025] Driven by the third driving device, the first claw moves in a direction close to the first top edge until the first claw abuts against the second surface of the first top edge of the storage frame, so that the first claw and the first clamping portion clamp the storage frame.

[0026] The robot arm gripper is adjusted so that the first clamping claw and the first clamping portion drive the storage frame away from the stacking pile, so that the storage frame to be grasped has grasping space with other storage frames.

[0027] Driven by the second clamp driving device and the second clamp driving device, the second clamping portion of the second clamping member extends into the hollow hole of the second side of the storage frame so that the second clamping portion can abut against the lower surface of the second top edge.

[0028] Beneficial effects of the embodiments of the present application:

[0029] In the embodiment of the present application, when it is necessary to grab the storage frame, under the action of the robotic arm and the first clamping drive device, the first clamping piece in the first clamp is first extended, so that the first clamping portion in the first clamping piece extends into the hollow hole on one side of the storage frame; under the drive of the third drive device, the first claw is extended, so that the first claw and the first clamping portion clamp the top edge of the upper part of the hollow hole, and the robotic arm is controlled to move to move the storage frame to a position away from the stacking pile, thereby separating the storage frame to be grabbed from other storage frames and leaving clamping space; under the drive of the second clamping drive device and the second clamp drive device, the second clamping portion of the second clamping piece extends into the hollow hole on the other side of the storage frame, so that the second clamping portion can abut against the lower surface of the top edge corresponding to the hollow hole on the other side, thereby realizing the grasping of the storage frame with the hollow hole, which is convenient for the subsequent transfer of the storage frame. Since no manpower is required, costs can be saved and work efficiency can be improved.

[0030] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0032] Figure 1 A schematic diagram of one of the viewing angles of a robotic arm gripper provided in an embodiment of the present application;

[0033] Figure 2 for Figure 1 A schematic diagram of the connection between the second clamp, the second clamp driving device and the first sliding assembly in the gripper of the robot arm shown;

[0034] Figure 3 for Figure 1 A schematic diagram of the connection between the first clamp, the first clamp driving device and the first sliding assembly in the gripper of the robot arm shown;

[0035] Figure 4 for Figure 1 A schematic diagram of the robotic arm gripper from another angle is shown;

[0036] Figure 5 for Figure 1 A schematic diagram of the robotic arm gripper at another angle is shown;

[0037] Figure 6 for Figure 1 A schematic diagram of the cooperation between the first fixture and the storage frame in the gripper of the robot arm is shown;

[0038] Figure 7 A schematic diagram of a first sub-chute in a gripper of a robotic arm provided in an embodiment of the present application;

[0039] Figure 8 A schematic diagram of a robot provided in an embodiment of the present application in a carriage;

[0040] Fig. 9 A schematic diagram of a robot provided in an embodiment of the present application driving a mechanical arm gripper to prepare to grab a storage frame;

[0041] Fig.10 A schematic diagram of a robot provided in an embodiment of the present application driving a mechanical arm gripper to extend a first clamping member;

[0042] Fig.11 A schematic diagram of a robot provided in an embodiment of the present application driving a mechanical arm gripper to drag a storage frame out of a stack through a first clamp;

[0043] Fig.12 A schematic diagram of a robot provided in an embodiment of the present application driving a first clamp and a second clamp of a mechanical arm gripper to jointly clamp a storage frame;

[0044] Fig.13 A schematic diagram of a robot provided in an embodiment of the present application driving a mechanical arm gripper to place a storage frame at an output station;

[0045] Fig.14 A schematic diagram of a robot provided in an embodiment of the present application driving a mechanical arm gripper to extend a first clamping member when gripping a plurality of storage frames;

[0046] Fig.15 A schematic diagram of a robot provided in an embodiment of the present application driving a mechanical arm gripper to drag a plurality of storage frames out of a stack through a first clamp;

[0047] Fig.16 A schematic diagram of a robot provided in an embodiment of the present application driving a first clamp and a second clamp of a mechanical arm gripper to jointly clamp a plurality of storage frames;

[0048] Fig.17 A schematic diagram of a robot provided in an embodiment of the present application driving a mechanical arm gripper to place multiple storage frames at an output station;

[0049] Fig.18 This is a schematic diagram of the control terminal planning storage frame grouping in an embodiment of the present application.

[0050] Reference numerals:

[0051] Robotic arm gripper 1;

[0052] Mounting frame 10; supporting cross beam 11; supporting longitudinal beam 12; second connecting portion 13; second connecting hole 131; first mounting beam 14;

[0053] The first clamp 20; the first connecting frame 21; the first side wall 211; the first top wall 212; the second mounting plate 213; the first clamping member 22; the first clamping portion 221; the first mounting plate 2211; the first support block 2212; the first sliding frame 222; the first crossbeam 2221; the first longitudinal beam 2222; the second sliding assembly 23; the second slide rail 231; the second slider 232; the first clamping drive device 24; the third motor 241; the third gear 242; the third rack 243; the first claw 25; the first connecting plate 251; the first connecting portion 2511; the first connecting hole 2512; the second connecting plate 252; the third drive device 26; the guide assembly 27; the guide member 271; the guide matching member 272;

[0054] second clamp 30; second connecting frame 31; second side wall 311; second top wall 312; second clamping member 32; second clamping portion 321; second support block 3211; second sliding frame 322; second sliding connecting plate 3221; second longitudinal beam 3222; third sliding assembly 33; third slide rail 331; third slide block 332; second clamping driving device 34; fourth motor 341; fourth gear 342; fourth rack 343;

[0055] A first clamp driving device 40; a first motor 41; a first gear 42; a first rack 43;

[0056] A second fixture driving device 50; a second motor 51; a second gear 52; a second rack 53;

[0057] The first sliding assembly 60; the first sliding rail 61; the first sub-sliding block 62; the first sub-sliding groove 621; the second sub-sliding block 63;

[0058] Visual recognition device 70;

[0059] Storage frame 80; perforations 81; top edge 82;

[0060] Robot 2; robotic arm 201; walking chassis 202; output station 203;

[0061] The first direction is X; the second direction is Y; the third direction is Z. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0063] In the prior art, in the field of warehousing and logistics, in addition to cartons and bags, there is also a storage box for packaging goods. The structural characteristics of the storage box bring great challenges to how the unloading robot can automatically grasp and unload the truck.

[0064] First, the side surface of the storage frame has grooves, holes and other structures, and there is no cover on the upper surface, so it cannot be sucked up with a suction cup; secondly, a card slot structure is generally designed at the bottom of the storage frame, that is, when the storage frames are stacked up and down, the lower edge contour of the upper storage frame can be stuck in the upper edge card slot of the lower storage frame to increase the stability of the storage frame during cargo transportation; in addition, when the storage frames are loaded in the carriage, they will be stacked close to each other for the sake of carriage space utilization and transportation stability.

[0065] For individual, unstacking storage baskets, a clamp can be used to clamp the storage frame from both sides, but the storage frames in the carriage are often placed tightly together, and the above method cannot clamp and grab the storage frames.

[0066] The first aspect of the present application provides a mechanical arm gripper, such as Figure 1 and Figure 2 As shown, the robot gripper includes: a mounting frame 10; a first clamp 20, a second clamp 30, a second clamp driving device 50 and a first sliding assembly 60; Figure 1 and Figure 3 , Figure 5 As shown, the first clamp 20 is arranged on the mounting frame 10, and the first clamp 20 includes a first clamping member 22, a first clamping driving device 24, a first claw 25 and a third driving device 26; the first clamping member 22 has a first clamping portion 221, and the first clamping driving device 24 is used to drive the first clamping member 22 to slide back and forth along the second direction Y; Figure 1 and Figure 2 As shown, the second clamp 30 is slidably connected to the mounting frame 10 through the first sliding assembly 60, and the second clamp 30 includes a second clamping member 32 and a second clamping driving device 34. The second clamping member 32 has a second clamping portion 321, and the second clamping driving device 34 is used to drive the second clamping member 32 to slide back and forth along the second direction Y; Figure 2 and Figure 3As shown, the second clamp driving device 50 is used to drive the second clamping member 32 to move along the first direction X. The first clamping member 22 and the second clamping member 32 respectively have a first clamping portion 221 and a second clamping portion 321. Figure 6 As shown, the first clamping portion 221 and the second clamping portion 321 can extend into the holes 81 in the two opposite side surfaces of the storage frame 80 along the first direction X, so that the storage frame 80 can overlap the upper surfaces of the first clamping portion 221 and the second clamping portion 321; Figure 3 As shown, the third driving device 26 is used to drive the first claw 25 to reciprocate along the second direction Y, so that the first claw 25 and the first clamping portion 221 clamp the top edge 82 of the first side of the storage frame 80. The second direction Y is the height direction of the robot gripper.

[0067] In the embodiment of the present application, when it is necessary to use a robotic arm gripper to grasp the storage frame 80, first, according to the size of the storage frame, the distance between the first clamp 20 and the second clamp 30 is adjusted by the second clamp driving device 50, that is, the distance between the first clamping portion 221 and the second clamping portion 321 along the first direction X is adjusted; under the action of the robotic arm, the first clamping member 22 in the first clamp 20 is first extended, so that the first clamping portion 221 in the first clamping member 22 is close to and extends into the hollow hole 81 on the first side of the storage frame 80, and the top edge 82 corresponding to the upper part of the hollow hole 81 of the storage frame 80 is overlapped with the first clamping portion 221, and under the drive of the third driving device 26, the first claw 25 is extended so that the first claw 25 is close to the top edge 82, so that the first claw 25 and the first clamping portion 221 clamp the top edge of the upper part of the perforation 81 together, and control the movement of the robotic arm to move the storage frame 80 to a position away from the stacking pile, so that the storage frame 80 to be grasped is separated from other storage frames 80, and a clamping space is left; under the drive of the second clamp driving device and the second clamp driving device 34, the second clamping portion 321 of the second clamping member 32 extends into the perforation 81 on the second side of the storage frame 80, and the first side and the second side are opposite to each other along the first direction X, so that the second clamping portion 321 can abut against the lower surface of the top edge corresponding to the perforation 81 on the second side, thereby realizing the grasping of the storage frame 80 with the perforation 81, which is convenient for the subsequent transfer of the storage frame 80. Since no manpower is required, it can save costs and improve work efficiency.

[0068] The robotic arm gripper provided in the embodiment of the present application can grab the storage basket in the cargo compartment and load and unload it. The first clamp 20 and the second clamp 30 can move closer to or farther away from each other along the first direction X to clamp the storage frame or release the storage frame. The first clamp 22 and the second clamp 32 can move back and forth along the second direction Y, respectively, so that the first clamp 221 and the second clamp 321 have multiple degrees of freedom. The storage frame can be grabbed by clamping, pulling, and clamping, and can be flexibly adapted to the size of the storage frame. The robotic arm gripper has a high degree of flexibility and intelligence. In addition, since the first clamp and the second clamp can reciprocate and extend along the second direction Y, the robotic arm gripper can also grab multiple storage frames 80 at one time, which can further improve the efficiency of loading and unloading vehicles.

[0069] It should be noted that the connection between the first clamp 20 and the mounting frame 10 can be a fixed connection or a sliding connection. When the first clamp 20 is fixedly connected to the mounting frame 10, the robotic arm can drive the first clamp 20 to the side of the first side of the storage frame; when the first clamp 20 is slidingly connected to the mounting frame 10, the robotic arm gripper can also include a first clamp driving device 40, and the first clamp driving device 40 is used to drive the first connecting frame 21 to reciprocate along the first direction X. The first connecting frame 21 of the first clamp 20 is slidingly connected to the mounting frame 10 through the first sliding assembly 60.

[0070] It should be noted that the first clamping portion 221 and the second clamping portion 321 of the first clamp 20 and the second clamp 30 form a storage frame holding space. The first clamping portion 221 and the second clamping portion 321 can be designed into a reasonable shape according to the groove structure or perforation of the storage frame, so that the first clamping portion 221 and the second clamping portion 321 can clamp the storage frame.

[0071] It should be noted that the robotic arm gripper provided in the embodiment of the present application can grab one storage frame, or grab multiple stacked storage frames at the same time, depending on different grabbing instructions.

[0072] Specifically, Figure 1 and Figure 3As shown, when the first clamp 20 is slidably connected to the mounting frame 10, the first clamp driving device 40 may include a first driving member and a first transmission member, the first driving member is connected to the first transmission member, the first driving member may be a first motor 41, the first transmission member includes a first gear 42 and a first rack 43 that cooperate with each other, the first gear 42 is connected to the output shaft of the first motor 41, the first rack 43 is fixedly connected to the mounting frame 10 along the first direction X, the first motor 41 is fixedly connected to the first connecting frame 21, the output shaft of the first motor 41 drives the first gear 42 to rotate, the first gear 42 is meshed with the first rack 43, and then the first gear 42 can reciprocate along the first rack 43 to realize the movement of the first connecting frame 21 along the first direction X. It should be noted that the first transmission member can be replaced by other transmission structures, such as a sprocket chain structure, a pulley and a synchronous belt, and other transmission forms.

[0073] More specifically, Figure 1 As shown, the mounting frame 10 further includes a first mounting beam 14 arranged along the first direction X, and the first mounting beam 14 is fixedly connected to the supporting longitudinal beam 12 of the mounting frame 10. The first rack 43 is fixedly connected to the first mounting beam 14, and the connection method can be bonding, welding or threaded connection.

[0074] The same is true for the first fixture driving device, such as Figure 2 As shown, the second clamp driving device 50 may include a second driving member and a second transmission member, the second driving member is connected to the second transmission member, the second driving member may be a second motor 51, the second transmission member includes a second gear 52 and a second rack 53 that cooperate with each other, the second gear 52 is connected to the output shaft of the second motor 51, the second rack 53 is fixedly connected to the mounting frame 10 along the first direction X, the second motor 51 is fixedly connected to the second connecting frame 31, the output shaft of the second motor 51 drives the second gear 52 to rotate, the second gear 52 is meshed with the second rack 53, and then the second gear 52 can reciprocate along the second rack 53 to realize the movement of the second connecting frame 31 along the first direction X.

[0075] Specifically, Figure 3 and Figure 5As shown, the first clamping driving device 24 may include a third driving member and a third transmission member, the third driving member is connected to the third transmission member, the third driving member may be a third motor 241, the third transmission member includes a third gear 242 and a third rack 243 that cooperate with each other, the third gear 242 is connected to the output shaft of the third motor 241, the third rack 243 is fixedly connected to the first clamping member 22 along the second direction Y, the third motor 241 is fixedly connected to the first connecting frame 21, the output shaft of the third motor 241 drives the third gear 242 to rotate, the third gear 242 is meshed with the third rack 243, so that the third rack 243 drives the first clamping member 22 to rotate reciprocatingly along the second direction Y, so as to realize the first clamping member 22 moving relative to the first connecting frame 21 along the second direction Y.

[0076] Similarly, if Figure 1 and Figure 4 As shown, the second clamping drive device 34 may include a fourth drive member and a fourth transmission member, the fourth drive member is connected to the fourth transmission member, the fourth drive member may be a fourth motor 341, the fourth transmission member includes a fourth gear 342 and a fourth rack 343 that cooperate with each other, the fourth gear 342 is connected to the output shaft of the fourth motor 341, the fourth rack 343 is fixedly connected to the second clamping member 32 along the second direction Y, the fourth motor 341 is fixedly connected to the second connecting frame 31, the output shaft of the fourth motor 341 drives the fourth gear 342 to rotate, the fourth gear 342 is meshed with the fourth rack 343, so that the fourth rack 343 drives the second clamping member 32 to rotate back and forth along the second direction Y, so as to realize the second clamping member 32 moving relative to the second connecting frame 31 along the second direction Y.

[0077] In some embodiments of the present application, Figure 1 and Figure 3 , Figure 5 As shown, the first clamp 20 includes a first connecting frame 21 and a second sliding assembly 23, and the second clamp 30 includes a second connecting frame 31 and a third sliding assembly 33; the first connecting frame 21 is connected to the mounting frame 10; the first clamping member 22 is slidably connected to the first connecting frame 21 through the second sliding assembly 23; the second connecting frame 31 is slidably connected to the mounting frame 10 through the first sliding assembly 60; the second clamping member 32 is slidably connected to the second connecting frame 31 through the third sliding assembly 33. The second clamp driving device 50 is used to drive the second connecting frame 31 to reciprocate along the first direction X, so that the first clamp 20 and the second clamp 30 are close to or away from each other along the first direction X; the third driving device 26 is provided on the first connecting frame 21.

[0078] In some embodiments of the present application, Figure 3As shown, the first clamping claw 25 is arranged above the first clamping portion 221. When the first clamp 20 clamps the storage frame 80, the first clamping portion 221 can extend into the hollow hole 81 of the storage frame 80 and overlap with the lower surface of the top edge of the upper part of the hollow hole 81, and the first clamping claw 25 can resist the upper surface of the top edge. In the embodiment of the present application, the first clamping claw 25 is arranged above the first clamping portion 221, so that the structure is more compact, thereby reducing the space occupied by the gripper. By clamping the top edge of the first side of the storage frame together with the first clamping portion 221, the stability of the clamping can be improved.

[0079] In some other embodiments, the first claw 25 can also be arranged below the first clamping portion 221, so that the first clamping portion 221 presses against the upper surface of the top edge of the upper part of the hole 81, and the first claw 25 presses against the lower surface of the top edge, thereby clamping the top edge of the storage frame 80.

[0080] In some embodiments of the present application, Figure 3 As shown, the first claw 25 includes a first connecting plate 251 and a second connecting plate 252 which are perpendicular to each other, and the first connecting plate 251 is connected to the output shaft of the third driving device 26; when the first clamp 20 clamps the storage frame 80, the lower surface of the first connecting plate 251 can abut against the upper surface of the top edge, and the second connecting plate 252 is located on the inner side of the top edge.

[0081] In the embodiment of the present application, the output shaft of the third driving device 26 is fixedly connected to the first connecting plate 251. During the process of the output shaft of the third driving device 26 repeatedly extending and retracting along the second direction Y, the first connecting plate 251 of the first clamping claw 25 can be driven to reciprocate along the second direction Y, thereby realizing the contact or non-contact between the first clamping claw 25 and the storage frame 80. The first clamping portion 221 abuts against the lower surface of the top edge, and the first clamping claw 25 abuts against the surface on the top edge. Through the pressure of the first clamping portion 221 and the first clamping claw 25 on the top edge, the first clamping portion 221 and the first clamping claw 25 can clamp the top edge, so that the robot gripper can only grasp the single top edge of the storage frame 80 through the first clamp 20. Among them, the second connecting plate 252 of the second clamping claw is located on the inner side of the top edge of the storage frame 80, which can reduce the probability of the top edge of the storage frame 80 falling off between the first connecting plate 251 and the first clamping portion 221, thereby improving the reliability of the robot gripper in the embodiment of the present application.

[0082] Specifically, the first connecting plate 251 extends along the third direction Z, and the third direction Z is the extension direction of the clamped top edge of the storage frame 80 .

[0083] More specifically, the number of the second connecting plates 252 can be multiple, for example, Figure 3As shown, there are two second connecting plates 252, which are respectively arranged at two ends of the first connecting plate 251 along the third direction Z. A first connecting portion 2511 is arranged in the middle of the first connecting plate 251, and a first connecting hole 2512 is arranged on the first connecting portion 2511, and the output shaft of the third driving device 26 is fixedly connected to the first connecting hole 2512.

[0084] The third driving device 26 can be a cylinder, an electric cylinder or a hydraulic cylinder, and the output shaft of the third driving device 26 is the telescopic rod of the cylinder. Figure 3 As shown, a second mounting plate 213 is disposed on the first connecting frame 21 . The second mounting plate 213 is perpendicular to the first side wall 211 of the first connecting frame 21 . The bottom end of the cylinder is connected to the second mounting plate 213 .

[0085] In some embodiments of the present application, Figure 1 and Figure 3 As shown, the first clamp 20 also includes a guide assembly 27, which includes a guide member 271 and a guide fitting member 272; the guide fitting member 272 is provided with a guide groove along the second direction Y, and the guide fitting member 272 is fixedly connected to the first connecting frame 21; the guide member 271 is connected to the first claw 25, and the guide member 271 is at least partially arranged in the guide groove, and the guide member 271 can slide along the guide groove.

[0086] In the embodiment of the present application, the guide member 271 is connected to the first claw 25. When the third driving device 26 drives the first claw 25 to reciprocate along the second direction Y, it can drive the guide member 271 to slide in the guide groove of the guide matching member 272. The setting of the guide assembly 27 can guide the reciprocating movement of the first claw 25 along the second direction Y, thereby making the movement of the first claw 25 more stable and precise.

[0087] Specifically, the guide member 271 may be a guide rail or a guide column extending along the second direction Y, and the guide matching member 272 may be a guide block or a mounting column, such as Figure 3 As shown, the guide member 271 is a guide rail, the bottom end of which is fixedly connected to the upper surface of the first connecting plate 251, the side surface of the guide is recessed inward to form a guide groove, and part of the guide rail is located in the guide groove in the guide block.

[0088] In some embodiments of the present application, Figure 4 and Figure 5As shown, the first clamping member 22 also includes a first sliding frame 222, which is slidably connected to the first connecting frame 21 through a second sliding assembly 23, and the first clamping portion 221 is arranged at the bottom of the inner side of the first sliding frame 222; the second clamping member 32 also includes a second sliding frame 322, which is slidably connected to the second connecting frame 31 through a third sliding assembly 33, and the second clamping portion 321 is arranged at the bottom of the inner side of the second sliding frame 322.

[0089] In the present application embodiment, Figure 1 and Figure 4 As shown, the first sliding frame 222 is a frame, and the first sliding frame 222 includes two first longitudinal beams 2222 arranged along the second direction Y, and includes a plurality of first cross beams 2221 arranged at intervals along the second direction Y. The first cross beam 2221 at the bottom is fixedly connected to the first clamping portion 221. The first sliding frame 222 is slidably connected to the first connecting frame 21 through the second sliding assembly 23, so that the first sliding frame 222 can reciprocate along the second direction Y relative to the first connecting frame 21, so that the first sliding frame 222 can be extended or retracted.

[0090] Specifically, Figure 1 As shown, the second sliding assembly 23 may include a second slide rail 231 and a plurality of second sliders 232. The second slider 232 is provided with a second slide groove extending along the second direction Y. The second slide rail 231 is partially located in the second slide groove, and the second slide rail 231 can move along the second direction Y in the second slide groove, and the second slide groove limits the sliding direction of the second slide rail 231; the plurality of second sliders 232 are fixedly connected to the side of the first connecting frame 21 close to the first sliding frame 222, and the second slide rail 231 is fixedly connected to the first longitudinal beam 2222, so that the second slide rail 231 drives the first longitudinal beam 2222 to slide along the second direction Y, thereby realizing that the first sliding frame 222 moves along the second direction Y.

[0091] More specifically, the second slide groove can be a closed slide groove formed by inward depression from the side of the second slider 232. Along the cross section perpendicular to the extension direction of the slide groove, the cross-sectional area of ​​the bottom of the second slide groove is larger than the cross-sectional area of ​​the upper part of the second slide groove. That is to say, from the bottom of the second slide groove to the outside, the size of the second slide groove gradually narrows, or from the inside to the outside of the second slide groove, the size of the second slide groove first expands, then narrows, and then expands. Through the above arrangement, the second slide rail 231 will not be separated from the second slide groove in the direction perpendicular to the extension direction of the second slide groove. When installing the second slide rail 231 and the second slider 232, it is only necessary to insert the second slide rail 231 from one end of the second slide groove, which is convenient for installation.

[0092] The second slide groove can also be a perforated slider arranged inside the second slider 232, that is, the second slider 232 has an inner cavity, the inner cavity forms the second slider 232, and the inner wall of the second slider 232 close to the inner cavity limits the second slide rail 231, so that the second slide rail 231 can only be inserted into or detached from one end of the second slide groove, but cannot detach in other directions.

[0093] The shape of at least a portion of the second slide rail 231 matches the shape of the second slide groove, so that the second slide rail 231 can be confined in the second slide groove.

[0094] like Figure 1 As shown, the second sliding frame 322 may include a second sliding connecting plate 3221 and two second longitudinal beams 3222, the second sliding connecting plate 3221 is used to connect the two second longitudinal beams 3222, and one end of the second longitudinal beam 3222 is connected to the second sliding connecting plate 3221; the third sliding assembly 33 includes at least one third slide rail 331 and at least one third slider 332, the third slider 332 is provided with a third slide groove extending along the second direction Y, the third slide rail 331 is partially located in the third slide groove, and the third slide rail 331 can move along the second direction Y in the third slide groove, and the third slide groove limits the sliding direction of the third slide rail 331; multiple third sliders 332 are fixedly connected to the side of the second connecting frame 31 close to the second sliding frame 322, the third slide rail 331 is fixedly connected to the second longitudinal beam 3222, so that the third slide rail 331 drives the second longitudinal beam 3222 to slide along the second direction Y, thereby realizing that the second sliding frame 322 moves along the second direction Y.

[0095] More specifically, similar to the second slide groove of the second slider 232, the third slide groove can be a closed slide groove formed by inward depression from the side of the third slider 332, and along the cross section perpendicular to the extension direction of the slide groove, the cross-sectional area of ​​the bottom of the third slide groove is greater than the cross-sectional area of ​​the upper part of the third slide groove, that is, from the bottom of the third slide groove to the outside, the size of the third slide groove gradually narrows, or, from the inside to the outside of the third slide groove, the size of the third slide groove first expands, then narrows, and then expands. Through the above arrangement, the third slide rail 331 will not be separated from the third slide groove in the direction perpendicular to the extension direction of the third slide groove. When installing the third slide rail 331 and the third slider 332, it is only necessary to insert the third slide rail 331 from one end of the third slide groove, which is convenient for installation.

[0096] The third slide groove can also be a perforated slider arranged inside the third slider 332, that is, the third slider 332 has an inner cavity, the inner cavity forms the third slider 332, and the inner wall of the third slider 332 close to the inner cavity limits the third slide rail 331, so that the third slide rail 331 can only be inserted into or detached from one end of the third slide groove, but cannot detach in other directions.

[0097] The shape of at least a portion of the third slide rail 331 is adapted to the shape of the third slide groove, so that the third slide rail 331 can be confined in the third slide groove.

[0098] like Figure 1 and Figure 2 As shown, the number of the third slide rails 331 may be two, the number of the third sliding blocks 332 may be four, and each third slide rail 331 corresponds to two third sliding blocks 332 .

[0099] In some embodiments of the present application, Figure 3 As shown, the first clamping portion 221 includes a first mounting plate 2211 and at least one first support block 2212, the first mounting plate 2211 is fixedly connected to the first sliding frame 222, and the first support block 2212 is fixedly connected to a side of the first mounting plate 2211 away from the first sliding frame 222; the second clamping portion 321 includes at least one second support block 3211, and the second support block 3211 is fixedly connected to a side of the second sliding frame 322 close to the first clamp 20.

[0100] In the embodiment of the present application, the first mounting plate 2211 serves to connect the first support block 2212 and the first sliding frame 222. The upper surface of the first support block 2212 is used to support the lower surface of the top edge of one side of the storage frame 80. Similarly, the upper surface of the second support block 3211 is used to support the lower surface of the top edge of the other side of the storage frame 80.

[0101] In some embodiments of the present application, Figure 1 As shown, when the first clamp is slidably connected to the mounting frame, the first sliding assembly 60 includes a first slide rail 61 and a plurality of first sub-sliders 62 and a plurality of second sub-sliders 63; the first slide rail 61 is arranged on the mounting frame 10 along the first direction X; the first sub-slider 62 and the second sub-slider 63 are slidably connected to the first slide rail 61 respectively; and the first sub-slider 62 is fixedly connected to the first connecting frame 21, and the second sub-slider 63 is fixedly connected to the second connecting frame 31.

[0102] In the embodiment of the present application, the first connecting frame 21 is slidably connected to the first slide rail 61 of the mounting frame 10 through the first sub-slider 62, so that the first clamp 20 can reciprocate relative to the mounting frame 10 along the first direction X. The second connecting frame 31 is slidably connected to the first slide rail 61 of the mounting frame 10 through the second sub-slider 63, so that the second clamp 30 can reciprocate relative to the mounting frame 10 along the first direction X, thereby realizing the first clamp 20 and the second clamp 30 to approach or move away from each other, and then realizing the robotic arm gripper to grab or put down the storage frame 80.

[0103] Specifically, the first sub-slider 62 and the second sub-slider 63 are respectively provided with a first sub-slider groove 621 and a second sub-slider groove (not shown) extending along the first direction X, a part of the first slide rail 61 is located in the first sub-slider groove 621, and another part is located in the second sub-slider groove; and the first sub-slider 62 moves along the first direction X on the first slide rail 61 through the first sub-slider groove 621, and the second sub-slider 63 moves along the first direction X on the first slide rail 61 through the second sub-slider groove, and the first sub-slider groove 621 and the second sub-slider groove limit the sliding directions of the first sub-slider 62 and the second sub-slider 63.

[0104] It should be noted that if Figure 7 As shown, the first sub-slide groove 621 is a closed slide groove, so that the first sub-slider 62 can be hung on the first slide rail 61, ensuring that the first sub-slider 62 will not fall off the first slide rail 61. Similarly, the second sub-slide groove is also a closed slide groove, so that the second sub-slider 63 can be hung on the first slide rail 61, ensuring that the second sub-slider 63 will not fall off the first slide rail 61.

[0105] like Figure 1 and Figure 3 , Figure 4 As shown, the first connecting frame 21 includes a first side wall 211 and a first top wall 212, and a plurality of first sub-sliders 62 are fixedly connected to the first top wall 212, so that the first sub-sliders 62 drive the first connecting frame 21 to move along the first direction X; the second connecting frame 31 includes a second side wall 311 and a second top wall 312, and a plurality of second sub-sliders 63 are fixedly connected to the second top wall 312, so that the second sub-sliders 63 drive the second connecting frame 31 to move along the first direction X.

[0106] More specifically, similar to the second slide groove of the second slider 232, the third slide groove can be a closed slide groove formed by inward depression from the side of the third slider 332, and along the cross section perpendicular to the extension direction of the slide groove, the cross-sectional area of ​​the bottom of the third slide groove is greater than the cross-sectional area of ​​the upper part of the third slide groove, that is, from the bottom of the third slide groove to the outside, the size of the third slide groove gradually narrows, or as shown in the figure, the size of the third slide groove first expands, then narrows, and then expands. Through the above arrangement, the third slide rail 331 will not be separated from the third slide groove in the direction perpendicular to the extension direction of the third slide groove. When installing the third slide rail 331 and the third slider 332, it is only necessary to insert the third slide rail 331 from one end of the third slide groove, which is convenient for installation.

[0107] The third slide groove can also be a perforated slider arranged inside the third slider 332, that is, the third slider 332 has an inner cavity, the inner cavity forms the third slider 332, and the inner wall of the third slider 332 close to the inner cavity limits the third slide rail 331, so that the third slide rail 331 can only be inserted into or detached from one end of the third slide groove, but cannot detach in other directions.

[0108] The shape of at least a portion of the third slide rail 331 is adapted to the shape of the third slide groove, so that the third slide rail 331 can be confined in the third slide groove.

[0109] The number of the third slide rails 331 may be two, the number of the third sliding blocks 332 may be four, and each third slide rail 331 corresponds to two third sliding blocks 332 .

[0110] In the prior art, the spatial position of the storage frame in the vehicle compartment is not fixed, and the existing storage frame gripper does not have the ability of intelligent recognition. Figure 1 and Figure 4 As shown, the gripper also includes a visual recognition device 70 , which is disposed on a side of the mounting frame 10 .

[0111] In the embodiment of the present application, during the process of using the robotic arm gripper to store the storage frame 80, the outline, size and specific position of the storage frame 80 can be identified and located by the visual recognition device 70, so that the robotic arm gripper can adjust the gripping position and gripping posture of the robotic arm gripper according to the above information to perform precise operations. The visual recognition device 70 can be a three-dimensional camera or a three-dimensional laser radar with high recognition accuracy, which is installed on one side of the robotic arm gripper to identify and measure the specific position of the storage frame in the cargo stack. Driven by the robotic arm, the visual recognition device 70 can follow the robotic arm gripper to move in the car, thereby collecting image data of the storage frame from different positions and angles, increasing the accuracy and reliability of the visual recognition device 70 in identifying and locating the storage frame 80.

[0112] It should be noted that the robotic gripper also includes a control end. When the robotic gripper is applied to a robot, the control end is the intelligent control center of the robot. The control end is used to control the robot to perform loading and unloading operations such as moving and grasping; to control the visual recognition device 70 to collect three-dimensional images of the space inside the compartment; to analyze the three-dimensional image data through a visual recognition algorithm to identify the number and position of the storage frames; and to plan the unloading sequence of the identified storage frames (i.e., the order in which the storage frames or storage frame groups are grasped) through an intelligent planning algorithm, for example, Fig.18 As shown, when multiple storage frames 80 are stacked in the carriage, the control end can identify and plan the number and order of storage frames to be grasped by the robot gripper at one time through the visual recognition algorithm. It should be noted that Fig.18In the figure, the boxes connecting different storage frames are indicated as the number of storage frames grabbed each time, and the grabbing order is: the first group of storage frames in the middle stacking pile, the first group of storage frames in the left stacking pile, the first group of storage frames in the right stacking pile, the second group of storage frames in the middle stacking pile, the second group of storage frames in the left stacking pile, the second group of storage frames in the right stacking pile, the third group of storage frames in the middle stacking pile, the third group of storage frames in the left stacking pile, the third group of storage frames in the right stacking pile, the fourth group of storage frames in the middle stacking pile, the fourth group of storage frames in the left stacking pile, and the fourth group of storage frames in the right stacking pile; it should be noted that the present application takes the above grabbing order as an example for explanation, and does not limit the grabbing order. In actual applications, the visual recognition algorithm can also plan other grabbing orders.

[0113] Specifically, Figure 1 and Figure 4 As shown, the mounting frame 10 includes two parallel supporting beams 11 and a plurality of supporting longitudinal beams 12. The two supporting beams 11 are spaced apart along the third direction Z, and the supporting beams 11 extend along the first direction X. The plurality of supporting longitudinal beams 12 are spaced apart between the two supporting beams 11 along the first direction X. The supporting longitudinal beams 12 may be perpendicular to the supporting beams 11, or may not be perpendicular to the supporting beams 11. For example, the supporting longitudinal beams 12 may be inclined at a certain angle relative to the supporting beams 11. The mounting frame 10 also includes a second connecting portion 13, which is used to connect with the robot arm. More specifically, the second connecting portion 13 may be a rectangular connecting plate, and a plurality of second connecting holes 131 are provided on the rectangular connecting plate. The robot arm is connected to the rectangular connecting plate through the second connecting holes 131, thereby realizing the connection between the robot arm and the mounting frame 10. The connecting holes may be threaded holes, and the robot arm and the mounting frame 10 are detachably connected to the mounting frame 10 through screws.

[0114] like Figure 8 As shown, an embodiment of the second aspect of the present application provides a robot 2, including the above-mentioned robotic arm gripper.

[0115] In the embodiment of the present application, the robot 2 may be a loading and unloading robot. The robot 2 can walk in the compartment through the walking chassis 202. The robot 2 includes a mechanical arm 201 and a mechanical arm gripper 1. The mechanical arm is installed on the unloading robot and has multiple degrees of freedom. It can drive the mechanical arm gripper to move and rotate in the three-dimensional space of the compartment. The mechanical arm 201 is fixedly connected to the mechanical arm gripper 1 by screws. Specifically, Figure 1 and Figure 8As shown, the mounting frame 10 of the robot gripper 1 is fixedly connected to the flange at the end of the robot arm by screws, and the mounting frame 10 can rotate along the flange at the end of the robot arm to adjust the angle of the robot gripper to better grasp the storage frame 80. When it is necessary to grasp the storage frame 80, under the drive of the first clamping drive device 24 and the first clamping drive device 40, or under the action of the robot arm and the first clamping drive device 24, the first clamping member 22 in the first clamp 20 is first extended so that the first clamping portion 221 in the first clamping member 22 extends into the hollow hole 81 on one side of the storage frame 80, and under the drive of the third drive device 26, the first claw 25 is extended so that the first claw 25 and the first clamping portion 221 clamp the top edge of the upper part of the hollow hole 81, and the robot arm is controlled to move to move the storage frame 80 away from the stacking. The position of the stack is moved, so that the storage frame 80 to be grasped is separated from the other storage frames 80, and a clamping space is left; under the drive of the second clamping drive device 34 and the second clamping drive device, the second clamping portion 321 of the second clamping member 32 extends into the hollow hole 81 on the other side of the storage frame 80, so that the second clamping portion 321 can abut against the lower surface of the top edge corresponding to the hollow hole 81 on the other side, thereby grasping the storage frame 80 with the hollow hole 81, which is convenient for the subsequent transfer of the storage frame 80. Since no manpower is required, costs can be saved and work efficiency can be improved.

[0116] like Figure 8 As shown, the carriage generally also includes an output station 203, which is located next to the robot 2, and receives the storage frames grabbed by the robot and the mechanical arm gripper when unloading the car, and transports the storage frames to the outside of the carriage.

[0117] The third aspect of the present application provides a method for grabbing a storage frame, such as Figure 1 , Figures 8 to 13 Shown: Included:

[0118] S1: Figure 8 and Fig. 9 As shown, the robot moves to the storage frame cargo stack in the carriage, and the robotic arm lifts the visual recognition device. The visual recognition device identifies the position information of the storage frame stack, the size information, position information and quantity information of the storage frame group to be grasped, and transmits them to the controller.

[0119] In this step, the control system calculates the number, position and local size information of the storage frames in the storage frame stack through the visual recognition algorithm, and plans the unloading order of the storage frames. The robot arm drives the visual recognition device to the vicinity of the first storage frame to be grasped, and collects image data from the rear and top of the current storage frame to be grasped; the control system accurately calculates the local position information of the current storage frame to be grasped (including but not limited to the placement position of the storage frame, the length L width W height H dimensions of the storage frame, the three-dimensional position of the groove or perforation on the first side of the storage frame, and the three-dimensional position of the upper edge of the second side of the storage frame (that is, the second top edge), etc.).

[0120] S2: The controller controls the robot arm to drive the robot arm gripper to approach the storage frame 80 to be grasped in the palletizing pile, and makes the robot arm gripper be located above the storage frame 80 .

[0121] S3: Figure 1 and Fig.10 As shown, the angle of the robot arm 201 is adjusted so that the first clamping portion 221 of the first clamp 20 and the second clamping portion 321 of the second clamp 30 are parallel to the first top edge and the second top edge of the storage frame 80 respectively; the first top edge and the second top edge are opposite to each other along the first direction X.

[0122] It should be noted that the first top edge is the upper top edge corresponding to the hole on the first side of the storage frame, and the second top edge is the upper top edge corresponding to the hole on the second side of the storage frame; in this step, the robotic arm drives the robotic arm gripper to approach the storage frame to be grasped, and adjusts the angle of the robotic arm gripper so that the first clamping part of the first clamp and the first clamping part of the second clamp are parallel to the front and rear side plates of the storage frame; at the same time, the first clamping part of the first clamp is extended to an appropriate length and against the groove on the first side of the storage frame. At this time, the second clamping part of the second clamp is in a retracted state.

[0123] S4: Figure 6 and Fig.11 As shown, under the action of the first clamping drive device 24 and the robotic arm, or under the action of the first clamping drive device 24 and the first clamping drive device, the first clamping portion 221 of the first clamping member 22 extends into the first hollow hole 81 of the storage frame 80, and the first clamping portion 221 abuts against the first surface of the first top edge of the storage frame 80.

[0124] S5: Driven by the third driving device 26, the first claw 25 moves in the direction close to the first top edge until the first claw 25 abuts against the second surface of the first top edge of the storage frame 80, so that the first claw 25 and the first clamping portion 221 clamp the storage frame 80; it should be noted that the first surface and the second surface of the first top edge are relatively arranged along the second direction Y.

[0125] S6: Adjust the robot arm gripper so that the first claw 25 and the first clamping portion 221 drive the storage frame 80 away from the stacking pile, so that the storage frame 80 to be grasped has grasping space with other storage frames 80.

[0126] This step includes: S601: the robot arm 201 drives the robot arm gripper to move upward by a first specified distance; that is, the first clamp 20 and the first claw 25 clamp the top edge of the first side of the current storage frame to be grasped and move upward by a first specified distance, so that the lower edge contour of the first side of the current storage frame to be grasped escapes from the upper edge slot of the storage frame below it. For example, if the overlapping depth of the upper and lower storage frame slots is 2 cm, the specified distance of upward movement can be set to 4 cm.

[0127] S602: The robotic arm 201 drives the robotic arm gripper to move toward the rear of the carriage a second specified distance (for example, 8 cm), that is, the first clamping portion and the first claw 25 clamp the top edge of the first side of the storage frame to be grasped and move toward the rear of the carriage a second specified distance, so that the lower edge contour of the storage frame to be grasped is completely disengaged from the upper edge slot of the storage frame below it.

[0128] Through steps S601 and S602, the robot gripper can clamp the top edge of the first side of the current storage frame to be grasped and drag it out from the card slot of the storage frame below. Of course, if there is no card slot clamping between the upper and lower layers of the storage frame, or the current storage frame to be grasped is at the bottom layer of the carriage, step S601 is not required, and only step S602 needs to be executed to pull out the current storage frame to be grasped.

[0129] In addition, by dragging the current storage frame to be grasped through steps S601 and S602, a front-to-rear gap of sufficient distance (not less than the second specified distance) is formed between the side panel of the second side of the current storage frame to be grasped and the storage frame cargo stack or the compartment wall in front of it, so that the second clamping portion of the second clamp 30 has enough space to extend out and clamp the current storage frame to be grasped from the front side panel (that is, the side edge of the second side).

[0130] S7: Fig.12 Under the drive of the second clamp driving device 34 and the second clamp driving device, the second clamping portion 321 of the second clamping member 32 extends into the hollow hole 81 on the second side of the storage frame 80 so that the second clamping portion 321 can abut against the lower surface of the second top edge.

[0131] The steps between step S7 and step S602 also include:

[0132] S701: The second clamp 30 moves forward along the mounting frame 10 (i.e., away from the first clamp 20), so that the clamping distance between the first clamp 20 and the second clamp 30 is slightly larger than the distance between the front side plate and the rear side plate of the storage frame to be grasped (i.e., the side plate of the second side and the side plate of the first side).

[0133] S702: The second clamping member of the second clamp 30 moves downward, so that the second clamping portion of the second clamp 30 is close to the groove position of the second side plate.

[0134] S703: The second clamp 30 continues to move along the mounting frame toward the first clamp 20, so that the first clamping member and the second clamping member of the first clamp 20 and the second clamp 30 clamp the current storage frame to be grasped.

[0135] In this way, the first clamp 20 and the second clamp 30 clamp the storage frame 80 from the grooves on the two opposite sides of the storage frame to be currently grasped.

[0136] Furthermore, after step S6, the method further includes:

[0137] S8: Fig.13 The mechanical arm 201 drives the mechanical arm gripper 1 holding the storage frame 80 to move the storage frame 80 to the output station 203, and the first clamp 20, the second clamp 30, and the first claw 25 are opened and retracted in sequence to release the storage frame.

[0138] S9: The robotic arm continues to drive the robotic arm gripper and the visual recognition device to the vicinity of the next storage frame to be grasped to perform identification, positioning and unloading tasks.

[0139] In the embodiment of the present application, when it is necessary to grab the storage frame 80, under the drive of the first clamp driving device 24 and the first clamp driving device 40, the first clamping member 22 in the first clamp 20 is first extended, so that the first clamping portion 221 in the first clamping member 22 extends into the hollow hole 81 on one side of the storage frame 80, and under the drive of the third driving device 26, the first claw 25 is extended so that the first claw 25 and the first clamping portion 221 clamp the top edge of the upper part of the hollow hole 81, and the robot arm is controlled to move to move the storage frame 80 to a position away from the stacking pile. , so that the storage frame 80 to be grasped is separated from other storage frames 80, and a clamping space is left; under the drive of the second clamping drive device 34 and the second clamping drive device, the second clamping portion 321 of the second clamping member 32 extends into the hollow hole 81 on the other side of the storage frame 80, so that the second clamping portion 321 can abut against the lower surface of the top edge corresponding to the hollow hole 81 on the other side, thereby grasping the storage frame 80 with the hollow hole 81, which is convenient for the subsequent transfer of the storage frame 80. Since no manpower is required, costs can be saved and work efficiency can be improved.

[0140] The above method and steps illustrate the process of grabbing a storage frame at a time using the robot gripper 1. The robot gripper 1 can also grab multiple storage frames 80 at a time. Figures 14 to 17 , the following takes the example of a robotic arm gripper grabbing three storage frames at a time to illustrate how the robotic arm gripper grabs a storage frame group containing multiple storage frames at a time. The method and process are described as follows:

[0141] S901: The visual recognition device 70 and the control system provide the size, position information and quantity of the storage frame group to be grasped, and the robot arm 201 drives the robot arm gripper 1 to move above the storage frame group to be grasped, and adjusts the first clamping member and the second clamping member of the first clamp 20 and the second clamp 30 to be parallel to the front side plate and the rear side plate of the storage frame in the storage frame group.

[0142] S902: Fig.14 and Fig.15 As shown, the first clamping member of the first clamp 20 extends downward to the groove or hole of the side panel of the first side of the third storage frame (counting from top to bottom), and the robotic arm 201 drives the robotic arm gripper to move forward so that the first clamping portion of the first clamping member abuts against the groove of the rear side panel of the third storage frame, or the first clamping portion abuts against the lower surface of the top edge of the first side of the third storage frame.

[0143] S903: The first claw 25 moves downward and extends to clamp the upper edge of the first top side of the first storage frame.

[0144] In this way, the first clamping member of the first clamp 20 and the first claw 25 clamp the first top edge of the first side of the storage frame group composed of three storage frames 80 together.

[0145] S904: The robot arm 201 drives the robot arm gripper 1 to move upward by a first specified distance first, and then move backward by a second specified distance, so as to clamp the storage frame group through the first clamping member and the first claw 25 and drag it out from the storage frame cargo stack below it.

[0146] S905: Fig.16 As shown, the second clamp 30 first moves forward and then extends the second clamping piece downward to the groove of the side plate of the second side of the third storage frame (that is, the second top edge), and then moves backward to make the second clamping piece abut against the above-mentioned groove, that is, the second clamping portion of the second clamping piece abuts against the second top edge of the third storage frame.

[0147] In this way, the first clamp and the second clamp clamp the third storage frame, and then clamp the storage frame group consisting of the three storage frames.

[0148] S906: The robotic arm drives the robotic arm gripper holding the current storage frame group to be grasped to the output station, and then releases the storage frame group to the output station.

[0149] Since the moving distances of the second clamp, the first clamp and the first claw of the robotic arm gripper can be precisely controlled, and the clamping and clamping positions and distances can be adjusted according to the size of the storage frame or the storage frame group, a single or multiple storage frames can be grasped at a time, and storage frames or storage frame groups of different specifications and sizes can be grasped, with a high degree of flexibility.

[0150] The visual recognition device and control system can identify, locate, count and group the storage frame cargo stacks for unloading. The robotic arm gripper can then grab a single or multiple storage frames at a time according to the instructions of the control system, thereby improving the unloading efficiency and intelligence of the unloading robot.

[0151] Of course, the unloading robot, the robotic arm and the robotic arm gripper in the present invention can also be used for loading the storage frame when operating in reverse.

[0152] It should be noted that in the actual application of storage boxes, storage boxes are generally customized in a unified manner, and their three-dimensional size information and structural information can be obtained in advance and stored in the database of the control system. Of course, if the location of the relevant data of the storage box is unknown, it can also be obtained through three-dimensional camera recognition and measurement. In addition, the thickness of the side panels of the storage box is generally relatively thin (generally not exceeding 15mm), requiring the gripping accuracy of the gripper to be ≤10mm. Therefore, the robotic arm gripper in the present invention is equipped with a visual recognition device with high recognition accuracy, which can assist the robotic arm gripper to accurately clamp the side panels and grab the storage frame.

[0153] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants 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 "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0154] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A robotic arm gripper, characterized in that: include: Mounting frame (10); first sliding assembly (60); A first clamp (20) is provided on the mounting frame (10), comprising a first clamping member (22), a first clamping driving device (24), a first clamping claw (25) and a third driving device (26), wherein the first clamping member (22) has a first clamping portion (221), and the first clamping driving device (24) is used to drive the first clamping member (22) to slide along a second direction (Y); The third driving device (26) is used to drive the first clamping claw (25) so that the first clamping claw (25) and the first clamping portion (221) clamp the top edge of the first side of the storage frame (80); The first clamping claw (25) comprises a first connecting plate (251) and a second connecting plate (252) which are perpendicular to each other, and the first connecting plate (251) is connected to the output shaft of the third driving device (26); when the first clamp (20) clamps the storage frame (80), the lower surface of the first connecting plate (251) can abut against the upper surface of the top edge, and the second connecting plate (252) is located on the inner side of the top edge; A second clamp (30) is slidably connected to the mounting frame (10) via the first sliding assembly (60), and comprises a second clamping member (32) and a second clamping driving device (34); the second clamping member (32) has a second clamping portion (321), and the second clamping driving device (34) is used to drive the second clamping member (32) to slide along a second direction (Y); The first clamping claw (25) and the first clamping portion (221) drive the storage frame (80) away from the stacking pile, so that the second clamping portion (321) of the second clamp (30) has enough space to extend and clamp the current storage frame to be grasped; A second clamp driving device (50) used for driving the second clamping member (32) to move along a first direction (X); The first sliding assembly (60) comprises a first sliding rail (61), and the first sliding rail (61) is arranged on the mounting frame (10) along the first direction (X).

2. The mechanical arm gripper according to claim 1, characterized in that: The first clamp (20) comprises a first connecting frame (21) and a second sliding assembly (23), and the second clamp (30) comprises a second connecting frame (31) and a third sliding assembly (33); The first connecting frame (21) is connected to the mounting frame (10); the first clamping member (22) is slidably connected to the first connecting frame (21) via the second sliding assembly (23); The second connecting frame (31) is slidably connected to the mounting frame (10) via the first sliding assembly (60); and the second clamping member (32) is slidably connected to the second connecting frame (31) via the third sliding assembly (33).

3. The robotic arm gripper according to claim 2, characterized in that: The first clamp (20) further comprises a guide assembly (27), wherein the guide assembly (27) comprises a guide member (271) and a guide matching member (272); The guide fitting member (272) is provided with a guide groove along the second direction (Y), and the guide fitting member (272) is fixedly connected to the first connecting frame (21); The guide member (271) is connected to the first clamping claw (25), and the guide member (271) is at least partially disposed in the guide groove and is capable of sliding along the guide groove.

4. The robotic arm gripper according to claim 2, characterized in that: The first clamping member (22) further comprises a first sliding frame (222), the first sliding frame (222) being slidably connected to the first connecting frame (21) via the second sliding assembly (23), and the first clamping portion (221) being arranged at the bottom of the inner side of the first sliding frame (222); The second clamping member (32) further comprises a second sliding frame (322), the second sliding frame (322) being slidably connected to the second connecting frame (31) via the third sliding assembly (33), and the second clamping portion (321) being arranged at the bottom of the inner side of the second sliding frame (322).

5. The mechanical arm gripper according to claim 4, characterized in that: The first clamping portion (221) comprises a first mounting plate (2211) and at least one first support block (2212), the first mounting plate (2211) being fixedly connected to the first sliding frame (222), and the first support block (2212) being fixedly connected to a side of the first mounting plate (2211) away from the first sliding frame (222); The second clamping portion (321) comprises at least one second supporting block (3211), and the second supporting block (3211) is fixedly connected to a side of the second sliding frame (322) close to the first clamp (20).

6. The mechanical arm gripper according to claim 2, characterized in that: The first sliding assembly (60) further comprises a plurality of second sub-slide blocks (63); The second sub-sliding block (63) is slidably connected to the first sliding rail (61); The second sub-slider (63) is fixedly connected to the second connecting frame (31).

7. The robotic arm gripper according to any one of claims 1 to 6, characterized in that: The gripper also includes a visual recognition device (70), which is arranged on the side of the mounting frame (10) and moves in the carriage following the gripper of the robotic arm under the drive of the robotic arm, and is capable of recognizing position information of a stack of storage frames, size information, position information and quantity information of a group of storage frames to be grasped, and transmitting the information to the controller.

8. A robot, characterized in that: Comprising the robotic arm gripper as described in any one of claims 1-7.

9. A method for grabbing a storage frame, characterized in that: The mechanical arm gripper according to claim 1 comprises: The visual recognition device recognizes the position information of the storage frame stack, the size information, position information and quantity information of the storage frame group to be grasped, and transmits them to the controller; The controller controls the robot arm to drive the robot arm gripper to approach the storage frame (80) to be grasped in the stack, and causes the robot arm gripper to be located above the storage frame (80); The angle of the mechanical arm is adjusted so that the first clamping portion (221) of the first clamp (20) and the second clamping portion (321) of the second clamp (30) are respectively parallel to the first top edge and the second top edge of the storage frame (80); the first top edge and the second top edge are opposite to each other along a first direction (X); Under the action of the mechanical arm and the first clamping driving device, the first clamping portion (221) of the first clamping member (22) extends into the hollow hole (81) on the first side of the storage frame (80), and the first clamping portion (221) abuts against the first surface of the first top edge of the storage frame (80); Under the drive of the third driving device (26), the first clamping claw (25) moves in a direction close to the first top edge until the first clamping claw (25) abuts against the second surface of the first top edge of the storage frame (80), so that the first clamping claw (25) and the first clamping portion (221) clamp the storage frame (80); Adjusting the gripper of the robot arm so that the first claw (25) and the first clamping portion (221) drive the storage frame (80) away from the stacking pile, so that there is gripping space between the storage frame (80) to be gripped and other storage frames (80); Driven by the second clamping drive device (34) and the second clamping device drive device, the second clamping portion (321) of the second clamping member (32) extends into the hollow hole (81) on the second side of the storage frame (80), so that the second clamping portion (321) can abut against the lower surface of the second top edge.

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