Product conveying system and method

Abstract

The invention discloses a product conveying system and method, and relates to the technical field of workshop conveyor systems, the conveying system comprises a grabbing module, the grabbing module comprises a mechanical arm and a clamp, the clamp is installed on the mechanical arm, the mechanical arm drives the clamp to move, the clamp grabs a to-be-boxed product array, and the to-be-boxed product array is arranged on the mechanical arm; and the to-be-boxed product array is driven to simultaneously turn over by a preset angle. According to the invention, the movement of the product array can be realized, so that the product array is changed from a lying posture to a vertical posture, and the automatic and rapid boxing of single-row products is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of workshop conveyor systems, and in particular to a product conveying system and method. Background Art

[0002] In the field of industrial automated packaging, bagged products usually need to be arranged in a specific array before packing, so that they can be efficiently grabbed and loaded into cartons. In the prior art, it is common to stack products in a flat position to form an array structure with multiple rows and columns, and then use a mechanical device to grab the entire array at one time to complete the packing. This method has an efficiency advantage in scenarios where a large number of products need to be loaded into a single carton (such as multi-row dense containers), because it can complete the transfer of multiple layers of products in a single operation.

[0003] However, for the packing scenario of single-row products (i.e., products are stacked in a single vertical column along the height direction of the carton), the existing flat-lying packing method has significant defects. Since the products occupy a large horizontal space when lying flat, the direction of the products needs to be adjusted and the stacking position needs to be adjusted one by one during the packing process, which makes the mechanical movements cumbersome and time-consuming. In addition, when the products are packed in a single row, they are prone to tilting or collapsing due to the shift of the center of gravity, and additional stabilization operations are required, further reducing efficiency. At the same time, the existing equipment structures are mostly adapted to multi-column array grasping. It is difficult to simplify the process in a single-column scenario. Instead, the redundant actions lead to increased energy consumption and time costs. Summary of the invention

[0004] Therefore, for the scenario of packing single-row products, the present invention provides a product conveying system and method to achieve automatic upright loading of single-row products and improve packing efficiency.

[0005] On the one hand, the present invention provides a product conveying system, which comprises a grabbing module, wherein the grabbing module comprises a mechanical arm and a clamp, wherein the clamp is mounted on the mechanical arm, and the mechanical arm drives the clamp to move, wherein the clamp grabs an array of products to be boxed, and drives the array of products to be boxed to flip at a preset angle at the same time; The fixture comprises: A connecting frame, the connecting frame is fixedly connected to the mechanical arm; A lifting mechanism, which is fixedly mounted on the connecting frame; The movable frame is driven by the lifting mechanism to move linearly relative to the connecting frame, and the movable frame includes a mounting frame. When the movable frame moves, the moving direction of the movable frame is perpendicular to the plane where the mounting frame is located; The transmission structure includes a movable rod, a connecting rod and a mounting shaft, wherein the movable rod is arranged on the connecting frame, the mounting shaft is movably mounted in the mounting frame, one end of the connecting rod is pivotally connected to the movable rod, and the other end is fixed to the mounting shaft; Vacuum suction cup: The vacuum suction cup is fixedly mounted on the mounting shaft, and the array of products to be packaged is picked up and placed by the vacuum suction cup.

[0006] The present invention drives the movable frame to rise through the lifting mechanism. During the rising process of the movable frame, it will drive the connecting rod to rotate around the pivot axis between it and the movable rod, and at the same time drive the installation shaft installed at the other end of the connecting rod to rotate and move linearly, so as to realize the rotation of the product, and rotate the product from a lying posture to an upright posture. Finally, the robot arm transports the product array in the upright posture to the packing point, the suction cup releases the product, and the product is simultaneously loaded into the carton in an upright state, thereby realizing automatic and rapid packing of single-row products.

[0007] Furthermore, the transmission structure also includes: Seventh power unit; The scissor-type telescopic frame drives one end of the scissor-type telescopic frame to move linearly through the seventh power device, the movement direction of the end of the scissor-type telescopic frame is parallel to the plane where the installation frame is located, and the movable rod is installed on the pivot axis of the end of the scissor-type telescopic frame and its intersection.

[0008] By installing the movable rod on the intersection pivot axis of the scissor-type telescopic frame and using the seventh power device to drive the scissor-type telescopic frame to perform telescopic movement, the spacing between adjacent movable rods can be adjusted.

[0009] Furthermore, the transmission structure also includes: a sixth power device, the sixth power device being mounted on the movable frame; The offset sliding part is driven to move linearly by the sixth power device, the movement direction of the offset sliding part is parallel to the movement direction of the end of the scissors-type telescopic frame, and the seventh power device and the scissors-type telescopic frame are both arranged on the offset sliding part.

[0010] The sixth power device drives the offset sliding part to realize the overall linear displacement of the product array. The position of the product array can be dynamically adjusted according to the real-time packing demand. The spatial position reconstruction of the array can be completed without interrupting the production line, which significantly improves the flexibility of the packing process.

[0011] Furthermore, the conveying system further comprises a packing module, which receives the array of products to be packed grabbed by the grabbing module; The packing module comprises: A product loading section, which contains an array of products to be packed; The conveying mechanism drives the product carrying part to perform linear reciprocating motion.

[0012] By driving the linear reciprocating motion of the product carrying part through the transmission mechanism, continuous displacement compensation of the product array at the packing station is realized, and the action of the grabbing module is coordinated to shorten the single packing cycle and improve the packing efficiency.

[0013] Furthermore, the product loading parts and the conveying mechanisms are arranged opposite to each other in pairs; The packing module further comprises a winch, which is arranged corresponding to the conveying mechanism, and the conveying mechanism is driven to rotate around one end thereof by the winch.

[0014] By having two sets of relatively arranged product carrying parts and conveying mechanisms alternately arranged to carry out packing work at the same packing station, the continuity of product packing work is improved and the packing efficiency is improved. By rotating the conveying mechanism groove of the winch belt, the two sets of relatively arranged conveying mechanisms can be staggered, thereby avoiding collision between the two sets of relatively arranged product carrying parts during movement.

[0015] Furthermore, the product carrying unit includes: A box body, which is connected to the transmission mechanism, and an opening and closing plate is provided at the bottom of the box body, and the opening and closing plate is driven by the eleventh power device to open and close; A limiting frame, which is fixed as a whole in the box body, and the limiting frame and the box body form a limiting cavity for limiting the array of products to be packed; The movable plate is arranged as a whole in the limiting cavity and is driven to move linearly by a tenth power device installed on the box body.

[0016] The limit frame and the movable plate constitute a dynamically adjustable limit cavity, and the stroke control of the tenth power device realizes continuous adjustment of the cavity volume, thereby adapting to the needs of rapid changeover of products of different specifications.

[0017] Furthermore, the conveying system further includes a visual unit and a control unit, wherein the visual unit is used to obtain image data, wherein the image data includes first image data, and the control unit includes: A data receiving module, used for receiving image data and a first parameter, wherein the first parameter includes specification parameters of the product to be packed; A spacing calculation module, configured to perform a first spacing calculation according to the first image data to obtain a first spacing calculation result; and perform a second spacing calculation according to product specification parameters to obtain a second spacing calculation result; The execution control module is used to perform a first motion stroke calculation according to the first spacing calculation result to obtain the first motion stroke calculation result, generate a first motion stroke control signal based on the first motion stroke calculation result, and send the first motion stroke control signal to the grasping module, so that the seventh power device drives the end of the scissors-type telescopic frame to linearly displace a first preset distance; and perform a second motion stroke calculation according to the second spacing calculation result to obtain the second motion stroke calculation result, generate a second motion stroke control signal based on the second motion stroke calculation result, and send the second motion stroke control signal to the grasping module, so that the seventh power device drives the end of the scissors-type telescopic frame to linearly displace a second preset distance.

[0018] The image of the product array to be grasped is collected by the visual unit, and the spacing calculation module calculates the spacing of the vacuum suction cups based on the product array image, thereby improving the grasping positioning accuracy; according to the product specifications, after the product array posture is changed, the spacing is reduced to avoid excessive spacing that makes it difficult to put into the box, thereby realizing intelligent dynamic adjustment of the vacuum suction cup spacing.

[0019] Furthermore, the image data also includes second image data and third image data; The control unit also includes: A product quantity determination module is used to determine the number of products in the product loading part according to the second image data to obtain the product quantity result; and to determine the number of remaining products in the fixture according to the third image data to obtain the remaining product quantity result; A supplementary quantity calculation module is used to calculate the product compensation quantity according to the product quantity result to obtain the product compensation quantity calculation result; An offset calculation module is used to perform product offset calculation according to the product quantity result and the remaining product quantity result to obtain the product offset calculation result; The execution control module generates a third motion stroke control signal according to the product offset calculation result, and sends the third motion stroke control signal to the grasping module, so that the sixth power device drives the offset sliding part to linearly shift a third preset distance. At the same time, a product release signal is generated according to the product compensation quantity calculation result and sent to the grasping module, so that the vacuum suction cup releases a preset number of products after the displacement of the offset sliding part is completed.

[0020] Furthermore, the product offset is calculated as follows: ; in, X is the product offset, in millimeters; m The number of products in the department; N The total number of products adsorbed by the fixture set by the user; n The number of products remaining in the current fixture; his the thickness of a single product in millimeters; a is the distance between adjacent products, in millimeters; b is the initial offset in millimeters.

[0021] When the number of products in the product loading section is not fully loaded, the product offset is calculated based on the number of products in the product loading section and the number of products grabbed by the grabbing module itself, and then the vacuum suction cup array is controlled to deviate from the preset distance as a whole according to the calculation result of the product offset, so that the corresponding number of products can be accurately placed in the limit cavity space where no products are placed, thereby realizing intelligent material replenishment of the loading section.

[0022] On the other hand, the present invention further provides a product conveying method, which uses the above-mentioned product conveying system, and the conveying method comprises: Acquire first image data, perform first distance calculation according to the first image data, and obtain a first distance calculation result; Perform a first motion stroke calculation according to the first spacing calculation result to obtain a first motion stroke calculation result, generate a first motion stroke control signal based on the first motion stroke calculation result, send the first motion stroke control signal to the grabbing module, and the seventh power device of the grabbing module drives one end of the scissor-type telescopic frame to move a first preset distance according to the first motion stroke control signal; The robot arm drives the fixture to move to the product grabbing point, the vacuum suction cup contacts the product, absorbs the product, and the robot arm drives the product to move to the first position; The lifting mechanism drives the movable frame to slide linearly so that the installation frame is close to the connecting frame, and the vacuum suction cup rotates around the installation axis by a preset angle under the transmission action of the installation axis and the connecting rod; Obtaining specification parameters of the product to be packed, performing second spacing calculation according to the product specification parameters, and obtaining a second spacing calculation result; Perform a second motion stroke calculation according to the second spacing calculation result to obtain a second motion stroke calculation result, generate a second motion stroke control signal based on the second motion stroke calculation result, and send the second motion stroke control signal to the grabbing module so that the seventh power device drives the end of the scissor-type telescopic frame to linearly move a second preset distance; The robotic arm drives the fixture to move to the product placement point; Acquire the second image data, judge the number of products in the product loading part according to the second image data, and obtain the result of the number of products; acquire the third image data, judge the number of remaining products in the fixture according to the third image data, and obtain the result of the number of remaining products; Used to perform product offset calculation based on the product quantity result and the remaining product quantity result to obtain the product offset calculation result; Generate a third motion stroke control signal according to the product displacement calculation result, and send the third motion stroke control signal to the gripping module so that the sixth power device drives the displacement sliding part to linearly displace a third preset distance; The product compensation quantity is calculated based on the product quantity result to obtain the product compensation quantity calculation result, and a product release signal is generated based on the product compensation quantity calculation result and sent to the gripping module so that the vacuum suction cup releases a preset number of products after the displacement of the offset sliding part is completed.

[0023] The present invention has the following advantages: The present invention drives the movable frame to rise through the lifting mechanism. During the rising process of the movable frame, it will drive the connecting rod to rotate around the pivot axis between it and the movable rod, and at the same time drive the installation shaft installed at the other end of the connecting rod to rotate and move linearly, so as to realize the rotation of the product, and rotate the product from a lying posture to an upright posture. Finally, the robot arm transports the product array in the upright posture to the packing point, the suction cup releases the product, and the product is simultaneously loaded into the carton in an upright state, thereby realizing automatic and rapid packing of single-row products. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a logical diagram of the conveying system; Figure 2 yes Figure 1 A logical schematic diagram of a control unit in the conveying system shown; Figure 3 yes Figure 1 A schematic diagram of the structure of the execution unit in the conveying system shown; Figure 4 yes Figure 3 A schematic diagram of the structure of the flip module in the execution unit shown; Figure 5 yes Figure 3 A schematic diagram of the structure of the rotation module in the execution unit shown; Figure 6 yes Figure 5 A forward schematic diagram of the rotating module shown; Figure 7 yes Figure 3 The schematic diagram of the structure of the capture module in the execution unit shown; Figure 8 yes Figure 7 A schematic diagram of the structure of the clamp in the grabbing module shown; Fig. 9 yes Figure 8 A side view of the fixture shown; Fig.10 yes Fig. 9 A schematic diagram of the structure of the lifting mechanism in the fixture shown; Fig.11 yes Figure 8A schematic diagram of the structure of the movable frame in the fixture shown; Fig.12 yes Figure 8 A schematic diagram of the structure of the transmission structure in the fixture shown; Fig.13 yes Figure 3 A schematic diagram of the structure of the box packing module in the execution unit shown; Fig.14 yes Fig.13 A schematic diagram of the structure of the conveying mechanism in the packing module shown; Fig.15 yes Fig.13 The structural schematic diagram of the product carrying part in the packing module shown; Fig.16 yes Fig.15 The internal structure diagram of the product carrying part shown; Fig.17 yes Fig.15 The schematic diagram of the structure of the limit frame in the mounting part of the product shown; Fig.18 yes Fig.16 A schematic diagram showing the coordination between the limiting frame in the mounting part of the product and the tenth power device; In the figure: 1000, sensor unit; 2000, Visual Unit; 3000, control unit; 3100, data receiving module; 3200, product status determination module; 3300, step length calculation module; 3400, product quantity determination module; 3500, supplement quantity calculation module; 3600, offset calculation module; 3700, spacing calculation module; 3800, execution control module; 4000, execution unit; 4100, first conveying module; 4200, flip module; 4300, second conveying module; 4400, rotation module; 4500, third conveying module; 4600, stepping arrangement module; 4700, grabbing module; 4800, fixture; 4900, packing module; 4210, first power device; 4220, rolling frame; 4230, roller conveyor line; 4240, second power device; 4410, third power device; 4420, belt transmission mechanism; 4430, rotary lifting mechanism; 4431, fourth power device; 4432, fifth power device; 4433, rotary lifting plate; 4440, positioning cylinder; 4710, Robotic Arm; 4810, connecting frame; 4820, movable frame; 4821, guide groove; 4822, mounting frame; 4830, transmission structure; 4831, offset sliding part; 4832, sixth power device; 4833, seventh power device; 4834, scissor-type telescopic frame; 4835, slider; 4836, connecting rod; 4837, mounting shaft; 4838, guide wheel; 4839, movable rod; 4840, lifting mechanism; 4841, eighth power device; 4842, mounting plate; 4843, lifting plate; 4844, guide mechanism; 4845, limit plate; 4846, screw rod; 4847, connecting block; 4850, vacuum suction cup; 4910. winch; 4920. transmission mechanism; 4921. ninth power unit; 4922. mounting portion; 4923. pulley mechanism; 4924. slide seat; 4930. product carrying portion; 4931. box body; 4932. limit frame; 4933. movable plate; 4934. tenth power unit; 4935. opening and closing plate; 4936. limit groove; 4937. eleventh power unit; 4938. connecting plate. DETAILED DESCRIPTION

[0025] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0026] In this document, relational terms such as first and second, etc., are used only 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 term "comprises" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus that includes a list 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 apparatus.

[0027] As described in the background technology, for the packing scenario of single-row products (i.e., products are stacked in a single vertical column along the height direction of the carton), the existing flat-lying packing method has significant defects. Since the products occupy a large space horizontally when lying flat, the direction of the products needs to be adjusted and the stacking position needs to be adjusted one by one during the packing process, which makes the mechanical movements cumbersome and time-consuming. In addition, when the products are stacked flat, they are prone to tilting or collapsing due to the offset of the center of gravity during single-row packing, and additional stabilization operations are required, further reducing efficiency. At the same time, the existing equipment structures are mostly adapted to multi-row array grasping. It is difficult to simplify the process in a single-row scenario. Instead, the redundant actions increase energy consumption and time costs.

[0028] Therefore, in order to solve the above-mentioned deficiencies in the prior art, the present invention provides the following embodiments to achieve intelligent and rapid packing of single-row products.

[0029] Embodiment 1: This embodiment provides a product delivery system, such as Figure 1 The conveying system shown in the figure includes an execution unit 4000, through which the product array is rotated to make the products stand upright, and the upright products are loaded into the packaging box, such as Figure 3 As shown, the execution unit may include a capture module 4700, such as Figure 7 As shown, the grabbing module includes a mechanical arm 4710 and a clamp 4800, the clamp is mounted on the mechanical arm, and the mechanical arm drives the clamp to move, the clamp grabs the array of products to be boxed, and drives the array of products to be boxed to flip at a preset angle at the same time; like Figure 8 and Fig. 9 As shown, the fixture comprises: A connecting frame 4810, which is fixedly connected to the mechanical arm; A lifting mechanism 4840, which is fixedly mounted on the connecting frame; The movable frame 4820 is driven by the lifting mechanism to move linearly relative to the connecting frame, such as Fig.11 As shown, the movable frame includes a mounting frame 4822. When the movable frame moves, the moving direction of the movable frame is perpendicular to the plane where the mounting frame is located; Transmission structure 4830, such as Fig.12 As shown, the transmission structure includes a movable rod 4839, a connecting rod 4836 and a mounting shaft 4837. The movable rod is arranged on the connecting frame, and the mounting shaft 4837 is movably mounted in the mounting frame. One end of the connecting rod is pivotally connected to the movable rod, and the other end is fixed to the mounting shaft. Vacuum suction cup 4850, the vacuum suction cup is fixedly installed on the mounting shaft, and the array of products to be packaged is picked up and placed by the vacuum suction cup.

[0030] In this embodiment, the movable frame is driven to rise by the lifting mechanism. During the rising process of the movable frame, the connecting rod is driven to rotate around the pivot axis between it and the movable rod, and the installation shaft installed at the other end of the connecting rod is also driven to rotate and move linearly, thereby realizing the rotation of the product, rotating the product from a lying posture to an upright posture, and finally the robotic arm transports the product array in an upright posture to the packing point, the suction cup releases the product, and the product is simultaneously loaded into the carton in an upright state.

[0031] Through this embodiment, the product array can be moved from a lying position to an upright position, thereby realizing automatic and rapid packing of single-row products.

[0032] For example, Fig.10 As shown, the lifting mechanism may include: An eighth power device 4841, which can be fixedly mounted on the connecting frame via a mounting plate 4842; A lifting plate 4843, which is connected to the movable frame and driven by an eighth power device to move linearly, and the movement direction of the lifting plate is perpendicular to its surface; In this embodiment, the eighth power device can use a cylinder, an electric cylinder, a hydraulic cylinder or other linear drive devices to directly drive the lifting plate to connect.

[0033] like Fig.10 As shown, the eighth power device can be selected as a motor, and a screw rod 4846 can be installed on the rotating shaft of the motor. The lifting plate is connected to the screw rod through a connecting block 4847, and the connecting block is threadedly matched with the screw rod; In addition, a limit plate 4845 may be provided between the lifting plate and the connecting block, and the limit plate is fixedly connected to the mounting plate through a column; in addition, a guide mechanism 4844 may be provided between the lifting plate and the mounting plate, and the guide mechanism may be a telescopic rod; In this embodiment, a guide wheel 4838 may be installed at the end of the installation shaft, and a guide groove 4821 is provided on the inner side of the installation frame corresponding to the guide wheel, and the guide wheel is movably fitted in the guide groove.

[0034] After the vacuum suction cup adsorbs and fixes the product array, the motor drives the screw to rotate. Under the transmission action of the screw, the lifting plate rises, driving the movable frame to rise. During the rising process of the movable frame, it will drive the connecting rod to rotate around the pivot axis between it and the movable rod, and at the same time drive the installation shaft to rotate and move linearly along the guide groove, so as to flip the product and then realize the conversion of the product from a lying position to an upright position.

[0035] In this embodiment, if Fig.12 As shown, the transmission structure may also include: 7th power unit 4833; The scissor-type telescopic frame 4834 drives one end of the scissor-type telescopic frame to move linearly through the seventh power device. The movement direction of the end of the scissor-type telescopic frame is parallel to the plane where the installation frame is located. The movable rod is installed on the pivot axis of the end of the scissor-type telescopic frame and its intersection.

[0036] Specifically, the seventh power device includes but is not limited to a pneumatic cylinder, an electric cylinder, a hydraulic cylinder or other linear drive devices. The output shaft of the seventh power device is connected to a movable rod installed at the movable end of the scissors-type telescopic frame, and drives the movable rod to move linearly, thereby realizing simultaneous linear movement of other movable rods.

[0037] By installing the movable rod on the intersection pivot axis of the scissor-type telescopic frame and using the seventh power device to drive the scissor-type telescopic frame to perform telescopic movement, the spacing between adjacent movable rods can be adjusted.

[0038] When the movable rod of the telescopic frame is driven to move by the seventh power device in this embodiment, since the scissor-type telescopic frame is composed of a plurality of groups of cross support rods of equal length hingedly connected to form a variable structure similar to a parallelogram, when an external force acts on the node, the support rod rotates around the hinge point, causing the angle between adjacent rods to change, thereby changing the spacing between adjacent hinge points in the telescopic direction, thereby achieving adjustment of the spacing between adjacent groups of vacuum suction cups.

[0039] In this embodiment, if Fig.12 As shown, the transmission structure also includes: a sixth power device 4832, the sixth power device being mounted on the movable frame; The offset sliding part 4831 is driven by the sixth power device to move linearly, and the movement direction of the offset sliding part is parallel to the movement direction of the end of the scissors-type telescopic frame. The seventh power device and the scissors-type telescopic frame are both arranged on the offset sliding part.

[0040] Specifically, the sixth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other linear drive devices. The output rod of the sixth power device is connected to the offset sliding part, and the offset sliding part can be slidably connected to the movable frame through a guide assembly. The movable end of the scissors-type telescopic frame can be slidably connected to the slide rail and the offset sliding part through a slider 4835.

[0041] In this embodiment, the sixth power device can drive the offset sliding part to realize the overall linear displacement of the product array, and the position of the product array can be dynamically adjusted according to the real-time packing demand. The spatial position reconstruction of the array can be completed without interrupting the production line, which significantly improves the flexibility of the packing process.

[0042] In this embodiment, if Figure 3 As shown, the conveying system may further include a box packing module 4900, which receives the array of products to be boxed grabbed by the grabbing module; like Fig.13 As shown, the packing module includes: A product loading section 4930, which contains an array of products to be packed; The conveying mechanism 4920 drives the product carrying part to perform linear reciprocating motion.

[0043] In this embodiment, the linear reciprocating motion of the product carrying part 4930 can be driven by the conveying mechanism 4920 to realize continuous displacement compensation of the product array at the packing station, and the action of the grabbing module can be coordinated to shorten the single packing cycle and improve the packing efficiency.

[0044] like Fig.14 As shown, the transmission mechanism may include: Mounting section 4922; A ninth power device 4921, the ninth power device is fixedly mounted on the mounting portion; A pulley mechanism 4923, which is mounted on the mounting portion and connected to the ninth power device, and is driven to move by the ninth power device; A slide 4924, which is slidably mounted on the mounting portion and connected to the belt of the pulley transmission mechanism, and the product carrying portion is fixedly mounted on the slide; Exemplarily, the ninth power unit may be an electric motor.

[0045] In this embodiment, if Fig.13 As shown, the product carrying parts and the conveying mechanisms are arranged opposite to each other in pairs; The packing module may further include a winch 4910, which is arranged corresponding to the conveying mechanism, and the conveying mechanism is driven to rotate around one end thereof by the winch.

[0046] By having two sets of relatively arranged product carrying parts and conveying mechanisms alternately arranged to carry out packing work at the same packing station, the continuity of product packing work is improved and the packing efficiency is improved. By rotating the conveying mechanism groove of the winch belt, the two sets of relatively arranged conveying mechanisms can be staggered, thereby avoiding collision between the two sets of relatively arranged product carrying parts during movement.

[0047] For example, Fig.15 and Fig.16 As shown, the product carrying unit includes: A box body 4931, which is connected to the transmission mechanism, and an opening and closing plate 4935 is provided at the bottom of the box body, and the opening and closing plate is driven by an eleventh power device 4937 to open and close; A limit frame 4932, which is fixed as a whole in the box body, and the limit frame and the box body form a limit cavity for limiting the array of products to be packed; The movable plate 4933 is entirely arranged in the limiting cavity and is driven to move linearly by a tenth power device 4934 installed on the box body.

[0048] The limit frame 4932 and the movable plate 4933 constitute a dynamically adjustable limit cavity, and the continuous adjustment of the cavity volume is achieved through the stroke control of the tenth power device, thereby adapting to the needs of rapid changeover of products of different specifications.

[0049] In this embodiment, a limit groove 4936 can be provided at the lower part of the limit frame. Fig.17 and Fig.18As shown, the eleventh power device can be provided with two groups, and the two groups of the eleventh power devices are connected by a connecting plate 4938, the connecting plate can move linearly in the limit groove, and the movable plate is fixedly mounted on the connecting plate. The eleventh power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other linear drive devices.

[0050] In this embodiment, if Figure 1 As shown, the conveying system further includes a visual unit 2000 and a control unit 3000, wherein the visual unit is used to obtain image data, wherein the image data includes first image data, and the control unit includes: The data receiving module 3100 is used to receive the image data and the first parameter, wherein the first parameter includes the specification parameter of the product to be packed; The spacing calculation module 3700 is used to perform a first spacing calculation according to the first image data to obtain a first spacing calculation result; and perform a second spacing calculation according to the product specification parameters to obtain a second spacing calculation result; The execution control module 3800 is used to perform a first motion stroke calculation according to the first spacing calculation result to obtain the first motion stroke calculation result, generate a first motion stroke control signal based on the first motion stroke calculation result, and send the first motion stroke control signal to the grasping module so that the seventh power device drives the end of the scissors-type telescopic frame to linearly displace a first preset distance; and perform a second motion stroke calculation according to the second spacing calculation result to obtain the second motion stroke calculation result, generate a second motion stroke control signal based on the second motion stroke calculation result, and send the second motion stroke control signal to the grasping module so that the seventh power device drives the end of the scissors-type telescopic frame to linearly displace a second preset distance.

[0051] The image of the array of products to be grasped is collected by the visual unit 2000, and the spacing calculation module 3700 calculates the spacing of the vacuum suction cups based on the product array image, thereby improving the grasping positioning accuracy; according to the product specifications, after the posture of the product array is changed, the spacing is reduced to avoid excessive spacing that makes it difficult to put into the box, thereby realizing intelligent dynamic adjustment of the spacing of the vacuum suction cups.

[0052] Specifically, the visual unit can use a CCD camera, a 3D camera or other modules, units or devices with image acquisition functions. The visual unit is used to shoot the arranged product array, and the spacing calculation module pre-processes the collected product array image, including cropping, resizing, denoising and other operations to improve the image quality. Then, an image recognition algorithm (such as machine learning, deep learning, etc.) is applied to analyze the pre-processed image. The image recognition algorithm can identify the products in the image, extract the boundaries of the products, determine the center point position of the products, and calculate the spacing between adjacent vacuum suction cups based on the center point positions of adjacent products.

[0053] In this embodiment, the first image data is a grab point product array image.

[0054] Exemplarily, the calculating the first distance according to the first image data includes: Calculate the center point distance between adjacent products as follows: ; in, d is the distance between the center points of adjacent products, in millimeters; x i+1 , x i is the horizontal coordinate of the center point of adjacent products; i is the number of vacuum cups, i is an integer, i ≥2.

[0055] In this embodiment, the number of vacuum suction cup groups is the sum of the center intersection point (i.e., the hinge point in the middle of the two groups of connecting rods) and the end point of the connecting rods on the scissor-type telescopic frame in the same telescopic direction.

[0056] Exemplarily, the first motion stroke calculation is performed according to the first spacing calculation result, including: Calculate the difference between the center point spacing of adjacent products and the preset spacing. The specific calculation method is as follows: ; in, It is the difference between the center point spacing of adjacent products and the preset spacing, in millimeters; D It is the preset spacing in millimeters.

[0057] The first movement stroke is calculated according to the difference between the center point spacing of adjacent products and the preset spacing. The specific calculation method is as follows: ; in, is the first motion stroke, in millimeters; For the i The products on the first movable rod are i +1 distance between the centre points of the products on the movable bar, in millimetres; c The current distance between adjacent vacuum cups, in millimeters.

[0058] The first movement stroke is obtained by the above method, and the execution control unit controls the telescopic rod of the seventh power device to extend to the length of the first movement stroke.

[0059] The calculation method for calculating the second spacing according to the product specification parameters is as follows: ; in, e The distance between adjacent products when packing, in millimeters; is the product thickness in millimeters; It is the distance between adjacent products, in millimeters.

[0060] Determine the spacing between adjacent products when packing by the above method; The calculation method for calculating the second motion stroke according to the second spacing calculation result is: ; in, is the second motion stroke, in millimeters.

[0061] It should be noted that, in this embodiment, , The positive and negative relationship indicates that the telescopic rod of the seventh power device is extended or retracted. For example, if The calculated value is negative, and the execution control unit controls the telescopic rod of the seventh power device to extend | |length, and so on.

[0062] In this embodiment, the image data may further include second image data and third image data; the second image data is an image of a product grabbed by a fixture at the loading point, and the third image data is an image of a product in a product carrying portion at the loading point.

[0063] like Figure 2 As shown, the control unit may further include: The product quantity determination module 3400 is used to determine the number of products in the product loading unit according to the second image data to obtain the product quantity result; determine the number of remaining products in the fixture according to the third image data to obtain the remaining product quantity result; A supplement quantity calculation module 3500 is used to calculate the product compensation quantity according to the product quantity result to obtain the product compensation quantity calculation result; An offset calculation module 3600 is used to perform product offset calculation according to the product quantity result and the remaining product quantity result to obtain a product offset calculation result; The execution control module generates a third motion stroke control signal according to the product offset calculation result, and sends the third motion stroke control signal to the grasping module, so that the sixth power device drives the offset sliding part to linearly shift a third preset distance. At the same time, a product release signal is generated according to the product compensation quantity calculation result and sent to the grasping module, so that the vacuum suction cup releases a preset number of products after the displacement of the offset sliding part is completed.

[0064] Specifically, the product offset is calculated as follows: ; in, X is the product offset, in millimeters; m The number of products in the department; N The total number of products adsorbed by the fixture set by the user; n The number of products remaining in the current fixture; h is the thickness of a single product in millimeters; a is the distance between adjacent products, in millimeters; b is the initial offset in millimeters.

[0065] In this embodiment, the X The positive and negative relationship indicates that the telescopic rod of the sixth power device is extended or retracted.

[0066] When the number of products in the product loading section is not fully loaded, the product offset is calculated based on the number of products in the product loading section and the number of products grabbed by the grabbing module itself, and then the vacuum suction cup array is controlled to deviate from the preset distance as a whole according to the calculation result of the product offset, so that the corresponding number of products can be accurately placed in the limit cavity space where no products are placed, thereby realizing intelligent material replenishment of the loading section.

[0067] In addition, Figure 3 As shown, the delivery system may also include: First conveying module 4100; A turning module 4200, the feeding side of which is connected to the discharging end of the first conveying module; A second conveying module 4300, the feeding end of which is connected to the discharging side of the turnover module; A rotating module 4400, the feeding side of which is connected to the discharging end of the second conveying module; A third conveying module 4500, the feeding end of which is connected to the discharging end of the rotating module; The step arrangement module 4600 is vertically arranged with the third conveying module, the feeding end of the step arrangement module is connected with the discharging end of the third conveying module, and the grabbing module can grab the arranged product array on the step arrangement module.

[0068] The image data may further include fourth image data, which is product image data on the first conveying module.

[0069] like Figure 2 As shown, the control unit may further include: The product state judgment module 3200 is used to obtain the fourth image data, perform product posture judgment according to the fourth image data, and obtain a product posture judgment result, so that the execution module generates a product posture adjustment signal according to the product posture judgment result and sends it to the flip module and / or the reversing module to flip and / or rotate the product; The step length calculation module 3300 obtains the specification parameters of the products to be packed, and calculates the step length according to the specification parameters of the products to be packed, so that the execution control module generates a step control signal according to the step length calculation result and sends it to the step arrangement module 4600 to control the step arrangement module to step a preset distance each time a product is received.

[0070] For example, Figure 4 As shown, the flip module may include: A first power device 4210, which may be a motor; The roller frame 4220 is driven to rotate by the first power device; The roller conveyor line 4230 is provided with two groups, and the two groups of roller conveyor lines are arranged in parallel on a roller frame. The roller conveyor lines are driven to move linearly by a second power device 4240 installed on the roller frame, so that the two groups of roller conveyor lines are moved closer to or away from each other.

[0071] In this embodiment, the second power device can be a pneumatic cylinder, an electric cylinder, a hydraulic cylinder or other linear drive devices.

[0072] The power transmission between the first power device and the roller frame can be achieved through a pulley transmission mechanism, a sprocket transmission mechanism, a gear transmission mechanism, etc.

[0073] For example, Figure 5 As shown, the rotation module may include: Third power unit 4410; A belt transmission mechanism 4420, wherein the belt transmission mechanism is provided with two groups, the two groups of belt transmission mechanisms are arranged opposite to each other, and the belt transmission mechanisms are driven to move by a third power device; The rotating lifting mechanism 4430 is integrally arranged between the two groups of belt transmission mechanisms to lift the product and drive the product to rotate to a preset angle.

[0074] In this embodiment, the third power device may be a motor, including but not limited to a servo motor, a stepper motor, etc.

[0075] For example, Figure 6 As shown, the rotary lifting mechanism may include: Fourth power unit 4431; A fifth power device 4432, which is integrally mounted on the fourth power device, and drives the fifth power device to move vertically linearly through the fourth power device; The rotating jacking plate 4433 is installed on the fifth power device, and the rotating jacking plate is driven to rotate by the fifth power device.

[0076] In this embodiment, the fourth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other linear drive devices. The fifth power device includes but is not limited to a motor, a rotary cylinder, a selective hydraulic cylinder or other rotary drive devices.

[0077] In this embodiment, if Figure 5 As shown, the rotating module may further include a positioning cylinder 4440, through which the product is blocked at a position of the belt transmission mechanism corresponding to the rotating lifting plate.

[0078] In addition, the conveying system in this embodiment may also include a sensor unit 1000, through which each module is detected to be in place, including product arrival detection, action arrival detection, etc.

[0079] Embodiment 2: This embodiment is based on a product conveying system provided in Embodiment 1, and provides a product conveying method, the conveying method comprising: The first conveying module receives the product and drives the product to move toward the flipping module; Acquire the fourth image data, perform product posture judgment according to the fourth image data, obtain the product posture judgment result, and the execution module generates a product posture adjustment signal according to the product posture judgment result and sends it to the flip module and / or the flip module to flip and / or rotate the product; Specifically, the image of the preset area of ​​the first conveying module is collected by the visual unit, the product status judgment module pre-processes the image, and then the image recognition algorithm (such as machine learning, deep learning, etc.) is applied to analyze the pre-processed image. The image recognition algorithm can identify the product in the image and the target feature of the product. The target feature can be a product logo, product barcode and other identifying features. The posture of the product is judged based on whether the upward surface of the product has the target feature and the direction of the target feature. In this embodiment, the product posture judgment includes the judgment of the posture of the front and back sides of the product facing up and the direction of the product.

[0080] For example, when the product judgment module does not recognize that the upward surface of the product has the target feature, it is judged that the back of the product is facing upward, otherwise, it is judged that the front of the product is facing upward; if the back of the product is facing upward, a product flipping signal is generated and sent to the flipping module. When the product is transported to the flipping module by the first conveying module, the second power device will drive the roller conveyor lines to approach each other to clamp the product, and then the first power device drives the roller frame to rotate and flip the product 180°. After flipping, the second power device drives the roller conveyor lines to move away from each other, and the roller conveyor lines continue to transport the product to the second conveying module.

[0081] If the product is facing up or facing up after being flipped, that is, the product has a target feature on the upper side, the direction of the product is judged. For example, the key geometric or texture features (such as edges, corners, and logos) on the surface of the object can be detected by computer vision algorithms (such as SIFT and ORB) to obtain the coordinate data of the feature points. A local coordinate system is constructed based on the features of the product surface with known directions (such as symmetry axes and preset marks). The detected feature points are matched with the reference model of the known orientation, and the coordinate system is adjusted by rotation or translation to align the feature positions. The orientation error is corrected by combining the relative relationship of multiple feature points to improve the robustness of the judgment. Finally, the time series data (such as continuous frame images and IMU sensor data) are fused to optimize the orientation estimation result. The direction of the product can be judged in the above manner. If the product is not in the preset orientation, the current target feature position and the preset target feature position are rotated at an angle to obtain the rotation angle calculation result, and then a rotation control signal is generated according to the rotation angle calculation result and sent to the rotation module to drive the product to rotate at a preset angle.

[0082] Specifically, after the belt transmission mechanism receives the product, it continues to drive the product to move. When the sensor unit senses that the product has moved above the rotating lifting plate, it sends a signal to the execution control unit to control the positioning cylinder to extend and retract the piston rod to block the product. Then the fourth power device drives the fifth power device and the rotating lifting plate to rise as a whole, and the product is pushed away from the belt transmission mechanism. Then the fifth power device drives the rotating lifting plate to rotate a preset angle so that the target feature on the surface of the product rotates to a preset position. The fourth power device drives the rotating lifting plate to descend, so that the product returns to the belt transmission mechanism, the positioning cylinder retracts, and the product continues to move with the belt transmission mechanism.

[0083] The third conveying module receives the product sent out by the rotating module, and drives the product to the stepping arrangement module. The stepping length calculation module obtains the specification parameters of the product to be packed, and calculates the stepping length according to the specification parameters of the product to be packed, so that the execution control module generates a stepping control signal according to the stepping length calculation result and sends it to the stepping arrangement module to control the stepping arrangement module to step a preset distance for each product received, and repeat this process repeatedly.

[0084] After the preset number of arrangements is completed, the step arrangement module drives the product array to move to the grabbing point, and the visual unit obtains the first image data, performs a first spacing calculation based on the first image data, and obtains a first spacing calculation result; Specifically, the visual unit can use a CCD camera, a 3D camera or other modules, units or devices with image acquisition functions. The visual unit is used to shoot the arranged product array, and the spacing calculation module pre-processes the collected product array image, including cropping, resizing, denoising and other operations to improve the image quality. Then, the image recognition algorithm (such as machine learning, deep learning, etc.) is applied to analyze the pre-processed image. The image recognition algorithm can identify the products in the image, extract the boundaries of the products, determine the center point position of the products, and calculate the spacing between adjacent vacuum suction cups based on the center point positions of adjacent products.

[0085] In this embodiment, the first image data is a grab point product array image.

[0086] Exemplarily, the calculating the first distance according to the first image data includes: Calculate the center point distance between adjacent products as follows: ; in, d is the distance between the center points of adjacent products, in millimeters; x i+1 , x i is the horizontal coordinate of the center point of adjacent products; i is the number of active rods, i is an integer, i ≥2.

[0087] Perform a first motion stroke calculation according to the first spacing calculation result to obtain a first motion stroke calculation result, generate a first motion stroke control signal based on the first motion stroke calculation result, send the first motion stroke control signal to the grabbing module, and the seventh power device of the grabbing module drives one end of the scissor-type telescopic frame to move a first preset distance according to the first motion stroke control signal; Exemplarily, the first motion stroke calculation is performed according to the first spacing calculation result, including: Calculate the difference between the center point spacing of adjacent products and the preset spacing. The specific calculation method is as follows: ; in, is the difference between the center point spacing of adjacent products and the preset spacing, in millimeters; D is the preset spacing, in millimeters.

[0088] The first movement stroke is calculated according to the difference between the center point spacing of adjacent products and the preset spacing. The specific calculation method is as follows: ; in, is the first motion stroke, in millimeters; For the i The products on the first movable rod are i +1 distance between the centre points of the products on the movable bar, in millimetres; c The current distance between adjacent vacuum cups, in millimeters.

[0089] The first movement stroke is obtained in the above manner, and the execution control unit controls the telescopic rod of the seventh power device to extend to the length of the first movement stroke to expand or contract the vacuum suction cup by a preset distance.

[0090] The robot arm drives the fixture to move to the product grabbing point, the vacuum suction cup contacts the product, absorbs the product, and the robot arm drives the product to move to the first position; The lifting mechanism drives the movable frame to slide linearly so that the installation frame is close to the connecting frame, and the vacuum suction cup rotates around the installation axis by a preset angle under the transmission action of the installation axis and the connecting rod; Obtaining specification parameters of the product to be packed, performing second spacing calculation according to the product specification parameters, and obtaining a second spacing calculation result; Perform a second motion stroke calculation according to the second spacing calculation result to obtain a second motion stroke calculation result, generate a second motion stroke control signal based on the second motion stroke calculation result, and send the second motion stroke control signal to the grabbing module so that the seventh power device drives the end of the scissor-type telescopic frame to linearly move a second preset distance; Specifically, the calculation method for calculating the second spacing according to the product specification parameters is as follows: ; in, e The distance between adjacent products when packing, in millimeters; is the product thickness in millimeters; It is the distance between adjacent products, in millimeters.

[0091] Determine the spacing between adjacent products when packing by the above method; The calculation method for calculating the second motion stroke according to the second spacing calculation result is: ; in, is the second motion stroke, in millimeters.

[0092] It should be noted that, in this embodiment, , The positive and negative relationship indicates that the telescopic rod of the seventh power device is extended or retracted. For example, if The calculated value is negative, and the execution control unit controls the telescopic rod of the seventh power device to extend | |length, and so on.

[0093] The robotic arm drives the fixture to move to the product placement point; Acquire the second image data, judge the number of products in the product loading part according to the second image data, and obtain the result of the number of products; acquire the third image data, judge the number of remaining products in the fixture according to the third image data, and obtain the result of the number of remaining products; Perform product offset calculation according to the product quantity result and the remaining product quantity result to obtain the product offset calculation result; Specifically, the product offset is calculated as follows: ; in, X is the product offset, in millimeters; m The number of products in the department; N The total number of products adsorbed by the fixture set by the user; n The number of products remaining in the current fixture; h is the thickness of a single product in millimeters; a is the distance between adjacent products, in millimeters; b is the initial offset in millimeters.

[0094] In this embodiment, the X The positive and negative relationship indicates that the telescopic rod of the sixth power device is extended or retracted.

[0095] Generate a third motion stroke control signal according to the product displacement calculation result, and send the third motion stroke control signal to the gripping module so that the sixth power device drives the displacement sliding part to linearly displace a third preset distance; Calculate the product compensation quantity according to the product quantity result, obtain the product compensation quantity calculation result, generate a product release signal according to the product compensation quantity calculation result and send it to the gripping module, so that the vacuum suction cup releases the preset number of products after the displacement of the offset sliding part is completed; The product loading section receives products released by the vacuum suction cup. When the number of products in the product loading section reaches a preset number, the ninth power device drives the pulley mechanism to move, and drives the product loading section to move toward the packing point. At the same time, the winch drives another relative conveying mechanism to rotate and tilt it so that the two sets of conveying mechanisms are staggered. The unloaded product loading section moves to the loading point, continues to receive products grabbed by the grabbing module, and repeats the loading action.

[0096] During packing, after the product carrying part is transported to the packing point, the eleventh power device drives the opening and closing plate to open, and the product slides out of the limiting cavity under the action of gravity and falls into the packaging box.

[0097] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A product delivery system, characterized in that: It includes a grabbing module, which includes a mechanical arm and a clamp. The clamp is installed on the mechanical arm, and the mechanical arm drives the clamp to move. The clamp grabs the array of products to be boxed and drives the array of products to be boxed to flip at a preset angle at the same time. The fixture comprises: A connecting frame, the connecting frame is fixedly connected to the mechanical arm; A lifting mechanism, which is fixedly mounted on the connecting frame; The movable frame is driven by the lifting mechanism to move linearly relative to the connecting frame, and the movable frame includes a mounting frame. When the movable frame moves, the moving direction of the movable frame is perpendicular to the plane where the mounting frame is located; The transmission structure includes a movable rod, a connecting rod and a mounting shaft, wherein the movable rod is arranged on the connecting frame, the mounting shaft is movably mounted in the mounting frame, one end of the connecting rod is pivotally connected to the movable rod, and the other end is fixed to the mounting shaft; Vacuum suction cup: The vacuum suction cup is fixedly mounted on the mounting shaft, and the array of products to be packaged is picked up and placed by the vacuum suction cup.

2. A product delivery system according to claim 1, characterized in that: The transmission structure also includes: Seventh power unit; The scissor-type telescopic frame drives one end of the scissor-type telescopic frame to move linearly through the seventh power device, the movement direction of the end of the scissor-type telescopic frame is parallel to the plane where the installation frame is located, and the movable rod is installed on the pivot axis of the end of the scissor-type telescopic frame and its intersection.

3. A product delivery system according to claim 2, characterized in that: The transmission structure also includes: a sixth power device, the sixth power device being mounted on the movable frame; The offset sliding part is driven to move linearly by the sixth power device, the movement direction of the offset sliding part is parallel to the movement direction of the end of the scissors-type telescopic frame, and the seventh power device and the scissors-type telescopic frame are both arranged on the offset sliding part.

4. A product delivery system according to claim 3, characterized in that: The conveying system further comprises a box packing module, which receives the array of products to be boxed grabbed by the grabbing module; The packing module comprises: A product loading section, which contains an array of products to be packed; The conveying mechanism drives the product carrying part to perform linear reciprocating motion.

5. A product delivery system according to claim 4, characterized in that: The product loading parts and the conveying mechanisms are arranged opposite to each other in pairs; The packing module further comprises a winch, which is arranged corresponding to the conveying mechanism, and the conveying mechanism is driven to rotate around one end thereof by the winch.

6. A product delivery system according to claim 4, characterized in that: The product carrying unit includes: A box body, which is connected to the transmission mechanism, and an opening and closing plate is provided at the bottom of the box body, and the opening and closing plate is driven by the eleventh power device to open and close; A limiting frame, which is fixed as a whole in the box body, and the limiting frame and the box body form a limiting cavity for limiting the array of products to be packed; The movable plate is arranged as a whole in the limiting cavity and is driven to move linearly by a tenth power device installed on the box body.

7. A product delivery system according to claim 4, characterized in that: The conveying system further includes a visual unit and a control unit, wherein the visual unit is used to obtain image data, wherein the image data includes first image data, and the control unit includes: A data receiving module, used for receiving image data and a first parameter, wherein the first parameter includes specification parameters of the product to be packed; A spacing calculation module, configured to perform a first spacing calculation according to the first image data to obtain a first spacing calculation result; and perform a second spacing calculation according to product specification parameters to obtain a second spacing calculation result; The execution control module is used to perform a first motion stroke calculation according to the first spacing calculation result to obtain the first motion stroke calculation result, generate a first motion stroke control signal based on the first motion stroke calculation result, and send the first motion stroke control signal to the grasping module, so that the seventh power device drives the end of the scissors-type telescopic frame to linearly displace a first preset distance; and perform a second motion stroke calculation according to the second spacing calculation result to obtain the second motion stroke calculation result, generate a second motion stroke control signal based on the second motion stroke calculation result, and send the second motion stroke control signal to the grasping module, so that the seventh power device drives the end of the scissors-type telescopic frame to linearly displace a second preset distance.

8. A product delivery system according to claim 7, characterized in that: The image data also includes second image data and third image data; The control unit also includes: A product quantity determination module is used to determine the number of products in the product loading part according to the second image data to obtain the product quantity result; and to determine the number of remaining products in the fixture according to the third image data to obtain the remaining product quantity result; A supplementary quantity calculation module is used to calculate the product compensation quantity according to the product quantity result to obtain the product compensation quantity calculation result; An offset calculation module is used to perform product offset calculation according to the product quantity result and the remaining product quantity result to obtain the product offset calculation result; The execution control module generates a third motion stroke control signal according to the product offset calculation result, and sends the third motion stroke control signal to the grasping module, so that the sixth power device drives the offset sliding part to linearly shift a third preset distance. At the same time, a product release signal is generated according to the product compensation quantity calculation result and sent to the grasping module, so that the vacuum suction cup releases a preset number of products after the displacement of the offset sliding part is completed.

9. A product delivery system according to claim 8, characterized in that: The product offset is calculated as follows: ； in, X is the product offset, in millimeters; m is the number of products in the loading unit; N is the total number of products adsorbed by the fixture set by the user; n The number of products remaining in the current fixture; h is the thickness of a single product in millimeters; a is the distance between adjacent products, in millimeters; b is the initial offset in millimeters.

10. A product conveying method, characterized in that: The conveying method uses a product conveying system as described in any one of claims 7 to 9, and the conveying method comprises: Acquire first image data, perform first distance calculation according to the first image data, and obtain a first distance calculation result; Perform a first motion stroke calculation according to the first spacing calculation result to obtain a first motion stroke calculation result, generate a first motion stroke control signal based on the first motion stroke calculation result, send the first motion stroke control signal to the grabbing module, and the seventh power device of the grabbing module drives one end of the scissor-type telescopic frame to move a first preset distance according to the first motion stroke control signal; The robot arm drives the fixture to move to the product grabbing point, the vacuum suction cup contacts the product, absorbs the product, and the robot arm drives the product to move to the first position; The lifting mechanism drives the movable frame to slide linearly so that the installation frame is close to the connecting frame, and the vacuum suction cup rotates around the installation axis by a preset angle under the transmission action of the installation axis and the connecting rod; Obtaining specification parameters of the product to be packed, performing second spacing calculation according to the product specification parameters, and obtaining a second spacing calculation result; Perform a second motion stroke calculation according to the second spacing calculation result to obtain a second motion stroke calculation result, generate a second motion stroke control signal based on the second motion stroke calculation result, and send the second motion stroke control signal to the grabbing module so that the seventh power device drives the end of the scissor-type telescopic frame to linearly move a second preset distance; The robotic arm drives the fixture to move to the product placement point; Acquire the second image data, judge the number of products in the product loading part according to the second image data, and obtain the result of the number of products; acquire the third image data, judge the number of remaining products in the fixture according to the third image data, and obtain the result of the number of remaining products; Used to perform product offset calculation based on the product quantity result and the remaining product quantity result to obtain the product offset calculation result; Generate a third motion stroke control signal according to the product displacement calculation result, and send the third motion stroke control signal to the gripping module so that the sixth power device drives the displacement sliding part to linearly displace a third preset distance; The product compensation quantity is calculated based on the product quantity result to obtain the product compensation quantity calculation result, and a product release signal is generated based on the product compensation quantity calculation result and sent to the gripping module so that the vacuum suction cup releases a preset number of products after the displacement of the offset sliding part is completed.

Images