A product conveying system and method

Abstract

The present invention discloses a product conveying system and method, which relates to the technical field of workshop conveyor systems. The conveying system includes a grasping module, and the grasping module includes a robotic arm and a fixture. The fixture is installed on the robotic arm, and the robotic arm drives the fixture to move. The fixture grasps the array of products to be boxed and drives the array of products to be boxed to simultaneously flip a preset angle. Through the present invention, the movement of the product array can be realized, so that the product array changes from a lying posture to an upright posture, thereby realizing the automatic and rapid boxing of single-column products.

Description

Technical Field

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

[0002] In the field of industrial automation packaging, before bagged products are packed into boxes, the products usually need to be arranged in a specific array for efficient grasping and loading into the carton. In the prior art, the products are generally stacked in a lying posture to form a multi-row and multi-column array structure, and the entire array is grasped at one time by a mechanical device to complete the boxing. 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-column dense boxing), because the transfer of multiple layers of products can be completed in a single operation.

[0003] However, for the scenario of boxing single-column products (that is, the products are stacked in a single vertical column along the height direction of the carton), the existing lying-down boxing method has significant defects. Since the products occupy a large lateral space when lying down, during the boxing process, the direction of each product needs to be adjusted and the stacking position needs to be determined one by one, resulting in cumbersome mechanical actions and long time consumption. In addition, the products stacked in a lying-down manner are prone to tilt or collapse due to the center-of-gravity shift during single-column boxing, and additional stabilization operations need to be added, further reducing the efficiency. At the same time, most of the existing equipment structures are adapted to multi-column array grasping, and it is difficult to simplify the process in the single-column scenario. Instead, redundant actions increase the energy consumption and time cost. Summary of the Invention

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

[0005] On the one hand, the present invention provides a product conveying system here. The conveying system includes a grasping module. The grasping module includes a robotic arm and a fixture. The fixture is installed on the robotic arm, and the robotic arm drives the fixture to move. The fixture grasps the product array to be boxed and drives the product array to be boxed to flip a preset angle at the same time.

[0006] The fixture includes:

[0007] A connecting frame, which is fixedly connected to the robotic arm;

[0008] A lifting mechanism, which is fixedly installed on the connecting frame;

[0009] A movable frame, which is driven by the lifting mechanism to move linearly relative to the connecting frame. 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;

[0010] Transmission structure, which includes a movable rod, a connecting rod, and a mounting shaft. The movable rod is arranged on a connecting frame, and the mounting shaft is movably installed in a 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;

[0011] Vacuum suction cup, which is fixedly installed on the mounting shaft, and the products to be packed in the box are picked up and placed through the vacuum suction cup.

[0012] In the present invention, the lifting mechanism drives the movable frame to rise. During the rising process of the movable frame, it will drive the connecting rod to rotate around its pivot axis with the movable rod, and at the same time, it will also drive the mounting shaft installed at the other end of the connecting rod to rotate and move linearly, so as to realize the rotation of the product, rotate the product from a lying posture to an upright posture. Finally, the robotic arm transports the product array in the upright posture to the packing point, and the suction cup releases the product, and the products are simultaneously packed into the carton in an upright state, realizing the automatic and rapid packing of single-column products.

[0013] Furthermore, the transmission structure further includes:

[0014] The seventh power device;

[0015] Scissor telescopic frame. One end of the scissor telescopic frame is driven to move linearly by the seventh power device. The movement direction of the end of the scissor telescopic frame is parallel to the plane where the mounting frame is located. The movable rod is installed on the pivot axis of the end and the intersection point of the scissor telescopic frame.

[0016] By installing the movable rod on the pivot axis of the intersection point of the scissor telescopic frame and using the seventh power device to drive the scissor telescopic frame to perform telescopic movement, the adjustment of the distance between adjacent movable rods can be realized.

[0017] Furthermore, the transmission structure further includes:

[0018] The sixth power device, which is installed on the movable frame;

[0019] Offset sliding part. 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 scissor telescopic frame. The seventh power device and the scissor telescopic frame are both arranged on the offset sliding part.

[0020] By driving the offset sliding part by the sixth power device 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 requirements, and the reconstruction of the array space position can be completed without interrupting the production line, significantly improving the flexibility of the packing process.

[0021] Furthermore, the conveying system further includes a packing module, which receives the product array to be packed grabbed by the grabbing module;

[0022] The packing module includes:

[0023] A product loading part which houses an array of products to be packed in boxes;

[0024] A conveying mechanism which drives the product loading part to perform linear reciprocating motion.

[0025] By driving the linear reciprocating motion of the product loading part through the conveying mechanism, continuous displacement compensation of the product array at the packing station is achieved, coordinating with the actions of the grasping module, shortening the single packing cycle, and improving the packing efficiency.

[0026] Furthermore, the product loading parts and the conveying mechanism are arranged in pairs opposite to each other;

[0027] The packing module further includes a winch which is arranged corresponding to the conveying mechanism and drives the conveying mechanism to rotate around one end thereof.

[0028] Packing work for the same packing station is carried out by two sets of relatively arranged product loading parts and the conveying mechanism at intervals, improving the continuity of the product packing work and the packing efficiency. By driving the rotation of the conveying mechanism through the winch, the two sets of relatively arranged conveying mechanisms can be staggered, thereby avoiding collisions between the two sets of relatively arranged product loading parts during movement.

[0029] Furthermore, the product loading part includes:

[0030] A box body which is connected to the conveying mechanism, and an opening and closing plate is provided at the bottom of the box body, and the opening and closing plate is driven to perform opening and closing motion by an eleventh power device;

[0031] A limiting frame which is integrally fixed inside the box body, and the limiting frame and the box body form a limiting cavity for limiting and accommodating the array of products to be packed in boxes;

[0032] A movable plate which is integrally arranged inside the limiting cavity and is driven to perform linear motion by a tenth power device installed on the box body.

[0033] The limiting frame and the movable plate form a dynamically adjustable limiting cavity, and the continuous adjustment of the cavity volume is realized through the stroke control of the tenth power device, so as to adapt to the rapid product changeover requirements of different specifications.

[0034] Furthermore, the conveying system further includes a vision unit and a control unit. The vision unit is used to acquire image data, and the image data includes first image data. The control unit includes:

[0035] A data receiving module which is used to receive image data and a first parameter, and the first parameter includes the product specification parameter to be packed in boxes;

[0036] A spacing calculation module for performing a first spacing calculation based on the first image data to obtain a first spacing calculation result; and performing a second spacing calculation based on the product specification parameters to obtain a second spacing calculation result.

[0037] An execution control module for performing a first motion stroke calculation based on the first spacing calculation result to obtain a first motion stroke calculation result, generating a first motion stroke control signal based on the first motion stroke calculation result, and sending the first motion stroke control signal to the grasping module, so that the seventh power device drives the end of the scissor expansion frame to linearly displace a first preset distance; and performing a second motion stroke calculation based on the second spacing calculation result to obtain a second motion stroke calculation result, generating a second motion stroke control signal based on the second motion stroke calculation result, and sending the second motion stroke control signal to the grasping module, so that the seventh power device drives the end of the scissor expansion frame to linearly displace a second preset distance.

[0038] The visual unit collects the image of the product array to be grasped, and the spacing calculation module calculates the spacing of the vacuum suction cups according to the product array image, thereby improving the grasping and positioning accuracy; according to the product specifications, after transforming the posture of the product array, the spacing is reduced, so as to avoid too large a spacing and make it difficult to put into the box, realizing the intelligent dynamic adjustment of the spacing of the vacuum suction cups.

[0039] Further, the image data further includes second image data and third image data.

[0040] The control unit further includes:

[0041] A product quantity judgment module for judging the quantity of products in the product loading part according to the second image data to obtain a product quantity result; and judging the remaining product quantity of the fixture according to the third image data to obtain a remaining product quantity result.

[0042] A supplementary quantity calculation module for performing a product compensation quantity calculation according to the product quantity result to obtain a product compensation quantity calculation result.

[0043] An offset calculation module for performing a product offset calculation according to the product quantity result and the remaining product quantity result to obtain a product offset calculation result.

[0044] 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 displace 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 quantity of products after the displacement of the offset sliding part is completed.

[0045] Further, the method of the product offset calculation is as follows:

[0046] ;

[0047] wherein, X is the product offset, with the unit of millimeter; m is the number of products in the loading part; N is the total number of products adsorbed by the fixture set by the user; n is the remaining number of products of the current fixture; h is the thickness of a single product, with the unit of millimeter; a is the spacing between adjacent products, with the unit of millimeter; b is the initial offset, with the unit of millimeter.

[0048] When the number of products in the product loading part is not full, calculate the product offset according to the number of products in the product loading part and the number of products grabbed by the grabbing module itself, so as to control the overall deviation of the vacuum chuck array from the preset distance according to the calculation result of the product offset, so as to accurately place the corresponding number of products into the limit cavity space where no products are placed, realizing intelligent replenishment of the loading part.

[0049] On the other hand, the present invention also provides a product conveying method, which uses the above-mentioned product conveying system. The conveying method includes:

[0050] Obtain first image data, perform first spacing calculation according to the first image data, and obtain a first spacing calculation result;

[0051] Perform first motion stroke calculation according to the first spacing calculation result, obtain a 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 grabbing module. The seventh power device of the grabbing module drives one end of the scissor expansion frame to move a first preset distance according to the first motion stroke control signal;

[0052] The robotic arm drives the fixture to move to the product grabbing point, the vacuum chuck contacts the product and adsorbs the product, and the robotic arm drives the product to move to the first position;

[0053] The lifting mechanism drives the movable frame to linearly slide, so that the mounting frame approaches the connecting frame, and the vacuum chuck rotates a preset angle around the mounting shaft under the transmission of the mounting shaft and the connecting rod;

[0054] Obtain the product specification parameters to be packed, perform second spacing calculation according to the product specification parameters, and obtain a second spacing calculation result;

[0055] Calculate the second movement stroke according to the second spacing calculation result to obtain the second movement stroke calculation result, generate a second movement stroke control signal based on the second movement stroke calculation result, and send the second movement stroke control signal to the grasping module so that the seventh power device drives the end of the scissor telescopic frame to linearly displace a second preset distance;

[0056] The robotic arm drives the fixture to move to the product placement point;

[0057] Obtain the second image data, judge the number of products in the product carrying part according to the second image data to obtain the product quantity result; obtain the third image data, judge the remaining number of products of the fixture according to the third image data to obtain the remaining product quantity result;

[0058] 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;

[0059] Generate a third movement stroke control signal according to the product offset calculation result, and send the third movement stroke control signal to the grasping module so that the sixth power device drives the offset sliding part to linearly displace a third preset distance;

[0060] Perform product compensation quantity calculation according to the product quantity result to 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 grasping module so that the vacuum suction cup releases a preset quantity of products after the displacement at the offset sliding part.

[0061] The present invention has the following advantages:

[0062] In the present invention, the lifting mechanism drives the movable frame to rise. During the rising process of the movable frame, it will drive the connecting rod to rotate around its pivot axis with the movable rod, and at the same time, it will also drive the mounting shaft installed at the other end of the connecting rod to rotate and linearly move, thereby realizing the rotation of the product, rotating the product from a lying posture to an upright posture. Finally, the robotic arm transports the product array in the upright posture to the packing point, and the suction cup releases the product, and the products are simultaneously packed into the cardboard box in an upright state, realizing the automatic and rapid packing of a single row of products. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 is a logical schematic diagram of the conveying system;

[0064] Figure 2 is Figure 1 the logical schematic diagram of the control unit in the shown conveying system;

[0065] Figure 3 is Figure 1 the structural schematic diagram of the execution unit in the shown conveying system;

[0066] Figure 4 is Figure 3 The structural schematic diagram of the flipping module in the execution unit shown;

[0067] Figure 5 is Figure 3 The structural schematic diagram of the rotation module in the execution unit shown;

[0068] Figure 6 is Figure 5 The forward schematic diagram of the rotation module shown;

[0069] Figure 7 is Figure 3 The structural schematic diagram of the grasping module in the execution unit shown;

[0070] Figure 8 is Figure 7 The structural schematic diagram of the fixture in the grasping module shown;

[0071] Figure 9 is Figure 8 The side schematic diagram of the fixture shown;

[0072] Figure 10 is Figure 9 The structural schematic diagram of the lifting mechanism in the fixture shown;

[0073] Figure 11 is Figure 8 The structural schematic diagram of the movable frame in the fixture shown;

[0074] Figure 12 is Figure 8 The structural schematic diagram of the transmission structure in the fixture shown;

[0075] Figure 13 is Figure 3 The structural schematic diagram of the packing module in the execution unit shown;

[0076] Figure 14 is Figure 13 The structural schematic diagram of the conveying mechanism in the packing module shown;

[0077] Figure 15 is Figure 13 The structural schematic diagram of the product loading part in the packing module shown;

[0078] Figure 16 is Figure 15 The internal structural schematic diagram of the product loading part shown;

[0079] Figure 17 is Figure 15 The structural schematic diagram of the limit frame in the product loading part shown;

[0080] Figure 18 is Figure 16Schematic diagram of the cooperation between the limit frame and the tenth power device in the shown product mounting part;

[0081] In the figure:

[0082] 1000, sensing unit;

[0083] 2000, vision unit;

[0084] 3000, control unit; 3100, data receiving module; 3200, product status judgment module; 3300, step length calculation module; 3400, product quantity judgment module; 3500, supplementary quantity calculation module; 3600, offset calculation module; 3700, spacing calculation module; 3800, execution control module;

[0085] 4000, execution unit; 4100, first conveying module; 4200, flipping module; 4300, second conveying module; 4400, rotating module; 4500, third conveying module; 4600, step arrangement module; 4700, grasping module; 4800, fixture; 4900, packing module;

[0086] 4210, first power device; 4220, roller frame; 4230, roller conveyor line; 4240, second power device;

[0087] 4410, third power device; 4420, belt transmission mechanism; 4430, rotating lifting mechanism; 4431, fourth power device; 4432, fifth power device; 4433, rotating lifting plate; 4440, positioning cylinder;

[0088] 4710, robotic arm;

[0089] 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 expansion 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, guiding mechanism; 4845, limiting plate; 4846, lead screw; 4847, connecting block; 4850, vacuum chuck;

[0090] 4910, winch; 4920, conveyor mechanism; 4921, ninth power device; 4922, installation part; 4923, pulley mechanism; 4924, sliding seat; 4930, product loading part; 4931, box body; 4932, limit frame; 4933, movable plate; 4934, tenth power device; 4935, opening and closing plate; 4936, limit groove; 4937, eleventh power device; 4938, connecting plate. Detailed implementation

[0091] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application and should not be construed as a limitation of the present application.

[0092] In this article, relational terms such as first and second 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 term "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0093] As described in the background art, for the single-column product packing scenario (i.e., the products are stacked in a single vertical column along the height direction of the carton), the existing flat packing method has significant defects. Since the products occupy a large lateral space when lying flat, it is necessary to adjust the direction and stack the products one by one during the packing process, resulting in cumbersome mechanical actions and long time consumption. In addition, the products stacked flat are prone to tilt or collapse due to the center of gravity shift during single-column packing, and additional stabilization operations are required, further reducing the efficiency. At the same time, the existing equipment structures are mostly adapted to multi-column array grasping, and it is difficult to simplify the process in the single-column scenario, but instead increases the energy consumption and time cost due to redundant actions.

[0094] Therefore, in order to solve the above deficiencies in the prior art, the present invention provides the following embodiments here to achieve intelligent and rapid packing of single-column products.

[0095] Embodiment 1:

[0096] This embodiment provides a product conveying system here, as Figure 1 shown. The conveying system includes an execution unit 4000. By this execution unit, the product array is rotated to make the products stand upright and the products in the upright posture are loaded into the packing box, as Figure 3As shown, the execution unit may include a grasping module 4700, such as Figure 7 As shown, the grasping module includes a robotic arm 4710 and a fixture 4800. The fixture is installed on the robotic arm and driven by the robotic arm to move. The fixture grasps the product array to be packed in a box and drives the product array to be packed in a box to simultaneously flip by a preset angle;

[0097] Such as Figure 8 and Figure 9 As shown, the fixture includes:

[0098] A connecting frame 4810, which is fixedly connected to the robotic arm;

[0099] A lifting mechanism 4840, which is fixedly installed on the connecting frame;

[0100] A movable frame 4820, which is driven by the lifting mechanism to linearly move relative to the connecting frame. As Figure 11 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;

[0101] A transmission structure 4830, as Figure 12 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 installed in the mounting frame. One end of the connecting rod is pivotally connected to the movable rod, and the other end is fixedly connected to the mounting shaft;

[0102] A vacuum chuck 4850, which is fixedly installed on the mounting shaft, and the product array to be packed in a box is picked up and placed through the vacuum chuck.

[0103] In this embodiment, the lifting mechanism drives the movable frame to rise. During the rising process of the movable frame, it will drive the connecting rod to rotate around its pivot axis with the movable rod, and at the same time, it will also drive the mounting shaft installed at the other end of the connecting rod to rotate and linearly move, so as to realize the rotation of the product, rotate the product from a lying posture to an upright posture. Finally, the robotic arm transports the product array in the upright posture to the packing point, and the suction cup releases the product, and the product is simultaneously packed into the cardboard box in an upright state.

[0104] Through this embodiment, the product array can be rotated from a lying posture to an upright posture, thus realizing the automatic and rapid packing of single-row products.

[0105] Exemplarily, as Figure 10 shown, the lifting mechanism may include:

[0106] An eighth power device 4841, which can be fixedly installed on the connecting frame through a mounting plate 4842;

[0107] The lifting plate 4843 is connected to the movable frame and is driven by the eighth power device to move linearly. The moving direction of the lifting plate is perpendicular to its surface.

[0108] In this embodiment, the eighth power device can be a cylinder, an electric cylinder, a hydraulic cylinder or other linear drive devices to directly drive the connection of the lifting plate.

[0109] As Figure 10 shown, the eighth power device can be a motor. A lead screw 4846 can be installed on the rotating shaft of the motor. The lifting plate is connected to the lead screw through a connecting block 4847, and the connecting block is in threaded cooperation with the lead screw.

[0110] In addition, a limiting plate 4845 can be arranged between the lifting plate and the connecting block, and the limiting plate is fixedly connected to the mounting plate through a column. In addition, a guiding mechanism 4844 can be arranged between the lifting plate and the mounting plate, and the guiding mechanism can be a telescopic rod.

[0111] In this embodiment, a guiding wheel 4838 can also be installed at the end of the mounting shaft, and a guiding groove 4821 is opened on the inner side of the mounting frame corresponding to the guiding wheel. The guiding wheel is movably fitted in the guiding groove.

[0112] After the vacuum chuck adsorbs and fixes the product array, the motor drives the lead screw to rotate. Under the transmission action of the lead 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 its pivot shaft with the movable rod, and at the same time drive the mounting shaft to rotate and move linearly along the guiding groove, so as to realize the flipping of the product, and then realize the conversion of the product from a lying posture to a standing posture.

[0113] In this embodiment, as Figure 12 shown, the transmission structure can also include:

[0114] The seventh power device 4833;

[0115] The scissor telescopic frame 4834, one end of the scissor telescopic frame is driven by the seventh power device to move linearly. The moving direction of the end of the scissor telescopic frame is parallel to the plane where the mounting frame is located. The movable rod is installed on the pivot shafts at the end and the intersection of the scissor telescopic frame.

[0116] Specifically, the seventh power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other linear drive devices. The output shaft of the seventh power device is connected to the movable rod installed at the movable end of the scissor telescopic frame, and by driving the movable rod to move linearly, the simultaneous linear movement of other movable rods is realized.

[0117] By installing the movable rod on the pivot axis of the intersection of the scissor expansion frame and using the seventh power device to drive the scissor expansion frame to perform telescopic movement, the adjustment of the distance between adjacent movable rods can be realized.

[0118] When the movable rod of the expansion frame is driven by the seventh power device in this embodiment, since the scissor expansion frame is composed of multiple groups of equal-length cross support rods hinged together to form a variable structure similar to a parallelogram, when an external force acts on the node, the support rods rotate around the hinge point, causing the included angle between adjacent rods to change, thereby changing the distance between adjacent hinge points in the telescopic direction, and further realizing the adjustment of the distance between adjacent groups of vacuum suction cups.

[0119] In this embodiment, as Figure 12 shown, the transmission structure further includes:

[0120] A sixth power device 4832, which is installed on the movable frame;

[0121] An offset sliding part 4831, which is linearly moved by the sixth power device. The movement direction of the offset sliding part is parallel to the movement direction of the end of the scissor expansion frame. The seventh power device and the scissor expansion frame are both arranged on the offset sliding part.

[0122] Specifically, the sixth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other linear driving devices. The output rod of the sixth power device is connected to the offset sliding part. The offset sliding part can be slidably connected to the movable frame through a guiding component. The movable end of the scissor expansion frame can be slidably connected to the offset sliding part through a slider 4835 and a slide rail.

[0123] In this embodiment, the overall linear displacement of the product array can be realized by driving the offset sliding part by the sixth power device. The position of the product array can be dynamically adjusted according to the real-time packing requirements, and the reconstruction of the array space position can be completed without interrupting the production line, significantly improving the flexibility of the packing process.

[0124] In this embodiment, as Figure 3 shown, the conveying system may further include a packing module 4900, which receives the product array to be packed grabbed by the grabbing module;

[0125] As Figure 13 shown, the packing module includes:

[0126] A product carrying part 4930, which accommodates the product array to be packed;

[0127] A conveying mechanism 4920, which drives the product carrying part to perform linear reciprocating movement through the conveying mechanism.

[0128] In this embodiment, the linear reciprocating motion of the product carrying part 4930 can be driven by the conveying mechanism 4920 to achieve continuous displacement compensation of the product array at the packing station. Cooperating with the action of the grasping module, the single packing cycle is shortened and the packing efficiency is improved.

[0129] As Figure 14 shown, the conveying mechanism may include:

[0130] The installation part 4922;

[0131] The ninth power device 4921, which is fixedly installed on the installation part;

[0132] The pulley mechanism 4923, which is installed on the installation part and is connected to the ninth power device. The pulley mechanism is driven to move by the ninth power device;

[0133] The sliding seat 4924, which is slidably installed on the installation part and is connected to the belt of the belt transmission mechanism. The product carrying part is fixedly installed on the sliding seat;

[0134] Exemplarily, the ninth power device can be selected as a motor.

[0135] In this embodiment, as Figure 13 shown, the product carrying parts and the conveying mechanisms are arranged in pairs opposite to each other;

[0136] The packing module may further include a winch 4910, which is arranged corresponding to the conveying mechanism and drives the conveying mechanism to rotate around one end thereof.

[0137] The packing work for the same packing station is carried out through the two sets of product carrying parts and conveying mechanisms arranged opposite to each other at intervals, improving the continuity of the product packing work and the packing efficiency. By driving the rotation of the conveying mechanism by the winch, the two sets of conveying mechanisms arranged opposite to each other can be staggered, thereby avoiding collision between the two sets of product carrying parts arranged opposite to each other during movement.

[0138] Exemplarily, as Figure 15 and Figure 16 shown, the product carrying part includes:

[0139] The box body 4931, which is connected to the conveying mechanism. An opening and closing plate 4935 is provided at the bottom of the box body, and the opening and closing plate is driven to open and close by the eleventh power device 4937;

[0140] The limiting frame 4932, which is integrally fixed inside the box body. The limiting frame and the box body form a limiting cavity for limiting and accommodating the product array to be packed;

[0141] The movable plate 4933 is integrally arranged in the limiting cavity and is driven by the tenth power device 4934 installed on the box body to move linearly.

[0142] The limiting frame 4932 and the movable plate 4933 form a dynamically adjustable limiting cavity, and the continuous adjustment of the cavity volume is realized by controlling the stroke of the tenth power device, so as to adapt to the rapid product changeover requirements of different specifications.

[0143] In this embodiment, a limiting groove 4936 can be opened at the lower part of the limiting frame, as Figure 17 and Figure 18 shown. Two sets of the eleventh power devices can be provided. The two sets of the eleventh power devices are connected by a connecting plate 4938. The connecting plate can move linearly in the limiting groove, and the movable plate is fixedly installed 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 driving devices.

[0144] In this embodiment, as Figure 1 shown, the conveying system further includes a vision unit 2000 and a control unit 3000. The vision unit is used to acquire image data, and the image data includes first image data. The control unit includes:

[0145] A data receiving module 3100, which is used to receive image data and first parameters. The first parameters include the product specification parameters to be packed in the box;

[0146] A spacing calculation module 3700, which is used to perform a first spacing calculation based on the first image data to obtain a first spacing calculation result; and perform a second spacing calculation based on the product specification parameters to obtain a second spacing calculation result;

[0147] An execution control module 3800, which is used to perform a first motion stroke calculation based on 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, and send the first motion stroke control signal to the grasping module, so that the seventh power device drives the end of the scissor expansion frame to linearly displace a first preset distance; and perform a second motion stroke calculation based on 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 grasping module, so that the seventh power device drives the end of the scissor expansion frame to linearly displace a second preset distance.

[0148] The visual unit 2000 captures the images of the product array to be grasped, and the spacing calculation module 3700 calculates the spacing of the vacuum suction cups based on the product array images, thereby improving the grasping and positioning accuracy; according to the product specifications, after transforming the posture of the product array, the spacing is reduced, thereby avoiding too large a spacing and making it difficult to put into the box, realizing the intelligent dynamic adjustment of the spacing of the vacuum suction cups.

[0149] Specifically, the visual unit can adopt a CCD camera, a 3D camera or other functional modules, units or devices with image acquisition functions. Using the visual unit, the arranged product array is photographed, and the spacing calculation module preprocesses the captured product array images, including operations such as cropping, resizing, and denoising, to improve the image quality. Then, image recognition algorithms (such as machine learning, deep learning, etc.) are applied to analyze the preprocessed images. Through the image recognition algorithm, the products existing in the images can be recognized, the boundaries of the products are extracted, the positions of the product center points are determined, and the spacing between adjacent vacuum suction cups is calculated according to the positions of the center points of adjacent products.

[0150] In this embodiment, the first image data is the product array image at the grasping point.

[0151] Exemplarily, the first spacing calculation according to the first image data includes:

[0152] Calculate the center point spacing between adjacent products, and the calculation method is as follows:

[0153] ;

[0154] Wherein, d is the center point spacing between adjacent products, and the unit is millimeter; x i+1 、 x i are the abscissas of the center points of adjacent products; i is the number of groups of vacuum suction cups, i is an integer, i ≥2.

[0155] In this embodiment, the number of groups of vacuum suction cups is the sum of the center cross points (i.e., the hinge points in the middle of two groups of connecting rods) and the endpoints of the connecting rods on the scissors expansion and contraction frame in the same expansion and contraction direction.

[0156] Exemplarily, the first movement stroke calculation according to the first spacing calculation result includes

[0157] Calculate the difference between the center point spacing of adjacent products and the preset spacing, and the specific calculation method is as follows:

[0158] ;

[0159] Wherein, is the difference between the center point spacing of adjacent products and the preset spacing, with the unit of millimeter; D is the preset spacing, with the unit of millimeter.

[0160] Calculate the first movement stroke according to the difference between the center point spacing of adjacent products and the preset spacing. The specific calculation method is as follows:

[0161] ;

[0162] Among them, is the first movement stroke, with the unit of millimeter; is the i th product on the i th movable rod and the center point spacing between the product on the c +1th movable rod, with the unit of millimeter.

[0163] Obtain the first movement stroke through the above method, and the execution control unit controls the telescopic rod of the seventh power device to extend by the length of the first movement stroke.

[0164] The calculation method for the second spacing calculation according to the product specification parameters is as follows:

[0165] ;

[0166] Among them, e is the spacing between adjacent products during packing, with the unit of millimeter; is the product thickness, with the unit of millimeter; is the spacing between adjacent products, with the unit of millimeter.

[0167] Determine the spacing between adjacent products during packing through the above method;

[0168] The calculation method for calculating the second movement stroke according to the second spacing calculation result is:

[0169] ;

[0170] Among them, is the second movement stroke, with the unit of millimeter.

[0171] It should be noted that in this embodiment, , The positive and negative relationship of indicates the extension or retraction of the telescopic rod of the seventh power device. For example, if is calculated as a negative value, the execution control unit controls the telescopic rod of the seventh power device to extend by the length of|

[0172] In this embodiment, the image data may further include second image data and third image data; the second image data is the image of the product grabbed by the loading point fixture, and the third image data is the image of the product inside the product loading part at the loading point.

[0173] As Figure 2 shown, the control unit may further include:

[0174] A product quantity judgment module 3400, configured to judge the quantity of products inside the product loading part according to the second image data to obtain a product quantity result; judge the remaining product quantity of the fixture according to the third image data to obtain a remaining product quantity result;

[0175] A supplementary quantity calculation module 3500, configured to calculate the product compensation quantity according to the product quantity result to obtain a product compensation quantity calculation result;

[0176] An offset calculation module 3600, configured to perform product offset calculation according to the product quantity result and the remaining product quantity result to obtain a product offset calculation result;

[0177] 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 displace 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 quantity of products after the displacement of the offset sliding part is completed.

[0178] Specifically, the method of the product offset calculation is as follows:

[0179] ;

[0180] wherein, X is the product offset, in millimeters; m is the quantity of products inside the loading part; N is the total quantity of products adsorbed by the fixture set by the user; n is the current remaining product quantity of the fixture; h is the thickness of a single product, in millimeters; a is the spacing between adjacent products, in millimeters; b is the initial offset, in millimeters.

[0181] In this embodiment, the X positive and negative relationship indicates that the telescopic rod of the sixth power device extends or retracts.

[0182] When the number of products in the product loading section is not fully loaded, calculate the product offset based on the number of products in the product loading section and the number of products grabbed by the grabbing module itself. Then, control the entire vacuum chuck array to deviate from the preset distance according to the calculation result of the product offset, so as to accurately place the corresponding number of products into the limit cavity space where no products are placed, realizing intelligent feeding of the loading section.

[0183] In addition, as Figure 3 shown, the conveying system may further include:

[0184] The first conveying module 4100;

[0185] The flipping module 4200, the feeding side of which is connected to the discharging end of the first conveying module;

[0186] The second conveying module 4300, the feeding end of which is connected to the discharging side of the flipping module;

[0187] The rotating module 4400, the feeding side of which is connected to the discharging end of the second conveying module;

[0188] The third conveying module 4500, the feeding end of which is connected to the discharging end of the rotating module;

[0189] The stepping arrangement module 4600, which is arranged perpendicular to the third conveying module, the feeding end of which is connected to the discharging end of the third conveying module, and the grabbing module can grab the arranged product array on the stepping arrangement module.

[0190] The image data may further include fourth image data, which is the product image data on the first conveying module.

[0191] As Figure 2 shown, the control unit may further include:

[0192] The product state judgment module 3200, which is used to obtain the fourth image data, judge the product posture according to the fourth image data, and obtain the 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 flipping module and / or the flipping module to flip and / or rotate the product;

[0193] The stepping length calculation module 3300, which obtains the product specification parameters to be packed in the box, calculates the stepping length according to the product specification parameters to be packed in the box, so that the execution control module generates a stepping control signal according to the calculation result of the stepping length and sends it to the stepping arrangement module 4600 to control the stepping arrangement module to step a preset distance every time it receives a product.

[0194] Exemplarily, as Figure 4As shown, the flipping module may include:

[0195] A first power device 4210, and the first power device may be a motor.

[0196] A roller frame 4220, and the roller frame is driven to rotate by the first power device.

[0197] A roller conveyor line 4230, and there are two sets of the roller conveyor lines. The two sets of roller conveyor lines are arranged in parallel on the roller frame, and are driven by a second power device 4240 installed on the roller frame to linearly move, so that the two sets of roller conveyor lines approach or move away from each other.

[0198] In this embodiment, the second power device may be a cylinder, an electric cylinder, a hydraulic cylinder or other linear drive devices.

[0199] 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.

[0200] Exemplarily, as Figure 5 shown, the rotation module may include:

[0201] A third power device 4410;

[0202] A belt transmission mechanism 4420, and there are two sets of the belt transmission mechanisms. The two sets of belt transmission mechanisms are arranged oppositely and are driven by the third power device to move.

[0203] A rotation and lifting mechanism 4430, and the rotation and lifting mechanism is integrally arranged between the two sets of belt transmission mechanisms to lift the product and drive the product to rotate a preset angle.

[0204] In this embodiment, the third power device may be a motor, including but not limited to a servo motor, a stepper motor, etc.

[0205] Exemplarily, as Figure 6 shown, the rotation and lifting mechanism may include:

[0206] A fourth power device 4431;

[0207] A fifth power device 4432, and the fifth power device is integrally installed on the fourth power device and is driven by the fourth power device to vertically linearly displace.

[0208] A rotation and lifting plate 4433, and the rotation and lifting plate is installed on the fifth power device and is driven by the fifth power device to rotate.

[0209] 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.

[0210] In this embodiment, as Figure 5 shown, the rotating module may further include a positioning cylinder 4440 to block the product at the position corresponding to the rotating lifting plate of the belt transmission mechanism through the positioning cylinder.

[0211] In addition, the conveying system in this embodiment may further include a sensing unit 1000 to perform in-place detection on each module through this sensing unit, including product in-place detection, action in-place detection, etc.

[0212] Embodiment 2:

[0213] Based on the product conveying system provided in Embodiment 1, a product conveying method is provided herein. The conveying method includes:

[0214] The first conveying module receives the product and drives the product to move towards the flipping module;

[0215] Obtain the fourth image data, perform product pose judgment according to the fourth image data to obtain a product pose judgment result, and the execution module generates a product pose adjustment signal according to the product pose judgment result and sends it to the flipping module and / or the flipping module to flip and / or rotate the product;

[0216] Specifically, the visual unit performs image acquisition on a preset area of the first conveying module, the product state judgment module preprocesses the image, and then applies an image recognition algorithm (such as machine learning, deep learning, etc.) to analyze the preprocessed image. Through the image recognition algorithm, the product existing in the image can be recognized, and the target features of the product are recognized. The target features may be identifying features such as product logos and product barcodes. The pose of the product is judged according to whether the upper surface of the product has the target features and the direction of the target features. In this embodiment, the product pose judgment includes the judgment of the front and back upward poses of the product and the judgment of the direction of the product.

[0217] For example, when the product judgment module does not recognize that the upper surface of the product has the target features, it is judged that the back of the product is upward; otherwise, it is judged that the front of the product is upward. If the back of the product is upward, a product flipping signal is generated and sent to the flipping module. When the product is conveyed by the first conveying module to the flipping module, the second power device drives the roller conveyor lines to approach each other to clamp and fix the product. Subsequently, 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 convey the product to the second conveying module.

[0218] If the product is face up or becomes face up after being flipped, that is, when the upward-facing side of the product has the target feature, the direction of the product is judged. Exemplarily, key geometric or texture features (such as edges, corners, and marks) on the surface of the object can be detected through computer vision algorithms (such as SIFT, ORB) to obtain the coordinate data of the feature points. Based on the features with known directions on the product surface (such as the axis of symmetry, preset marks), a local coordinate system is constructed. The detected feature points are matched with a reference model with a 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 relationships of multiple feature points to improve the robustness of the judgment. Finally, the orientation estimation result is optimized by fusing temporal data (such as consecutive frame images, IMU sensor data). Through the above method, the direction of the product can be judged. If the product is not in the preset orientation, the rotation angle is calculated between the current target feature position and the preset target feature position to obtain the rotation angle calculation result. 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 by a preset angle.

[0219] Specifically, after the belt transmission mechanism receives the product, it continues to drive the product to move. When the sensing unit senses that the product has moved above the rotating lifting plate, it sends a signal to the execution control unit, so that the execution control unit controls the positioning cylinder to extend and retract the piston rod to block the product. Subsequently, the fourth power device drives the fifth power device and the rotating lifting plate to rise as a whole, and the product is lifted off the belt transmission mechanism. Then, the fifth power device drives the rotating lifting plate to rotate by a preset angle so that the target feature on the product surface rotates to the preset position. The fourth power device drives the rotating lifting plate to descend, and the product returns to the belt transmission mechanism. The positioning cylinder retracts, and the product continues to move with the belt transmission mechanism.

[0220] The third conveying module receives the product sent out by the rotation module and drives the product onto the step arrangement module. The step length calculation module obtains the specification parameters of the product to be packed in the box and calculates the step length according to the specification parameters of the product to be packed in the box, 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 to control the step arrangement module to step a preset distance every time it receives a product, and so on.

[0221] After arranging the preset quantity, the step arrangement module drives the product array to move to the grasping point. The vision unit obtains the first image data and performs the first spacing calculation according to the first image data to obtain the first spacing calculation result;

[0222] Specifically, the described vision unit can adopt a CCD camera, a 3D camera, or other modules, units, or devices with an image acquisition function. Using the vision unit, the arranged product array is photographed, and the spacing calculation module preprocesses the acquired product array image, including operations such as cropping, resizing, and denoising, to improve the image quality. Then, image recognition algorithms (such as machine learning, deep learning, etc.) are applied to analyze the preprocessed image. Through the image recognition algorithm, the products existing in the image can be recognized, the boundaries of the products are extracted, the center point positions of the products are determined, and the spacing between adjacent vacuum suction cups is calculated based on the center point positions of adjacent products.

[0223] In this embodiment, the first image data is the image of the product array at the grasping point.

[0224] Exemplarily, the first spacing calculation based on the first image data includes:

[0225] Calculate the center point spacing between adjacent products, and the calculation method is as follows:

[0226] ;

[0227] Wherein, d is the center point spacing between adjacent products, with the unit of millimeter; x i+1 , x i are the abscissas of the center points of adjacent products; i is the number of movable rods, i is an integer, i ≥2.

[0228] Perform the first motion stroke calculation according to the first spacing calculation result to obtain the first motion stroke calculation result. Generate the 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. The seventh power device of the grasping module drives one end of the scissor telescopic frame to move a first preset distance according to the first motion stroke control signal;

[0229] Exemplarily, the first motion stroke calculation according to the first spacing calculation result includes

[0230] Calculate the difference between the center point spacing of adjacent products and the preset spacing. The specific calculation method is as follows:

[0231] ;

[0232] Wherein, is the difference between the center point spacing of adjacent products and the preset spacing, with the unit of millimeter; D is the preset spacing, with the unit of millimeter.

[0233] Calculate the first motion stroke according to the difference between the center point spacing of adjacent products and the preset spacing. The specific calculation method is as follows:

[0234] ;

[0235] Among them, is the first motion stroke, with the unit of millimeter; is the product on the i th movable rod and the product on the i +1th movable rod, and the center point spacing between them, with the unit of millimeter; c is the spacing between the current adjacent vacuum suction cups, with the unit of millimeter.

[0236] Obtain the first motion stroke through the above method. The execution control unit controls the telescopic rod of the seventh power device to extend by the length of the first motion stroke, so as to expand or contract the vacuum suction cup by a preset distance.

[0237] The robotic arm drives the fixture to move to the product grasping point. The vacuum suction cup contacts the product and adsorbs the product. The robotic arm drives the product to move to the first position;

[0238] The lifting mechanism drives the movable frame to linearly slide, so that the installation frame approaches the connecting frame. The vacuum suction cup rotates by a preset angle around the installation shaft under the transmission action of the installation shaft and the connecting rod;

[0239] Obtain the product specification parameters to be boxed, and perform the second spacing calculation according to the product specification parameters to obtain the second spacing calculation result;

[0240] Perform the 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 scissor telescopic frame to linearly displace by a second preset distance;

[0241] Specifically, the calculation method for performing the second spacing calculation according to the product specification parameters is as follows:

[0242] ;

[0243] Among them, e is the spacing between adjacent products during boxing, with the unit of millimeter; is the product thickness, with the unit of millimeter; is the spacing between adjacent products, with the unit of millimeter.

[0244] Determine the spacing between adjacent products during boxing through the above method;

[0245] The calculation method for performing the second motion stroke calculation according to the second spacing calculation result is:

[0246] ;

[0247] Among them, is the second movement stroke, with the unit of millimeter.

[0248] It should be noted that, in this embodiment, , the positive and negative relationship of... represents the extension or retraction of the telescopic rod of the seventh power device. For example, if is calculated as a negative value, the execution control unit controls the telescopic rod of the seventh power device to extend by |length, and so on.

[0249] The robotic arm drives the fixture to move to the product placement point;

[0250] Obtain the second image data, judge the number of products in the product mounting part according to the second image data, and obtain the product quantity result; obtain the third image data, judge the remaining number of products of the fixture according to the third image data, and obtain the remaining product quantity result;

[0251] Perform product offset calculation according to the product quantity result and the remaining product quantity result, and obtain the product offset calculation result;

[0252] Specifically, the method of the product offset calculation is as follows:

[0253] ;

[0254] Among them, X is the product offset, with the unit of millimeter; m is the number of products in the mounting part; N is the total number of products adsorbed by the fixture set by the user; n is the remaining number of products of the current fixture; h is the thickness of a single product, with the unit of millimeter; a is the spacing between adjacent products, with the unit of millimeter; b is the initial offset, with the unit of millimeter.

[0255] In this embodiment, the X positive and negative relationship represents the extension or retraction of the telescopic rod of the sixth power device.

[0256] Generate a third movement stroke control signal according to the product offset calculation result, and send the third movement stroke control signal to the grasping module, so that the sixth power device drives the offset sliding part to linearly displace a third preset distance;

[0257] 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 grasping module, so that the vacuum suction cup releases a preset quantity of products after the displacement at the offset sliding part is completed;

[0258] The product carrying part receives the products released by the vacuum suction cup. When the number of products in the product carrying part reaches the preset quantity, the ninth power device drives the pulley mechanism to move, driving the product carrying part to move towards the packing point. At the same time, the hoist will drive the other relative conveying mechanism to rotate and tilt it, so that the two sets of conveying mechanisms are staggered, and the empty product carrying part moves to the loading point and continues to receive the products grabbed by the grasping module, repeating the loading action.

[0259] 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 products slide out of the limiting cavity under the action of gravity and fall into the packing box.

[0260] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can 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, and the mounting shaft is movably mounted in the mounting frame, and 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, which is fixedly mounted on the mounting shaft, and is used to pick up and place the array of products to be packed; The transmission structure also includes: Seventh power unit; A scissor-type telescopic frame, wherein one end of the scissor-type telescopic frame is driven to move linearly by a seventh power device, the movement direction of the end of the scissor-type telescopic frame is parallel to the plane where the mounting frame is located, and the movable rod is mounted on the end of the scissor-type telescopic frame and the pivot axis at the intersection thereof; 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.

2. A product delivery system according to claim 1, 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.

3. A product delivery system according to claim 2, 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.

4. A product delivery system according to claim 2, 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.

5. A product delivery system according to claim 2, 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.

6. A product delivery system according to claim 5, 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.

7. A product delivery system according to claim 6, 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.

8. A product conveying method, characterized in that: The conveying method uses a product conveying system as described in any one of claims 6 to 7, 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