Material stacking robot based on industrial vision
By using industrial vision and rubber sleeves in material palletizing robots, the problem of difficult for mechanical clamping hands to clamp tightly stacked flour bags and scattered flour pollution is solved, and efficient and environmentally friendly flour handling and stacking is achieved.
Patent Information
- Application Number
- CN202510433198.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-08
- Publication Date
- 2025-06-06
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In the prior art, it is difficult for mechanical clamping hands to insert the gap between tightly stacked flour bags, and the flour is prone to scatter during handling, resulting in pollution and increasing cleaning costs.
Using a material palletizing robot based on industrial vision, contacts and rotates with the sides of the flour bag through the rubber sleeve, drives the two sides of the flour bag to retract inward, creates an intervention space for clamping claws, and uses the collection arc plate and electric slider to collect scattered flour to prevent pollution.
It effectively solves the problem that clamping claws are difficult to insert into the flour bag, avoids flour scattering and contamination, reduces cleaning costs, and improves handling efficiency.
Smart Images
Figure CN120095869A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of material palletizing, and in particular to a material palletizing robot based on industrial vision. Background Art
[0002] As a special equipment for automated material stacking and handling, palletizing robots have shown significant advantages in the logistics industry with their operating efficiency far exceeding that of manual labor. In the warehouse of a food processing plant, a large number of stacked flour bags need to be transported to the processing workshop for the production process. Currently, mechanical grippers are usually used to clamp the two sides of the flour bags to complete the handling and palletizing, but there are the following problems: First, the sides of the tightly stacked flour bags fit together, making it difficult for the mechanical grippers to insert and clamp them. Second, flour is easily left on the surface of the flour bags during the production and transportation process, and tiny holes may be formed due to friction, which will cause the flour to scatter during transportation, which not only increases the cleaning cost, but also may cause dust pollution in the processing workshop.
[0003] In summary, the present application proposes a material stacking robot device based on industrial vision to improve the technical problems mentioned above. Summary of the invention
[0004] In order to overcome the shortcomings of the mechanical gripper clamping method in the prior art that it is difficult to insert into the gaps between tightly stacked flour bags and that flour is easily scattered and contaminated during transportation, the present invention provides a material stacking robot based on industrial vision.
[0005] Technical solution: A material stacking robot based on industrial vision, including a mounting frame, a mechanical claw body and a clamping claw; the mounting frame is equipped with the mechanical claw body; the mechanical claw body is rotatably connected to two clamping claws; it also includes an industrial vision camera, an electric roller, a rubber sleeve, an electric slider and a collection arc plate; the mechanical claw body is equipped with two industrial vision cameras; each clamping claw is equipped with an electric roller; the rotating part of each electric roller is fixedly connected to a number of rubber sleeves; each clamping claw has a number of slide grooves on its surface, and each slide groove is slidably connected to an electric slider; all electric sliders on the same clamping claw are commonly fixed to a collection arc plate, and the collection arc plate has a collection groove.
[0006] Furthermore, it is particularly preferred that a plurality of guide grooves are formed on the facing sides of the two clamping claws.
[0007] Furthermore, it is particularly preferred that a plurality of support rods are fixedly connected to each guide groove.
[0008] In addition, it is particularly preferred that it also includes an elastic sheet and a paddle plate; an elastic sheet is fixed in each guide groove; a plurality of paddle plates are fixed to the rotating part of each electric roller, the paddle plates are directly opposite to the guide grooves, are in rotational contact with the elastic sheet, and the paddle plates and the rubber sleeves are staggered along the axial direction of the electric roller.
[0009] In addition, it is particularly preferred that it also includes a connecting tube and a suction tube 1; a connecting tube is fixedly connected to the left and right sides of the mechanical claw body, and the connecting tube is connected to the external suction mechanism; each connecting tube is connected to a plurality of suction tubes 1, and the suction tube 1 is located between the clamping claw and the collecting arc plate.
[0010] In addition, it is particularly preferred that a suction pipe 2 is also included; each connecting pipe is connected to a suction pipe 2, and the suction pipe 2 is located below the industrial vision camera.
[0011] In addition, it is particularly preferred that it also includes a mounting plate, an electric push rod, a small mechanical claw, an electric roller 2 and a blade; a mounting plate is detachably connected to the left and right sides of the mechanical claw body; each mounting plate is fixedly connected to a number of electric push rods; a small mechanical claw is installed on the telescopic part of each electric push rod; an electric roller 2 is installed at the lower end of the collecting groove of each collecting arc plate, and the fixed end of the electric roller 2 is installed inside the collecting arc plate, and the rotating end passes through the collecting arc plate; the rotating part of the electric roller 2 is fixedly connected to a blade, and the blade is located in the collecting groove of the collecting arc plate.
[0012] Furthermore, it is particularly preferred that the two clamping jaws of the small mechanical claw are arranged in a comb shape that is staggered with each other.
[0013] In addition, it is particularly preferred that the collecting tank is provided with a through groove, and a sealing strip is arranged in the through groove.
[0014] In addition, it is particularly preferred that the collecting arc plate is installed at two locations of the electric roller and is detachably connected with a sealing gasket.
[0015] Beneficial effects: The rubber sleeve contacts the side of the bagged flour, and the rubber sleeves on the two clamping claws rotate with each other. The rubber sleeve contacts the side of the bagged flour and rotates, driving its two sides to retract inward, effectively releasing the adhesion with the adjacent bagged flour, creating a safe intervention space for the clamping claws, and avoiding packaging extrusion damage caused by traditional clamping methods.
[0016] And in the process of clamping and carrying bagged flour, when a small amount of flour falls from the bagged flour, two collecting arc plates can collect the scattered flour to prevent the flour from falling everywhere during the transportation process, increasing the subsequent manual cleaning costs.
[0017] A small mechanical claw clamps the bagged flour and swings it so that the flour in the bag can be discharged in a centralized manner, thus realizing intelligent recycling of the flour in damaged bagged flour, simplifying manual operation steps and improving the overall handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 A schematic diagram of the structure disclosed by the material stacking robot based on industrial vision of the present invention; Figure 2 It is a structural schematic diagram of a combination of a clamping claw, a motorized roller, a rubber sleeve and a collecting arc plate disclosed by the material stacking robot based on industrial vision of the present invention; Figure 3 It is a schematic structural diagram of a combination of a clamping claw, an industrial vision camera, an electric slider, a collecting arc plate, a connecting pipe, a suction pipe 1 and a suction pipe 2 disclosed by the material stacking robot based on industrial vision of the present invention; Figure 4 A state diagram of the material stacking robot based on industrial vision of the present invention clamping bagged flour; Figure 5 A cross-sectional view of a collecting arc plate disclosed by the material stacking robot based on industrial vision of the present invention; Figure 6 It is a structural schematic diagram of a clamping claw, an elastic sheet and a paddle assembly disclosed by the material stacking robot based on industrial vision of the present invention; Figure 7 It is a structural schematic diagram of a combination of a clamping claw, a rubber sleeve and an elastic sheet disclosed by the material stacking robot based on industrial vision of the present invention; Figure 8 It is a structural schematic diagram of a combination of a clamping claw, an industrial vision camera, a connecting pipe and a suction pipe disclosed by the material stacking robot based on industrial vision of the present invention; Fig. 9 It is a structural schematic diagram of a mounting plate, an electric push rod and a small mechanical claw combination disclosed by the material stacking robot based on industrial vision of the present invention; Fig.10 A state diagram of blade rotation disclosed by the material palletizing robot based on industrial vision of the present invention; Fig.11 The present invention is a schematic structural diagram of the electric roller 2 and the blade combination disclosed by the material stacking robot based on industrial vision.
[0019] In the figure: 1-mounting frame, 2-mechanical claw body, 3-clamping claw, 4-industrial vision camera, 5-electric roller one, 6-rubber sleeve, 7-electric slider, 8-collecting arc plate, 101-connecting pipe, 102-suction pipe one, 103-suction pipe two, 111-elastic sheet, 112-paddle plate, 201-mounting plate, 202-electric push rod, 203-small mechanical claw, 211-electric roller two, 212-blade, 31-guide groove, 32-support rod, 80-collecting groove, 81-through groove, 82-sealing gasket, 100-bag flour. DETAILED DESCRIPTION
[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0021] Example 1 A material palletizing robot based on industrial vision, referring to Figure 1-Figure 8 As shown, it includes a mounting frame 1, a mechanical claw body 2 and a clamping claw 3; the mounting frame 1 is mounted with the mechanical claw body 2; the mechanical claw body 2 is rotatably connected to two clamping claws 3, and a driving motor is integrated on the mechanical claw body 2, and the clamping claw 3 is controlled to perform a rotational motion through the transmission action of the motor to realize the opening and closing action of the clamping claw 3; It also includes an industrial vision camera 4, an electric roller 5, a rubber sleeve 6, an electric slider 7 and a collecting arc plate 8; the mechanical claw body 2 is equipped with two industrial vision cameras 4; an electric roller 5 is installed at the lower end of each clamping claw 3; a plurality of rubber sleeves 6 are fixedly connected to the rotating part of each electric roller 5; a plurality of slide grooves are opened on the outer side of each clamping claw 3, and an electric slider 7 is slidably connected to each slide groove; all the electric sliders 7 on the same clamping claw 3 are fixedly connected to a collecting arc plate 8, and a collecting groove 80 is opened on the collecting arc plate 8, and the fallen flour is collected by the collecting arc plate 8, which effectively blocks the scattering of flour, thereby reducing the subsequent manual cleaning cost.
[0022] The two clamping claws 3 are provided with a plurality of guide grooves 31 on the facing sides thereof, and the flour dropped from the sides of the bagged flour 100 is guided to the collecting arc plate 8 through the guide grooves 31 for collection so as to be recovered later.
[0023] A plurality of support rods 32 are fixedly connected to each guide groove 31 , and the bagged flour 100 is supported by the support rods 32 to prevent the bagged flour 100 from sinking into the guide groove 31 and blocking it when the bagged flour 100 is clamped and carried.
[0024] It also includes an elastic sheet 111 and a paddle 112; an elastic sheet 111 is fixedly connected in each guide groove 31; a plurality of paddles 112 are fixedly connected to the rotating part of each electric roller 5, the paddles 112 are directly opposite to the guide groove 31, and are in rotational contact with the elastic sheet 111, and the paddles 112 and the rubber sleeve 6 are staggeredly distributed along the axial direction of the electric roller 5.
[0025] It also includes a connecting pipe 101 and a suction pipe 102; a connecting pipe 101 is fixedly connected to the left and right sides of the mechanical claw body 2, and the connecting pipe 101 is connected to an external suction mechanism; each connecting pipe 101 is connected to four suction pipes 102, and the suction pipe 102 is located between the clamping claw 3 and the collecting arc plate 8.
[0026] It also includes a second suction pipe 103 ; each connecting pipe 101 is connected to a second suction pipe 103 , and the second suction pipe 103 is located below the industrial vision camera 4 .
[0027] A large number of bagged flour 100 are piled up in the warehouse of some food processing plants. When the flour needs to be processed and used, it is necessary to manually use relevant equipment to move and stack the bagged flour 100 piled up in the warehouse to the processing workshop for subsequent food processing. The specific steps of the moving work are as follows: First, the device is manually installed on a freely movable robotic arm through the mounting frame 1, and then the robotic arm is controlled to move near the stacked bagged flour 100, and then the position and posture of the bagged flour 100 are observed and analyzed through the industrial visual camera 4 on the robotic claw body 2, and then the robotic arm is controlled to drive the mounting frame 1, the robotic claw body 2 and the clamping claw 3 to move accurately above the bagged flour 100 to be transported, and then the driving motor on the robotic claw body 2 is controlled to drive the clamping claw 3 to rotate and open the two clamping claws 3, and then the robotic arm is controlled to drive the two opened clamping claws 3 to move downward along the two sides of the bagged flour 100 to be transported. When the two clamping claws 3 move down to their lower ends and contact the bottom of the bagged flour 100, the two clamping claws 3 are controlled to move together to clamp the bagged flour 100, and then the robotic arm is controlled to move, the clamped bagged flour 100 is lifted, and moved to the processing workshop, and then the two clamping claws are controlled to move. The claws 3 are opened to put down the bagged flour 100, completing the transportation of the bagged flour 100; however, the sides of the stacked bagged flour 100 are in contact with the adjacent bagged flour 100, and when the clamping claws 3 clamp them, it is difficult for the clamping claws 3 to insert into the sides of the bagged flour 100 to clamp it, which is easy to cause extrusion damage to the sides; therefore, when the clamping claws 3 move downward along the two sides of the bagged flour 100 to be transported, the electric roller 15 is controlled to drive the rubber sleeve 6 to rotate at the same time, driving the rubber sleeve 6 on the left clamping claw 3 to rotate counterclockwise from the front to the back, and driving the rubber sleeve 6 on the right clamping claw 3 to rotate clockwise from the front to the back. As the two clamping claws 3 continue to move downward, the rubber sleeve 6 contacts the sides of the bagged flour 100 and rotates, driving its two sides to retract inward, effectively releasing the adhesion state with the adjacent bagged flour 100, creating a safe intervention space for the clamping claws 3, and avoiding packaging extrusion damage caused by the traditional clamping method.
[0028] At the same time, considering that flour is likely to remain on the surface of the bagged flour 100 during production and transportation, and the bagged flour 100 may have tiny holes due to friction, resulting in some flour scattering during transportation, the falling of flour not only increases the labor cleaning cost, but also causes dust pollution in the processing workshop; in order to solve the above problems, when the clamping claw 3 clamps the bagged flour 100 for transportation, the electric slider 7 is controlled to drive the collecting arc plate 8 to move downward along the slide groove on the clamping claw 3, and the collecting arc plates 8 on the two clamping claws 3 are controlled to move downward synchronously, and stop moving when the two collecting arc plates 8 contact each other. At this time, the two collecting arc plates 8 contact each other and are located below the clamped bagged flour 100, such as Figure 4 As shown, in the process of clamping and carrying the bagged flour 100, when a small amount of flour falls off the bagged flour 100, the two collecting arc plates 8 can collect the scattered flour to prevent the flour from falling everywhere during the transportation process, thereby increasing the subsequent cleaning cost of manpower; and when the bagged flour 100 is transported to the designated position of the processing workshop for stacking, the electric slider 7 is first controlled to drive the collecting arc plates 8 to reset, and during the resetting process of the collecting arc plates 8, when the facing ends of the collecting grooves 80 of the two collecting arc plates 8 move to the outer side of the clamping claw 3, the external suction mechanism is controlled to work, and the external suction mechanism performs suction through the connecting pipe 101 and the suction pipe 102 in turn, and through the suction The suction tube 102 extracts the flour collected on the collecting arc plate 8, and during the suction process, the outer side surface of the clamping claw 3 blocks the collecting groove 80 of the collecting arc plate 8, so that the flour on the collecting groove 80 is in a relatively closed space, thereby reducing the dust of flour during the suction process and improving the efficiency of flour suction. It should be noted that during the process of sucking flour, the suction tube 2 103 located below the industrial vision camera 4 can be used to suck the lens of the industrial vision camera 4 to extract the flour attached to the lens, thereby preventing the flour from adhering to the lens of the industrial vision camera 4 and affecting the visual function of the industrial vision camera 4.
[0029] In addition, a plurality of guide grooves 31 are formed on the inner side of the clamping claw 3. When the bagged flour 100 is clamped and carried, if flour falls from the side, it can fall into the collecting groove 80 through the guide groove 31, so as to avoid that the flour falling from the side of the bagged flour 100 cannot be collected during the transportation process, and dust will still be generated during the subsequent stacking process. In addition, considering that the amount of flour falling from the side is small, it is difficult for the flour to fall into the collecting groove 80 of the collecting arc plate 8 along the guide groove 31. Therefore, in the process of collecting flour, the motorized roller 5 is controlled to rotate at the same time. The electric roller 5 drives the paddle 112 to rotate, and the paddle 112 rotates to slap the elastic sheet 111, causing it to vibrate, and then vibrate the flour falling from the side, so that it can fully fall into the collecting groove 80 of the collecting arc plate 8, thereby improving the collection effect of the flour; and, a plurality of support rods 32 are provided at the guide groove 31, and the bagged flour 100 is supported by the support rods 32 to prevent the bagged flour 100 from falling into the guide groove 31 when the bagged flour 100 is clamped and carried, thereby blocking it and affecting the collection of the flour.
[0030] At the same time, in the process of clamping and carrying the bagged flour 100, the side of the bagged flour 100 is squeezed by the clamping claws 3, and the flour inside will gather towards the middle, so that the bagged flour 100 after transportation is high in the middle and low around, which increases the instability of the stacking of the bagged flour 100 during the subsequent stacking process; therefore, when the two clamping claws 3 are opened to put down the bagged flour 100 and the transportation of one bagged flour 100 is completed, the electric slider 7 is controlled again to drive the collecting arc plate 8 to move downward, and the two collecting arc plates 8 contact each other to form an arc plate. At this time, the mechanical arm is controlled to drive the two collecting arc plates 8 that form the arc plate downward to press the middle of the bagged flour 100 placed after transportation, and flatten the bagged flour 100 placed after transportation, so as to improve the stability of subsequent stacking.
[0031] Example 2 Based on Example 1, Figure 3 and Figure 9-11 As shown, it also includes a mounting plate 201, an electric push rod 202, a small mechanical claw 203, an electric roller 211 and a blade 212; a mounting plate 201 is bolted to the left and right sides of the mechanical claw body 2; each mounting plate 201 is fixedly connected to two electric push rods 202; a small mechanical claw 203 is installed on the telescopic part of each electric push rod 202; an electric roller 211 is installed at the lower end of the collecting groove 80 of each collecting arc plate 8, and the fixed end of the electric roller 211 is installed inside the collecting arc plate 8, and the rotating end passes through the collecting arc plate 8; the rotating part of the electric roller 211 is fixedly connected to the blade 212, and the blade 212 is located in the collecting groove 80 of the collecting arc plate 8.
[0032] The two jaws of the small mechanical claw 203 are arranged in a mutually staggered comb-teeth shape. In the process of clamping the bagged flour 100, the two jaws of the small mechanical claw 203 are arranged in a mutually staggered comb-teeth shape. The small mechanical claw 203 can stably clamp the bagged flour 100 through the mutually staggered comb-teeth-shaped jaws, and then shake off the flour.
[0033] The collecting groove 80 is provided with a through groove 81, and a sealing strip is provided in the through groove 81. When the blade 212 is not in use, it is stored in the through groove 81, and the sealing strip presses the blade 212 to seal the through groove 81. After the blade 212 rotates out to cut the bagged flour 100, when it is reset, the blade 212 re-enters the through groove 81 to squeeze out the flour that falls into the through groove 81 during the rotation and cutting process, so as to prevent part of the flour from getting stuck in the blade 212.
[0034] A sealing gasket 82 is clamped at the place where the collecting arc plate 8 is installed on the electric roller 211. The sealing gasket 82 isolates the electric roller 211 from the outside world to prevent flour dropped from the outside from contacting the electric roller 211 and affecting its normal use. By opening the sealing gasket 82, the installed electric roller 211 and the blade 212 can be disassembled and replaced.
[0035] On the basis of the above-mentioned embodiment 1, considering that there are cases where the bagged flour 100 has large holes during transportation, the flour in the bagged flour 100 will continue to leak out, making it impossible to perform subsequent palletizing, and it is necessary to manually collect and recycle the flour in the damaged bagged flour 100; therefore, before preparing for the transportation work, a large container for placing the flour is manually prepared, and then the robot arm is controlled to transport the bagged flour 100. When the falling flour is collected by the collecting arc plate 8, the flour collected on the collecting arc plate 8 is manually observed, and the upper side of the transported bagged flour 100 is observed by the industrial visual camera 4. When it is observed that only the flour collected on the collecting arc plate 8 is When there is a small amount of flour, and the bagged flour 100 does not drop flour continuously, and there is no large hole on the upper side of the bagged flour 100, it means that during the transportation process, the surface of the bagged flour 100 is not greatly damaged, and only a small amount of flour has dropped. At this time, the same operation is performed to transport and stack it. When it is observed that there is a lot of flour collected on the collecting arc plate 8, and the bagged flour 100 is continuously dropping flour, or there is a large damage on the upper side of the bagged flour 100, it means that there is a large hole in the bagged flour 100, and the flour inside it will continue to leak, and subsequent stacking cannot be performed. At this time, the robot arm is controlled to drive the bagged flour 100 to move to the top of the prepared large container, and then the robot arm is controlled to move to the top of the prepared large container. The electric push rod 202 drives the small mechanical claw 203 to move downward, and controls the small mechanical claw 203 to open its clamping jaws at the same time. When the small mechanical claw 203 moves downward and contacts the upper side of the bagged flour 100, it stops moving. Then, the small mechanical claw 203 is controlled to clamp the upper side of the bagged flour 100, and the two clamping jaws of the small mechanical claw 203 are arranged in a mutually staggered comb shape, which can stably clamp the bagged flour 100. Then, the electric roller 211 is controlled to drive the blade 212 to rotate upward, cutting a hole in the bottom of the bagged flour 100. Then, the electric roller 211 is controlled to drive the blade 212 to rotate and reset. Then, the electric slider 7 is controlled to drive the collecting arc plate 8 to move and reset. Then, the mechanical arm is controlled to swing the device. , the small mechanical claw 203 clamps the bagged flour 100 and swings it to throw out the flour in the bagged flour 100, and directly pours out the flour collected on the collecting arc plate 8 and collects it in the prepared large container. When most of the flour in the bagged flour 100 is thrown out, the small mechanical claw 203 is controlled to open the clamping claw to put down the bagged flour 100, and finally the bagged flour 100 that falls into the large container is taken out manually to complete the recycling of the damaged bagged flour 100. The small mechanical claw 203 clamps the bagged flour 100 and swings it to discharge the flour inside, thereby realizing the intelligent recycling of the flour in the damaged bagged flour 100, simplifying the manual operation steps and improving the overall handling efficiency;In the process of the collection arc plate 8 moving and resetting, whenever the collection arc plate 8 moves 3-4 cm, the collection arc plate 8 is controlled to stop moving, and the electric roller 211 is controlled again to drive the blade 212 to rotate upward to cut the bottom of the bagged flour 100, so that a plurality of cuts are cut at the bottom of the bagged flour 100 to accelerate the speed of the flour falling and improve the overall efficiency. In addition, after the collection arc plate 8 moves and resets, the external suction mechanism is controlled to perform suction, and the flour remaining on the collection arc plate 8 is extracted through the suction pipe 102, and the flour is removed through the suction pipe 102. The flour dust generated during the shaking process is sucked to prevent large dust from being generated during the shaking of the flour; it should be noted that the collecting arc plate 8 is provided with a through slot 81, and a sealing strip is provided in the through slot 81. When the blade 212 is not in use, it is stored in the through slot 81 and the through slot 81 is blocked by the sealing strip. When the blade 212 is subsequently rotated out to cut the bagged flour 100, when it is reset, the blade 212 re-enters the through slot 81 to squeeze out the flour that falls in the through slot 81 during the rotating cutting process, so as to prevent some flour from getting stuck in the blade 212. ;
[0036] A sealing gasket 82 is provided at the place where the collecting arc plate 8 is installed on the electric roller 211. The sealing gasket 82 isolates the electric roller 211 from the outside world to prevent flour dropped from the outside from contacting the electric roller 211 and affecting its normal use. By opening the sealing gasket 82, the installed electric roller 211 and the blade 212 can be disassembled and replaced.
[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.
Claims
1. A material stacking robot based on industrial vision, comprising a mounting frame (1), a mechanical claw body (2) and a clamping claw (3); the mounting frame (1) is mounted with the mechanical claw body (2); the mechanical claw body (2) is rotatably connected to two clamping claws (3); the characteristic is that: It also includes an industrial vision camera (4), an electric roller (5), a rubber sleeve (6), an electric slider (7) and a collection arc plate (8); the mechanical claw body (2) is equipped with two industrial vision cameras (4); each clamping claw (3) is equipped with an electric roller (5); the rotating part of each electric roller (5) is fixedly connected to a plurality of rubber sleeves (6); each clamping claw (3) has a plurality of slide grooves on its surface, and each slide groove is slidably connected to an electric slider (7); all the electric sliders (7) on the same clamping claw (3) are commonly fixedly connected to a collection arc plate (8), and the collection arc plate (8) has a collection groove (80) on it.
2. The material palletizing robot based on industrial vision according to claim 1 is characterized in that: A plurality of guide grooves (31) are formed on the facing sides of the two clamping claws (3).
3. The material palletizing robot based on industrial vision according to claim 2 is characterized in that: A plurality of support rods (32) are fixedly connected to each guide groove (31).
4. The material palletizing robot based on industrial vision according to any one of claims 2 to 3, characterized in that: It also includes an elastic sheet (111) and a paddle (112); an elastic sheet (111) is fixedly connected in each guide groove (31); a plurality of paddles (112) are fixedly connected to the rotating part of each electric roller (5); the paddles (112) are directly opposite to the guide groove (31); the paddles (112) are in contact with the elastic sheet (111) when rotating; and the paddles (112) and the rubber sleeves (6) are staggeredly distributed along the axial direction of the electric roller (5).
5. The material palletizing robot based on industrial vision according to claim 1 is characterized in that: It also includes a connecting tube (101) and a suction tube one (102); a connecting tube (101) is fixedly connected to the left and right sides of the mechanical claw body (2), and the connecting tube (101) is connected to an external suction mechanism; each connecting tube (101) is connected to a plurality of suction tubes one (102), and the suction tube one (102) is located between the clamping claw (3) and the collecting arc plate (8).
6. The material palletizing robot based on industrial vision according to claim 5 is characterized in that: It also includes a second suction pipe (103); each connecting pipe (101) is connected to a second suction pipe (103), and the second suction pipe (103) is located below the industrial vision camera (4).
7. The material palletizing robot based on industrial vision according to claim 1 is characterized in that: It also includes a mounting plate (201), an electric push rod (202), a small mechanical claw (203), a second electric roller (211) and a blade (212); the left side and the right side of the mechanical claw body (2) are each detachably connected to a mounting plate (201); each mounting plate (201) is fixedly connected to a plurality of electric push rods (202); a small mechanical claw (203) is installed on the telescopic portion of each electric push rod (202); a second electric roller (211) is installed at the lower end of the collecting groove (80) of each collecting arc plate (8), and the fixed end of the second electric roller (211) is installed inside the collecting arc plate (8), and the rotating end passes through the collecting arc plate (8); the rotating portion of the second electric roller (211) is fixedly connected to a blade (212), and the blade (212) is located in the collecting groove (80) of the collecting arc plate (8).
8. The material palletizing robot based on industrial vision according to claim 7 is characterized in that: The two clamping claws of the small mechanical claw (203) are arranged in a comb-teeth shape that are interlaced with each other.
9. The material palletizing robot based on industrial vision according to claim 8 is characterized in that: The collecting tank (80) is provided with a through groove (81), and a sealing strip is arranged in the through groove (81).
10. The material palletizing robot based on industrial vision according to claim 9, characterized in that: The arc collecting plate (8) is installed at the second electric roller (211) and is detachably connected to a sealing gasket (82).