Intelligent robot luggage stacking grabbing mechanism and control method thereof

Abstract

The application relates to the technical field of luggage stacking, in particular to an intelligent robot luggage stacking and grabbing mechanism and a control method thereof. The grabbing mechanism comprises an end effector connecting mechanism, a servo clamping mechanism and a pneumatic suction cup mechanism. The end effector connecting mechanism comprises a connecting flange, a force sensor and a mounting base. The connecting flange is fixedly connected with the interface of a robot end effector. One end of the force sensor is connected with the connecting flange, and the other end is connected with the mounting base. The servo clamping mechanism comprises a plurality of groups of linear array arranged clamping components. The clamping component comprises two oppositely arranged clamping plates and a servo electric cylinder arranged in one-to-one correspondence with the clamping plates. The pneumatic suction cup mechanism comprises a suction cup, a connecting support and two oppositely arranged air cylinders. The suction cup is located between the two oppositely arranged clamping plates in the clamping component. By adopting the scheme, the unpacking rate can be reduced, and the adaptability of the stacking system can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of luggage stacking, and in particular to an intelligent robot luggage stacking and grabbing mechanism and a control method thereof. BACKGROUND

[0002] With the rapid development of the civil aviation industry, the airport passenger throughput and the amount of checked luggage continue to surge, and the traditional manual luggage handling mode faces the dual pressures of efficiency bottleneck and high cargo loss rate. The use of intelligent robots to achieve automated stacking has become a key path to improve the throughput capacity of the luggage system and reduce operating costs. However, the luggage to be stacked at the airport has a large size span, a variety of materials, and complex surface textures, among other uncertainties. This diversity poses a severe adaptability requirement for the grabbing mechanism, which needs to simultaneously accommodate different sizes of loads and achieve reliable non-damage grabbing of various types of luggage.

[0003] Current robot grabbing mechanisms used in luggage stacking generally use pneumatic or electric clamps, but in actual application, they have significant defects: when clamping smooth and hard boxes, the clamping may slip due to insufficient friction, especially in high-speed motion scenarios, which may cause the luggage to fall off; when clamping soft bag luggage, the soft bag may deform, and the clamping force is not evenly transmitted after deformation, thereby increasing the risk of bag falling off; when clamping small-size luggage, the clamping torque may be too large, which may easily cause the luggage to tip over. Therefore, there is an urgent need to provide an intelligent robot luggage stacking and grabbing mechanism and a control method thereof to reduce the bag falling rate and improve the adaptability of the stacking system. SUMMARY

[0004] The present application provides an intelligent robot luggage stacking and grabbing mechanism and a control method thereof, which can reduce the bag falling rate and improve the adaptability of the stacking system.

[0005] The present application provides a basic scheme:

[0006] An intelligent robot luggage stacking and grabbing mechanism, comprising an end effector connecting mechanism, a servo clamping mechanism, and a pneumatic suction cup mechanism;

[0007] The end effector connecting mechanism comprises a connecting flange, a force sensor, and a mounting base; the connecting flange is fixedly connected to the interface of the robot end effector; one end of the force sensor is connected to the connecting flange, and the other end is connected to the mounting base, for detecting torque information during grabbing;

[0008] The servo clamping mechanism comprises a plurality of groups of linear array arranged clamping components; the clamping component comprises two oppositely arranged clamping plates and a servo cylinder corresponding to the clamping plate; the output end of the servo cylinder is fixedly connected to the clamping plate; the servo cylinder is fixedly connected to the bottom of the mounting base;

[0009] The pneumatic suction disc mechanism comprises a suction disc, a connecting bracket and two air cylinders arranged oppositely; the two air cylinders are fixedly connected to the two side surfaces of the mounting base respectively; the suction disc is located between the two oppositely arranged clamping plates in the clamping assembly; the top of the connecting bracket is fixedly connected with the output ends of the two air cylinders, and the bottom is fixedly connected with the top of the suction disc.

[0010] Further, a plurality of anti-skid strips are arranged on the inner side wall of the clamping plate.

[0011] Further, the bottom of the suction disc is provided with a plurality of arrayed suction holes; the suction disc is internally provided with a suction cavity; the top of the suction disc is provided with a vacuum interface; the vacuum interface and each suction hole are in communication with the suction cavity.

[0012] Further, the pneumatic suction disc mechanism further comprises a vacuum pump, and the suction end of the vacuum pump is in communication with the suction cavity in the suction disc through the vacuum interface.

[0013] Further, a controller is further included; a negative pressure sensor is further arranged on the suction disc, and the negative pressure sensor and the vacuum pump are electrically connected with the controller; the negative pressure sensor is used for detecting the negative pressure in the suction cavity and feeding back the detected negative pressure value to the controller; and the controller is used for controlling the opening and closing of the vacuum pump according to the received negative pressure value.

[0014] The present application provides a basic scheme two: a control method of the intelligent robot luggage stacking grabbing mechanism, which is used for controlling the intelligent robot luggage stacking grabbing mechanism.

[0015] Further, the following steps are included:

[0016] S100, an image of luggage to be clamped is acquired, and the size, surface flatness and material type of the luggage to be clamped are analyzed; the material type includes hard package and soft package;

[0017] S200, a clamping mode is generated according to the size, surface flatness and material of the luggage to be clamped; the clamping mode includes single clamping mode, single suction mode and composite mode;

[0018] S300, the servo clamping mechanism and the pneumatic suction disc mechanism are controlled to operate according to the clamping mode.

[0019] Further, S200 includes:

[0020] S201, whether the material type of the luggage to be clamped is soft package is analyzed, if yes, the single clamping mode is adopted, and if not, S202 is executed;

[0021] S202, whether the surface flatness of the luggage to be clamped is less than a preset flatness threshold is analyzed, if yes, the single clamping mode is adopted, and if not, S203 is executed;

[0022] S203, analyze whether the size of the luggage to be clamped is smaller than the preset size, if yes, adopt single suction mode, if not, adopt composite mode.

[0023] Further, in S300, if the clamping mode adopted is single suction mode, the negative pressure establishment rate of the suction cup is obtained; it is analyzed whether the negative pressure establishment rate is smaller than the preset rate, if yes, the clamping mode is switched to composite mode.

[0024] Further, in S300, if the clamping mode adopted is single suction mode, the torque information detected by the force sensor is obtained, and the clamping mode is adjusted according to the torque information.

[0025] The principle and advantages of the present application are:

[0026] In the present scheme, three clamping modes of single suction-single clamping-composite can be flexibly selected according to the size, surface flatness and material type of the luggage to be clamped for the adsorption or clamping of the luggage. For soft bags or uneven luggage, the single clamping mode of the servo clamping mechanism is adopted to realize stable grabbing through the anti-skid contact surface. For smooth and hard box bodies, the single suction mode of the pneumatic suction cup mechanism is adopted to realize non-contact grabbing relying on the negative pressure adsorption principle, effectively avoiding the risk of clamping slipping and significantly improving the grabbing success rate of special-shaped and fragile luggage. If the size of the smooth and hard box body is too large, the composite mode of low-pressure servo clamping + suction cup auxiliary stability can also be adopted. The servo electric cylinder can accurately control the clamping force, and the suction cup provides auxiliary constraint in the vertical direction to eliminate the risk of package falling caused by the difference in force transmission path in the traditional clamping mode. In addition, the arrayed adsorption holes can ensure that the suction cup and the luggage surface form a uniform negative pressure field, which not only avoids the damage to the luggage surface caused by the pressure concentration of the traditional suction cup, but also maintains the adsorption stability under high-speed motion state. Finally, the force sensor and the negative pressure sensor are integrated in the present scheme, which can monitor the grabbing process data in real time when the clamping mode adopted is single suction mode or single clamping mode, and automatically adjust the clamping mode under abnormal working conditions to prevent the luggage from falling. In summary, the present scheme can realize the grabbing of multiple types of luggage, reduce the package falling rate, and further improve the adaptability of the stacking system. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a whole structure schematic diagram of an embodiment of the luggage stacking grabbing mechanism of the intelligent robot.

[0028] Figure 2 It is an internal structure schematic diagram of an embodiment of the luggage stacking grabbing mechanism of the intelligent robot.

[0029] Figure 3 It is a structure schematic diagram of a suction cup in an embodiment of the luggage stacking grabbing mechanism of the intelligent robot.

[0030] Figure 4 Figure 1 is a schematic diagram of a luggage clamping state of an embodiment of the intelligent robot luggage stacking and grabbing mechanism of the present application.

[0031] Figure 5 Figure 2 is a flowchart of an embodiment of the control method of the intelligent robot luggage stacking and grabbing mechanism of the present application. DETAILED DESCRIPTION

[0032] The following will be further described in detail through specific embodiments:

[0033] The markers in the drawings of the specification include: a connecting flange 101, a force sensor 102, a mounting base 103, a clamping plate 201, a servo electric cylinder 202, an anti-skid strip 203, a suction cup 301, a connecting bracket 302, an air cylinder 303, a suction hole 304, a negative pressure sensor 305, and a vacuum interface 306.

[0034] Embodiment 1:

[0035] An intelligent robot luggage stacking and grabbing mechanism, as shown in Figure 1 , includes an end effector connecting mechanism, a servo clamping mechanism, a pneumatic suction cup mechanism, and a controller. The end effector connecting mechanism is used to realize the connection between the servo clamping mechanism, the pneumatic suction cup mechanism, and the robot end effector; the servo clamping mechanism is used to realize the clamping of luggage by driving the clamping plate 201 through the servo electric cylinder 202; and the pneumatic suction cup mechanism is used to realize the suction of luggage by forming a vacuum negative pressure through the suction cup 301. The specific structure is as shown in Figure 2 .

[0036] The end effector connecting mechanism includes a connecting flange 101, a force sensor 102, and a mounting base 103; the connecting flange 101 is fixedly connected with the interface of the robot end effector; one end of the force sensor 102 is connected with the connecting flange 101, and the other end is connected with the mounting base 103, which is used to detect the torque information in the grabbing process; thus, the contact state of the luggage can be inferred, the load can be identified, the collision detection and safety protection can be realized through the change of the torque signal. In this embodiment, the connecting flange 101, the force sensor 102, and the mounting base 103 are fixedly connected through the bolt connection mode. The force sensor 102 adopts a six-dimensional force sensor 102.

[0037] The servo clamping mechanism comprises a plurality of clamping assemblies arranged in linear array, in the embodiment, the servo clamping mechanism comprises two groups of clamping assemblies arranged in linear array perpendicular to the movement direction of the clamping plates 201. The clamping assembly comprises two clamping plates 201 arranged oppositely and a servo electric cylinder 202 arranged in one-to-one correspondence with the clamping plates 201, the controller is electrically connected with the servo electric cylinder 202, for controlling the opening and closing of the servo electric cylinder 202; the output end of the servo electric cylinder 202 is fixedly connected with the clamping plate 201; the servo electric cylinder 202 is fixedly connected at the bottom of the mounting base 103, in the embodiment, the output end of the servo electric cylinder 202 and the mounting base 103 are fixedly connected in a bolt connection manner. The servo electric cylinder 202 is used to drive the corresponding clamping plate 201 to move linearly along the horizontal direction, the movement directions of the output ends of the servo electric cylinders 202 are parallel, the two servo electric cylinders 202 in the same group drive the corresponding clamping plates 201 to move oppositely or away from each other, so as to realize the taking and placing of the luggage. In the embodiment, in order to improve the friction coefficient and enhance the stability of luggage grabbing, a plurality of anti-skid strips 203 are arranged on the inner side wall of the clamping plate 201, the anti-skid strips 203 are vulcanized rubber strips, which are adhered to the inner side wall of the clamping plate 201 by epoxy resin; in other embodiments of the application, V-shaped anti-skid strips 203 can also be used to further improve the stability.

[0038] The pneumatic suction cup mechanism comprises a suction cup 301, a connecting bracket 302, a vacuum pump and two oppositely arranged air cylinders 303; the two air cylinders 303 are fixedly connected on the two side surfaces of the mounting base 103, the suction cup 301 is located between the two oppositely arranged clamping plates 201 in the clamping assembly; specifically, the top of the connecting bracket 302 is fixedly connected with the output ends of the two air cylinders 303, the bottom is fixedly connected with the top of the suction cup 301, the controller is also electrically connected with the air cylinders 303, for controlling the opening and closing of the air cylinders 303, so that the suction cup 301 can be driven by the air cylinders 303 to move linearly along the vertical direction, and then when the luggage is clamped only by the servo clamping mechanism, the suction cup 301 is lifted to reserve a grabbing space for the clamping of the clamping plate 201; when the luggage needs to be sucked, the suction cup 301 is driven to descend to the working position.

[0039] As Figure 3As shown, the bottom of the suction cup 301 is provided with a plurality of arrayed suction holes 304 to ensure that the suction cup 301 forms a uniform negative pressure field with the surface of the luggage. This avoids damage to the luggage surface caused by pressure concentration in traditional suction cups 301, and also maintains suction stability under high-speed movement. In this embodiment, each suction hole 304 is also provided with a silicone lip. The suction cup 301 has an internal suction chamber, and the top of the suction cup 301 is provided with a vacuum interface 306. The vacuum interface 306 and each suction hole 304 are connected to the suction chamber, and the suction end of the vacuum pump is connected to the internal suction chamber of the suction cup 301 through the vacuum interface 306. Thus, the suction of the suction cup 301 can be controlled by controlling the opening and closing of the vacuum pump.

[0040] The suction cup 301 is also equipped with a negative pressure sensor 305. The negative pressure sensor 305 and the vacuum pump are both electrically connected to the controller. The negative pressure sensor 305 is used to detect the negative pressure in the adsorption chamber and feed back the detected negative pressure value to the controller. The controller is used to control the start and stop of the vacuum pump according to the received negative pressure value. Specifically, when the negative pressure in the adsorption chamber is greater than the preset negative pressure value, the vacuum pump is controlled to be turned off.

[0041] The gripping mechanism described in this embodiment combines servo-driven precise gripping with pneumatic vacuum adsorption, effectively handling luggage of different sizes, shapes, and materials, significantly improving the success rate and versatility of gripping. In other embodiments of this application, a luggage collision protection function is also added. Specifically, a six-dimensional force sensor 102 is used to collect raw data of the end force / torque at high frequency in real time, compensating for the gravity and inertial forces of the clamping plate 201 and the luggage (load) to be gripped. A safety force / torque threshold is set; when the force / torque in any dimension instantaneously exceeds the threshold, a collision flag is triggered, and the embodied intelligent robot is notified of a luggage collision, causing the embodied intelligent robot to stop abruptly.

[0042] Example 2:

[0043] A control method for an intelligent robot luggage palletizing and gripping mechanism is provided, which controls the aforementioned intelligent robot luggage palletizing and gripping mechanism to achieve the following: Figure 4 The clamping method is shown. The control method is as follows: Figure 5 As shown, it includes the following steps:

[0044] S100: Acquire an image of the luggage to be retrieved and analyze its size, surface flatness, and material type. In this embodiment, an RGB-D camera is used to generate a high-precision point cloud, calculate the three-dimensional dimensions (length, width, and height) and surface flatness of the luggage to be retrieved, and simultaneously use a convolutional neural network to identify the material type.

[0045] When calculating the three-dimensional size of the luggage to be clamped, if the luggage to be clamped is irregularly shaped, a minimum circumscribed cuboid of the luggage to be clamped is calculated, and the length, width and height of the minimum circumscribed cuboid are taken as the three-dimensional size of the luggage to be clamped. Specifically, the minimum circumscribed cuboid uses a principal component analysis (PCA) algorithm to calculate the eigenvector of the point cloud covariance matrix to determine the direction, and the maximum-minimum value difference of the point cloud coordinates in the direction coordinate system is taken as the size. In other embodiments of the present application, the principal axis direction of the point cloud is also calculated, the point cloud is projected onto the three principal axes, and the maximum distance in each projection direction is taken as the length, width and height of the luggage.

[0046] When calculating the surface flatness of the luggage to be clamped, a point cloud voxelization gradient variance analysis is used. Specifically, the acquired point cloud of the luggage to be clamped is down-sampled and denoised; the normal vector of each point is calculated using a PCA algorithm based on K-nearest neighbors for the pre-processed point cloud; the surface of the point cloud is divided into a plurality of local regions, for each local region, the average direction of the normal vectors of all points in the region is calculated, the included angle between the normal vector of each point in the region and the average normal vector of the region is calculated, and the local flatness metric of the region is defined as the standard deviation of the included angles; the average value of the flatness metrics of all local regions is defined as the overall surface flatness of the luggage, the smaller the average value, the higher the surface flatness of the luggage to be clamped. In this embodiment, the surface flatness is divided into eight levels, corresponding to eight average value ranges, and the calculated average value is compared with the eight average value ranges, and the specific level of the surface flatness of the luggage to be clamped is output.

[0047] In this embodiment, the material type includes hard pack and soft pack. When identifying the material type, the input of the convolutional neural network is an RGB image and a depth map synchronously captured by an RGB-D camera. The depth map is normalized and converted into a grayscale image with the same size as the RGB image. The RGB image and the processed depth grayscale image are spliced in the channel dimension to form 4-channel (R, G, B, Depth) input data, and the size of the spliced data is uniformly adjusted to 224x224. A lightweight network MobileNetV3-Small is used as the backbone network, and its pre-trained weights on the ImageNet dataset are loaded for transfer learning. The original classification head of MobileNetV3-Small is removed, and a new custom classification head is added, which has the structure of: a fully connected layer (128 neurons), a fully connected layer (64 neurons), a Dropout layer (dropout rate = 0.5), and an output layer (2 neurons corresponding to 'hard pack' and'soft pack' categories, using a Softmax activation function). The output of the network is the probability distribution of the two categories of hard pack and soft pack, and the final material type identification result is the category with a higher probability value.

[0048] S200, generating a clamping mode according to the size, surface flatness and material of the luggage to be clamped; the clamping mode includes single clamping mode, single suction mode and composite mode; S200 includes:

[0049] S201, analyzing whether the material type of the luggage to be clamped is soft package, if yes, adopting single clamping mode, if not, executing S202. In this embodiment, if the clamping mode adopted is single clamping mode, the optimal clamping point of the luggage grabbing side is calculated based on the luggage point cloud data, and the optimal clamping point is the side center line in this embodiment; the clamping plate 201 is controlled to approach the luggage in a posture parallel to the grabbing side, and the clamping surface is ensured to be flush with the luggage side; the servo electric cylinder 202 drives the clamping plate 201 to open to the target width, which is the sum of the width of the luggage and the preset safe width; at the same time, the clamping plate 201 moves downward to the bottom of the suction cup 301 and the distance between the upper surface of the luggage to be clamped is a preset safe distance value; the servo electric cylinder 202 drives the clamping plate 201 to close along the horizontal direction to approach the luggage side at a preset closing speed; the detection data of the servo electric cylinder 202 voltage sensor is fed back to the embodied intelligent robot, so as to judge whether the luggage is clamped or not, and after clamping the luggage to be clamped, the embodied intelligent robot moves to the target position; the servo electric cylinder 202 drives the clamping plate 201 to open along the horizontal direction, and feeds back the placement success signal to the embodied intelligent robot.

[0050] S202, analyzing whether the surface flatness of the luggage to be clamped is less than the preset flatness threshold, if yes, adopting single clamping mode, if not, executing S203.

[0051] S203, analyzing whether the size of the luggage to be clamped is less than the preset size, if yes, adopting single suction mode, if not, adopting composite mode. In this embodiment, the preset size includes preset length, preset width and preset height, corresponding to the length, width and height of the luggage to be clamped, and each size data needs to be less than the corresponding preset value.

[0052] In this embodiment, if the clamping mode adopted is single suction mode, the maximum flat area centroid is calculated as the adsorption target point based on the luggage point cloud data, and the suction cup 301 is controlled to move downward to approach the adsorption target point; the suction cup 301 vertically descends at a speed of 5mm / s to a distance of 2mm from the luggage surface, based on the contact force feedback of the six-dimensional force sensor 102, the suction cup 301 is controlled to continuously press down until the contact force is between 4N and 6N, the deformation of the silica gel lip on each adsorption hole 304 is triggered to form a seal, and the contact force is maintained for 3s to ensure that the silica gel lip is fully fitted; the vacuum pump is started, the negative pressure establishment rate is monitored, if the preset vacuum degree is reached within 0.5s and the pressure difference fluctuation within 1s is less than 1kPa, the adsorption success signal is fed back to the embodied intelligent robot; the six-dimensional force sensor original data is read:

[0053] The measured force / torque is represented as:

[0054]

[0055] wherein, is the force / torque set measured by the six-axis force sensor, is the force / torque along x, y, z three axes.

[0056] The current position joint angle vector of the embodied intelligent robot is:

[0057]

[0058] wherein, is the joint angle of the 6 axes of the robot arm.

[0059] The gravity vector in the coordinate system of the six-axis force sensor 102 is:

[0060] The force and torque after eliminating the gravity influence in the coordinate system of the six-axis force sensor 102 are:

[0061]

[0062] The robot end force and torque after eliminating the gravity influence in the coordinate system are:

[0063]

[0064] wherein, is the robot end pose rotation matrix.

[0065] Further, the force / torque of the embodied intelligent robot end is converted into equivalent joint torque; under the visual guidance, according to the equivalent joint torque of the embodied intelligent robot (if the equivalent joint torque is stable, it is directly moved to the target position, otherwise the embodied intelligent robot is controlled to stop), the clamping plate 201 is moved to the target position, after reaching the target position, a 0.2s pulse positive pressure is injected into the vacuum pipeline, the seal is broken, and the suction cup 301 is lifted by 10mm, the residual adsorption force is eliminated, at this time the suction cup 301 is separated from the luggage without contact, and a successful signal is fed back to the embodied intelligent robot.

[0066] If the clamping mode adopted is a composite mode, the vision system calculates the target point of the suction cup 301, and first controls the suction cup 301 to adsorb the luggage to be clamped, and then controls the clamping plate 201 to directly clamp the luggage to be clamped. The adsorption mode and the clamping mode are the same as the operation mode of the single suction mode and the single clamping mode described above, and will not be described here. The difference is that the clamping plate 201 is directly controlled to clamp the luggage to be clamped, and the optimal clamping point is no longer identified. After clamping the luggage to be clamped, the embodied intelligent robot moves to the target position. The servo electric cylinder 202 drives the clamping plate 201 to open in the horizontal direction. A 0.2s pulse positive pressure is injected into the vacuum pipeline to destroy the seal, and the suction cup 301 is lifted by 10mm to eliminate the residual adsorption force, so that the suction cup 301 is separated from the luggage without contact. After completion, the feedback placement success signal is fed back to the embodied intelligent robot. In other embodiments of the present application, the main suction auxiliary clamping mode and the main clamping auxiliary suction mode can also be selected according to actual needs. Main suction auxiliary clamping: the weight bearing ratio of the suction cup 301 is greater than 70%, the clamping plate 201 applies light clamping force, and is suitable for hard boxes with gravity offset. Main clamping auxiliary suction: the weight bearing ratio of the clamping plate 201 is greater than 80%, the clamping plate 201 mainly bears the weight, and the suction cup 301 maintains the anti-skid negative pressure to cope with luggage without flat adsorption surface.

[0067] S300, according to the clamping mode, control the servo clamping mechanism and the pneumatic suction cup mechanism to operate. If the clamping mode adopted is a single suction mode, the negative pressure establishment rate of the suction cup 301 is obtained, and whether the negative pressure establishment rate is less than the preset rate is analyzed. If yes, the clamping mode is switched to a composite mode. If the clamping mode adopted is a single clamping mode, the torque information detected by the force sensor 102 is obtained, and the clamping mode is adjusted according to the torque information. Specifically, whether there is any torque component in the torque information that fluctuates sharply, that is, the fluctuation amplitude is greater than the preset floating range within a preset time, the clamping mode is adjusted to a composite mode.

[0068] The above is only an embodiment of the present application, and the common knowledge of the specific structure and characteristics in the scheme is not described in detail here. The ordinary skilled person in the art knows all the ordinary technical knowledge in the field of the present application before the application date or the priority date, can know all the prior art in this field, and has the ability to apply conventional experimental means before that date. The ordinary skilled person in the art can improve and implement the present scheme based on their own ability under the guidance of the present application. Some typical known structures or known methods should not be an obstacle for the ordinary skilled person in the art to implement the present application. It should be noted that for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should be considered as the protection scope of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the description can be used to explain the content of the claims.

Claims

1. A smart robot luggage palletizing and grasping mechanism, characterized in that: This includes an end effector connection mechanism, a servo gripping mechanism, and a pneumatic suction cup mechanism; The end effector connection mechanism includes a connecting flange, a force sensor, and a mounting base; the connecting flange is fixedly connected to the interface of the robot end effector; one end of the force sensor is connected to the connecting flange, and the other end is connected to the mounting base, for detecting torque information during the grasping process; The servo gripping mechanism includes several sets of clamping components arranged in a linear array; each clamping component includes two opposing clamping plates and servo electric cylinders that correspond one-to-one with the clamping plates; the output end of each servo electric cylinder is fixedly connected to the clamping plate; and each servo electric cylinder is fixedly connected to the bottom of the mounting base. The pneumatic suction cup mechanism includes a suction cup, a connecting bracket, and two opposing cylinders; the two cylinders are respectively fixedly connected to the two sides of the mounting base; the suction cup is located between two opposing clamping plates in the clamping assembly; the top of the connecting bracket is fixedly connected to the output ends of the two cylinders, and the bottom is fixedly connected to the top of the suction cup. The process of controlling the intelligent robot's baggage palletizing and grasping mechanism includes: S100: Acquire an image of the luggage to be retrieved, and analyze the size, surface flatness, and material type of the luggage to be retrieved; the material type includes hard-pack and soft-pack. S200 generates a clamping mode based on the size, surface flatness, and material of the luggage to be clamped; the clamping mode includes a single clamping mode, a single suction mode, and a combined mode. The S300 controls the operation of the servo gripping mechanism and the pneumatic suction cup mechanism according to the gripping mode.

2. The intelligent robot luggage palletizing and grasping mechanism according to claim 1, characterized in that: The inner wall of the clamp is provided with several anti-slip strips.

3. The intelligent robot luggage palletizing and grasping mechanism according to claim 1, characterized in that: The bottom of the suction cup is provided with a plurality of arrayed adsorption holes; the inside of the suction cup is provided with an adsorption cavity, and the top of the suction cup is provided with a vacuum interface; the vacuum interface and each adsorption hole are connected to the adsorption cavity.

4. The intelligent robot luggage palletizing and grasping mechanism according to claim 3, characterized in that: The pneumatic suction cup mechanism also includes a vacuum pump, the suction end of which is connected to the adsorption chamber inside the suction cup through the vacuum interface.

5. The intelligent robot luggage palletizing and grasping mechanism according to claim 4, characterized in that: It also includes a controller; the suction cup is also equipped with a negative pressure sensor, and the negative pressure sensor and the vacuum pump are both electrically connected to the controller; the negative pressure sensor is used to detect the negative pressure in the suction chamber and feed back the detected negative pressure value to the controller; the controller is used to control the start and stop of the vacuum pump according to the received negative pressure value.

6. A control method for an intelligent robot luggage palletizing and grasping mechanism, characterized in that: Used to control the intelligent robot luggage palletizing and gripping mechanism according to any one of claims 1 to 5.

7. The control method for the intelligent robot luggage palletizing and grasping mechanism according to claim 6, characterized in that: S200 includes: S201, Analyze whether the material type of the luggage to be picked up is a soft bag. If yes, then use the single-clamp mode. If no, then execute S202. S202, Analyze whether the surface flatness of the luggage to be picked up is less than the preset flatness threshold. If yes, then use the single-clamp mode. If no, then execute S203. S203, analyze whether the size of the luggage to be picked up is smaller than the preset size. If so, use the single suction mode; otherwise, use the combined mode.

8. The control method for the intelligent robot luggage palletizing and grasping mechanism according to claim 6, characterized in that: In S300, if the clamping mode is single suction mode, the negative pressure build-up rate of the suction cup is obtained; it is analyzed whether the negative pressure build-up rate is less than the preset rate, and if so, the clamping mode is switched to composite mode.

9. The control method for the intelligent robot luggage palletizing and grasping mechanism according to claim 6, characterized in that: In S300, if the clamping mode is single clamping mode, the torque information detected by the force sensor is acquired, and the clamping mode is adjusted according to the torque information.

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