Mechanical gripper and stacking system

Abstract

The utility model discloses a mechanical gripper which comprises a conveying part, a first clamping part, a second clamping part, a first clamping part and a second clamping part. The shell is arranged at one end of the conveying part in the first direction, the shell is fixedly connected with the conveying part, the shell is provided with a rotating part, the shell can move around the rotating part in the third direction so as to drive the conveying part to synchronously move in the third direction, the first direction is perpendicular to the second direction, and the third direction surrounds the first direction; guardrails are arranged on the two sides of the conveying part in the second direction, and the guardrails are arranged on the side, close to the conveying part, of the shell in the first direction; when the shell rotates in the third direction, the target object abuts against the guardrail on at least one side of the conveying part. According to the mechanical gripper, luggage can be stacked more densely, and the space utilization rate is increased. The utility model further provides a stacking system which comprises a conveying belt, a mechanical arm, a driving part and the mechanical gripper.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical grippers, in particular to a mechanical gripper and a palletizing system. Background Art

[0002] In the field of logistics, it is usually necessary to sort, transport and stack bags, luggage and other items. With the development of science and technology, robot technology has gradually matured. At present, palletizing robots have been widely used in the field of logistics for sorting, transportation, stacking and other operations. Palletizing robots usually include a robotic arm and a manipulator at the end of the robotic arm. The manipulator can carry target objects such as bags or luggage and transport the target objects to the designated location for stacking.

[0003] However, current palletizing robots can only transport target objects to designated locations. The stacking locations of luggage are relatively scattered, the stacking density is low, and the space utilization rate is low. Summary of the invention

[0004] The utility model aims to solve the problem of low stacking density and low space utilization rate of luggage during the luggage stacking process. The utility model provides a mechanical gripper and a stacking system, which can make the luggage stack denser and improve the space utilization rate.

[0005] To solve the above technical problems, an embodiment of the utility model discloses a robotic gripper, comprising: a transmission part, extending along a first direction, and the transmission part is used to carry a target object; a shell, along the first direction, the shell is arranged at one end of the transmission part, the shell is fixedly connected to the transmission part, the shell has a rotating part, the shell can move around the rotating part along a third direction to drive the transmission part to move synchronously along the third direction; along the second direction, guardrails are provided on both sides of the transmission part, along the first direction, the guardrails are arranged on a side of the shell close to the transmission part, the first direction is perpendicular to the second direction, and the third direction surrounds the first direction; wherein, when the shell rotates along the third direction, the target object abuts against the guardrail on at least one side of the transmission part.

[0006] By adopting the above technical solution, the robotic gripper of the embodiment of the present application rotates along the third direction so that the carried target object abuts against at least one side guardrail of the robotic gripper, thereby accurately locating the position of the carried target object.

[0007] For example, when the robot gripper of the embodiment of the present application needs to stack the target object to the left side of the designated position (for example, stacking from left to right in sequence), the robot gripper rotates to the left along the third direction so that the target object abuts against the left guardrail, thereby positioning the target object on the left side of the robot gripper. Similarly, when the robot gripper of the embodiment of the present application needs to stack the target object to the right side of the designated position (for example, stacking from right to left in sequence), the robot gripper rotates to the right along the third direction by an angle so that the target object abuts against the right guardrail, thereby positioning the target object on the right side of the robot gripper.

[0008] Therefore, when the robotic gripper of the embodiment of the present application stacks target objects, it can accurately control the position of each stacking target object, thereby reducing the distance between adjacent target objects and making the target objects stacked more densely. Compared with existing stacking robots, the embodiment of the present application accurately locates the position of the target object in the robotic gripper before stacking, which is beneficial to improving the space utilization of stacking.

[0009] According to another specific embodiment of the present utility model, an embodiment of the present utility model discloses a robotic gripper, wherein along the second direction, the width between the guardrails on both sides of the transmission part is greater than the width of the target object.

[0010] By adopting the above technical solution, the target object can smoothly pass through the guardrails on both sides and enter the transmission part of the robot gripper.

[0011] According to another specific embodiment of the utility model, an embodiment of the utility model discloses a robotic gripper, wherein the shell also includes an inner cavity, and along the first direction, one end of the transmission part is arranged in the inner cavity; the shell also includes a connecting part, which is arranged on a side of the shell away from the inner cavity, and the connecting part connects the inner cavity and the external space, and the connecting part is used for the cable in the inner cavity to pass through.

[0012] According to another specific embodiment of the utility model, the embodiment of the utility model discloses a robotic gripper, the connecting portion extends along the first direction, and includes a convex portion and a first through hole; the convex portion is protruding from the outer side of the shell, and the first through hole passes through the convex portion and the shell along the first direction.

[0013] By adopting the above technical solution, the connecting part communicates with the inner cavity and the external space through the first through hole, so that the cable in the shell can pass through the connecting part along the first direction and extend out of the inner cavity of the shell.

[0014] According to another specific embodiment of the utility model, the embodiment of the utility model discloses a robotic gripper, which also includes a sensor, wherein the guardrail includes a mounting portion, the mounting portion is disposed at one end of the guardrail close to the shell, the sensor is disposed at the mounting portion and fixedly connected to the transmission portion, and the sensor is used to detect the target object entering the robotic gripper along the first direction.

[0015] According to another specific embodiment of the utility model, the embodiment of the utility model discloses a robotic gripper, the mounting part includes a first mounting part and a second mounting part, the sensor includes a first sensor and a second sensor; along the second direction, the first mounting part is arranged opposite to the second mounting part, and the first sensor is arranged opposite to the second sensor.

[0016] According to another specific embodiment of the present utility model, an embodiment of the present utility model discloses a robot gripper, wherein the mounting portion includes an oblong through hole extending along the second direction.

[0017] According to another specific embodiment of the utility model, the embodiment of the utility model discloses a robotic gripper, the guardrail includes a guide portion, the guide portion extends along a fourth direction and is arranged at one end of the guardrail away from the shell, the fourth direction intersects with the first direction at an angle of α.

[0018] According to another specific embodiment of the utility model, the embodiment of the utility model discloses a mechanical gripper, wherein the guide portion opens outward along the second direction, and the minimum width between the guide portions on both sides is equal to the width between the guardrails on both sides.

[0019] According to another specific embodiment of the present utility model, an embodiment of the present utility model discloses a mechanical gripper, wherein the angle α is (0, 45°).

[0020] By adopting the above technical solution, the guide parts on both sides of the guardrail are opened outward in the second direction, which increases the size of the entrance area of ​​the robot gripper and increases the stability of large-sized targets being able to smoothly enter the robot gripper, thereby reducing the accuracy requirements of the palletizing system on the position of the robot gripper when the robot gripper picks up the target object.

[0021] According to another specific embodiment of the present utility model, the embodiment of the present utility model discloses a mechanical gripper, wherein the transmission part further includes a belt, and the transmission part drives the belt to move along the first direction to drive the target object to move along the first direction.

[0022] An embodiment of the utility model further discloses a palletizing system, comprising the robotic gripper described in any of the above embodiments; a conveyor belt, the conveyor belt is used to transport the target object; a robotic arm, the robotic arm is used to drive the robotic gripper to transport the target object to a specified position; a driving part, fixed to the robotic arm, the rotating part of the shell is connected to the driving part, and the driving part can drive the shell to rotate around the rotating part.

[0023] According to another specific embodiment of the utility model, the embodiment of the utility model discloses a palletizing system, wherein the target object includes a first target object, the designated position includes a first designated position, and the robotic gripper transports the first target object to the first designated position to stack the first target object.

[0024] According to another specific embodiment of the utility model, the embodiment of the utility model discloses a palletizing system, wherein the target object includes a second target object, the second target object includes a pallet, and the second target object is carried on the pallet; the designated position includes a second designated position, and the robotic gripper transports the second target object to the second designated position to separate the second target object and the pallet.

[0025] By adopting the above technical solution, the embodiment of the present application can sort the first target object (for example, regular luggage) and the second target object (for example, irregular soft bag) to different designated locations.

[0026] Exemplarily, the first target object may be a luggage with a regular shape, such as a box without wheels or a luggage with wheels; the second target object may be an object with an irregular shape, such as a soft bag.

[0027] It should be noted that the above-mentioned pallet is different from the carrier plate used to carry the target objects on the conveyor belt. That is, when the target objects are on the conveyor belt and are in a transport state, the first target object is carried in the carrier plate, the second target object is carried in the pallet, and the second target object and the pallet are carried in the carrier plate together.

[0028] According to another specific embodiment of the utility model, the embodiment of the utility model discloses a palletizing system, which also includes a detection unit, wherein the detection unit includes a first detection device and a second detection device, wherein the first detection device is arranged above the end of the conveyor belt, and the second detection device is arranged above the first designated position.

[0029] Using the above-mentioned technical solution, the first detection device of the embodiment of the present application is used to identify the information and size of the target object and distinguish between the first target object and the second target object, and the second detection device is used to detect the stacking situation of the first target object in the first designated position. For example, the second detection device is used to identify the distribution position and distribution height of multiple first targets in the first designated position. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A top view of a palletizing system according to an embodiment of the present utility model is shown;

[0031] Figure 2 A side view of a manipulator gripper and a manipulator arm according to an embodiment of the utility model is shown;

[0032] Figure 3 A three-dimensional view of a mechanical gripper according to an embodiment of the present utility model is shown;

[0033] Figure 4 A front view of a mechanical gripper according to an embodiment of the utility model is shown, wherein: Figure 4 The target object in (a) does not contact the guardrails on both sides. Figure 4 The target object in (b) abuts against the right guardrail. Figure 4 The target object in (c) abuts against the left guardrail;

[0034] Figure 5 A top view of a mechanical gripper according to an embodiment of the present utility model is shown;

[0035] Figure 6 A three-dimensional diagram of the robot gripper according to another embodiment of the utility model is shown;

[0036] Figure 7 Another front view of the robot gripper of the embodiment of the utility model is shown, wherein the target object is a second target object;

[0037] Figure 8 A top view of a robotic gripper and a robotic arm according to an embodiment of the utility model is shown. DETAILED DESCRIPTION

[0038] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that, in the absence of conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0039] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0040] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0041] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0042] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0043] In order to make the purpose, technical solution and advantages of the present invention more clear, the implementation mode of the present invention will be further described in detail below with reference to the accompanying drawings.

[0044] refer to Figure 1 The present application provides a palletizing system 1, comprising a robot gripper 10, a robot arm 20 and a conveyor belt 30. The robot gripper 10 is connected to the robot arm 20 (the connection method is described later). The conveyor belt 30 is used to transport the target object 2. Figure 1 The robotic arm 20 (as shown in the S direction) is disposed at the end of the conveyor belt 30.

[0045] refer to Figure 2 Combined with Figure 1 The robot arm 20 can drive the robot gripper 10 to move. The movement includes vertical movement up and down, horizontal movement forward and backward, left and right, rotation, pitching, etc. The robot gripper 10 can carry the target object 2. When the target object 2 is carried in the robot gripper 10, the robot arm 20 is used to drive the robot gripper 10 to move to the specified position 3 so as to place and stack the target object 2.

[0046] The embodiment of the present application does not specifically limit the connection method between the robot gripper 10 and the robot arm 20. For example, in the embodiment of the present application, the robot gripper 10 is fixed to the robot arm 20 through a flange, but is not limited thereto, and the robot gripper 10 can also be fixed to the robot arm 20 through fasteners such as bolts.

[0047] refer to Figure 3 Combined with Figure 2 The palletizing system 1 provided in the embodiment of the present application further includes a driving unit (not shown in the figure), the manipulator gripper 10 is connected to the driving unit, the driving unit is fixed to the robot arm 20, the manipulator gripper 10 includes a housing 11, and the housing 11 has a rotating unit 111 (as described later, Figure 3 As shown in FIG. 1 , the rotating portion 111 of the housing 11 is connected to the driving portion, and the driving portion can drive the housing 11 to rotate around the rotating portion 111, so as to accurately locate the position of the target object 2 in the manipulator gripper 10. For example, the rotating portion 111 in the embodiment of the present application is a flange. For example, the driving portion in the embodiment of the present application is a motor.

[0048] By means of the robot gripper 10 of the present application (see the following description for details), the palletizing system 1 can achieve denser stacking of the target objects 2 and improve the space utilization of the stacking of the target objects 2 .

[0049] The specific structure of the robot gripper 10 is described in detail below with reference to the accompanying drawings.

[0050] In some possible implementations, reference Figure 3 In the embodiment of the present application, the robot gripper 10 includes a shell 11, a transmission part 12 and a guardrail 13.

[0051] like Figure 3 As shown, the housing 11, the transmission part 12 and the transmission part 13 of the robot gripper 10 of the embodiment of the present application are arranged along the second direction (such as Figure 3 The guardrails 13 disposed on both sides of the transmission part 12 together enclose a carrying space 15, and the carrying space 15 is used to carry the target (such as Figure 3 As shown). For example, the carrying space 15 is a rectangular parallelepiped structure as a whole, along the first direction (such as Figure 3 The front side of the cuboid is provided with an opening (i.e., the side of the transmission part 12 away from the housing 11) to allow the target to enter the carrying space 15, and the height direction of the robot gripper 10 (as shown in the X direction) is provided with an opening. Figure 3 The top surface of the cuboid is also provided with an opening (ie, the side of the shell 11 away from the transmission part 12) to accommodate objects of different sizes.

[0052] Specifically, refer to Figure 3 Combined with Figure 4 (a) to (c) and Figure 5The transmission part 12 is along the first direction (such as Figure 3 The transmission part 12 is used to carry the target object 2, and the transmission part 12 can drive the target object 2 to reciprocate along the first direction (as shown in the X direction). Figure 3 In the first direction (eg, Figure 5 The housing 11 is disposed at one end 1201 of the transmission part 12, and the housing 11 is fixedly connected to the transmission part 12. Figure 3 The transmission part 12 is shown in the Y direction), and guardrails 13 are provided on the left and right sides of the transmission part 12. The guardrails 13 serve to fix the target object 2 and are fixedly connected to the transmission part 12 to prevent the target object 2 from falling and to accurately locate the position of the target object 2 in the robot gripper 10 (see the following description for details).

[0053] The housing 11 has a rotating portion 111. The housing 11 can rotate around the rotating portion 111 in a third direction (eg Figure 3 The first direction (i.e., the extension direction of the transmission part 12) is perpendicular to the second direction (i.e., the width direction of the transmission part 12), and the third direction (i.e., the rotation direction of the housing 11) surrounds the first direction.

[0054] Since the guardrail 13 is fixedly connected to the transmission part 12, when the housing 11 drives the transmission part 12 to rotate along the third direction, the guardrail 13 rotates synchronously with the transmission part 12. On the one hand, the guardrail 13 can prevent the target 2 carried by the transmission part 12 from sliding off the transmission part 12 along the third direction. On the other hand, when the housing 11 rotates along the third direction, the target 2 abuts against at least one side of the guardrail 13 of the transmission part 12. That is, one side of the second direction of the target 2 abuts against the guardrail 13, so that the position of the target 2 can be accurately located at one side of the guardrail 13 in the robot gripper 10.

[0055] In some possible implementations, reference Figure 5 The housing 11 of the robot gripper 10 provided in the embodiment of the present application further includes an inner cavity 112, along a first direction (such as Figure 5 The end 1201 of the transmission part 12 is disposed in the inner cavity 112. That is, the housing 11 is fixedly connected to the upper side of the transmission part 12, so that the housing 11 and the transmission part 12 are connected in an L-shape, thereby carrying the target object 2 and limiting the target object 2 from moving in the transmission part 12 along the first direction.

[0056] In addition, reference Figure 3The housing 11 further includes a connection portion 113, which is disposed on a side of the housing 11 away from the inner cavity 112. For example, the connection portion 113 and the transmission portion 12 are disposed on opposite sides of the housing 11, respectively, and the connection portion 113 connects the inner cavity 112 and the external space. Figure 3 , the connecting portion 113 is along a first direction (such as Figure 3 The first through hole 1132 extends from the housing 11 to the outer housing 11. The first through hole 1132 extends from the inner housing 112 to the outer housing 11. The first through hole 1132 extends from the inner housing 112 to the outer housing 11. The first through hole 1132 connects the inner housing 112 to the outer space, so that the cables in the housing 11 can pass through the first through hole 113 and extend out of the inner housing 112 of the housing 11.

[0057] In some possible implementations, reference Figure 6 The robot gripper 10 provided in the embodiment of the present application further includes a sensor 14. The guardrail 13 includes a mounting portion 131, which is disposed at one end 132 of the guardrail 13 close to the housing 11. The sensor 14 is disposed at the mounting portion 131 and is fixedly connected to the transmission portion 12.

[0058] Specifically, the sensor 14 is used to detect the Figure 6 That is, when the robot gripper 10 is used to carry the target 2, the target 2 enters the robot gripper 10 from the other end 1202 of the transmission unit 12 along the first direction. When the sensor 14 detects the target 2, the transmission unit 12 stops driving the target 2 inward along the first direction (as shown in the X direction). Figure 3 Movement in the direction of E).

[0059] Continue to refer Figure 6 The mounting portion 131 includes a first mounting portion 1311 and a second mounting portion 1312, and the sensor 14 includes a first sensor 141 and a second sensor 142. Figure 6 The first mounting portion 1311 and the second mounting portion 1312 are arranged opposite to each other along the second direction. For example, the mounting portion 131 is an oblong through hole extending along the second direction, but is not limited thereto. The specific structure of the mounting portion 131 is not limited in the embodiment of the present application, as long as it can be used to install the sensor 14 to detect whether the target 2 entering the robot gripper 10 has reached the set position. The first sensor 141 is arranged in the first mounting portion 1311, and the second sensor 142 is arranged in the second mounting portion 1312, so that the first sensor 141 and the second sensor 142 are arranged opposite to each other along the second direction.

[0060] In some possible implementations, reference Figure 6 Combined with Figure 3 The transmission part 12 further includes a belt 121, which is arranged along a second direction (such as Figure 6 The belt 121 is disposed between the guardrails 13 on both sides of the transmission part 12, and the belt 121 is used to drive the target object 2 (not shown in the figure) along the first direction (as shown in the figure). Figure 6 Movement in the X direction.

[0061] In some possible implementations, continue to refer to Figure 5 The guardrail 13 includes a guide portion 132, and the guide portion 132 is along the fourth direction (such as Figure 5 The guide portion 132 is provided at one end 1301 of the guardrail 13 away from the housing 11. Figure 5 As shown in , along the second direction Y, the guide portion 132 opens outward, and the minimum width W4 between the guide portions 132 on both sides is equal to the width W1 between the guardrails on both sides. The fourth direction (i.e., the extension direction of the guide portion 132) intersects with the first direction (the extension direction of the transmission portion 12) at an angle α. Exemplarily, the angle α is (0, 45°]. That is, the angle α is any angle between 0° and 45° (including 45° but excluding 0°), and the present application does not impose specific restrictions on this, and it can be adjusted according to actual conditions. For example, the angle α between the fourth direction and the first direction of the embodiment of the present application can also be 15°, 20°, 28°, 35° and other angles. Continue to refer to Figure 5 The guide portions 132 on both sides of the guardrail 13 are arranged along the second direction (such as Figure 5 The robot gripper 10 is opened outward (as shown in the Y direction), which increases the size of the entrance area of ​​the robot gripper 10 and increases the stability of the large-sized target 2 being able to smoothly enter the robot gripper, thereby reducing the accuracy requirements of the stacking system 1 on the position of the robot gripper 10 when the robot gripper 10 picks up the target 2.

[0062] In some possible implementations, reference Figure 4 In (a), the width W1 between the guardrails 13 on both sides of the transmission part 12 is greater than the width of the target object 2 .

[0063] Specifically, the target object 2 includes a first target object 201 (not shown in the figure) and a second target object 202 (not shown in the figure). Exemplarily, the first target object 201 may be a luggage of regular shape, such as a box without wheels or luggage with wheels; the second target object 202 may be an object of irregular shape, such as a soft bag.

[0064] In addition, reference Figure 1, the second target object 202 further includes a tray 2021. It should be noted that the above tray is different from the carrier plate (not shown in the figure) on the conveyor belt for carrying the target object 2. That is, when the target object 2 is located on the conveyor belt and is in a transport state, the first target object 201 is carried in the carrier plate, the second target object 202 is carried in the tray 2021, and the second target object 202 and the tray 2021 are carried in the carrier plate together.

[0065] It should be noted that when the target 2 is the first target 201, the width W1 between the two side guardrails 13 of the transmission unit 12 is greater than the width W2 of the first target 201; and when the target 2 is the second target 202, the width W1 between the two side guardrails 13 of the transmission unit 12 is greater than the width W3 of the tray of the second target 202 (e.g. Figure 7 That is, W1>W2 and W1>W3, so that the target object 2 can smoothly pass through the guide portion 132 and enter the transmission portion 12 of the robot gripper 10.

[0066] The working process of the robot gripper 10 is described in detail below.

[0067] refer to Figures 3 to 6 ,exist Figure 4 In (a), the robot gripper 10 is in a first state (e.g., a horizontal vertical state, that is, the second direction Y is the same as the horizontal direction U, and the height direction H of the robot gripper 10 is the same as the vertical direction V), and the robot arm 20 can drive the robot gripper 10 to move to a sorting position (e.g., the end of the conveyor belt 30 described later). When the target object 2 moves into the guide portion 132 of the robot gripper 10 through the conveyor belt, the target object 2 moves into the robot gripper 10 through the transmission portion 12 of the robot gripper 10 (e.g., Figure 2 shown).

[0068] Then, the driving unit of the robot arm 20 drives the rotating unit 111 of the housing 11 to rotate, so as to drive the robot gripper 10 to rotate along the third direction (such as Figure 4 As shown in (b) and (c) above, the target object 2 in the robot gripper 10 is abutted against the guardrail 13, thereby accurately locating the position of the target object 2 in the robot gripper 10.

[0069] For example, Figure 4 As shown in (b), when the robotic gripper 10 of the embodiment of the present application needs to stack the target object 2 to the left side area of ​​the designated position 3 (for example, stacking from left to right), the robotic gripper 10 rotates to the left along the third direction by an angle β1 so that the target object 2 abuts against the left guardrail 13, thereby positioning the target object 2 on the left side of the robotic gripper 10.

[0070] Similarly, if Figure 4As shown in (c), when the robotic gripper 10 of the embodiment of the present application needs to stack the target object 2 to the right side area of ​​the designated position 3 (for example, stacking from right to left in sequence), the robotic gripper 10 rotates to the right along the third direction by an angle β2 so that the target object 2 abuts against the right guardrail 13, thereby positioning the target object 2 on the right side of the robotic gripper 10.

[0071] It should be noted that, in the embodiment of the present application, the robot gripper 10 is along the third direction (such as Figure 3 The angle of rotation (as shown in the R direction) Figure 4 The angles β1 and β2 in (b) and (c) are not fixed, and the direction is determined according to the target 2 along the second direction (such as Figure 4 The size of the target object 2 (indicated in the Y direction in (a)) determines the angle of rotation, and the direction of rotation is determined according to the placement of the target object 2 at the specified position. For example, when the size of the target object 2 along the second direction is large, the robot gripper 10 rotates at a small angle along the third direction, and when the size of the target object 2 along the second direction is small, the robot gripper 10 rotates at a large angle along the third direction, so that the positions of targets 2 of different sizes can be smoothly and accurately located on the side of the guardrail 13 in the robot gripper 10.

[0072] After the target object 2 in the robot gripper 10 is positioned at the side guardrail 13 of the robot gripper 10, the robot gripper 10 continues to rotate along the third direction to reset and is in the first state. Then the robot arm 20 drives the robot gripper 10 and the target object 2 to move to the designated position 3 to place the target object 2 at the designated position 3.

[0073] In addition, reference Figure 8 Combined with Figure 2 The robot arm 20 can also control the robot gripper 10 from the first state to the fifth direction (such as Figure 8 In the T direction, the target object 2 is rotated to move along the sixth direction (as shown in FIG. Figure 8 The manipulator gripper 10 is stacked at the designated position 3 (as shown in the direction P in the figure), at this time, the manipulator gripper 10 is in the second state (for example, a horizontal lateral state, that is, the first direction X is the same as the horizontal direction U, and the height direction H of the manipulator gripper 10 is the same as the vertical direction V), and the sixth direction is parallel to the first direction.

[0074] It should be noted that when the robot gripper 10 places the target object 2 at the designated position 3, the robot gripper 10 of the embodiment of the present application includes three stacking modes.

[0075] Among them, the first stacking method is that the robotic arm 20 controls the robotic gripper 10 to remain stationary along a first direction relative to a designated position 3 (for example, a flatbed cart), and the transmission part 12 of the robotic gripper 10 drives the target object 2 to move along the first direction until the target object 2 moves to the designated position 3 (for example, on a flatbed cart).

[0076] The second stacking method is that the transmission part 12 of the robot gripper 10 drives the target object 2 to move along the first direction to leave the robot gripper 10, and at the same time the robot arm 20 controls the robot gripper 10 to move in a manner opposite to the movement direction of the target object 2 and at the same speed, so that the target object 2 remains stationary relative to the designated position 3 (for example, a flatbed cart) along the first direction until the target object 2 leaves the robot gripper 10 and moves to the designated position 3 (for example, on a flatbed cart).

[0077] The third stacking method is different from the first stacking method in that the height of the robot gripper 10 in the third stacking method is greater than the height of the robot gripper 10 in the first stacking method.

[0078] In some possible implementations, continue to refer to Figure 1 The designated position 3 includes a first designated position 301 and a second designated position 302. The first designated position 301 is used to place and stack the first target object 201, and the robot gripper 10 is used to transport the first target object 201 to the first designated position 301; the second designated position 302 is used to place and stack the second target object 202, and the robot gripper 10 is used to transport the second target object 202 to the second designated position 302.

[0079] In some possible implementations, continue to refer to Figure 1 The palletizing system 1 provided in the embodiment of the present application further includes a detection unit. Figure 1 As shown in FIG, the detection section includes a first detection device 41 and a second detection device 42 .

[0080] Specifically, the first detection device 41 is disposed above the end 31 of the conveyor belt 30, and the second detection device 42 is disposed above the first designated position 301. The first detection device 41 is used to identify the information and size of the target 2 and distinguish the first target 201 from the second target 202, and the second detection device 42 is used to detect the stacking of the first target 201 in the first designated position 301. For example, the second detection device 42 is used to identify the distribution position and distribution height of multiple first targets 201 in the first designated position 301. Exemplarily, the detection device of the embodiment of the present application is a camera with a visual scanning function, but the present application does not specifically limit this.

[0081] The working process of the palletizing system 1 is described in detail below. The working process of the robot gripper 10 has been described in detail above and will not be repeated here.

[0082] refer to Figure 1 to Figure 2 Combined with Figure 7 According to the above, the palletizing system 1 of the embodiment of the present application further includes a conveyor belt 30, which is used to convey along the conveying direction (such as Figure 1The conveyor belt 30 is used to transport the target object 2 (as shown in the S direction), and a first detection device 41 is provided above the end 31 of the conveyor belt 30.

[0083] When the first detection device 41 detects that the target object 2 conveyed to the end 31 of the conveyor belt is the first target object 201 , the robot arm 20 controls the robot gripper 10 to carry the first target object 201 and transport it to the first designated position 301 for stacking.

[0084] A second detection device 42 is provided above the first designated position 301. The robot arm 20 controls the robot gripper 10 to rotate along the third direction according to the stacking situation of the target objects at the first designated position 301 detected by the second detection device 42, so that the first target object 201 in the robot gripper 10 abuts against the side guardrail 13 of the robot gripper 10, and the first target object 201 is accurately positioned. The robot gripper 10 is then restored to the first state. Finally, the first target object 201 in the robot gripper 10 is output to the first designated position 301 according to any one or more of the three stacking methods of the robot gripper 10 described above.

[0085] When the first detection device 41 detects that the target object 2 conveyed to the end 31 of the conveyor belt is the second target object 202 , the robot arm 20 controls the robot gripper 10 to carry the second target object 202 and transport it to the second designated position 302 .

[0086] For example, Figure 1 As shown, the first designated position 301 may be a luggage trolley, such as a flatbed trolley; the second designated position 302 may be a conveyor belt. The manipulator gripper 10 is used to directly carry and sort luggage and boxes of regular shapes (i.e., the first target object 201) to the flatbed trolley (i.e., the first designated position 301), and the manipulator gripper 10 is used to carry and sort soft bags of irregular shapes (i.e., the second target object 202) and trays to the luggage conveyor belt (i.e., the second designated position 302).

[0087] It should be noted that the robotic gripper 10 cannot automatically remove the tray 2021 of the second target object 202, so when the second target object 202 is transported to the second designated position 302, tray processing is required to remove and recycle the tray 2021 of the second target object 202, and transport the irregularly shaped soft packages in the second target object 202 to the irregular luggage trolley, and then run the irregular luggage trolley to the first designated position 301, and place the irregularly shaped soft packages in the second target object 202 on the top layer or appropriate position of the first designated position 301 where the first target object 201 is stacked to prevent them from being crushed.

[0088] In summary, the robotic gripper 10 of the embodiment of the present application can find a reasonable stacking position for the stacking system 1 by rotating along the third direction to accurately locate the position of the carried target object 2. Compared with the existing stacking robots, the stacking system 1 of the embodiment of the present application accurately locates the position of the target object 2 in the robotic gripper 10 before stacking, which is conducive to denser stacking of the target objects 2 and improved space utilization of stacking.

[0089] Although the present invention has been illustrated and described with reference to certain preferred embodiments of the present invention, it should be understood by those skilled in the art that the above contents are further detailed descriptions of the present invention in combination with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A mechanical gripper, characterized in that: include: A transmission portion extending along a first direction, wherein the transmission portion is used to carry a target object; A housing, along the first direction, the housing is disposed at one end of the transmission part, the housing is fixedly connected to the transmission part, the housing has a rotating part, the housing can move around the rotating part along the third direction to drive the transmission part to move synchronously along the third direction; Along the second direction, guardrails are provided on both sides of the transmission part. Along the first direction, the guardrails are provided on one side of the shell close to the transmission part. The first direction is perpendicular to the second direction, and the third direction surrounds the first direction. When the shell rotates along the third direction, the target object abuts against the guardrail on at least one side of the transmission part.

2. The robot gripper according to claim 1, characterized in that: Along the second direction, the width between the guardrails on both sides of the transmission portion is greater than the width of the target object.

3. The robot gripper according to claim 1 or 2, characterized in that: The housing further comprises an inner cavity, and along the first direction, the one end of the transmission part is disposed in the inner cavity; The shell further comprises a connecting portion, which is arranged on a side of the shell away from the inner cavity, connects the inner cavity with an external space, and is used for allowing the cables in the inner cavity to pass through.

4. The robot gripper according to claim 3, characterized in that: The connecting portion extends along the first direction and includes a convex portion and a first through hole; The convex portion is protrudingly disposed on the outer side of the shell, and the first through hole penetrates the convex portion and the shell along the first direction.

5. The robot gripper according to claim 1 or 2, characterized in that: It also includes a sensor, the guardrail includes a mounting portion, the mounting portion is arranged at one end of the guardrail close to the shell, the sensor is arranged on the mounting portion and is fixedly connected to the transmission portion, and the sensor is used to detect the target object entering the robot gripper along the first direction.

6. The robot gripper according to claim 5, characterized in that: The mounting portion includes a first mounting portion and a second mounting portion, and the sensor includes a first sensor and a second sensor; Along the second direction, the first mounting portion is disposed opposite to the second mounting portion, and the first sensor is disposed opposite to the second sensor.

7. The robot gripper according to claim 6, characterized in that: The mounting portion includes an oblong through hole extending along the second direction.

8. The robot gripper according to claim 1 or 2, characterized in that: The guardrail includes a guide portion, which extends along a fourth direction and is arranged at an end of the guardrail away from the shell. The fourth direction intersects with the first direction at an angle α.

9. The robot gripper according to claim 8, characterized in that: Along the second direction, the guide portion expands outward, and the minimum width between the guide portions on both sides is equal to the width between the guardrails on both sides.

10. The robot gripper according to claim 8, characterized in that: The angle α is (0, 45°].

11. The robot gripper according to claim 1 or 2, characterized in that: The transmission part further includes a belt, and the transmission part drives the belt to move along the first direction to drive the target object to move along the first direction.

12. A palletizing system, characterized in that: A robotic gripper comprising any one of claims 1 to 11; A conveyor belt, wherein the conveyor belt is used to convey the target object; A robotic arm, the robotic arm is used to drive the robotic gripper to transport the target object to a specified location; The driving part is fixed to the mechanical arm, the rotating part of the shell is connected to the driving part, and the driving part can drive the shell to rotate around the rotating part along the third direction.

13. The palletizing system according to claim 12, characterized in that: The target object includes a first target object, the designated position includes a first designated position, and the robot gripper transports the first target object to the first designated position to stack the first target object.

14. The palletizing system according to claim 12, characterized in that: The target object includes a second target object, the second target object includes a tray, and the second target object is carried on the tray; The designated position includes a second designated position, and the robot gripper transports the second target object to the second designated position to separate the second target object and the tray.

15. The palletizing system according to claim 13, characterized in that: It also includes a detection unit, which includes a first detection device and a second detection device. The first detection device is arranged above the end of the conveyor belt, and the second detection device is arranged above the first designated position.

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