High-precision grabbing device for parcels

Abstract

The utility model provides a high-precision parcel grabbing device. The high-precision parcel grabbing device comprises a base; the X-axis adjusting mechanism comprises a guide rail arranged on the base in the X-axis direction; the Y-axis adjusting mechanism comprises a lifting assembly arranged on the guide rail in the Y-axis direction and a mounting plate which is arranged on one side of the lifting assembly and can be driven by the lifting assembly to move; the rotary adjusting mechanism comprises a rotary table arranged on the mounting plate, and a mechanical arm is erected on the rotary table; and the conveying mechanism is arranged below the mechanical arm and used for outwards conveying the parcels grabbed by the mechanical arm. According to the mechanical arm disclosed by the utility model, the problems that the shooting error is large and the mechanical arm is easy to damage due to the fact that the existing mechanical arm is difficult to shoot or grab the corners of the parcel grabbing area due to the limitation of the axial length can be solved.

Description

Technical Field

[0001] This utility model belongs to the field of parcel grasping technology, and more specifically, relates to a high-precision parcel grasping device. Background Technology

[0002] In the logistics field, robotic arms are often used in the grasping process to improve the efficiency of parcel handling. The robotic arm's grasping operation involves first photographing and calibrating the parcel grasping area, and then grasping the parcel based on the calibration results.

[0003] However, most existing robotic arms are mounted on fixed bases. This design leads to significant shooting errors when photographing or grasping the corners of the package grabbing area due to the arm's axis length limitation. Furthermore, the robotic arm may tilt, potentially causing damage. Therefore, further improvements are needed. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that existing robotic arms, due to their limited axis length, have difficulty photographing or grasping the corners of the package grasping area, resulting in large photographing errors and easy damage to the robotic arm.

[0005] To achieve the above objectives, this utility model provides a high-precision package gripping device, comprising:

[0006] Base;

[0007] The X-axis adjustment mechanism includes a guide rail arranged on the base along the X-axis direction;

[0008] The Y-axis adjustment mechanism includes a lifting assembly arranged on the guide rail along the Y-axis direction and a mounting plate disposed on one side of the lifting assembly and capable of moving under its drive.

[0009] A rotary adjustment mechanism includes a turntable mounted on the mounting plate, and a robotic arm is mounted on the turntable.

[0010] A conveying mechanism, located below the robotic arm, is used to convey the package grasped by the robotic arm outward.

[0011] Optionally, the guide rail is provided with a rack for connecting the lifting assembly.

[0012] Optionally, the lifting assembly includes a movable seat and a cylinder disposed on the movable seat, the lower end of the movable seat is provided with a gear that meshes with the rack, and the mounting plate is connected to the transmission end of the cylinder.

[0013] Optionally, the rotation adjustment mechanism may also include a motor for driving the turntable to rotate.

[0014] Optionally, the conveying mechanism includes a bracket with one end connected to the mounting plate and the other end extending in the direction of the extension of the robotic arm, and a first conveying component arranged on the bracket and in a downwardly inclined state.

[0015] Optionally, the base is provided with an L-shaped second conveying assembly extending outward along the periphery of the guide rail, the starting end of the second conveying assembly being connected to the end of the first conveying assembly.

[0016] Optionally, the base is provided with a second conveying component that passes through the lower end of the guide rail, and the starting end of the second conveying component is connected to the end of the first conveying component.

[0017] Optionally, both the first conveying assembly and the second conveying assembly include a conveyor belt and a conveyor belt drive unit for conveying the package.

[0018] Optionally, the other end of the bracket is provided with a support platform for receiving the package.

[0019] Optionally, the robotic arm's actuator end is equipped with a suction cup for gripping packages.

[0020] The beneficial effects of this utility model are as follows:

[0021] This invention proposes a high-precision package gripping device, comprising: a base; an X-axis adjustment mechanism including a guide rail arranged on the base along the X-axis; a Y-axis adjustment mechanism including a lifting component arranged on the guide rail along the Y-axis and a mounting plate disposed on one side of the lifting component and movable under its drive; a rotation adjustment mechanism including a turntable disposed on the mounting plate, on which a robotic arm is mounted; and a conveying mechanism disposed below the robotic arm for conveying the package gripped by the robotic arm outward. Compared with existing robotic arms, this invention utilizes guide rails, a lifting component, and a turntable to assist the robotic arm in movement, enabling it to accurately capture and grip the corners of the package gripping area. Simultaneously, it effectively avoids damage caused by tilting due to the limited axis length, thus improving the utilization rate of the robotic arm. Furthermore, the conveying mechanism of this invention enables the transport of packages, ensuring efficient package gripping.

[0022] As can be seen from the above, this utility model can effectively solve the problem that existing robotic arms are limited by their axis length, making it difficult to photograph or grasp the corners of the package grasping area, resulting in large shooting errors and easy damage to the robotic arm.

[0023] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0024] This invention can be better understood by referring to the following description taken in conjunction with the accompanying drawings, in which the same or similar reference numerals are used throughout the drawings to denote the same or similar parts.

[0025] Figure 1 A schematic diagram of a high-precision package gripping device from a first-view perspective is shown according to a specific embodiment of the present invention.

[0026] Figure 2 A schematic diagram of a high-precision package gripping device from a second perspective, according to a specific embodiment of the present invention, is shown.

[0027] Figure 3 A schematic diagram of a high-precision package gripping device according to another specific embodiment of the present invention is shown.

[0028] Figure label:

[0029] 1-Base;

[0030] 2-Guide rail;

[0031] 21-Rack;

[0032] 3-Mounting plate;

[0033] 31-First Camera;

[0034] 4-Turntable;

[0035] 5-Robotic arm;

[0036] 51 - Suction cup;

[0037] 52 - Second camera;

[0038] 6-Mobile seat;

[0039] 61-Gear;

[0040] 62-Card slot;

[0041] 7-cylinder;

[0042] 8-Motor;

[0043] 9-Staff;

[0044] 10-Conveyor belt;

[0045] 11-Bearing platform. Detailed Implementation

[0046] To enable those skilled in the art to more fully understand the technical solution of this utility model, exemplary embodiments of this utility model will be described more comprehensively and in detail below with reference to the accompanying drawings. Obviously, the one or more embodiments of this utility model described below are merely one or more specific ways to implement the technical solution of this utility model, and are not exhaustive. It should be understood that other ways belonging to a general inventive concept can be used to implement the technical solution of this utility model, and it should not be limited to the embodiments described exemplary. Based on one or more embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0047] Example: Figure 1 A schematic diagram of a high-precision package gripping device from a first-view perspective is shown according to a specific embodiment of the present invention. Figure 2 A schematic diagram of a high-precision package gripping device from a second perspective, according to a specific embodiment of the present invention, is shown. Figure 3 A schematic diagram of a high-precision package gripping device according to another specific embodiment of the present invention is shown.

[0048] Reference Figure 1-3 An embodiment of this utility model provides a high-precision package gripping device, comprising:

[0049] Base 1;

[0050] The X-axis adjustment mechanism includes a guide rail 2 arranged on the base 1 along the X-axis direction;

[0051] The Y-axis adjustment mechanism includes a lifting assembly arranged on the guide rail 2 along the Y-axis direction and a mounting plate 3 disposed on one side of the lifting assembly and capable of moving under its drive.

[0052] The rotary adjustment mechanism includes a turntable 4 mounted on a mounting plate 3, and a robotic arm 5 mounted on the turntable 4;

[0053] A conveying mechanism, located below the robotic arm 5, is used to convey packages grasped by the robotic arm 5 outwards.

[0054] In one specific embodiment, the guide rail 2 is provided with a rack 21 for connecting the lifting assembly.

[0055] In one embodiment, the lifting assembly includes a movable seat 6 and a cylinder 7 disposed on the movable seat 6. The lower end of the movable seat 6 is provided with a gear 61 that meshes with the rack 21, and the mounting plate 3 is connected to the transmission end of the cylinder 7.

[0056] In one specific embodiment, the lower end of the movable seat 6 is symmetrically provided with slots 62 that are adapted to the guide rail 2.

[0057] Specifically, the gears can rotate under the drive of a reducer and a drive motor, thereby moving the moving seat along the rack, thus realizing the movement of the robotic arm along the X-axis, and can also move along the Y-axis through a cylinder, so that the robotic arm can accurately grasp and photograph the corners of the package gripping area.

[0058] In one embodiment, a first camera for photographing the package is mounted on the mounting plate 3. Specifically, the first camera is configured to transmit the captured images of the package to the control terminal of the robotic arm to assist the robotic arm in quickly identifying the specific location of the package and achieving precise positioning of the package.

[0059] In one embodiment, the rotation adjustment mechanism further includes a motor 8 for driving the turntable 4 to rotate. This allows the robotic arm to rotate circumferentially, facilitating full contact with packages at the corners of the package grasping area and improving grasping efficiency.

[0060] In one specific embodiment, the actuator of the robotic arm 5 is provided with a suction cup 51 for gripping packages.

[0061] In one specific embodiment, a second camera 52 for photographing the package is provided at the upper end of the suction cup 51.

[0062] Specifically, the robotic arm is a five-axis robotic arm. It can drive a second camera to photograph and calibrate the package grasping area, and use hand-eye calibration technology to obtain the precise coordinates of the package within the grasping area, so as to achieve precise package grasping.

[0063] In one embodiment, the conveying mechanism includes a bracket 9 with one end connected to the mounting plate 3 and the other end extending in the direction of extension of the robotic arm 5, and a first conveying component arranged on the bracket 9 and in a downwardly inclined state.

[0064] The second conveying component of this utility model has the following two embodiments:

[0065] In the first embodiment, a second L-shaped conveying assembly extending outward from the circumference of the guide rail 2 is provided on the base 1. The starting end of the second conveying assembly is connected to the end of the first conveying assembly, such as... Figure 1 As shown.

[0066] In the second embodiment, a second conveying component is provided on the base 1, passing through the lower end of the guide rail 2. The starting end of the second conveying component is connected to the end of the first conveying component, such as... Figure 3 As shown.

[0067] Of course, it should be recognized that the second conveying component of this utility model can also be set in other positions or have other shapes. This utility model is not limited thereto. Any position or shape of the second conveying component that can achieve the same technical effect as this utility model is within the protection scope of this utility model.

[0068] In one embodiment, both the first conveying assembly and the second conveying assembly include a conveyor belt 10 for conveying packages and a conveyor belt drive unit. Specifically, the conveyor belt and the conveyor belt drive unit are existing technologies, such as belt conveyors, and their structure and principles will not be described in detail here.

[0069] In one specific embodiment, the other end of the bracket 9 is provided with a support platform 11 for receiving packages.

[0070] When in use, the high-precision gripping device of this utility model can use guide rails, cylinders or turntables to drive the robotic arm to move along the X-axis, move along the Y-axis or rotate circumferentially, according to the needs of shooting or gripping, so as to accurately shoot or grip the package gripping area and its corners.

[0071] The high-precision package gripping device proposed in this utility model includes: a base; an X-axis adjustment mechanism including a guide rail arranged on the base along the X-axis direction; a Y-axis adjustment mechanism including a lifting component arranged on the guide rail along the Y-axis direction and a mounting plate arranged on one side of the lifting component and capable of moving under its drive; a rotation adjustment mechanism including a turntable arranged on the mounting plate, on which a robotic arm is mounted; and a conveying mechanism arranged below the robotic arm for conveying the package gripped by the robotic arm outward.

[0072] Therefore, compared with existing robotic arms, this invention utilizes guide rails, lifting components, and a turntable to assist the robotic arm's movement, enabling it to accurately capture and grasp the corners of the package grasping area. Simultaneously, it effectively avoids potential damage caused by tilting due to its limited axis length, thus improving the utilization rate of the robotic arm. Furthermore, the conveying mechanism of this invention enables the transport of packages, ensuring efficient package grasping.

[0073] While one or more embodiments of the present invention have been described above, those skilled in the art will recognize that the present invention can be implemented in any other form without departing from its spirit and scope. Therefore, the embodiments described above are illustrative and not restrictive, and many modifications and substitutions will be apparent to those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A high-precision package gripping device, characterized in that, include: Base; The X-axis adjustment mechanism includes a guide rail arranged on the base along the X-axis direction; The Y-axis adjustment mechanism includes a lifting assembly arranged on the guide rail along the Y-axis direction and a mounting plate disposed on one side of the lifting assembly and capable of moving under its drive. A rotary adjustment mechanism includes a turntable mounted on the mounting plate, and a robotic arm is mounted on the turntable. A conveying mechanism, located below the robotic arm, is used to convey the package grasped by the robotic arm outward.

2. The high-precision package gripping device according to claim 1, characterized in that, The guide rail is provided with a rack for connecting the lifting assembly.

3. The high-precision package gripping device according to claim 2, characterized in that, The lifting assembly includes a movable seat and a cylinder mounted on the movable seat. The lower end of the movable seat is provided with a gear that meshes with the rack. The mounting plate is connected to the transmission end of the cylinder.

4. The high-precision package gripping device according to claim 3, characterized in that, The rotation adjustment mechanism also includes a motor for driving the turntable to rotate.

5. The high-precision package gripping device according to claim 4, characterized in that, The conveying mechanism includes a bracket with one end connected to the mounting plate and the other end extending in the direction of the extension of the robotic arm, and a first conveying component arranged on the bracket in a downward inclined state.

6. The high-precision package gripping device according to claim 5, characterized in that, The base is provided with an L-shaped second conveying component extending outward along the periphery of the guide rail, and the starting end of the second conveying component is connected to the end of the first conveying component.

7. The high-precision package gripping device according to claim 5, characterized in that, The base is provided with a second conveying component that passes through the lower end of the guide rail, and the starting end of the second conveying component is connected to the end of the first conveying component.

8. The high-precision package gripping device according to claim 6 or 7, characterized in that, Both the first conveying assembly and the second conveying assembly include a conveyor belt and a conveyor belt drive unit for conveying the package.

9. The high-precision package gripping device according to claim 8, characterized in that, The other end of the bracket is provided with a support platform for receiving the package.

10. The high-precision package gripping device according to claim 9, characterized in that, The robotic arm is equipped with a suction cup at its actuator end for gripping packages.

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