A turnover device for intelligent labeling of small commodities

Abstract

The utility model relates to turnover device technical field, and disclose a kind of for micro commodity intelligent labeling turnover device, comprising: mechanical arm and motion control module, the execution end of the mechanical arm is equipped with gripper module, the gripper module includes gripper, electric drive assembly and force feedback sensor, the gripper is installed in the output end of electric drive assembly, the electric drive assembly is installed in the execution end terminal of mechanical arm, the force feedback sensor is installed in the outside of gripper;Visual identification module is set to the inside of gripper, and the visual identification module includes camera, infrared distance measuring module and image processing unit;The inside of the gripper is equipped with antiskid silica gel pad.The utility model can realize micro commodity adaptation clamping loss slip, accurately identified label surface efficiency, stable turnover guarantee labeling, also can reduce cost and adapt to multiple industries, improve the reliability of posture adjustment before labeling.

Description

Technical Field

[0001] This utility model relates to the field of flipping device technology, specifically a flipping device for intelligent labeling of small commodities. Background Technology

[0002] With the increasing demand for labeling efficiency and accuracy in the commodity circulation sector, small commodities need to be adjusted in posture by special devices before labeling to ensure the smooth progress of subsequent labeling operations. Related flipping devices have become a key component of automated labeling production lines.

[0003] However, existing equipment for adjusting the labeling posture of micro-commodities has significant shortcomings: on the one hand, the end clamps of the equipment mostly adopt a fixed rigidity design and lack a structure that can adjust the clamping force in a coordinated manner, making it unsuitable for micro-commodities of different materials and sizes, and easily leading to damage or slippage of the goods due to improper clamping force; on the other hand, existing equipment lacks an efficient labeling surface recognition and distance acquisition structure, relying on traditional methods to judge the posture of the labeling surface of the goods, which is not only slow in recognition speed but also low in accuracy, making it difficult to meet the precise needs of micro-commodities for posture adjustment, affecting the subsequent labeling quality and efficiency. Therefore, a flipping device for intelligent labeling of micro-commodities is proposed. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a flipping device for intelligent labeling of small commodities, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a flipping device for intelligent labeling of small commodities, comprising:

[0006] A robotic arm and a motion control module are provided. The robotic arm has a gripper module installed at its execution end. The gripper module includes a gripper, an electric drive assembly, and a force feedback sensor. The gripper is installed at the output end of the electric drive assembly, which is installed at the end of the robotic arm's execution end. The force feedback sensor is installed on the outside of the gripper.

[0007] A visual recognition module is located inside the gripper, and the visual recognition module includes a camera, an infrared ranging module, and an image processing unit.

[0008] The inner side of the gripper is equipped with an anti-slip silicone pad, and the anti-slip silicone pad is adhered and fixed to the gripper.

[0009] The input terminals of the motion control module are electrically connected to the output terminals of the vision recognition module, the force feedback sensor, and the infrared ranging module, respectively. A data transmission module is installed at the output terminal of the motion control module, and an external display screen is provided at the output terminal of the data transmission module. The infrared ranging module has a measurement range of 100mm-800mm, measuring distance using the time difference between infrared emission and reception combined with the speed of light. The motion control module uses an STM32ZET6 microcontroller, which has high-speed data processing and instruction generation capabilities. The force feedback sensor consists of a probe and a sensor. The probe is a circular thin film, lightweight and accurate, collecting clamping force data in real time and feeding it back to the motion control module.

[0010] By combining the grippers with electric drive components and force feedback sensors, the system can adapt to gripping various small commodities, preventing damage or slippage due to improper gripping force. The vision recognition module's camera, infrared ranging module, and image processing unit accurately identify the labeling surface posture and obtain a gripping distance reference, improving the accuracy and efficiency of posture judgment. The motion control module, electrically connected to each module, coordinates the movement of the robotic arm and gripper module, ensuring the precision and stability of the flipping action. Anti-slip silicone pads on the inner side of the grippers enhance friction between the grippers and the commodities, further improving gripping stability. The data transmission module, in conjunction with an external display screen, provides real-time feedback on the equipment's operating status and commodity information, facilitating operator monitoring and comprehensively improving the reliability and convenience of posture adjustment before labeling small commodities.

[0011] Preferably, the lower end of the robotic arm is provided with a base, and the bottom of the base is provided with a mounting plate. The mounting plate is fixedly connected to the base by a fastener. The mounting plate increases the bottom area of ​​the base and improves the placement stability.

[0012] Preferably, the bottom of the mounting plate is provided with reinforcing ribs, and the reinforcing ribs are integrally formed with the mounting plate. The bottom four corners of the mounting plate are provided with through holes for mounting the mounting plate. The reinforcing ribs improve the strength of the mounting plate.

[0013] Preferably, a copper sleeve is embedded inside the perforation, and the copper sleeve is fixedly connected to the perforation. The copper sleeve is used to protect the inner wall of the perforation.

[0014] Preferably, a transparent protective cover is provided on the outside of the camera, and the protective cover is adhered and fixed to the camera. The transparent protective cover is used to protect the lens part of the camera.

[0015] Preferably, the electric drive assembly has a ventilation slot on its outer side, and the ventilation slot is integrally formed with the electric drive assembly. The ventilation slot is used for heat dissipation of the motor inside the electric drive assembly.

[0016] Compared with the prior art, this utility model provides a flipping device for intelligent labeling of small commodities, which has the following beneficial effects:

[0017] This invention utilizes the force feedback sensor and electric drive component of the gripper module to achieve adaptive gripping of small commodities, thus preventing damage or slippage and solving the problem of poor adaptability caused by the fixed rigidity of existing equipment grippers. Through the camera, image processing unit, and infrared ranging module of the vision recognition module, it achieves accurate identification of the labeling surface and acquisition of the gripping distance, improving the efficiency and accuracy of posture judgment and solving the problems of slow and large errors in traditional recognition. Attached Figure Description

[0018] Figure 1 This is a front view of the overall structure of this utility model;

[0019] Figure 2 This is a side view of the overall structure of this utility model;

[0020] Figure 3 This is a schematic block diagram of the structure of each module of this utility model.

[0021] In the diagram: 1. Robotic arm; 2. Gripper; 3. Force feedback sensor; 4. Anti-slip silicone pad; 5. Camera; 6. Infrared ranging module; 7. Electric drive assembly; 8. Motion control module; 9. Data transmission module; 10. External display screen; 11. Mounting plate; 12. Vision recognition module; 13. Ventilation slot. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] This utility model provides a technical solution: a flipping device for intelligent labeling of small commodities. Please refer to [link / reference]. Figure 1 , Figure 2 and Figure 3 ,include:

[0024] The robotic arm 1 and motion control module 8 are provided. The execution end of the robotic arm 1 is equipped with a gripper module, which includes a gripper 2, an electric drive assembly 7, and a force feedback sensor 3. The gripper 2 is installed at the output end of the electric drive assembly 7, the electric drive assembly 7 is installed at the end of the execution end of the robotic arm 1, and the force feedback sensor 3 is installed on the outside of the gripper 2.

[0025] The visual recognition module 12 is located inside the gripper 2. The visual recognition module 12 includes a camera 5, an infrared ranging module 6, and an image processing unit.

[0026] An anti-slip silicone pad 4 is installed on the inner side of the gripper 2, and the anti-slip silicone pad 4 is adhered and fixed to the gripper 2.

[0027] The input terminals of the motion control module 8 are electrically connected to the output terminals of the vision recognition module 12, the force feedback sensor 3, and the infrared ranging module 6, respectively. The output terminal of the motion control module 8 is equipped with a data transmission module 9, and the output terminal of the data transmission module 9 is equipped with an external display screen 10. The infrared ranging module 6 has a measurement range of 100mm-800mm, and measures distance by combining the time difference between infrared emission and reception with the speed of light. The motion control module 8 uses an STM32ZET6 microcontroller, which has high-speed data processing and instruction generation capabilities. The force feedback sensor 3 consists of two parts: a probe and a sensor. The probe is a circular thin film, which is lightweight and accurate, and collects clamping force data in real time and feeds it back to the motion control module 8.

[0028] Please see Figure 1 and Figure 2 The lower end of the robotic arm 1 is provided with a base, and the bottom of the base is provided with a mounting plate 11. The mounting plate 11 is fixedly connected to the base by a fastener. The mounting plate 11 increases the bottom area of ​​the base and improves the placement stability.

[0029] Please see Figure 1 and Figure 2 The bottom of the mounting plate 11 is provided with reinforcing ribs, and the reinforcing ribs are integrally formed with the mounting plate 11. Perforations are opened at the four corners of the bottom of the mounting plate 11 for the installation of the mounting plate 11. The reinforcing ribs improve the strength of the mounting plate 11.

[0030] Please see Figure 1 and Figure 2 A copper sleeve is embedded inside the perforation and is fixedly connected to the perforation. The copper sleeve is used to protect the inner wall of the perforation.

[0031] Please see Figure 1 and Figure 2 A transparent protective cover is provided on the outside of the camera 5, and the protective cover is adhered and fixed to the camera 5. The transparent protective cover is used to protect the lens part of the camera 5.

[0032] Please see Figure 1 and Figure 2 The electric drive assembly 7 has a ventilation slot 13 on its outer side, and the ventilation slot 13 is integrally formed with the electric drive assembly 7. The ventilation slot 13 is used for heat dissipation of the motor inside the electric drive assembly 7.

[0033] In this solution: after the product enters the recognition area, the camera 5 of the visual recognition module 12 captures the image and transmits it to its image processing unit; at the same time, the infrared ranging module 6 measures the distance between the gripper 2 and the product, and both data are transmitted to the motion control module 8; the motion control module 8 drives the robotic arm 1 to move, so that the electric drive component 7 of the gripper module moves the gripper 2 to both sides of the product, and the ventilation slot 13 on the outside of the electric drive component 7 assists in the heat dissipation of the internal motor; when the gripper 2 closes, the anti-slip silicone pad 4 on its inner side enhances the friction, and the force feedback sensor 3 collects the gripping force data and feeds it back to the motion control module 8 to ensure that the gripping force is appropriate; then the motion control module 8 controls the robotic arm 1 to drive the gripper 2 to complete the flip, the camera 5 captures the image again to confirm the labeling surface posture, and the motion control module 8 transmits the information to the external display screen 10 through the data transmission module 9; during the process, the mounting plate 11 at the bottom of the base of the robotic arm 1 improves the overall placement stability.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flipping device for intelligent labeling of small commodities, characterized in that, include: A robotic arm (1) and a motion control module (8) are provided. The execution end of the robotic arm (1) is equipped with a gripper module. The gripper module includes a gripper (2), an electric drive assembly (7), and a force feedback sensor (3). The gripper (2) is installed at the output end of the electric drive assembly (7). The electric drive assembly (7) is installed at the end of the execution end of the robotic arm (1). The force feedback sensor (3) is installed on the outside of the gripper (2). A visual recognition module (12) is located inside the gripper (2). The visual recognition module (12) includes a camera (5), an infrared ranging module (6), and an image processing unit. An anti-slip silicone pad (4) is installed on the inner side of the gripper (2), and the anti-slip silicone pad (4) is adhered and fixed to the gripper (2); The input terminal of the motion control module (8) is electrically connected to the output terminals of the visual recognition module (12), the force feedback sensor (3) and the infrared ranging module (6), respectively. The output terminal of the motion control module (8) is equipped with a data transmission module (9), and the output terminal of the data transmission module (9) is equipped with an external display screen (10).

2. The flipping device for intelligent labeling of micro-commodities according to claim 1, characterized in that: The lower end of the robotic arm (1) is provided with a base, and the bottom of the base is provided with a mounting plate (11), and the mounting plate (11) is fixedly connected to the base by a fastener.

3. A flipping device for intelligent labeling of micro-commodities according to claim 2, characterized in that: The bottom of the mounting plate (11) is provided with reinforcing ribs, and the reinforcing ribs are integrally formed with the mounting plate (11). Perforations are provided at the four corners of the bottom of the mounting plate (11).

4. A flipping device for intelligent labeling of micro-commodities according to claim 3, characterized in that: A copper sleeve is embedded inside the perforation, and the copper sleeve is fixedly connected to the perforation.

5. A flipping device for intelligent labeling of micro-commodities according to claim 1, characterized in that: A transparent protective cover is provided on the outside of the camera (5), and the protective cover is adhered and fixed to the camera (5).

6. A flipping device for intelligent labeling of micro-commodities according to claim 1, characterized in that: The electric drive assembly (7) has a ventilation slot (13) on its outer side, and the ventilation slot (13) is integrally formed with the electric drive assembly (7).

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