CN115972247A - A multi-axis mechanical arm control method and object transfer device - Google Patents

Abstract

The invention discloses a multi-axis mechanical arm control method and an article transfer device, which comprise the following steps: determining a starting position and an end position for grabbing the article; calculating the distance from the starting point position to the end point position; and judging whether the distance is larger than the maximum sliding distance of the paw, if not, transferring the object only through the paw, and if so, transferring the object through cooperation of the paw and the multi-axis mechanical arm, wherein the paw grabs the object to move by the maximum sliding distance, and the remaining distance is transferred by the multi-axis mechanical arm. The invention can improve the range of article transfer operation, reduce the moving distance of the multi-axis mechanical arm, improve the efficiency of article transfer and reduce the moving inertia of the multi-axis mechanical arm.

Description

A multi-axis mechanical arm control method and object transfer device

technical field

The present application relates to the technical field of intelligent manufacturing, in particular to a multi-axis mechanical arm control method and an item transfer device.

Background technique

In the field of intelligent manufacturing, multi-axis robotic arms are usually used to replace manual work for item transfer and processing. When an item needs to be transferred, a gripper mechanism carried at the end of a six-axis robotic arm is often required. The manufacturing efficiency can be improved and manpower input can be reduced through the robotic arm, but the multi-axis robotic arm can only be operated within a certain range, which is smaller than the range of motion of the multi-axis robotic arm. In order to expand the working range of the multi-axis robotic arm, a common method is to increase the size of the multi-axis robotic arm, or to install a traveling mechanism at the bottom of the robotic arm. Then this will not only increase the weight of the multi-axis manipulator, increase the inertia of its movement, and affect the moving speed of the multi-axis manipulator, but also increase the difficulty of controlling the multi-axis manipulator, especially the inability to perform high-precision operation.

In addition, when the operating range of the multi-axis manipulator's claw is large and there are many grasping points, the pipeline connected to the hand claw at the end of the multi-axis manipulator will also cause winding and pulling due to the large range of motion, thus affecting the multi-axis The working stability of the mechanical arm and the life of the pipeline. And when there are many pipelines connected to the gripper, it is difficult to route and fix the pipelines, and it is difficult to distinguish each pipeline during equipment maintenance.

Contents of the invention

In view of the above problems, the present application provides a multi-axis robot arm control method and an object transfer device, which are used to solve the technical problems of the existing multi-axis robot arm with small working range and large moving inertia.

In order to achieve the above object, the inventor provides a multi-axis mechanical arm control method, the end of the multi-axis mechanical arm is provided with a gripper for grabbing objects, the gripper includes a bracket, a rotary flange, a sliding mechanism and A plurality of suction cups, the bracket is connected to the end through the rotary flange; the suction cups are arranged on the sliding mechanism, and the sliding mechanism drives the suction cups to slide along the length direction of the bracket; the plurality of suction cups The axis mechanical arm control method includes steps:

Determine the starting position and end position of the item grabbing;

Calculate the distance from the start position to the end position;

judging whether the distance is greater than the maximum sliding distance of the gripper, if not, transfer the item only through the gripper, and if so, transfer the item through the gripper and the multi-axis mechanical arm cooperatively, wherein , the gripper grabs the item and moves with the maximum sliding distance, and the remaining distance is transferred by the multi-axis robot arm.

Further, when the article is cooperatively transferred by the gripper and the multi-axis robot arm, according to the starting position, the end position, the positions of the multi-axis robot arm and the length of the bracket , calculating the rotation angle of the slewing flange, and controlling the bracket to rotate according to the rotation angle during the object transfer process, so as to reduce the movement amount of the multi-axis mechanical arm.

Further, the gripper further includes a camera, and the camera is used to acquire an image of the item, and judge whether to accurately grasp the item and place the item to the end position according to the image.

Further, the sliding mechanism includes a movable cylinder, the movable cylinder is arranged in parallel on the support, and the suction cup is arranged on the slider of the movable cylinder.

In order to solve the above technical problems, the present invention also provides another technical solution:

An article transfer device, comprising a multi-axis mechanical arm and a gripper arranged at the end of the multi-axis robotic arm for grabbing articles; the gripper includes a bracket, a rotary flange, a sliding mechanism and a plurality of suction cups, the The bracket is connected to the end of the multi-axis mechanical arm through the rotary flange; the suction cup is arranged on the sliding mechanism, and the suction cup is used to absorb objects, and the sliding mechanism drives the suction cup and the objects along the bracket Sliding in the length direction;

The multi-axis mechanical arm is used to drive the grippers to move the objects.

Further, the swivel flange is arranged on one side of the middle part of the bracket, and forms a zigzag distribution with both ends of the bracket.

Further, the sliding mechanism includes a movable cylinder, which is arranged in parallel on the bracket, and includes a guide rod and a slider slidingly connected to the guide rod, and the suction cup is arranged on the slider.

Further, the gripper also includes a lifting cylinder, the suction cup is arranged at the end of the push rod of the lifting cylinder, and the lifting cylinder is used to drive the suction cup to rise and fall in the vertical direction.

Further, the gripper further includes a camera, which is arranged on the sliding mechanism and used to acquire images of the items.

Further, the gripper also includes a trachea adapter plate, the trachea adapter plate is installed on the bracket and arranged coaxially with the rotary flange, and the trachea adapter plate includes multiple input interfaces and multiple An output interface, the input interface is connected to an air source, and the output interface is connected to the sliding mechanism and the suction cup through an air pipe.

Different from the existing technology, the above-mentioned technical solution is provided with a rotary flange and a sliding mechanism on the gripper at the end of the multi-axis mechanical arm, so that the gripper can rotate around the swivel flange and slide along the bracket, so when grabbing objects, it can According to the moving distance of the item, the item is only transferred by the claw, or the item is first grasped by the claw and moved with the maximum sliding distance, and then the remaining distance is transferred by the multi-axis robot arm. In this way, the use of claws can be used to transfer items to the greatest extent, which can not only increase the range of item transfer operations, but also reduce the moving distance of the multi-axis robotic arm, improve the efficiency of item transfer, and reduce the moving inertia of the multi-axis robotic arm.

In some embodiments, the item transfer device also includes a trachea adapter plate, and the trachea adapter plate connected to the gripper is transferred and fixed by the trachea adapter plate, which facilitates the routing of the trachea, reduces bending and pulling of the trachea, and effectively prolongs the service life of the trachea .

The relevant descriptions of the above-mentioned content of the invention are only an overview of the technical solution of the present application. In order to allow those skilled in the art to understand the technical solution of the application more clearly, it can be implemented according to the text of the description and the content recorded in the drawings, and in order to let those skilled in the art The above purpose and other purposes, features and advantages of the present application can be more easily understood, and will be described below in conjunction with specific implementation methods and accompanying drawings of the present application.

Description of drawings

The accompanying drawings are only used to illustrate the principles, implementations, applications, features and effects of specific embodiments of the present invention and other related content, and should not be considered as limiting the present application.

In the accompanying drawings of the manual:

Fig. 1 is the flow chart of the control method of the multi-axis robotic arm described in the specific embodiment;

Fig. 2 is a schematic diagram of the three-dimensional structure of the gripper described in the specific embodiment;

Fig. 3 is a structural schematic diagram of another angle of view of the gripper described in the specific embodiment;

Fig. 4 is a structural schematic diagram of another angle of view of the gripper according to the specific embodiment;

Fig. 5 is a side view of the gripper described in the specific embodiment;

Fig. 6 is a top view of the gripper described in the specific embodiment;

The reference numerals involved in the above-mentioned drawings are explained as follows:

1. Bracket; 11. Swivel flange;

2. Sliding mechanism; 21. Guide rod;

3. Suction cup; 31. Lifting cylinder;

4. Camera;

5. Air pipe adapter plate; 51. First air pipe; 52. Second air pipe;

Detailed ways

In order to describe in detail the possible application scenarios, technical principles, specific solutions that can be implemented, goals and effects that can be achieved, etc., the following will be described in detail in conjunction with the listed specific embodiments and accompanying drawings. The embodiments described herein are only used to illustrate the technical solutions of the present application more clearly, so they are only examples, and cannot be used to limit the protection scope of the present application.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The word "embodiment" appearing in various positions in the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or relationship with other embodiments. In principle, in this application, as long as there is no technical contradiction or conflict, each technical feature mentioned in each embodiment can be combined in any way to form a corresponding implementable technical solution.

Unless otherwise defined, the meanings of the technical terms used herein are the same as those commonly understood by those skilled in the art to which the application belongs; the use of relevant terms herein is only to describe specific embodiments, and is not intended to limit the application .

In the description of this application, the term "and/or" is an expression used to describe the logical relationship between objects, indicating that there may be three relationships, such as A and/or B, which means: there is A, there is B, and There are three situations A and B at the same time. In addition, the character "/" in this article generally indicates that the contextual objects are a logical relationship of "or".

In this application, terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. Any actual quantitative, primary or sequential relationship.

Without further limitation, in this application, the words "including", "comprising", "having" or other similar open-ended expressions are intended to cover a non-exclusive inclusion, and these expressions do not Excludes that additional elements may be present in a process, method, or product that includes stated elements, such that a process, method, or product that includes a series of elements may include not only those defined elements, but also those not expressly listed Other elements, or also include elements inherent in the process, method, or product.

The same as the understanding in the "Examination Guidelines", in this application, expressions such as "greater than", "less than" and "exceeding" are understood to not include the original number; expressions such as "above", "below" and "within" are understood to include This number. In addition, in the description of the embodiments of the present application, "multiple" means more than two (including two), and similar expressions related to "many" are also understood in this way, such as "multiple groups", " many times", etc., unless otherwise expressly and specifically defined.

In the description of the embodiments of the present application, expressions related to space used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", " Left, right, vertical, horizontal, vertical, top, bottom, inner, outer, clockwise, counterclockwise, axial, radial, circumferential, etc. The indicated orientation or positional relationship is based on the specific embodiment or the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the specific embodiment of the application or for the reader’s understanding, rather than indicating or implying that the referred device or component must Having a specific position, a specific orientation, or being constructed or operated in a specific orientation should not be construed as limiting the embodiments of the present application.

Unless otherwise clearly specified or limited, in the description of the embodiments of the present application, terms such as "installation", "connection", "connection", "fixation" and "setting" should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated arrangement; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or a Connected indirectly through an intermediary; it may be an internal communication between two elements or an interactive relationship between two elements. Those skilled in the technical field to which the present application belongs can understand the specific meanings of the above terms in the embodiments of the present application according to specific situations.

Referring to FIG. 1 to FIG. 6 , this embodiment provides a method for controlling a multi-axis robotic arm. The multi-axis robotic arm control method can be used to control the multi-axis robotic arm to grab objects and transfer the objects from one place to another. In this multi-axis robotic arm control method, a gripper that can rotate and slide is set at the end of the multi-axis robotic arm. The rotary and sliding motion of the gripper is combined with the multi-axis robotic arm and motion to realize the transfer of items, which can improve the entire set of equipment. working range of motion. The multi-axis mechanical arm control method preferentially uses the movement of the gripper itself to transfer objects, thereby reducing the movement distance of the multi-axis mechanical arm, thereby reducing the motion inertia of the multi-axis mechanical arm, and improving the efficiency of object transfer.

As shown in Figure 1, the multi-axis mechanical arm control method includes steps:

S101. Determine the starting point and end point of grabbing the item;

S102. Calculate the distance from the start position to the end position;

S103. Determine whether the distance is greater than the maximum sliding distance of the gripper, if not, transfer the item only through the gripper, if yes, transfer the item through the gripper and the multi-axis robotic arm , wherein the gripper grabs the item and moves with the maximum sliding distance, and the remaining distance is transferred by the multi-axis robot arm.

As shown in FIG. 2 , it is a three-dimensional structural schematic diagram of a gripper disposed at the end of a multi-axis robotic arm. The end of the multi-axis mechanical arm is provided with a gripper for grabbing objects, the gripper includes a bracket 1, a rotary flange 11, a sliding mechanism 2 and a plurality of suction cups 3, and the bracket 1 passes through the rotary flange 11 is connected to the end of the multi-axis mechanical arm; the suction cup 3 is arranged on the sliding mechanism 2 , and the sliding mechanism 2 drives the suction cup 3 to slide along the length direction of the bracket 1 .

Wherein, the bracket 1 can be made of metal such as steel or aluminum alloy, and the bracket 1 can be driven by a multi-axis robot arm to move within a spatial range. The sliding mechanism includes a movable cylinder, the movable cylinder is arranged in parallel on the support 1, and the suction cup 3 is arranged on the slider of the movable cylinder. Suction cup 3 is used for grasping article, and when the slide block of movable cylinder slides, suction cup 3 and the article on it also move along the length direction of support 1 along with slide block. The suction cup 3 can be a pneumatic suction cup, and the middle part of the suction cup 3 is connected with a trachea, and the trachea can be evacuated to form a negative pressure in the middle part of the suction cup 3 so as to firmly suck the article. A plurality of suction cups 3 can be arranged on the sliding mechanism, so that objects can be sucked in multiple positions at the same time. The rotary flange can be connected with an air motor, and the rotary flange is driven by the air motor to drive the bracket 1 to rotate.

Before step S101, a three-dimensional coordinate system of the multi-axis robotic arm can be established first, and the starting position and end position of the object grasping can be identified by the three-dimensional coordinate system. The start position and end position of the item grasping can be manually input to the multi-axis robotic arm control system, or can be automatically calculated by the multi-axis robotic arm control system.

In step S102, the distance from the starting point to the ending point is calculated according to the starting point and the ending point of the item. The distance is calculated by the movement distance of the center point of the item. After the above distance is calculated, proceed to step S103.

There are two cases in step S103 , the first case is that the distance from the starting position of the item to the end position is less than or equal to the maximum sliding distance of the gripper, that is, less than the maximum sliding distance of the sliding mechanism on the support 1 . At this time, there is no need to move the multi-axis robot arm, and only the sliding mechanism on the bracket drives the item transfer. Even if the gripper is between the start position and the end position of the item grasping, then the sliding mechanism is driven to slide back and forth on the support 1, thereby repeatedly transferring multiple items from the start position to the end position. The second case is that the distance from the starting position of the item to the end position is greater than the maximum sliding distance of the gripper. At this time, it is necessary to control the movement of the gripper and the multi-axis robotic arm at the same time to realize the transfer of the item. During this process, use the gripper to transfer as many items as possible. , to minimize the range of motion of the multi-axis robotic arm. When calculating the movement distance of the gripper and the multi-axis robotic arm, the gripper grabs the item and moves with the maximum sliding distance, and the remaining distance is transferred by the multi-axis robotic arm, so that the movement of the multi-axis robotic arm amount (i.e. the smallest range of motion).

When transferring the item through the cooperative transfer of the gripper and the multi-axis robotic arm, according to the starting position, the end position, the positions of the multi-axis robotic arm and the length of the bracket, the calculated The rotation angle of the slewing flange is described above, and during the transfer process of the object, the movement amount of the multi-axis mechanical arm is reduced by controlling the rotation of the bracket according to the rotation angle.

The above technical solution is provided with a rotary flange and a sliding mechanism on the claw at the end of the multi-axis mechanical arm, so that the claw can rotate around the rotary flange and slide along the bracket. Therefore, when grabbing items, according to the moving distance of the item, Items are only transferred by the gripper, or the gripper first grabs the item and moves with the maximum sliding distance, and then the remaining distance is transferred by the multi-axis robot arm. In this way, the use of claws can be used to transfer items to the greatest extent, which can not only increase the range of item transfer operations, but also reduce the moving distance of the multi-axis robotic arm, improve the efficiency of item transfer, and reduce the moving inertia of the multi-axis robotic arm.

As shown in Figure 3, the gripper also includes a camera 4, the camera 4 is used to acquire the image of the article, and judge whether to accurately grasp the article and place the article at the end position according to the image . Wherein, the camera 4 is arranged on the sliding mechanism 2, so that the camera 4 can slide together with the suction cup. The control system of the multi-axis robotic arm includes image recognition technology, which can analyze the object to be grasped and the position of the object according to the photos taken by the camera 4, and further calculate the distance from the starting position of the object to the end position. During the article transfer process, it is also possible to obtain whether the article is placed at the end position through the camera 4. If not, the placement of the article can be readjusted by the claws.

As shown in Figure 4, Figure 5 and Figure 6, each suction cup 3 is provided with a lifting cylinder 31, the suction cup 3 is arranged at the end of the lifting cylinder 31, and the suction cup 3 is driven up and down by the lifting cylinder. When it is necessary to grab an item, the lifting cylinder 31 drives the suction cup 3 to drop and hold the item, and then the lifting cylinder 31 drives the item to rise, and the claw and the multi-axis mechanical arm drive the item to transfer to the end position, and finally the lifting cylinder 31 drives the suction cup and the item to descend, thereby placing the item at the end position.

As shown in FIG. 2 to FIG. 6 , the present invention also provides another technical solution, an item transferring device. The article transfer device includes a multi-axis robot arm and a gripper arranged at the end of the multi-axis robot arm for grabbing articles.

The gripper includes a bracket 1, a rotary flange 11, a sliding mechanism 2 and a plurality of suction cups 3, the bracket 1 is connected to the end of the multi-axis mechanical arm through the rotary flange 11; the suction cup 3 is arranged on the On the sliding mechanism 2, the suction cup 3 is used to absorb objects, and the sliding mechanism drives the suction cup and the objects to slide along the length direction of the bracket; the multi-axis mechanical arm is used to drive the claws to move to achieve Transfer items.

When the distance from the starting position of the article to the end position is less than or equal to the maximum sliding distance of the gripper, it is less than the maximum sliding distance of the sliding mechanism on the support 1 . At this time, there is no need to move the multi-axis robot arm, and only the sliding mechanism on the bracket drives the item transfer. When the distance from the starting position of the item to the end position is greater than the maximum sliding distance of the gripper, it is necessary to control the movement of the gripper and the multi-axis mechanical arm at the same time to realize the transfer of the item. During this process, use the gripper to transfer as many items as possible. Minimize the amplitude of motion of the multi-axis robotic arm. The above technical solution is provided with a rotary flange and a sliding mechanism on the claw at the end of the multi-axis mechanical arm, so that the claw can rotate around the rotary flange and slide along the bracket. Therefore, when grabbing items, according to the moving distance of the item, Items are only transferred by the gripper, or the gripper first grabs the item and moves with the maximum sliding distance, and then the remaining distance is transferred by the multi-axis robot arm. In this way, the use of claws can be used to transfer items to the greatest extent, which can not only increase the range of item transfer operations, but also reduce the moving distance of the multi-axis robotic arm, improve the efficiency of item transfer, and reduce the moving inertia of the multi-axis robotic arm.

Wherein, the bracket 1 can be made of metal such as steel or aluminum alloy, and the bracket 1 can be driven by a multi-axis robot arm to move within a spatial range. The swivel flange 11 is arranged on one side of the middle part of the bracket 1 and forms a zigzag distribution with both ends of the bracket.

Further, the sliding mechanism includes a movable cylinder, which is arranged in parallel on the bracket 1, and includes a guide rod and a slider slidingly connected to the guide rod 21, and the suction cup is arranged on the slider superior.

In some technical solutions, the gripper also includes a lifting cylinder 31, the suction cup 3 is arranged at the end of the push rod of the lifting cylinder 31, and the lifting cylinder 31 is used to drive the suction cup 3 to lift up and down in the vertical direction . When it is necessary to grab an item, the lifting cylinder 31 drives the suction cup 3 to drop and hold the item, and then the lifting cylinder 31 drives the item to rise, and the claw and the multi-axis mechanical arm drive the item to transfer to the end position, and finally the lifting cylinder 31 drives the suction cup and the item to descend, thereby placing the item at the end position.

In some technical solutions, the gripper further includes a camera 4, which is arranged on the sliding mechanism and used to acquire images of the items. The control system of the multi-axis robotic arm includes image recognition technology, which can analyze the object to be grasped and the position of the object according to the photos taken by the camera 4, and further calculate the distance from the starting position of the object to the end position. During the article transfer process, it is also possible to obtain whether the article is placed at the end position through the camera 4. If not, the placement of the article can be readjusted by the claws.

In some technical solutions, the gripper also includes a trachea adapter plate 5, the trachea adapter plate 5 is installed on the bracket 1 and arranged coaxially with the rotary flange 11, and the trachea adapter plate 5 The board 5 includes a plurality of input interfaces and a plurality of output interfaces, the input interfaces are connected to an air source through a first air pipe 51 , and the output interfaces are connected to the sliding mechanism 2 and the suction cup 3 through a second air pipe 52 .

In this embodiment, the trachea connected with the claw is connected to the external air source through the trachea adapter plate 5, and the trachea is transferred and fixed by the trachea adapter plate 5, which facilitates the wiring of the trachea and can reduce the loss of the trachea during the transfer of items. Bending and pulling can effectively prolong the service life of the trachea.

Finally, it should be noted that although the above-mentioned embodiments have been described in the specification text and drawings of the present application, the scope of protection of the patent of the present application cannot be limited thereby. Any technical solution based on the substantive concept of this application, using the equivalent structure or equivalent process replacement or modification of the content recorded in the text and drawings of this application, and directly or indirectly implementing the technical solutions of the above embodiments in Other relevant technical fields, etc., are included in the patent protection scope of this application.

Claims (10)

1. A multi-axis mechanical arm control method, characterized in that, the end of the multi-axis mechanical arm is provided with a claw for grabbing an article, and the claw includes a support, a rotary flange, a sliding mechanism and a plurality of suction cups , the bracket is connected to the end through the rotary flange; the suction cup is arranged on the sliding mechanism, and the sliding mechanism drives the suction cup to slide along the length direction of the bracket; the multi-axis mechanical arm The control method includes the steps of: Determine the starting position and end position of the item grabbing; Calculate the distance from the start position to the end position; judging whether the distance is greater than the maximum sliding distance of the gripper, if not, transfer the item only through the gripper, and if so, transfer the item through the gripper and the multi-axis mechanical arm cooperatively, wherein , the gripper grabs the item and moves with the maximum sliding distance, and the remaining distance is transferred by the multi-axis robot arm. 2. The multi-axis robotic arm control method according to claim 1, characterized in that, when the article is cooperatively transferred by the gripper and the multi-axis robotic arm, according to the starting position, the end position , the position of the multi-axis mechanical arm and the length of the bracket, calculate the rotation angle of the slewing flange, and in the process of object transfer, by controlling the rotation of the bracket according to the rotation angle, to reduce the The amount of movement of the multi-axis robot arm. 3. The multi-axis mechanical arm control method according to claim 1 or 2, wherein the gripper further comprises a camera, and the camera is used to obtain an image of the item, and judge whether it is accurate or not according to the image Grab the item and place the item at the end location. 4. The multi-axis mechanical arm control method according to claim 1, wherein the sliding mechanism comprises a movable cylinder, the movable cylinder is arranged in parallel on the support, and the suction cup is arranged on the movable cylinder on the slider. 5. An article transfer device, characterized in that it comprises a multi-axis mechanical arm and a gripper arranged at the end of the multi-axis robotic arm for grabbing an article; the gripper includes a bracket, a rotary flange, a sliding mechanism and A plurality of suction cups, the bracket is connected to the end of the multi-axis mechanical arm through the rotary flange; the suction cups are arranged on the sliding mechanism, and the suction cups are used to suck objects, and the sliding mechanism drives the suction cups and the item slides along the length of the support; The multi-axis mechanical arm is used to drive the grippers to move the objects. 6 . The article transfer device according to claim 5 , wherein the swivel flange is arranged on one side of the middle part of the bracket, and forms a zigzag distribution with both ends of the bracket. 7 . 7. The article transfer device according to claim 5, characterized in that, the sliding mechanism comprises a movable cylinder, the movable cylinder is arranged in parallel on the support, includes a guide rod and a guide rod slidably connected to the guide rod The slider, the suction cup is arranged on the slider. 8. The article transfer device according to claim 5, wherein the gripper further comprises a lifting cylinder, the suction cup is arranged at the end of a push rod of the lifting cylinder, and the lifting cylinder is used to drive the The suction cup lifts vertically. 9 . The article transfer device according to claim 5 , wherein the gripper further comprises a camera, and the camera is arranged on the sliding mechanism for acquiring images of the articles. 10 . 10. The article transfer device according to claim 5, characterized in that, the gripper further comprises a trachea adapter plate, the trachea adapter plate is installed on the bracket and arranged coaxially with the rotary flange , the trachea adapter plate includes a plurality of input interfaces and a plurality of output interfaces, the input interfaces are connected to an air source, and the output interfaces are connected to the sliding mechanism and the suction cup through the trachea.

Images