Design of a Gantry-Type Intelligent Grasping Device for Logistics Warehousing Based on MaixCam

Traditional warehousing suffers from low efficiency, high manual error rates, substantial labor costs, and complex deployment, while existing sorting devices remain poorly adaptable for small- and medium-sized operations. To address these issues, this paper presents an intelligent gantry-type grasping device for logistics warehousing based on the MaixCam. The device integrates mechanical design, computer vision, and electronic control. An Arduino Mega2560 serves as the main control board, with 57-series and 42-series stepper motors and servo motors driving the gantry and gripper. The mechanical structure adopts a miniaturized gantry architecture constructed from alloy steel, enabling operation in confined workspaces. A YOLOv5s model with transfer learning was trained for cargo box recognition using a dataset of 654 images collected under various lighting conditions and backgrounds. The model achieves a recognition accuracy of 93%–96% with inference times of 10–14 ms at 25–28 FPS. The proposed device provides a viable solution for automated sorting in small-to medium-sized warehouses, balancing recognition performance, power consumption, and cost.