Logistics robot with cargo identification function

Abstract

The invention relates to the field of robots, in particular to a logistics robot with a cargo recognition function. The technical problem to be solved is to provide the logistics robot with the cargo identification function, which can prevent cargoes from slipping off in the process of clamping the cargoes. The logistics robot with the cargo recognition function comprises a base, a rotating column, a first swing arm, a second swing arm, a mechanical arm assembly and the like, the upper portion of the base is rotationally connected with the rotating column, the upper portion of the rotating column is rotationally connected with the first swing arm, and the front portion of the first swing arm is rotationally connected with the second swing arm; a manipulator assembly is arranged on the front portion of the second swing arm. The control manipulator assembly can automatically clamp goods, and in the clamping process, through cooperation between the rack and the gear, the limiting pieces can automatically limit the front side and the rear side of the goods, and the goods are prevented from sliding down.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a logistics robot with a cargo identification function. Background Art

[0002] In the logistics and transportation industry, after the goods are packed and placed on the conveyor belt, a logistics robot is needed to identify and classify the goods and pack them. Today's logistics robots are generally manipulator structures. When the goods pass through the manipulator, the manipulator will automatically identify the type of goods and clamp them.

[0003] Patent publication number CN205704190U discloses a logistics manipulator for grabbing logistics packages, including a manipulator rear arm, a manipulator forearm, and a manipulator finger connected in sequence. The manipulator rear arm is provided with a rear arm motor and a rear arm motor support, and the rear arm motor support is also provided with a coupling. The manipulator rear arm and the manipulator forearm are connected through a forearm transmission gear. The manipulator forearm is provided with a hand support seat on the far side of the manipulator rear arm, and a finger support frame is also provided on the other side of the hand support seat.

[0004] The existing logistics manipulator is equipped with two rubber pads to prevent the goods from slipping during the clamping process. However, if the goods are heavy, they may still slide down, which is inconvenient. Now a logistics robot with a cargo identification function is being developed that can prevent the goods from slipping during the clamping process. Summary of the invention

[0005] In order to overcome the shortcoming of existing logistics manipulators that easily cause goods to slide down, the technical problem to be solved is: to provide a logistics robot with a cargo identification function that can prevent the cargo from sliding down during the process of clamping the cargo.

[0006] The technical solution is: a logistics robot with a cargo identification function, including a base, a rotating column, a first swing arm, a second swing arm, a manipulator assembly, a limiting mechanism and a supporting mechanism. The upper part of the base is rotatably connected to the rotating column, the upper part of the rotating column is rotatably connected to the first swing arm, the front part of the first swing arm is rotatably connected to the second swing arm, the front part of the second swing arm is provided with a manipulator assembly, the manipulator assembly is provided with a limiting mechanism, and the manipulator assembly is provided with a supporting mechanism.

[0007] Furthermore, the manipulator assembly includes a mounting plate, a motor, a movable plate, a bidirectional screw and a camera. The front part of the second swing arm is rotatably connected to the mounting plate, the right part of the mounting plate is connected to the motor by screws, the motor and the external control system are electrically connected, the left part of the output shaft of the motor passes through the mounting plate and is rotatably connected to the mounting plate, the output shaft of the motor is connected to the bidirectional screw by a coupling, the bidirectional screw and the mounting plate are rotatably connected, the movable plate is slidably connected to the left and right sides of the bottom of the mounting plate, the upper part of the movable plate is threadedly connected to the bidirectional screw, and the front lower part of the mounting plate is connected to the camera.

[0008] Furthermore, the limiting mechanism includes a bracket, a rotating frame, a limiting member, a first spring, a torsion spring, a gear and a rack. The left part of the left movable plate and the front and rear sides of the right part of the right movable plate are connected to the brackets, the rotating frames are rotatably connected to the brackets, the limiting members are rotatably connected to the rotating frames, the first springs are connected between the limiting members and the rotating frames, the first springs are wound on the limiting members, torsion springs are connected between the lower part of the rotating frame and the adjacent brackets, the upper part of the rotating frame is connected to gears, racks are symmetrically welded on the left and right sides of the lower part of the mounting plate, and the racks are meshed with adjacent gears.

[0009] Furthermore, the supporting mechanism includes a slide rail, a movable frame, a second spring, a rotating support, a ball, a space cam and a fixed rod. The middle of the outer side of the movable plate is connected to the slide rail, the movable frame is slidably connected to the slide rail, the front and rear sides of the bottom of the movable frame are rotatably connected to the ball, the bottom of the ball and the conveyor belt are extruded and fitted, the front and rear sides of the lower part of the movable frame are rotatably connected to the space cam, the lower part of the space cam is connected to a rotating support, the front and rear sides of the lower part of the outer side of the movable plate are connected to the fixed rod, the fixed rod and the space cam are extruded and fitted, and the second spring is connected between the top of the movable frame and the top inside the slide rail.

[0010] Furthermore, it also includes a resistance increasing mechanism, which includes a first sliding sleeve, a resistance increasing member, an extrusion member, a contact rod and a third spring. Six first sliding sleeves are connected to the left side of the left movable plate, and six first sliding sleeves are also connected to the right side of the right movable plate. The six first sliding sleeves are divided into three groups of first sliding sleeves, each group is provided with two first sliding sleeves, and the two first sliding sleeves in each group are symmetrically arranged front to back. Resistance increasing members are slidably connected between each group of first sliding sleeves, and the resistance increasing members and the movable plate are slidably connected. Extrusion members are connected between the three resistance increasing members on the left and between the three resistance increasing members on the right, and the lower parts of the extrusion members are provided with inclined surfaces. Contact rods are connected to the lower part of the movable frame, and the contact rods are extruded and matched with the inclined surfaces of the extrusion members. The third spring is connected between the front and rear sides of the resistance increasing members and the first sliding sleeves.

[0011] Furthermore, it also includes a locking mechanism, which includes a wedge block, a second sliding sleeve, a locking piece, a fourth spring and a ratchet. The left and right sides of the front and rear of the mounting plate are connected with wedge blocks, the front and rear sides of the upper part of the movable plate are connected with the second sliding sleeve, the second sliding sleeve is slidably connected with the locking piece, the upper part of the locking piece and the adjacent wedge block are squeezed together, the upper part of the rotating frame is connected with the ratchet, the lower part of the locking piece is provided with an inclined surface, the inclined surface of the lower part of the locking piece and the ratchet are locked together, and the fourth spring is connected between the lower part of the locking piece and the adjacent second sliding sleeve.

[0012] Furthermore, an adapting mechanism is included, which includes an adapting rod and a fifth spring. A plurality of adapting rods are evenly and slidably connected to the movable plate, and the fifth spring is connected between the adapting rod and the movable plate.

[0013] Furthermore, it also includes an air suction mechanism, which includes an electric suction cup, a sliding rod and a sixth spring. Four sliding rods are slidably connected to the mounting plate. The sixth spring is connected between the upper part of the sliding rod and the top of the mounting plate, and the bottom of the sliding rod is connected to the electric suction cup.

[0014] The beneficial effects are as follows: 1. The control robot assembly of the present invention can automatically clamp the goods, and during the clamping process, through the cooperation between the rack and the gear, the limiting member can automatically limit the front and rear sides of the goods to prevent the goods from sliding downward.

[0015] 2. In the present invention, when the ball is close to the conveyor belt, the fixed rod drives the space cam to rotate, thereby driving the rotating support to automatically support the bottom of the goods to prevent the goods from sliding downward.

[0016] 3. The present invention releases the extrusion member through the contact rod, so that the resistance-enhancing member moves inward to clamp the cargo, thereby enhancing the friction between the cargo and the cargo to prevent the cargo from sliding downward.

[0017] 4. In the present invention, when the movable plate moves inward to clamp the cargo, the positioning member and the wedge block cooperate to automatically lock the ratchet wheel, thereby preventing the limiting member from releasing the cargo, strengthening the locking of the cargo, and preventing the cargo from sliding downward.

[0018] 5. In the present invention, when the movable plate moves inward, the adaptable rod will be driven to clamp goods of different shapes, thereby further preventing the goods from falling downward. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0020] Figure 2 It is a schematic diagram of a first partial three-dimensional structure of the present invention.

[0021] Figure 3It is a schematic diagram of a second partial three-dimensional structure of the present invention.

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the limiting mechanism of the present invention.

[0023] Figure 5 It is a partial three-dimensional structural schematic diagram of the limiting mechanism of the present invention.

[0024] Figure 6 It is a schematic diagram of the three-dimensional structure of the support mechanism of the present invention.

[0025] Figure 7 It is a schematic diagram of the three-dimensional structure of the resistance increasing mechanism of the present invention.

[0026] Figure 8 It is a partial three-dimensional structural schematic diagram of the resistance increasing mechanism of the present invention.

[0027] Fig. 9 It is a schematic diagram of a first three-dimensional structure of the locking mechanism of the present invention.

[0028] Fig.10 It is a partial three-dimensional structural schematic diagram of the locking mechanism of the present invention.

[0029] Fig.11 It is a schematic diagram of a second three-dimensional structure of the locking mechanism of the present invention.

[0030] Fig.12 It is a three-dimensional structural schematic diagram of the adaptation mechanism of the present invention.

[0031] Fig.13 It is a partial three-dimensional structural schematic diagram of the adaptation mechanism of the present invention.

[0032] Fig.14 It is a schematic diagram of the three-dimensional structure of the air suction mechanism of the present invention.

[0033] Figure numbers: 1_base, 2_rotating column, 3_first swing arm, 4_second swing arm, 5_mounting plate, 6_motor, 7_moving plate, 8_bidirectional screw, 81_camera, 9_limiting mechanism, 91_bracket, 92_rotating frame, 93_limiting member, 94_first spring, 95_torsion spring, 96_gear, 97_rack, 10_support mechanism, 101_slide rail, 102_moving frame, 103_second spring, 104_rotating support member, 105_ball, 106_ Spatial cam, 107_fixing rod, 11_resistance increasing mechanism, 111_first sliding sleeve, 112_resistance increasing member, 113_extrusion member, 114_contact rod, 115_third spring, 12_locking mechanism, 121_wedge block, 122_second sliding sleeve, 123_locking member, 124_fourth spring, 125_ratchet, 13_adaptation mechanism, 131_adaptation rod, 132_fifth spring, 14_air suction mechanism, 141_electric suction cup, 142_sliding rod, 143_sixth spring. DETAILED DESCRIPTION

[0034] The present invention will be described in detail below in conjunction with the accompanying drawings. Example 1

[0035] A logistics robot with cargo identification function, such as Figure 1-Figure 3 As shown, it includes a base 1, a rotating column 2, a first swing arm 3, a second swing arm 4, a manipulator assembly, a limiting mechanism 9 and a supporting mechanism 10. The rotating column 2 is rotatably connected to the upper part of the base 1, the first swing arm 3 is rotatably connected to the upper part of the rotating column 2, and the second swing arm 4 is rotatably connected to the front of the first swing arm 3. The front of the second swing arm 4 is provided with a manipulator assembly for clamping goods. The manipulator assembly is provided with a limiting mechanism 9, which can limit the front and rear sides of the goods to prevent the goods from slipping. The manipulator assembly is provided with a supporting mechanism 10, which can automatically support the bottom of the goods to prevent the goods from slipping; the manipulator assembly includes The mounting plate 5, the motor 6, the movable plate 7, the bidirectional screw 8 and the camera 81, the mounting plate 5 is rotatably connected to the front part of the second swing arm 4, the right part of the mounting plate 5 is connected to the motor 6, the motor 6 and the external control system are electrically connected, the left part of the output shaft of the motor 6 passes through the mounting plate 5, the output shaft of the motor 6 is rotatably connected to the mounting plate 5, the output shaft of the motor 6 is connected to the mounting plate 5 via a coupling, the bidirectional screw 8 is rotatably connected to the mounting plate 5, the movable plate 7 for clamping the goods is slidably connected to the left and right sides of the bottom of the mounting plate 5, the upper part of the movable plate 7 is threadedly connected to the bidirectional screw 8, the front lower part of the mounting plate 5 is connected to the camera 81, the camera 81 takes pictures of the goods.

[0036] like Figure 1 , Figure 4 and Figure 5As shown, the limiting mechanism 9 includes a bracket 91, a rotating frame 92, a limiting member 93, a first spring 94, a torsion spring 95, a gear 96 and a rack 97. The left front and rear sides of the left part of the moving plate 7 are connected to the bracket 91, and the right front and rear sides of the right part of the moving plate 7 are also connected to the bracket 91. The bracket 91 is rotatably connected to the rotating frame 92, and the rotating frame 92 is rotatably connected to the limiting member 93. The limiting member 93 can limit the front and rear sides of the goods. The limiting member 93 A first spring 94 wound around the limit piece 93 is connected between the rotating frame 92, a gear 96 is connected to the upper part of the rotating frame 92, and racks 97 meshing with the adjacent gears 96 are symmetrically connected to the left and right sides of the lower part of the mounting plate 5. The inward movement of the movable plate 7 will drive the limit piece 93 to move inward, and through the cooperation between the rack 97 and the gear 96, the limit piece 93 will automatically limit the goods. A torsion spring 95 is connected between the lower part of the rotating frame 92 and the adjacent bracket 91.

[0037] like Figure 1 and Figure 6 As shown, the supporting mechanism 10 includes a slide rail 101, a moving frame 102, a second spring 103, a rotating support member 104, a ball 105, a space cam 106 and a fixed rod 107. The slide rail 101 is connected to the middle of the outer side of the moving plate 7, and the moving frame 102 is slidably connected to the slide rail 101. The front and rear sides of the bottom of the moving frame 102 are rotatably connected to the ball 105 that is extruded and matched with the conveyor belt. The front and rear sides of the lower part of the moving frame 102 are rotatably connected to the space cam 106, and the lower part of the space cam 106 is connected to a rotating support member 104 for supporting the bottom of the goods. The front and rear sides of the lower outer side of the moving plate 7 are connected to the fixed rod 107 that is extruded and matched with the space cam 106, and the second spring 103 is connected between the top of the moving frame 102 and the top inside the slide rail 101.

[0038] When people need to use a logistics robot with a cargo identification function, the base 1 can be fixed next to the cargo transmission equipment so that the moving plate 7 is located above the conveyor belt. When the conveyor belt transports the cargo, the cargo will pass under the camera 81 one after another. The camera 81 automatically takes photos of the cargo and then uploads the photos to the cloud. The cloud data is then compared through electronic equipment to determine the type of cargo. The control system controls the mounting plate 5 to move and approach the cargo, and the mounting plate 5 drives the moving plate 7 to approach the cargo. When the moving plate 7 slowly approaches the cargo, the moving plate 7 drives the moving frame 102 and the ball 105 to approach the conveyor belt. When the ball 105 contacts the conveyor belt, the ball 105 and the moving frame 102 are no longer in contact. The method continues to move downward, the moving plate 7 will continue to drive the slide rail 101 and the fixed rod 107 to move downward, the second spring 103 is compressed, and under the cooperation between the fixed rod 107 and the space cam 106, the space cam 106 will rotate, and the rotation of the space cam 106 will drive the rotating support 104 to swing outward. Then, when the moving plate 7 is completely moved to the left and right sides of the cargo, the control system will control the motor 6 to work, and the rotation of the output shaft of the motor 6 will drive the bidirectional screw 8 to rotate, and the rotation of the bidirectional screw 8 will drive the moving plate 7 to move inward to clamp the left and right sides of the cargo. The inward movement of the moving plate 7 will drive the bracket 91, the rotating frame 92 and the limit member 93 to move inward, between the rack 97 and the gear 96. With the cooperation of , the front rotating frame 92 and the limit piece 93 will swing backward, and the rear rotating frame 92 and the limit piece 93 will swing forward. After the rack 97 and the gear 96 are separated, if the goods are relatively small, there may be no contact between the limit piece 93 and the goods. Under the action of the torsion spring 95, the front rotating frame 92 and the limit piece 93 will continue to swing backward, and the rear rotating frame 92 and the limit piece 93 will swing forward, so that the limit piece 93 can automatically limit the front and rear sides of the goods, and the limit piece 93 can rotate according to the shape of the goods, and make the limit piece 93 fit the goods. The first spring 94 will deform adaptively. After clamping and limiting the goods, the control system can be used to control the installation. The mounting plate 5 is away from the conveyor belt, and the mounting plate 5 is controlled to the position where the goods are stored. After the mounting plate 5 drives the moving plate 7 and the moving frame 102 away from the conveyor belt and the ball 105 is separated from the conveyor belt, the moving frame 102 will move downward relative to the slide rail 101 under the action of the second spring 103, and the space cam 106 will also move with the moving frame 102. Under the action of the fixed rod 107, the space cam 106 will be driven to reverse and reset, thereby causing the rotating support 104 to automatically rotate and reset to support the bottom of the goods. This can better prevent the goods from sliding down. After the moving plate 7 drives the goods close to the storage position of the goods, the output shaft of the motor 6 can be controlled by the control system to reverse, driving the bidirectional screw 8 to reverse.The bidirectional screw 8 drives the moving plate 7 to move outwards and slowly release the goods. The moving plate 7 moving outwards will also drive the bracket 91, the rotating frame 92 and the gear 96 to move outwards. When the rack 97 and the gear 96 are meshed, the gear 96 will be driven to reverse under the action of the rack 97. The gear 96 drives the rotating frame 92 and the limiter 93 at the front to swing forward and reset, and the rotating frame 92 and the limiter 93 at the rear to swing backward and reset. The torsion spring 93 is twisted, so that the limiter 93 can automatically release the goods, and the goods will automatically fall to the storage position, and under the action of the first spring 94, the limiter 93 is driven to reset. Example 2

[0039] On the basis of Example 1, Figure 1 , Figure 7 and Figure 8 As shown, a resistance increasing mechanism 11 is also included, and the resistance increasing mechanism 11 includes a first sliding sleeve 111, a resistance increasing member 112, an extrusion member 113, a contact rod 114 and a third spring 115. Six first sliding sleeves 111 are connected to the left side of the left moving plate 7 and the right side of the right moving plate 7. The six first sliding sleeves 111 are divided into three groups of first sliding sleeves 111, each group is provided with two first sliding sleeves 111, and the two first sliding sleeves 111 of each group are symmetrically arranged front and back, and each group of first sliding sleeves 111 is slidably connected with a resistance increasing member 112 for increasing the friction between the first sliding sleeves 111 and the cargo. The parts 112 and the movable plate 7 are slidably connected, and an extrusion part 113 is connected between the three resistance-increasing parts 112 on the left, and an extrusion part 113 is also connected between the three resistance-increasing parts 112 on the right. The lower parts of the extrusion parts 113 are all provided with inclined surfaces, and the lower parts of the movable frame 102 are all connected with contact rods 114 that are extruded and matched with the inclined surfaces of the extrusion parts 113. The movable frame 102 moves upward to extrude the extrusion parts 113 through the contact rods 114, so that the extrusion parts 113 drive the resistance-increasing parts 112 to move outward, and third springs 115 are connected between the front and rear sides of the resistance-increasing parts 112 and the first sliding sleeve 111.

[0040] When the moving frame 102 moves upward, the resistance-increasing member 112 will be driven to move upward, and the resistance-increasing member 112 will squeeze the inclined surface of the extrusion member 113, driving the extrusion member 113 to move outward. The extrusion member 113 moving outward will drive the resistance-increasing member 112 to move outward, and the third spring 115 will be stretched, which makes it convenient for the moving plate 7 to clamp the goods. When the moving frame 102 moves downward, the contact rod 114 will move downward, and the contact rod 114 will loosen the inclined surface of the extrusion member 113. Under the action of the third spring 115, the resistance-increasing member 112 will be driven to move inward and reset to clamp the goods. This can increase the friction between the goods and the goods, thereby improving the stability of the goods and further preventing the goods from sliding downward.

[0041] like Figure 1 , Fig. 9 , Fig.10 and Fig.11 As shown, it also includes a locking mechanism 12 that can lock the rotating frame 92. The locking mechanism 12 includes a wedge block 121, a second sliding sleeve 122, a locking piece 123, a fourth spring 124 and a ratchet 125. The left and right sides of the front portion of the mounting plate 5 are connected to the wedge blocks 121, and the left and right sides of the rear portion of the mounting plate 5 are also connected to the wedge blocks 121. The front and rear sides of the upper portion of the movable plate 7 are connected to the second sliding sleeve 122. The second sliding sleeve 122 is slidably connected with the locking piece 123. The upper portion of the locking piece 123 is squeezed and matched with the adjacent wedge block 121. The upper portion of the rotating frame 92 is connected to the ratchet 125. The lower portion of the locking piece 123 is provided with an inclined surface that is squeezed and matched with the ratchet 125. The fourth spring 124 is connected between the lower portion of the locking piece 123 and the adjacent second sliding sleeve 122.

[0042] Initially, the upper portion of the retaining member 123 is squeezed outward by the wedge block 121, the fourth spring 124 is in a stretched state, the lower portion of the retaining member 123 is separated from the ratchet 125, and the torsion spring 95 is in a twisted state; when the moving plate 7 moves inward, it drives the second sliding sleeve 122 to move inward, and the second sliding sleeve 122 moves inward, which also drives the retaining member 123 to move inward. When the retaining member 123 is separated from the wedge block 121, under the action of the fourth spring 124, the front retaining member 123 is driven The front ratchet 125 is automatically locked when the front ratchet 125 moves backward, and the rear stopper 123 also moves forward to automatically lock the rear ratchet 125. At this time, the inclined surface of the stopper 123 fits with the ratchet 125, so that the front rotating frame 92 swings forward, and the rear rotating frame 92 cannot swing backward. This can prevent the front rotating frame 92 and the stopper 93 from swinging forward to release the goods, and prevent the rear rotating frame 92 and the stopper 93 from swinging backward to release the goods. If the goods are relatively small, the movable plate 7 will continue to move inward. , so that the gear 96 and the rack 97 are separated, and under the action of the torsion spring 95, the front rotating frame 92 is driven to swing backward, and the rear rotating frame 92 is driven to swing forward. During the swinging process of the rotating frame 92, the tooth bevel of the ratchet 125 squeezes the bevel of the blocking member 123, so that the blocking member 123 moves outward, and the fourth spring 124 is stretched. After the tooth bevel of the ratchet 125 and the bevel of the blocking member 123 are separated, under the action of the fourth spring 124, the blocking member 123 is driven to move and reset the ratchet 125 to clamp it. In this way, the rotating frame 92 can only drive the limiting member 93 to fix and clamp the goods in one direction; when the movable plate 7 moves outward, it will drive the second sliding sleeve 122 and the locking member 123 to move outward. When the upper part of the locking member 123 contacts the wedge block 121, the gear 96 also just meshes with the rack 97. At this time, the wedge block 121 will squeeze the front locking member 123 forward and the rear locking member 123 backward. The locking member 123 automatically releases the ratchet 125, and the fourth spring 124 is stretched, so that the limiting member 93 can be easily released from the goods.

[0043] like Figure 1 , Fig.12 and Fig.13 As shown, it also includes an adaptation mechanism 13 for adapting to goods of different shapes and strengthening the clamping of the goods. The adaptation mechanism 13 includes an adaptation rod 131 and a fifth spring 132. 42 adaptation rods 131 are evenly and slidably connected to the movable plate 7, and the fifth springs 132 are all connected between the adaptation rod 131 and the movable plate 7.

[0044] When the movable plate 7 moves inward, the adapting rod 131 will also move inward. After the adapting rod 131 contacts the side of the cargo, cargo of different shapes can be clamped. Under the action of the fifth spring 132, the adapting rod 131 can strengthen the clamping of cargo of different shapes to prevent the cargo from falling downward. When the movable plate 7 moves outward, the adapting rod 131 will be separated from the cargo, so that the cargo can be released.

[0045] like Figure 1 and Fig.14 As shown, it also includes an air suction mechanism 14 for strengthening the fixation of the cargo. The air suction mechanism 14 includes an electric suction cup 141, a slide bar 142 and a sixth spring 143. Four slide bars 142 are slidably connected to the mounting plate 5. The sixth springs 143 are all connected between the upper part of the slide bar 142 and the top of the mounting plate 5. The bottom of the slide bar 142 is connected to an electric suction cup 141, and the upper part of the cargo can be adsorbed by the electric suction cup 141.

[0046] When the mounting plate 5 is close to the cargo, the electric suction cup 141 will also contact the top of the cargo, and the electric suction cup 141 and the slide bar 142 will stop moving. At this time, the sixth spring 143 is stretched, and turning on the electric suction cup 141 will cause the electric suction cup 141 to adsorb the top of the cargo, which can strengthen the stability of the cargo and prevent it from falling down. When the cargo needs to be released, the electric suction cup 141 is turned off to stop adsorbing the top of the cargo. Then, after the electric suction cup 141 and the cargo are separated, under the action of the sixth spring 143, the slide bar 142 and the electric suction cup 141 slide downward relative to the mounting plate 5 to reset.

[0047] Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation shall fall within the protection scope of the present invention.

Claims

1. A logistics robot with a cargo identification function, comprising a base (1), a rotating column (2), a first swing arm (3), a second swing arm (4) and a manipulator assembly, wherein the upper portion of the base (1) is rotatably connected to the rotating column (2), the upper portion of the rotating column (2) is rotatably connected to the first swing arm (3), the front portion of the first swing arm (3) is rotatably connected to the second swing arm (4), and the front portion of the second swing arm (4) is provided with a manipulator assembly, characterized in that: It also comprises a limiting mechanism (9) and a supporting mechanism (10); the limiting mechanism (9) is provided on the manipulator assembly, and the supporting mechanism (10) is provided on the manipulator assembly.

2. A logistics robot with cargo identification function according to claim 1, characterized in that: The robot assembly comprises a mounting plate (5), a motor (6), a moving plate (7), a bidirectional screw (8) and a camera (81); the front portion of the second swing arm (4) is rotatably connected to the mounting plate (5); the right portion of the mounting plate (5) is connected to the motor (6) via screws; the motor (6) is electrically connected to an external control system; the left portion of the output shaft of the motor (6) penetrates into the mounting plate (5) and is rotatably connected to the mounting plate (5); the output shaft of the motor (6) is connected to the bidirectional screw (8) via a coupling; the bidirectional screw (8) and the mounting plate (5) are rotatably connected; the moving plate (7) is slidably connected to the left and right sides of the bottom of the mounting plate (5); the upper portion of the moving plate (7) is threadedly connected to the bidirectional screw (8); and the front lower portion of the mounting plate (5) is connected to the camera (81).

3. A logistics robot with cargo identification function according to claim 2, characterized in that: The limiting mechanism (9) comprises a bracket (91), a rotating frame (92), a limiting member (93), a first spring (94), a torsion spring (95), a gear (96) and a rack (97). The left part of the left movable plate (7) and the right part of the right movable plate (7) are both connected to the bracket (91) on both the front and rear sides. The rotating frame (92) is rotatably connected to the bracket (91). The limiting member (93) is rotatably connected to the rotating frame (92). The first spring (94) is connected between the limiting member (93) and the rotating frame (92). The first spring (94) is wound around the limiting member (93). The torsion spring (95) is connected between the lower part of the rotating frame (92) and the adjacent bracket (91). The upper part of the rotating frame (92) is connected to the gear (96). The left and right sides of the lower part of the mounting plate (5) are both symmetrically welded with racks (97) in a front-to-back manner. The racks (97) are meshed with the adjacent gears (96).

4. A logistics robot with cargo identification function according to claim 3, characterized in that: The support mechanism (10) comprises a slide rail (101), a moving frame (102), a second spring (103), a rotating support member (104), a ball bearing (105), a space cam (106) and a fixed rod (107). The middle of the outer side of the moving plate (7) is connected to the slide rail (101), the moving frame (102) is slidably connected to the slide rail (101), the front and rear sides of the bottom of the moving frame (102) are rotatably connected to the ball bearings (105), the bottom of the ball bearings (105) and the conveyor belt are extruded and matched, the front and rear sides of the lower part of the moving frame (102) are rotatably connected to the space cam (106), the lower part of the space cam (106) is connected to the rotating support member (104), the front and rear sides of the lower part of the outer side of the moving plate (7) are connected to the fixed rod (107), the fixed rod (107) and the space cam (106) are extruded and matched, and the second spring (103) is connected between the top of the moving frame (102) and the inner top of the slide rail (101).

5. A logistics robot with cargo identification function according to claim 4, characterized in that: The invention also comprises a resistance increasing mechanism (11), the resistance increasing mechanism (11) comprising a first sliding sleeve (111), a resistance increasing member (112), an extrusion member (113), a contact rod (114) and a third spring (115); six first sliding sleeves (111) are connected to the left side of the left movable plate (7); six first sliding sleeves (111) are also connected to the right side of the right movable plate (7); the six first sliding sleeves (111) are divided into three groups of first sliding sleeves (111); two first sliding sleeves (111) are arranged in each group; the two first sliding sleeves (111) in each group are arranged symmetrically front to back; The sleeves (111) are all slidably connected with resistance increasing parts (112), the resistance increasing parts (112) and the moving plate (7) are slidably connected, the three resistance increasing parts (112) on the left and the three resistance increasing parts (112) on the right are all connected with extrusion parts (113), the lower parts of the extrusion parts (113) are all provided with inclined surfaces, the lower parts of the moving frames (102) are all connected with contact rods (114), the contact rods (114) and the inclined surfaces of the extrusion parts (113) are extrusion-fitted, and the front and rear sides of the resistance increasing parts (112) and the first sliding sleeve (111) are all connected with third springs (115).

6. A logistics robot with cargo identification function according to claim 5, characterized in that: The movable plate (7) further comprises a locking mechanism (12), the locking mechanism (12) comprising a wedge block (121), a second sliding sleeve (122), a locking piece (123), a fourth spring (124) and a ratchet (125). The left and right sides of the front part of the mounting plate (5) and the rear part of the mounting plate (5) are connected to the wedge block (121), the front and rear sides of the upper part of the movable plate (7) are connected to the second sliding sleeve (122), the second sliding sleeve (122) is slidably connected to the locking piece (123), the upper part of the locking piece (123) and the adjacent wedge block (121) are pressed and matched, the upper part of the rotating frame (92) is connected to the ratchet (125), the lower part of the locking piece (123) is provided with an inclined surface, the inclined surface of the lower part of the locking piece (123) and the ratchet (125) are locked and matched, and the fourth spring (124) is connected between the lower part of the locking piece (123) and the adjacent second sliding sleeve (122).

7. A logistics robot with cargo identification function according to claim 6, characterized in that: It also includes an adapting mechanism (13), the adapting mechanism (13) including an adapting rod (131) and a fifth spring (132), a plurality of adapting rods (131) are evenly and slidably connected to the moving plate (7), and the fifth spring (132) is connected between the adapting rod (131) and the moving plate (7).

8. A logistics robot with cargo identification function according to claim 7, characterized in that: It also includes an air suction mechanism (14), which includes an electric suction cup (141), a slide bar (142) and a sixth spring (143). Four slide bars (142) are slidably connected to the mounting plate (5). The sixth spring (143) is connected between the upper part of the slide bar (142) and the top of the mounting plate (5). The bottom of the slide bar (142) is connected to the electric suction cup (141).

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