Logistics sorting robot

Abstract

The logistics sorting robot comprises a bottom plate, a second vehicle body layer, a ball storage disc and a sliding way, an identification mark is arranged on the bottom plate, the second vehicle body layer is arranged above the bottom plate, a mechanical arm is arranged on the second vehicle body layer, a mechanical claw is arranged at the tail end of the mechanical arm, and the ball storage disc and the sliding way are sequentially arranged above the second vehicle body layer. A plurality of groups of ball blocking piles are uniformly arranged on the ball storage disc in the circumferential direction, and workpiece fixing holes are formed in the inner sides of each group of ball blocking piles; when the ball storage disc rotates, the ball blocking pile passes through the lower portion of an outlet of the sliding way, and through a mechanical claw at the front end of the mechanical arm, workpieces are pulled down from the plane terrain or grabbed, hit a baffle additionally arranged on the sliding way or directly fall into the inclined face of the sliding way. And under the action of gravity, the workpieces roll downwards to fall into a bottom rail and then move to a temporary workpiece storage position on the ball storage disc, so that the efficiency and the success rate of sorting the workpieces and marking information are greatly improved in the process of shifting the workpieces.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a logistics sorting robot. Background Art

[0002] In the process of development, the logistics industry faces the problem of large manpower demand and the need to improve the automation of the sorting process. Especially in small and medium-sized factories and logistics centers, sorting work mainly relies on manual work, which has affected logistics efficiency and cost control to a certain extent. Although some large logistics companies have achieved significant progress in sorting automation by introducing technologies such as automatic sorting machines, the promotion and application of these high-cost automation technologies is still limited in the entire logistics industry.

[0003] When sorting items of specified shapes and colors, tedious and repetitive tasks make manual operation easy to cause fatigue, low efficiency and high probability of error, but this provides objective conditions for the design and application of automation devices. Therefore, small and medium-sized enterprises and small sorting and storage stations are in urgent need of seeking a more cost-effective sorting device to improve the automation level of the sorting process, reduce operating costs and enhance competitiveness. Utility Model Content

[0004] The utility model provides a robot device serving logistics sorting, which aims to effectively identify, obtain and sort goods, accurately put them into storage, and solve the problems of insufficient automation devices and low efficiency in scenes such as express station classification and logistics warehouse cargo transfer.

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the utility model is specifically as follows: a logistics sorting robot comprises a bottom plate, a second layer of the vehicle body, a ball storage tray and a slide, an identification mark is arranged on the bottom plate, the second layer of the vehicle body is arranged above the bottom plate, a mechanical arm is arranged on the second layer of the vehicle body, a mechanical claw is arranged at the end of the mechanical arm, the ball storage tray and the slide are arranged above the second layer of the vehicle body in sequence, and a plurality of groups of ball blocking piles are evenly arranged along the circumferential direction on the ball storage tray, and a workpiece retaining hole is provided on the inner side of each group of ball blocking piles; the slide body adopts a rotating parabola, the slide body is suspended, and a ball is arranged on the bottom surface of the slide support part to contact the ball storage tray, and the slide body is connected to the second layer of the vehicle body through the support part. When the ball storage tray rotates, the ball blocking pile passes under the exit of the slide, and four motors are arranged on the support part through the bottom surface of the ball blocking pile, and the output shafts of the motors are fixedly connected to the Mecanum wheels, a motor board, a main power supply and a main control circuit board are arranged above the bottom plate, and a wiring hole for passing the wires is provided on the bottom plate.

[0006] Furthermore, a second-layer support member and a second-layer fixing member are symmetrically arranged on both sides of the bottom plate, the second-layer fixing member is fastened to the top of the second-layer support member, and the second layer of the vehicle body is connected to the second-layer fixing member by bolts.

[0007] Furthermore, a set of front fenders symmetrical about the midline axis is set on the bottom plate, and the front fenders are used to limit the distance between the robot body and obstacles to prevent the robot body components from colliding with obstacles. A camera with a QR code or bar code is fixedly installed on the front fender as an identification mark.

[0008] Furthermore, the slide support part includes side plates and a bottom plate, the side plates are connected to the bottom plate, ball bearings are arranged on the bottom plate, clamping columns are arranged on the side plates, slide fixing frames are arranged on both sides of the second layer of the vehicle body, and the clamping columns are hinged to the slide fixing frames; the ball storage plate is located on the inner side of the two slide fixing frames.

[0009] Furthermore, a turntable servo, a turntable servo support and a turntable support are fixedly installed on the second layer of the vehicle body. The turntable servo support is fixed to the turntable servo, the steering disc of the turntable servo is connected to the ball storage disc, and the turntable support is arranged along the circumferential direction; a support track is set on the top of the turntable support, and a universal ball is set on the top of the turntable support.

[0010] Furthermore, an electric push rod is arranged on the bottom plate, the electric push rod passes through the second layer of the vehicle body, a push rod frame is installed on the second layer of the vehicle body, and the push rod frame is used to further limit the lateral relative movement of the electric push rod; a platform is arranged above the electric push rod, and an auxiliary power supply and a mechanical arm are arranged on the upper side of the platform.

[0011] Furthermore, the robotic arm includes an upper connecting piece, which is connected to the joint servo and the bottom connecting piece in sequence, the bottom connecting piece is symmetrically fixed at both ends of the connecting rod one, the connecting rod one is rigidly connected to the bottom connecting piece and the joint servo to achieve a rotation with one degree of freedom, the connecting rod one is connected to the connecting rod two through the joint piece to achieve a rotation with one degree of freedom, the connecting rod two is fixedly connected to the wrist joint servo one through the connecting piece at the wrist joint, the steering wheel of the wrist joint servo one is fixedly connected to the simulated wrist joint to achieve a rotation with one degree of freedom, the simulated wrist joint is fixed with the wrist joint servo two, the steering wheel of the wrist joint servo two is fixed to the simulated palm joint to achieve a rotation with one degree of freedom perpendicular to the motion plane of the connecting rod; the simulated palm joint is fixed with a claw servo and a claw central axis, the steering wheel of the claw servo is connected to the active claw to achieve a rotation with one degree of freedom.

[0012] Furthermore, a picking groove is arranged on the outside of the active claw for quickly picking up spherical workpieces in a flat area. Cotton pads are fixed on the inside of the active claw and the driven claw, and a camera for identifying workpieces is also installed on the artificial palm joint.

[0013] Furthermore, a card reader support is fixedly installed on the front of the second layer of the vehicle body, and the card reader support is used to fix a card reader for identifying IC card information inside the workpiece.

[0014] Compared with the prior art, the utility model has at least the following beneficial effects:

[0015] The utility model uses the mechanical claw at the front end of the robot arm to pull the workpiece off the flat terrain or grab the workpiece, hit the baffle added to the slide or directly fall into the inclined surface of the slide, and finally roll downward under the action of gravity and fall into the bottom track, and then move to the temporary workpiece storage position on the ball storage tray. This process of pulling the workpiece greatly improves the efficiency and success rate of sorting workpieces and marking information. In addition, the gap in the middle of the baffle added to the slide facilitates the folding of the robot's mechanical arm and reduces the space occupied by the robot when it is on standby.

[0016] Furthermore, the steering plate of the turntable servo is connected to the ball storage plate to control the rotation angle and absolute spatial position of the ball storage plate. The outer ring area of ​​the ball storage plate is evenly dispersed with ball blocking piles. The ball blocking piles not only ensure that the workpiece can slide in smoothly from the slide, but also prevent the workpiece from slipping from the temporary storage area of ​​the robot. The turntable support is used to limit the inclination of the rotating plane of the ball storage plate. The ball storage plate realizes the position marking and distinction of different workpiece information.

[0017] Furthermore, balls are provided at the bottom of the slide, and the contact mode between the ball storage plate and the bottom of the slide is a sliding point contact with negligible friction, thereby reducing the resistance interference of the slide on the rotation of the ball storage plate. The slide is hinged to two slide fixing frames fixedly installed on the second layer through two clamping columns, thereby ensuring that the position of the slide relative to the vehicle body remains unchanged.

[0018] Furthermore, the main curved surface of the slide adopts a rotating parabola to ensure that when the workpiece falls in from different directions, it can slide out from the bottom track of the slide and enter the workpiece position on the ball storage tray. A baffle is also added to the upper part of the slide to further ensure that the workpiece can enter the slide smoothly. At the same time, a gap is added in the middle of the baffle. The size of this gap can accommodate the placement of the robotic arm, ensuring that the robotic arm can be folded to the maximum when the robot is on standby, greatly saving the space occupied by the robot when it is normally dormant.

[0019] Furthermore, a push rod frame is fixedly installed on the second layer of the vehicle body, and the push rod frame is used to further limit the lateral relative movement of the push rod. The design of the wrist joint increases the movable plane of the mechanical claw and broadens the scenario in which the workpiece can be grasped.

[0020] Furthermore, a claw servo and a claw center axis are fixed on the artificial palm joint, the steering wheel of the claw servo is connected to the active claw to achieve one degree of freedom of rotation, the claw center axis enables the driven claw to be hinged to the artificial palm joint and driven by the active claw gear to achieve workpiece grasping, and a pull groove is designed on the outer side of the active claw for quickly picking up spherical workpieces in a flat area to improve the grasping efficiency, cotton pads are fixed on the inner sides of the active claw and the driven claw, which not only reduces the damage to the workpiece surface such as bumps during grasping, but also ensures the stability and success rate of grasping, and a camera for identifying the workpiece is also fixed on the artificial palm joint, which can quickly grasp the workpiece at the moment of identifying it, ensuring the consistency and timeliness of recognition and response. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the bottom side of the base plate.

[0022] Figure 2 Schematic diagram of the upper side of the base plate.

[0023] Figure 3 It is a schematic diagram of the second layer of the vehicle body, the ball storage plate, the slide, and the ball blocking piles.

[0024] Figure 4 Schematic diagram of the support on the second layer of the car body.

[0025] Figure 5 This is an enlarged schematic diagram of the slide.

[0026] Figure 6 It is an overall schematic diagram of the device of the utility model.

[0027] Figure 7 It is an overall side view of the device of the utility model.

[0028] In the attached figure, 1. bottom plate, 2. sheet metal, 3. motor, 4. Mecanum wheel, 5. bottom plate screw hole, 6. cable hole, 7. front baffle, 8. second layer fixing parts, 9. second layer support parts, 10. motor board, 11. main power supply, 12. main control circuit board, 13. second layer of vehicle body, 14. electric push rod, 15. ball blocking pile, 16. ball storage plate, 17. slideway fixing frame, 18. slideway, 19. turntable support, 20. turntable servo support, 21. turntable servo, 22. card reader support , 23. Card column, 24. Protrusion, 25. Joint, 26. Auxiliary power supply, 27. Platform, 28. Servo board, 29. Connecting rod one, 30. Connecting rod two, 31. Imitation wrist joint, 32. Imitation palm joint, 33. Connecting piece at wrist joint, 34. Wrist joint servo one, 35. Wrist joint servo two, 36. Driven claw, 37. Active claw, 38. Claw servo, 39. Push rod frame, 40. Claw center shaft, 41. Gear, 42. Bottom connecting piece, 43. Joint servo, 44. Upper connecting piece. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] The utility model provides a logistics sorting robot, comprising a bottom plate 1, a vehicle body second layer 13, a ball storage tray 16 and a slide 18, an identification mark is arranged on the bottom plate 1, the vehicle body second layer 13 is arranged above the bottom plate 1, a mechanical arm is arranged on the vehicle body second layer 13, a mechanical claw is arranged at the end of the mechanical arm, the ball storage tray 16 and the slide 18 are arranged above the vehicle body second layer 13 in sequence, a plurality of groups of ball blocking piles 15 are evenly arranged along the circumferential direction on the ball storage tray 16, and a workpiece retaining hole is provided on the inner side of each group of ball blocking piles; the slide 18 body adopts a rotating parabola, the slide 18 body is suspended, a ball is arranged on the bottom surface of a supporting part of the slide 18 to contact the ball storage tray 16, the slide 18 body is connected to the vehicle body second layer 13 through the supporting part, when the ball storage tray 16 rotates, the ball blocking pile 15 passes below the outlet of the slide 18, and the supporting part passes the inner side of the circle where the ball blocking pile 15 is located.

[0031] Reference for the power part of a robot device serving logistics sorting Figure 1 , Figure 2 The lower side of the bottom plate 1 is fixedly connected with four sheet metal parts 2 through the bottom plate screw holes 5. The sheet metal parts 2 are used to fix the motor 3. The bearing of the motor 3 is fixedly connected with the Mecanum wheel 4. A set of front baffles 7 symmetrical about the center axis and a main power supply 11, a main control circuit board 12, a motor board 10 and an electric push rod 14 for providing energy and power are fixed on the upper part of the bottom plate 1. The front baffle 7 is used to limit the distance between the robot body and the obstacle to prevent the robot body from colliding with the obstacle. A camera for identifying a QR code or a barcode is fixedly installed on the front baffle 7. The motor 3 drives the robot to run to the specified position under the control of the main control circuit board 12 and the motor board 10, and further limits the position of the robot body and the shelf through the front baffle to ensure a safe and optimal pickup distance. Two-layer support members 9 and two-layer fixing members 8 are symmetrically arranged on both sides of the bottom plate 1. The two-layer fixing members 8 are fastened to the top of the two-layer support members 9, and the second layer 13 of the body is connected to the second layer fixing members 8 by bolts.

[0032] Reference Figure 6 , Figure 7The mechanical arm part of the device of the utility model is shown in the figure. The second layer 13 of the vehicle body is fixedly installed with a push rod frame 39. The push rod frame 39 is used to further limit the lateral relative movement of the electric push rod 14. The upper part of the electric push rod 14 is fixedly connected to the platform 27. The upper side of the platform 27 is installed with an auxiliary power supply 26, a steering gear plate 28 and an upper connecting piece 44. The upper connecting piece 44 is connected to the joint steering gear 43 and the bottom connecting piece 42 in sequence. The bottom connecting piece 42 is symmetrically fixed to both ends of the connecting rod 29. The connecting rod 29 is rigidly connected to the bottom connecting piece 42 and the joint steering gear 43 to achieve one degree of freedom of rotation. The connecting rod 29 is connected to the joint part 2 5 is connected to the second connecting rod 30 to achieve a rotation with one degree of freedom, the second connecting rod 30 is fixedly connected to the wrist joint steering gear 1 34 through the connecting piece 33 at the wrist joint, the steering wheel of the wrist joint steering gear 1 34 is fixedly connected to the imitation wrist joint 31 to achieve a rotation with one degree of freedom, the imitation wrist joint 31 is fixed with the wrist joint steering gear 2 35, the steering wheel of the wrist joint steering gear 2 35 is fixed to the imitation palm joint 32 to achieve a rotation with one degree of freedom perpendicular to the motion plane of the connecting rod, the imitation palm joint 32 is fixed with a claw steering gear 38 and a claw central axis 40, the steering wheel of the claw steering gear 38 is connected to the active claw 37 to achieve a rotation with one degree of freedom.

[0033] Furthermore, the claw middle axis 40 enables the driven claw 36 to be hinged with the palm joint 32, and driven by the active claw gear 41 to realize the workpiece grasping. When the robot reaches the target shelf, the joint servo 43, the wrist joint servo 1 34, the wrist joint servo 2 35 and the claw servo 38 are controlled by the signals of the main control circuit board 12 and the servo board 28 to change the robot arm from the folding state to the grasping state.

[0034] A camera for identifying workpieces is installed on the artificial palm joint 32. After the camera identifies a workpiece of a specified shape and color, it will send a signal to the main control circuit board 12. The main control circuit board 12 will further control the joint servo 43, wrist joint servo 34 and claw servo 38 through the servo board 28 to grasp or pick up the workpiece.

[0035] Please refer to Figure 3 , Figure 4 , Figure 5, the ball storage related parts of the device of the utility model are shown in the figure. The second layer 13 of the vehicle body is fixedly installed with a turntable servo 21, a turntable servo support 20 and a turntable support 19. The turntable servo support 20 is fixed to the turntable servo 21. The steering plate of the turntable servo 21 is fixedly connected to the ball storage plate 16 by screws to control the rotation angle and absolute position of the ball storage plate 16. There are nine pairs of available ball blocking piles 15 evenly distributed on the ball storage plate 16. The ball blocking piles 15 are used to prevent the workpiece from slipping. The turntable support 19 is used to limit the plane angle of rotation of the ball storage plate 16. The contact mode between the ball storage plate 16 and the bottom of the slide 18 is a sliding point contact with negligible friction. The bottom of the slide 18 is provided with five protrusions 24. The slide 18 is hinged to two slide fixing frames 17 fixedly installed on the second layer through two clamping columns 23.

[0036] Preferably, a support track is provided on the top of the turntable support 19 to expand the support surface of the ball storage tray 16 .

[0037] refer to Figure 3 , Figure 4 and Figure 5 , a card reader support 22 is fixedly installed at the front of the second layer 13 of the vehicle body. The card reader support 22 is used to fix the card reader for identifying the storage information of the IC card inside the workpiece. After the workpiece is grabbed or dialed, it falls into the slide 18. Under the action of gravity, the workpiece hits a pair of ball blocking piles 15 and finally falls into a workpiece position of the ball storage tray 16. Then, the ball storage tray 16 swings slightly under the drive of the turntable servo 21. After the card reader successfully reads the IC card information of the ball, it stops swinging and transmits its mark data to the main control circuit board 12 to complete the storage of the workpiece information. Then, the control main control circuit board 12 and the servo board 28 control the joint servo 43, wrist joint servo 34, and claw servo 38 of the robot arm to restore the grasping state and identify and grasp the next workpiece. During work, the robot repeats the above process until the nine workpiece positions corresponding to the nine pairs of ball blocking piles 15 are filled.

[0038] If the specified workpiece is not identified for a long time (1.5 minutes), the device will activate the timeout protection measure and enter the next work area to prevent delays in the logistics progress of the entire assembly line.

[0039] As a preferred sorting method, the robot moves to the designated warehouse shelf of the workpiece under the control of the main control circuit board 12 and the motor board 10, and the camera for identifying the two-dimensional code or barcode fixedly installed on the front baffle 7 recognizes the workpiece information required by the shelf. After assisting in the warehouse shelf positioning, the main control circuit board 12 and the steering gear board 28 control the joint steering gear 43, the wrist joint steering gear 1 34, and the claw steering gear 38 to perform the action of placing the workpiece, and take the workpiece from the workpiece position of the ball storage tray 16 and further control the wrist joint steering gear 2 35 to make the mechanical claw part become horizontal to meet the space limitation of the workpiece placement area. After placing the numbered workpiece on the corresponding warehouse shelf, the main control circuit board 12 and the steering gear board 28 control the robot body to restore to the picking posture, and repeat the above workpiece placement process until all workpieces are successfully placed in the warehouse.

[0040] The above is only a preferred embodiment of the present invention. It should be noted that, for ordinary technicians in the technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A logistics sorting robot, characterized in that: The invention comprises a bottom plate (1), a second layer of a vehicle body (13), a ball storage plate (16) and a slideway (18); an identification mark is arranged on the bottom plate (1); the second layer of the vehicle body (13) is arranged above the bottom plate (1); a mechanical arm is arranged on the second layer of the vehicle body (13); a mechanical claw is arranged at the end of the mechanical arm; the ball storage plate (16) and the slideway (18) are arranged above the second layer of the vehicle body (13) in sequence; and a plurality of groups of ball blocking piles (15) are evenly arranged on the ball storage plate (16) along the circumferential direction. A workpiece retaining hole is provided on the inner side of each group of ball blocking piles; the slideway (18) body adopts a paraboloid of revolution, the slideway (18) body is suspended, a ball is arranged on the bottom surface of the support part of the slideway (18) to contact the ball storage plate (16), the slideway (18) body is connected to the second layer (13) of the vehicle body through the support part, when the ball storage plate (16) rotates, the ball blocking pile (15) passes under the exit of the slideway (18), and the support part passes the inner side of the circle where the ball blocking pile (15) is located.

2. A logistics sorting robot according to claim 1, characterized in that: Four motors (3) are arranged on the bottom surface of the base plate (1), and the output shafts of the motors (3) are fixedly connected to the Mecanum wheels (4). A motor board (10), a main power supply (11) and a main control circuit board (12) are arranged above the base plate (1), and a wiring hole (6) for passing a wire is provided on the base plate (1).

3. A logistics sorting robot according to claim 1, characterized in that: A second layer of supporting members (9) and a second layer of fixing members (8) are symmetrically arranged on both sides of the bottom plate (1); the second layer of fixing members (8) are fastened to the top of the second layer of supporting members (9); and the second layer of the vehicle body (13) is connected to the second layer of fixing members (8) by bolts.

4. A logistics sorting robot according to claim 1, characterized in that: A group of front baffles (7) symmetrical about the midline axis are arranged on the bottom plate (1), the front baffles (7) are used to limit the distance between the robot body and obstacles to prevent the robot body components from colliding with the obstacles, and a camera with a QR code or a bar code is fixedly mounted on the front baffles (7) as an identification mark.

5. The logistics sorting robot according to claim 1, characterized in that: The support part of the slideway (18) comprises a side plate and a bottom plate, the side plate is connected to the bottom plate, a ball bearing is arranged on the bottom plate, a clamping column (23) is arranged on the side plate, a slideway fixing frame (17) is arranged on both sides of the second layer (13) of the vehicle body, and the clamping column (23) is hinged to the slideway fixing frame (17); and the ball storage tray (16) is located inside the two slideway fixing frames (17).

6. A logistics sorting robot according to claim 1, characterized in that: A turntable steering gear (21), a turntable steering gear support (20) and a turntable support (19) are fixedly installed on the second layer (13) of the vehicle body; the turntable steering gear support (20) is fixed to the turntable steering gear (21); the steering plate of the turntable steering gear (21) is connected to the ball storage plate (16); the turntable support (19) is arranged along the circumferential direction; a support track is arranged on the top of the turntable support (19); and a universal ball is arranged on the top of the turntable support (19).

7. A logistics sorting robot according to claim 1, characterized in that: An electric push rod (14) is arranged on the bottom plate (1), the electric push rod (14) passes through the second layer (13) of the vehicle body, a push rod frame (39) is installed on the second layer (13) of the vehicle body, and the push rod frame (39) is used to further limit the lateral relative movement of the electric push rod (14); a platform (27) is arranged above the electric push rod (14), and an auxiliary power supply (26) and a mechanical arm are arranged on the upper side of the platform (27).

8. The logistics sorting robot according to claim 1, characterized in that: The mechanical arm comprises an upper connecting member (44), the upper connecting member (44) is connected to a joint steering gear (43) and a bottom connecting member (42) in sequence, the bottom connecting member (42) is symmetrically fixed to two ends of a connecting rod (29), the connecting rod (29) is rigidly connected to the bottom connecting member (42) and the joint steering gear (43) to realize a rotation with one degree of freedom, the connecting rod (29) is connected to a connecting rod (30) through a joint member (25) to realize a rotation with one degree of freedom, the connecting rod (30) is connected to a wrist joint steering gear (33) through a connecting member (33) at a wrist joint 4) fixed connection, the steering wheel of the wrist joint steering gear 1 (34) is fixedly connected to the imitation wrist joint (31) to achieve rotation with one degree of freedom, the imitation wrist joint (31) is fixed with the wrist joint steering gear 2 (35), the steering wheel of the wrist joint steering gear 2 (35) is fixed with the imitation palm joint (32), and the rotation with one degree of freedom is achieved perpendicular to the motion plane of the connecting rod; the imitation palm joint (32) is fixed with a claw steering gear (38) and a claw center axis (40), and the steering wheel of the claw steering gear (38) is connected with the active claw (37) to achieve rotation with one degree of freedom.

9. A logistics sorting robot according to claim 8, characterized in that: A picking groove is arranged on the outside of the active claw (37) for quickly picking up a spherical workpiece in a flat area. Cotton pads are fixed on the inside of the active claw (37) and the driven claw (36). A camera for identifying workpieces is also installed on the artificial palm joint (32).

10. The logistics sorting robot according to claim 1, characterized in that: A card reader support (22) is fixedly installed on the front of the second layer (13) of the vehicle body, and the card reader support (22) is used to fix a card reader for identifying IC card information inside a workpiece.

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