Logistics sorting intelligent robot

Abstract

The present application relates to the technical fields of logistics sorting, in particular to a logistics sorting intelligent robot, which comprises a power base, a rotating seat is rotatably installed on the power base, a first mechanical arm driven and installed by a first motor is arranged on the rotating seat, a second mechanical arm driven and installed by a second motor is arranged on the first mechanical arm, a third mechanical arm driven and installed by a third motor is arranged on the second mechanical arm, and a sorting manipulator driven and installed by a fourth motor is arranged on the third mechanical arm; compared with the prior art, the present application can perform identification, clamping and classification operations on the packages on the conveyor, and the whole process does not need manual intervention, so that the packages on the conveyor can be automatically sorted without the trouble of manual sorting, the sorting cost is saved, the sorting efficiency is greatly improved, and the rapid development of the industry is facilitated.

Description

Technical Field

[0001] This invention relates to the field of logistics sorting technology, specifically to intelligent logistics sorting robots. Background Technology

[0002] With the rapid development of my country's logistics industry, especially the express delivery industry, various express companies are constantly improving their express logistics channels and methods. However, due to the high manufacturing, installation and maintenance costs of most high-efficiency sorting equipment, it is difficult for most manufacturers to accept. Low-cost sorting equipment has low sorting efficiency and accuracy, and is not suitable for the sorting industry with large demand and rapid growth. Therefore, the penetration rate of automated sorting equipment in my country is not high, and most sorting is done manually.

[0003] Therefore, to promote industry development, the development of sorting equipment must be one of the fundamental priorities. Existing manual sorting is generally carried out on conveyors, sorting packages of various types destined for different regions from the conveyor to different fixed areas. Manual identification and manual operation limit sorting efficiency and cost. To address this, the present invention proposes a logistics sorting intelligent robot that can solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent robot for logistics sorting to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a logistics sorting intelligent robot, including a power base, a rotating base rotatably mounted on the power base, a first robotic arm driven and mounted on the rotating base by a first motor, a second robotic arm driven and mounted on the first robotic arm by a second motor, a third robotic arm driven and mounted on the second robotic arm by a third motor, and a sorting robotic arm driven and mounted on the third robotic arm by a fourth motor.

[0006] As a preferred technical solution of the present invention, the output end of the fourth motor is provided with a rotating shaft, and the sorting robot includes a rotating plate fixedly installed on the rotating shaft. A fixed clamping plate is fixed on one side of the rotating plate, and a movable clamping plate is movably installed on the other side. A position sensor and a code reader are provided on both the fixed clamping plate and the movable clamping plate.

[0007] As a preferred technical solution of the present invention, a guide frame is also hingedly installed on the ends of the fixed clamping plate and the movable clamping plate. The guide frame includes a front guide plate and a leveling plate. A hidden groove adapted to the leveling plate is opened on the inner side of the fixed clamping plate and the movable clamping plate.

[0008] As a preferred embodiment of the present invention, torsion springs are connected to the hinge joints of the guide frame and the fixed clamping plate and the movable clamping plate, and multiple pulleys are rotatably mounted on the surface of the leveling plate.

[0009] As a preferred technical solution of the present invention, a fifth motor is installed at one end of the rotating plate, and a sliding groove is provided on the rotating plate. A lead screw is rotatably installed in the sliding groove, and one end of the lead screw is fixedly connected to the output shaft of the fifth motor. A threaded sleeve is installed on the outer surface of the lead screw, and the threaded sleeve is slidably installed in the sliding groove. The threaded sleeve is fixedly connected to the movable clamping plate.

[0010] As a preferred technical solution of the present invention, the sorting robot arm is also equipped with an adsorption seat and a fan, and the adsorption seat is located between the fixed clamping plate and the movable clamping plate. The adsorption seat and the fan are connected by an air pipe, and the adsorption seat is provided with a number of negative pressure holes.

[0011] As a preferred technical solution of the present invention, the sorting robot arm is also equipped with a clamping sensing unit. The clamping sensing unit includes a movable groove formed on the opposite side of the fixed clamping plate and the movable clamping plate, and a movable head is slidably installed in the movable groove. One end of the movable head is connected to a pressure sensor through a compression spring.

[0012] As a preferred technical solution of the present invention, the power seat is provided with a motor controller and a sixth motor, and the output shaft of the sixth motor is fixedly connected to the rotating seat.

[0013] As a preferred technical solution of the present invention, the sorting robot arm is also equipped with a first storage battery, the power base is provided with a second storage battery, the first motor, the second motor, the third motor, the fourth motor and the sixth motor are all servo motors, the motor controller is a servo motor controller, and the signal output terminal of the servo motor controller is electrically connected to the first motor, the second motor, the third motor, the fourth motor and the sixth motor respectively.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] The intelligent logistics sorting robot of the present invention, by setting up a power base, a rotating base, a first motor, a first robotic arm, a second motor, a second robotic arm, a third motor, a third robotic arm, a fourth motor, and a sorting robotic arm, can perform the identification, gripping, and sorting operations of packages on a conveyor without human intervention. It can realize fully automated sorting of packages on the conveyor without the trouble of manual sorting, saving sorting costs and greatly improving sorting efficiency, which is conducive to the rapid development of the industry.

[0016] Other features and advantages of the present invention will be described in detail in the following specific embodiments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the sorting robot of the present invention;

[0019] Figure 3 This is a bottom view of the sorting robot of the present invention;

[0020] Figure 4 For the present invention Figure 3 A schematic diagram of the sorting robot gripping the items being sorted.

[0021] Figure 5 For the present invention Figure 3 Enlarged schematic diagram of structure A in the middle;

[0022] In the diagram: 1. Power base; 2. Rotary base; 3. First motor; 4. First robotic arm; 5. Second motor; 6. Second robotic arm; 7. Third motor; 8. Third robotic arm; 9. Fourth motor; 10. Sorting robot; 11. Rotating plate; 12. Sixth motor; 13. Motor controller; 14. Rotating shaft; 15. Fixed clamping plate; 16. Movable clamping plate; 17. Fifth motor; 18. Slide rail; 19. Lead screw; 20. Screw sleeve; 21. Adsorption base; 22. Fan; 23. Negative pressure hole; 24. Air pipe; 25. First battery; 26. Position sensor; 27. Guide frame; 271. Front guide plate; 272. Sorting plate; 273. Torsion spring; 28. Hidden slot; 29. ​​Pulley; 30. Clamping sensing unit; 31. Movable slot; 32. Movable head; 33. Compression spring; 34. Pressure sensor; 35. Code reader. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, it should be noted that the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] Please see Figure 1-5 In this embodiment, a logistics sorting intelligent robot is provided, including a power base 1, a rotating base 2 rotatably mounted on the power base 1, a first robotic arm 4 driven by a first motor 3 mounted on the rotating base 2, a second robotic arm 6 driven by a second motor 5 mounted on the first robotic arm 4, a third robotic arm 8 driven by a third motor 7 mounted on the second robotic arm 6, and a sorting robot 10 driven by a fourth motor 9 mounted on the third robotic arm 8. A rotating shaft 14 is provided at the output end of the fourth motor 9. The sorting robot 10 includes a rotating plate 11 fixedly mounted on the rotating shaft 14. A fixed clamping plate 15 is fixed on one side of the rotating plate 11, and a movable clamping plate 16 is movably mounted on the other side. A position sensor 26 and a barcode reader 35 are provided on both the fixed clamping plate 15 and the movable clamping plate 16. A motor controller 13 and a sixth motor 12 are provided inside the power base 1, and the output shaft of the sixth motor 12 is fixedly connected to the rotating base 2. The barcode reader 35 is a fixed barcode reader that can be used for identifying package information.

[0027] The sorting robot 10 is also equipped with a first battery 25, and a second battery is installed in the power base 1. The first motor 3, the second motor 5, the third motor 7, the fourth motor 9 and the sixth motor 12 are all servo motors. The motor controller 13 is a servo motor controller, and the signal output terminal of the servo motor controller is electrically connected to the first motor 3, the second motor 5, the third motor 7, the fourth motor 9 and the sixth motor 12 respectively.

[0028] When in use, turning on the sixth motor 12 can drive the turntable 2 to rotate, which in turn drives the upper robotic arm and sorting robot 10 to rotate synchronously. The first motor 3, the second motor 5, the third motor 7, and the fourth motor 9 can be used to operate the first robotic arm 4, the second robotic arm 6, the third robotic arm 8, and the sorting robot 10 to complete various rotation, bending, and movement operations during sorting, which is highly flexible.

[0029] Guide frames 27 are hinged to the ends of both the fixed clamping plate 15 and the movable clamping plate 16. The guide frame 27 includes a front guide plate 271 and a straightening plate 272. Hidden grooves 28 that are adapted to the straightening plate 272 are provided on the inner sides of the fixed clamping plate 15 and the movable clamping plate 16.

[0030] Using the front guide plate 271 of the guide frame 27, when the sorting robot arm 10 moves to the front of the package, as the package is driven forward by the conveyor, the package will first contact the front guide plate 271, and then move towards the middle position along the direction of the front guide plate 271, and then contact the straightening plate 272. The straightening plate 272 is rotated due to the pressure of the package movement, causing the guide frame 27 to rotate as a whole. The rotating guide frame 27 can use the straightening plate 272 to guide the position of the package again, thereby playing a good role in package straightening and improving the package sorting and clamping effect.

[0031] Torsion springs 273 are connected to the hinge joints of the guide frame 27 with the fixed clamping plate 15 and the movable clamping plate 16. Multiple pulleys 29 are rotatably mounted on the surface of the leveling plate 272.

[0032] Using the torsion spring 273, when there are no packages on the sorting robot 10, the guide frame 27 can be reset to the starting position by the reset action of the torsion spring 273, so that subsequent packages can be guided again.

[0033] A fifth motor 17 is installed at one end of the rotating plate 11, and a slide groove 18 is provided on the rotating plate 11. A lead screw 19 is rotatably installed in the slide groove 18, and one end of the lead screw 19 is fixedly connected to the output shaft of the fifth motor 17. A threaded sleeve 20 is installed on the outer surface of the lead screw 19. The threaded sleeve 20 is slidably installed in the slide groove 18 and is fixedly connected to the movable clamping plate 16.

[0034] The fifth motor 17 can drive the thread sleeve 20 to move on the threaded rod 19, thereby driving the movable clamping plate 16 to move on the rotating plate 11. This allows for adjustment of the distance between the fixed clamping plate 15 and the movable clamping plate 16, thus enabling the clamping of the package.

[0035] The sorting robot 10 is also equipped with an adsorption seat 21 and a fan 22. The adsorption seat 21 is located between the fixed clamping plate 15 and the movable clamping plate 16. The adsorption seat 21 and the fan 22 are connected by an air pipe 24. Several negative pressure holes 23 are opened on the adsorption seat 21.

[0036] By using the fan 22 and the suction seat 21, the package can be suctioned under negative pressure, thereby improving the stability of the package on the sorting robot 10 when it is clamped and preventing the package from falling off when the sorting robot 10 moves.

[0037] The sorting robot 10 is also equipped with a clamping sensing unit 30. The clamping sensing unit 30 includes a movable groove 31 opened on the opposite side of the fixed clamping plate 15 and the movable clamping plate 16, and a movable head 32 is slidably installed in the movable groove 31. One end of the movable head 32 is connected to a pressure sensor 34 through a compression spring 33.

[0038] By using the clamping sensing unit 30, when the movable clamping plate 16 moves to clamp the package, the pressure sensor 34 can be used to determine whether the package is effectively clamped. This allows control over whether the movable clamping plate 16 needs to move again or stop moving, thereby improving the automation level of the intelligent robot.

[0039] It is worth noting that the entire device is controlled by a master control button. Since the device matched with the control button is a common device and belongs to existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A logistics sorting intelligent robot, characterized in that, The utility model provides a kind of sorting manipulator, including power seat (1), the rotary mounting is provided with rotating seat (2) on the power seat (1), the first mechanical arm (4) is equipped by the first motor (3) driving installation on the rotating seat (2), the second mechanical arm (6) is equipped by the second motor (5) driving installation on the first mechanical arm (4), the third mechanical arm (8) is equipped by the third motor (7) driving installation on the second mechanical arm (6), the fourth motor (9) driving installation is equipped on the third mechanical arm (8), and sorting manipulator (10) is equipped on the fourth motor (9); rotating shaft (14) is equipped on the output end of the fourth motor (9), and the sorting manipulator (10) includes rotating plate (11) fixedly installed on rotating shaft (14), one side of the rotating plate (11) is fixed with fixed clamping plate (15), and the other side movably installs movable clamping plate (16), and position sensor (26) and code reader (35) are equipped on the fixed clamping plate (15) and movable clamping plate (16); end of the fixed clamping plate (15) and movable clamping plate (16) is also hingedly installed with guide frame (27), and the guide frame (27) includes front guide plate (271) and rectification plate (272), and the inside surface of the fixed clamping plate (15) and movable clamping plate (16) is provided with hidden groove (28) compatible with rectification plate (272);The hinged place of the guide frame (27) with fixed clamping plate (15), movable clamping plate (16) is connected with torsional spring (273), and a plurality of pulleys (29) are rotatably installed on the surface of rectification plate (272).

2. The logistics sorting intelligent robot according to claim 1, characterized in that, One end of the rotating plate (11) is installed with the fifth motor (17), and the rotating plate (11) is provided with sliding slot (18), the screw rod (19) is rotatably installed in the sliding slot (18), and one end of the screw rod (19) is fixedly connected to the output shaft of the fifth motor (17), the outer surface of the screw rod (19) is installed with the silk cover (20), the silk cover (20) is slidably installed in the sliding slot (18), and the silk cover (20) is fixedly connected with the movable clamping plate (16).

3. The logistics sorting intelligent robot according to claim 1, characterized in that, The sorting manipulator (10) is further provided with suction seat (21) and fan (22), and the suction seat (21) is arranged between the fixed clamping plate (15) and the movable clamping plate (16), the suction seat (21) and the fan (22) are communicated through the air pipe (24), and a plurality of negative pressure holes (23) are formed in the suction seat (21).

4. The logistics sorting intelligent robot according to claim 1, characterized in that, The sorting manipulator (10) is further provided with a clamping sensing unit (30), the clamping sensing unit (30) includes a movable groove (31) formed on the opposite side surfaces of the fixed clamping plate (15) and the movable clamping plate (16), and a movable head (32) is slidably installed in the movable groove (31), and one end of the movable head (32) is connected with a pressure sensor (34) through a compression spring (33).

5. The logistics sorting intelligent robot according to claim 1, characterized in that, The power seat (1) is provided with a motor controller (13) and a sixth motor (12), and the output shaft of the sixth motor (12) is fixedly connected with the rotating seat (2).

6. The logistics sorting intelligent robot according to claim 5, characterized in that, The sorting manipulator (10) is further provided with a first storage battery (25), the power seat (1) is provided with a second storage battery, the first motor (3), the second motor (5), the third motor (7), the fourth motor (9) and the sixth motor (12) are all servo motors, and the motor controller (13) is a servo motor controller, and the signal output ends of the servo motor controller are electrically connected with the first motor (3), the second motor (5), the third motor (7), the fourth motor (9) and the sixth motor (12) respectively.

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