A robot and sorting system

Abstract

The present invention relates to the field of robotics technology, and in particular to a robot and a sorting system. The robot includes a frame, a first platform, a second platform, a drive assembly and a transmission assembly. The first platform and the second platform are arranged relative to each other in the height direction of the frame. The drive assembly is connected to the first platform and the second platform respectively. The transmission assembly includes a first transmission assembly and a second transmission assembly. The first transmission assembly and the second transmission assembly are arranged relative to each other in the length direction of the frame. The end of the first transmission assembly away from the first platform is suitable for being connected to an actuator. The first transmission assembly has a first position and a second position. The first transmission assembly drives the actuator to move between the first position and the second position. When the first transmission assembly is in the first position or the second position, the second transmission assembly drives the first transmission assembly to move. The present invention proposes a robot that can increase the robot's turning angle range while improving working accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot and a sorting system. Background Art

[0002] The packaging, sorting, assembly and disassembly of items on the production line are mostly completed by parallel robots. However, the rotational freedom of parallel robots is low and it is difficult to meet the requirements of a large range of rotational freedom. Related technologies often introduce amplification devices into parallel robots to expand the rotation angle range. However, the introduction of amplification devices will amplify the transmission error of the parallel robot and reduce the working accuracy of the parallel robot. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, an embodiment of the present invention provides a robot that can increase the robot's turning angle range while improving working accuracy.

[0004] The embodiment of the present invention also provides a sorting system.

[0005] The robot of an embodiment of the present invention includes: a frame; a first platform and a second platform, the first platform and the second platform are arranged relative to each other in the height direction of the frame; a drive component, one end of the drive component is connected to the first platform, and the other end of the drive component is connected to the second platform; a transmission component, one end of the transmission component is connected to the drive component, and the other end of the transmission component is connected to the second platform, the transmission component includes a first transmission component and a second transmission component, the first transmission component is connected to the second transmission component, the first transmission component and the second transmission component are arranged relative to each other in the length direction of the frame, the end of the first transmission component away from the first platform is suitable for connecting to an actuator, the first transmission component has a first position and a second position, the first transmission component drives the actuator to move between the first position and the second position, and when the first transmission component is in the first position or the second position, the second transmission component drives the first transmission component to move.

[0006] The robot according to the embodiment of the present invention can increase the robot's turning angle range while improving working accuracy.

[0007] In some embodiments, the first transmission assembly includes a first transmission component and a first transmission branch, the first transmission component is connected to the first transmission branch, and the other end of the first transmission branch is connected to the actuator.

[0008] In some embodiments, the first transmission branch chain includes a first rod, a second rod, a third rod and a fourth rod, the two ends of the first rod are pivotally connected to the second rod and one end of the third rod respectively, one end of the fourth rod is pivotally connected to a side of the third rod close to the first rod, and the other end of the fourth rod is pivotally connected to the second rod close to a side of the third rod.

[0009] In some embodiments, the first transmission branch chain further includes a fifth rod and a sixth rod, the fifth rod is pivotally connected to the sixth rod, and the fifth rod is pivotally connected to one end of the fourth rod, the sixth rod is pivotally connected to one end of the third rod, and the sixth rod is connected to the actuator.

[0010] In some embodiments, the first transmission component includes a first slide rail and a first slider, the first slider is mounted on the first slide rail, the first slider is connected to the driving assembly, the first slide rail is connected to the second platform, and the pivot joint between the first rod and the second rod is located on the first slider, and the pivot joint between the third rod and the fourth rod is located on the second platform.

[0011] In some embodiments, the second transmission assembly includes a second transmission component and a second transmission branch, the second transmission component is connected to the second transmission branch, and the other end of the second transmission branch is connected to the first transmission branch.

[0012] In some embodiments, the second transmission branch chain includes a seventh rod, an eighth rod, a ninth rod, a tenth rod and a connecting rod, the two ends of the seventh rod are respectively connected to the two ends of the eighth rod and the ninth rod, one end of the tenth rod is pivoted to the eighth rod, the other end of the tenth rod is pivoted to the connecting rod, the ninth rod is pivoted to the tenth rod, and the other end of the connecting rod is pivoted to the fifth rod.

[0013] In some embodiments, the second transmission component includes a second slide rail and a second slider, the second slider is mounted on the second slide rail, and the second slider is connected to the driving assembly, and the second slide rail is connected to the second platform.

[0014] In some embodiments, the drive assembly includes a driver, a first connector and a second connector, one end of the first connector is connected to the driver, the other end of the first connector is pivotally connected to the second connector, the driver is connected to the first platform, and the second connector is pivotally connected to the second platform or the transmission assembly.

[0015] The sorting system of an embodiment of the present invention includes: a conveying device, which is used to convey items; a visual recognition device, which is connected to the rack and arranged above the conveying device, and is used to identify the position of the items conveyed by the conveying device; and a robot, which is any one of the robots described above, which is connected to the rack and arranged above the conveying device, and is used to adjust the position of the items.

[0016] The sorting system according to the embodiment of the present invention can improve the working performance of the sorting system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 2 is a schematic structural diagram of a sorting system according to an embodiment of the present invention.

[0018] Figure 2 2 is a schematic structural diagram of a robot according to an embodiment of the present invention.

[0019] Figure 3 Schematic diagram of a transmission assembly according to an embodiment of the present invention.

[0020] Figure 4 It is a schematic diagram of the first transmission assembly in the first position according to an embodiment of the present invention.

[0021] Figure 5 It is a schematic diagram of the first transmission assembly in the second position according to an embodiment of the present invention.

[0022] Reference numerals:

[0023] Conveyor 100, visual recognition device 200, robot 300, object 400,

[0024] Frame 1, first platform 2, first mounting portion 21, second mounting portion 22, third mounting portion 23, fourth mounting portion 24, second platform 3, first connecting portion 31, second connecting portion 32,

[0025] Drive assembly 4, driver 41, first connecting member 42, second connecting member 43, connecting rod 431, first connecting shaft 44, second connecting shaft 45, first drive assembly 46, second drive assembly 47, third drive assembly 48, fourth drive assembly 49,

[0026] Transmission assembly 5, first transmission assembly 51, first transmission component 511, first slide rail 5111, first slider 5112, first transmission branch chain 512, first rod 5121, second rod 5122, third rod 5123, fourth rod 5124, fifth rod 5125, sixth rod 5126,

[0027] The second transmission assembly 52 , the second transmission component 521 , the second slide rail 5211 , the second slider 5212 , the second transmission branch chain 522 , the seventh rod 5221 , the eighth rod 5222 , the ninth rod 5223 , the tenth rod 5224 , the connecting rod 5225 , and the actuator 6 . DETAILED DESCRIPTION

[0028] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0029] The robot 300 of the embodiment of the present invention comprises a frame 1, a first platform 2, a second platform 3, a driving assembly 4 and a transmission assembly 5. The first platform 2 and the second platform 3 are arranged in a height direction of the frame 1 (eg Figure 2 The first and second transmission assemblies 51 and 52 are arranged relative to each other in the vertical direction (as shown). One end of the driving assembly 4 is connected to the first platform 2, and the other end of the driving assembly 4 is connected to the second platform 3. One end of the transmission assembly 5 is connected to the driving assembly 4, and the other end of the transmission assembly 5 is connected to the second platform 3. The transmission assembly 5 includes a first transmission assembly 51 and a second transmission assembly 52. ​​The first transmission assembly 51 is connected to the second transmission assembly 52. ​​The first transmission assembly 51 and the second transmission assembly 52 are arranged in the length direction of the frame 1 (as shown). Figure 2 The first transmission assembly 51 and the second transmission assembly 52 are arranged relative to each other in the front and rear directions as shown in the figure. The end of the first transmission assembly 51 away from the first platform 2 is suitable for being connected to the actuator 6. The first transmission assembly 51 has a first position and a second position. The first transmission assembly 51 drives the actuator 6 to move between the first position and the second position. When the first transmission assembly 51 is in the first position or the second position, the second transmission assembly 52 drives the first transmission assembly 51 to move.

[0030] Specifically, if Figure 1 and Figure 2 As shown, the frame 1 is connected to the first platform 2, the first platform 2 is located above the second platform 3, the upper end of the drive component 4 is connected to the first platform 2, the lower end of the drive component 4 is connected to the upper end of the transmission component 5, and the lower end of the transmission component 5 is connected to the second platform 3.

[0031] The first transmission assembly 51 and the second transmission assembly 52 are arranged relative to each other in the front-to-back direction. The first transmission assembly 51 is located in front of the second transmission assembly 52. ​​The rear end of the first transmission assembly 51 is connected to the front end of the second transmission assembly 52. ​​The lower end of the first transmission assembly 51 is connected to the actuator 6. The first transmission assembly 51 drives the actuator 6 to move between the first position and the second position under the driving action of the driving assembly 4. When the first transmission assembly 51 is in the first position or the second position, the driving assembly 4 drives the second transmission assembly 52 to drive the first transmission assembly 51 to move, and then drives the actuator 6 to move.

[0032] The first platform 2 is provided with a first mounting portion 21 and a second mounting portion 22 in the left and right directions, and a third mounting portion 23 and a fourth mounting portion 24 in the front and rear directions. The second platform 3 is a frame platform, and the second platform 3 is extended with a first connecting portion 31 and a second connecting portion 32 in the left and right directions. There are four drive components 4, namely a first drive component 46, a second drive component 47, a third drive component 48 and a fourth drive component 49. The upper end of the first drive component 46 is connected to the first mounting portion 21, and the lower end of the first drive component 46 is connected to the first connecting portion 31. The upper end of the second drive component 47 is connected to the second mounting portion 22, and the lower end of the second drive component 47 is connected to the second connecting portion 32. The upper end of the third drive component 48 is connected to the third mounting portion 23, and the lower end of the third drive component 48 is connected to the first transmission component 51. The upper end of the fourth drive component 49 is connected to the fourth mounting portion 24, and the lower end of the fourth drive component 49 is connected to the second transmission component 52.

[0033] In the embodiment of the present invention, the first transmission component 51 is driven to move by the third drive component 48, and the second transmission component 52 is driven to move by the fourth drive component 49. When the first transmission component 51 is located at the first position or the second position, the drive of the third drive component 48 cannot drive the first transmission component 51 to continue to move. The second transmission component 52 is driven to move by the fourth drive component 49, and the second transmission component 52 drives the first transmission component 51 through the first position or the second position. The third drive component 48 then drives the first transmission component 51 to rotate between the first position and the second position, so that the actuator 6 can rotate continuously, thereby improving the rotation angle range of the robot 300.

[0034] Compared with the setting of the amplifying device used in the related art to expand the angular range, since the introduction of the amplifying device easily amplifies the transmission error of the robot 300, the embodiment of the present invention drives the first transmission component 51 to move between the first position and the second position through the third drive component 48, and drives the second transmission component 52 through the fourth drive component 49. The movement of the second transmission component 52 drives the first transmission component 51 to pass through the first position and the second position, that is, by directly adjusting the movement of the third drive component 48 and the fourth drive component 49 to adjust the movement of the first transmission component 51 and the second transmission component 52, thereby realizing the continuous rotation movement of the actuator 6, avoiding the transmission error and error amplification caused by the introduction of the amplifying device, reducing the weight of the robot 300 while improving the transmission accuracy of the robot 300, thereby improving the working accuracy of the robot 300.

[0035] In some embodiments, the first transmission assembly 51 includes a first transmission component 511 and a first transmission branch chain 512 . The first transmission component 511 is connected to the first transmission branch chain 512 , and the other end of the first transmission branch chain 512 is connected to the actuator 6 .

[0036] Specifically, if Figure 2 As shown, one end of the first transmission component 511 is connected to the third drive component 48, the other end of the first transmission component 511 is connected to one end of the first transmission branch chain 512, and the other end of the first transmission branch chain 512 is connected to the actuator 6. The first transmission component 511 is driven to move by the third drive component 48, and the movement of the first transmission component 511 drives the first transmission branch chain 512 to move, and the movement of the first transmission branch chain 512 drives the movement of the actuator 6, thereby improving the transmission accuracy and the flexibility of the robot 300.

[0037] In some embodiments, the first transmission branch chain 512 includes a first rod 5121, a second rod 5122, a third rod 5123 and a fourth rod 5124, the two ends of the first rod 5121 are pivotally connected to one end of the second rod 5122 and the third rod 5123 respectively, one end of the fourth rod 5124 is pivotally connected to a side of the third rod 5123 close to the first rod 5121, and the other end of the fourth rod 5124 is pivotally connected to the second rod 5122 close to a side of the third rod 5123.

[0038] Specifically, if Figure 3 As shown, one end of the first rod 5121 is pivotally connected to one end of the second rod 5122, the other end of the first rod 5121 is pivotally connected to one end of the third rod 5123, one end of the fourth rod 5124 is pivotally connected to a side of the midpoint of the third rod 5123 close to the first rod 5121, and the other end of the fourth rod 5124 is pivotally connected to the other end of the second rod 5122 close to the midpoint. The pivotal connection between the first rod 5121 and the second rod 5122 is connected to the first transmission component 511, and the pivotal connection between the third rod 5123 and the fourth rod 5124 is fixedly connected to the second platform 3.

[0039] For example, the first rod 5121, the second rod 5122, the third rod 5123 and the fourth rod 5124 are all connected by a rotating hinge. The connection method of the rotating hinge can enable the first rod 5121, the second rod 5122, the third rod 5123 and the fourth rod 5124 to rotate around each pivot point under the action of the first transmission component 511.

[0040] The embodiment of the present invention forms a first parallel frame through the rotational connection between the first rod 5121, the second rod 5122, the third rod 5123 and the fourth rod 5124, and the pivot joint of the first rod 5121 and the second rod 5122 is connected to the first transmission component 511, and the pivot joint of the third rod 5123 and the fourth rod 5124 is fixed to the front end of the second platform 3, so that the third driving assembly 48 drives the first transmission component 511 to move forward and backward, driving the pivot joint of the first rod 5121 and the second rod 5122 to move in the forward and backward direction, that is, the pivot joint of the first rod 5121 and the second rod 5122 is close to or away from the pivot joint of the third rod 5123 and the fourth rod 5124 in the forward and backward direction.

[0041] In some embodiments, the first transmission branch chain 512 also includes a fifth rod 5125 and a sixth rod 5126, the fifth rod 5125 is pivotally connected to the sixth rod 5126, and the fifth rod 5125 is pivotally connected to one end of the fourth rod 5124, the sixth rod 5126 is pivotally connected to one end of the third rod 5123, and the sixth rod 5126 is connected to the actuator 6.

[0042] Specifically, one end of the fifth rod 5125 is pivotally connected to the other end of the fourth rod 5124, the other end of the fifth rod 5125 is pivotally connected to one end of the sixth rod 5126, and the other end of the sixth rod 5126 is pivotally connected to the other end of the third rod 5123, that is, the third rod 5123, the fourth rod 5124, the fifth rod 5125 and the sixth rod 5126 form a crank rocker, and the lower end of the sixth rod 5126 is connected to the actuator 6. When the first rod 5121 and the second rod 5122 rotate in the front-to-back direction around the pivot point, the third rod 5123 is driven to rotate, and the rotation of the third rod 5123 drives the sixth rod 5126 to rotate, and then drives the actuator 6 to rotate.

[0043] For example, the third rod 5123, the fourth rod 5124, the fifth rod 5125 and the sixth rod 5126 are all connected by rotating hinges. The connection method of the rotating hinges can make the third rod 5123, the fourth rod 5124, the fifth rod 5125 and the sixth rod 5126 rotate around each pivot point when the first transmission component 511 drives the first parallel frame to move.

[0044] In some embodiments, the first transmission component 511 includes a first slide rail 5111 and a first slider 5112, the first slider 5112 is mounted on the first slide rail 5111, the first slider 5112 is connected to the driving assembly 4, the first slide rail 5111 is connected to the second platform 3, and the pivot joint of the first rod 5121 and the second rod 5122 is located on the first slider 5112, and the pivot joint of the third rod 5123 and the fourth rod 5124 is located on the second platform 3.

[0045] Specifically, the first slide rail 5111 is fixedly connected to the front end of the second platform 3, the first slide rail 5111 extends in the front-to-back direction, the first slider 5112 can slide back and forth along the first slide rail 5111, the pivot joint of the first rod 5121 and the second rod 5122 is fixed on the first slider 5112, and the third drive assembly 48 is connected to the first slider 5112 to drive the first slider to move back and forth on the first slide rail 5111, thereby driving the first transmission branch chain 512 to move.

[0046] Optionally, by providing the first transmission component 511 , the driving force of the third driving assembly 48 can be converted into movement of the slider in the front-rear direction, thereby driving the movement of the first transmission branch chain 512 .

[0047] In some embodiments, the second transmission assembly 52 includes a second transmission component 521 and a second transmission branch chain 522.

[0048] The transmission component 521 is connected to the second transmission branch chain 522 , and the other end of the second transmission branch chain 522 is connected to the first transmission branch chain 5125 .

[0049] Specifically, if Figure 2 As shown, one end of the second transmission component 521 is connected to the fourth driving assembly 49, the other end of the second transmission component 521 is connected to one end of the second transmission branch chain 522, and the other end of the second transmission branch chain 522 is connected to the fifth rod 5125 in the first transmission branch chain 512. The second transmission component 521 is driven to move by the fourth driving assembly 49, and the second transmission component 521 is driven to move by the fourth driving assembly 49.

[0050] The movement of the transmission component 521 drives the second transmission branch chain 522 to move, and the movement of the second transmission branch chain 522 drives the first transmission branch chain 512 to bypass the first position and the second position. Through the cooperation of the first transmission branch chain 512 and the second transmission branch chain 522,

[0051] Continuous rotation of the actuator 6 is achieved, thereby increasing the rotation angle range of the robot 300.

[0052] In some embodiments, the second transmission branch chain 522 includes a seventh rod 5221, an eighth rod 5222, a ninth rod 5223, a tenth rod 5224, and a connecting rod 5225. The two ends of the seventh rod 5221 are connected to the two ends of the eighth rod 5222 and the ninth rod 5223, respectively.

[0053] One end of the tenth rod 5224 is pivotally connected to the eighth rod 5222 , the other end of the tenth rod 5224 is pivotally connected to the connecting rod 5225 , the ninth rod 5223 is pivotally connected to the tenth rod 5224 , and the other end of the connecting rod 5225 is pivotally connected to the fifth rod 5125 .

[0054] Specifically, if Figure 3As shown, one end of the seventh rod 5221 is pivotally connected to one end of the eighth rod 5222, the other end of the seventh rod 5221 is pivotally connected to the ninth rod 5223, the other end of the eighth rod 5222 is pivotally connected to one end of the tenth rod 5224, the other end of the ninth rod 5223 is pivotally connected to a side of the tenth rod 5224 close to the eighth rod 5222, and the other end of the tenth rod 5224 is pivotally connected to the connecting rod 5225.

[0055] That is, the ninth rod 5223 is pivotally connected to the side of the midpoint of the tenth rod 5224 close to the eighth rod 5222, and the other end of the connecting rod 5225 is pivotally connected to the side of the midpoint of the fifth rod 5125 close to the sixth rod 5126.

[0056] For example, the seventh rod 5221, the eighth rod 5222, the ninth rod 5223, the tenth rod 5224 and the connecting rod 5225 are all connected by a rotating hinge. The connection method of the rotating hinge can enable the seventh rod 5221, the eighth rod 5222, the ninth rod 5223, the tenth rod 5224 and the connecting rod 5225 to rotate around each pivot point under the action of the second transmission component 521.

[0057] In the embodiment of the present invention, the second parallel frame is formed by rotating the seventh rod 5221, the eighth rod 5222, the ninth rod 5223, and the tenth rod 5224, and the pivot joint of the seventh rod 5221 and the eighth rod 5222 is connected to the second transmission component 521.

[0058] The pivotal connection between the ninth rod 5223 and the tenth rod 5224 is fixed to the rear end of the second platform 3, so that the fourth driving assembly 49 drives the second transmission component 521 to move in the front-back direction, driving the pivotal connection between the seventh rod 5221 and the eighth rod 5222 to move in the front-back direction, that is, the pivotal connection between the seventh rod 5221 and the eighth rod 5222 moves closer to or away from the ninth rod in the front-back direction.

[0059] The pivotal connection between 5223 and the tenth rod 5224.

[0060] In some embodiments, the second transmission component 521 includes a second slide rail 5211 and a second slider 5212. The second slider 5212 is sleeved on the second slide rail 5211, and the second slider 5212 is connected to the driving assembly 4, and the second slide rail 5211 is connected to the second platform 3.

[0061] Specifically, the second slide rail 5211 is fixedly connected to the rear end of the second platform 3, the second slide rail 5211 extends in the front-to-back direction, the second slider 5212 can slide back and forth along the second slide rail 5211, the pivot joint of the seventh rod 5221 and the eighth rod 5222 is fixed on the second slider 5212, and the fourth drive assembly 49 is connected to the second slider 5212 to drive the second slider to move back and forth on the second slide rail 5211, thereby driving the second transmission branch chain 522 to move, and the movement of the second transmission branch chain 522 drives the first transmission branch chain 512 to pass through the first position or the second position.

[0062] Optionally, by providing the second transmission component 521 , the driving force of the fourth driving assembly 49 can be converted into movement of the slider in the front-rear direction, so as to precisely control the movement of the second transmission branch chain 522 .

[0063] It is understandable that if Figure 4 As shown, the third drive assembly 48 drives the first slider 5112 in the first transmission component 511 to move backward, the first slider drives the first parallel frame to move, the first parallel frame drives the crank rocker to move, so that the sixth rod 5126 can achieve rotational movement, and then the actuator 6 can achieve rotational movement. When the first transmission branch chain 512 is in the first position, the sixth rod 5126 is parallel to the fifth rod 5125, and the sixth rod 5126 is directly below the fifth rod 5125. The movement of the first slider 5112 cannot drive the sixth rod 5126 to continue to rotate. At this time, the fourth drive assembly 49 drives the second slider 5212 in the second transmission component 521 to move, driving the second parallel frame to move, the second parallel frame drives the connecting rod 5225 to move, and the connecting rod 5225 drives the sixth rod 5126 to pass through the first position.

[0064] like Figure 5 As shown, the third drive assembly 48 drives the first slider 5112 in the first transmission component 511 to move forward, the first slider drives the first parallel frame to move, the first parallel frame drives the crank rocker to move, so that the sixth rod 5126 can realize rotational movement, and then the actuator 6 can realize rotational movement. When the first transmission branch chain 512 is in the second position, the sixth rod 5126 is parallel to the fifth rod 5125, and the sixth rod 5126 is located behind the fifth rod 5125. The movement of the first slider 5112 cannot drive the sixth rod 5126 to continue to rotate. At this time, the second slider 5212 in the second transmission component 521 is driven by the fourth drive assembly 49 to move and drive the second parallel frame to move. The second parallel frame drives the connecting rod 5225 to move, and then drives the sixth rod 5126 through the second position, thereby realizing continuous rotation of the actuator 6, thereby increasing the angular range of the robot 300.

[0065] The robot 300 of the embodiment of the present invention is equipped with a first transmission branch chain 512 and a second transmission branch chain 522, so that the first transmission branch chain 512 can pass through the first position and the second position. Through the cooperation of the first transmission branch chain 512 and the second transmission branch chain 522, the infinite rotation ability of the actuator 6 is realized, thereby improving the rotation angle range of the robot 300 and meeting more complex working operation requirements.

[0066] In some embodiments, the driving component 4 includes a driver 41, a first connecting member 42 and a second connecting member 43, one end of the first connecting member 42 is connected to the driver 41, and the other end of the first connecting member 42 is pivotally connected to the second connecting member 43, the driver 41 is connected to the first platform 2, and the second connecting member 43 is pivotally connected to the second platform 3 or the transmission component 5.

[0067] Specifically, if Figure 2 As shown, the driver 41 is connected to the first platform 2, the lower end of the driver 41 is connected to the first connecting member 42, the lower end of the first connecting member 42 is connected to the upper end of the second connecting member 43, and the lower end of the second connecting member 43 is connected to the transmission component 5 or the second platform 3 to drive the second platform 3 or the transmission component 5 to move.

[0068] Optionally, the second connecting member 43 includes two parallel and identically sized connecting rods 431, and the driving assembly 4 also includes a first connecting shaft 44 and a second connecting shaft 45. The upper end of the first connecting member 42 is fixedly connected to the driver 41, and the lower end of the first connecting member 42 is fixedly connected to the first connecting shaft 44. The upper ends of the two connecting rods 431 are connected to the two ends of the first connecting shaft 44 through a ball joint, and the lower ends of the two connecting rods 431 are connected to the two ends of the second connecting shaft 45 through a ball joint. The two connecting rods 431 and the first connecting shaft 44 and the second connecting shaft 45 form a parallelogram. The movement of the driving assembly 4 drives the first connecting member 42 to approach or move away from the second platform 3, thereby causing the driving assembly 4 to drive the movement of the transmission assembly 5.

[0069] It should be noted that the structures of the first drive assembly 46, the second drive assembly 47, the third drive assembly 48, and the fourth drive assembly 49 are all identical. The second connecting shaft 45 of the first drive assembly 46 is fixedly connected to the left end of the second platform 3, the second connecting shaft 45 of the second drive assembly 47 is fixedly connected to the right end of the second platform 3, the second connecting shaft 45 of the third drive assembly 48 is fixedly connected to the first slider 5112, and the second connecting shaft 45 of the fourth drive assembly 49 is fixedly connected to the second slider 5212. Through the connection of the first drive assembly 46, the second drive assembly 47, the third drive assembly 48, and the fourth drive assembly 49 to the transmission assembly 5 or the second platform 3, the second platform 3 is driven to achieve three degrees of freedom of translation.

[0070] The sorting system according to the embodiment of the present invention includes a conveying device 100 , a visual recognition device 200 and a robot 300 .

[0071] In some embodiments, the conveyor 100 is used to convey an object 400. A visual recognition device 200 is connected to the frame 1 and positioned above the conveyor 100. The visual recognition device 200 is used to identify the position of the object 400 conveyed by the conveyor 100. The robot 300 is any of the robots 300 described above and is connected to the frame 1 and positioned above the conveyor 100. The robot 300 is used to adjust the position of the object 400.

[0072] Specifically, if Figure 1 As shown, the conveying device 100 is arranged below the second platform 3 to convey the items 400 to be sorted on the production line. The visual recognition device 200 is fixed above the conveying device 100, and the visual recognition device 200 is installed on the frame 1. The visual recognition device 200 is used to identify the position and posture of the items 400 to be sorted conveyed by the conveying device 100 in real time and grasp the trajectory. The robot 300 is installed on the frame 1, and the second platform 3 of the robot 300 is close to the conveying device 100. Through the position and trajectory of the items 400 to be sorted identified by the visual recognition device 200, the robot 300 flexibly grasps, moves and adjusts the position of the items 400 on the conveying device 100, realizes sorting and packaging of the items 400, and improves the sorting efficiency of the sorting system.

[0073] The sorting system of the embodiment of the present invention automatically identifies the items 400 conveyed by the conveying device 100 through the visual recognition device 200, and guides the robot 300 to perform sorting operations, replacing manual repetitive operations, having good flexibility and improving the sorting efficiency of the sorting system.

[0074] For example, the sorting system according to the embodiment of the present invention can be applied to grasping and sorting operations in industrial production lines such as the plastics industry, the electronics industry, the pharmaceutical industry, and the food industry.

[0075] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0076] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0077] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0078] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0079] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0080] It is understood that the above embodiments are exemplary and are not to be construed as limiting the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A robot, characterized in that: include: frame; a first platform and a second platform, wherein the first platform and the second platform are arranged opposite to each other in a height direction of the rack; a driving assembly, one end of the driving assembly being connected to the first platform, and the other end of the driving assembly being connected to the second platform; a transmission assembly, one end of the transmission assembly is connected to the drive assembly, and the other end of the transmission assembly is connected to the second platform, the transmission assembly includes a first transmission assembly and a second transmission assembly, the first transmission assembly is connected to the second transmission assembly, the first transmission assembly and the second transmission assembly are arranged relative to each other in the length direction of the frame, the end of the first transmission assembly away from the first platform is suitable for connecting to the actuator, the first transmission assembly has a first position and a second position, the first transmission assembly drives the actuator to move between the first position and the second position, and when the first transmission assembly is in the first position or the second position, the second transmission assembly drives the first transmission assembly to move; The first transmission assembly includes a first transmission component and a first transmission branch, the first transmission component is connected to the first transmission branch, and the other end of the first transmission branch is connected to the actuator; The first transmission branch chain includes a first rod, a second rod, a third rod, a fourth rod, a fifth rod, and a sixth rod, wherein both ends of the first rod are pivotally connected to the second rod and one end of the third rod respectively, one end of the fourth rod is pivotally connected to a side of the third rod close to the first rod, the other end of the fourth rod is pivotally connected to the second rod close to the third rod, the fifth rod is pivotally connected to the sixth rod, and the fifth rod is pivotally connected to one end of the fourth rod, the sixth rod is pivotally connected to one end of the third rod, and the sixth rod is connected to the actuator; The rotational connection between the first rod, the second rod, the third rod and the fourth rod forms a first parallel frame, and the third rod, the fourth rod, the fifth rod and the sixth rod constitute a crank rocker. The first parallel frame drives the crank rocker to move, so that the actuator realizes rotational motion.

2. The robot according to claim 1, characterized in that The first transmission component includes a first slide rail and a first slider, the first slider is mounted on the first slide rail, the first slider is connected to the driving assembly, the first slide rail is connected to the second platform, and the pivot joint between the first rod and the second rod is provided on the first slider, and the pivot joint between the third rod and the fourth rod is provided on the second platform.

3. The robot according to claim 1, characterized in that The second transmission assembly includes a second transmission component and a second transmission branch, the second transmission component is connected to the second transmission branch, and the other end of the second transmission branch is connected to the first transmission branch.

4. The robot according to claim 3, characterized in that The second transmission branch chain includes a seventh rod, an eighth rod, a ninth rod, a tenth rod and a connecting rod, the two ends of the seventh rod are respectively connected to the two ends of the eighth rod and the ninth rod, one end of the tenth rod is pivoted to the eighth rod, the other end of the tenth rod is pivoted to the connecting rod, the ninth rod is pivoted to the tenth rod, and the other end of the connecting rod is pivoted to the fifth rod; the rotational connection between the seventh rod, the eighth rod, the ninth rod and the tenth rod forms a second parallel frame, and the second parallel frame drives the connecting rod to move, so as to drive the sixth rod to pass through the first position or the second position.

5. The robot according to claim 4, characterized in that The second transmission component includes a second slide rail and a second slider. The second slider is sleeved on the second slide rail, and the second slider is connected to the driving assembly. The second slide rail is connected to the second platform.

6. The robot according to claim 1, characterized in that The driving assembly includes a driver, a first connecting member and a second connecting member, one end of the first connecting member is connected to the driver, the other end of the first connecting member is pivotally connected to the second connecting member, the driver is connected to the first platform, and the second connecting member is pivotally connected to the second platform or the transmission assembly.

7. A sorting system, characterized in that: include: A conveying device, the conveying device is used to convey items; A visual recognition device connected to the frame and disposed above the conveying device, the visual recognition device being used to identify the position of an item conveyed by the conveying device; A robot, wherein the robot is the robot described in any one of claims 1 to 6, the robot is connected to the frame, and the robot is arranged above the conveying device, and the robot is used to adjust the position of the item.

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