A sorting robot package dynamic rolling structure and sorting robot

Abstract

The present invention discloses a dynamic package rolling structure of a sorting robot and a sorting robot. A first rotating motor drives a blade connecting rod and a strip wave blade to rotate, so that a small-sized express package that has fallen can be rolled into a storage shell, and a second rotating motor drives a baffle to rotate, so that the small-sized express package in the storage shell can be limited to reduce slipping. The structure is characterized in that it consists of a disc car body, an arc-shaped connecting block, a storage shell, a strip wave blade, a blade connecting rod, a rotating fixed disk, a rotating rod, a first rotating motor, a second rotating motor, a third camera, a baffle and a connecting shaft. One side of the arc-shaped connecting block is placed on the side of the disc car body, and the other side of the arc-shaped connecting block is placed on the rear side of the storage shell. The storage shell is a structure with an opening on the front side. A pressure sensor is placed on the bottom surface of the storage shell, and a third camera and a first ranging sensor are placed on the top surface of the storage shell.

Description

Technical Field

[0001] The present invention relates to a package dynamic rolling-in structure of a sorting robot and a sorting robot, which relates to a package rolling-in structure installed on a sorting robot, and belongs to the field of intelligent logistics technology. In particular, it relates to a package rolling-in structure that drives a blade connecting rod and a strip wave blade to rotate by a first rotating motor, and can roll a dropped small-sized express package into a storage shell, and drives a baffle to rotate by a second rotating motor, and can limit the small-sized express package in the storage shell to reduce slipping. Background Art

[0002] With the development of society, online shopping has become the main shopping method for consumers. In the process of sending express parcels from the place of origin to the destination, it is necessary to sort and stack the express parcels at multiple different sorting ports according to the different destinations, and then use mobile devices such as carts to transport the express parcels stacked at different sorting ports to the express parcel loading points corresponding to the sorting ports to realize the transfer of express parcels. At present, the method of sorting the express parcels stacked at the sorting ports to the carts is mainly manual, but the labor efficiency is low, the labor intensity is high, and different staff need to be arranged at different sorting ports, and the labor cost is high, so sorting robots came into being. The same sorting robot can take care of multiple sorting ports at the same time. After a preset time interval, it moves from one sorting port to another sorting port according to a preset route, and sorts the express parcels from different sorting ports to the corresponding carts, with high sorting efficiency and low labor cost. The walking base of the existing sorting robot is generally a structure with two tires at the front and rear, two of which are responsible for walking, and the other two are responsible for steering. When turning, the deflection angle of the body and the direction of travel is large, which is easy to slip. When moving from one sorting port to another, it cannot turn around and return on the spot, which is not suitable for narrow roads and warehouses with limited space; and the center of gravity is high, and no shock absorbing device is set. When moving from one sorting port to another, when encountering uneven ground, it will be repeatedly hit by hard impact and bounce up and down, which is easy to cause wear of the sorting robot and affect the travel speed; at the same time, the existing sorting robot is generally equipped with a through The express parcels are moved from the stacking point to the trolley by a hand-grasped mechanical gripper. For express parcels of smaller sizes, they can be easily clamped and moved. For express parcels of larger sizes, the hand-grasped mechanical gripper cannot effectively clamp the express parcels or can only clamp part of the express parcels. The clamping force is small, which may cause the express parcels to fall, causing damage to the express parcels and reducing the sorting efficiency. In addition, the existing sorting robot moves all express parcels of different sizes from the same sorting port into the same trolley. Large-sized express parcels are stacked on small-sized express parcels, which easily cause damage to the small-sized express parcels and the space utilization rate of the trolley is low.

[0003] Publication No. CN117484470A discloses a mobile collaborative robot, including a manipulator, a mobile chassis and a camera, the mobile chassis including a base and a driving mechanism, the manipulator is installed on the base, and the driving mechanism is used to drive the base to move; the manipulator has at least one section that forms an angle of less than 60° relative to the horizontal plane when grabbing express delivery, and this section is called a transverse arm; the camera is movably installed on the transverse arm of the manipulator and is used to shoot the oblique lower part of the manipulator; a control module is installed on the base, and the control module is electrically connected to the camera, the driving mechanism and the manipulator. The driving mechanism of the above-mentioned mobile collaborative robot is a crawler structure, which has a slow driving speed, a large contact area with the ground, high friction, difficult steering, inability to turn around on the spot, poor flexibility, and is not suitable for narrow roads and warehouses with limited space; and the center of gravity is high, and no shock-absorbing device is provided. When encountering uneven ground, it will be repeatedly hit by hard impacts and bounce up and down, which may easily cause the express parcels moved by the sorting robot to fall, affecting the safe sorting of the express parcels; at the same time, the manipulator of the above-mentioned mobile collaborative robot grasps the express parcels in a way that simulates human hands. For express parcels of smaller sizes, it can be easily clamped and moved. For express parcels of larger sizes, the hand-grasped mechanical gripper cannot effectively clamp the express parcel or can only clamp part of the express parcel, and the clamping force is small. In the process of moving the express parcel to the corresponding container, the express parcel may fall, causing damage to the express parcel and reducing the sorting efficiency.

[0004] In order to improve the above problems, the applicant filed a Chinese invention patent application entitled "A Sorting Robot". The suction cup and the clamp are switched by a rotating motor. The suction cup absorbs large-sized express parcels, and the clamp grabs small-sized express parcels. The servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to rotate, and the express parcels of different sizes are moved to the corresponding trolleys. In the process of the servo motor driving the clamp to move the small-sized express parcels to the trolley, some small-sized express parcels may fall due to the shaking of the clamp or the lack of clamping force. The servo motor needs to drive the first connecting arm, the second connecting arm, and the third connecting arm to rotate again to drive the clamp to grab the fallen express parcels, which is time-consuming and labor-intensive, and the sorting efficiency is low. Summary of the invention

[0005] In order to improve the above situation, the present invention provides a dynamic package rolling-in structure for a sorting robot and a sorting robot. A first rotating motor drives a blade connecting rod and a strip wave blade to rotate, so that dropped small-sized express packages can be rolled into a storage shell. A second rotating motor drives a baffle to rotate, so that the small-sized express packages in the storage shell can be limited to reduce the package rolling-in structure that may slip.

[0006] The present invention provides a dynamic package rolling structure for a sorting robot and a sorting robot as follows: The present invention provides a dynamic package rolling structure for a sorting robot, which is composed of a disc car body, an arc-shaped connecting block, a storage shell, strip-shaped wavy blades, a blade connecting rod, a rotating fixed disk, a rotating rod, a first rotating motor, a second rotating motor, a third camera, a baffle and a connecting shaft.

[0007] One side of the arc-shaped connecting block is placed on the side of the disc housing, and the other side of the arc-shaped connecting block is placed on the rear side of the storage housing.

[0008] The storage housing is a structure with an opening on the front side, a pressure sensor is disposed on the bottom surface of the storage housing, and a third camera and a first distance measuring sensor are disposed on the top surface of the storage housing.

[0009] Preferably, the shell wall of the storage shell is a hollow structure.

[0010] Preferably, the shell wall of the storage shell is filled with a mixture of sponge and foam particles.

[0011] Preferably, the height of the bottom surface of the storage shell is constant from one end to four fifths, and gradually decreases from four fifths to the other end, and the other end of the bottom surface of the storage shell is flush with the front side surface of the storage shell.

[0012] The first rotating motor and the second rotating motor are respectively placed on the left side of the storage shell, the first rotating motor is close to the front side of the storage shell, and the second rotating motor is close to the rear side of the storage shell.

[0013] One end of the rotating rod passes through a through hole opened on the left side of the storage shell and is connected to the motor shaft of the first rotating motor, and the other end of the rotating rod is placed on the right inner side of the storage shell through a rotating bearing, and a rotating bearing is placed between the rotating rod and the left side of the storage shell.

[0014] The two rotating fixed disks are respectively sleeved on the side of the rotating rod through the through holes opened in the middle, and the two rotating fixed disks are respectively close to the two ends of the rotating rod.

[0015] One end of a group of blade connecting rods is respectively arranged on the side surfaces of the two rotating fixed disks. There are multiple blade connecting rods in each group. One ends of the multiple blade connecting rods in the same group are arranged equidistantly along the side surfaces of the rotating fixed disks. The two groups of blade connecting rods correspond to each other one by one.

[0016] Preferably, the lengths of the plurality of blade connecting rods in the same group are different.

[0017] Preferably, two adjacent blade connecting rods in the same group are not on the same plane.

[0018] A strip wave blade is placed between the other ends of the two corresponding groups of blade connecting rods, one end of the strip wave blade is placed on the other end of one group of blade connecting rods, and the other end of the strip wave blade is placed on the other end of the other group of blade connecting rods. The number of the strip wave blades is the same as the number of the blade connecting rods in each group.

[0019] The strip-shaped wave blade is bent in multiple arc shapes from one end to the other end.

[0020] Preferably, the strip-shaped wave blade is a hollow structure except for the curved portion.

[0021] Preferably, the diameter of the strip-shaped wave blades gradually decreases from the middle to both ends.

[0022] Preferably, a rolling tooth is disposed on the side of the strip-shaped wave blade, and there are a plurality of the rolling teeth, which are arranged equidistantly along the length direction of the strip-shaped wave blade, and two adjacent rolling teeth are arranged in a staggered manner, and the width of the rolling tooth gradually decreases from one side connected to the side of the strip-shaped wave blade to the other side.

[0023] Preferably, the rolling teeth are made of rubber material.

[0024] One end of the connecting shaft passes through a through hole opened on the left side of the storage shell and is connected to the motor shaft of the second rotating motor, and the other end of the connecting shaft is placed on the right inner side of the storage shell through a rotating bearing, and a rotating bearing is placed between the connecting shaft and the left side of the storage shell.

[0025] The baffle is placed on the side of the connecting shaft through a through hole in the middle, and the two ends of the baffle are slidably in contact with the left and right inner side surfaces of the storage shell, and the two sides of the baffle are slidably in contact with the inner top surface and the inner bottom surface of the storage shell.

[0026] The width of the baffle is less than or equal to the distance from the rear side of the storage housing to the rotating rod.

[0027] Preferably, the baffle is a hollow arc-shaped structure.

[0028] Preferably, the thickness of the baffle gradually decreases from the middle to both sides.

[0029] Preferably, the baffle is made of a flexible and deformable material.

[0030] Further, the blade connecting rod is replaced by a third telescopic rod, and a group of third telescopic rods are respectively arranged on the sides of the two rotating fixed disks, and there are multiple third telescopic rods in each group. The multiple third telescopic rods in the same group are arranged equidistantly along the side of the rotating fixed disk, and the two groups of third telescopic rods correspond to each other.

[0031] Furthermore, a flexible gasket is disposed on the side of the baffle, and the edge of the flexible gasket is connected to the side edge of the baffle.

[0032] The present invention also relates to a sorting robot, which comprises a walking mechanism, a rotating mechanism and a clamping mechanism.

[0033] The walking mechanism is composed of a disc car body, a first rotating shaft, a tire, a driving motor housing, a U-shaped connecting piece, a first hinge, a first telescopic rod, a second hinge, a connecting rod, a shock-absorbing gasket, a second telescopic rod, a spring, and a damper.

[0034] A connecting groove is provided on the side of the disc housing, and the notch of the connecting groove is flush with the side of the circumferential housing.

[0035] Preferably, the disc vehicle shell is a hollow structure, and the disc vehicle shell is non-saturatedly filled with fluid;

[0036] Preferably, there are a plurality of connecting grooves, and the plurality of connecting grooves are arranged equidistantly along the side surface of the circumferential vehicle shell.

[0037] One end of the connecting rod is placed in the middle of the bottom of the connecting groove, and the other end of the connecting rod is rotatably placed on one end of the U-shaped connecting member through a second hinge.

[0038] First telescopic rods are respectively disposed on both sides of the connecting rod, one end of the first telescopic rod is disposed at the bottom of the connecting groove, and the other end of the first telescopic rod is rotatably disposed on the side of one end of the U-shaped connecting member through a first hinge.

[0039] A drive motor placement shell is placed between the two side surfaces of the U-shaped connector, one end of the drive motor placement shell is placed on the inner side surface of one end of the U-shaped connector, and the drive motor is placed in the drive motor placement shell.

[0040] The top surface and the bottom surface of the driving motor placement shell are respectively provided with one end of a group of dampers, one end of the second telescopic rod is placed on the other end of the damper, and the other end of the second telescopic rod is respectively placed on the two inner side surfaces of the U-shaped connecting member through shock-absorbing gaskets.

[0041] The spring sleeve is placed on the side of the second telescopic rod.

[0042] Preferably, there are multiple dampers in the same group, and the multiple dampers are arranged equidistantly along the length direction of the drive motor placement housing.

[0043] Preferably, the top surface and the bottom surface of the driving motor placement shell are respectively provided with one end of a rubber column, and the other end of the rubber column is respectively provided with two inner side surfaces of the U-shaped connecting piece, and there are a plurality of rubber columns, and the plurality of rubber columns are arranged equidistantly along the length direction of the driving motor placement shell, and the rubber columns and the dampers are arranged in a staggered manner.

[0044] One end of the first rotating shaft passes through a through hole opened at the other end of the driving motor placement housing and is connected to the motor shaft of the driving motor, and a bearing is disposed between the first rotating shaft and the driving motor placement housing.

[0045] The other end of the first rotating shaft is connected to the wheel axle of the tire.

[0046] Preferably, the walking mechanism is further provided with a detection mechanism, and the detection structure is composed of a first camera, a fixing plate and a support rod.

[0047] The support rod is placed on the top surface of the disc shell.

[0048] The bottom surface of the fixed plate is placed on the top surface of the support rod, and the first camera is placed on the top surface of the fixed plate.

[0049] The rotating mechanism is composed of a fixed base plate, a first connecting arm, a second connecting arm, a third connecting arm, a fourth connecting arm and a rotating motor placement shell.

[0050] One end of the first connecting arm is rotatably connected to the top surface of the disc vehicle shell through a fixed bottom plate.

[0051] One end of the second connecting arm is rotatably connected to the other end of the first connecting arm, the other end of the second connecting arm is rotatably connected to one end of the third connecting arm, the other end of the third connecting arm is connected to one end of the fourth connecting arm, and the height of one end of the second connecting arm is smaller than the height of the other end.

[0052] The rotating motor placement shell is embedded in the through slot opened at the other end of the fourth connecting arm, and the rotating motor is placed in the rotating motor placement shell.

[0053] The clamping mechanism is composed of a connecting shaft, a fixing sleeve, a connecting plate, a suction cup, a second camera, a vacuum pump, a first hook connecting piece, a second hook connecting piece, a clamp, a cylinder, a clamp connecting arm and a push arm.

[0054] One end of the second rotating shaft passes through a through hole of the rotating motor housing and is connected to the motor shaft of the rotating motor. A bearing is disposed between the second rotating shaft and the rotating motor housing.

[0055] The other end of the second rotating shaft is connected to the fixed sleeve.

[0056] The fixing sleeve is placed on the side of the connecting shaft through a through hole in the middle, one end of the connecting shaft is placed on the vacuum pump, the connecting plate is placed on the vacuum pump, the suction cup is placed on the connecting plate, one end of the connecting pipe is connected to the air outlet of the vacuum pump and communicated with each other, and the other end of the connecting pipe passes through the through hole on the connecting plate and is connected to the suction cup and communicated with each other.

[0057] The second camera is placed on the bottom surface of the connecting plate, and the distance measuring sensor is placed on the bottom surface of the connecting plate.

[0058] The other end of the connecting shaft is placed at one end of the cylinder.

[0059] One end of the push arm is slidably placed in the cylinder, and the other end of the push arm is provided with a second hook connecting member.

[0060] The first hook-claw connecting member is sleeved on the side of the push arm through a through hole in the middle, and the length of the first hook-claw connecting member is greater than the length of the second hook-claw connecting member.

[0061] The two ends of the first hook-claw connecting member are respectively hinged to one end of the clamping claw, the two ends of the second hook-claw connecting member are respectively hinged to one end of the clamping claw connecting arm, and the other end of the clamping claw connecting arm is respectively hinged to one third of the clamping claw.

[0062] The extension line of the other end of the two clamping jaws coincides with the extension line of the other end of the push arm.

[0063] Preferably, the side surface of the other end of the clamping jaw is provided with a plurality of anti-slip grooves at equal distances.

[0064] Preferably, the sorting robot is controlled to turn by a sorting robot steering system;

[0065] The present invention also relates to a sorting robot steering system, characterized in that the sorting robot steering system is composed of a speed sensor, a direction sensor, a central processor and a central controller, the speed sensor is connected to the central processor via a data line, the direction sensor is connected to the central processor via a data line, the central controller is connected to the two first telescopic rods via a data transmission line, the central processor converts a digital signal into an electrical signal, and the sorting robot steering system implements the following steps when executed:

[0066] The travel speed sensor collects the travel speed of the sorting robot and transmits the real-time signal to the central processor. When the sorting robot turns, the travel direction sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the telescopic length of the two first telescopic rods in real time according to the deviation, so that a length difference appears between the two first telescopic rods. The two first telescopic rods drive the U-shaped connecting piece to turn, the U-shaped connecting piece drives the driving motor to turn, and the driving motor drives the tire to turn, thereby achieving the purpose of steering the sorting robot.

[0067] Preferably, the sorting robot controls the rotation of the connecting arm through a sorting robot rotation system;

[0068] The present invention also relates to a sorting robot rotation system, characterized in that the sorting robot rotation system is composed of a distance measuring sensor, a central processing unit and a central controller, the distance measuring sensor is connected to the central processing unit through a data line, the central processing unit is connected to the central controller through a data line, the servo motor is connected to the central controller through a data line, the servo motor is respectively connected to the first connecting arm, the second connecting arm and the third connecting arm through a gear transmission device, the central processing unit converts a digital signal into an electrical signal, and the sorting robot rotation control system implements the following steps when being executed:

[0069] The distance measuring sensor collects the distance from the clamp or suction cup to the target position, and transmits the real-time signal to the central processor. The central processor compares the distance data with the preset distance, calculates the deviation between the clamp or suction cup and the target position, and sends it to the central controller. The central controller performs path planning according to the distance deviation, determines the best path from the current position of the clamp or suction cup to the target position, calculates the angles and positions of the first connecting arm, the second connecting arm, and the third connecting arm to ensure that the first connecting arm, the second connecting arm, and the third connecting arm can move according to the predetermined path. According to the calculation results, the central controller sends instructions to the servo motor, and the servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to move. During the movement, the central controller will It continuously receives feedback information from the ranging sensor, and adjusts the movement of the first connecting arm, the second connecting arm, and the third connecting arm in real time based on this information to ensure that they move accurately along the predetermined path. After reaching the target position and the gripper or suction cup stably grasps the express package, the first connecting arm, the second connecting arm, and the third connecting arm sort the express packages of different sizes into the corresponding carts according to the predetermined path. After the express packages are successfully sorted, the central controller confirms that the task has been completed and sends a command to the servo motor. The servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to move in the opposite direction and return to the initial position to sort the next express package. This cycle is repeated to sort the express packages at each sorting port.

[0070] Preferably, the sorting robot further comprises a control system, wherein the control system comprises a signal converter, a data processor and a controller.

[0071] The signal converter is placed on the disc car shell, the data processor is placed on the disc car shell, and the controller is placed on the disc car shell.

[0072] The first camera, the second camera, the third camera, the first distance measuring sensor and the pressure sensor are connected to the signal converter via a data line.

[0073] The driving motor, the rotating motor, the first rotating motor, the second rotating motor, the vacuum pump, the cylinder, and the third telescopic rod are connected to the controller via data transmission lines, respectively.

[0074] The signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line.

[0075] The signal converter can convert the electrical signal of the image data collected by the first camera, the second camera, and the third camera into a digital signal, and the signal converter can convert the electrical signal of the pressure data collected by the pressure sensor into a digital signal.

[0076] The controller can be implemented by one or at least two application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device.

[0077] The data processor and the signal converter perform information exchange,

[0078] When the control system is executed, the following steps are mainly implemented:

[0079] Before using the sorting robot to sort express parcels, the control system presets in advance that the small-sized express parcels will be clamped into cart No. 1 by the gripper, and the large-sized express parcels will be sucked into cart No. 2 by the suction cup.

[0080] When the sorting robot is used to sort express parcels, the controller controls the driving motor, the driving motor drives the rotating shaft to rotate, the rotating shaft drives the tire to rotate, so that the sorting robot starts to travel in a straight line according to the preset route, the speed sensor collects the speed of the sorting robot, and transmits the real-time signal to the central processor. When the sorting robot turns, the direction sensor transmits the expected signal to the central processor, and the central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the telescopic length of the two first telescopic rods in real time according to the deviation, so that there is a length difference between the two first telescopic rods, the two first telescopic rods drive the U-shaped connecting piece to turn, the U-shaped connecting piece drives the driving motor to turn, and the driving motor drives the tire to turn, so as to achieve the purpose of turning the sorting robot; the sorting robot arrives at a sorting port according to the preset route,

[0081] The ranging sensor collects the distance between the gripper or suction cup and the target position, and transmits the real-time signal to the central processor. The central processor calculates the distance deviation between the gripper or suction cup and the target position, and sends it to the central controller. The central controller plans the best path for the gripper or suction cup from the current position to the target position according to the distance deviation, calculates the angles and positions of the first connecting arm, the second connecting arm, and the third connecting arm. According to the calculation results, the central controller sends instructions to the servo motor, and the servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to reach the target position along the predetermined path, that is, when it is close to the express package, the second camera captures the image of the express package and sends the captured image to the central controller. The image data signal is sent to the signal converter, the signal converter converts the received electrical signal of the image data signal into a digital signal and sends it to the data processor, the data processor calculates the pixel size of the image data, calculates the actual size of the express package according to the ratio coefficient between the preset pixel size and the actual size, compares the actual size with the preset size, if the actual size is smaller than the preset size, the clamp is used to clamp the express package, the servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to rotate to the top of the express package, the connecting shaft is a double-rod cylinder, the controller controls the extension of the end rod corresponding to the connecting shaft, the controller controls the cylinder to start, and the cylinder drives the push arm to extend downward , so that the two claws clamp the express package, the first connecting arm, the second connecting arm, and the third connecting arm then move the small-sized express package to the top of the corresponding No. 1 trolley according to the predetermined path, and then the cylinder drives the push arm to retract upward, so that the two claws separate and put the express package into the No. 1 trolley, the central controller confirms that the task has been completed and sends a command to the servo motor, the servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to move in the opposite direction, return to the initial position, and sort the next express package; if the actual size is larger than the preset size, the controller controls the rotating motor to start, the rotating motor rotates 180 degrees, the rotating motor drives the connecting shaft to rotate, and the connecting shaft drives the suction The disc and the clamping claw rotate, and the express parcel is adsorbed and sorted by the suction cup. The servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to rotate to the top of the express parcel. The connecting shaft is a double-rod cylinder. The controller controls the extension of the end rod corresponding to the connecting shaft. The controller controls the vacuum pump to pump air, so that the suction cup sucks the express parcel. The first connecting arm, the second connecting arm, and the third connecting arm then move the large-sized express parcel to the top of the corresponding No. 2 trolley according to the predetermined path. Then the controller controls the vacuum pump to stop working, and the express parcel loses the adsorption force and falls from the suction cup into the No. 2 trolley. This cycle is repeated to achieve the sorting of express parcels at different sorting ports according to size.It can facilitate the subsequent loading work, so that express parcels of different sizes can be transported separately, or the large express parcels can be placed at the bottom first, and the small express parcels can be stacked on the large express parcels, which can make full use of the space in the vehicle, prevent large express parcels from squeezing small express parcels, and reduce damage to the express parcels;.

[0082] Furthermore, the side of the tire is provided with rubber protrusions;

[0083] Preferably, there are a plurality of rubber protrusions, and the plurality of rubber protrusions are arranged without spacing along the side surface of the tire;

[0084] Further, the suction cup is replaced by a small suction cup, which is placed on the top surface of the connecting plate, one end of the connecting six-way is connected to the air outlet of the vacuum pump and communicates with it, the other end of the connecting six-way is placed on the bottom surface of the connecting plate, one end of the connecting pipe is connected to the connecting six-way and communicates with it, and the other end of the connecting pipe passes through the through hole opened on the connecting plate and is connected to the small suction cup and communicates with it.

[0085] Preferably, the six-way connection can be replaced by a four-way connection or a five-way connection, there are multiple small suction cups, and the multiple small suction cups are evenly distributed on the top surface of the connecting plate, and the multiple small suction cups correspond one to one to the multiple connecting pipes. Beneficial Effects

[0086] 1. The blade connecting rod and the strip-shaped wave blades are driven to rotate by the first rotating motor, so that small-sized express parcels can be rolled into the storage shell.

[0087] Second, the baffle is driven to rotate by the second rotating motor to limit the position of small-sized express parcels, thereby reducing the slipping of small-sized express parcels during the movement of the sorting robot.

[0088] 3. It can effectively prevent the omission of small packages and improve the sorting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 This is a three-dimensional structural diagram of a sorting robot of the present invention;

[0090] Figure 2 This is a three-dimensional structural diagram of a sorting robot of the present invention, which only shows the structure of the walking mechanism;

[0091] Figure 3 This is a three-dimensional structural diagram of a sorting robot of the present invention, which only shows the structure of the cylinder and the push arm;

[0092] Figure 4 This is a three-dimensional structural diagram of a second embodiment of a sorting robot of the present invention;

[0093] Figure 5 This is a three-dimensional structural diagram of Embodiment 3 of a sorting robot of the present invention;

[0094] Figure 6 A three-dimensional structural diagram of a dynamic package rolling structure of a sorting robot according to the present invention;

[0095] Figure 7 This is a three-dimensional structural diagram of a dynamic package rolling structure of a sorting robot according to the present invention, in which only the structure connecting the rotating shaft and the baffle is shown;

[0096] Figure 8 It is a three-dimensional structural diagram of Embodiment 2 of a dynamic package rolling-in structure of a sorting robot according to the present invention;

[0097] Fig. 9 This is a three-dimensional structural diagram of Example 3 of a dynamic package rolling-in structure of a sorting robot according to the present invention.

[0098] Attached photos

[0099] The components include: connecting plate 1, suction cup 2, vacuum pump 3, connecting shaft 4, fixing sleeve 5, first hook connecting piece 6, second hook connecting piece 7, clamping claw 8, first camera 9, fixing plate 10, supporting rod 11, The first rotating shaft 12, the tire 13, the driving motor placement shell 14, the U-shaped connecting piece 15, the first hinge 16, the fixed bottom plate 17, the first connecting arm 18, the first telescopic rod 19, the second hinge 20, the connecting rod 21, the disc car shell 22, the second connecting arm 23, the third connecting arm 24, the fourth connecting arm 25, the rotating motor placement shell 26, the second camera 27, the shock absorbing gasket 28, the second telescopic rod 29, the spring 30, the damper 31, the cylinder 32, the clamping claw connecting arm 33, the push arm 34, the rubber protrusion 35, the connecting pipe 36, the small suction cup 37, the connecting six-way 38, the storage shell 39, the strip wavy blade 40, the blade connecting rod 41, the rotating fixed disk 42, the rotating rod 43, the first rotating motor 44, the second rotating motor 45, the arc connecting block 46, the third camera 47, the baffle 48, the connecting shaft 49, the third telescopic rod 50, and the flexible gasket 51. DETAILED DESCRIPTION Example 1

[0100] The present invention provides a sorting robot package dynamic rolling structure, which is composed of a disc car body 22, an arc-shaped connecting block 46, a storage shell 39, a strip-shaped wave blade 40, a blade connecting rod 41, a rotating fixed disk 42, a rotating rod 43, a first rotating motor 44, a second rotating motor 45, a third camera 47, a baffle 48 and a connecting shaft 49.

[0101] One side of the arc-shaped connecting block 46 is placed on the side of the disc housing 22, and the other side of the arc-shaped connecting block 46 is placed on the rear side of the storage housing 39.

[0102] The storage housing 39 is a structure with an opening on the front side. A pressure sensor is disposed on the bottom surface of the storage housing 39, and a third camera 47 and a first distance measuring sensor are disposed on the top surface of the storage housing 39.

[0103] Preferably, the wall of the storage housing 39 is a hollow structure.

[0104] Preferably, the wall of the storage housing 39 is filled with a mixture of sponge and foam particles.

[0105] Preferably, the bottom surface height of the storage housing 39 is constant from one end to four fifths, and gradually decreases from four fifths to the other end, and the other end of the bottom surface of the storage housing 39 is flush with the front side surface of the storage housing 39.

[0106] The first rotary motor 44 and the second rotary motor 45 are respectively disposed on the left side of the storage housing 39 , wherein the first rotary motor 44 is close to the front side of the storage housing 39 , and the second rotary motor 45 is close to the rear side of the storage housing 39 .

[0107] One end of the rotating rod 43 passes through a through hole opened on the left side of the storage shell 39 and is connected to the motor shaft of the first rotating motor 44. The other end of the rotating rod 43 is placed on the right inner side of the storage shell 39 through a rotating bearing. A rotating bearing is placed between the rotating rod 43 and the left side of the storage shell 39.

[0108] The two rotating fixed plates 42 are respectively placed on the side of the rotating rod 43 through the through holes opened in the middle, and the two rotating fixed plates 42 are respectively close to the two ends of the rotating rod 43.

[0109] One end of a group of blade connecting rods 41 is respectively disposed on the side surfaces of the two rotating fixed disks 42. There are multiple blade connecting rods 41 in each group. One ends of the multiple blade connecting rods 41 in the same group are arranged equidistantly along the side surfaces of the rotating fixed disks 42. The two groups of blade connecting rods 41 correspond to each other one by one.

[0110] Preferably, the lengths of the plurality of blade connecting rods 41 in the same group are different.

[0111] Preferably, two adjacent blade connecting rods 41 in the same group are not on the same plane.

[0112] A strip wave blade 40 is placed between the other ends of the two corresponding groups of blade connecting rods 41, one end of the strip wave blade 40 is placed on the other end of one group of blade connecting rods 41, and the other end of the strip wave blade 40 is placed on the other end of the other group of blade connecting rods 41. The number of the strip wave blades 40 is the same as the number of the blade connecting rods 41 in each group.

[0113] The strip-shaped wave blade 40 is curved multiple times from one end to the other end.

[0114] Preferably, the strip-shaped wave blade 40 is a hollow structure except for the curved portion.

[0115] Preferably, the diameter of the strip-shaped wave blade 40 gradually decreases from the middle to both ends.

[0116] Preferably, a rolling tooth is disposed on the side of the strip wave blade 40, and there are a plurality of the rolling teeth, which are arranged equidistantly along the length direction of the strip wave blade 40, and two adjacent rolling teeth are arranged in a staggered manner, and the width of the rolling tooth gradually decreases from one side connected to the side of the strip wave blade 40 to the other side.

[0117] Preferably, the rolling teeth are made of rubber material.

[0118] One end of the connecting shaft 49 passes through a through hole opened on the left side of the storage housing 39 and is connected to the motor shaft of the second rotating motor 45. The other end of the connecting shaft 49 is placed on the right inner side of the storage housing 39 through a rotating bearing. A rotating bearing is placed between the connecting shaft 49 and the left side of the storage housing 39.

[0119] The baffle plate 48 is sleeved on the side of the connecting shaft 49 through a through hole in the middle, and the two ends of the baffle plate 48 are slidably in contact with the left and right inner side surfaces of the storage shell 39, and the two sides of the baffle plate 48 are slidably in contact with the inner top surface and the inner bottom surface of the storage shell 39, respectively.

[0120] The width of the baffle 48 is less than or equal to the distance from the rear side of the storage housing 39 to the rotating rod 43.

[0121] Preferably, the baffle 48 is a hollow arc-shaped structure.

[0122] Preferably, the thickness of the baffle 48 gradually decreases from the middle to both sides.

[0123] Preferably, the baffle 48 is made of a flexible and deformable material.

[0124] Preferably, the roll-to-roll structure is controlled by a sorting robot control system;

[0125] When in use, the roll-up structure is installed on the sorting robot and located between the express parcels stacked at the sorting port and the trolley. The small-sized express parcel is clamped by the clamp 8. The first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 are driven by the servo motor to move the small-sized express parcel to the corresponding trolley along a predetermined path. In the process, the small-sized express parcel may fall to the ground due to the shaking of the clamp 8 or insufficient clamping force. The third camera 47 captures images of the ground between the express parcels stacked at the sorting port and the trolley, and sends the captured image data signal to the signal converter. The signal converter converts the electrical signal of the received image data signal into a digital signal and sends it to the digital signal. The data processor calculates the pixel size of the image data if there is a dropped express package in the image data, calculates the actual size of the express package according to the ratio coefficient between the preset pixel size and the actual size, compares the actual size with the preset size, and if the actual size is smaller than the preset size, it means that the dropped express package is a small-sized express package. The first distance measuring sensor collects the distance between the storage shell 39 and the express package, and transmits the real-time signal to the central processor. The central controller plans the best path from the current position of the storage shell 39 to the express package according to the image information of the package and the distance deviation between the storage shell 39 and the express package. The central controller sends an execution instruction to the controller, and the controller controls the drive motor The machine and the first telescopic rod 19 drive the sorting robot to approach the express package along a predetermined path, the controller starts the first rotating motor 44, the first rotating motor 44 drives the rotating rod 43 to rotate, the rotating rod 43 drives the blade connecting rod 41 and the strip wavy blades 40 to rotate, and the plurality of strip wavy blades 40 rotate to drive the express package into the storage shell 39, the controller starts the second rotating motor 45, the second rotating motor 45 drives the connecting shaft 49 to rotate counterclockwise, so that the two sides of the baffle 48 are in contact with the inner top surface and the inner bottom surface of the storage shell 39, and the small-sized express packages stored are limited to prevent the small-sized express packages from slipping out of the storage shell 39 during the movement of the sorting robot, and the controller controls the sorting robot The system returns to the initial position along the preset path and continues to sort the express parcels. This process is repeated over and over again to store the dropped small-sized express parcels, thereby improving the sorting efficiency. The pressure sensor collects the pressure data on the bottom of the storage shell 39, and sends the collected pressure data to the signal converter. The signal converter converts the received electrical signal of the pressure data into a digital signal and sends it to the data processor. The data processor compares the digital signal of the pressure data with the preset pressure value. If the pressure data is equal to the preset pressure value, it means that the small-sized express parcels in the storage shell 39 are fully loaded, and a signal is sent to the terminal device of the staff to remind the staff to dump the small-sized express parcels in the storage shell 39 into the corresponding trolley in time. Example 2

[0126] The difference between this embodiment and embodiment 1 is that: the blade connecting rod 41 is replaced by a third telescopic rod 50, and a group of third telescopic rods 50 are respectively arranged on the sides of the two rotating fixed disks 42, and there are multiple third telescopic rods 50 in each group. The multiple third telescopic rods 50 in the same group are arranged equidistantly along the side of the rotating fixed disk 42, and the two groups of third telescopic rods 50 correspond to each other one by one; when in use, the length of the third telescopic rod 50 can be changed, and the length of the third telescopic rod 50 can be adjusted as needed to adapt to storage shells 39 of different heights, and the rotation range of the strip wave blades 40 is changed to adapt to small-sized express parcels of different sizes and shapes; Example 3

[0127] The difference between this embodiment and the first embodiment is that a flexible gasket 51 is disposed on the side of the baffle 48, and the edge of the flexible gasket 51 is connected to the side edge of the baffle 48; when in use, the flexible gasket 51 can play a role of buffering and protection, reduce the damage caused by direct collision and contact between the small-sized express parcel and the baffle 48, and reduce the extrusion deformation of the baffle 48;

[0128] The shell wall of the storage shell 39 is a hollow structure, which can reduce the weight of the storage shell 39, reduce the load-bearing capacity of the sorting robot, and increase the traveling speed of the sorting robot;

[0129] The design of the shell wall of the storage shell 39 being filled with a mixture of sponge and foam particles can effectively absorb and disperse the impact force of the small-sized express parcel entering the storage shell 39 and colliding with the shell wall, thereby improving the shock absorption and buffering performance of the storage shell 39, and at the same time improving the supporting capacity of the storage shell 39 for the small-sized express parcel, and reducing the deformation of the storage shell 39;

[0130] The height of the bottom surface of the storage shell 39 is constant from one end to four fifths, and gradually decreases from four fifths to the other end. The other end of the bottom surface of the storage shell 39 is flush with the front side surface of the storage shell 39, so that the bottom surface of the storage shell 39 is sloped. Driven by the strip wave blades 40, small-sized express parcels can slide and roll into the storage shell 39 more smoothly, and at the same time, the small-sized express parcels can be effectively prevented from being stuck or blocked in the storage shell 39, and the small-sized express parcels can enter the storage shell 39 more efficiently.

[0131] The design of different lengths of the plurality of blade connecting rods 41 in the same group can more effectively adapt to small-sized express parcels of irregular shapes or different sizes, and the structure is more flexible. At the same time, the internal space of the storage shell 39 can be better utilized, so that the distribution of small-sized express parcels is more uniform, and the collision and confusion between small-sized express parcels are reduced, thereby maximizing the space utilization rate of the storage shell 39;

[0132] The design that two adjacent blade connecting rods 41 in the same group are not on the same plane can expand the rotation coverage of the strip wave blades 40, and the contact area with small-sized express parcels is larger, so as to better adapt to small-sized express parcels of irregular shapes or different sizes, and maximize the space utilization of the storage shell 39;

[0133] The strip wave blade 40 is designed as a hollow structure except for the curved portion, which can reduce the weight of the strip wave blade 40, reduce the inertia of the strip wave blade 40, thereby reducing the rotation resistance of the strip wave blade 40, reducing the bending or deformation of the strip wave blade 40, and extending the service life of the strip wave blade 40;

[0134] The diameter of the strip wave blade 40 is designed to gradually decrease from the middle to the two ends. The contact area between the middle of the strip wave blade 40 and the small-sized express package is larger. The larger diameter can more effectively absorb and disperse the impact force of the small-sized express package on the strip wave blade 40. The gradually decreasing diameter at the two ends can reduce the rotation resistance of the strip wave blade 40 and reduce the deformation of the strip wave blade 40.

[0135] The side of the strip wave blade 40 is provided with rolling teeth, and there are multiple rolling teeth. The multiple rolling teeth are arranged equidistantly along the length direction of the strip wave blade 40, and two adjacent rolling teeth are arranged in a staggered manner. The width of the rolling teeth is designed to gradually decrease from the side connected to the side of the strip wave blade 40 to the other side. The rolling teeth cooperate with the strip wave blade 40, and the contact area with the small-sized express parcel is larger, which can more effectively drive the small-sized express parcel into the storage shell 39;

[0136] The baffle 48 is designed with a hollow arc structure, which can reduce the weight of the baffle 48, reduce the inertia of the baffle 48, thereby reducing the rotation resistance of the baffle 48, reducing the bending or deformation of the baffle 48 under the extrusion of small-sized express parcels, and extending the service life of the baffle 48. The baffle 48 with an arc structure has a larger contact area with the small-sized express parcels, and has a stronger limiting effect on the small-sized express parcels, which can better reduce the small-sized express parcels from slipping out of the storage shell 39 during the movement of the sorting robot;

[0137] The thickness of the baffle 48 is designed to gradually decrease from the middle to the two sides. The larger thickness in the middle can improve the connection stability between the baffle 48 and the connecting shaft 49 and reduce loosening and falling off during the rotation process. The smaller thickness on both sides can reduce the rotation resistance of the baffle 48 and reduce the deformation of the baffle 48.

[0138] The baffle 48 is designed with a flexible and deformable material, which can improve the deformation ability of the baffle 48, reduce the damage caused by the small-sized express parcels to the baffle 48, and extend the service life of the baffle 48;

[0139] The purpose is to drive the blade connecting rod 41 and the strip wave blade 40 to rotate through the first rotating motor 44, so that the fallen small-sized express parcels can be rolled into the storage shell 39, and the baffle 48 can be driven to rotate by the second rotating motor 45 to limit the small-sized express parcels in the storage shell 39 to reduce slipping.

[0140] The package dynamic rolling structure is suitable for the following sorting robots;

[0141] A sorting robot of the present invention is implemented as follows: A sorting robot of the present invention comprises a walking mechanism, a rotating mechanism and a clamping mechanism.

[0142] The walking mechanism is composed of a disc car body 22, a first rotating shaft 12, a tire 13, a driving motor housing 14, a U-shaped connecting member 15, a first hinge 16, a first telescopic rod 19, a second hinge 20, a connecting rod 21, a shock absorbing pad 28, a second telescopic rod 29, a spring 30, and a damper 31.

[0143] A connecting groove is provided on the side of the disc housing 22, and the notch of the connecting groove is flush with the side of the circumferential housing.

[0144] Preferably, the disc car shell 22 is a hollow structure, and the disc car shell 22 is non-saturatedly filled with fluid;

[0145] Preferably, there are a plurality of connecting grooves, and the plurality of connecting grooves are arranged equidistantly along the side surface of the circumferential vehicle shell.

[0146] One end of the connecting rod 21 is placed in the middle of the bottom of the connecting groove, and the other end of the connecting rod 21 is rotatably placed on one end of the U-shaped connecting member 15 through the second hinge 20.

[0147] The first telescopic rods 19 are respectively disposed on both sides of the connecting rod 21, one end of the first telescopic rod 19 is disposed at the bottom of the connecting groove, and the other end of the first telescopic rod 19 is rotatably disposed on the side of one end of the U-shaped connecting member 15 through the first hinge 16.

[0148] A drive motor housing 14 is disposed between the two side surfaces of the U-shaped connector 15. One end of the drive motor housing 14 is disposed on the inner side surface of one end of the U-shaped connector 15. The drive motor is disposed in the drive motor housing 14.

[0149] The top and bottom surfaces of the drive motor housing 14 are respectively provided with one end of a group of dampers 31, one end of the second telescopic rod 29 is placed on the other end of the damper 31, and the other end of the second telescopic rod 29 is respectively placed on the two inner sides of the U-shaped connector 15 through the shock-absorbing gasket 28.

[0150] The spring 30 is placed on the side of the second telescopic rod 29.

[0151] Preferably, there are multiple dampers 31 in the same group, and the multiple dampers 31 are arranged equidistantly along the length direction of the drive motor placement shell 14.

[0152] Preferably, the top surface and the bottom surface of the drive motor placement shell 14 are respectively provided with one end of a rubber column, and the other end of the rubber column is respectively provided with two inner side surfaces of the U-shaped connecting member 15, and there are a plurality of rubber columns, which are arranged equidistantly along the length direction of the drive motor placement shell 14, and the rubber columns and the dampers 31 are arranged in a staggered manner.

[0153] One end of the first rotating shaft 12 passes through a through hole opened at the other end of the driving motor placement shell 14 and is connected to the motor shaft of the driving motor. A bearing is disposed between the first rotating shaft 12 and the driving motor placement shell 14.

[0154] The other end of the first rotating shaft 12 is connected to the wheel axle of the tire 13.

[0155] Preferably, the walking mechanism is further provided with a detection mechanism, and the detection structure is composed of a first camera 9, a fixing plate 10 and a support rod 11.

[0156] The support rod 11 is placed on the top surface of the disc shell.

[0157] The bottom surface of the fixing plate 10 is placed on the top surface of the support rod 11, and the first camera 9 is placed on the top surface of the fixing plate 10.

[0158] The rotating mechanism is composed of a fixed base plate 17, a first connecting arm 18, a second connecting arm 23, a third connecting arm 24, a fourth connecting arm 25 and a rotating motor placement shell 26.

[0159] One end of the first connecting arm 18 is rotatably connected to the top surface of the disc housing 22 through the fixed bottom plate 17.

[0160] One end of the second connecting arm 23 is rotatably connected to the other end of the first connecting arm 18, the other end of the second connecting arm 23 is rotatably connected to one end of the third connecting arm 24, the other end of the third connecting arm 24 is connected to one end of the fourth connecting arm 25, and the height of one end of the second connecting arm 23 is smaller than the height of the other end.

[0161] The rotating motor housing 26 is embedded in the through slot opened at the other end of the fourth connecting arm 25, and the rotating motor is placed in the rotating motor housing 26.

[0162] The clamping mechanism is composed of a connecting shaft 4, a fixing sleeve 5, a connecting plate 1, a suction cup 2, a second camera 27, a vacuum pump 3, a first hook connecting piece 6, a second hook connecting piece 7, a clamping claw 8, a cylinder 32, a clamping claw connecting arm 33 and a push arm 34.

[0163] One end of the second rotating shaft passes through a through hole of the rotating motor housing 26 and is connected to the motor shaft of the rotating motor. A bearing is disposed between the second rotating shaft and the rotating motor housing 26.

[0164] The other end of the second rotating shaft is connected to the fixed sleeve 5.

[0165] The fixing sleeve 5 is placed on the side of the connecting shaft 4 through a through hole in the middle, one end of the connecting shaft 4 is placed on the vacuum pump 3, the connecting plate 1 is placed on the vacuum pump 3, the suction cup 2 is placed on the connecting plate 1, one end of the connecting pipe is connected to the air outlet of the vacuum pump 3 and communicated with each other, and the other end of the connecting pipe passes through the through hole on the connecting plate 1 and is connected to the suction cup 2 and communicated with each other.

[0166] The second camera 27 is placed on the bottom surface of the connecting plate 1, and the distance measuring sensor is placed on the bottom surface of the connecting plate 1.

[0167] The other end of the connecting shaft 4 is placed at one end of the cylinder 32.

[0168] One end of the push arm 34 is slidably disposed in the cylinder 32, and the other end of the push arm 34 is provided with a second hook connecting member 7.

[0169] The first hook-claw connecting member 6 is sleeved on the side of the push arm 34 through a through hole in the middle. The length of the first hook-claw connecting member 6 is greater than the length of the second hook-claw connecting member 7.

[0170] The two ends of the first hook-claw connecting member 6 correspond to one end of the clamping claw 8, and the two ends of the second hook-claw connecting member 7 correspond to one end of the clamping claw connecting arm 33, and the other end of the clamping claw connecting arm 33 corresponds to one third of the clamping claw 8.

[0171] The extension line of the other end of the two clamping jaws 8 coincides with the extension line of the other end of the push arm 34.

[0172] Preferably, the other end side surface of the clamping jaw 8 is provided with a plurality of anti-slip grooves at equal distances.

[0173] Preferably, the sorting robot is controlled to turn by a sorting robot steering system;

[0174] The present invention also relates to a sorting robot steering system, characterized in that the sorting robot steering system is composed of a speed sensor, a direction sensor, a central processor and a central controller, the speed sensor is connected to the central processor via a data line, the direction sensor is connected to the central processor via a data line, the central controller is connected to the two first telescopic rods 19 via a data transmission line, the central processor converts a digital signal into an electrical signal, and the sorting robot steering system implements the following steps when executed:

[0175] The travel speed sensor collects the travel speed of the sorting robot and transmits the real-time signal to the central processor. When the sorting robot turns, the travel direction sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the telescopic length of the two first telescopic rods 19 in real time according to the deviation, so that a length difference appears between the two first telescopic rods 19. The two first telescopic rods 19 drive the U-shaped connecting piece 15 to turn, the U-shaped connecting piece 15 drives the driving motor to turn, and the driving motor drives the tire 13 to turn, thereby achieving the purpose of steering the sorting robot.

[0176] Preferably, the sorting robot controls the rotation of the connecting arm through a sorting robot rotation system;

[0177] The present invention also relates to a sorting robot rotation system, characterized in that the sorting robot rotation system is composed of a distance sensor, a central processing unit and a central controller, the distance sensor is connected to the central processing unit through a data line, the central processing unit is connected to the central controller through a data line, the servo motor is connected to the central controller through a data line, the servo motor is connected to the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 through a gear transmission device, the central processing unit converts a digital signal into an electrical signal, and the sorting robot rotation control system implements the following steps when it is executed:

[0178] The distance measuring sensor collects the distance from the clamping jaw 8 or the suction cup 2 to the target position, and transmits the real-time signal to the central processor. The central processor compares the distance data with the preset distance, calculates the deviation between the clamping jaw 8 or the suction cup 2 and the target position, and sends it to the central controller. The central controller performs path planning according to the distance deviation, determines the best path from the current position of the clamping jaw 8 or the suction cup 2 to the target position, calculates the angle and position of the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 to ensure that the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 can move according to the predetermined path. According to the calculation results, the central controller sends instructions to the servo motor, and the servo motor drives the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 to move. During the movement, the central controller The device will continuously receive feedback information from the ranging sensor, and adjust the movement of the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 in real time based on this information to ensure that they move accurately along the predetermined path. After reaching the target position, and the clamping claw 8 or the suction cup 2 stably grasps the express parcel, the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 will sort the express parcels of different sizes into the corresponding trolleys according to the predetermined path. After the express parcels are successfully sorted, the central controller will confirm that the task has been completed and send an instruction to the servo motor. The servo motor drives the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 to move in the opposite direction and return to the initial position to sort the next express parcel. This cycle is repeated to sort the express parcels at each sorting port.

[0179] Preferably, the sorting robot further comprises a control system, wherein the control system comprises a signal converter, a data processor and a controller.

[0180] The signal converter is placed on the disc housing 22, the data processor is placed on the disc housing 22, and the controller is placed on the disc housing 22.

[0181] The first camera 9, the second camera 27, the third camera 47, the first distance measuring sensor and the pressure sensor are connected to the signal converter via a data line.

[0182] The driving motor, the rotating motor, the first rotating motor 44, the second rotating motor 45, the vacuum pump 3, the cylinder 32, and the third telescopic rod 50 are connected to the controller via data transmission lines, respectively.

[0183] The signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line.

[0184] The signal converter can convert the electrical signal of the image data collected by the first camera 9, the second camera 27, and the third camera 47 into a digital signal, and the signal converter can convert the electrical signal of the pressure data collected by the pressure sensor into a digital signal.

[0185] The controller can be implemented by one or at least two application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device.

[0186] The data processor and the signal converter perform information exchange,

[0187] When the control system is executed, the following steps are mainly implemented:

[0188] Before using the sorting robot to sort the express parcels, the control system presets in advance that the small-sized express parcels are clamped into the No. 1 trolley by the gripper 8, and the large-sized express parcels are sucked into the No. 2 trolley by the suction cup 2.

[0189] When the sorting robot is used to sort express parcels, the controller controls the driving motor, the driving motor drives the rotating shaft to rotate, the rotating shaft drives the tire 13 to rotate, so that the sorting robot starts to travel in a straight line according to the preset route, the speed sensor collects the speed of the sorting robot, and transmits the real-time signal to the central processor. When the sorting robot turns, the direction sensor transmits the expected signal to the central processor, and the central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the telescopic length of the two first telescopic rods 19 in real time according to the deviation, so that the two first telescopic rods 19 have a length difference, the two first telescopic rods 19 drive the U-shaped connecting piece 15 to turn, the U-shaped connecting piece 15 drives the driving motor to turn, and the driving motor drives the tire 13 to turn, so as to achieve the purpose of turning the sorting robot; the sorting robot arrives at a sorting port according to the preset route,

[0190] The distance measuring sensor collects the distance between the clamping jaw 8 or the suction cup 2 and the target position, and transmits the real-time signal to the central processor. The central processor calculates the distance deviation between the clamping jaw 8 or the suction cup 2 and the target position, and sends it to the central controller. The central controller plans the best path for the clamping jaw 8 or the suction cup 2 from the current position to the target position according to the distance deviation, calculates the angle and position of the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24. According to the calculation results, the central controller sends instructions to the servo motor, and the servo motor drives the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 to reach the target position along the predetermined path, that is, close to the express package. The second camera 27 captures the image of the express package and sends the captured image to the central controller. The image data signal is sent to the signal converter, the signal converter converts the received electrical signal of the image data signal into a digital signal and sends it to the data processor, the data processor calculates the pixel size of the image data, calculates the actual size of the express package according to the ratio coefficient between the preset pixel size and the actual size, compares the actual size with the preset size, if the actual size is smaller than the preset size, the clamp 8 is used to clamp the express package, the servo motor drives the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 to rotate to reach the top of the express package, the connecting shaft 4 is a double-rod cylinder 32, the controller controls the end rod corresponding to the connecting shaft 4 to extend, the controller controls the cylinder 32 to start, the cylinder 32 drives the push arm 34 to extend downward, so that the two The first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 then move the small-sized express package to the top of the corresponding No. 1 trolley according to the predetermined path, and then the cylinder 32 drives the push arm 34 to retract upward, so that the two clamps 8 separate and put the express package into the No. 1 trolley. The central controller confirms that the task has been completed and sends a command to the servo motor. The servo motor drives the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 to move in the opposite direction and return to the initial position to sort the next express package. If the actual size is larger than the preset size, the controller controls the rotating motor to start, and the rotating motor rotates 180 degrees. The rotating motor drives the connecting shaft 4 to rotate, and the connecting shaft 4 drives the suction cup 2 and The clamping claw 8 rotates and the express parcel is adsorbed and sorted through the suction cup 2. The servo motor drives the first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 to rotate to reach directly above the express parcel. The connecting shaft 4 is a double-rod cylinder 32. The controller controls the end rod corresponding to the connecting shaft 4 to extend. The controller controls the vacuum pump 3 to evacuate air, so that the suction cup 2 sucks the express parcel. The first connecting arm 18, the second connecting arm 23, and the third connecting arm 24 then move the large-sized express parcel to the corresponding No. 2 trolley according to the predetermined path. Then the controller controls the vacuum pump 3 to stop working, and the express parcel loses the adsorption force and falls from the suction cup 2 into the No. 2 trolley. This cycle is repeated to achieve the sorting of express parcels at different sorting ports according to size.It can facilitate the subsequent loading work, so that express parcels of different sizes can be transported separately, or the large express parcels can be placed at the bottom first, and the small express parcels can be stacked on the large express parcels, which can make full use of the space in the vehicle, prevent large express parcels from squeezing small express parcels, and reduce damage to the express parcels;. Example 2

[0191] The difference between this embodiment and the first embodiment is that: a rubber protrusion 35 is arranged on the side of the tire 13; there are multiple rubber protrusions 35, and the multiple rubber protrusions 35 are arranged without spacing along the side of the tire 13; when in use, the rubber protrusions 35 can increase the contact area and friction between the tire 13 and the ground, improve the grip of the tire 13, reduce the up and down bouncing of the tire 13 when encountering uneven ground, and make the driving stability of the sorting robot better; at the same time, the rubber protrusions 35 can disperse the impact and wear of the tire 13 during driving, reduce the damage to the tire 13 as a whole, and extend the service life of the tire 13; Example 3

[0192] The difference between this embodiment and embodiment 1 is that the suction cup 2 is replaced by a small suction cup 37, the small suction cup 37 is placed on the top surface of the connecting plate 1, one end of the connecting six-way 38 is connected to the air outlet of the vacuum pump 3 and communicates with it, the other end of the connecting six-way 38 is placed on the bottom surface of the connecting plate 1, one end of the connecting pipe 36 is connected to the connecting six-way 38 and communicates with the connecting six-way 38, the other end of the connecting pipe 36 passes through the through hole opened on the connecting plate 1 and is connected to the small suction cup 37 and communicates with the small suction cup 37. The six-way connection 38 can be replaced by a four-way connection and a five-way connection. There are multiple small suction cups 37, and the multiple small suction cups 37 are evenly distributed on the top surface of the connecting plate 1. The multiple small suction cups 37 correspond to the multiple connecting pipes 36 one by one. When in use, the multiple small suction cups 37 can increase the adsorption area of ​​the express parcel, improve the adsorption force on the express parcel, reduce the express parcel falling due to shaking when the sorting robot moves the express parcel to the No. 2 trolley, reduce the damage of the express parcel, and improve the sorting efficiency.

[0193] The disc housing 22 is a hollow structure. The disc housing 22 is non-saturated with fluid, which can lower the center of gravity of the disc housing 22, improve the stability of the sorting robot, reduce the unstable movement or even rollover caused by the uneven ground encountered by the sorting robot when traveling from one sorting port to another, and reduce the wear of the sorting robot;

[0194] The top and bottom surfaces of the drive motor placement shell 14 correspond to one end of a rubber column, respectively, and the other ends of the rubber column correspond to the two inner sides of the U-shaped connector 15, respectively. There are multiple rubber columns, and the multiple rubber columns are equidistantly arranged along the length direction of the drive motor placement shell 14. The rubber columns and the dampers 31 are designed to be staggered. When the sorting robot travels from one sorting port to another and encounters an uneven ground, the rubber columns and the dampers 31 can further absorb shock and vibration, improve the shock absorption performance of the sorting robot, and reduce the impact of external shock and vibration on the sorting robot. At the same time, it can buffer the impact force and prevent the U-shaped connector 15 from shaking violently or deforming when it is impacted, thereby improving the stability of the U-shaped connector 15;

[0195] The walking mechanism is also provided with a detection mechanism, which is composed of a first camera 9, a fixed disk 10 and a support rod 11. The support rod 11 is placed on the top surface of the disk shell, and the bottom surface of the fixed disk 10 is placed on the top surface of the support rod 11. The first camera 9 is placed on the top surface of the fixed disk 10. When the sorting robot moves from one sorting port to another sorting port, the first camera 9 collects the image in front of the sorting robot's route in real time, and sends the collected image data to the signal converter. The signal converter converts the electrical signal of the image data into a digital signal and sends it to the data processor. The data processor processes the digital signal of the image data collected by the first camera 9, and identifies whether there is an obstacle in the image data. When there is an obstacle, the controller adjusts the telescopic length of the two first telescopic rods 19 in real time according to the deviation, so that the two first telescopic rods 19 have a length difference, and the two first telescopic rods 19 drive the U-shaped connector 15 to turn, the U-shaped connector 15 drives the drive motor to turn, and the drive motor drives the tire 13 to turn, so that the sorting robot can avoid obstacles in advance;

[0196] The other end side of the clamping jaw 8 is equidistantly provided with a plurality of anti-slip grooves, which can increase the friction between the clamping jaw 8 and the express parcel, reduce the sliding between the clamping jaw 8 and the express parcel, and reduce the falling of the express parcel when the sorting robot moves the express parcel to the No. 1 trolley;

[0197] The rotating mechanism cooperates with the design of the clamping mechanism. The rotating mechanism can make the clamping mechanism close to the top of the express package to clamp the express package. At the same time, it can make the clamping mechanism reach the top of the corresponding trolley to put the express package into the corresponding trolley to realize the sorting of the express package.

[0198] The disc body 22 and the drive motor cooperate with the first telescopic rod 19, so that the multiple tires 13 can achieve straight-line driving and turning driving under the drive of the drive motor and the first telescopic rod 19, so that the sorting robot can reach another sorting port from one sorting port according to a preset travel route, and sort express parcels at multiple different sorting ports. In addition, the multiple tires 13 can all be turned, and the deflection angle of the body and the travel direction during turning is small, which can reduce the rotation and side slip of the sorting robot during turning. The drive motor can be used to realize the on-the-spot U-turn through the forward and reverse rotation to increase the travel speed. The sorting robot is suitable for narrow roads and warehouses with limited space.

[0199] The traveling mechanism can be used to enable the sorting robot to move, improve shock absorption performance, and reduce requirements on the road surface. The rotating mechanism cooperates with the clamping mechanism to sort express parcels of different sizes to corresponding trolleys, thereby achieving the purpose of sorting express parcels.

[0200] It should be noted that, unless otherwise clearly specified and limited, the terms "placed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection method such as a folding connection, a rivet connection, a pin connection, an adhesive connection and a welding connection, or a detachable connection method such as a threaded connection, a snap connection and a hinge connection, or an integral connection, or an electrical connection, or a direct connection, or an indirect connection through an intermediate medium, or the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0201] It should be further pointed out that, when describing the above specific embodiment, for the sake of simplicity and clarity, only the differences between the above specific embodiment and other embodiments are described, but those skilled in the art should know that the above specific embodiment itself is also an independent technical solution.

[0202] It should be noted that the terms "front", "rear", "left" and "right" in the present invention are used in conjunction with the accompanying drawings. Figure 6 The “front”, “back”, “left” and “right” in the text shall prevail.

Claims

1. A dynamic rolling structure for a sorting robot package, characterized by: The invention is composed of a disc car body, an arc-shaped connecting block, a storage shell, strip-shaped wavy blades, a blade connecting rod, a rotating fixed disk, a rotating rod, a first rotating motor, a second rotating motor, a third camera, a baffle and a connecting shaft. One side of the arc-shaped connecting block is placed on the side of the disc car body, and the other side of the arc-shaped connecting block is placed on the rear side of the storage shell. The storage shell is a structure with an opening on the front side. A pressure sensor is placed on the bottom surface of the storage shell, and a third camera and a first ranging sensor are placed on the top surface of the storage shell. The first rotating motor and the second rotating motor are respectively placed on the left side of the storage shell, the first rotating motor is close to the front side of the storage shell, and the second rotating motor is close to the rear side of the storage shell. One end of the rotating rod passes through a through hole opened on the left side of the storage shell and is connected to the motor shaft of the first rotating motor, and the other end of the rotating rod is placed on the right inner side of the storage shell through a rotating bearing, and a rotating bearing is placed between the rotating rod and the left side of the storage shell, and two rotating fixed disks are respectively placed on the side of the rotating rod through the through holes opened in the middle, and the two rotating fixed disks are respectively close to the two ends of the rotating rod, and the sides of the two rotating fixed disks are respectively provided with one end of a group of blade connecting rods, and there are multiple blade connecting rods in each group, and one ends of the multiple blade connecting rods in the same group are equidistantly arranged along the side of the rotating fixed disk, and the two groups of blade connecting rods correspond to each other, and the two groups are opposite. A strip wavy blade is placed between the other ends of the corresponding blade connecting rods, one end of the strip wavy blade is placed on the other end of one group of the blade connecting rods, and the other end of the strip wavy blade is placed on the other end of the other group of the blade connecting rods. One end of the connecting shaft passes through a through hole opened on the left side of the storage shell and is connected to the motor shaft of the second rotating motor. The other end of the connecting shaft is placed on the right inner side of the storage shell through a rotating bearing. A rotating bearing is placed between the connecting shaft and the left side of the storage shell. A baffle is placed on the side of the connecting shaft through a through hole sleeve opened in the middle. A sorting robot includes a walking mechanism, a rotating mechanism and a clamping mechanism. The walking mechanism consists of a disc car shell, a first rotating shaft, a wheel The disc car body is composed of a tire, a driving motor placement shell, a U-shaped connector, a first hinge, a first telescopic rod, a second hinge, a connecting rod, a shock-absorbing gasket, a second telescopic rod, a spring and a damper. A connecting groove is opened on the side of the disc car body, and the notch of the connecting groove is flush with the side of the circumferential car body. The disc car body is a hollow structure, and the disc car body is unsaturatedly filled with fluid; there are multiple connecting grooves, and the multiple connecting grooves are equidistantly arranged along the circumferential direction of the side of the circumferential car body. One end of the connecting rod is placed in the middle of the bottom of the connecting groove, and the other end of the connecting rod is rotatably placed on one end of the U-shaped connector through the second hinge. The first telescopic rods are respectively arranged on both sides of the connecting rod, and one end of the first telescopic rod is placed at the bottom of the connecting groove.The other end of the first telescopic rod is rotatably placed on the side surface of one end of the U-shaped connecting member through the first hinge part, a driving motor placement shell is placed between the two side surfaces of the U-shaped connecting member, one end of the driving motor placement shell is placed on the inner side surface of one end of the U-shaped connecting member, the driving motor is placed in the driving motor placement shell, and the top surface and the bottom surface of the driving motor placement shell are respectively corresponding to one end of a group of dampers, one end of the second telescopic rod is placed on the other end of the damper, and the other ends of the second telescopic rod are respectively placed on the two inner side surfaces of the U-shaped connecting member through shock-absorbing gaskets, and a spring sleeve is placed on the side surface of the second telescopic rod. There are multiple dampers in the same group, and the multiple dampers are equidistantly arranged along the length direction of the driving motor placement shell. The top surface and the bottom surface of the driving motor placement shell are respectively provided with one end of a rubber column, and the other ends of the rubber column are respectively provided with two inner side surfaces of the U-shaped connecting piece, and there are multiple rubber columns, and the multiple rubber columns are arranged equidistantly along the length direction of the driving motor placement shell, and the rubber columns and the dampers are arranged in a staggered manner, one end of the first rotating shaft passes through the through hole opened at the other end of the driving motor placement shell and is connected to the motor shaft of the driving motor, a bearing is provided between the first rotating shaft and the driving motor placement shell, and the other end of the first rotating shaft is connected to the wheel axle of the tire, and a detection mechanism is also provided on the walking mechanism, and the detection structure is composed of a first camera, a fixed plate and a support rod, and the support rod is placed on the top surface of the disc shell, and the bottom surface of the fixed plate The cam is placed on the top surface of the support rod, the first camera is placed on the top surface of the fixed disk, the rotating mechanism is composed of a fixed bottom plate, a first connecting arm, a second connecting arm, a third connecting arm, a fourth connecting arm and a rotating motor placement shell, one end of the first connecting arm is rotatably connected to the top surface of the disc car shell through the fixed bottom plate, one end of the second connecting arm is rotatably connected to the other end of the first connecting arm, the other end of the second connecting arm is rotatably connected to one end of the third connecting arm, the other end of the third connecting arm is connected to one end of the fourth connecting arm, the height of one end of the second connecting arm is less than the height of the other end, the rotating motor placement shell is embedded in the through groove opened at the other end of the fourth connecting arm, the rotating motor is placed in the rotating motor placement shell, and the clamping mechanism is composed of a connecting shaft, a fixed The invention comprises a fixed sleeve, a connecting plate, a suction cup, a second camera, a vacuum pump, a first hook connecting piece, a second hook connecting piece, a clamp, a cylinder, a clamp connecting arm and a push arm. One end of the second rotating shaft passes through a through hole opened in the rotating motor placement shell and is connected to the motor shaft of the rotating motor. A bearing is arranged between the second rotating shaft and the rotating motor placement shell. The other end of the second rotating shaft is connected to the fixed sleeve. The fixed sleeve is arranged on the side of the connecting shaft through a through hole sleeve opened in the middle. One end of the connecting shaft is placed on the vacuum pump. The connecting plate is placed on the vacuum pump. The suction cup is placed on the connecting plate. One end of the connecting pipe is connected to the air outlet of the vacuum pump and communicated with each other. The other end of the connecting pipe passes through the through hole opened in the connecting plate and is connected with the suction cup and communicated with each other.The second camera is placed on the bottom surface of the connecting plate, the ranging sensor is placed on the bottom surface of the connecting plate, the other end of the connecting shaft is placed on one end of the cylinder, the connecting shaft is a double-rod cylinder, one end of the push arm can be slidably placed in the cylinder connected to the other end of the connecting shaft, and the other end of the push arm is provided with a second hook claw connecting piece, the first hook claw connecting piece is placed on the side of the push arm through a through hole sleeve opened in the middle, the length of the first hook claw connecting piece is greater than the length of the second hook claw connecting piece, the two ends of the first hook claw connecting piece correspond to one end of the clamping claw respectively hingedly placed, the two ends of the second hook claw connecting piece correspond to one end of the clamping claw connecting arm respectively hingedly placed, the other end of the clamping claw connecting arm is respectively hingedly placed at one-third of the clamping claw, and the two clamping claws The extension line of the other end of the gripper coincides with the extension line of the other end of the push arm, and a plurality of anti-skid grooves are equidistantly provided on the side of the other end of the gripper. The sorting robot controls steering through a sorting robot steering system; the sorting robot steering system is composed of a speed sensor, a direction sensor, a central processing unit and a central controller. The speed sensor is connected to the central processing unit through a data line, the direction sensor is connected to the central processing unit through a data line, and the central controller is connected to the two first telescopic rods through a data transmission line. The central processing unit converts digital signals into electrical signals. When the sorting robot steering system is executed, the following steps are implemented: the speed sensor collects the speed of the sorting robot, and converts the real-time information The signal is transmitted to the central processor. When the sorting robot turns, the direction sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the telescopic length of the two first telescopic rods in real time according to the deviation, so that a length difference appears between the two first telescopic rods. The two first telescopic rods drive the U-shaped connecting piece to turn, the U-shaped connecting piece drives the driving motor to turn, and the driving motor drives the tire to turn, so as to achieve the purpose of turning the sorting robot. The sorting robot controls the rotation of the connecting arm through a sorting robot rotation system; the sorting robot rotation system is composed of a ranging sensor, a central processor and a central controller. The sensor is connected to the central processor via a data line, the central processor is connected to the central controller via a data line, the servo motor is connected to the central controller via a data line, the servo motor is respectively connected to the first connecting arm, the second connecting arm, and the third connecting arm via a gear transmission device, the central processor converts the digital signal into an electrical signal, and the following steps are implemented when the sorting robot rotation control system is executed: the distance measuring sensor collects the distance from the clamping claw or suction cup to the target position, and transmits the real-time signal to the central processor, the central processor compares the distance data with the preset distance, calculates the deviation between the clamping claw or suction cup and the target position, and sends it to the central controller, and the central controller performs path planning according to the distance deviation,Determine the best path for the gripper or suction cup from the current position to the target position, calculate the angles and positions of the first connecting arm, the second connecting arm, and the third connecting arm to ensure that the first connecting arm, the second connecting arm, and the third connecting arm can move along the predetermined path. According to the calculation results, the central controller sends instructions to the servo motor, and the servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to move. During the movement, the central controller will continuously receive feedback information from the ranging sensor, and adjust the movement of the first connecting arm, the second connecting arm, and the third connecting arm in real time based on this information to ensure that they move accurately along the predetermined path. After reaching the target position and the gripper or suction cup stably grasps the express package, the first connecting arm, The second connecting arm and the third connecting arm then sort the express parcels of different sizes into the corresponding trolleys according to the predetermined path. After the express parcels are successfully sorted, the central controller will confirm that the task has been completed and send instructions to the servo motor. The servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to move in the opposite direction and return to the initial position to sort the next express parcel. This cycle is repeated to sort the express parcels at each sorting port. The sorting robot also includes a control system, which includes a signal converter, a data processor and a controller. The signal converter is placed on the disc shell, the data processor is placed on the disc shell, the controller is placed on the disc shell, and the first camera and The second camera is connected to the signal converter via a data line, the drive motor, the rotating motor, the vacuum pump, and the cylinder are respectively connected to the controller via data transmission lines, the signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line. The signal converter can convert the electrical signals of the image data collected by the first camera and the second camera into digital signals. The controller can be implemented by one or at least two application-specific integrated circuits (ASICs), programmable logic devices (PLDs), controllers or other electronic components to execute instructions of the data processor. The data processor and the signal converter perform Information interaction, when the control system is executed, the following steps are mainly implemented: before using the sorting robot to sort express parcels, the control system presets in advance that the small-sized express parcels are clamped into cart No. 1 by the clamping claws, and the large-sized express parcels are adsorbed into cart No. 2 by the suction cups. When using the sorting robot to sort express parcels, the controller controls the drive motor, the drive motor drives the shaft to rotate, and the shaft drives the tire to rotate, so that the sorting robot starts to drive in a straight line according to the preset route. The speed sensor collects the speed of the sorting robot and transmits the real-time signal to the central processor. When the sorting robot turns, the direction sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal.The telescopic length of the two first telescopic rods is adjusted in real time according to the deviation, so that a length difference appears between the two first telescopic rods, the two first telescopic rods drive the U-shaped connector to turn, the U-shaped connector drives the drive motor to turn, and the drive motor drives the tire to turn, so as to achieve the purpose of turning the sorting robot; the sorting robot arrives at a sorting port according to a preset route, the distance sensor collects the distance between the clamp or suction cup and the target position, and transmits the real-time signal to the central processor, the central processor calculates the distance deviation between the clamp or suction cup and the target position, and sends it to the central controller, the central controller plans the best path from the current position to the target position according to the distance deviation, calculates the angle and position of the first connecting arm, the second connecting arm, and the third connecting arm, according to the calculation result, the central controller sends a command to the servo motor, the servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to arrive at the target position according to the preset path, that is, close to the express package, the second camera collects images of the express package, and sends the collected image data signal to the signal converter, and the signal converter converts the received image data The electrical signal of the signal is converted into a digital signal and sent to a data processor. The data processor calculates the pixel size of the image data, calculates the actual size of the express package according to the ratio coefficient between the preset pixel size and the actual size, compares the actual size with the preset size, and if the actual size is smaller than the preset size, uses a clamp to clamp the express package. The servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to rotate to reach the top of the express package. The connecting shaft is a double-rod cylinder. The controller controls the end rod corresponding to the connecting shaft to extend. The controller controls the cylinder to start. The cylinder drives the push arm to extend downward so that the two clamps clamp the express package. The first connecting arm, the second connecting arm, and the third connecting arm then move the small-sized express package to the top of the corresponding No. 1 trolley according to the predetermined path, and then the cylinder drives the push arm to retract upward so that the two clamps separate and put the express package into the No. 1 trolley. The central controller confirms that the task has been completed and sends an instruction to the servo motor. The servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to move in the opposite direction and return to the initial position to sort the next express package. If the actual size is larger than the preset size, the controller controls the rotating motor to start, the rotating motor rotates 180 degrees, the rotating motor drives the connecting shaft to rotate, the connecting shaft drives the suction cup and the clamping claw to rotate, and the express parcel is adsorbed and sorted by the suction cup, the servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to rotate to reach the top of the express parcel, the controller controls the end rod corresponding to the connecting shaft to extend, the controller controls the vacuum pump to pump air, so that the suction cup sucks the express parcel, and the first connecting arm, the second connecting arm, and the third connecting arm then move the large-sized express parcel to the top of the corresponding No. 2 trolley according to the predetermined path, and then the controller controls the vacuum pump to stop working, the express parcel loses the adsorption force and falls from the suction cup into the No. 2 trolley, and so on and so forth, so as to realize the sorting of express parcels at different sorting ports according to size, which can facilitate the subsequent loading work, so that express parcels of different sizes can be transported separately, or the large express parcel is placed below first, and the small express parcel is stacked on the large express parcel, which can make full use of the space in the vehicle, prevent the large-sized express parcel from squeezing the small-sized express parcel, and reduce the damage of the express parcel.

2. The dynamic package rolling structure of a sorting robot according to claim 1, characterized in that The blade connecting rod is replaced by a third telescopic rod, and a group of third telescopic rods are respectively arranged on the sides of the two rotating fixed disks. There are multiple third telescopic rods in each group, and the multiple third telescopic rods in the same group are arranged equidistantly along the side of the rotating fixed disk, and the two groups of third telescopic rods correspond to each other one by one.

3. The dynamic package rolling structure of a sorting robot according to claim 1, characterized in that A flexible gasket is arranged on the side of the baffle, and the edge of the flexible gasket is connected to the side edge of the baffle.

4. The dynamic package rolling structure of a sorting robot according to claim 1, characterized in that The shell wall of the storage shell is a hollow structure, which can reduce the weight of the storage shell, reduce the load-bearing capacity of the sorting robot, and increase the traveling speed of the sorting robot; the shell wall of the storage shell is filled with a mixture of sponge and foam particles, which can effectively absorb and disperse the impact force of small-sized express parcels colliding with the shell wall after entering the storage shell, thereby improving the shock absorption and buffering performance of the storage shell, while improving the supporting capacity of the storage shell for small-sized express parcels and reducing the deformation of the storage shell; the bottom surface height of the storage shell remains unchanged from one end to four-fifths, and gradually decreases from four-fifths to the other end, and the other end of the bottom surface of the storage shell is flush with the front side surface of the storage shell, so that the bottom surface of the storage shell is sloped, and small-sized express parcels can slide and be rolled into the storage shell more smoothly under the drive of the strip wavy blades, while effectively avoiding the jamming or blockage of small-sized express parcels in the storage shell, and small-sized express parcels are more efficient in entering the storage shell.

5. The dynamic package rolling structure of a sorting robot according to claim 1, characterized in that The lengths of the multiple blade connecting rods in the same group are different, which can more effectively adapt to small-sized express parcels of irregular shapes or different sizes, and the structure is more flexible. At the same time, it can better utilize the internal space of the storage shell, so that the distribution of small-sized express parcels is more even, reducing collisions and confusion between small-sized express parcels, and maximizing the space utilization of the storage shell; the two adjacent blade connecting rods in the same group are not on the same plane, which can expand the rotation coverage range of the strip wave blades, and the contact area with small-sized express parcels is larger, which can better adapt to small-sized express parcels of irregular shapes or different sizes, and maximize the space utilization of the storage shell.

6. The dynamic package rolling structure of a sorting robot according to claim 1, characterized in that The number of the strip wave blades is the same as the number of the blade connecting rods in each group. The strip wave blades are bent in arcs multiple times from one end to the other end. The strip wave blades are hollow structures except for the bent parts, which can reduce the weight of the strip wave blades and reduce the inertia of the strip wave blades, thereby reducing the rotational resistance of the strip wave blades, reducing the bending or deformation of the strip wave blades, and extending the service life of the strip wave blades.

7. The dynamic package rolling structure of a sorting robot according to claim 6, characterized in that The diameter of the strip wave blade gradually decreases from the middle to the two ends, and the contact area between the middle of the strip wave blade and the small-sized express parcel is larger. The larger diameter can more effectively absorb and disperse the impact force of the small-sized express parcel on the strip wave blade, and the gradually decreasing diameter at the two ends can reduce the rotational resistance of the strip wave blade and reduce the deformation of the strip wave blade; the side of the strip wave blade is provided with a rolling tooth, and there are multiple rolling teeth. The multiple rolling teeth are arranged equidistantly along the length direction of the strip wave blade, and two adjacent rolling teeth are staggered. The width of the rolling tooth gradually decreases from one side connected to the side of the strip wave blade to the other side. The rolling tooth cooperates with the strip wave blade, and the contact area with the small-sized express parcel is larger, which can more effectively drive the small-sized express parcel into the storage shell; the rolling tooth is made of rubber material.

8. The dynamic package rolling structure of a sorting robot according to claim 1, characterized in that The two ends of the baffle are respectively slidably in contact with the left and right inner side surfaces of the storage shell, the two sides of the baffle are respectively slidably in contact with the inner top surface and inner bottom surface of the storage shell, and the width of the baffle is less than or equal to the distance from the rear side surface of the storage shell to the rotating rod.

9. The dynamic package rolling structure of a sorting robot according to claim 8, characterized in that The baffle has a hollow arc structure, which can reduce the weight of the baffle, reduce the inertia of the baffle, thereby reducing the rotational resistance of the baffle, reduce the bending or deformation of the baffle under the extrusion of small-sized express parcels, and extend the service life of the baffle. The baffle with an arc structure has a larger contact area with the small-sized express parcel, and has a stronger limiting effect on the small-sized express parcel, which can better reduce the small-sized express parcel from slipping out of the storage shell during the movement of the sorting robot; the thickness of the baffle gradually decreases from the middle to both sides, and the larger thickness in the middle can improve the connection stability between the baffle and the connecting shaft, reduce loosening and falling off during rotation, and the small thickness on both sides can reduce the rotational resistance of the baffle and reduce the deformation of the baffle; the baffle is made of a flexible and deformable material, which can improve the deformation ability of the baffle, reduce the damage to the baffle caused by the extrusion of small-sized express parcels, and extend the service life of the baffle.

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