A sorting robot touch deceleration and tire maintenance structure and a sorting robot

Abstract

The application discloses a sorting robot touch deceleration and tire maintenance structure and a sorting robot, which can provide braking force for the tire, realize deceleration of the tire, clean dust and chippings on the surface of the tire, improve friction between the tire and the ground, and reduce a deceleration structure of the sorting robot slipping. The sorting robot touch deceleration and tire maintenance structure is characterized by being composed of a supporting assembly and a cleaning deceleration assembly. The supporting assembly is composed of a disc car shell, a first rotating shaft, a tire, a driving motor placement shell, a U-shaped connecting piece, a first hinged piece, a first telescopic rod, a second hinged piece, a connecting rod, a shock pad, a second telescopic rod, a spring and a damper. The cleaning deceleration assembly is composed of an L-shaped connecting plate, a first supporting plate, a rotating connecting block, a fifth connecting arm, a connecting rotating shaft, a sixth connecting arm, a seventh connecting arm, a brake piece, a brush, a second supporting plate and a third telescopic rod.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of installation on the deceleration structure of sorting robot, belongs to intelligent logistics technical field, especially to a kind of deceleration structure, which can provide braking force for tire, realize the deceleration of tire, can clean the dust and debris on the surface of tire, improve the friction between tire and ground, reduce the deceleration of sorting robot that third telescopic rod drives brush and tire to contact. BACKGROUND

[0002] With the development of society, online shopping has become the main shopping way of consumers. In the process of sending express packages from the origin to the destination, the express packages need to be sorted and stacked into different sorting ports according to different destinations, and then moved to the express package loading point corresponding to the sorting port by a trolley or other moving device to realize the transfer of express packages. At present, the main way to sort the express packages stacked in the sorting port onto the trolley is mainly manual, but manual sorting is low in efficiency, high in labor intensity, and different workers need to be arranged at different sorting ports, which is high in labor cost. Therefore, sorting robots emerge as the times require. One sorting robot can serve multiple sorting ports at the same time. After a preset time interval, the sorting robot moves from one sorting port to another according to a preset travel route, and sorts the express packages in different sorting ports onto the corresponding trolleys, which is high in sorting efficiency and low in labor cost. The walking base of the existing sorting robot is generally a structure with two tires in front and two tires at the back. Two of the tires are responsible for walking, and the other two tires are responsible for steering. When steering, the deflection angle of the body and the travel direction is large, which is easy to slide sideways. When moving from one sorting port to another, the sorting robot cannot turn around in place and return, which is not suitable for narrow roads and warehouses with limited space. In addition, the center of gravity is high, and no damping device is provided. When moving from one sorting port to another, the sorting robot will be repeatedly hit hard and bounce up and down when encountering uneven ground, which is easy to cause wear and tear of the sorting robot and affect the travel speed. At the same time, the existing sorting robot generally has a hand grip type mechanical clamp to move the express packages from the stacking point to the trolley. For small-sized express packages, the hand grip type mechanical clamp can easily clamp and move them. For large-sized express packages, the hand grip type mechanical clamp cannot effectively clamp the express packages or can only clamp part of the express packages, which is small in clamping force and may cause the express packages to fall off, resulting in damage to the express packages and reducing the sorting efficiency. In addition, the existing sorting robot moves all express packages of different sizes in the same sorting port into the same trolley. Large-sized express packages are stacked on small-sized express packages, which is easy to cause damage to small-sized express packages, and the space utilization of the trolley is low.

[0003] CN117484470A discloses a mobile collaborative robot, including a mechanical hand, also including a mobile chassis and a camera, the mobile chassis includes a base and a driving mechanism, the mechanical hand is installed on the base, the driving mechanism is used to drive the base to move; the mechanical hand has at least one segment that forms an angle of <60° with the horizontal plane when grabbing express, and this segment is called a horizontal arm; the camera is movably installed on the horizontal arm of the mechanical hand, and is used to shoot the obliquely downward of the mechanical hand; the base is provided with a control module, and the control module is electrically connected with the camera, the driving mechanism and the mechanical hand. The driving mechanism of the above-mentioned mobile collaborative robot is a track type structure, the driving speed is slow, the contact area with the ground is large, the friction is large, the steering is difficult, the original turning cannot be realized, the flexibility is poor, and it is not suitable for narrow road and space-limited warehouse; and the center of gravity is high, no damping device is arranged, when encountering uneven ground, it will be repeatedly hit and bounce up and down, which is easy to cause the falling of the express package moved by the sorting robot, and affects the safe sorting of the express package; at the same time, the mechanical hand of the above-mentioned mobile collaborative robot is a way to simulate human hand to grab express package, for the express package with smaller size, it can easily be clamped and moved, for the express package with larger size, the hand type mechanical clamp jaw cannot effectively clamp the express package or can only clamp part of the express package, the clamping force is small, and in the process of moving the express package to the corresponding container, the express package may fall off, causing damage to the express package and reducing the sorting efficiency.

[0004] In order to improve the above problems, the applicant has filed another Chinese invention patent application with the title of "a sorting robot", which needs to move back and forth between multiple sorting ports to sort express packages of multiple sorting ports, when the moving speed of the sorting robot is high, it cannot slow down in time before reaching the sorting port, so as to accurately reach the position of the sorting port; at the same time, some dust and debris will be attached to the tire during contact and rotation with the ground, which will easily affect the friction between the tire and the ground, resulting in the decrease of the grip force and increasing the risk of slipping of the sorting robot. SUMMARY

[0005] In order to improve the above situation, the touch deceleration and tire maintenance structure of the sorting robot and the sorting robot provide a deceleration structure which can provide braking force for the tire by driving the brush and the tire into contact, realize the deceleration of the tire, clean the dust and debris on the surface of the tire, improve the friction between the tire and the ground, and reduce the risk of slipping of the sorting robot.

[0006] The touch deceleration and tire maintenance structure of the sorting robot and the sorting robot are realized as follows: the touch deceleration and tire maintenance structure of the sorting robot is composed of a supporting assembly and a cleaning and deceleration assembly,

[0007] The support assembly is composed of a disc-shaped vehicle shell, a first rotating shaft, a tire, a driving motor placement shell, a U-shaped connecting piece, a first hinged piece, a first telescopic rod, a second hinged piece, a connecting rod, a shock pad, a second telescopic rod, a spring and a damper,

[0008] The side surface of the disc-shaped vehicle shell is provided with a connecting groove, the groove opening of the connecting groove is flush with the side surface of the disc-shaped vehicle shell,

[0009] Preferably, the connecting groove has multiple connecting grooves, and the multiple connecting grooves are arranged equidistantly along the circumferential direction of the side surface of the disc-shaped vehicle shell,

[0010] One end of the connecting rod is arranged in the middle of the groove bottom of the connecting groove, and the other end of the connecting rod is rotatably arranged at one end of the U-shaped connecting piece through the second hinged piece,

[0011] The two sides of the connecting rod are respectively provided with the first telescopic rod, one end of the first telescopic rod is rotatably arranged at the groove bottom of the connecting groove, and the other end of the first telescopic rod is rotatably arranged at the side surface of one end of the U-shaped connecting piece through the first hinged piece,

[0012] The driving motor placement shell is arranged between the two side surfaces of the U-shaped connecting piece, one end of the driving motor placement shell is arranged at the inner side surface of one end of the U-shaped connecting piece, and the driving motor is arranged in the driving motor placement shell,

[0013] One end of a set of dampers is respectively arranged at the top surface and the bottom surface of the driving motor placement shell, one end of the second telescopic rod is arranged at the other end of the damper, and the other end of the second telescopic rod is respectively arranged at the two inner side surfaces of the U-shaped connecting piece through the shock pad,

[0014] The spring sleeve is arranged at the side surface of the second telescopic rod,

[0015] Preferably, the dampers in the same group have multiple dampers, and the multiple dampers are arranged equidistantly along the length direction of the driving motor placement shell,

[0016] One end of the first rotating shaft is connected with the motor shaft of the driving motor through the through hole arranged at the other end of the driving motor placement shell, and a bearing is arranged between the first rotating shaft and the driving motor placement shell,

[0017] The other end of the first rotating shaft is connected with the wheel shaft of the tire,

[0018] The cleaning deceleration assembly is composed of an L-shaped connecting plate, a first support plate, a rotating connecting block, a fifth connecting arm, a connecting rotating shaft, a sixth connecting arm, a seventh connecting arm, a brake piece, a brush, a second support plate and a third telescopic rod,

[0019] One end of the L-shaped connecting plate is arranged on the top surface of the disc-shaped vehicle shell, and the other end of the L-shaped connecting plate is arranged on the top surface of the first supporting plate,

[0020] Preferably, the L-shaped connecting plate has a plurality of L-shaped connecting plates, and the plurality of L-shaped connecting plates are arranged equidistantly along the top surface of the disc-shaped vehicle shell,

[0021] One end of the third telescopic rod is arranged in the middle of the bottom surface of the first supporting plate, and the other end of the third telescopic rod is arranged in the middle of the top surface of the second supporting plate, and the two ends of the first supporting plate and the second supporting plate are flush,

[0022] The second supporting plate is located directly above the tire,

[0023] The two ends of the first supporting plate are respectively provided with a rotating connecting block,

[0024] The sixth connecting arm includes a sixth connecting upper inclined arm, a sixth connecting horizontal arm, a sixth connecting lower inclined arm, and a sixth connecting vertical arm,

[0025] One end of the sixth connecting upper inclined arm is connected to one end of the sixth connecting horizontal arm, one end of the sixth lower inclined arm is connected to the other end of the sixth connecting horizontal arm, one end of the sixth connecting vertical arm is connected to the other end of the sixth lower inclined arm, and the height of the sixth lower inclined arm gradually decreases from one end to the other end,

[0026] The sixth connecting arm has two sixth connecting arms, and one end of the two sixth connecting arms corresponds to one end of the rotating connecting block at the two ends of the first supporting plate,

[0027] The other end of the two sixth connecting upper inclined arms is respectively hinged to one end of the fifth connecting arm and the corresponding rotating connecting block,

[0028] Preferably, the fifth connecting arm located between the sixth connecting arm and the rotating connecting block is hinged at one end to the other end of the sixth connecting upper inclined arm and at the other end to one end of the rotating connecting block,

[0029] The height of the fifth connecting arm gradually decreases from one end to the other end,

[0030] The middle portions of the two sixth connecting horizontal arms are respectively rotatably connected to the two ends of the second supporting plate,

[0031] The seventh connecting arm includes a seventh connecting upper inclined arm, a seventh connecting horizontal arm, a seventh connecting lower inclined arm, and a seventh connecting vertical arm,

[0032] The one end of the seventh connecting upper inclined arm is connected with the one end of the seventh connecting horizontal arm, the other end of the seventh connecting horizontal arm is connected with the one end of the seventh connecting lower inclined arm, and the other end of the seventh connecting lower inclined arm is connected with the one end of the seventh connecting vertical arm, and the height of the seventh connecting lower inclined arm gradually decreases from one end to the other end,

[0033] The seventh connecting arm has two, and the two seventh connecting arms and the other ends of the rotating connecting blocks at the two ends of the first supporting plate correspond to each other,

[0034] The two seventh connecting arms and the two sixth connecting arms correspond to each other and are symmetrical about the rotating connecting block,

[0035] The other ends of the two seventh connecting upper inclined arms are respectively hinged to the other ends of the fifth connecting arms and the corresponding rotating connecting blocks,

[0036] Preferably, the fifth connecting arm between the seventh connecting arm and the rotating connecting block is hinged at one end to the other end of the seventh connecting upper inclined arm and at the other end to the other end of the rotating connecting block,

[0037] The middle parts of the two seventh connecting horizontal arms are respectively rotationally connected with the middle parts of the two sixth connecting horizontal arms,

[0038] The side of the sixth connecting vertical arm is provided with a brake, and the side of the seventh connecting vertical arm is provided with a brake,

[0039] The brakes on the sixth connecting vertical arm and the seventh connecting vertical arm are respectively located on the two sides of the tire and are symmetrical about the tire, the side of the brake is arc-shaped structure, the brakes on the sixth connecting vertical arm and the seventh connecting vertical arm are matched to wrap the tire, and the wrapping is not complete,

[0040] One end of the brush is arranged on the side of the brake, and the other end of the brush is close to the side of the tire,

[0041] Preferably, the other end of the brush is beveled,

[0042] Preferably, the brush has multiple groups, multiple groups of the brush are arranged in a staggered and equidistant manner along the length direction of the side of the brake, each group of the brush has multiple brushes, multiple brushes are arranged in an equidistant manner along the width direction of the brake, and the lengths of multiple brushes in the same group are different,

[0043] Preferably, multiple brushes in the same group include hard brushes and soft brushes, and the hard brushes and the soft brushes are arranged in a staggered manner,

[0044] Preferably, between two adjacent brushes in the same group, a slanted brush is arranged, and the slanted brush is a curly brush,

[0045] Further, a reinforcing rib is arranged between the horizontal plate and the vertical plate of the L-shaped connecting plate, the reinforcing rib is a right triangle structure, one side of the reinforcing rib is arranged on the bottom surface of the horizontal plate of the L-shaped connecting plate, and the other side of the reinforcing rib is arranged on the side surface of the vertical plate of the L-shaped connecting plate;

[0046] Further, the brush is replaced by an anti-skid protrusion, the anti-skid protrusion is made of rubber, and the diameter of the anti-skid protrusion gradually decreases from one end connected with the brake piece to the other end.

[0047] The application also relates to a sorting robot, which comprises a walking mechanism, a rotating mechanism and a clamping mechanism,

[0048] The walking mechanism comprises a disc car shell, a first rotating shaft, a tire, a driving motor placing shell, a U-shaped connecting piece, a first hinged piece, a first telescopic rod, a second hinged piece, a connecting rod, a damping pad, a second telescopic rod, a spring and a damper,

[0049] A connecting groove is formed in the side surface of the disc car shell, and the groove opening is flush with the side surface of the disc car shell,

[0050] Preferably, the disc car shell is a hollow structure, and the disc car shell is non-saturatedly filled with a fluid,

[0051] Preferably, the connecting groove is provided with a plurality of connecting grooves, and the plurality of connecting grooves are arranged equidistantly along the circumferential direction of the side surface of the disc car shell,

[0052] One end of the connecting rod is arranged in the middle of the groove bottom of the connecting groove, and the other end of the connecting rod is rotatably arranged in one end of the U-shaped connecting piece through the second hinged piece,

[0053] The first telescopic rod is arranged on the two sides of the connecting rod, respectively, one end of the first telescopic rod is arranged in the groove bottom of the connecting groove, and the other end of the first telescopic rod is rotatably arranged on the side surface of one end of the U-shaped connecting piece through the first hinged piece,

[0054] The driving motor placing shell is arranged between the two side surfaces of the U-shaped connecting piece, one end of the driving motor placing shell is arranged on the inner side surface of one end of the U-shaped connecting piece, and the driving motor is arranged in the driving motor placing shell,

[0055] One end of the damper is arranged on the top surface and the bottom surface of the driving motor placing shell, respectively, one end of the second telescopic rod is arranged on the other end of the damper, and the other end of the second telescopic rod is arranged on the two inner side surfaces of the U-shaped connecting piece through the damping pad,

[0056] The spring sleeve is arranged on the side surface of the second telescopic rod,

[0057] Preferably, the dampers in the same group are multiple, and the multiple dampers are equidistantly arranged along the length direction of the driving motor placement shell,

[0058] Preferably, the top surface and the bottom surface of the driving motor placement shell are respectively correspondingly provided with one end of a rubber column, and the other end of the rubber column is correspondingly provided on the two inner sides of the U-shaped connecting piece, the rubber column is multiple, and the multiple rubber columns are equidistantly arranged along the length direction of the driving motor placement shell, and the rubber column and the damper are staggered,

[0059] One end of the first rotating shaft is connected with the motor shaft of the driving motor through the through hole formed in the other end of the driving motor placement shell,

[0060] The other end of the first rotating shaft is connected with the wheel shaft of the tire,

[0061] Preferably, the walking mechanism is further provided with a detection mechanism, and the detection mechanism comprises a first camera, a fixed disc and a supporting rod,

[0062] The supporting rod is arranged on the top surface of the disc shell,

[0063] The bottom surface of the fixed disc is arranged on the top surface of the supporting rod, and the first camera is arranged on the top surface of the fixed disc,

[0064] The rotating mechanism comprises 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,

[0065] One end of the first connecting arm is rotationally connected with the top surface of the disc vehicle shell through the fixed bottom plate,

[0066] One end of the second connecting arm is rotationally connected with the other end of the first connecting arm, the other end of the second connecting arm is rotationally connected with one end of the third connecting arm, the other end of the third connecting arm is connected with one end of the fourth connecting arm, and the height of one end of the second connecting arm is less than the height of the other end,

[0067] The rotating motor placement shell is embedded in the through slot formed in the other end of the fourth connecting arm, and the rotating motor is arranged in the rotating motor placement shell,

[0068] The clamping mechanism comprises a connecting shaft, a fixed sleeve, a connecting plate, a suction disc, a second camera, a vacuum pump, a first hook claw connecting piece, a second hook claw connecting piece, a clamping claw, a cylinder, a clamping claw connecting arm and a pushing arm,

[0069] One end of the second rotating shaft is connected with the motor shaft of the rotating motor through the through hole formed in the rotating motor placement shell, and a bearing is arranged between the second rotating shaft and the rotating motor placement shell,

[0070] The other end of the second rotating shaft is connected with the fixing sleeve,

[0071] The fixing sleeve is sleeved on the side of the connecting shaft through the through hole in the middle part, one end of the connecting shaft is arranged on the vacuum pump, the connecting plate is arranged on the vacuum pump, the suction cup is arranged on the connecting plate, one end of the communication pipe is connected with the air outlet of the vacuum pump and is in communication, the other end of the communication pipe is connected with the suction cup through the through hole in the connecting plate and is in communication,

[0072] The second camera is arranged on the bottom surface of the connecting plate, and the distance measuring sensor is arranged on the bottom surface of the connecting plate,

[0073] The other end of the connecting shaft is arranged on one end of the air cylinder,

[0074] One end of the push arm is slidably arranged in the air cylinder, and the other end of the push arm is provided with a second hook claw connecting piece,

[0075] The first hook claw connecting piece is sleeved on the side of the push arm through the through hole in the middle part, and the length of the first hook claw connecting piece is greater than the length of the second hook claw connecting piece,

[0076] The two ends of the first hook claw connecting piece are respectively arranged at one end of the corresponding hinged clamping claws, the two ends of the second hook claw connecting piece are respectively arranged at one end of the corresponding hinged clamping claw connecting arms, and the other ends of the clamping claw connecting arms are respectively arranged at one third of the corresponding hinged clamping claws,

[0077] The other ends of the two clamping claws and the other end of the push arm are coincident,

[0078] Preferably, a plurality of anti-skid lines are equidistantly arranged on the side of the other end of the clamping claw,

[0079] Preferably, the sorting robot is controlled to turn through a sorting robot turning system,

[0080] The application also relates to a sorting robot turning system, which is characterized in that the sorting robot turning system is composed of a line speed sensor, a line direction sensor, a central processing unit and a central controller, the line speed sensor is connected with the central processing unit through a data line, the line direction sensor is connected with the central processing unit through a data line, the central controller is connected with the two first telescopic rods through a data transmission line, the central processing unit converts digital signals into electric signals, and the following steps are realized when the sorting robot turning system is executed:

[0081] The travel speed sensor collects the speed of the sorting robot and transmits the real-time signal to the central processing unit. When the sorting robot turns, the travel direction sensor transmits the desired signal to the central processing unit. The central processing unit calculates the deviation by comparing the desired signal with the real-time signal, and adjusts the extension and retraction lengths 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 connector to turn, the U-shaped connector drives the drive motor to turn, and the drive motor drives the tires to turn, thereby achieving the purpose of turning the sorting robot.

[0082] Preferably, the sorting robot controls the rotation of the connecting arm through a sorting robot rotation system;

[0083] This invention also relates to a sorting robot rotation system, characterized in that the sorting robot rotation system comprises a ranging sensor, a central processing unit (CPU), and a central controller. The ranging sensor is connected to the CPU via a data cable, the CPU is connected to the central controller via a data cable, a servo motor is connected to the central controller via a data cable, and the servo motor is connected to a first connecting arm, a second connecting arm, and a third connecting arm respectively via a gear transmission device. The CPU converts digital signals into electrical signals. When the sorting robot rotation control system is executed, it performs the following steps:

[0084] The ranging sensor collects the distance from the gripper or suction cup to the target position and transmits the real-time signal to the central processing unit (CPU). The CPU compares the distance data with a preset distance, calculates the deviation between the gripper or suction cup and the target position, and sends the result to the central controller. The central controller performs path planning based on the distance deviation to determine the optimal path for the gripper or suction cup from its current position to the target position. It also calculates the angles and positions of the first, second, and third connecting arms to ensure they move along the predetermined path. Based on the calculation results, the central controller sends commands to the servo motors, which drive the first, second, and third connecting arms to move. During the movement, the central controller will... The system continuously receives feedback information from the ranging sensor and adjusts the movement of the first, second, and third connecting arms in real time based on this information to ensure that they move precisely along the predetermined path. After reaching the target position and the gripper or suction cup stably grasps the express package, the first, second, and third connecting arms sort the express packages of different sizes into the corresponding trolleys according to the predetermined path. After the express package is 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, second, and third connecting arms to move in the opposite direction and return to the initial position to sort the next express package. This process is repeated to sort the express packages at each sorting point.

[0085] Preferably, the sorting robot further includes a control system, which includes a signal converter, a data processor, and a controller.

[0086] The signal converter, the data processor, and the controller are all located on the disc-shaped vehicle body.

[0087] The first camera and the second camera are connected to the signal converter via a data cable.

[0088] The drive motor, the rotary motor, the vacuum pump, the cylinder, and the third telescopic rod are each connected to the controller via data transmission lines.

[0089] 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.

[0090] The signal converter can convert the electrical signals of the image data captured by the first camera and the second camera into digital signals.

[0091] The controller can be implemented using one or more application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute instructions from a data processing device.

[0092] The data processor and the signal converter exchange information.

[0093] When the control system is executed, it mainly performs the following steps:

[0094] Before using the sorting robot to sort express parcels, the control system is pre-programmed to use grippers to pick up small express parcels and place them into cart number 1, and use suction cups to pick up large express parcels and place them into cart number 2.

[0095] When using a sorting robot to sort express parcels, the controller controls the drive motor, which in turn rotates the shaft, causing the tires to rotate. This allows the sorting robot to move in a straight line according to a preset route. A speed sensor collects the robot's speed and transmits the real-time signal to the central processing unit (CPU). When the robot turns, a direction sensor transmits a desired signal to the CPU. The CPU compares the desired signal with the real-time signal to calculate the deviation. Based on this deviation, it adjusts the extension lengths of the two first telescopic rods in real time, creating a length difference between them. This difference causes the U-shaped connector to turn, which in turn drives the drive motor, which in turn drives the tires, thus achieving the robot's turning purpose. The sorting robot then proceeds along the preset route to a sorting station.

[0096] A ranging sensor collects the distance between the gripper or suction cup and the target position, transmitting the real-time signal to the central processing unit (CPU). The CPU 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 optimal path for the gripper or suction cup from its current position to the target position based on the distance deviation, calculating the angles and positions of the first, second, and third connecting arms. Based on the calculation results, the central controller sends commands to the servo motors, which drive the first, second, and third connecting arms to follow the predetermined path to the target position, i.e., when they are close to the package. At this point, the second camera captures an image of the package and transmits the captured image. The data signal is sent to a signal converter, which converts the received image data signal from an electrical signal into a digital signal and sends it to a data processor. The data processor calculates the pixel size of the image data and the actual size of the package based on a ratio coefficient between a preset pixel size and the actual size. The actual size is compared to the preset size; if the actual size is smaller, the package is gripped by a clamp. A servo motor drives the first, second, and third connecting arms to rotate and reach directly above the package. The connecting shaft is a double-pole cylinder. The controller controls the extension of the corresponding end rod of the connecting shaft, and the controller also controls the cylinder to start, causing the cylinder to drive the push arm to extend downwards. The system initiates a process where two grippers clamp the package. The first, second, and third connecting arms then move the small package along a predetermined path to the corresponding trolley number 1. A cylinder then retracts the push arm upwards, separating the grippers and placing the package into trolley number 1. The central controller confirms the task is complete and sends a command to the servo motor. The servo motor drives the first, second, and third connecting arms to reverse their movement, returning to their initial positions to begin sorting the next package. If the actual size is larger than the preset size, the controller activates a rotary motor, which rotates 180 degrees, causing the connecting shaft to rotate and thus the suction... The disk and grippers rotate, using suction cups to pick up and sort express packages. A servo motor drives the first, second, and third connecting arms to rotate and reach directly above the express package. The connecting shaft is a double-rod type cylinder. The controller controls the extension of the corresponding end rod of the connecting shaft and controls the vacuum pump to extract air, causing the suction cup to pick up the express package. The first, second, and third connecting arms then move the large-sized express package to the corresponding No. 2 trolley according to a predetermined path. Then, the controller controls the vacuum pump to stop working, and the express package loses its suction force and falls from the suction cup into the No. 2 trolley. This process is repeated to achieve the sorting of express packages by size at different sorting ports.This facilitates subsequent loading operations, allowing for the separate transport of parcels of different sizes. Alternatively, larger parcels can be placed at the bottom, with smaller parcels stacked on top, making full use of the vehicle's interior space and preventing larger parcels from squeezing smaller ones, thus reducing damage to the parcels.

[0097] Furthermore, the tire has rubber protrusions on its sidewall;

[0098] Preferably, there are multiple rubber protrusions, and the multiple rubber protrusions are arranged without spacing along the side of the tire;

[0099] Furthermore, the suction cup is replaced with a small suction cup, which is placed on the top surface of the connecting plate. One end of the six-way connector is connected to and communicates with the air outlet of the vacuum pump. The other end of the six-way connector is placed on the bottom surface of the connecting plate. One end of the connecting tube is connected to and communicates with the six-way connector, and the other end of the connecting tube passes through a through hole in the connecting plate and connects to and communicates with the small suction cup.

[0100] Preferably, the six-way connector can be replaced with a four-way connector or a five-way connector. There are multiple small suction cups, which are evenly distributed on the top surface of the connecting plate. Each of the small suction cups corresponds to one of the connecting pipes. Beneficial effects

[0101] First, by using the third telescopic rod to bring the brush into contact with the tire, it can provide braking force to the tire, thereby slowing it down. At the same time, it can clean the dust and debris on the tire surface, increase the friction between the tire and the ground, and reduce the slippage of the sorting robot.

[0102] Second, it has a simple structure and is convenient and practical.

[0103] Third, it is low-cost and easy to promote. Attached Figure Description

[0104] Figure 1 This is a three-dimensional structural diagram of a sorting robot according to the present invention;

[0105] Figure 2 This is a three-dimensional structural diagram of a sorting robot according to the present invention, which only shows the structure of the walking mechanism;

[0106] Figure 3 This is a three-dimensional structural diagram of a sorting robot according to the present invention, which only shows the structure of the cylinder and the push arm.

[0107] Figure 4 This is a three-dimensional structural diagram of a sorting robot according to a second embodiment of the present invention;

[0108] Figure 5 This is a three-dimensional structural diagram of embodiment 3 of the sorting robot of the present invention;

[0109] Figure 6 This is a three-dimensional structural diagram of a contact-type deceleration and tire maintenance structure for a sorting robot according to the present invention;

[0110] Figure 7 This is a schematic diagram of an embodiment 2 of the present invention, which describes a contact-type deceleration and tire maintenance structure for a sorting robot.

[0111] Figure 8 This is a three-dimensional structural diagram of Embodiment 3 of the present invention, which describes a contact-type deceleration and tire maintenance structure for a sorting robot.

[0112] Attached Figure

[0113] The components are: connecting plate (1), suction cup (2), vacuum pump (3), connecting shaft (4), fixing sleeve (5), first hook connector (6), second hook connector (7), gripper (8), first camera (9), fixing plate (10), support rod (11), first rotating shaft (12), tire (13), drive motor housing (14), U-shaped connector (15), first hinge (16), fixed base plate (17), first connecting arm (18), first telescopic rod (19), second hinge (20), connecting rod (21), disc shell (22), second connecting arm (23), third connecting arm (24), fourth connecting arm (25), rotary motor housing (26), second camera (27), shock absorber (28), second telescopic rod (29), spring (30), damper. (31) Cylinder (32) Gripper connecting arm (33) Push arm (34) Rubber protrusion (35) Connecting pipe (36) Small suction cup (37) Connecting six-way (38) L-shaped connecting plate (39) First support plate (40) Rotating connecting block (41) Fifth connecting arm (42) Connecting rotating shaft (43) Sixth connecting arm (44) Seventh connecting arm (45) Brake component (46) Brush (47) Second support plate (48) Third telescopic rod (49) Reinforcing rib (50) Anti-slip protrusion (51). Detailed Implementation Example 1

[0114] The present invention discloses a contact-type deceleration and tire (13) maintenance structure for a sorting robot, which consists of a support assembly and a cleaning deceleration assembly.

[0115] The support assembly consists of a disc-shaped shell (22), a first rotating shaft (12), a tire (13), a drive motor housing (14), a U-shaped connector (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).

[0116] The side of the disc-shaped body (22) has a connecting groove, the opening of which is flush with the side of the disc-shaped body.

[0117] Preferably, there are multiple connecting slots, and the multiple connecting slots are arranged at equal intervals along the circumferential side of the circumferential body.

[0118] 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 at one end of the U-shaped connector (15) through the second hinge (20).

[0119] The connecting rod (21) has a first telescopic rod (19) on each side. One end of the first telescopic rod (19) is rotatably placed at the bottom of the connecting groove, and the other end of the first telescopic rod (19) is rotatably placed on the side of one end of the U-shaped connector (15) through the first hinge (16).

[0120] A drive motor housing (14) is placed between the two sides of the U-shaped connector (15). One end of the drive motor housing (14) is placed on the inner side of one end of the U-shaped connector (15), and the drive motor is placed inside the drive motor housing (14).

[0121] The top and bottom surfaces of the drive motor housing (14) are respectively provided with one end of a set of dampers (31), one end of the second telescopic rod (29) is placed at 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 shock-absorbing pads (28).

[0122] The spring (30) is fitted onto the side of the second telescopic rod (29).

[0123] Preferably, there are multiple dampers (31) in the same group, and the multiple dampers (31) are arranged at equal intervals along the length direction of the drive motor housing (14).

[0124] One end of the first rotating shaft (12) passes through a through hole at the other end of the drive motor housing (14) and is connected to the motor shaft of the drive motor. A bearing is placed between the first rotating shaft (12) and the drive motor housing (14).

[0125] The other end of the first axle (12) is connected to the wheel axle of the tire (13).

[0126] The cleaning deceleration assembly consists of an L-shaped connecting plate (39), a first support plate (40), a rotating connecting block (41), a fifth connecting arm (42), a connecting rotating shaft (43), a sixth connecting arm (44), a seventh connecting arm (45), a brake component (46), a brush (47), a second support plate (48), and a third telescopic rod (49).

[0127] One end of the L-shaped connecting plate (39) rests on the top surface of the disc-shaped car body (22), one end of the L-shaped connecting plate (39) is close to the connecting groove, and the other end of the L-shaped connecting plate (39) is placed on the top surface of the first support plate (40).

[0128] Preferably, there are multiple L-shaped connecting plates (39), which are equidistantly arranged along the top circumference of the disc shell (22), and each L-shaped connecting plate (39) corresponds to a connecting groove.

[0129] One end of the third telescopic rod (49) is placed in the middle of the bottom surface of the first support plate (40), and the other end of the third telescopic rod (49) is placed in the middle of the top surface of the second support plate (48). The two ends of the first support plate (40) and the second support plate (48) are flush.

[0130] The second support plate (48) is located directly above the tire (13).

[0131] Rotary connecting blocks (41) are respectively placed at both ends of the first support plate (40).

[0132] The sixth connecting arm (44) comprises four parts: the sixth connecting upper inclined arm, the sixth connecting horizontal arm, the sixth connecting lower inclined arm, and the sixth connecting vertical arm.

[0133] One end of the sixth connecting upper inclined arm is connected to one end of the sixth connecting horizontal arm, one end of the sixth lower inclined arm is connected to the other end of the sixth connecting horizontal arm, and one end of the sixth connecting vertical arm is connected to the other end of the sixth lower inclined arm. The height of the sixth lower inclined arm gradually decreases from one end to the other.

[0134] There are two sixth connecting arms (44), and each of the two sixth connecting arms (44) corresponds to one end of the rotating connecting block (41) at both ends of the first support plate (40).

[0135] The other ends of the two sixth connecting upper inclined arms are respectively hinged to one end of the fifth connecting arm (42) and the corresponding rotating connecting block (41).

[0136] Preferably, the fifth connecting arm (42), located between the sixth connecting arm (44) and the rotating connecting block (41), has one end hinged to the other end of the sixth connecting upper inclined arm and the other end hinged to one end of the rotating connecting block (41).

[0137] The height of the fifth connecting arm (42) gradually decreases from one end to the other.

[0138] The middle parts of the two sixth connecting cross arms are respectively rotatably connected to the two ends of the second support plate (48).

[0139] The seventh connecting arm (45) comprises four parts: the seventh connecting upper oblique arm, the seventh connecting horizontal arm, the seventh connecting lower oblique arm, and the seventh connecting vertical arm.

[0140] One end of the seventh connecting upper inclined arm is connected to one end of the seventh connecting horizontal arm, one end of the seventh lower inclined arm is connected to the other end of the seventh connecting horizontal arm, and one end of the seventh connecting vertical arm is connected to the other end of the seventh lower inclined arm. The height of the seventh lower inclined arm gradually decreases from one end to the other.

[0141] There are two seventh connecting arms (45), and the other ends of the two seventh connecting arms (45) correspond one-to-one with the rotating connecting blocks (41) at both ends of the first support plate (40).

[0142] The two seventh connecting arms (45) and the two sixth connecting arms (44) correspond one-to-one and are symmetrical about the rotating connecting block (41).

[0143] The other ends of the two seventh connecting upper inclined arms are respectively hinged to the other ends of the fifth connecting arm (42) and the corresponding rotating connecting block (41).

[0144] Preferably, the fifth connecting arm (42), located between the seventh connecting arm (45) and the rotating connecting block (41), has one end hinged to the other end of the seventh connecting upper inclined arm and the other end hinged to the other end of the rotating connecting block (41).

[0145] The middle sections of the two seventh connecting arms are respectively rotatably connected to the middle sections of the two sixth connecting arms.

[0146] A brake component (46) is provided on the side of the sixth connecting vertical arm, and a brake component (46) is provided on the side of the seventh connecting vertical arm.

[0147] The brake components (46) on the sixth and seventh connecting vertical arms are located on both sides of the tire (13) and are symmetrical about the tire (13). The sides of the brake components (46) are arc-shaped. The brake components (46) on the sixth and seventh connecting vertical arms cooperate to wrap around the tire (13). The wrapping is not a complete wrapping.

[0148] One end of the brush (47) is placed on the side of the brake component (46), and the other end of the brush (47) is close to the side of the tire (13).

[0149] Preferably, the other end of the brush (47) is a bevel.

[0150] Preferably, there are multiple sets of brushes (47), which are arranged alternately and equidistantly along the length direction of the side of the brake component (46). Each set has multiple brushes (47), which are arranged equidistantly along the width direction of the brake component (46). The lengths of the multiple brushes (47) in the same set are different.

[0151] Preferably, the plurality of brushes (47) in the same group include hard-bristled brushes (47) and soft-bristled brushes (47), the hard-bristled brushes (47) and the soft-bristled brushes (47) being arranged alternately.

[0152] Preferably, oblique bristles are provided between two adjacent brushes (47) in the same group, and the oblique bristles are curly bristles;

[0153] Preferably, the deceleration structure is controlled by the sorting robot control system;

[0154] In use, the deceleration structure is installed on the sorting robot. As the sorting robot moves from one sorting port to another, the controller controls the third support rod (11) to retract. The distance from the sorting robot to the next sorting port is determined by the distance between the two sorting ports, the traveling speed of the sorting robot, and the first camera (9). When the distance from the sorting robot to the sorting port is equal to the preset distance, the controller controls the third telescopic rod (49) to extend, driving the fifth connecting arm (42), the sixth connecting arm (44), and the seventh connecting arm (45). 5) Rotate to make the two sets of brushes (47) on the side of each tire (13) come into contact with and squeeze the sides of the tire (13), decelerate the tire (13), and allow the tire (13) to slowly approach the sorting port under its own inertia and the braking force of the brushes (47); at the same time, during the process of the two sets of brushes (47) coming into contact with the sides of the tire (13), the brushes (47) can clean the dust and debris on the surface of the tire (13) to increase the friction between the tire (13) and the ground and reduce the slippage of the sorting robot; Example 2

[0155] The difference between this embodiment and embodiment 1 is that: a reinforcing rib (50) is placed between the horizontal and vertical plates of the L-shaped connecting plate (39). The reinforcing rib (50) is a right-angled triangle structure. One side of the reinforcing rib (50) is placed on the bottom surface of the horizontal plate of the L-shaped connecting plate (39), and the other side of the reinforcing rib (50) is placed on the side of the vertical plate of the L-shaped connecting plate (39). In use, during the process of the brush (47) decelerating and cleaning the tire (13), the reinforcing rib (50) can increase the resistance of the L-shaped connecting plate (39) to external impact, increase the overall structural strength of the L-shaped connecting plate (39), and reduce the deformation and displacement of the L-shaped connecting plate (39). Example 3

[0156] The difference between this embodiment and embodiment 1 is that the brush (47) is replaced by an anti-slip protrusion (51), the anti-slip protrusion (51) is made of rubber, and the diameter of the anti-slip protrusion (51) gradually decreases from one end connected to the brake component (46) to the other end. When in use, compared with the soft brush (47), the rubber anti-slip protrusion (51) has less compression deformation when it comes into contact with the tire (13) surface, which can more effectively increase the friction, achieve a faster and more effective deceleration effect, and has higher wear resistance and longer service life. At the same time, it is not easy to accumulate dust and debris, which can reduce the dust and debris on the anti-slip protrusion (51) from re-attaching to the tire (13).

[0157] The other end of the brush (47) is designed with a bevel, which allows the brush (47) to better fit the surface of the tire (13), increasing the contact area between the other end of the brush (47) and the tire (13), and improving the deceleration and cleaning effect.

[0158] The multiple brushes (47) in the same group are designed with different lengths. The long brush (47) can penetrate into the depressions of the tire (13), while the short brush (47) can cover the protrusions or flat areas of the tire (13). The long brush (47) combined with the short brush (47) has a larger contact area with the tire (13), which can more effectively provide braking force to the tire (13) and achieve a faster and more effective deceleration effect. It can also more effectively remove dust and debris from the surface of the tire (13) and provide a more thorough cleaning effect.

[0159] The multiple brushes (47) in the same group include hard brushes (47) and soft brushes (47). The hard brushes (47) and soft brushes (47) are arranged in an alternating manner. The hard brushes (47) can support the soft brushes (47) and overcome the rotational stress of the tire (13) during contact with the tire (13). This prevents the soft brushes (47) from deforming too much and affecting the deceleration and cleaning effect on the tire (13).

[0160] The two adjacent brushes (47) in the same group are provided with oblique bristles. The oblique bristles are designed with curly bristles to ensure that there is no gap between the two adjacent brushes (47) and that the contact area with the tire (13) is larger, providing better deceleration and cleaning effect.

[0161] Each cleaning deceleration assembly includes two sets of brake components (46). Each set of brake components (46) has a design of two. The brushes (47) on the two sets of brake components (46) have a larger contact area with the tire (13), and the force is more even, resulting in better deceleration and cleaning effect on the tire (13).

[0162] The third telescopic rod (49) can drive the brush (47) to contact the tire (13), which can provide braking force to the tire (13) and reduce the speed of the tire (13). At the same time, it can clean the dust and debris on the surface of the tire (13), increase the friction between the tire (13) and the ground, and reduce the slippage of the sorting robot.

[0163] It should be noted that the touch-sensitive deceleration and tire (13) maintenance structure needs to be installed on the sorting robot described below;

[0164] The sorting robot of the present invention is implemented as follows: The sorting robot of the present invention includes a walking mechanism, a rotating mechanism, and a gripping mechanism.

[0165] The walking mechanism consists of a disc-shaped vehicle shell (22), a first rotating shaft (12), a tire (13), a drive motor housing (14), a U-shaped connector (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).

[0166] The side of the disc-shaped body (22) has a connecting groove, the opening of which is flush with the side of the disc-shaped body.

[0167] Preferably, the disc shell (22) is a hollow structure, and the disc shell (22) is filled with unsaturated fluid.

[0168] Preferably, there are multiple connecting slots, and the multiple connecting slots are arranged at equal intervals along the circumferential side of the circumferential body.

[0169] 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 at one end of the U-shaped connector (15) through the second hinge (20).

[0170] The connecting rod (21) has a first telescopic rod (19) on each side. One end of the first telescopic rod (19) is placed at the bottom of the connecting groove, and the other end of the first telescopic rod (19) is rotatably placed on the side of one end of the U-shaped connector (15) through the first hinge (16).

[0171] A drive motor housing (14) is placed between the two sides of the U-shaped connector (15). One end of the drive motor housing (14) is placed on the inner side of one end of the U-shaped connector (15), and the drive motor is placed inside the drive motor housing (14).

[0172] The top and bottom surfaces of the drive motor housing (14) are respectively provided with one end of a set of dampers (31), one end of the second telescopic rod (29) is placed at 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 shock-absorbing pads (28).

[0173] The spring (30) is fitted onto the side of the second telescopic rod (29).

[0174] Preferably, there are multiple dampers (31) in the same group, and the multiple dampers (31) are arranged at equal intervals along the length direction of the drive motor housing (14).

[0175] Preferably, one end of a rubber column is placed on the top and bottom surfaces of the drive motor housing (14), and the other end of the rubber column is placed on the two inner sides of the U-shaped connector (15). There are multiple rubber columns, which are equidistantly arranged along the length of the drive motor housing (14). The rubber columns and the damper (31) are arranged in an alternating pattern.

[0176] One end of the first rotating shaft (12) passes through a through hole at the other end of the drive motor housing (14) and is connected to the motor shaft of the drive motor. A bearing is placed between the first rotating shaft (12) and the drive motor housing (14).

[0177] The other end of the first axle (12) is connected to the wheel axle of the tire (13).

[0178] Preferably, the walking mechanism is further provided with a detection mechanism, which consists of a first camera (9), a fixed plate (10), and a support rod (11).

[0179] The support rod (11) is placed on the top surface of the disc housing.

[0180] The bottom surface of the fixed 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 fixed plate (10).

[0181] The rotating mechanism consists 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 housing (26).

[0182] One end of the first connecting arm (18) is rotatably connected to the top surface of the disc-shaped car body (22) via a fixed base plate (17).

[0183] 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 less than the height of the other end.

[0184] The rotary motor housing (26) is embedded in the through slot at the other end of the fourth connecting arm (25), and the rotary motor is placed inside the rotary motor housing (26).

[0185] The clamping mechanism consists 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 connector (6), a second hook connector (7), a clamp (8), a cylinder (32), a clamp connecting arm (33), and a push arm (34).

[0186] One end of the second rotating shaft passes through a through hole in the rotary motor housing (26) and connects to the motor shaft of the rotary motor. A bearing is placed between the second rotating shaft and the rotary motor housing (26).

[0187] The other end of the second rotating shaft is connected to the fixed sleeve (5).

[0188] The fixing sleeve (5) is fitted onto the side of the connecting shaft (4) through the 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 the other end of the connecting pipe passes through the through hole in the connecting plate (1) and is connected to the suction cup (2).

[0189] The second camera (27) is placed on the bottom surface of the connecting plate (1), and the ranging sensor is placed on the bottom surface of the connecting plate (1).

[0190] The other end of the connecting shaft (4) is placed at one end of the cylinder (32).

[0191] One end of the push arm (34) is slidably placed inside the cylinder (32), and the other end of the push arm (34) is provided with a second hook connector (7).

[0192] The first hook connector (6) is fitted onto the side of the push arm (34) through a through hole in the middle. The length of the first hook connector (6) is greater than the length of the second hook connector (7).

[0193] The first hook connector (6) has two ends that are respectively hinged to one end of the gripper (8), and the second hook connector (7) has two ends that are respectively hinged to one end of the gripper connecting arm (33), with the other end of the gripper connecting arm (33) respectively hinged to one-third of the gripper (8).

[0194] The extension lines of the other ends of the two grippers (8) coincide with the extension lines of the other end of the push arm (34).

[0195] Preferably, the other end of the gripper (8) has multiple anti-slip patterns evenly spaced on its side.

[0196] Preferably, the sorting robot is controlled to steer by a sorting robot steering system;

[0197] The present invention also relates to a sorting robot steering system, characterized in that the sorting robot steering system comprises a speed sensor, a direction sensor, a central processing unit, and a central controller. The speed sensor is connected to the central processing unit via a data line, the direction sensor is connected to the central processing unit via a data line, and the central controller is connected to the two first telescopic rods (19) via a data transmission line. The central processing unit converts digital signals into electrical signals. When the sorting robot steering system is executed, it performs the following steps:

[0198] The speed sensor collects the speed of the sorting robot and transmits the real-time signal to the central processing unit. When the sorting robot turns, the direction sensor transmits the expected signal to the central processing unit. The central processing unit calculates the deviation by comparing the expected signal and the real-time signal, and adjusts the extension length of the two first telescopic rods (19) in real time according to the deviation, so that there is a length difference between the two first telescopic rods (19). 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 as to achieve the purpose of turning the sorting robot.

[0199] Preferably, the sorting robot controls the rotation of the connecting arm through a sorting robot rotation system;

[0200] The present invention also relates to a sorting robot rotation system, characterized in that the sorting robot rotation system consists of a ranging sensor, a central processing unit (CPU), and a central controller. The ranging sensor is connected to the CPU via a data cable, the CPU is connected to the central controller via a data cable, a servo motor is connected to the central controller via a data cable, and the servo motor is connected to the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) respectively via a gear transmission device. The CPU converts digital signals into electrical signals. When the sorting robot rotation control system is executed, it performs the following steps:

[0201] The ranging sensor collects the distance from the gripper (8) or suction cup (2) to the target position and transmits the real-time signal to the central processing unit. The central processing unit compares the distance data with a preset distance, calculates the deviation between the gripper (8) or suction cup (2) and the target position, and sends it to the central controller. The central controller performs path planning based on the distance deviation, determines the optimal path for the gripper (8) or suction cup (2) from its current position to the target position, and calculates the angles and positions 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 along the predetermined path. Based on the calculation results, the central controller sends a command 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 continuously receives feedback information from the ranging sensor and adjusts 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 after the gripper (8) or suction cup (2) stably grasps the express package, the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) sort the express packages of different sizes into the corresponding trolleys according to the predetermined path. After the express package is 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 (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. This process is repeated to sort the express packages at each sorting port.

[0202] Preferably, the sorting robot further includes a control system, which includes a signal converter, a data processor, and a controller.

[0203] The signal converter is located on the disc-shaped vehicle body (22), the data processor is located on the disc-shaped vehicle body (22), and the controller is located on the disc-shaped vehicle body (22).

[0204] The first camera (9) and the second camera (27) are connected to the signal converter via a data cable.

[0205] The drive motor, the rotary motor, the vacuum pump (3), the cylinder (32), and the third telescopic rod (49) are respectively connected to the controller via data transmission lines.

[0206] 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.

[0207] The signal converter can convert the electrical signals of the image data acquired by the first camera (9) and the second camera (27) into digital signals.

[0208] The controller can be implemented using one or more application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute instructions from a data processing device.

[0209] The data processor and the signal converter exchange information.

[0210] When the control system is executed, it mainly performs the following steps:

[0211] Before using the sorting robot to sort express parcels, the control system is pre-set to use grippers (8) to pick up small express parcels into trolley No. 1, and use suction cups (2) to suction up large express parcels into trolley No. 2.

[0212] When using a sorting robot to sort express parcels, the controller controls the drive motor, which drives the shaft to rotate, and the shaft drives the tire (13) to rotate, so that the sorting robot starts to travel in a straight line according to the preset travel 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 and the real-time signal, and adjusts the extension length of the two first telescopic rods (19) in real time according to the deviation, so that there is a length difference between the two first telescopic rods (19). 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 as to achieve the purpose of the sorting robot turning. The sorting robot arrives at a sorting position according to the preset travel route.

[0213] The distance sensor collects the distance between the gripper (8) or suction cup (2) and the target position, and transmits the real-time signal to the central processing unit. The central processing unit calculates the distance deviation between the gripper (8) or suction cup (2) and the target position, and sends it to the central controller. The central controller plans the optimal path for the gripper (8) or suction cup (2) from the current position to the target position based on the distance deviation, and calculates the angle and position of the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24). Based on the calculation results, the central controller 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 reach the target position according to the predetermined path, i.e., when it is close to the express package. The second camera (27) collects images of the express package and sends the collected 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 data processor. The data processor calculates the pixel size of the image data and calculates the actual size of the express package according to the ratio coefficient between the preset pixel size and the actual size. The actual size is compared with the preset size. If the actual size is smaller than the preset size, the gripper (8) is used to grip 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 the top of the express package. The connecting shaft (4) is a double-rod cylinder (32). The controller controls the extension of the end rod corresponding to the connecting shaft (4). The controller controls the cylinder (32) to start. The cylinder (32) drives the push arm (34) to extend downward, so that the two grippers (8) grip the express package. The first connecting arm (18) 18) The second connecting arm (23) and the third connecting arm (24) move the small-sized express package to the corresponding No. 1 trolley according to the predetermined path. Then the cylinder (32) drives the push arm (34) to retract upward, so that the two grippers (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 rotary motor to start, the rotary motor rotates 180 degrees, the rotary motor drives the connecting shaft (4) to rotate, the connecting shaft (4) drives the suction cup (2) and the gripper (8) to rotate, the suction cup (2) is used to pick up and sort 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 of the connecting shaft (4) to extend, the controller controls the vacuum pump (3) to pump air, so that the suction cup (2) picks up the express package. The first connecting arm (18), the second connecting arm (23) and the third connecting arm (24) then move the large-sized express package to the top of the corresponding No. 2 trolley according to the predetermined path. Then the controller controls the vacuum pump (3) to stop working, the express package loses the suction force and falls from the suction cup (2) into the No. 2 trolley. This process is repeated to achieve sorting of express packages of different sorting ports according to size. It facilitates subsequent loading work, allowing express parcels of different sizes to be transferred separately, or large express parcels to be placed at the bottom and small express parcels to be stacked on top of large express parcels. This makes full use of the vehicle space, prevents large express parcels from squeezing small express parcels, and reduces damage to express parcels. Example 2

[0214] The difference between this embodiment and Embodiment 1 is that: the tire (13) has rubber protrusions (35) on its side; there are multiple rubber protrusions (35), and the multiple rubber protrusions (35) are arranged without spacing along the side of the tire (13); 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

[0215] 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 connector (38) is connected to the outlet of the vacuum pump (3) and they are connected. The other end of the connecting six-way connector (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 connector (38) and they are connected. The other end of the connecting pipe (36) passes through the through hole on the connecting plate (1) and is connected to the small suction cup (37) and it is connected to the small suction cup (37). The small suction cups (37) are connected, and the six-way connector (38) can be replaced with a four-way connector or a five-way connector. 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) and the multiple connecting tubes (36) correspond one-to-one. When in use, the multiple small suction cups (37) can increase the adsorption area of ​​the express package, improve the adsorption force on the express package, reduce the express package falling due to shaking during the process of the sorting robot moving the express package to the No. 2 trolley, reduce the damage to the express package, and improve sorting efficiency.

[0216] The disc shell (22) is a hollow structure. The disc shell (22) is filled with unsaturated fluid, which can lower the center of gravity of the disc shell (22), improve the stability of the sorting robot, reduce the instability of the sorting robot when it encounters uneven ground during the process of moving from one sorting port to another, and reduce the wear of the sorting robot.

[0217] The top and bottom surfaces of the drive motor housing (14) are respectively provided with one end of a rubber column, and the other end of the rubber column is respectively provided with the two inner sides of the U-shaped connector (15). There are multiple rubber columns, and the multiple rubber columns are arranged at equal intervals along the length direction of the drive motor housing (14). The rubber columns and the damper (31) are arranged in an alternating pattern. When the sorting robot moves from one sorting port to another and encounters uneven ground, the rubber columns and the damper (31) can further absorb the impact and vibration, improve the shock absorption performance of the sorting robot, reduce the impact of external impact and vibration on the sorting robot, and at the same time buffer the impact force to prevent the U-shaped connector (15) from shaking or deforming violently when it is impacted, thereby improving the stability of the U-shaped connector (15).

[0218] The walking mechanism is also equipped with a detection mechanism, which consists of a first camera (9), a fixed plate (10), and a support rod (11). The support rod (11) is placed on the top surface of the disc shell, the bottom surface of the fixed 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 fixed plate (10). When the sorting robot moves from one sorting port to another, the first camera (9) collects images of the area in front of the sorting robot in real time and sends the collected image data to the signal converter. The signal converter then converts the image data into a signal. The electrical signal of the image data is converted into a digital signal and sent 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 are obstacles in the image data. When there are obstacles, the controller adjusts the extension length of the two first telescopic rods (19) in real time according to the deviation, so that there is a length difference between the two first telescopic rods (19). 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. The drive motor drives the tire (13) to turn, so that the sorting robot can avoid obstacles in advance.

[0219] The other side of the gripper (8) is designed with multiple anti-slip textures at equal intervals, which can increase the friction between the gripper (8) and the express package, reduce the slippage between the gripper (8) and the express package, and reduce the drop of the express package during the process of the sorting robot moving the express package to the No. 1 trolley.

[0220] The rotating mechanism, in conjunction with the gripping mechanism, allows the gripping mechanism to be positioned directly above the parcel for gripping, and simultaneously allows the gripping mechanism to reach directly above the corresponding trolley for placing the parcel into the trolley, thus achieving parcel sorting.

[0221] The disc-shaped vehicle body (22) and the drive motor, together with the first telescopic rod (19), enable multiple tires (13) to travel in a straight line and turn under the drive of the drive motor and the first telescopic rod (19). This allows the sorting robot to travel from one sorting port to another according to a preset route, sorting express parcels at multiple different sorting ports. Furthermore, multiple tires (13) can turn, and the deflection angle between the vehicle body and the direction of travel is small when turning, which can reduce the rotation and side slip of the sorting robot when turning. The robot can turn around on the spot by reversing the drive motor, thereby increasing the travel speed. This technology is suitable for narrow roads and warehouses with limited space.

[0222] The sorting robot can move through a walking mechanism, improving shock absorption performance and reducing the requirements for the road surface. Through the rotation mechanism and gripping mechanism, it can sort express packages of different sizes into corresponding trolleys, thus achieving the purpose of sorting express packages.

[0223] It should be noted that, unless otherwise explicitly specified and limited, the terms "placed," "connected," and "linked" should be interpreted broadly. For example, they can refer to fixed connections such as folded edges, rivets, pins, adhesives, and welds; detachable connections such as threaded connections, snap-fit ​​connections, and hinges; integral connections; electrical connections; direct connections; or indirect connections via an intermediate medium; or internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0224] It should be further noted that, in order to keep the description simple and clear, the above specific embodiments only describe the differences between them and other embodiments. However, those skilled in the art should know that the above specific embodiments are also independent technical solutions.

Claims

1. A contact-type deceleration and tire maintenance structure for a sorting robot, characterized in that: It consists of a support assembly and a cleaning and deceleration assembly. The support assembly comprises a disc-shaped vehicle shell, a first rotating shaft, tires, a drive motor housing, a U-shaped connector, a first hinge, a first telescopic rod, a second hinge, a connecting rod, shock-absorbing pads, a second telescopic rod, a spring, and a damper. The disc-shaped vehicle shell has connecting grooves on its side, the openings of which are flush with the side of the disc-shaped vehicle shell. There are multiple connecting grooves, equidistantly arranged circumferentially along the side of the disc-shaped vehicle shell. One end of the connecting rod is placed in the center of the bottom of the connecting groove, and the other end of the connecting rod is rotatably placed at one end of the U-shaped connector via the second hinge. First telescopic rods are respectively placed on both sides of the connecting rod, and one end of the first telescopic rod is rotatably placed on the connecting rod. At the bottom of the groove, the other end of the first telescopic rod is rotatably positioned on the side of one end of the U-shaped connector via a first hinge. A drive motor housing is placed between the two sides of the U-shaped connector. One end of the drive motor housing is placed on the inner side of one end of the U-shaped connector, and the drive motor is placed inside the drive motor housing. A set of dampers is respectively placed on the top and bottom surfaces of the drive motor housing. One end of the second telescopic rod is placed on the other end of the damper. The other end of the second telescopic rod is respectively placed on the two inner sides of the U-shaped connector via shock-absorbing pads. A spring is sleeved on the side of the second telescopic rod. There are multiple dampers in the same set, and the multiple dampers are arranged along the length of the drive motor housing. The components are arranged equidistantly in the direction of degree. One end of the first rotating shaft passes through a through hole at the other end of the drive motor housing and connects to the motor shaft of the drive motor. A bearing is placed between the first rotating shaft and the drive motor housing. The other end of the first rotating shaft is connected to the wheel axle of the tire. The cleaning deceleration assembly consists of an L-shaped connecting plate, a first support plate, a rotating connecting block, a fifth connecting arm, a connecting rotating shaft, a sixth connecting arm, a seventh connecting arm, a brake component, a brush, a second support plate, and a third telescopic rod. One end of the L-shaped connecting plate rests on the top surface of the disc-shaped car body, and one end of the L-shaped connecting plate is close to the connecting groove. The other end of the L-shaped connecting plate rests on the top surface of the first support plate. One end of the third telescopic rod rests in the middle of the bottom surface of the first support plate. The other end is positioned at the center of the top surface of the second support plate. Rotary connecting blocks are respectively positioned at both ends of the first support plate. The sixth connecting arm comprises four parts: a sixth upper inclined arm, a sixth horizontal arm, a sixth lower inclined arm, and a sixth vertical arm. One end of the sixth upper inclined arm is connected to one end of the sixth horizontal arm, one end of the sixth lower inclined arm is connected to the other end of the sixth horizontal arm, and one end of the sixth vertical arm is connected to the other end of the sixth lower inclined arm. There are two sixth connecting arms, each corresponding to one end of a rotating connecting block at one end of the first support plate. The other ends of the two sixth upper inclined arms are respectively hinged to one end of a corresponding rotating connecting block via a fifth connecting arm.The fifth connecting arm, located between the sixth connecting arm and the rotating connecting block, is hinged at one end to the other end of the sixth connecting upper inclined arm and at the other end to one end of the rotating connecting block. The middle portions of the two sixth connecting horizontal arms are respectively rotatably connected to the two ends of the second support plate. The seventh connecting arm comprises four parts: a seventh connecting upper inclined arm, a seventh connecting horizontal arm, a seventh connecting lower inclined arm, and a seventh connecting vertical arm. One end of the seventh connecting upper inclined arm is connected to one end of the seventh connecting horizontal arm, one end of the seventh connecting lower inclined arm is connected to the other end of the seventh connecting horizontal arm, and one end of the seventh connecting vertical arm is connected to the other end of the seventh connecting lower inclined arm. The height of the seventh connecting lower inclined arm gradually decreases from one end to the other. There are two seventh connecting arms. The other ends of the two seventh connecting arms and the rotating connecting blocks at both ends of the first support plate correspond one-to-one. The two seventh connecting arms and the two sixth connecting arms correspond one-to-one and are symmetrical about the rotating connecting blocks. The other ends of the two seventh connecting upper inclined arms are respectively hinged to the other ends of the corresponding rotating connecting blocks via fifth connecting arms. The fifth connecting arm located between the seventh connecting arms and the rotating connecting blocks has one end hinged to the other end of the seventh connecting upper inclined arm and the other end hinged to the other end of the rotating connecting block. The middle parts of the two seventh connecting horizontal arms are respectively rotatably connected to the middle parts of the two sixth connecting horizontal arms. Brake components are placed on the side of the sixth connecting vertical arm and the side of the seventh connecting vertical arm. One end of the brush is placed on the side of the brake component, and the other end of the brush is close to the tire. On the side, during use, the cleaning deceleration assembly is installed on the sorting robot. As the sorting robot moves from one sorting port to another, the controller controls the third support rod to retract. The distance between the two sorting ports, the robot's travel speed, and the first camera determine the distance from the sorting robot to the next sorting port. When the distance from the sorting robot to the sorting port equals a preset distance, the controller controls the third telescopic rod to extend, causing the fifth, sixth, and seventh connecting arms to rotate. This causes the two sets of brushes on the side of each tire to contact and press against the sides of the tire, decelerating the tire and allowing it to slowly approach the sorting port under its own inertia and the braking force of the brushes. Simultaneously, during the contact between the two sets of brushes and the sides of the tire, the brushes can... This system effectively cleans dust and debris from the tire surface, increasing friction between the tire and the ground and reducing slippage for the sorting robot. The other end of the brush is beveled, allowing it to better conform to the tire surface, increasing the contact area between the brush and the tire, thus improving deceleration and cleaning efficiency. Multiple sets of brushes are arranged alternately and equidistantly along the length of the brake component's sidewall. Each set contains multiple brushes, which are also equidistantly arranged along the width of the brake component. The brushes within the same set have varying lengths; longer brushes can reach into the tire's depressions, while shorter brushes can cover protruding or flat areas. The combination of longer and shorter brushes creates a larger contact area with the tire, providing more effective braking force.This achieves faster and more efficient deceleration, and more effectively removes dust and debris from the tire surface, providing a more thorough cleaning effect.

2. The sorting robot touch-type deceleration and tire maintenance structure according to claim 1, characterized in that... A reinforcing rib is placed between the horizontal and vertical plates of the L-shaped connecting plate. The reinforcing rib has a right-angled triangular structure. One side of the reinforcing rib is placed on the bottom surface of the horizontal plate of the L-shaped connecting plate, and the other side of the reinforcing rib is placed on the side of the vertical plate of the L-shaped connecting plate.

3. The sorting robot touch-type deceleration and tire maintenance structure according to claim 1, characterized in that... There are multiple L-shaped connecting plates, which are equidistantly arranged along the top circumference of the disc-shaped car body. Each L-shaped connecting plate corresponds to a connecting groove. The ends of the first support plate and the second support plate are flush. The second support plate is located directly above the tire. The height of the sixth connecting lower inclined arm gradually decreases from one end to the other end, and the height of the fifth connecting arm gradually decreases from one end to the other end.

4. The sorting robot touch-type deceleration and tire maintenance structure according to claim 1, characterized in that... The brake components on the sixth and seventh connecting vertical arms are located on both sides of the tire and are symmetrical about the tire. The sides of the brake components are arc-shaped. The brake components on the sixth and seventh connecting vertical arms cooperate to wrap around the tire, but the wrapping is not a complete wrapping.

5. The sorting robot touch-type deceleration and tire maintenance structure according to claim 1, characterized in that... The multiple brushes in the same group include hard-bristled brushes and soft-bristled brushes, which are arranged alternately. The hard-bristled brushes can support the soft-bristled brushes and overcome the rotational stress of the tire during contact with the tire, preventing the soft-bristled brushes from deforming too much and affecting the deceleration and cleaning effect on the tire. There are oblique bristles between two adjacent brushes in the same group. The oblique bristles are curly, which can ensure that there are no gaps between the two adjacent brushes, and the contact area with the tire is larger, providing better deceleration and cleaning effect.

6. The sorting robot touch-type deceleration and tire maintenance structure according to claim 1, characterized in that... Each cleaning and deceleration assembly includes two sets of brake components, with each set containing two brake components. The brushes on both sets of brake components have a larger contact area with the tire, resulting in more even force distribution and better tire deceleration and cleaning effects.

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