Six-degree-of-freedom express sorting machine

Abstract

The invention relates to the technical field of express sorting, in particular to a six-degree-of-freedom express sorting machine with serially-connected and mixed trusses. In order to overcome the defects in the background technology, the invention provides the six-degree-of-freedom express sorting machine which has the characteristics of multi-degree-of-freedom steering, high flexibility and high efficiency. According to the technical scheme, the six-degree-of-freedom express sorting machine is characterized by comprising two conveying units used for conveying expresses, a sorting unit which is arranged between the two conveying units, used for transferring the expresses to the conveying units and provided with six degrees of freedom, and a controller electrically connected with the conveying units and the sorting unit; the sorting unit comprises a mechanical arm used for grabbing the expresses and a truss platform used for driving the mechanical arm to move between the two conveying units. The manipulator comprises a power assembly for driving the manipulator to work, and a mechanical arm, an upper mechanical wrist, a lower mechanical wrist and a mechanical claw which are sequentially connected from top to bottom.

Description

Technical Field

[0001] The present invention relates to the technical field of express sorting, and in particular to a truss series hybrid six-degree-of-freedom express sorting machine. Background Art

[0002] With the continuous development of science and technology, online shopping has become an indispensable part of people's daily life. From 2012 to 2021, my country's express delivery business volume increased from 5.7 billion pieces to 108.3 billion pieces, an increase of 18 times. Since 2014, my country's express delivery business volume has ranked first in the world for 8 consecutive years. The huge market demand and massive business volume are inseparable from the support of automated, intelligent and efficient logistics equipment. The continuous increase in express demand has made logistics companies face the challenge of how to sort express parcels quickly and efficiently, which will directly affect the speed and accuracy of express delivery. However, some express delivery companies have problems such as relatively lagging sorting and distribution management systems, low coverage of express intelligent sorting systems, and over-reliance on manual sorting, which reduces the efficiency of sorting and distribution.

[0003] The existing sorting types are divided into two categories: manual sorting and machine sorting. Manual sorting is not only labor-intensive, error-prone, and inefficient, but also uncivilized and unsafe in the sorting process. Many goods have been damaged to varying degrees due to violent sorting during the sorting process, causing significant losses. At the same time, the existing special robots have problems such as insufficient freedom, lack of flexibility, inability to move quickly according to the location of the express delivery, and low efficiency in sorting work. Among the express deliveries to be sorted, small and medium-sized express deliveries are the most common, so there is an urgent need for a machine that can be used for the sorting and transportation of small and medium-sized express deliveries to improve sorting efficiency, reduce sorting work pressure, and reduce sorting costs. Summary of the invention

[0004] The object of the present invention is to overcome the deficiencies in the above-mentioned background technology and to provide a six-degree-of-freedom express sorting machine, which should have the characteristics of multi-degree-of-freedom steering, high flexibility and high efficiency.

[0005] The technical solution of the present invention is:

[0006] A six-degree-of-freedom express sorting machine, characterized by comprising: two transmission units for transporting express, a sorting unit arranged between the two transmission units for transferring express to the transmission units and having six degrees of freedom, and a controller electrically connecting the transmission unit and the sorting unit;

[0007] The sorting unit includes a manipulator for grabbing express and a truss platform for driving the manipulator to move between two transmission units; the manipulator includes a power assembly for driving the manipulator to work and a manipulator arm, an upper manipulator wrist, a lower manipulator wrist, and a manipulator claw connected in sequence from top to bottom;

[0008] The truss platform includes a Z-axis truss mechanism that drives the manipulator to vertically lift and lower along a lifting axis, a Y-axis truss mechanism that drives the Z-axis truss mechanism to swing around a second swing axis, and an X-axis truss mechanism that drives the Y-axis truss mechanism to horizontally move along a translation axis.

[0009] The upper mechanical wrist is vertically rotatably positioned at the lower part of the mechanical arm, and the first rotation axis of the upper mechanical wrist is parallel to the Z axis;

[0010] The lower mechanical wrist is swingably positioned on the upper mechanical wrist, and a first swing axis of the lower mechanical wrist is perpendicular to the first rotation axis;

[0011] The mechanical claw is rotatably positioned on the lower mechanical wrist, and a second rotation axis of the mechanical claw is perpendicular to the first swing axis;

[0012] The second swing axis of the Y-axis truss mechanism and the lifting axis of the Z-axis truss mechanism are both perpendicular to the translation axis of the X-axis truss mechanism.

[0013] The power assembly includes a primary power assembly for controlling the rotation of the upper mechanical wrist, a secondary power assembly for controlling the swing of the lower mechanical wrist, and a tertiary power assembly for controlling the rotation of the mechanical claw;

[0014] The primary power assembly includes a first rotating motor arranged parallel to the Z axis at the upper end of the robotic arm, a first power rod coaxially connected to the rotating shaft of the first rotating motor, a first driving spur gear coaxially connected to the first power rod, a first driven spur gear meshing with the first driving spur gear, and a first transmission rod coaxially connected to the first driven spur gear; the first transmission rod is connected to the upper robotic wrist;

[0015] The secondary power assembly includes a second rotating motor arranged parallel to the Z axis at the upper end of the robotic arm, a second power rod coaxially connected to the rotating shaft of the second rotating motor, a second driving spur gear coaxially connected to the second power rod, a second driven spur gear meshing with the second driving spur gear, a second transmission rod coaxially connected to the second driven spur gear, a second driving bevel gear coaxially connected to the second transmission rod, and a second driven bevel gear meshing with the second driving bevel gear; the second driven bevel gear is connected to the lower robotic wrist;

[0016] The third power assembly includes a third rotating motor arranged at the upper end of the robotic arm parallel to the Z axis, a third power rod coaxially connected to the rotating shaft of the third rotating motor, a third driving spur gear coaxially connected to the third power rod, a third driven spur gear meshing with the third driving spur gear, a third transmission rod coaxially connected to the third driven spur gear, a third driving bevel gear coaxially connected to the third transmission rod, a third driven bevel gear meshing with the third driving bevel gear, a fourth transmission rod coaxially connected to the third driven bevel gear, a fourth driving spur gear coaxially connected to the fourth transmission rod, a fourth driven spur gear meshing with the fourth driving spur gear, a fifth transmission rod coaxially connected to the fourth driven spur gear, a fourth driving bevel gear coaxially connected to the fifth transmission rod, a fourth driven bevel gear meshing with the fourth driving bevel gear, and a sixth transmission rod coaxially connected to the fourth driven bevel gear; the sixth transmission rod is connected to the mechanical claw.

[0017] The mechanical arm comprises an upper shell that penetrates from top to bottom, a lower shell that cooperates with the upper shell and penetrates from top to bottom, an upper cover installed at the upper end of the upper shell, and a bearing seat installed at the lower end of the lower shell;

[0018] The upper mechanical wrist includes an upper mechanical wrist housing, a connecting cover plate matched with an upper notch of the upper mechanical wrist housing, a front bearing arranged at a front notch of the upper mechanical wrist housing, and a rear bearing arranged at a rear notch of the upper mechanical wrist housing;

[0019] The lower mechanical wrist comprises a lower mechanical wrist housing and a front protective cover and a rear protective cover respectively arranged on the front and rear sides of the lower mechanical wrist housing, and a mounting groove matching the front protective cover is arranged on the front side of the lower mechanical wrist housing;

[0020] The mechanical claw comprises a rotating shaft, a main bracket installed at the lower end of the rotating shaft, and a plurality of adsorption components installed on the main bracket.

[0021] The Z-axis truss mechanism includes a lifting rack provided on the rear side of the robotic arm and arranged vertically, a lifting gear meshing with the lifting rack to drive the robotic arm to lift and lower, a lifting motor coaxially connected to the lifting gear, a lifting seat for fixing the lifting motor and provided with a lifting slot, lifting guide rails vertically arranged on the left and right sides of the robotic arm and cooperating with the lifting slots, and a second limiter arranged on the upper end of the robotic arm and cooperating with the lifting guide rails.

[0022] The Y-axis truss mechanism comprises a swing bracket with the lifting seat fixed at the front end and positioned on the X-axis truss mechanism so as to be horizontally swingable, and a swing motor connected to the rear end of the swing bracket.

[0023] The X-axis truss mechanism includes a translation seat connected to the rear end of the swing bracket, a translation motor installed on the translation seat, and a translation bracket fixed between the two transmission units through two fixed brackets on the left and right sides; the translation bracket is provided with a translation rack, a first limiter, a translation guide rail, and a translation gear; the translation seat can be horizontally movably positioned on the translation bracket.

[0024] The first transmission rod is arranged parallel to the Z axis; the fourth transmission rod and the fifth transmission rod are parallel to each other and are arranged perpendicular to the Z axis; the sixth transmission rod is arranged parallel to the Z axis.

[0025] The third transmission rod, the second transmission rod and the third transmission rod are coaxially connected from inside to outside.

[0026] The radii of the first driven spur gear, the second driven spur gear, and the third driven spur gear decrease in sequence.

[0027] The beneficial effects of the present invention are:

[0028] The present invention designs a six-degree-of-freedom express sorting machine, which has a six-degree-of-freedom motion characteristic, significantly improving the efficiency of express sorting; at the same time, the express sorting machine is also provided with a transport unit for transmitting sorted express, which has a stronger carrying capacity than conventional sorting machines and manual sorting, and can meet the urgent needs of the express sorting market for the sorting and transmission of small and medium-sized express. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0030] Figure 2 It is a main structural schematic diagram of the present invention.

[0031] Figure 3 It is a schematic diagram of the top structure of the present invention.

[0032] Figure 4 It is a schematic diagram of the three-dimensional structure of the sorting unit in an embodiment of the present invention.

[0033] Figure 5 Schematic diagram of the three-dimensional structure of the X-axis truss mechanism in an embodiment of the present invention.

[0034] Figure 6 4 is a rear view of the X-axis truss mechanism in the embodiment of the present invention.

[0035] Figure 7 4 is a cross-sectional view of the X-axis truss mechanism in an embodiment of the present invention.

[0036] Figure 8 It is a left view of the Y-axis truss mechanism in an embodiment of the present invention.

[0037] Fig. 9 It is a three-dimensional structural schematic diagram of a Z-axis truss mechanism equipped with a robotic arm in an embodiment of the present invention.

[0038] Fig.10 2 is a cross-sectional view of a Z-axis truss mechanism equipped with a robotic arm in an embodiment of the present invention.

[0039] Fig.11 It is a schematic diagram of the three-dimensional structure of the manipulator in an embodiment of the present invention.

[0040] Fig.12 It is a left view of the manipulator in an embodiment of the present invention.

[0041] Fig.13 2 is a cross-sectional view of a manipulator in an embodiment of the present invention.

[0042] Fig.14 It is an enlarged view of location I in an embodiment of the present invention.

[0043] Fig.15 is an exploded view of the manipulator in an embodiment of the present invention.

[0044] Fig.16 It is a front view of the power assembly in an embodiment of the present invention.

[0045] Fig.17 It is a left view of the power assembly in the embodiment of the present invention.

[0046] Fig.18 It is a schematic diagram of the three-dimensional structure of the upper robotic arm and the lower robotic arm that cooperate in an embodiment of the present invention.

[0047] Fig.19 Schematic diagram of the three-dimensional structure of the mechanical claw in an embodiment of the present invention.

[0048] Reference numerals:

[0049] Transmission unit A, sorting unit B, first rotation axis F, first swing axis E, second rotation axis D, translation axis J, second swing axis G, lifting axis H;

[0050] Truss platform 1, X-axis truss mechanism 11, translation seat 11.1, translation motor 11.2, translation bracket 11.3, fixed bracket 11.4, translation rack 11.3.1, first stopper 11.3.2, translation guide rail 11.3.3, translation gear 11.3.4, Y-axis truss mechanism 12, swing bracket 12.1, swing motor 12.2, Z-axis truss mechanism 13, lifting gear 13.1, lifting motor 13.2, lifting slot 13.3, lifting seat 13.4, lifting rack 13.5, lifting guide rail 13.6, second stopper 13.7;

[0051] Manipulator 2, mechanical claw 21, adsorption assembly 21.1, suction cup 21.1.1, air valve 21.1.2, main support 21.2, rotating shaft 21.3, auxiliary support 21.4, upper mechanical wrist 22, upper mechanical wrist housing 22.1, connecting cover 22.2, front bearing 22.3, rear bearing 22.4, lower mechanical wrist 23, lower mechanical wrist housing 23.1, front protective cover 23.2, rear protective cover 23.3, mechanical arm 24, upper cover 24.1, upper housing 24.2, lower housing 24.3, bearing seat 24.4;

[0052] The first rotating motor a1, the first power rod a2, the first driving spur gear a3, the first driven spur gear a4, the first transmission rod a5, the second rotating motor b1, the second power rod b2, the second driving spur gear b3, the second driven spur gear b4, the second transmission rod b5, the second driving bevel gear b6, the second driven bevel gear b7, the third rotating motor c1, the third power rod c2, the third driving spur gear c3, the third driven spur gear c4, the third transmission rod c5, the third driving bevel gear c6, the third driven bevel gear c7, the fourth transmission rod c8, the fourth driving spur gear c9, the fourth driven spur gear c10, the fifth transmission rod c11, the fourth driving bevel gear c12, the fourth driven bevel gear c13, and the sixth transmission rod c14. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0054] like Figure 1 , Figure 2 , Figure 3 As shown, a six-degree-of-freedom express sorting machine includes a transmission unit A, a sorting unit B, and a controller. The two transmission units are respectively arranged on the left and right sides of the sorting unit, and the transmission units are used to transmit the sorted express; the sorting unit is arranged between the two transmission units, and is used to grab the express to the transmission unit; the controller is electrically connected to the transmission unit and the sorting unit to control the operation of the entire six-degree-of-freedom express sorting machine.

[0055] like Figure 1 , Figure 2 , Figure 3 As shown, a spatial rectangular coordinate system is established. The front-to-back direction of the six-degree-of-freedom express sorting machine is parallel to the Y axis, the left-right direction is parallel to the X axis, and the up-down direction is parallel to the Z axis. The six-degree-of-freedom express sorting machine has six degrees of freedom in space.

[0056] like Figure 4As shown, the sorting unit includes a truss platform 1 and a manipulator 2. The truss platform is installed between the two transmission units, and the manipulator is installed on the truss platform. The truss platform includes an X-axis truss mechanism 11, a Y-axis truss mechanism 12, and a Z-axis truss mechanism 13. The Z-axis truss mechanism drives the manipulator to move up and down along the lifting axis H of the Z-axis truss mechanism; the Y-axis truss mechanism drives the Z-axis truss mechanism to swing around the second swing axis G of the Y-axis truss mechanism; the X-axis truss mechanism drives the Y-axis truss mechanism to translate left and right along the translation axis J of the X-axis truss mechanism. The lifting axis is parallel to the Z-axis, the second swing axis is parallel to the lifting axis, the translation axis is perpendicular to the lifting axis, and the translation axis is also parallel to the X-axis.

[0057] like Figure 5 , Figure 6 , Figure 7 As shown, the X-axis truss mechanism includes a translation seat 11.1, a translation motor 11.2, a translation bracket 11.3, and a fixed bracket 11.4. The translation bracket includes a translation rack 11.3.1, a first stopper 11.3.2, a translation guide rail 11.3.3, and a translation gear 11.3.4. Fixed brackets fixed to the ground are provided at both ends of the translation bracket, two translation guide rails are horizontally arranged on the front side of the translation bracket, and the translation rack is horizontally arranged on the upper end of the translation bracket and meshed with the translation gear; the translation seat cooperates with the translation guide rail to be positioned on the translation bracket for horizontal movement, a double-layer mounting platform is provided on the front side of the translation seat, and a single-layer mounting platform is provided on the rear side; the translation motor is installed on the mounting platform on the rear side of the translation seat and the rotating shaft of the translation motor is vertically downward, and the lower end of the rotating shaft of the translation motor is coaxially connected to the translation gear, and under the drive of the translation motor, the translation seat slides horizontally along the translation guide rail on the translation bracket; the reducers installed at both ends of the translation rack can prevent the translation seat from escaping from the guide rail.

[0058] like Figure 8 As shown, the Y-axis truss mechanism includes a swing bracket 12.1 and a swing motor 12.2. The swing motor is mounted on the upper mounting platform of the double-layer mounting platform on the front side of the translation seat, and the rotating shaft of the swing motor extends downward in a direction parallel to the Z axis through the mounting hole of the upper mounting platform; one end of the swing bracket is rotatably positioned in the middle of the double-layer mounting platform, and the swing shaft of the swing bracket is coaxially connected with the rotating shaft of the swing motor, so that the swing motor can drive the swing bracket to swing around the swing shaft (second swing axis) within a certain range.

[0059] like Fig. 9 , Fig.10As shown, the Z-axis truss mechanism includes a lifting gear 13.1, a lifting motor 13.2, a lifting slot 13.3, a lifting seat 13.4, a lifting rack 13.5, a lifting guide rail 13.6, and a second stopper 13.7. The lifting seat is fixed to the front end of the swing bracket, the inner slot of the lifting seat runs through the upper and lower sides and the front side, the left and right side slot walls of the inner slot of the lifting seat are respectively provided with two lifting slots, the lifting slots cooperate with the lifting guide rail, the lifting gear is provided on the rear side slot wall of the inner slot of the lifting seat, and the rotation axis of the lifting gear is perpendicular to the Z axis; the lifting motor is installed at the rear side of the lifting seat, and the rotating shaft of the lifting motor is coaxially connected with the lifting gear; the lifting rack is meshed with the lifting gear; the lifting rack and the lifting guide rail are both vertically arranged on the manipulator, and under the drive of the lifting motor, the manipulator is vertically lifted and lowered in the lifting seat along the lifting axis; the second stopper is installed on both sides of the manipulator and located above the lifting guide rail, which plays a limiting role in the lifting and lowering movement of the manipulator.

[0060] like Fig.11 , Fig.12 , Fig.15 As shown, the manipulator includes a mechanical claw 21, an upper mechanical wrist 22, a lower mechanical wrist 23, a mechanical arm 24, and a power assembly. The mechanical arm, the upper mechanical wrist, the lower mechanical wrist, and the mechanical claw are connected in sequence from top to bottom; the mechanical claw is rotatably positioned at the bottom of the lower mechanical wrist, the lower mechanical wrist is swingably positioned on the upper mechanical wrist, and the upper mechanical wrist is vertically rotatably positioned at the bottom of the mechanical arm; the first rotation axis F of the upper mechanical wrist is parallel to the Z axis, the first swing axis E of the lower mechanical wrist is perpendicular to the first rotation axis of the upper mechanical wrist, and the second rotation axis D of the mechanical claw is perpendicular to the first swing axis of the lower mechanical wrist.

[0061] like Fig.11 , Fig.15 As shown, the mechanical arm includes an upper cover 24.1, an upper shell 24.2, a lower shell 24.3, and a bearing seat 24.4. The upper shell and the lower shell are both connected through the upper and lower end surfaces, and the upper shell and the lower shell are matched and connected up and down; the upper cover is provided with three through holes of equal size, and the upper cover is arranged at the upper end of the upper shell; the bearing seat is arranged at the lower end of the lower shell, and the bearing seat is connected to the upper mechanical wrist.

[0062] like Fig.15 , Fig.18 As shown, the upper mechanical wrist includes an upper mechanical wrist housing 22.1, a connecting cover plate 22.2, a front bearing 22.3, and a rear bearing 22.4. The upper mechanical wrist housing is provided with a through hole that passes through the front and rear and a notch that passes through the upper end surface; the connecting cover plate is provided with a through hole, the connecting cover plate is matched and installed with the notch on the upper end surface of the upper mechanical wrist housing, and the connecting cover plate is connected to the bearing seat; the front bearing and the rear bearing are respectively installed on the front and rear through holes of the upper mechanical wrist housing.

[0063] The lower mechanical wrist comprises a lower mechanical wrist housing 23.1, a front protective cover 23.2, and a rear protective cover 23.3. The front end of the lower mechanical wrist housing is provided with a mounting slot with a notch facing forward, and a through hole is provided at the lower end of the lower mechanical wrist housing; the mounting slot is provided with two upper and lower through holes, and the through hole at the lower side of the mounting slot is connected to the interior of the lower mechanical wrist housing; the front protective cover is installed in conjunction with the mounting slot, and the rear protective cover is installed in conjunction with the rear side of the lower mechanical wrist housing.

[0064] like Fig.15 , 19 As shown in the figure, the mechanical claw includes an adsorption component 21.1, a main support 21.2, a rotating shaft 21.3, and a sub-support 21.4. The main support is provided with a rotating shaft in the middle, and the main support is provided with four sub-supports perpendicular to the main support axis and passing through both sides of the main support; each sub-support is provided with an adsorption component at both ends; the adsorption component includes a suction cup 21.1.1 and an air valve 21.1.2, and the air valve controls the delivery of the adsorption object by the suction cup.

[0065] like Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 As shown, the power assembly includes a primary power assembly, a secondary power assembly, and a tertiary power assembly. The primary power assembly is used to drive the upper mechanical wrist to rotate; the secondary power assembly is used to drive the lower mechanical wrist to swing; and the tertiary power assembly is used to drive the mechanical claw to rotate.

[0066] The primary power assembly includes a first rotating motor a1, a first power rod a2, a first driving spur gear a3, a first driven spur gear a4, and a first transmission rod a5.

[0067] The secondary power assembly includes a second rotating motor b1, a second power rod b2, a second driving spur gear b3, a second driven spur gear b4, a second transmission rod b5, a second driving bevel gear b6, and a second driven bevel gear b7.

[0068] The third power assembly includes a third rotating motor c1, a third power rod c2, a third driving spur gear c3, a third driven spur gear c4, a third transmission rod c5, a third driving bevel gear c6, a third driven bevel gear c7, a fourth transmission rod c8, a fourth driving spur gear c9, a fourth driven spur gear c10, a fifth transmission rod c11, a fourth driving bevel gear c12, a fourth driven bevel gear c13 and a sixth transmission rod c14.

[0069] The first rotating motor, the second rotating motor and the third rotating motor are all vertically arranged on the upper cover and the rotating shafts of the three motors extend into the interior of the robotic arm through the through holes of the upper cover, and the rotating axes of the first rotating motor, the second rotating motor and the third rotating motor are all parallel to the Z axis; the first power rod, the second power rod and the third power rod are all installed inside the robotic arm, and the rotating axes of the first power rod, the second power rod and the third power rod are parallel to each other and the upper ends are coaxially connected to the rotating shafts of the first rotating motor, the second rotating motor and the third rotating motor respectively; the first power rod, the second power rod and the third power rod are coaxially installed with the first driving spur gear, the second driving spur gear and the third driving spur gear at the lower ends respectively.

[0070] The first driven spur gear, the second driven spur gear, and the third driven spur gear are coaxially stacked in sequence from bottom to top at the lower end of the interior of the robotic arm, and the radii of the first driven spur gear, the second driven spur gear, and the third driven spur gear decrease in sequence; the first driven spur gear, the second driven spur gear, and the third driven spur gear are respectively meshed with the first driving spur gear, the second driving spur gear, and the third driving spur gear.

[0071] The first transmission rod and the second transmission rod are both provided with through holes, the third transmission rod can be coaxially rotatably positioned in the second transmission rod, the second transmission rod can be coaxially rotatably positioned in the first transmission rod, and the first transmission rod can be rotatably positioned at the lower end of the inner part of the mechanical arm; the upper ends of the first transmission rod, the second transmission rod and the third transmission rod are coaxially connected to the first driving spur gear, the second driving spur gear and the third driving spur gear respectively;

[0072] The bearing seat is installed at the lower end of the mechanical arm. The bearing seat includes an inner ring, an outer ring, and a roller. The inner ring cooperates with the outer ring through a plurality of rollers, and the inner ring is rotatably positioned in the outer ring. The outer ring is fixed to the lower end surface of the mechanical arm. The inner ring is fixed to the upper end surface of the upper mechanical wrist, and the first transmission rod is coaxially connected to the inner ring.

[0073] like Fig.14 As shown, the second driving bevel gear, the second driven bevel gear, the third driving bevel gear and the third driven bevel gear are all arranged inside the upper mechanical wrist; the third driving bevel gear and the second driving bevel gear are coaxially stacked from bottom to top, the third driving bevel gear is coaxially connected to the third transmission rod, and the second driving bevel gear is coaxially connected to the second transmission rod; the third driving bevel gear and the second driving bevel gear are respectively meshed with the third driven bevel gear and the second driven bevel gear, and the third driven bevel gear and the second driven bevel gear are coaxially stacked.

[0074] The second driving bevel gear is coaxially connected to the inner ring of the front bearing of the upper mechanical wrist and connected to the lower mechanical wrist, and the outer ring of the front bearing is fixed to the upper mechanical wrist; the second driven bevel gear is rotatably positioned on the upper mechanical wrist through the front bearing to drive the lower mechanical wrist to swing; the second driven bevel gear is provided with a through shaft hole. The fourth transmission rod is rotatably positioned in the shaft hole of the second driven bevel gear and coaxially connected to the third driven bevel gear.

[0075] The fourth driving spur gear and the fourth driven spur gear that mesh with each other are respectively installed above and below in the mounting groove of the lower mechanical arm. The fourth driving spur gear and the fourth driven spur gear are respectively coaxially connected to the fourth transmission rod and the fifth transmission rod, and the fourth transmission rod and the fifth transmission rod are arranged parallel to each other and perpendicular to the Z axis; the fifth transmission rod is rotatably positioned in the through hole on the lower side of the mounting groove of the lower mechanical arm, and is coaxially connected to the bearing in the through hole on the lower side of the mounting groove; the fourth driving bevel gear and the fourth driven bevel gear that mesh with each other perpendicularly are provided in the housing of the lower mechanical arm, and the fourth driving bevel gear is coaxially connected to the fifth transmission rod; the rotation axis of the fourth driven bevel gear is perpendicular to the first swing axis of the lower mechanical arm, and the fourth driven bevel gear is coaxially connected to the sixth transmission rod; the sixth transmission rod is rotatably positioned at the lower end of the lower mechanical arm, and the lower end of the sixth transmission rod is coaxially connected to the rotating shaft on the mechanical claw.

[0076] The truss platform and manipulator of the six-degree-of-freedom express sorting machine enable the sorting machine to have six degrees of freedom of motion, thereby improving the working efficiency of the sorting machine. The controller is electrically connected to the transmission unit and the sorting unit, and drives the sorting unit to sort the express to be sorted in an orderly manner, and then transports them to the conveyor belts on the left and right sides according to different types to complete the sorting work.

[0077] The controller is electrically connected to the translation motor, the swing motor, the lifting motor, the first motor, the second motor, the third motor, and the air valve on the mechanical claw respectively.

[0078] All components of the present invention are prior art and can be purchased from outside.

[0079] The working principle of the present invention is as follows:

[0080] 1. Move the express to be sorted to the open space under the sorting unit of the six-degree-of-freedom express sorting machine;

[0081] 2. The external system sends a grab signal to the controller (including the location, size, and shape of the express to be sorted);

[0082] 3. The controller controls the truss platform to move the robot arm to the top of the express to be sorted;

[0083] 4. The controller controls the robot arm, upper wrist, lower wrist and claw of the robot to move in coordination, adjusts to a suitable grasping angle, and uses the claw to grasp the express to be sorted;

[0084] 5. The truss platform moves the robot carrying the express to the top of the conveyor belt of one side of the transport unit. After the robot places the express on the conveyor belt, the conveyor belt transports the sorted express, completing the express sorting task.

[0085] The preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

Claims

1. A six-degree-of-freedom express sorting machine, characterized by: The invention comprises two transmission units (A) for transporting express, a sorting unit (B) arranged between the two transmission units for transferring express to the transmission units and having six degrees of freedom, and a controller electrically connecting the transmission units and the sorting unit; The sorting unit comprises a manipulator (2) for grabbing express parcels and a truss platform (1) for driving the manipulator to move between two transmission units; the manipulator comprises a power assembly for driving the manipulator to work and a manipulator arm (24), an upper manipulator wrist (22), a lower manipulator wrist (23), and a manipulator claw (21) connected in sequence from top to bottom; The truss platform comprises a Z-axis truss mechanism (13) for driving the manipulator to vertically lift and lower along a lifting axis (H), a Y-axis truss mechanism (12) for driving the Z-axis truss mechanism to swing around a second swing axis (G), and an X-axis truss mechanism (11) for driving the Y-axis truss mechanism to horizontally move along a translation axis (J).

2. A six-degree-of-freedom express sorting machine according to claim 1, characterized in that: The upper robotic wrist is vertically rotatably positioned at the lower part of the robotic arm, and the first rotation axis (F) of the upper robotic wrist is parallel to the Z axis; The lower robotic arm can be swingably positioned on the upper robotic arm, and the first swing axis (E) of the lower robotic arm is perpendicular to the first rotation axis; the robotic claw can be rotatably positioned on the lower robotic arm, and the second rotation axis (D) of the robotic claw is perpendicular to the first swing axis; the second swing axis of the Y-axis truss mechanism and the lifting axis of the Z-axis truss mechanism are both perpendicular to the translation axis of the X-axis truss mechanism.

3. A six-degree-of-freedom express sorting machine according to claim 2, characterized in that: The power assembly includes a primary power assembly for controlling the rotation of the upper mechanical wrist, a secondary power assembly for controlling the swing of the lower mechanical wrist, and a tertiary power assembly for controlling the rotation of the mechanical claw; The primary power assembly comprises a first rotating motor (a1) arranged parallel to the Z axis at the upper end of the robotic arm, a first power rod (a2) coaxially connected to the rotating shaft of the first rotating motor, a first driving spur gear (a3) ​​coaxially connected to the first power rod, a first driven spur gear (a4) meshing with the first driving spur gear, and a first transmission rod (a5) coaxially connected to the first driven spur gear; the first transmission rod is connected to the upper robotic wrist; The secondary power assembly comprises a second rotating motor (b1) arranged parallel to the Z axis at the upper end of the robotic arm, a second power rod (b2) coaxially connected to the rotating shaft of the second rotating motor, a second driving spur gear (b3) coaxially connected to the second power rod, a second driven spur gear (b4) meshed with the second driving spur gear, a second transmission rod (b5) coaxially connected to the second driven spur gear, a second driving bevel gear (b6) coaxially connected to the second transmission rod, and a second driven bevel gear (b7) meshed with the second driving bevel gear; the second driven bevel gear is connected to the lower robotic wrist; The third power assembly comprises a third rotating motor (c1) arranged at the upper end of the mechanical arm parallel to the Z axis, a third power rod (c2) coaxially connected to the rotating shaft of the third rotating motor, a third driving spur gear (c3) coaxially connected to the third power rod, a third driven spur gear (c4) meshed with the third driving spur gear, a third transmission rod (c5) coaxially connected to the third driven spur gear, a third driving bevel gear (c6) coaxially connected to the third transmission rod, a third driven bevel gear (c7) meshed with the third driving bevel gear, a fourth transmission rod (c8) coaxially connected to the third driven bevel gear, a fourth driving spur gear (c9) coaxially connected to the fourth transmission rod, a fourth driven spur gear (c10) meshed with the fourth driving spur gear, a fifth transmission rod (c11) coaxially connected to the fourth driven spur gear, a fourth driving bevel gear (c12) coaxially connected to the fifth transmission rod, a fourth driven bevel gear (c13) meshed with the fourth driving bevel gear, and a sixth transmission rod (c14) coaxially connected to the fourth driven bevel gear; the sixth transmission rod is connected to the mechanical claw.

4. A six-degree-of-freedom express sorting machine according to claim 3, characterized in that: The mechanical arm comprises an upper shell (24.2) penetrating from top to bottom, a lower shell (24.3) matching with the upper shell and penetrating from top to bottom, an upper cover (24.1) installed at the upper end of the upper shell, and a bearing seat (24.4) installed at the lower end of the lower shell; The upper mechanical wrist comprises an upper mechanical wrist housing (22.1), a connecting cover plate (22.2) matched with an upper notch of the upper mechanical wrist housing, a front bearing (22.3) arranged at a front notch of the upper mechanical wrist housing, and a rear bearing (22.4) arranged at a rear notch of the upper mechanical wrist housing; The lower mechanical wrist comprises a lower mechanical wrist housing (23.1) and a front protective cover (23.2) and a rear protective cover (23.3) respectively arranged on the front and rear sides of the lower mechanical wrist housing, and a mounting groove cooperating with the front protective cover is arranged on the front side of the lower mechanical wrist housing; The mechanical claw comprises a rotating shaft (21.3), a main bracket (21.2) installed at the lower end of the rotating shaft, and a plurality of adsorption components (21.1) installed on the main bracket.

5. A six-degree-of-freedom express sorting machine according to claim 4, characterized in that: The Z-axis truss mechanism comprises a lifting rack (13.5) disposed on the rear side of the mechanical arm and arranged vertically, a lifting gear (13.1) meshing with the lifting rack to drive the mechanical arm to lift, a lifting motor (13.2) coaxially connected to the lifting gear, a lifting seat (13.4) fixing the lifting motor and provided with a lifting slot (13.3), lifting guide rails (13.6) disposed vertically on the left and right sides of the mechanical arm and cooperating with the lifting slot, and a second stopper (13.7) disposed on the upper end of the mechanical arm and cooperating with the lifting guide rails.

6. A six-degree-of-freedom express sorting machine according to claim 5, characterized in that: The Y-axis truss mechanism comprises a swing bracket (12.1) whose front end is fixed with the lifting seat and can be horizontally swingably positioned on the X-axis truss mechanism, and a swing motor (12.2) connected to the rear end of the swing bracket.

7. A six-degree-of-freedom express sorting machine according to claim 6, characterized in that: The X-axis truss mechanism comprises a translation seat (11.1) connected to the rear end of the swing bracket, a translation motor (11.2) mounted on the translation seat, and a translation bracket (11.3) fixed between the two transmission units via two fixed brackets (11.4) on the left and right sides; the translation bracket is provided with a translation rack (11.3.1), a first limiter (11.3.2), a translation guide rail (11.3.3), and a translation gear (11.3.4); the translation seat can be positioned on the translation bracket in a horizontally movable manner.

8. The six-degree-of-freedom express sorting machine according to claim 7, characterized in that: The first transmission rod is arranged parallel to the Z axis; the fourth transmission rod and the fifth transmission rod are parallel to each other and are arranged perpendicular to the Z axis; the sixth transmission rod is arranged parallel to the Z axis.

9. A six-degree-of-freedom express sorting machine according to claim 8, characterized in that: The third transmission rod, the second transmission rod and the third transmission rod are coaxially connected from inside to outside.

10. A six-degree-of-freedom express sorting machine according to claim 9, characterized in that: The radii of the first driven spur gear, the second driven spur gear, and the third driven spur gear decrease in sequence.

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