Six-degree-of-freedom express sorting machine

Abstract

The present application relates to express sorting technical field, specifically a kind of truss series connection mixed six degrees of freedom express sorting machine.The purpose is to overcome the deficiency in the above background art, provide a kind of six degrees of freedom express sorting machine, sorting machine should have the characteristics of multiple degrees of freedom steering, high flexibility and high efficiency.The technical scheme is: a kind of six degrees of freedom express sorting machine, characterized by: including two for transporting express transmission unit, for transferring express to transmission unit and having six degrees of freedom between two transmission units for sorting unit, the controller of electrically connecting transmission unit and sorting unit;The sorting unit includes the manipulator for grabbing express and the truss platform for moving the manipulator between two transmission units;The manipulator includes power component for driving manipulator work and sequentially connected from top to bottom mechanical arm, upper mechanical wrist, lower mechanical wrist, mechanical claw.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of express sorting, in particular to a six-degree-of-freedom express sorting machine with truss series connection. BACKGROUND

[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, China's express volume increased from 5.7 billion to 108.3 billion, an increase of 18 times. Since 2014, China's express volume has ranked first in the world for 8 consecutive years. The huge market demand and massive business volume cannot be supported without automated, intelligent and efficient logistics equipment. However, the increasing demand for express delivery poses a challenge for logistics companies to quickly and efficiently sort express packages, which directly affects the speed and accuracy of express delivery. However, some express companies have relatively lagging sorting and distribution management systems, low coverage of express intelligent sorting systems, and excessive 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 not only has high labor intensity, high error rate and low efficiency, but also has uncivilized and unsafe phenomena in the sorting process. Many goods are damaged to varying degrees during sorting due to violent sorting, causing significant losses. At the same time, existing special robots have insufficient degrees of freedom, lack flexibility, cannot move quickly according to the location of the express, and have low efficiency in sorting work. In the express to be sorted, small and medium-sized express goods are most common, so there is an urgent need for a machine that can be used for sorting and transporting small and medium-sized express goods to improve sorting efficiency, reduce sorting work pressure and reduce sorting costs. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings in the background art, and to provide a six-degree-of-freedom express sorting machine that should have the characteristics of multi-degree-of-freedom steering, high flexibility and high efficiency.

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

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

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

[0008] The truss platform comprises a Z-axis truss mechanism driving the mechanical arm to vertically lift along a lifting axis, a Y-axis truss mechanism driving the Z-axis truss mechanism to swing around a second swing axis, and an X-axis truss mechanism driving the Y-axis truss mechanism to horizontally move along a translation axis.

[0009] The upper mechanical wrist is vertically rotatable positioned below the mechanical arm, and a 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 gripper is rotatably positioned on the lower mechanical wrist, and a second rotation axis of the mechanical gripper 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 comprises a first power assembly controlling rotation of the upper mechanical wrist, a second power assembly controlling swing of the lower mechanical wrist, and a third power assembly controlling rotation of the mechanical gripper;

[0014] The first power assembly comprises a first rotation motor arranged on the upper end of the mechanical arm parallel to the Z-axis, a first power rod coaxially connected with a rotation shaft of the first rotation motor, a first driving spur gear coaxially connected with the first power rod, a first driven spur gear engaged with the first driving spur gear, and a first transmission rod coaxially connected with the first driven spur gear; the first transmission rod is connected with the upper mechanical wrist;

[0015] The second power assembly comprises a second rotation motor arranged on the upper end of the mechanical arm parallel to the Z-axis, a second power rod coaxially connected with a rotation shaft of the second rotation motor, a second driving spur gear coaxially connected with the second power rod, a second driven spur gear engaged with the second driving spur gear, a second transmission rod coaxially connected with the second driven spur gear, a second driving bevel gear coaxially connected with the second transmission rod, and a second driven bevel gear engaged with the second driving bevel gear; the second driven bevel gear is connected with the lower mechanical wrist;

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

[0017] The mechanical arm comprises an upper shell penetrating up and down, a lower shell penetrating up and down and matched with the upper shell, an upper cover installed on the upper end of the upper shell, and a bearing seat installed on the lower end of the lower shell.

[0018] The upper mechanical wrist comprises an upper mechanical wrist shell, a connecting cover plate matched with the upper slot of the upper mechanical wrist shell, a front bearing arranged in the front slot of the upper mechanical wrist shell, and a rear bearing arranged in the rear slot of the upper mechanical wrist shell.

[0019] The lower mechanical wrist comprises a lower mechanical wrist shell, a front protective cover and a rear protective cover arranged on the front and rear sides of the lower mechanical wrist shell respectively, and a mounting groove matched with the front protective cover arranged on the front side of the lower mechanical wrist shell.

[0020] The mechanical gripper comprises a rotating shaft, a main support installed on the lower end of the rotating shaft, and a plurality of adsorption assemblies installed on the main support.

[0021] The Z-axis truss mechanism comprises a lifting rack arranged on the rear side of the mechanical arm in a vertical manner, a lifting gear engaged with the lifting rack to drive the lifting of the mechanical arm, a lifting motor coaxially connected with the lifting gear, a lifting seat fixed with the lifting motor and provided with a lifting groove, lifting guide rails arranged on the left and right sides of the mechanical arm in a vertical manner and matched with the lifting groove, and a second limiter arranged on the upper end of the mechanical arm and matched with the lifting guide rails.

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

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

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

[0027] The present application has the following beneficial effects:

[0028] The present application discloses a six-freedom express sorting machine, which has a six-freedom motion characteristic, and significantly improves the express sorting efficiency; meanwhile, the express sorting machine is also provided with a transportation unit for conveying the sorted express, and has a stronger carrying capacity compared with conventional sorting machines and manual sorting, and can meet the urgent needs of the express sorting market for small and medium-sized express sorting and conveying. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a perspective structural schematic diagram of the present application.

[0030] Figure 2 is a front view structural schematic diagram of the present application.

[0031] Figure 3 is a top view structural schematic diagram of the present application.

[0032] Figure 4 is a perspective structural schematic diagram of the sorting unit in the embodiment of the present application.

[0033] Figure 5 is a perspective structural schematic diagram of the X-axis truss mechanism in the embodiment of the present application.

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

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

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

[0037] Figure 9 is a perspective view of the Z-axis truss mechanism with a mechanical arm in an embodiment of the present application.

[0038] Figure 10 is a sectional view of the Z-axis truss mechanism with a mechanical arm in an embodiment of the present application.

[0039] Figure 11 is a perspective view of the mechanical arm in an embodiment of the present application.

[0040] Figure 12 is a left view of the mechanical arm in an embodiment of the present application.

[0041] Figure 13 is a sectional view of the mechanical arm in an embodiment of the present application.

[0042] Figure 14 is an enlarged view of I in an embodiment of the present application.

[0043] Figure 15 is an exploded view of the mechanical arm in an embodiment of the present application.

[0044] Figure 16 is a front view of the power assembly in an embodiment of the present application.

[0045] Figure 17 is a left view of the power assembly in an embodiment of the present application.

[0046] Figure 18 is a perspective view of the upper mechanical wrist and the lower mechanical wrist in cooperation in an embodiment of the present application.

[0047] Figure 19 is a perspective view of the mechanical gripper in an embodiment of the present application.

[0048] Reference signs:

[0049] Transport 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 support 11.3, fixed support 11.4, translation rack 11.3.1, first limit stop 11.3.2, translation guide rail 11.3.3, translation gear 11.3.4, Y-axis truss mechanism 12, swing support 12.1, swing motor 12.2, Z-axis truss mechanism 13, lifting gear 13.1, lifting motor 13.2, lifting groove 13.3, lifting seat 13.4, lifting rack 13.5, lifting guide rail 13.6, second limit stop 13.7;

[0051] Mechanical hand 2, mechanical claw 21, suction 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 shell 22.1, connecting cover plate 22.2, front bearing 22.3, rear bearing 22.4, lower mechanical wrist 23, lower mechanical wrist shell 23.1, front protective cover 23.2, rear protective cover 23.3, mechanical arm 24, upper cover 24.1, upper shell 24.2, lower shell 24.3, bearing seat 24.4;

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

[0053] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0054] As shown in Figure 1 , Figure 2 , Figure 3 , a six-degree-of-freedom express sorting machine includes a transmission unit A, a sorting unit B, and a controller. Two transmission units are respectively arranged on the left and right sides of the sorting unit, and the transmission unit is used for transmitting sorted express; the sorting unit is arranged between the two transmission units, and is used for grabbing the express to the transmission unit; and the controller is electrically connected with the transmission unit and the sorting unit to control the whole six-degree-of-freedom express sorting machine.

[0055] As shown in Figure 1 , Figure 2 , Figure 3 , a space rectangular coordinate system is set up. The front-rear 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] As shown in Figure 4As shown, the sorting unit comprises a truss platform 1 and a manipulator 2, the truss platform is installed between two of the conveying units, and the manipulator is installed on the truss platform. The truss platform comprises 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 rise and fall along a lifting axis H of the Z-axis truss mechanism; the Y-axis truss mechanism drives the Z-axis truss mechanism to swing around a second swing axis G of the Y-axis truss mechanism; and the X-axis truss mechanism drives the Y-axis truss mechanism to translate left and right along a 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] As shown in Figure 5 , Figure 6 , Figure 7 As shown, the X-axis truss mechanism comprises a translation seat 11.1, a translation motor 11.2, a translation support 11.3, and a fixed support 11.4. The translation support comprises 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 support is provided with the fixed support fixed to the ground at both ends, two translation guide rails are horizontally arranged on the front side of the translation support, and the translation rack is horizontally arranged on the upper end of the translation support and engaged with the translation gear. The translation seat is positioned on the translation support in a horizontally movable manner in cooperation with the translation guide rail, the front side of the translation seat is provided with a double-layer mounting table, and the rear side is provided with a single-layer mounting table. The translation motor is mounted on the mounting table at the rear side of the translation seat with the rotating shaft of the translation motor vertically downward, and the lower end of the rotating shaft of the translation motor is coaxially connected with the translation gear. Under the drive of the translation motor, the translation seat slides horizontally along the translation guide rail on the translation support. The reducers mounted at both ends of the translation rack can prevent the translation seat from coming out of the guide rail.

[0058] As shown in Figure 8 As shown, the Y-axis truss mechanism comprises a swing support 12.1 and a swing motor 12.2. The swing motor is mounted on the upper layer of the double-layer mounting table at 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 layer of the double-layer mounting table. One end of the swing support is rotatably positioned in the middle of the double-layer mounting table, and the swing shaft of the swing support is coaxially connected with the rotating shaft of the swing motor, so that the swing motor can drive the swing support to swing around the swing shaft (second swing axis) within a certain range.

[0059] As shown in Figure 9 , Figure 10As shown, the Z-axis truss mechanism includes lifting gear 13.1, lifting motor 13.2, lifting groove 13.3, lifting seat 13.4, lifting rack 13.5, lifting guide rail 13.6, second limiter 13.7. The lifting seat is fixed at the front end of the swing support, the inner groove of the lifting seat penetrates the upper and lower sides and the front side, the left and right side walls of the inner groove of the lifting seat are respectively provided with two lifting grooves, the lifting grooves are matched with the lifting guide rails, the rear side wall of the inner groove of the lifting seat is provided with the lifting gear, 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, the rotating shaft of the lifting motor is coaxially connected with the lifting gear; the lifting rack is engaged with the lifting gear; the lifting rack and the lifting guide rail are vertically arranged on the mechanical hand, and the mechanical hand vertically rises in the lifting seat along the lifting axis under the drive of the lifting motor; the second limiter is installed on both sides of the mechanical hand and above the lifting guide rail, and plays a limiting role for the lifting movement of the mechanical hand.

[0060] As shown in Figure 11 , Figure 12 , Figure 15 , the mechanical hand 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] As shown in Figure 11 , Figure 15 , 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 penetrate the upper and lower end faces, and the upper shell and the lower shell are connected in cooperation; the upper cover is provided with three equal-sized through holes, 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 with the upper mechanical wrist.

[0062] As shown in Figure 15 , Figure 18 , the upper mechanical wrist includes an upper mechanical wrist shell 22.1, a connecting cover plate 22.2, a front bearing 22.3, and a rear bearing 22.4. The upper mechanical wrist shell is provided with through holes penetrating the front and back and a slot opening penetrating the upper end face; the connecting cover plate is provided with a through hole, and the connecting cover plate is installed in cooperation with the slot opening of the upper end face of the upper mechanical wrist shell, and the connecting cover plate is connected with 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 shell.

[0063] The lower mechanical wrist comprises a lower mechanical wrist shell 23.1, a front protective cover 23.2 and a rear protective cover 23.3. The lower mechanical wrist shell is provided with a mounting groove with a notch facing forward at the front end, and a through hole at the lower end; two through holes are arranged on the mounting groove, and the through hole on the lower side of the mounting groove is communicated with the inside of the lower mechanical wrist shell; the front protective cover is installed in cooperation with the mounting groove, and the rear protective cover is installed in cooperation on the rear side of the lower mechanical wrist shell.

[0064] As shown in Figure 15 , Figure 19 , the mechanical claw comprises an adsorption assembly 21.1, a main support 21.2, a rotating shaft 21.3 and a vice support 21.4. The main support is provided with a rotating shaft in the middle, and four vice supports are arranged vertically to the axis of the main support and penetrate through both sides of the main support; one adsorption assembly is installed at each end of each vice support; the adsorption assembly comprises a suction cup 21.1.1 and a gas valve 21.1.2, and the gas valve controls the adsorption of the suction cup.

[0065] As shown in Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 , the power assembly comprises a first power assembly, a second power assembly and a third power assembly. The first power assembly is used to drive the rotation of the upper mechanical wrist; the second power assembly is used to drive the swing of the lower mechanical wrist; and the third power assembly is used to drive the rotation of the mechanical claw.

[0066] The first power assembly comprises 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 second power assembly comprises 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 comprises 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 vertically arranged on the upper cover, and rotating shafts of the three motors extend into the mechanical arm through through holes of the upper cover, rotating axes of the first rotating motor, the second rotating motor and the third rotating motor are parallel to the Z axis; the first power rod, the second power rod and the third power rod are installed in the mechanical arm, rotating axes of the first power rod, the second power rod and the third power rod are parallel to each other, and upper ends of the first power rod, the second power rod and the third power rod are coaxially connected with rotating shafts of the first rotating motor, the second rotating motor and the third rotating motor respectively; lower ends of 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 respectively.

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

[0071] The first transmission rod and the second transmission rod are both internally provided with through holes, the third transmission rod is coaxially rotatably positioned in the second transmission rod, the second transmission rod is coaxially rotatably positioned in the first transmission rod, and the first transmission rod is rotatably positioned in the lower end of the mechanical arm; upper ends of the first transmission rod, the second transmission rod and the third transmission rod are coaxially connected with 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 comprises an inner ring, an outer ring and rollers. The inner ring is rotatably positioned in the outer ring through the cooperation of the rollers. 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 with the inner ring.

[0073] As shown in Figure 14 The second driving bevel gear, the second driven bevel gear, the third driving bevel gear and the third driven bevel gear are all arranged in 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 with the third transmission rod, and the second driving bevel gear is coaxially connected with the second transmission rod; the third driving bevel gear and the second driving bevel gear are engaged with the third driven bevel gear and the second driven bevel gear respectively, and the third driven bevel gear and the second driven bevel gear are coaxially stacked.

[0074] The second driving bevel gear is coaxially connected with the inner ring of the front bearing of the upper mechanical wrist and is connected with the lower mechanical wrist, the outer ring of the front bearing is fixed with 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.

[0075] The fourth driving spur gear and the fourth driven spur gear are respectively coaxially connected with the fourth transmission rod and the fifth transmission rod, the fourth transmission rod and the fifth transmission rod are arranged in parallel with 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 wrist and is coaxially connected with 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 are arranged in the lower end of the lower mechanical wrist and are coaxially connected with the rotating shaft on the mechanical claw.

[0076] The truss platform and the mechanical hand of the six-degree-of-freedom express sorting machine have the movement ability of six degrees of freedom, and the working efficiency of the sorting machine is improved. The controller is electrically connected with the transmission unit and the sorting unit, and drives the sorting unit to orderly sort the express to be sorted, and then carries the express to the conveying belts on the left and right sides according to different types, and completes the sorting work.

[0077] The controller is electrically connected with 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.

[0078] The components of the present application are all prior art and can be purchased.

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

[0080] 1. The express to be sorted is carried to the empty space below the sorting unit of the six-degree-of-freedom express sorting machine;

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

[0082] 3. The controller controls the truss platform to move the mechanical hand above the express to be sorted;

[0083] 4. The controller controls the robotic arm, upper robotic wrist, lower robotic wrist, and robotic gripper to move in coordination and adjust to a suitable gripping angle. The robotic gripper is then used to pick up and grab the express packages to be sorted.

[0084] 5. The truss platform moves the robotic arm carrying the package above the conveyor belt of one of the transport units. After the robotic arm places the package on the conveyor belt, the conveyor belt transports the sorted package, completing one package sorting task.

[0085] The accompanying drawings illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

Claims

1. A six-degree-of-freedom express sorting machine, characterized in that: It includes two transport units (A) for transporting express packages, a sorting unit (B) arranged between the two transport units for transferring express packages to the transport units and having six degrees of freedom, and a controller electrically connecting the transport units and the sorting unit. The sorting unit includes a robotic arm (2) for grabbing express packages and a truss platform (1) for moving the robotic arm between two transmission units; the robotic arm includes a power component for driving the robotic arm and a robotic arm (24), an upper robotic wrist (22), a lower robotic wrist (23), and a robotic claw (21) connected from top to bottom. The truss platform includes a Z-axis truss mechanism (13) that drives the manipulator to move vertically up and down along the lifting axis (H), a Y-axis truss mechanism (12) that drives the Z-axis truss mechanism to swing around the second swing axis (G), and an X-axis truss mechanism (11) that drives the Y-axis truss mechanism to move horizontally along the translation axis (J). The upper mechanical wrist can be vertically rotated and positioned at the lower part of the mechanical arm, and the first rotation axis (F) of the upper mechanical wrist is parallel to the Z-axis; The lower mechanical wrist is pivotally positioned on the upper mechanical wrist, and the first pivot axis (E) of the lower mechanical wrist is perpendicular to the first rotation axis; the mechanical claw is rotatably positioned on the lower mechanical wrist, and the second rotation axis (D) of the mechanical claw is perpendicular to the first pivot axis; the second pivot 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; The power assembly includes a primary power assembly for controlling the rotation of the upper robotic wrist, a secondary power assembly for controlling the swing of the lower robotic wrist, and a tertiary power assembly for controlling the rotation of the robotic claw. The primary power assembly includes a first rotary 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 shaft of the first rotary 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 includes a second rotary 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 shaft of the second rotary motor, a second driving spur gear (b3) coaxially connected to the second power rod, a second driven spur gear (b4) meshing 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) meshing with the second driving bevel gear; the second driven bevel gear is connected to the lower robotic arm; The three-stage power assembly includes a third rotary motor (c1) arranged parallel to the Z-axis at the upper end of the robotic arm; a third power rod (c2) coaxially connected to the shaft of the third rotary motor; a third driving spur gear (c3) coaxially connected to the third power rod; a third driven spur gear (c4) meshing 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) meshing 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) meshing 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) meshing with the fourth driving bevel gear; and a sixth transmission rod (c14) coaxially connected to the fourth driven bevel gear; the sixth transmission rod connects to the robotic claw.

2. The six-degree-of-freedom express sorting machine according to claim 1, characterized in that: The robotic arm includes an upper housing (24.2) that runs vertically through the upper housing, a lower housing (24.3) that cooperates with the upper housing and runs vertically through the lower housing, an upper cover (24.1) installed on the upper end of the upper housing, and a bearing seat (24.4) installed on the lower end of the lower housing. The upper mechanical wrist includes an upper mechanical wrist housing (22.1), a connecting cover plate (22.2) that mates with the upper slot of the upper mechanical wrist housing, a front bearing (22.3) located at the front slot of the upper mechanical wrist housing, and a rear bearing (22.4) located at the rear slot of the upper mechanical wrist housing; The lower mechanical wrist includes a lower mechanical wrist housing (23.1) and a front protective cover (23.2) and a rear protective cover (23.3) respectively provided on the front and rear sides of the lower mechanical wrist housing. The front side of the lower mechanical wrist housing is provided with a mounting groove that mates with the front protective cover. The mechanical gripper includes a rotating shaft (21.3), a main support (21.2) mounted on the lower end of the rotating shaft, and several adsorption components (21.1) mounted on the main support.

3. A six-degree-of-freedom express sorting machine according to claim 2, characterized in that: The Z-axis truss mechanism includes a vertically arranged lifting rack (13.5) located on the rear side of the robotic arm, a lifting gear (13.1) meshing with the lifting rack to drive the robotic arm to lift, a lifting motor (13.2) coaxially connected with the lifting gear, a lifting seat (13.4) that fixes the lifting motor and has a lifting groove (13.3), lifting guide rails (13.6) arranged vertically on the left and right sides of the robotic arm and cooperating with the lifting grooves, and a second limiter (13.7) arranged at the upper end of the robotic arm and cooperating with the lifting guide rails.

4. A six-degree-of-freedom express sorting machine according to claim 3, characterized in that: The Y-axis truss mechanism includes a swing bracket (12.1) fixed at the front end of the lifting seat and horizontally swingable on the X-axis truss mechanism, and a swing motor (12.2) connected to the rear end of the swing bracket.

5. A six-degree-of-freedom express sorting machine according to claim 4, characterized in that: The X-axis truss mechanism includes 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 by 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 is horizontally movable and positioned on the translation bracket.

6. A six-degree-of-freedom express sorting machine according to claim 5, 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 both are arranged perpendicular to the Z-axis; the sixth transmission rod is arranged parallel to the Z-axis.

7. A six-degree-of-freedom express sorting machine according to claim 6, characterized in that: The third transmission rod, the second transmission rod, and the third transmission rod are coaxially connected from the inside out.

8. A six-degree-of-freedom express sorting machine according to claim 7, characterized in that: The radii of the first driven spur gear, the second driven spur gear, and the third driven spur gear decrease sequentially.

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