Intelligent logistics sorting robot

Abstract

The invention belongs to the technical field of logistics automation, and discloses an intelligent logistics sorting robot which comprises an operation table arranged between a to-be-sorted conveying belt and a sorted conveying belt, and two mechanical arm assemblies are arranged on the surface of the operation table. The surface of the operation table is further provided with at least one transfer mechanism used for steering the packages to be sorted. The design of collaborative operation of the double mechanical arm assemblies is adopted, while one mechanical arm assembly conducts grabbing, the other mechanical arm assembly can conduct placing operation and is in linkage with the transfer mechanism, parallelization of the sorting process is achieved, the sorting throughput in unit time is remarkably improved, and the sorting efficiency is improved through combination of visual recognition and the transfer mechanism. And the problem of disordered package bar code surface identification is innovatively solved. The system can automatically identify the position of the bar code, and utilizes the transfer mechanism to perform accurate posture overturning on the parcel, thereby ensuring that the bar code surface faces upwards, and greatly improving the identification rate of downstream scanning equipment.

Description

Technical Field

[0001] This invention relates to the field of logistics automation technology, specifically to an intelligent logistics sorting robot. Background Technology

[0002] With the explosive growth of the e-commerce industry, my country's logistics sorting volume has continued to climb. In 2025, the total express delivery volume exceeded 150 billion pieces, with a daily processing volume of over 500 million pieces. Traditional sorting models are no longer sufficient to meet the demands of handling such massive amounts of parcels. Currently, manual sorting is inefficient and prone to errors, with labor costs accounting for 40%-50% of operating costs. While single-arm robotic arm sorting equipment achieves automation, it suffers from operational bottlenecks, struggles to meet peak-hour sorting demands, and lacks stability in handling irregularly shaped parcels, resulting in low barcode recognition accuracy and a tendency for missed or incorrect sorting. Furthermore, existing equipment often uses single-vision positioning, leading to inaccurate parcel posture recognition and requiring manual adjustment of barcode orientation. The gripping components are often rigid structures, making parcels susceptible to damage. Power supply is mostly wired or based on traditional batteries, resulting in short battery life or limited mobility, hindering the intelligent upgrading of the sorting process.

[0003] Therefore, there is an urgent need for an intelligent sorting device that combines efficient collaborative operation, high-precision identification, flexible grasping, and stable power supply. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent logistics sorting robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An intelligent logistics sorting robot includes an operating platform disposed between a conveyor belt to be sorted and a conveyor belt after sorting. Two robotic arm assemblies are disposed on the surface of the operating platform, and at least one transfer mechanism for turning the packages to be sorted is also disposed on the surface of the operating platform. The robotic arm assembly includes a base connected to the surface of the operating table, a first drive mechanism is provided on the surface of the base, a large arm is connected to the drive end of the first drive mechanism, a small arm mechanism is connected to the other end of the large arm, and an end effector is provided at the free end of the small arm mechanism. The visual recognition mechanism includes visual cameras installed on both sides of the conveyor belt to be sorted and at the gripping end of the end effector, for recognizing the barcode surface of the packages to be sorted; The central control unit is electrically connected to the robotic arm assembly, the transfer mechanism, and the visual recognition mechanism, respectively. The power supply module and communication module are electrically connected to the robotic arm assembly, the transfer mechanism, the central control unit, and the vision recognition mechanism, respectively.

[0006] More preferably, the first driving mechanism includes a first driving base fixed on the base, a first driving motor installed in the first driving base, a motor driving gear connected to the driving end of the first driving motor through a first driving shaft, and a first harmonic reducer provided between the first driving shaft and the motor driving gear. The first drive mechanism is provided with a bearing housing at the end away from the first drive motor. A main shaft is connected to the bearing housing through a bearing. A transmission gear that meshes with the motor drive gear is provided on the main shaft. The end of the main shaft away from the bearing is fixedly connected to one end of the boom through a first connecting flange.

[0007] More preferably, the forearm mechanism includes a housing, and a second drive motor, a linear drive motor and a rotary drive motor are disposed inside the housing; The drive end of the second drive motor is connected to the other end of the boom via a second harmonic reducer and a third connecting flange. The linear drive motor and the rotary drive motor are connected to the end effector via linear and rotary synchronous belts, respectively, to drive the end effector to perform vertical linear motion and rotary motion.

[0008] More preferably, the end effector includes a lead screw nut pulley and a spline sleeve pulley connected to the linear synchronous belt and the rotary synchronous belt. A ball spline lead screw is provided at the central axis of the lead screw nut pulley and the spline sleeve pulley. A lead screw support is sleeved on the outer side of the end of the ball spline lead screw near the forearm mechanism. The other end of the ball spline lead screw is connected to multiple vacuum suction cups through a suction cup fixing frame.

[0009] More preferably, the ball spline screw has a spiral ball groove and a straight spline groove on its surface, and the ball spline screw has a hollow structure inside, which is used to set multiple vacuum adsorption tubes connected to the vacuum suction cup.

[0010] More preferably, a support frame is provided on the outer side of one end of the ball spline screw near the suction cup fixing frame, and a vision camera is fixedly connected to the other end of the support frame.

[0011] More preferably, the transfer mechanism includes a transfer seat disposed on the surface of the operating table, a transfer platform is rotatably disposed on one side of the transfer seat, the transfer platform is connected to the drive end of the transfer motor through the transfer seat on the side near the transfer seat, the transfer platform is generally L-shaped, and vacuum adsorption grooves are symmetrically disposed on the other end surface of the transfer platform for fixing the packages to be sorted when they are turned.

[0012] More preferably, a laser rangefinder is provided on the side of the suction cup holder away from the ball spline screw to detect the distance between the vacuum suction cup and the package to be sorted in real time.

[0013] The present invention also provides a technical solution: A sorting method for an intelligent logistics sorting robot includes the following steps: S1: The visual cameras on both sides of the material conveyor belt are used to locate the packages to be sorted on the material conveyor belt and identify the position of the barcode. S2: Control a robotic arm assembly to grab the package to be sorted and transfer it to the transfer platform of the transfer mechanism; S3: The transfer mechanism uses a vacuum adsorption tank to adsorb and fix the package to be sorted, and rotates and adjusts the posture of the package to be sorted so that the barcode face is facing up according to the identified barcode position. S4: Control another robotic arm component to grasp the package to be sorted after the posture has been adjusted; S5: Transfer the packages to be sorted to the post-sorting conveyor belt to complete the sorting process.

[0014] Compared with the prior art, the beneficial effects of the present invention are: High efficiency and parallel processing: The design adopts a dual robotic arm component collaborative operation. While one robotic arm component is grasping, the other can perform placement operations and link with the transfer mechanism to realize the parallelization of the sorting process, which significantly improves the sorting throughput per unit time.

[0015] High flexibility and intelligent posture adjustment: By combining "visual recognition + transfer mechanism", the system innovatively solves the problem of barcode recognition for disordered packages. The system can automatically identify the barcode position and use the transfer mechanism to precisely flip the package to ensure that the barcode face is upward, greatly improving the recognition rate of downstream scanning equipment.

[0016] High-precision and stable gripping: The end effector adopts a design integrating a ball spline screw and a vacuum suction cup, simultaneously achieving linear lifting, rotational motion, and hollow suction tube arrangement. Combined with a laser rangefinder and a vision camera, it achieves precise positioning and adaptive gripping of packages, avoiding collisions and slippage during the gripping process.

[0017] High integration and reliability: The joint drives of the robotic arm components all adopt a solution of motors combined with harmonic reducers, which ensures high precision and stability of movement.

[0018] Intelligentization and Automation: The entire system is uniformly scheduled by the central control unit and integrates a variety of intelligent algorithms such as machine vision, motion control, and path planning. It realizes full-process automation from recognition, grasping, turning to sorting, effectively reducing labor costs. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a cross-sectional view of the first drive mechanism structure of the present invention; Figure 3 This is a top sectional view of the forearm mechanism of the present invention; Figure 4 This is a front sectional view of the forearm mechanism of the present invention; Figure 5 This is a cross-sectional view of the upper half of the end effector of the present invention; Figure 6 This is a schematic diagram of the overall structure of the end effector of the present invention; Figure 7 This is a schematic diagram of the transfer mechanism structure of the present invention; In the diagram: 1. Operating table; 2. Transfer mechanism; 3. Base; 4. First drive mechanism; 5. Main arm; 6. Forearm mechanism; 7. End effector; 41. First drive base; 42. First drive motor; 43. First drive shaft; 44. First harmonic reducer; 45. Motor drive gear; 46. First connecting flange; 47. Main shaft; 48. Second connecting flange; 49. Bearing; 410. Bearing housing; 61. Second drive motor; 62. Linear drive motor; 63. Rotary drive motor; 64. Linear synchronous belt; 65. Rotary synchronous belt; 66. Third connecting flange; 67. Second harmonic reducer; 69. Screw support seat; 610. Housing; 71. Ball spline screw; 72. Spline sleeve pulley; 73. Screw nut pulley; 74. Vacuum suction cup; 75. Support frame; 76. Vision camera; 77. Suction cup mounting bracket. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-7 The present invention provides a technical solution: An intelligent logistics sorting robot includes an operating platform 1 set between a conveyor belt to be sorted and a conveyor belt after sorting. Two robotic arm assemblies are provided on the surface of the operating platform 1. At least one transfer mechanism 2 for turning the packages to be sorted is also provided on the surface of the operating platform 1. The robotic arm assembly includes a base 3 connected to the surface of the operating table 1. A first drive mechanism 4 is provided on the surface of the base 3. The drive end of the first drive mechanism 4 is connected to a large arm 5. The other end of the large arm 5 is connected to a small arm mechanism 6. An end effector 7 is provided at the free end of the small arm mechanism 6. The visual recognition mechanism includes a visual camera 76 installed on both sides of the conveyor belt to be sorted and at the gripping end of the end effector 7, for recognizing the barcode surface of the package to be sorted; The central control unit is electrically connected to the robotic arm assembly, the transfer mechanism 2, and the vision recognition mechanism, respectively. The power supply module and communication module are electrically connected to the robotic arm assembly, the transfer mechanism 2, the central control unit, and the vision recognition mechanism, respectively.

[0022] In this invention, the first driving mechanism 4 includes a first driving base 41 fixed on the base 3, a first driving motor 42 installed in the first driving base 41, the driving end of the first driving motor 42 is connected to a motor driving gear 45 through a first driving shaft 43, and a first harmonic reducer 44 is also provided between the first driving shaft 43 and the motor driving gear 45. The first drive mechanism 4 is also provided with a bearing housing 410 at the end away from the first drive motor 42. The main shaft 47 is connected to the bearing housing 410 through a bearing 49. The main shaft 47 is provided with a transmission gear that meshes with the motor drive gear 45. The end of the main shaft 47 away from the bearing 49 is fixedly connected to one end of the boom 5 through a first connecting flange 46.

[0023] In this invention, the forearm mechanism 6 includes a housing 610, and a second drive motor 61, a linear drive motor 62 and a rotary drive motor 63 are disposed inside the housing 610. The drive end of the second drive motor 61 is connected to the other end of the boom 5 via the second harmonic reducer 67 and the third connecting flange 66. The linear drive motor 62 and the rotary drive motor 63 are connected to the end effector 7 via a linear synchronous belt 64 and a rotary synchronous belt 65, respectively, to drive the end effector 7 to perform vertical linear motion and rotary motion.

[0024] In this invention, the end effector 7 includes a lead screw nut pulley 73 and a spline sleeve pulley 72 connected to the linear synchronous belt 64 and the rotary synchronous belt 65. A ball spline lead screw 71 is provided at the central axis of the lead screw nut pulley 73 and the spline sleeve pulley 72. A lead screw support seat 69 is sleeved on the outer side of one end of the ball spline lead screw 71 near the forearm mechanism 6. The other end of the ball spline lead screw 71 is connected to a plurality of vacuum suction cups 74 through a suction cup fixing frame 77.

[0025] In this invention, the ball spline screw 71 has a spiral ball groove and a straight spline groove on its surface, and the ball spline screw 71 has a hollow structure inside, which is used to set multiple vacuum adsorption tubes connected to the vacuum suction cup 74.

[0026] In this invention, a support frame 75 is provided on the outer side of one end of the ball spline screw 71 near the suction cup fixing frame 77, and a vision camera 76 is fixedly connected to the other end of the support frame 75.

[0027] In this invention, the transfer mechanism 2 includes a transfer seat disposed on the surface of the operating table 1. A transfer platform is rotatably disposed on one side of the transfer seat. The side of the transfer platform near the transfer seat is connected to the drive end of the transfer motor through the transfer seat. The transfer platform has an overall L-shaped structure. Vacuum adsorption grooves are symmetrically disposed on the other end surface of the transfer platform for fixing the packages to be sorted when they are turned.

[0028] In this invention, a laser ranging device is also provided on the side surface of the suction cup fixing frame 77 away from the ball spline screw 71, which is used to detect the distance between the vacuum suction cup 74 and the package to be sorted in real time. Each vacuum suction cup 74 is also provided with a pressure sensor to monitor the real-time pressure of the vacuum suction cup 74.

[0029] The present invention also provides a technical solution: A sorting method for an intelligent logistics sorting robot includes the following steps: S1: The visual cameras 76 on both sides of the material conveyor belt are used to locate the packages to be sorted on the material conveyor belt and identify the position of the barcode. S2: Control a robotic arm assembly to grab the package to be sorted and transfer it to the transfer platform of the transfer mechanism 2; S3: The transfer mechanism 2 uses a vacuum adsorption tank to adsorb and fix the package to be sorted, and rotates and adjusts the posture of the package to be sorted so that the barcode face is facing up according to the identified barcode face position. S4: Control another robotic arm component to grasp the package to be sorted after the posture has been adjusted; S5: Transfer the packages to be sorted to the post-sorting conveyor belt to complete the sorting process.

[0030] Example 1: After the system starts, the packages to be sorted on the conveyor belt are first positioned and their barcodes are identified by fixed vision cameras 76 on both sides. The central control unit plans the movement path of the robotic arm assembly based on the identification results. The first drive mechanism 4 of one robotic arm assembly starts working, and the first drive motor 42 drives the large arm 5 to rotate to the target position through the first harmonic reducer 44 and the gear set. Subsequently, the second drive motor 61 within the forearm mechanism 6 actuates, adjusting the posture of the forearm mechanism 6 via the second harmonic reducer 67. Simultaneously, the linear drive motor 62 drives the end effector 7 to descend via the linear synchronous belt 64. During this process, the laser rangefinder provides real-time distance information, and the end vision camera 76 performs final precise positioning. Once the vacuum suction cup 74 contacts the package surface, the vacuum system activates, firmly adhering to the package. The robotic arm assembly transfers the package to the transfer platform of the transfer mechanism 2. Following instructions from the central control unit, the transfer platform, driven by a transfer motor, rotates by a specific angle, such as 90° or 180°, using its L-shaped structure and vacuum suction groove to adjust the package's orientation so that the barcode side faces upwards. Next, another robotic arm assembly grasps the adjusted package. Its rotation drive motor 63, through a rotating synchronous belt 65 and a splined pulley 72, drives the ball spline screw 71 and vacuum suction cup 74 to rotate as a whole, thereby adjusting the package's orientation and ultimately placing it precisely onto the corresponding sorting conveyor belt, completing the sorting process.

[0031] Example 2: For fragile or oddly shaped packages, the central control unit can adjust the sorting strategy. For example, for packages with low box strength, the central control unit can control the end effector 7 to grasp and move at a lower speed and acceleration, and monitor the suction force in real time through the pressure sensor on the vacuum suction cup 74 to prevent package breakage. This ensures better adhesion between the suction cup and the package surface and guarantees the stability of the suction. This demonstrates the powerful adaptability and flexible handling capabilities of the intelligent logistics sorting robot of this invention.

[0032] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0033] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent logistics sorting robot, comprising an operating platform (1) disposed between a conveyor belt to be sorted and a conveyor belt after sorting, characterized in that: The surface of the operating table (1) is provided with two robotic arm assemblies, and the surface of the operating table (1) is also provided with at least one transfer mechanism (2) for turning the packages to be sorted. The robotic arm assembly includes a base (3) connected to the surface of the operating table (1), a first drive mechanism (4) is provided on the surface of the base (3), a large arm (5) is connected to the drive end of the first drive mechanism (4), a small arm mechanism (6) is connected to the other end of the large arm (5), and an end effector (7) is provided at the free end of the small arm mechanism (6). The visual recognition mechanism includes a visual camera (76) installed on both sides of the conveyor belt to be sorted and at the gripping end of the end-effector (7) for recognizing the barcode surface of the package to be sorted. The central control unit is electrically connected to the robotic arm assembly, the transfer mechanism (2), and the visual recognition mechanism, respectively; The power supply module and the communication module are electrically connected to the robotic arm assembly, the transfer mechanism (2), the central control unit and the vision recognition mechanism, respectively.

2. The intelligent logistics sorting robot according to claim 1, characterized in that: The first drive mechanism (4) includes a first drive base (41) fixed on the base (3), a first drive motor (42) is installed in the first drive base (41), the drive end of the first drive motor (42) is connected to a motor drive gear (45) through a first drive shaft (43), and a first harmonic reducer (44) is also provided between the first drive shaft (43) and the motor drive gear (45). The first drive mechanism (4) is provided with a bearing housing (410) at one end away from the first drive motor (42). A main shaft (47) is connected to the bearing housing (410) through a bearing (49). A transmission gear that meshes with the motor drive gear (45) is provided on the main shaft (47). The end of the main shaft (47) away from the bearing (49) is fixedly connected to one end of the boom (5) through a first connecting flange (46).

3. The intelligent logistics sorting robot according to claim 2, characterized in that: The forearm mechanism (6) includes a housing (610), and a second drive motor (61), a linear drive motor (62) and a rotary drive motor (63) are provided inside the housing (610). The drive end of the second drive motor (61) is connected to the other end of the boom (5) through the second harmonic reducer (67) and the third connecting flange (66); The linear drive motor (62) and the rotary drive motor (63) are connected to the end effector (7) via a linear synchronous belt (64) and a rotary synchronous belt (65) respectively, and are used to drive the end effector (7) to perform vertical linear motion and rotary motion.

4. The intelligent logistics sorting robot according to claim 3, characterized in that: The end effector (7) includes a lead screw nut pulley (73) and a spline sleeve pulley (72) connected to the linear synchronous belt (64) and the rotary synchronous belt (65). A ball spline lead screw (71) is provided at the central axis of the lead screw nut pulley (73) and the spline sleeve pulley (72). A lead screw support seat (69) is sleeved on the outer side of one end of the ball spline lead screw (71) near the forearm mechanism (6). The other end of the ball spline lead screw (71) is connected to multiple vacuum suction cups (74) through a suction cup fixing frame (77).

5. The intelligent logistics sorting robot according to claim 4, characterized in that: The ball spline screw (71) has a spiral ball groove and a straight spline groove on its surface, and the ball spline screw (71) has a hollow structure inside, which is used to set multiple vacuum adsorption tubes connected to the vacuum suction cup (74).

6. The intelligent logistics sorting robot according to claim 4, characterized in that: The ball spline screw (71) is provided with a support frame (75) on the outer side of one end near the suction cup fixing frame (77), and a vision camera (76) is fixedly connected to the other end of the support frame (75).

7. The intelligent logistics sorting robot according to claim 1, characterized in that: The transfer mechanism (2) includes a transfer seat set on the surface of the operating table (1). A transfer platform is rotatably set on one side of the transfer seat. The transfer platform is connected to the drive end of the transfer motor through the transfer seat on the side near the transfer seat. The transfer platform has an overall L-shaped structure. Vacuum adsorption grooves are symmetrically set on the other end surface of the transfer platform for fixing the packages to be sorted when they are turned.

8. The intelligent logistics sorting robot according to claim 4, characterized in that: A laser rangefinder is also provided on the side surface of the suction cup holder (77) away from the ball spline screw (71) to detect the distance between the vacuum suction cup (74) and the package to be sorted in real time.

9. A sorting method for an intelligent logistics sorting robot according to any one of claims 1-8, characterized in that, Includes the following steps: S1: The visual cameras (76) on both sides of the material conveyor belt are used to locate the packages to be sorted on the material conveyor belt and identify the position of the barcode surface. S2: Control a robotic arm assembly to grab the package to be sorted and transfer it to the transfer platform of the transfer mechanism (2); S3: The transfer mechanism (2) uses a vacuum adsorption tank to adsorb and fix the package to be sorted, and rotates and adjusts the posture of the package to be sorted so that the barcode face is facing up according to the identified barcode face position. S4: Control another robotic arm component to grasp the package to be sorted after the posture has been adjusted; S5: Transfer the packages to be sorted to the post-sorting conveyor belt to complete the sorting process.

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