An object sorting robot

Abstract

The present application relates to the technical field of sorting robots, and particularly relates to an object sorting robot, which comprises a three-dimensional frame and a controller, the bottom of the three-dimensional frame is provided with a moving mechanism, and the top of the three-dimensional frame is provided with a distribution mechanism; the three-dimensional frame is provided with a conveying mechanism, the conveying mechanism passes through the inside of the three-dimensional frame from the front lower part of the three-dimensional frame and extends to the distribution mechanism; the conveying mechanism conveys objects through full-flow transmission; the front part of the conveying mechanism is provided with a picking mechanism; the front part of the three-dimensional frame is provided with a first vision module, and the first vision module is located above the back of the picking mechanism; the moving mechanism, the distribution mechanism, the conveying mechanism, the picking mechanism and the first vision module are electrically connected with the controller; the problems of limited activity range of the sorting robot and low sorting efficiency are solved.

Description

Technical Field

[0001] This invention relates to the field of sorting robot technology, and in particular to an object sorting robot. Background Technology

[0002] For example, the sorting robot with Chinese patent application number 202011012153.X sorts objects by setting rotatable grippers on a mounting base. However, since the gripper's sorting activity depends on the mounting base, once the mounting base position is determined, the gripper can only move within the area where the mounting base is located, limiting the gripper's range of motion. It can only sort within a certain area, and the gripper-type sorting robot can only sort one object at a time.

[0003] For example, the sorting robot with Chinese patent application number 201710841923.3 moves flexibly and has an unrestricted range of motion, relying on its vehicle body. However, its sorting action is achieved through a flip-up tray. First, it requires other equipment to assist in placing objects on the tray, as it does not have its own picking function. Second, it is limited by the size of the tray, and can only sort 1 to 2 objects in each sorting activity. Summary of the Invention

[0004] To address the aforementioned shortcomings, the present invention aims to propose an object sorting robot that solves the problems of limited range of motion and low sorting efficiency of sorting robots.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] An object sorting robot includes a three-dimensional frame and a controller, wherein a moving mechanism is installed at the bottom of the three-dimensional frame and a dispensing mechanism is installed at the top of the three-dimensional frame;

[0007] The three-dimensional frame is equipped with a conveying mechanism that passes through the interior of the three-dimensional frame from the lower front and extends to the distribution mechanism; the conveying mechanism transports objects by continuous flow.

[0008] A picking mechanism is installed at the front of the conveying mechanism; a first vision module is installed at the front of the three-dimensional frame, and the first vision module is located above and behind the picking mechanism.

[0009] The moving mechanism, the distributing mechanism, the conveying mechanism, the picking mechanism, and the first vision module are all electrically connected to the controller.

[0010] Furthermore, the conveying mechanism includes a mobile conveying device, a bracket, and a guide rail; the mobile conveying device and the controller are electrically connected.

[0011] The mobile conveyor is installed inside the three-dimensional frame, and the mobile conveyor passes through the interior of the three-dimensional frame from the front and extends to the distribution mechanism;

[0012] The bracket is installed inside the three-dimensional frame and parallel to the flow conveyor, and the bracket is located below the conveying surface of the flow conveyor.

[0013] At least one guide rail is installed on the inner left and inner right sides of the three-dimensional frame, the guide rail is parallel to the flow conveyor, and the guide rail is located between the flow conveyor and the bracket.

[0014] The mobile conveyor, the bracket, and the guide rail surround to form an object conveying channel.

[0015] Furthermore, at least one lead screw driver is fixed on each of the left and right sides of the flow conveyor, and the three-dimensional frame is provided with a lead screw seat corresponding to the lead screw driver, and the lead screw of the lead screw driver is movably connected to the lead screw seat;

[0016] The lead screw driver and the controller are electrically connected, and the flowing conveyor moves closer to or further away from the bracket through the relative movement of the lead screw of the lead screw driver and the lead screw seat.

[0017] Furthermore, the picking mechanism includes a first picking Mecanum wheel, a second picking Mecanum wheel, a picking shaft, a picking driver, and a picking bracket; the rear of the picking bracket is fixedly connected to the front of the mobile conveyor, the middle of the picking shaft is rotatably connected to the front of the picking bracket, the picking driver is mounted on the upper part of the picking bracket, the picking driver is driven to the middle of the picking shaft via a transmission belt, and the picking driver is electrically connected to the controller;

[0018] The first pick-up Mecanum wheel and the second pick-up Mecanum wheel are fixedly connected to the left and right parts of the pick-up shaft, respectively, and the pick-up shaft serves as the shaft for the first pick-up Mecanum wheel and the second pick-up Mecanum wheel;

[0019] The first pick-up Mecanum wheel's roller is tilted downward to the right, and the second pick-up Mecanum wheel's roller is tilted downward to the left. Both the first and second pick-up Mecanum wheels are located at the front end of the object conveying channel.

[0020] Furthermore, at least one falling guide is provided on the top periphery of the three-dimensional frame;

[0021] The dispensing mechanism includes a rotary driver, a gear ring, a gripper device, and a flip driver; the rotary driver, the gripper device, and the flip driver are all electrically connected to the controller;

[0022] The top center of the three-dimensional frame has a channel opening that connects to the object conveying channel. The gear ring is rotatably sleeved on the channel opening, and the transmission gear of the rotation driver meshes with the gear of the gear ring.

[0023] The gripper device is hinged to the top of the gear ring, and the gripper jaws correspond to the ring openings of the gear ring. The flipping drive is connected to the gripper device and the hinge shaft at the top of the gear ring.

[0024] Furthermore, the distribution mechanism also includes a second vision module; the second vision module is electrically connected to the controller; the second vision module is mounted on the top of the three-dimensional frame and faces the gear ring and the gripper device.

[0025] Furthermore, the gripper device includes a left gripper, a right gripper, a gripper mounting base, and a gripper driver; the gripper driver and the controller are electrically connected.

[0026] The bottom of the gripper mounting base is hinged to the top of the gear ring. The rear ends of the left gripper and the right gripper are both mounted on the top of the gripper mounting base. The front parts of the left gripper and the front parts of the right gripper together form the clamping opening of the gripper device.

[0027] The rack at the rear end of the left gripper and the rack at the rear end of the right gripper are respectively meshed and connected to the front and rear sides of the transmission gear of the gripper driver.

[0028] Furthermore, the moving mechanism includes a moving base, an encoder wheel assembly, and a steering wheel assembly; both the encoder wheel assembly and the steering wheel assembly are electrically connected to the controller.

[0029] The mobile base is installed on the bottom surface of the three-dimensional frame, and the steering wheel assembly is installed on the upper left, lower left, upper right and lower right corners of the mobile base respectively;

[0030] The encoding wheel assembly is installed at the center of the bottom surface of the mobile base, and the encoding wheel assembly is used to record the movement trajectory of the mobile mechanism.

[0031] Furthermore, the encoding wheel assembly includes a first omnidirectional encoding wheel and a second omnidirectional encoding wheel; both the first omnidirectional encoding wheel and the second omnidirectional encoding wheel are electrically connected to the controller;

[0032] The first omnidirectional encoder wheel and the second omnidirectional encoder wheel are respectively disposed on the right side of the center of the bottom surface of the movable base and the left side of the center of the bottom surface;

[0033] The hub forward direction line of the first omnidirectional encoder wheel and the hub forward direction line of the second omnidirectional encoder wheel both form a 45° angle with the forward direction line of the moving mechanism.

[0034] Furthermore, the steering wheel assembly includes a roller, a rolling driver, and a directional driver; both the rolling driver and the directional driver are electrically connected to the controller.

[0035] The roller is disposed below the movable base, and the rolling driver and the roller's shaft are connected by a transmission.

[0036] The roller's bracket and the movable base are rotatably connected. Gear teeth are provided along the circumference of the roller's bracket, and the gear teeth are meshed with the transmission gear of the directional drive.

[0037] The technical solution provided by this invention can include the following beneficial effects: Based on the first vision module located at the front of the rack, the environmental conditions of a 180° or even 270° fan-shaped area in front can be scanned. The controller then plans the sorting route, controls the moving mechanism to move the rack to the target location, and the moving mechanism continues to move forward, while controlling the picking mechanism to continuously pick up objects from the ground and send them to the front of the conveyor mechanism (simultaneously, the controller scans the objects entering the picking mechanism from below through the first vision module and marks them sequentially). The conveyor mechanism is then activated to transfer multiple objects to the distribution mechanism (the conveyor mechanism can simultaneously transfer multiple objects by continuously transporting them, such as through a conveyor belt or rollers). According to the serial number marked by the controller, the objects are distributed from top to bottom to the corresponding collectors around the rack. (If the collector is not nearby, the conveyor mechanism stops after it is full of objects. At this time, the conveyor mechanism carries multiple objects, and the moving mechanism goes to the corresponding collector position. Then the conveyor mechanism is restarted and the distribution mechanism is controlled to distribute the objects.) This allows the sorting robot to meet the requirements of free movement, picking up multiple objects at the same time, and independently completing the entire sorting process. Even when the collector is near the sorting robot (for example, the collector is on both sides of the object to be sorted), the sorting robot can pick up the object to be sorted while distributing it to the collectors on both sides. It can continuously sort objects, greatly improving sorting efficiency. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of an object sorting robot according to one embodiment of the present invention.

[0039] Figure 2 Is it like this? Figure 1The image shows a cross-sectional view of an object sorting robot.

[0040] Figure 3 Is it like this? Figure 1 Schematic diagram of the distribution mechanism shown Figure 1 .

[0041] Figure 4 Is it like this? Figure 1 Schematic diagram of the distribution mechanism shown Figure 2 .

[0042] Figure 5 Is it like this? Figure 3 An enlarged view of point A shown.

[0043] Figure 6 Is it like this? Figure 1 The diagram shows the structure of the moving mechanism.

[0044] Figure 7 Is it like this? Figure 6 The diagram shows the structure of the steering wheel assembly.

[0045] Figure 8 Is it like this? Figure 1 A magnified view of point B shown.

[0046] The components include: a three-dimensional frame 1, a moving mechanism 2, a distributing mechanism 3, a conveying mechanism 4, a picking mechanism 5, a first vision module 6, a mobile conveying device 41, a bracket 42, a guide rail 43, an object conveying channel 44, a lead screw driver 411, a lead screw seat 11, a first picking Mecanum wheel 51, a second picking Mecanum wheel 52, a picking shaft 53, a picking driver 54, a picking bracket 55, a falling guide 12, a rotation driver 31, a gear ring 32, a gripper device 33, a flipping driver 34, a second vision module 35, a left gripper 331, a right gripper 332, a gripper mounting base 333, a gripper driver 334, a moving base 21, an encoding wheel assembly 22, a steering wheel assembly 23, a first omnidirectional encoding wheel 221, a second omnidirectional encoding wheel 222, a roller 231, a rolling driver 232, and a direction driver 233. Detailed Implementation

[0047] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0048] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0049] In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0050] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0051] The following is combined with Figures 1 to 7 This describes an object sorting robot according to an embodiment of the present invention.

[0052] An object sorting robot includes a three-dimensional frame 1 and a controller. A moving mechanism 2 is installed at the bottom of the three-dimensional frame 1, and a dispensing mechanism 3 is installed at the top of the three-dimensional frame 1.

[0053] The three-dimensional frame 1 is equipped with a conveying mechanism 4, which passes through the interior of the three-dimensional frame 1 from the lower front and extends to the distribution mechanism 3; the conveying mechanism 4 conveys objects through continuous flow.

[0054] A picking mechanism 5 is installed at the front of the conveying mechanism 4; a first vision module 6 is installed at the front of the three-dimensional frame 1, and the first vision module 6 is located above and behind the picking mechanism 5.

[0055] The moving mechanism 2, the distributing mechanism 3, the conveying mechanism 4, the picking mechanism 5, and the first vision module 6 are all electrically connected to the controller.

[0056] This invention proposes a preferred embodiment of an object sorting robot, such as... Figure 1 and 2 As shown, based on the first visual module 6 located at the front of the three-dimensional frame 1 ( Figure 1(The image shows only the mounting frame.) It can scan the environment in a 180° or even 270° fan-shaped area in front. The controller plans the sorting route accordingly. After the moving mechanism 2 moves the three-dimensional frame 1 to the target location, the moving mechanism 2 continues to move forward and controls the picking mechanism 5 to continuously pick up objects on the ground during its movement and send them to the front of the conveyor mechanism 4 (at the same time, the controller scans the objects entering the picking mechanism 5 from the front and below through the first vision module 6 and marks the objects one by one in sequence). The conveyor mechanism 4 is then activated to transfer multiple objects to the distribution mechanism 3 (the conveyor mechanism 4 can transfer multiple objects simultaneously by using a continuous flow of objects, such as a conveyor belt or rollers). The distribution mechanism 3 then distributes the objects according to the sequence number marked by the controller. The system distributes objects from top to bottom to the corresponding collectors around the three-dimensional rack 1. (If the collector is not nearby, the conveyor mechanism 4 stops after it is full of objects. At this time, the conveyor mechanism 4 carries multiple objects, which are then moved to the corresponding collector positions by the moving mechanism 2. The conveyor mechanism 4 is then restarted and the distribution mechanism 3 is controlled to distribute the objects.) This allows the sorting robot to meet the requirements of free movement, simultaneous picking of multiple objects, and independent completion of the entire sorting process. Even when the collector is near the sorting robot (for example, the collector is on both sides of the object to be sorted), the sorting robot can pick up the object to be sorted while distributing it to the collectors on both sides, continuously sorting objects and greatly improving sorting efficiency.

[0057] Furthermore, the conveying mechanism 4 includes a mobile conveying device 41, a bracket 42, and a guide rail 43; the mobile conveying device 41 and the controller are electrically connected.

[0058] The mobile conveyor 41 is installed inside the frame 1. The mobile conveyor 41 passes through the interior of the frame 1 from the lower front and extends to the distribution mechanism 3.

[0059] The bracket 42 is installed inside the three-dimensional frame 1 and is parallel to the flow conveyor 41, and the bracket 42 is located below the conveying surface of the flow conveyor 41.

[0060] At least one guide rail 43 is installed on the inner left and inner right sides of the three-dimensional frame 1. The guide rail 43 is parallel to the flow conveyor 41 and is located between the flow conveyor 41 and the bracket 42.

[0061] A mobile conveyor 41, a bracket 42, and a guide rail 43 surround each other to form an object conveying channel 44.

[0062] In this embodiment, the conveying mechanism 4 is formed by a mobile conveying device 41, a bracket 42 and a guide rail 43 surrounding each other to form an object conveying channel 44 for object conveying and for carrying objects when the mobile conveying device 41 stops.

[0063] When an object is being transported, after it enters the object transport channel 44, the bracket 42 provides support for the bottom surface of the object. The transport surface of the flow transport device 41 (which can be a conveyor belt device or a roller transport device) contacts and flows with the top surface of the object. Thus, the object is clamped (or limited) by the upper and lower opposing flow transport devices 41 and bracket 42, and the object is pushed to the distribution mechanism 3. The guide rails 43 on both sides are responsible for limiting and guiding, which can restrict the positional movement of the object on the left and right sides and prevent the object from deviating.

[0064] When the object stops being transported, the mobile conveyor 41 stops working. The conveying surface of the mobile conveyor 41 only contacts the top surface of the object without flowing. Thus, the object is clamped and fixed in the object conveying channel 44 by the mobile conveyor 41 and the bracket 42, which are positioned above and below each other. Multiple objects can be clamped at the same time along the object conveying channel 44. After being transported to the corresponding collector position, the mobile conveyor 41 is restarted and the distribution mechanism 3 continues to distribute the objects.

[0065] Specifically, the guide rail 43 is a slide rail with rollers arranged in a row along the object conveying channel 44, with all rollers facing the object conveying channel 44.

[0066] In this embodiment, when an object is being pushed by the flow conveyor 41, if either or both of the left and right sides of the object come into contact with the guide rail 43, the guide rail 43 will generate friction with the object, hindering the flow conveyor 41 from pushing the object. Therefore, the guide rail 43 is preferably configured as a roller rail, so that when either or both of the left and right sides of the object come into contact with the guide rail 43, they are in contact with the rollers. The rollers will roll in the same direction as the flow conveyor 41 pushes the object, which not only does not hinder the conveying of the object, but also provides conveying assistance.

[0067] Furthermore, at least one lead screw driver 411 is fixed on the left and right sides of the flow conveyor 41, and the three-dimensional frame 1 is provided with a lead screw seat 11 corresponding to the lead screw driver 411, and the lead screw of the lead screw driver 411 is movably connected to the lead screw seat 11.

[0068] The lead screw driver 411 and the controller are electrically connected. The flow conveyor 41 moves closer to or further away from the bracket 42 through the relative movement of the lead screw of the lead screw driver 411 and the lead screw seat 11.

[0069] In this embodiment, the object conveying channel 44 needs to adapt to the size of the object, mainly to the height or thickness of the object, and needs to have the ability to adjust the clamping space. Therefore, the flow conveying device 41 is movably connected (such as threaded connection) to the screw seat 11 of the three-dimensional frame 1 through the screw of the screw driver 411, thereby fixing the flow conveying device 41 inside the three-dimensional frame 1. By driving the screw to rotate, the screw driver 411 can make the flow conveying device 41 move closer to or away from the bracket 42, thereby realizing the adjustment of the diameter of the object conveying channel 44.

[0070] Furthermore, the picking mechanism 5 includes a first picking Mecanum wheel 51, a second picking Mecanum wheel 52, a picking shaft 53, a picking driver 54, and a picking bracket 55; the rear of the picking bracket 55 is fixedly connected to the front of the mobile conveyor 41, the middle of the picking shaft 53 is rotatably connected to the front of the picking bracket 55, the picking driver 54 is mounted on the upper part of the picking bracket 55, the picking driver 54 is connected to the middle of the picking shaft 53 via a transmission belt, and the picking driver 54 is electrically connected to the controller.

[0071] The first pick-up Mecanum wheel 51 and the second pick-up Mecanum wheel 52 are fixedly connected to the left and right parts of the pick-up shaft 53, respectively. The pick-up shaft 53 serves as the shaft for the first pick-up Mecanum wheel 51 and the second pick-up Mecanum wheel 52.

[0072] The roller of the first pick-up Mecanum wheel 51 is tilted to the lower right, and the roller of the second pick-up Mecanum wheel 52 is tilted to the lower left. Both the first pick-up Mecanum wheel 51 and the second pick-up Mecanum wheel 52 are located at the front end of the object conveying channel 44.

[0073] In this embodiment, as Figure 2 and 8 As shown, the rollers of the first pick-up Mecanum wheel 51 are tilted downwards to the right, and the rollers of the second pick-up Mecanum wheel 52 are tilted downwards to the left. Both the first pick-up Mecanum wheel 51 and the second pick-up Mecanum wheel 52 are located at the front end of the object conveying channel 44. When the pick-up driver 54 drives the pick-up shaft 53 to rotate via the transmission belt, it will drive the first pick-up Mecanum wheel 51 and the second pick-up Mecanum wheel 52 to rotate simultaneously. At this time, the rollers of the first pick-up Mecanum wheel 51 and the second pick-up Mecanum wheel 52 rotate centripetally toward the center of the pick-up shaft 53. If an object is encountered, the object will be guided and pushed toward the front end of the object conveying channel 44 by the centripetal rotation of the rollers, thereby allowing the object to enter the object conveying channel 44 and realizing the object pick-up function.

[0074] Furthermore, at least one falling guide 12 is provided on the top periphery of the three-dimensional frame 1;

[0075] The dispensing mechanism 3 includes a rotary driver 31, a gear ring 32, a gripper device 33, and a tilting driver 34; the rotary driver 31, the gripper device 33, and the tilting driver 34 are all electrically connected to the controller.

[0076] The top center of the three-dimensional frame 1 has a channel opening that connects to the object conveying channel 44. The gear ring 32 is rotatably sleeved on the channel opening, and the transmission gear of the rotating driver 31 meshes with the gear of the gear ring 32.

[0077] The gripper device 33 is hinged to the top of the gear ring 32, and the gripping jaw of the gripper device 33 corresponds to the ring jaw of the gear ring 32. The flipping drive 34 is connected to the hinge shaft at the top of the gripper device 33 and the gear ring 32.

[0078] In this embodiment, as Figure 3 and 4 As shown, the gripper jaws of the gripper device 33 correspond to the ring jaws of the gear ring 32 so that the gripper device 33 can grab the object from the end of the object conveying channel 44. After the gripper device 33 grabs the object, the flipping driver 34 drives the hinge shaft to flip the gripper device 33 upward and lift it up. Then, the rotating driver 31 drives the gear ring 32 to rotate through gear meshing, so that the gripper device 33 carries the object and rotates to the corresponding direction of the falling guide 12. At this time, the gripper device 33 releases the object (the flipping driver 34 can drive the hinge shaft to flip the gripper device 33 outward a little and then release it). The object falls onto the falling guide 12 and rolls down the falling guide 12 to the collector pointed to by the falling guide 12.

[0079] Furthermore, the dispensing mechanism 3 also includes a second vision module 35; the second vision module 35 is electrically connected to the controller; the second vision module 35 is mounted on the top of the frame 1 and faces the gear ring 32 and the gripper device 33.

[0080] In this embodiment, the second vision module 35 ( Figure 3 and 4 (The mounting bracket is only shown in the diagram) It is used to pair with the object marked by the first vision module 6 to ensure that the gripper device 33 throws the marked object into the corresponding collector.

[0081] Furthermore, the gripper device 33 includes a left gripper 331, a right gripper 332, a gripper mounting base 333, and a gripper driver 334; the gripper driver 334 is electrically connected to the controller.

[0082] The bottom of the gripper mounting base 333 is hinged to the top of the gear ring 32. The rear ends of the left gripper 331 and the right gripper 332 are both mounted on the top of the gripper mounting base 333. The front parts of the left gripper 331 and the front parts of the right gripper 332 together form the clamping opening of the gripper device 33.

[0083] The rack at the rear end of the left gripper 331 and the rack at the rear end of the right gripper 332 are respectively meshed with the front and rear sides of the transmission gear of the gripper driver 334.

[0084] In this embodiment, as Figure 5As shown, the overall flipping of the gripper device 33 is achieved by hinged connection between the bottom of the gripper mounting base 333 and the top of the gear ring 32; the gripping action of the gripper device 33 is achieved by the left gripper 331, the right gripper 332 and the gripper driver 334. When the transmission gear of the gripper driver 334 rotates, the racks at the rear ends of the left gripper 331 and the right gripper 332 move outward simultaneously, causing the gripping jaw of the gripper device 33 to expand and release the object; when the racks at the rear ends of the left gripper 331 and the right gripper 332 move inward simultaneously, the gripping jaw of the gripper device 33 shrinks and clamps the object.

[0085] Furthermore, the moving mechanism 2 includes a moving base 21, an encoder wheel assembly 22, and a steering wheel assembly 23; both the encoder wheel assembly 22 and the steering wheel assembly 23 are electrically connected to the controller.

[0086] The mobile base 21 is installed on the bottom surface of the three-dimensional frame 1, and the steering wheel assembly 23 is installed on the upper left corner, lower left corner, upper right corner and lower right corner of the mobile base 21 respectively;

[0087] The encoder wheel assembly 22 is installed at the center of the bottom surface of the movable base 21. The encoder wheel assembly 22 is used to record the movement trajectory of the movable mechanism 2.

[0088] In this embodiment, as Figure 6 As shown, the encoding wheel assembly 22 records the movement trajectory of the mobile mechanism 2 and feeds it back to the controller, working in conjunction with the first vision module 6 to achieve a closed-loop route planning. Simultaneously, the encoding wheel assembly 22 is installed at the center of the bottom surface of the mobile base 21, corresponding to the middle of the object conveying channel 44. When the encoding wheel assembly 22 detects that the robot has reached the target location, the object has already been picked up by the picking mechanism 5 and pushed into the middle of the object conveying channel 44, completing the object picking process. The robot can then continue moving, ensuring the continuity of the sorting process. The steering wheel assembly 23, controlled by the controller, enables the mobile mechanism 2 to move in all directions, increasing the freedom of movement for the sorting robot.

[0089] Furthermore, the encoder wheel assembly 22 includes a first omnidirectional encoder wheel 221 and a second omnidirectional encoder wheel 222; both the first omnidirectional encoder wheel 221 and the second omnidirectional encoder wheel 222 are electrically connected to the controller;

[0090] The first omnidirectional encoder wheel 221 and the second omnidirectional encoder wheel 222 are respectively disposed on the right side of the center of the bottom surface of the movable base 21 and the left side of the center of the bottom surface;

[0091] The hub forward direction line of the first omnidirectional encoder wheel 221 and the hub forward direction line of the second omnidirectional encoder wheel 222 both form a 45° angle with the forward direction line of the moving mechanism 2.

[0092] The omnidirectional wheel includes a main wheel hub and multiple rollers on the main wheel hub. The main wheel hub and the rollers travel in perpendicular directions to each other. When the omnidirectional wheel is used as an encoder wheel, only the shaft of the main wheel hub is connected to the encoder, and the rollers can rotate freely. Based on the characteristics of the omnidirectional encoder wheel, in this embodiment (e.g.) Figure 6 As shown, after the hub forward direction lines of the first omnidirectional encoder wheel 221 and the hub forward direction lines of the second omnidirectional encoder wheel 222 are both set at a 45° angle with the forward direction line of the moving mechanism 2, the robot's movement trajectory can be determined by the amount of rolling of the two omnidirectional encoder wheel main wheels.

[0093] For example:

[0094] (1) The robot moves forward in a straight line: the force in the forward direction is evenly distributed to the first omnidirectional encoder wheel 221 and the second omnidirectional encoder wheel 222. The main wheels of the first omnidirectional encoder wheel 221 and the second omnidirectional encoder wheel 222 roll forward the same distance at the same time. Then the encoders of the first omnidirectional encoder wheel 221 and the second omnidirectional encoder wheel 222 will both feed back the same (or approximately) pulse increment (such as +50 pulses, where "+" represents forward movement and the number of pulses represents the distance traveled. The component pulses of the two omnidirectional encoder wheels can be synthesized by the Pythagorean theorem to obtain the distance in the straight forward direction).

[0095] (2) The robot moves forward at 45 degrees to the upper left: At this time, only the main wheel of the first omnidirectional encoder wheel 221 rolls, and only the roller of the second omnidirectional encoder wheel 222 rolls (to avoid rigid friction). The encoder of the first omnidirectional encoder wheel 221 feeds back the full pulse increment (such as +100 pulses), while the encoder of the second omnidirectional encoder wheel 222 feeds back the pulse increment of zero. Thus, it can be identified that the robot is moving forward at 45 degrees to the upper left, and the distance traveled can be known by the full pulse increment fed back by the first omnidirectional encoder wheel 221.

[0096] In addition, the first omnidirectional encoder wheel 221 and the second omnidirectional encoder wheel 222 are perpendicularly distributed to each other, which can balance the wear of the two wheels and reduce feedback error.

[0097] Furthermore, the steering wheel assembly 23 includes a roller 231, a rolling driver 232, and a directional driver 233; both the rolling driver 232 and the directional driver 233 are electrically connected to the controller.

[0098] The roller 231 is located below the movable base 21, and the roller driver 232 and the roller 231 are connected by a drive.

[0099] The support of the roller 231 and the movable base 21 are rotatably connected. Gear teeth 2311 are provided along the periphery of the support of the roller 231. The gear teeth 2311 are meshed with the transmission gear of the directional drive 233.

[0100] In this embodiment, as Figure 7As shown, the steering wheel assembly 23 is driven by the rolling driver 232 to move the roller 231 forward or backward, and by the directional driver 233 to rotate the roller 231, thereby realizing the omnidirectional movement of the single roller 231.

[0101] It should be noted that the types of drivers described in this embodiment, such as the rolling driver 232, the direction driver 233, the lead screw driver 411, and the rotation driver 31, are not limited, and for example, a motor can be selected.

[0102] Other components and operations of an object sorting robot according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0103] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0104] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An object sorting robot, characterized in that: It includes a three-dimensional frame and a controller, wherein a moving mechanism is installed at the bottom of the three-dimensional frame and a dispensing mechanism is installed at the top of the three-dimensional frame; The three-dimensional frame is equipped with a conveying mechanism that passes through the interior of the three-dimensional frame from the lower front and extends to the distribution mechanism; the conveying mechanism transports objects by continuous flow. A picking mechanism is installed at the front of the conveying mechanism; a first vision module is installed at the front of the three-dimensional frame, and the first vision module is located above and behind the picking mechanism. The moving mechanism, the distributing mechanism, the transmitting mechanism, the picking mechanism, and the first vision module are all electrically connected to the controller; The conveying mechanism includes a mobile conveying device, a bracket, and a guide rail; the mobile conveying device and the controller are electrically connected. The mobile conveyor is installed inside the three-dimensional frame, and the mobile conveyor passes through the interior of the three-dimensional frame from the front and extends to the distribution mechanism; The bracket is installed inside the three-dimensional frame and parallel to the flow conveyor, and the bracket is located below the conveying surface of the flow conveyor. At least one guide rail is installed on the inner left and inner right sides of the three-dimensional frame, the guide rail is parallel to the flow conveyor, and the guide rail is located between the flow conveyor and the bracket. The mobile conveyor, the bracket, and the guide rail surround to form an object conveying channel; At least one lead screw driver is fixed on each of the left and right sides of the flow conveyor. The three-dimensional frame is provided with a lead screw seat corresponding to the lead screw driver. The lead screw of the lead screw driver is movably connected to the lead screw seat. The lead screw driver and the controller are electrically connected, and the flowing conveyor moves closer to or further away from the bracket through the relative movement of the lead screw of the lead screw driver and the lead screw seat; The top periphery of the three-dimensional frame is provided with at least one falling guide; The dispensing mechanism includes a rotary driver, a gear ring, a gripper device, and a flip driver; the rotary driver, the gripper device, and the flip driver are all electrically connected to the controller; The top center of the three-dimensional frame has a channel opening that connects to the object conveying channel. The gear ring is rotatably sleeved on the channel opening, and the transmission gear of the rotation driver meshes with the gear of the gear ring. The gripper device is hinged to the top of the gear ring, and the gripper jaws correspond to the ring openings of the gear ring. The flipping drive is connected to the gripper device and the hinge shaft at the top of the gear ring.

2. The object sorting robot according to claim 1, characterized in that: The picking mechanism includes a first picking Mecanum wheel, a second picking Mecanum wheel, a picking shaft, a picking driver, and a picking bracket; the rear of the picking bracket is fixedly connected to the front of the mobile conveyor, the middle of the picking shaft is rotatably connected to the front of the picking bracket, the picking driver is mounted on the upper part of the picking bracket, the picking driver is driven to the middle of the picking shaft via a transmission belt, and the picking driver is electrically connected to the controller; The first pick-up Mecanum wheel and the second pick-up Mecanum wheel are fixedly connected to the left and right parts of the pick-up shaft, respectively, and the pick-up shaft serves as the shaft for the first pick-up Mecanum wheel and the second pick-up Mecanum wheel; The first pick-up Mecanum wheel is tilted to the lower right, and the second pick-up Mecanum wheel is tilted to the lower left. Both the first and second pick-up Mecanum wheels are located at the front end of the object conveying channel.

3. The object sorting robot according to claim 1, characterized in that: The dispensing mechanism further includes a second vision module; the second vision module is electrically connected to the controller; the second vision module is mounted on the top of the three-dimensional frame and faces the gear ring and the gripper device.

4. The object sorting robot according to claim 1, characterized in that: The gripper device includes a left gripper, a right gripper, a gripper mounting base, and a gripper driver; the gripper driver and the controller are electrically connected. The bottom of the gripper mounting base is hinged to the top of the gear ring. The rear ends of the left gripper and the right gripper are both mounted on the top of the gripper mounting base. The front parts of the left gripper and the front parts of the right gripper together form the clamping opening of the gripper device. The rack at the rear end of the left gripper and the rack at the rear end of the right gripper are respectively meshed and connected to the front and rear sides of the transmission gear of the gripper driver.

5. The object sorting robot according to claim 1, characterized in that: The moving mechanism includes a moving base, an encoder wheel assembly, and a steering wheel assembly; both the encoder wheel assembly and the steering wheel assembly are electrically connected to the controller. The mobile base is installed on the bottom surface of the three-dimensional frame, and the steering wheel assembly is installed on the upper left, lower left, upper right and lower right corners of the mobile base respectively; The encoding wheel assembly is installed at the center of the bottom surface of the mobile base, and the encoding wheel assembly is used to record the movement trajectory of the mobile mechanism.

6. The object sorting robot according to claim 5, characterized in that: The encoder wheel assembly includes a first omnidirectional encoder wheel and a second omnidirectional encoder wheel; both the first omnidirectional encoder wheel and the second omnidirectional encoder wheel are electrically connected to the controller; The first omnidirectional encoder wheel and the second omnidirectional encoder wheel are respectively disposed on the right side of the center of the bottom surface of the movable base and the left side of the center of the bottom surface; The hub forward direction line of the first omnidirectional encoder wheel and the hub forward direction line of the second omnidirectional encoder wheel both form a 45° angle with the forward direction line of the moving mechanism.

7. The object sorting robot according to claim 5, characterized in that: The steering wheel assembly includes a roller, a rolling actuator, and a directional actuator; both the rolling actuator and the directional actuator are electrically connected to the controller. The roller is disposed below the movable base, and the rolling driver and the roller's shaft are connected by a transmission. The roller's bracket and the movable base are rotatably connected. Gear teeth are provided along the circumference of the roller's bracket, and the gear teeth are meshed with the transmission gear of the directional drive.

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