A logistics express sorting device with backflow sorting structure

Abstract

The utility model discloses a logistics express sorting device with backflow sorting structure, including the goods belt conveyor, is used to the truss edition mechanical arm to supply spare and forms the backflow channel, and the goods belt conveyor's incoming section top is equipped with the mechanical arm visual camera system for the coordinate information of parcel express mail is captured and calculates, and the truss edition mechanical arm is followed formula capture according to the information that mechanical arm visual camera system captured and calculated parcel express mail on the goods belt conveyor, and the parcel express mail after capture is transported to the parcel table on the truss edition mechanical arm. The utility model discloses through the goods belt conveyor steady conveying guarantee parcel express mail continuous access truss mechanical arm's capture range, avoid the interruption of conveying and drag slow efficiency, and the two sets of interrelated capture structure of truss edition mechanical arm, can simultaneously alternate capture, deliver the complete process of parcel express mail, improve the capacity of delivery in unit time, and adapt to express logistics centralized sorting scene.

Description

Technical Field

[0001] This utility model relates to the technical field of logistics and express sorting devices, specifically to a logistics and express sorting device with a return sorting structure. Background Technology

[0002] Logistics sorting is the process in logistics operations where, based on customer order requirements, delivery destinations, parcel attributes (such as weight, size, and category), or other preset rules, collected parcels are classified, selected, organized, and allocated to appropriate distribution routes or storage areas. It is a crucial node connecting centralized parcel receiving and decentralized delivery, aiming to improve logistics efficiency, reduce the risk of misdelivery, and ensure that parcels are delivered accurately and quickly to their destinations.

[0003] In the current logistics sorting process, the loading station still generally relies on manual labor to complete the loading operation. The repetitive manual labor can easily lead to staff fatigue, which not only restricts the loading efficiency per unit time, but may also increase problems such as package bumps and label wear due to decreased attention, affecting the accuracy of subsequent sorting. On the other hand, in order to meet the continuous operation needs of the sorting line, companies need to allocate more manpower, which not only drives up labor costs, but is also affected by factors such as staff turnover and training cycle, making it difficult to guarantee the stability of operations.

[0004] Therefore, how to design a new logistics and express sorting device with a return sorting structure is a technical problem that technicians need to solve. Utility Model Content

[0005] The purpose of this invention is to provide a logistics and express sorting device with a return sorting structure to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0007] A logistics and express sorting device with a return-flow sorting structure includes a supply belt conveyor for feeding packages to a truss-type robotic arm and forming a return-flow channel. Above the inlet section of the supply belt conveyor is a robotic arm vision camera system for capturing and calculating relevant information of the packages, such as coordinate information and gripping points. The truss-type robotic arm follows and grips the packages on the supply belt conveyor based on the information captured and calculated by the robotic arm vision camera system. The gripped packages are then transported by the truss-type robotic arm to a package feeding platform, where a bottom scanning camera scans and captures the bottom surface information of the packages. The package feeding platform then transports the scanned packages to a circular cross-belt sorter for sorting according to a sorting plan. The circular cross-belt sorter is equipped with a cross-belt five-sided scanning camera, which can scan and capture information from the other five sides of the packages. Together with the bottom scanning camera on the package feeding platform, this achieves scanning of all six sides of the packages, completing the scanning and parsing of the express tracking number.

[0008] Furthermore, the truss-type robotic arm includes a truss installed above the infeed section of the supply conveyor belt. An X-axis moving device is symmetrically fixedly installed at the top of the truss. A Y-axis moving device is fixedly installed at the output end of the X-axis moving device. A Z-axis moving device is fixedly installed at the output end of the Y-axis moving device. A connecting seat is fixedly installed at the output end of the Z-axis moving device. A connecting frame is fixedly installed at the bottom end of the connecting seat. A mounting plate is fixedly installed at the bottom end of the connecting frame. Several suction cups are fixedly installed at equal intervals on the lower surface of the mounting plate. An auxiliary structure is fixedly installed inside the connecting frame, and the auxiliary structure is rotatably connected to both ends of the mounting plate.

[0009] Furthermore, there are two sets of X-axis moving devices, Y-axis moving devices, and Z-axis moving devices, and the two sets of X-axis moving devices, Y-axis moving devices, and Z-axis moving devices are arranged symmetrically.

[0010] Furthermore, the auxiliary structure includes a rotating frame symmetrically rotatably connected to both ends of the mounting plate. A double-headed cylinder is fixedly installed inside the connecting frame. A connecting block is fixedly installed at the output end of the double-headed cylinder. Guide frames are symmetrically fixedly installed on both sides of the connecting frame. A sliding rod is slidably connected inside the guide frame. The sliding rod is fixedly connected to the end of the connecting block away from the double-headed cylinder. Both ends of the sliding rod are rotatably connected to connecting arms. The end of the connecting arm away from the sliding rod is rotatably connected to one end of the rotating frame.

[0011] Furthermore, a clamp is fixedly installed at the end of the rotating frame away from the connecting arm.

[0012] Furthermore, a reinforcing frame is provided at the top of the guide frame.

[0013] Furthermore, the top of the mounting plate is provided with a reinforcing rib that mates with the connecting bracket.

[0014] The technical solution provided by this utility model can include the following beneficial effects:

[0015] In this example, a stable conveyor belt ensures that parcels continuously enter the gripping range of the gantry robotic arm, preventing interruptions and slowing down efficiency. The two interconnected gripping structures of the gantry robotic arm can simultaneously and alternately grip and deliver parcels, increasing delivery capacity per unit time and adapting to centralized sorting scenarios in express logistics. The "U-shaped" layout allows ungrabbed parcels to be returned for secondary processing, preventing parcel accumulation and further improving overall processing efficiency. The robotic arm's vision camera system accurately captures the coordinates of parcels and transmits signals synchronously, achieving seamless "vision-machine" integration, reducing human positioning errors, and making the gantry robotic arm's gripping more targeted and reducing gripping deviations. The parcel feeder scans the bottom of the parcel, and the circular cross-belt sorter scans the other five sides, achieving complete coverage of six sides of the parcel information. This provides comprehensive data support for subsequent classification and traceability, improving the level of information technology and intelligence in operations.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the present invention. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the overall device structure of this utility model;

[0019] Figure 2 This is a second-view schematic diagram of the truss-type robotic arm structure of this utility model;

[0020] Figure 3 for Figure 2 Schematic diagram of the structure at point A in the middle;

[0021] Figure 4 This is a schematic diagram of the auxiliary structure of this utility model.

[0022] In the diagram: 1. Supply belt conveyor; 2. Robotic arm vision camera system; 3. Truss-type robotic arm; 4. Packaging platform; 5. Circular cross-belt sorting machine; 6. Cross-belt five-sided scanning camera; 7. Truss; 8. X-axis moving device; 9. Y-axis moving device; 10. Z-axis moving device; 11. Connecting seat; 12. Connecting frame; 13. Mounting plate; 14. Suction cup; 15. Rotating frame; 16. Clamp; 17. Double-headed cylinder; 18. Connecting block; 19. Guide frame; 20. Slide rod; 21. Connecting arm. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model. The preferred embodiments of this utility model will now be described in more detail with reference to the accompanying drawings. Although the preferred embodiments of this utility model are shown in the drawings, it should be understood that this utility model can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this utility model more thorough and complete, and to fully convey the scope of this utility model to those skilled in the art.

[0024] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0025] It should be understood that although the terms "first," "second," "third," etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] The technical solution of the present invention (Embodiment 1) is described in detail below with reference to the accompanying drawings.

[0027] See Figure 1 , Figure 2 , Figure 3 and Figure 4This logistics and express sorting device with a return sorting structure specifically includes: a supply belt conveyor 1, used to supply packages to a truss-type robotic arm and form a return channel; a robotic arm vision camera system 2 is installed above the inlet section of the supply belt conveyor 1, used to capture and calculate relevant information of the packages, such as coordinate information and gripping points; the truss-type robotic arm 3 follows and grips the packages on the supply belt conveyor 1 according to the information captured and calculated by the robotic arm vision camera system 2; the gripped packages are transported by the truss-type robotic arm 3 to the package feeding platform 4, and the bottom scanning camera on the package feeding platform 4 scans and captures the bottom information of the packages; the package feeding platform 4 transports the scanned packages to a circular cross-belt sorter 5 for sorting according to the sorting plan; the circular cross-belt sorter 5 is equipped with a cross-belt five-sided scanning camera 6, which can scan and capture information on the other five sides of the packages, and together with the bottom scanning camera on the package feeding platform 4, it can scan all six sides of the packages to complete the scanning and parsing of the express tracking number.

[0028] Specifically, the truss-type robotic arm 3 includes a truss 7 positioned above the infeed section of the supply conveyor belt 1. An X-axis moving device 8 is symmetrically fixedly installed at the top of the truss 7. A Y-axis moving device 9 is fixedly installed at the output end of the X-axis moving device 8. A Z-axis moving device 10 is fixedly installed at the output end of the Y-axis moving device 9. A connecting seat 11 is fixedly installed at the output end of the Z-axis moving device 10. A connecting frame 12 is fixedly installed at the bottom end of the connecting seat 11. A mounting plate 13 is fixedly installed at the bottom end of the connecting frame 12. Several suction cups 14 are equidistantly fixedly installed on the lower surface of the mounting plate 13. An auxiliary structure is fixedly installed inside the connecting frame 12, and the auxiliary structure is rotatably connected to both ends of the mounting plate 13.

[0029] Specifically, there are two sets of X-axis moving devices 8, Y-axis moving devices 9 and Z-axis moving devices 10, and the two sets of X-axis moving devices 8, Y-axis moving devices 9 and Z-axis moving devices 10 are arranged symmetrically.

[0030] Specifically, the auxiliary structure includes a rotating frame 15 symmetrically rotatably connected to both ends of the mounting plate 13. A double-headed cylinder 17 is fixedly installed inside the connecting frame 12. A connecting block 18 is fixedly installed at the output end of the double-headed cylinder 17. Guide frames 19 are symmetrically fixedly installed on both sides of the connecting frame 12. A sliding rod 20 is slidably connected inside the guide frame 19. The sliding rod 20 is fixedly connected to the end of the connecting block 18 away from the double-headed cylinder 17. Both ends of the sliding rod 20 are rotatably connected to a connecting arm 21. The end of the connecting arm 21 away from the sliding rod 20 is rotatably connected to one end of the rotating frame 15.

[0031] Specifically, a clamp 16 is fixedly installed at the end of the rotating frame 15 away from the connecting arm 21.

[0032] Specifically, a reinforcing frame is provided at the top of the guide frame 19.

[0033] Specifically, the top of the mounting plate 13 is provided with a reinforcing rib that cooperates with the connecting frame 12.

[0034] In this embodiment, how to quickly sort express packages is described, refer to... Figure 1 and Figure 2 The specific implementation method is as follows: Packages to be sorted are smoothly fed into the device via a supply belt conveyor 1. The supply belt conveyor 1 serves as the "initial channel" for package transport. During the transport process, the packages pass sequentially through a robotic arm vision camera system 2 and a gantry-type robotic arm 3. The robotic arm vision camera system 2 accurately captures the real-time coordinate information of the packages and quickly completes calculations. Subsequently, the processor synchronously transmits the coordinate signals to the gantry-type robotic arm 3, making its gripping actions more targeted and significantly reducing the probability of gripping deviation. The gantry-type robotic arm 3 is equipped with two interconnected gripping structures, which can simultaneously and alternately grip and deliver packages, improving delivery capacity per unit time and adapting to centralized sorting scenarios in express logistics. Secondly, the gripping structure adopts a "following movement gripping mechanism." The information captured by the robotic arm vision camera system 2 follows the movement trajectory of the packages on the belt conveyor, adjusting the gripping position and angle in real time to avoid gripping failure or damage caused by package position deviation, thus ensuring efficient gripping. The speed is improved, and the stability of the grasping process is enhanced, reducing the cost of package damage. After the gantry-type robotic arm 3 grasps the package onto the feeding platform 4, the bottom scanning camera on the feeding platform 4 will first accurately scan the bottom surface information of the package, completing the collection and recording of bottom surface data. After scanning, the feeding platform 4 will smoothly transport the package back to the supply belt conveyor 1, which will then transfer the package to the circular cross-belt sorting machine 5. The circular cross-belt sorting machine 5 is responsible for scanning the information of the other five sides of the package except the bottom surface. Combined with the bottom information collected by the previous supply station 4, complete coverage of information on all six sides of the parcels is achieved, providing comprehensive data support for subsequent sorting, classification, information entry, and traceability management. The supply conveyor belt 1 adopts a "U-shaped" layout design, which has significant practical advantages: when the truss-type robotic arm 3 is unable to grab some parcels due to a sudden increase in the number of parcels or a brief equipment debugging, the ungrabbed parcels can flow back to the initial grabbing area along the circular trajectory of the U-shaped conveyor belt, waiting for the truss-type robotic arm 3 to grab them a second time.

[0035] It should be noted that when a package arrives at the bottom scanning camera on the package feeding station 4, the package information is initially processed to generate preliminary package information, including the package's size information such as length, width, and height, as well as the tracking number. The package tracking number is a unique number assigned to each package, which is a unique ID (identifier) ​​code. The time of arrival at the cross-belt five-sided scanning camera 6 is calculated, and the cross-belt five-sided scanning camera 6 is triggered to scan the package information for barcode recognition.

[0036] In this embodiment, the suction cup 14 facilitates the sorting of box-shaped express packages, while bag-shaped express packages are difficult to absorb and are prone to falling off during the absorption process. (Refer to...) Figure 3 and Figure 4 The specific implementation method is as follows: When it is necessary to sort bagged express packages, the suction cup 14 adsorbs the surface of the bagged express package. Then, the double-headed cylinder 17 starts to work, and in conjunction with the connecting block 18, it pushes the position of the slide bar 20. The connecting arm 21 drives the rotating frame 15 to rotate around the connection point, and in conjunction with the clamp 16, it clamps the bagged express package, further increasing the stability of the bagged express package during sorting and making it more convenient to sort the express package.

[0037] It should be noted that, in order to further improve the efficiency of goods sorting, the gantry-type robotic arm 3 will be equipped with a robotic arm vision camera system 2 to form a complete operation mode, so as to collect and analyze goods information in an orderly manner, and then sort the goods through the gantry-type robotic arm 3.

[0038] Furthermore, based on cost considerations and iterative upgrades of technical solutions, a single robotic arm vision camera system can be paired with multiple truss-type robotic arms.

[0039] Currently, the suction cup 14 at the bottom of the Z-axis moving device 10 is a single hanging type. In order to improve work efficiency, a rotating structure can be installed at the bottom of the Z-axis moving device 10, and suction cups 14 are installed at both ends of the rotating structure to further improve the picking efficiency of the gantry robot arm 3.

[0040] In addition, the inlet end of the supply belt conveyor 1 is equipped with a stacking separation structure, which is mainly used to break up the stacked goods through the stacking separation structure, so that most of the goods can be laid flat on the supply belt conveyor 1, making it convenient for the gantry robotic arm 3 to grab the goods.

[0041] Alternatively, a gripping and loading solution consisting of a vision system and a six-axis robotic arm (six-axis robot) can also constitute a way to solve the technical problem described in this patent. A six-axis robotic arm (six-axis robot) is existing technology, primarily capable of movement with six degrees of freedom, moving along the x, y, and z axes, and rotating around these axes (rolling, pitching, and yaw), mimicking the dexterity of a human arm. The main components of a six-axis robotic arm include a base, shoulder, elbow, wrist, and end effector. The six-axis robotic arm employs an articulated design that mimics the structure of a human arm. This anthropomorphic structure consists of a series of rotary joints connected by rigid connectors, thereby achieving a wide range of motion and flexibility. The articulated design allows these robots to navigate around obstacles and approach workpieces from different angles.

[0042] The present invention has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different focuses; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to the present invention. Furthermore, it is understood that the steps in the method of the present invention embodiments can be adjusted, combined, and deleted according to actual needs, and the structure in the device of the present invention embodiments can be combined, divided, and deleted according to actual needs.

[0043] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A logistics and express sorting device with a return sorting structure, characterized in that, include: The supply conveyor belt (1) is used to supply parts to the truss-type robotic arm and form a return channel. Above the inlet section of the supply conveyor belt (1) is a robotic arm vision camera system (2) for capturing and calculating relevant information of the parcels, such as coordinate information and gripping point information. The truss-type robotic arm (3) performs follow-up gripping of the parcels on the supply conveyor belt (1) based on the information captured and calculated by the robotic arm vision camera system (2). The gripped parcels are then transported by the truss-type robotic arm (3) to the supply conveyor belt. On the platform (4), the bottom scanning camera on the platform (4) scans and captures the information of the bottom surface of the parcel. The platform (4) then transports the scanned parcel to the circular cross belt sorting machine (5) for sorting according to the sorting plan. The circular cross belt sorting machine (5) is equipped with a cross belt five-sided scanning camera (6), which can scan and capture the information of the other five sides of the parcel. Together with the bottom scanning camera on the platform (4), the six sides of the parcel are scanned, and the tracking number is scanned and analyzed.

2. The logistics and express sorting device with a return sorting structure according to claim 1, characterized in that: The truss-type robotic arm (3) includes a truss (7) set above the feeding section of the supply belt conveyor (1). X-axis moving devices (8) are symmetrically fixedly installed at the top of the truss (7). Y-axis moving devices (9) are fixedly installed at the output ends of the two X-axis moving devices (8). Z-axis moving devices (10) are fixedly installed at the output ends of the Y-axis moving devices (9). Connecting seats (11) are fixedly installed at the output ends of the Z-axis moving devices (10). Connecting frames (12) are fixedly installed at the bottom end of the connecting seats (11). Mounting plates (13) are fixedly installed at the bottom end of the connecting frames (12). Several suction cups (14) are fixedly installed at equal intervals on the lower surface of the mounting plates (13). An auxiliary structure is fixedly installed inside the connecting frames (12), and the auxiliary structure is rotatably connected to both ends of the mounting plates (13).

3. The logistics and express sorting device with a return sorting structure according to claim 2, characterized in that: The X-axis moving device (8), Y-axis moving device (9) and Z-axis moving device (10) are provided in two sets, and the two sets of X-axis moving devices (8), Y-axis moving devices (9) and Z-axis moving devices (10) are arranged symmetrically.

4. The logistics and express sorting device with a return sorting structure according to claim 3, characterized in that: The auxiliary structure includes a rotating frame (15) symmetrically rotatably connected to both ends of the mounting plate (13). A double-headed cylinder (17) is fixedly installed inside the connecting frame (12). A connecting block (18) is fixedly installed at the output end of the double-headed cylinder (17). Guide frames (19) are symmetrically fixedly installed on both sides of the connecting frame (12). A sliding rod (20) is slidably connected inside the guide frame (19). The sliding rod (20) is fixedly connected to the end of the connecting block (18) away from the double-headed cylinder (17). Both ends of the sliding rod (20) are rotatably connected to a connecting arm (21). The end of the connecting arm (21) away from the sliding rod (20) is rotatably connected to one end of the rotating frame (15).

5. The logistics and express sorting device with a return sorting structure according to claim 4, characterized in that: A clamp (16) is fixedly installed at the end of the rotating frame (15) away from the connecting arm (21).

6. The logistics and express sorting device with a return sorting structure according to claim 5, characterized in that: The top of the guide frame (19) is provided with a reinforcing frame.

7. The logistics and express sorting device with a return sorting structure according to claim 6, characterized in that: The top of the mounting plate (13) is provided with a reinforcing rib that is connected to the connecting frame (12).

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