Multi-joint flexible operation logistics sorting robot structure

Abstract

The utility model discloses a multi -joint nimble operation's logistics sorting robot structure relates to logistics sorting robot technical field, the utility model discloses a robot body, the operating end fixedly connected with frame of robot body, the right side fixedly connected with clamping mode automatic adjusting assembly and locking relaxation escape subassembly of frame, clamping mode automatic adjusting assembly includes servo motor, the left side of servo motor is fixedly connected with frame. The utility model discloses a clamping mode automatic adjusting assembly, utilizes servo motor control rotary roller rotation, realizes the automatic switching of vacuum chuck and clamping mechanism, adapts to different goods shape and size, and clamping mechanism moves clamping plate through the drive screw rod of rotary motor and is driven telescopic link, and the stability of the different size goods of automatic regulation clamping width, the stability of the different size goods of the single clamping ware failure is avoided to improve sorting operation flexibility, expand the scope of application, satisfy complex logistics scene demand.

Description

Technical Field

[0001] This utility model belongs to the field of logistics sorting robot technology, and in particular relates to the structure of a logistics sorting robot with multiple joints that can operate flexibly. Background Technology

[0002] Logistics sorting robots are intelligent devices that integrate sensors, lenses, electro-optical systems, and artificial intelligence algorithms. They autonomously complete the scanning, weighing, sorting, and transportation of goods through technologies such as QR code recognition, image analysis, and path planning. They use multi-sensor fusion navigation to achieve precise movement and have continuous operation capabilities. They can significantly reduce labor costs and improve sorting efficiency, and are widely used in e-commerce, postal services, manufacturing, and warehousing scenarios to achieve automated sorting.

[0003] In logistics sorting operations, robots need to grasp and transfer goods with significant differences in shape and size. However, most existing sorting robots use relatively simple grippers or suction cup devices at the end effector. When faced with large or irregularly shaped goods, a single gripper often cannot effectively grasp or hold them stably. Especially for goods that are large in size and exceed the opening and closing range of conventional grippers, the lack of effective grasping means prevents the robot from completing the task smoothly, which seriously restricts the operational flexibility and applicability of sorting robots in complex logistics scenarios.

[0004] To address these issues, we have developed a multi-joint, flexible logistics sorting robot structure. Utility Model Content

[0005] The purpose of this invention is to provide a multi-joint, flexible logistics sorting robot structure. By automatically adjusting the clamping components and coordinating the locking, releasing, and detaching components, it solves the problem that existing logistics sorting robots cannot automatically adjust their fixing methods according to the size of the goods, resulting in poor operational flexibility in complex logistics scenarios and affecting the efficiency of logistics goods sorting.

[0006] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution.

[0007] This utility model relates to a multi-joint, flexible logistics sorting robot structure, comprising a robot body. A frame is fixedly connected to the operating end of the robot body. An automatic clamping adjustment component and a locking-releasing-release component are fixedly connected to the right side of the frame. The automatic clamping adjustment component includes a servo motor, which is fixedly connected to the left side of the servo motor and the left side of the servo motor's output end, penetrating the frame and fixedly connected to a rotating roller. A vacuum suction cup is fixedly connected to the front of the rotating roller, and a clamping mechanism is fixedly connected to the bottom of the rotating roller. The locking-releasing-release component includes two toothed rings, the inner walls of which are fixedly connected to the surface of the rotating roller. A toothed plate is fixedly connected to the top of the inner cavity of the frame via a reset mechanism, and adjustment mechanisms are fixedly connected to both sides of the top of the toothed plate.

[0008] The present invention is further configured such that the clamping mechanism includes a clamping frame, the top of the clamping frame is fixedly connected to a rotating roller, a rotary motor is fixedly connected to the bottom of the inner cavity of the clamping frame, and screws are fixedly connected to both sides of the output end of the rotary motor. The screws are threadedly connected to telescopic rods, and the opposite sides of the two telescopic rods pass through the clamping frame and are fixedly connected to clamping plates. The rotary motor can control the screws to rotate, and the screws can cooperate with the rotary motor to control the telescopic rods and clamping plates to move. The two clamping plates are used to clamp and fix the goods, which facilitates the robot body to perform sorting operations on the goods.

[0009] The present invention is further configured such that a sliding rod is fixedly connected to both the front and rear sides of the inner cavity of the clamping frame, and a sliding sleeve is slidably connected to both sides of the surface of the sliding rod. The opposite side of the two sliding sleeves is fixedly connected to the telescopic rod. The sliding rod and the sliding sleeve can limit the telescopic rod, so that it can be smoothly adjusted to the left and right positions and prevent it from rotating with the screw.

[0010] The present invention is further configured such that the reset mechanism includes a reset shell, the top of the reset shell is fixedly connected to the inner wall of the frame, a tension spring is fixedly connected to the top of the inner cavity of the reset shell, a reset rod is fixedly connected to the bottom of the tension spring, and the bottom of the reset rod is fixedly connected to the toothed plate. The reset shell can cooperate with the tension spring and the reset rod to reset the toothed plate, so that the toothed plate can re-engage with the toothed ring and prevent the rotating roller from rotating.

[0011] The present invention is further configured such that the adjustment mechanism includes two sloping shells, the inner cavity of the sloping shells is provided with push rollers, and electric push rods are fixedly connected to both sides of the top of the inner cavity of the frame. The output ends of the two electric push rods on opposite sides are fixedly connected to the push rollers. The electric push rods can control the push rollers to move, and the push rollers can squeeze the sloping surface of the inner wall of the sloping shells during the movement, thereby controlling the sloping shells to control the toothed plate to move downward.

[0012] The present invention is further provided with limiting rods on both sides of the bottom of the toothed plate. The top of the limiting rods penetrates the toothed plate and is fixedly connected to the inner wall of the frame. The limiting rods can limit the toothed plate so that it can move up and down smoothly and prevent it from deviating during the movement.

[0013] The present invention is further configured such that the left side of the rotating roller is movably connected to the inner wall of the frame through a bearing, and the right side of the frame is provided with a movable through hole for use with a servo motor. The bearing can increase the stability of the rotating roller during rotation, and the movable through hole facilitates the servo motor to drive the rotating roller to rotate.

[0014] The present invention has the following beneficial effects.

[0015] 1. This utility model automatically adjusts the components through a clamping method, using a servo motor to control the rotation of the rotating roller, realizing the automatic switching between the vacuum suction cup and the clamping mechanism, adapting to different cargo shapes and sizes. The clamping mechanism uses a rotating motor to drive the screw to move the telescopic rod to move the clamping plate, automatically adjusting the clamping width, improving the stability of gripping cargo of different sizes, avoiding the failure of a single clamp, thereby improving the flexibility of sorting operations, expanding the scope of application, and meeting the needs of complex logistics scenarios.

[0016] 2. This utility model uses a locking and releasing assembly to lock the rotating roller by engaging the toothed ring and toothed plate, preventing shaking after tool switching. The adjustment mechanism uses an electric push rod to push the push wheel to squeeze the slope shell, controlling the movement of the toothed plate to engage with the toothed ring, ensuring the locking is stable. The reset mechanism uses a tension spring and a reset rod to automatically reset the toothed plate, achieving rapid unlocking and stable switching of the clamping state, reducing sorting interruptions, optimizing cargo transfer efficiency, and enhancing the robot's continuous operation capability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0018] Figure 1 A 3D view of the structure of a multi-jointed, flexible logistics sorting robot;

[0019] Figure 2 A schematic diagram of an automatic adjustment component for gripping method in the structure of a multi-joint, flexible logistics sorting robot;

[0020] Figure 3 Rear view of the frame in the structure of a multi-jointed, flexible logistics sorting robot;

[0021] Figure 4 A partial sectional view of the frame structure of a multi-jointed, flexible logistics sorting robot;

[0022] Figure 5A partial cross-sectional view of the clamping frame in the structure of a multi-jointed, flexible logistics sorting robot.

[0023] In the attached diagram: 1. Robot body; 2. Frame; 3. Automatic clamping method adjustment component; 31. Servo motor; 32. Rotary roller; 33. Vacuum suction cup; 34. Clamping mechanism; 4. Locking, releasing, and disengaging component; 41. Gear ring; 42. Reset mechanism; 43. Gear plate; 44. Adjustment mechanism; 341. Clamping frame; 342. Rotary motor; 343. Screw; 344. Telescopic rod; 345. Clamping plate; 421. Reset shell; 422. Tension spring; 423. Reset rod; 441. Sloping shell; 442. Push wheel; 443. Electric push rod. Detailed Implementation

[0024] The technical solutions of the present utility model will be described below with reference to the accompanying drawings. The described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0025] Example 1

[0026] Please see Figure 1-5 This utility model is a multi-joint flexible logistics sorting robot structure, including a robot body 1. The operating end of the robot body 1 is fixedly connected to a frame 2. The right side of the frame 2 is fixedly connected to an automatic clamping mode adjustment component 3 and a locking-releasing-release component 4. The automatic clamping mode adjustment component 3 includes a servo motor 31. The left side of the servo motor 31 is fixedly connected to the frame 2. The left side of the output end of the servo motor 31 passes through the frame 2 and is fixedly connected to a rotating roller 32. The front side of the rotating roller 32 is fixedly connected to a vacuum suction cup 33. The bottom of the rotating roller 32 is fixedly connected to a clamping mechanism 34. The locking-releasing-release component 4 includes two toothed rings 41. The inner wall of the toothed rings 41 is fixedly connected to the surface of the rotating roller 32. The top of the inner cavity of the frame 2 is fixedly connected to a toothed plate 43 through a reset mechanism 42. The two sides of the top of the toothed plate 43 are fixedly connected to adjustment mechanisms 44.

[0027] Specifically: the robot body 1 can control the frame 2 to adjust its position. The integrated vision system of the robot body 1 automatically moves the gripping mechanism 34 to the top of the goods. The servo motor 31 can control the rotating roller 32 to rotate, so that the vacuum suction cup 33 and the gripping mechanism 34 can be freely switched. The gripping method can be adjusted according to the type and size of the goods to improve its sorting flexibility. The toothed ring 41 can cooperate with the toothed plate 43 to lock the rotating roller 32 so that it cannot rotate. The reset mechanism 42 can reset the toothed plate 43 and stop it from engaging with the toothed ring 41 when the adjustment mechanism 44 does not squeeze it, so as to facilitate locking and unlocking of the rotating roller 32.

[0028] Example 2

[0029] Please see Figure 1-5 Based on Embodiment 1, the clamping mechanism 34 includes a clamping frame 341, the top of which is fixedly connected to a rotating roller 32. A rotary motor 342 is fixedly connected to the bottom of the inner cavity of the clamping frame 341. Screws 343 are fixedly connected to both sides of the output end of the rotary motor 342. Telescopic rods 344 are threadedly connected to the surface of the screws 343. Opposite sides of the two telescopic rods 344 penetrate the clamping frame 341 and are fixedly connected to clamping plates 345. Slide rods are fixedly connected to the front and rear sides between the two sides of the inner cavity of the clamping frame 341. Sliding sleeves are slidably connected to both sides of the surface of the slide rods. Opposite sides of the two sliding sleeves are fixedly connected to the telescopic rods 344. The reset mechanism 42 includes a reset shell 421, the top of which is fixedly connected to the inner cavity of the frame 2. The wall is fixedly connected, and a tension spring 422 is fixedly connected to the top of the inner cavity of the reset shell 421. A reset rod 423 is fixedly connected to the bottom of the tension spring 422. The bottom of the reset rod 423 is fixedly connected to the toothed plate 43. The adjustment mechanism 44 includes two slope shells 441. A push wheel 442 is provided in the inner cavity of the slope shell 441. Electric push rods 443 are fixedly connected to both sides of the top of the inner cavity of the frame 2. The output ends of the two electric push rods 443 on opposite sides are fixedly connected to the push wheel 442. Limit rods are provided on both sides of the bottom of the toothed plate 43. The top of the limit rods penetrates the toothed plate 43 and is fixedly connected to the inner wall of the frame 2. The left side of the rotating roller 32 is movably connected to the inner wall of the frame 2 through a bearing. A movable through hole for use with the servo motor 31 is opened on the right side of the frame 2.

[0030] Specifically: the rotary motor 342 controls the screw 343 to rotate, and the screw 343, in conjunction with the rotary motor 342, controls the movement of the telescopic rod 344 and the clamping plate 345. The two clamping plates 345 clamp and fix the goods, facilitating the robot body 1's sorting operation. The sliding rod and sliding sleeve limit the telescopic rod 344, allowing it to smoothly adjust its left and right positions and preventing it from rotating with the screw 343. The reset shell 421, in conjunction with the tension spring 422 and the reset rod 423, resets the toothed plate 43, facilitating... The toothed plate 43 engages with the toothed ring 41 again to prevent the rotating roller 32 from rotating. The electric push rod 443 can control the push wheel 442 to move. The push wheel 442 can squeeze the slope of the inner wall of the slope shell 441 during the movement. The slope shell 441 controls the toothed plate 43 to move downward. The limit rod can limit the toothed plate 43 so that it can move up and down smoothly and prevent it from deviating during the movement. The bearing can increase the stability of the rotating roller 32 during the rotation process. The movable through hole facilitates the servo motor 31 to drive the rotating roller 32 to rotate.

[0031] The working principle of this utility model is as follows: The robot body 1 controls the frame 2 to move to the cargo position. Its integrated vision system identifies the cargo's size and shape. If a clamping method is required for sorting, the servo motor 31 is started, driving the rotating roller 32 to rotate. This adjusts the clamping mechanism 34 to be directly above the cargo. The electric push rod 443 is then activated, controlling the push wheel 442 to press against the slope inside the slope shell 441. The slope shell 441 controls the toothed plate 43 to move downwards until it engages with the toothed ring 41, preventing the clamping mechanism 34 from shaking during sorting. Then, the rotary motor 342 is turned on, which drives the screw 343 to rotate, pushing the telescopic rod 344 to slide along the slide bar, causing the clamping plate 345 to move to both sides of the goods and clamp them. Then, the robot body 1 transfers the goods to complete the sorting operation. When the goods are too large to be clamped and sorted, the servo motor 31 can control the rotary roller 32 to rotate, and control the vacuum suction cup 33 to be directly above the goods. The negative pressure suction force generated by the vacuum suction cup 33 is used to sort and transfer the goods, improving the flexibility of the robot body 1 in sorting operations, expanding the scope of application, and meeting the needs of complex logistics scenarios.

[0032] The preferred embodiments of the present utility model disclosed above are only used to help illustrate the present utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the present utility model to the specific implementation methods described. The present specification selects and specifically describes these embodiments in order to better explain the principle and practical application of the present utility model, so that those skilled in the art can better understand and utilize the present utility model.

Claims

1. A multi-joint flexible logistics sorting robot structure, comprising a robot body (1), characterized in that: The operating end of the robot body (1) is fixedly connected to a frame (2), and the right side of the frame (2) is fixedly connected to an automatic clamping mode adjustment component (3) and a locking and releasing component (4); The automatic clamping adjustment component (3) includes a servo motor (31). The left side of the servo motor (31) is fixedly connected to the frame (2). The left side of the output end of the servo motor (31) passes through the frame (2) and is fixedly connected to a rotating roller (32). A vacuum suction cup (33) is fixedly connected to the front side of the rotating roller (32). A clamping mechanism (34) is fixedly connected to the bottom of the rotating roller (32). The locking and releasing assembly (4) includes two toothed rings (41). The inner wall of the toothed rings (41) is fixedly connected to the surface of the rotating roller (32). The top of the inner cavity of the frame (2) is fixedly connected to a toothed plate (43) through a reset mechanism (42). Adjustment mechanisms (44) are fixedly connected to both sides of the top of the toothed plate (43).

2. The structure of the multi-joint flexible operation logistics sorting robot according to claim 1, characterized in that: The clamping mechanism (34) includes a clamping frame (341), the top of which is fixedly connected to a rotating roller (32), a rotating motor (342) is fixedly connected to the bottom of the inner cavity of the clamping frame (341), and screws (343) are fixedly connected to both sides of the output end of the rotating motor (342). The surface of the screws (343) is threaded with telescopic rods (344), and the opposite sides of the two telescopic rods (344) pass through the clamping frame (341) and are fixedly connected to clamping plates (345).

3. The structure of the multi-joint flexible operation logistics sorting robot according to claim 2, characterized in that: The front and rear sides of the inner cavity of the clamping frame (341) are fixedly connected to slide rods, and the two sides of the slide rod surface are slidably connected to slide sleeves. The opposite side of the two slide sleeves is fixedly connected to the telescopic rod (344).

4. The structure of the multi-joint flexible operation logistics sorting robot according to claim 1, characterized in that: The reset mechanism (42) includes a reset shell (421), the top of which is fixedly connected to the inner wall of the frame (2), a tension spring (422) is fixedly connected to the top of the inner cavity of the reset shell (421), a reset rod (423) is fixedly connected to the bottom of the tension spring (422), and the bottom of the reset rod (423) is fixedly connected to the toothed plate (43).

5. The structure of the multi-joint flexible operation logistics sorting robot according to claim 1, characterized in that: The adjustment mechanism (44) includes two slope shells (441), and the inner cavity of the slope shell (441) is provided with a push wheel (442). Electric push rods (443) are fixedly connected to both sides of the top of the inner cavity of the frame (2). The output ends of the two electric push rods (443) on opposite sides are fixedly connected to the push wheel (442).

6. The structure of the multi-joint flexible operation logistics sorting robot according to claim 1, characterized in that: Limiting rods are provided on both sides of the bottom of the toothed plate (43). The top of the limiting rods passes through the toothed plate (43) and is fixedly connected to the inner wall of the frame (2).

7. The structure of the multi-joint flexible operation logistics sorting robot according to claim 1, characterized in that: The left side of the rotating roller (32) is movably connected to the inner wall of the frame (2) via a bearing, and the right side of the frame (2) is provided with a movable through hole for use with the servo motor (31).

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