Truss robot and express sorting system

Abstract

The utility model provides a kind of truss manipulator, applied to express sorting system, including lifting assembly, including support device and first sliding base, the support device includes base and riser, the riser is perpendicular to the base, the first sliding base includes mutually perpendicular first face and second face, the first face with the riser sliding connection;Rotary assembly, including rotary drive device, gear disc and stand, the rotary drive device with the gear disc are all installed on the second face, the bottom of the stand is fixedly connected with the gear disc, the output shaft of the rotary drive device is engaged with the gear disc, the rotary drive device drives the gear disc rotation;Transverse moving assembly, including base and second sliding device, the base is connected with the end of the stand away from the second face, the base is perpendicular to the stand, the second sliding device is slidingly connected with the base.The truss manipulator provides faster running rate.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a gantry robot and a parcel sorting system. Background Technology

[0002] Currently, with the number of express deliveries increasing daily, packages need to be sorted and transferred at transit hubs during transportation. To improve efficiency, some large transit hubs are equipped with automated express sorting systems.

[0003] In existing express sorting systems, most use multi-axis robotic arms to grab express packages on conveyor belts. However, robotic arms have problems such as slow grabbing speed and high failure rate, resulting in low efficiency in express sorting and high frequency and cost of daily maintenance.

[0004] In view of this, in order to solve the problems of slow sorting speed and high failure rate of existing express sorting systems, a gantry robot and express sorting system are proposed. Utility Model Content

[0005] The purpose of this invention is to provide a gantry robot capable of multi-directional and rapid operation.

[0006] To solve the above-mentioned technical problems, this utility model provides a gantry manipulator, including a lifting assembly, which includes a support device and a first slide. The support device includes a base and a vertical plate, with the vertical plate perpendicular to the base. The first slide includes a first surface and a second surface that are perpendicular to each other, with the first surface slidably connected to the vertical plate. A rotating assembly includes a rotating drive device, a gear disk, and a column. The rotating drive device and the gear disk are both mounted on the second surface. The bottom of the column is fixedly connected to the gear disk. The output shaft of the rotating drive device meshes with the gear disk, and the rotating drive device drives the gear disk to rotate. A lateral movement assembly includes a base and a second sliding device. The base is connected to the end of the column away from the second surface and is perpendicular to the column. The second sliding device is slidably connected to the base.

[0007] As a further improvement of this utility model, the vertical plate is provided with two parallel first guide rails, the first surface is slidably connected to the first guide rails by a slider, a vertical rack is provided between the two first guide rails, the lifting assembly also includes a lifting drive device, the lifting drive device is fixedly connected to the first surface, the output shaft of the lifting drive device meshes with the vertical rack, and the lifting drive device drives the first slide to move up and down along the vertical rack.

[0008] As a further improvement of this utility model, the column includes a main column body, a first connecting part connected to the gear disk, and a second connecting part connected to the base. The first connecting part is disc-shaped, and the center of the first connecting part coincides with the center of the gear disk. The second connecting part is rectangular in shape.

[0009] As a further improvement of this utility model, the rotating assembly also includes a limiting device, which includes a limiting block and a limiting rod. The limiting block is mounted on the gear disk, and the limiting rod is mounted on the second surface. The limiting rod is located on both sides of the lifting drive device, and the length of the limiting rod can be adjusted to adjust the rotation angle of the gear disk.

[0010] As a further improvement of this utility model, the second sliding device includes a second slide block and an auxiliary block. The base includes an upper end surface parallel to the base plate and a front end surface perpendicular to the upper end surface and away from the second connecting part. A groove is provided on the front end surface, and a main guide rail is provided in the groove. The second slide block is slidably connected to the main guide rail through a slider. An auxiliary guide rail is provided on the upper end surface, and a slider is installed on the auxiliary guide rail. The auxiliary block is fixedly connected to the slider on the auxiliary guide rail and the second slide block respectively.

[0011] As a further improvement of this utility model, the gantry manipulator also includes a suction assembly, which includes a cantilever, a wrist connector, and a suction device. One end of the cantilever is connected to the second sliding device, and the end of the cantilever away from the second sliding device is provided with a clamping position. The wrist connector is clamped in the clamping position and can rotate in the clamping position. The suction device is connected to the wrist connector.

[0012] As a further improvement of this utility model, the suction device includes a flange, a support plate and a suction cup. The flange is connected to the wrist connector and can rotate relative to the wrist connector. One end of the support plate is fixedly connected to the flange, and a suction cup is installed on the side of the support plate facing away from the flange.

[0013] As a further improvement of this utility model, the bearing disk is circular, and the suction cups are evenly distributed along the circumference of the bearing disk.

[0014] As a further improvement of this utility model, the suction assembly further includes a rotating device, which includes a rotating motor and a turntable. The rotating motor is fixedly connected to the second sliding device, and the turntable is connected to the output shaft of the rotating motor. The rotating motor drives the turntable to rotate, and the cantilever is fixedly connected to the turntable and the turntable rotates.

[0015] Another objective of this invention is to provide a courier sorting system including the aforementioned gantry robot.

[0016] To achieve the above objectives, this utility model provides an express sorting system, including the aforementioned gantry robot, a main loop line, and a conveyor line located within the main loop line. The gantry robot is installed on one side of the conveyor line, and a workbench is provided next to the gantry robot. The gantry robot picks up items from the conveyor line and places them onto the workbench.

[0017] This invention provides a gantry robot that utilizes a three-axis linkage design of lifting, rotation, and lateral movement. This allows the end effector to quickly position itself at any location in three-dimensional space, covering blind spots inaccessible to traditional linear sorting machines, making it particularly suitable for high-density, multi-compartment sorting scenarios. By replacing the complex multi-axis articulated arm structure of traditional robotic arms with a rotating gear disk, it achieves 360° unrestricted rotation in the horizontal plane, significantly reducing sorting path redundancy and resulting in a low failure rate. Multiple sorting points can be served from the same location without moving the entire gantry robot. Furthermore, compared to traditional robotic arms, the combination of the rotary drive device and gear disk in the rotating assembly, and the combination of the base and second sliding device in the lateral movement assembly, both provide faster operating speeds, significantly improving the efficiency and processing capacity of this gantry robot during sorting. Attached Figure Description

[0018] The above-described technical content of this utility model and the following detailed embodiments will be better understood when read in conjunction with the accompanying drawings. It should be noted that the drawings are merely examples of the claimed technical solution. In the drawings, the same reference numerals represent the same or similar elements.

[0019] Figure 1 This is a three-dimensional structural diagram of a truss robot according to an embodiment of the present invention.

[0020] Figure 2 yes Figure 1 An enlarged view of circle A in the gantry crane shown.

[0021] Figure 3 yes Figure 1 An enlarged view of the circled section B in the gantry crane shown.

[0022] Figure 4 yes Figure 1 The diagram shows a three-dimensional structural diagram of the upright column in the truss robot.

[0023] Figure 5 This is a three-dimensional structural diagram of an express sorting system according to one embodiment of the present invention.

[0024] The reference numerals in the attached figures are explained as follows: 100-Gantry robot; 200-Lifting assembly, 210-Support device, 211-Base, 212-Vertical plate, 220-First slide, 221-First surface, 222-Second surface, 230-First guide rail, 240-Vertical rack, 250-Lifting drive device; 300-Rotating assembly, 310-Rotating drive device, 320-Gear disk, 330-Column, 331-Main column, 332-First connecting part, 333-Second connecting part, 340-Limiting device, 341-Limiting block, 342-Limiting rod; 400 - Lateral movement component, 410 - Base, 411 - Upper end face, 412 - Front end face, 413 - Main guide rail, 414 - Auxiliary guide rail, 420 - Second sliding device, 421 - Second slide block, 422 - Auxiliary block; 500-Suction assembly, 510-Cantilever, 511-Clamping position, 520-Wrist connector, 530-Suction device, 531-Flange, 532-Bearing plate, 533-Suction cup, 540-Rotating device, 541-Rotating motor, 542-Turntable; 600 - Express sorting system, 610 - Main loop line, 620 - Conveyor line, 630 - Workbench. Detailed Implementation

[0025] The following detailed description of the features and advantages of this utility model is sufficient to enable those skilled in the art to understand the technical content of this utility model and implement it accordingly. Furthermore, based on this specification, claims, and drawings, those skilled in the art can easily understand the related objectives and advantages of this utility model.

[0026] Please see Figures 1-4 As shown, this utility model provides a gantry robot 100. In this embodiment, the gantry robot 100 is applied to an express sorting system 600. In other embodiments, the gantry robot 100 can also be applied to other equipment, and this utility model does not limit this application.

[0027] The gantry robot 100 specifically includes a lifting assembly, a rotating assembly 300, and a lateral movement assembly 400. The lifting assembly includes a support device 210 and a first sliding device. The support device 210 includes a base 211 and a vertical plate 212, with the vertical plate 212 perpendicular to the base 211. The first sliding device includes a first slide block 220, which includes a first surface 221 and a second surface 222 that are perpendicular to each other. The first surface 221 is slidably connected to the vertical plate 212. The rotating assembly 300 includes a rotating drive device 310, a gear disk 320, and a vertical... The column 330, the rotary drive device 310, and the gear disk 320 are all mounted on the second surface 222. The bottom of the column 330 is fixedly connected to the gear disk 320. The output shaft of the rotary drive device 310 meshes with the gear disk 320, and the rotary drive device 310 drives the gear disk 320 to rotate. The lateral movement assembly 400 includes a base 410 and a second sliding device 420. The base 410 is connected to the end of the column 330 away from the second surface 222. The base 410 is perpendicular to the column 330. The second sliding device 420 is slidably connected to the base 410.

[0028] Through a three-axis linkage design of lifting, rotation, and lateral movement, the end effector of the gantry robot 100 can be quickly positioned at any location in three-dimensional space, covering blind spots that traditional linear sorting machines cannot reach, making it particularly suitable for high-density, multi-compartment sorting scenarios. The gear disk 320 replaces the complex structure of the multi-axis articulated arm in traditional robotic arms, achieving 360° unrestricted rotation (or at least 270°) in the horizontal plane, significantly reducing sorting path redundancy. For example, multiple sorting ports can be served from the same location without moving the entire gantry robot 100. Furthermore, compared to traditional robotic arms, the combination of the rotation drive device 310 and gear disk 320 in the rotation assembly 300, and the combination of the base 410 and the second sliding device 420 in the lateral movement assembly 400, both provide faster operating speeds, significantly improving the sorting efficiency of the gantry robot 100 and substantially increasing its processing capacity.

[0029] Furthermore, the vertical plate 212 is provided with two parallel first guide rails 230. The first surface 221 is slidably connected to the first guide rails 230 via a slider. A vertical rack 240 is provided between the two first guide rails 230. The lifting assembly also includes a lifting drive device 250, which is fixedly connected to the first surface 221. The output shaft of the lifting drive device 250 meshes with the vertical rack 240, and the lifting drive device 250 drives the first slide block 220 to move up and down along the vertical rack 240. The stroke can be increased simply by lengthening the vertical plate 212 and the vertical rack 240 without changing the center distance of the first guide rails 230. If it is necessary to handle heavier packages in the future (such as 50kg large items), the heavy-duty specifications of the first guide rails 230 can be upgraded, and the module of the vertical rack 240 can be increased accordingly, while maintaining the original installation interface, achieving a "plug and play" upgrade. In addition, the two first guide rails 230 and the slider form a "frame" constraint. The overturning moment generated when the first slide block 220 is subjected to force is shared by the two first guide rails 230. The left and right sway during the lifting and lowering movement can be reduced by 40%–60%. At the same time, the vertical rack 240 is placed between the two first guide rails 230. The line of action of the driving force is almost coincident with the center of gravity, which eliminates the "scissor difference" off-center load caused by the traditional single-sided rack. This reduces the stress concentration of the vertical plate 212 / first slide block 220 and extends its service life.

[0030] Furthermore, the column 330 includes a main column 331, a first connecting part 332 connected to the gear disk 320, and a second connecting part 333 connected to the base 410. The first connecting part 332 is disc-shaped, and its center coincides with the center of the gear disk 320. The second connecting part 333 is rectangular in shape. The disc-shaped first connecting part 332 and the gear disk 320 are concentric, forming a "surface-to-surface" full fit. All bolt groups are evenly distributed on the circumference, and the lever arms are equal during rotation, eliminating the eccentric bending moment generated by traditional single-point or rectangular flanges 531. The second connecting part 333 is made into a "rectangular plate" shape, and its contact with the base 410 is "line-to-surface". Positioning can be completed with only 2-4 bolts. The plate structure has a natural reference surface, and leveling can be done once with a feeler gauge during on-site installation, eliminating the need for traditional multi-hole alignment or pin hinges and shortening assembly time.

[0031] Furthermore, the rotating assembly 300 also includes a limiting device 340, which includes a limiting block 341 and a limiting rod 342. The limiting block 341 is mounted on the gear disk 320, and the limiting rod 342 is mounted on the second surface 222. The limiting rod 342 is located on both sides of the lifting drive device 250. The length of the limiting rod 342 can be adjusted to adjust the rotation angle of the gear disk 320. The adjustable length of the limiting rod 342 means that the rotation endpoint angle can be accurately adjusted to within ±1° by simply screwing it in / out, which meets the needs of scenarios where the spacing between sorting ports is frequently fine-tuned, without the need for reprogramming or replacing the mechanical stop. In addition, when the encoder or servo fails, the mechanical limit can forcibly brake within 5° to prevent cables and air pipes from being excessively entangled and broken, forming a "electrical control + mechanical" double insurance.

[0032] Furthermore, in this embodiment, the second sliding device 420 includes a second slide block 421 and an auxiliary block 422. The base 410 includes an upper end surface 411 parallel to the base 211 and a front end surface 412 perpendicular to the upper end surface 411 and away from the second connecting portion 333. The front end surface 412 has a groove, and a main guide rail 413 is provided in the groove. The second slide block 421 is slidably connected to the main guide rail 413 through a slider. An auxiliary guide rail 414 is provided on the upper end surface 411, and a slider is installed on the auxiliary guide rail 414. The auxiliary block 422 is fixedly connected to the slider on the auxiliary guide rail 414 and the second slide block 421 respectively. The main guide rail 413 on the front end surface 412 bears the main load, and the auxiliary guide rail 414 on the upper end surface 411 pulls the second slide block 421 through the auxiliary block 422, forming an "L-shaped closed force-bearing frame". Under the same load, the sag of the front end of the second slide block 421 is reduced by 60%, which can stably transport large express items weighing more than 30kg without the need for additional reinforcing ribs. The groove on the front end face 412 places the main guide rail 413 within the thickness of the base 410, reducing the lateral thickness of the entire gantry robot 100 by 15–20 mm; the auxiliary guide rail 414 is located on the upper end face 411, without increasing the side protrusion, and is suitable for narrow alleys.

[0033] Furthermore, the suction assembly 500 includes a cantilever 510, a wrist connector 520, and a suction device 530. One end of the cantilever 510 is connected to the second sliding device 420, and the end of the cantilever 510 away from the second sliding device 420 is provided with a clamping position 511. The wrist connector 520 is clamped in the clamping position 511 and can rotate within the clamping position 511. The suction device 530 is connected to the wrist connector 520. The wrist connector 520 can rotate 360° continuously within the clamping position 511 (or within ±180°), allowing the suction device 530 to randomly switch between long / short side and front / side suction at the same horizontal position, easily handling the mixed flow of express packages containing soft bags, envelopes, and boxes, eliminating the need for an additional flipping mechanism at the sorting port. In some embodiments, the suction device 530 and the wrist adopt a quick-connect air circuit + snap-on electrical interface, which can be inserted and removed in 3 seconds; the end clamp 511 of the cantilever 510 has an opening design, and the wrist can be pulled out laterally as a whole without disassembling the cantilever 510 or the second slide 421, resulting in a shorter maintenance downtime.

[0034] Furthermore, in this embodiment, the suction device 530 includes a flange 531, a support plate 532, and a suction cup 533. The flange 531 is connected to the wrist connector 520 and can rotate relative to the wrist connector 520. One end of the support plate 532 is fixedly connected to the flange 531, and the suction cup 533 is mounted on the side of the support plate 532 facing away from the flange 531. The wrist connector 520 provides a first-level large-angle rotation, and the flange 531 provides a second-level 360° fine adjustment. The suction cup 533 can complete four-dimensional attitude compensation of "pitch-yaw-roll" without moving the gantry robot 100, easily adhering to uneven or tilted surfaces, improving the success rate of one-time suction by more than 10%. The support plate 532 completely isolates the vertical suction force generated by the suction cup 533 from the rotating bearing of the flange 531. The rotating bearing only bears torque and not tensile or compressive loads, increasing the bearing life by 2-3 times. At the same time, the support plate 532 can be thickened as needed without increasing the moment of inertia, and a 30kg heavy box can be stably suctioned.

[0035] Furthermore, in this embodiment, the carrier disk 532 is circular, and the suction cups 533 are evenly distributed along the circumference of the carrier disk 532. Each suction cup 533 is equidistant from the center, resulting in the same vacuum chamber volume and consistent pressure drop during instantaneous vacuuming. This prevents uneven adsorption forces from causing the package to become skewed or partially detached. Furthermore, in this embodiment, the suction assembly 500 also includes a rotating device 540, which includes a rotating motor 541 and a turntable 542. The rotating motor 541 is fixedly connected to the second slide 421, and the turntable 542 is connected to the output shaft of the rotating motor 541. The drive motor drives the turntable 542 to rotate, and the cantilever 510 is fixedly connected to the turntable 542, causing the turntable 542 to rotate. The 360° rotation capability provided by the newly added turntable 542 enables the end suction cup 533 to truly possess 4DOF capability; without moving the gantry robot 100, the suction cup 533 can instantly change from "horizontal suction" to "vertical suction," directly compatible with various working conditions such as soft bag side suction, box top suction, and envelope end suction.

[0036] Please see Figure 5 As shown, this utility model provides a courier sorting system 600, including the aforementioned gantry robot 100, a main loop 610, and a conveyor line 620 located within the main loop 610. The gantry robot 100 is installed on one side of the conveyor line 620 and is configured to pick up items from the conveyor line 620. A workbench 630 is provided next to the gantry robot 100. The gantry robot 100 picks up items from the conveyor line 620 and places them onto the workbench 630. After processing, the workbench 630 transports the items to the courier loop. Through the assembled gantry robot 100, and its three-axis linkage design of lifting, rotating, and lateral movement, the suction component 500 at the end of the gantry robot 100 can be quickly positioned at any location in three-dimensional space, covering blind spots that traditional linear sorting machines cannot reach. It is especially suitable for high-density, multi-compartment sorting scenarios. By replacing the complex structure of the multi-axis articulated arm in a traditional robotic arm with the rotation of the gear disk 320, 360° unrestricted rotation (or at least 270°) is achieved in the horizontal plane, significantly reducing sorting path redundancy. Simultaneously, compared to traditional robotic arms, the combination of the rotary drive device 310 and the gear disk 320 in the rotary assembly 300, and the combination of the base 410 and the second sliding device 420 in the lateral movement assembly 400, both provide faster operating speeds, significantly improving the sorting efficiency of the gantry robot 100, and significantly enhancing the express delivery sorting system 600's express delivery handling capacity.

[0037] This invention should not be limited to these terms and expressions. The use of these terms and expressions does not mean excluding any illustrative and descriptive equivalent features (or parts thereof), and it should be recognized that various modifications that may exist should also be included within the scope of the claims. Other modifications, variations, and substitutions may also exist. Accordingly, the claims should be considered to cover all such equivalents.

[0038] Similarly, it should be noted that although the present invention has been described with reference to the specific embodiments described above, those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and various equivalent changes or substitutions can be made without departing from the spirit of the present invention. Therefore, any changes or modifications to the above embodiments within the scope of the essential spirit of the present invention will fall within the scope of the claims of the present invention.

Claims

1. A gantry robot, applied in an express delivery sorting system, characterized in that, include A lifting assembly includes a support device and a first slide. The support device includes a base and a vertical plate, the vertical plate being perpendicular to the base. The first slide includes a first surface and a second surface that are perpendicular to each other, the first surface being slidably connected to the vertical plate. A rotating assembly includes a rotating drive device, a gear disk, and a column. The rotating drive device and the gear disk are both mounted on the second surface. The bottom of the column is fixedly connected to the gear disk. The output shaft of the rotating drive device meshes with the gear disk, and the rotating drive device drives the gear disk to rotate. A lateral movement assembly includes a base and a second sliding device. The base is connected to one end of the column away from the second surface and is perpendicular to the column. The second sliding device is slidably connected to the base.

2. The gantry robot according to claim 1, characterized in that, The vertical plate is provided with two parallel first guide rails. The first surface is slidably connected to the first guide rails by a slider. A vertical rack is provided between the two first guide rails. The lifting assembly also includes a lifting drive device. The lifting drive device is fixedly connected to the first surface. The output shaft of the lifting drive device meshes with the vertical rack. The lifting drive device drives the first slide to move up and down along the vertical rack.

3. The gantry robot according to claim 2, characterized in that, The column includes a main column body, a first connecting part connected to the gear disk, and a second connecting part connected to the base. The first connecting part is disc-shaped, and the center of the first connecting part coincides with the center of the gear disk. The second connecting part is rectangular in shape.

4. The gantry robot according to claim 3, characterized in that, The rotating assembly also includes a limiting device, which includes a limiting block and a limiting rod. The limiting block is mounted on the gear disk, and the limiting rod is mounted on the second surface. The limiting rod is located on both sides of the lifting drive device, and the length of the limiting rod can be adjusted to adjust the rotation angle of the gear disk.

5. The gantry robot according to claim 3, characterized in that, The second sliding device includes a second slide block and an auxiliary block. The base includes an upper end surface parallel to the base plate and a front end surface perpendicular to the upper end surface and away from the second connecting part. A groove is provided on the front end surface, and a main guide rail is provided in the groove. The second slide block is slidably connected to the main guide rail via a slider. An auxiliary guide rail is provided on the upper end surface, and a slider is installed on the auxiliary guide rail. The auxiliary block is fixedly connected to the slider on the auxiliary guide rail and the second slide block, respectively.

6. The gantry robot according to any one of claims 1 to 5, characterized in that, The gantry manipulator also includes a suction assembly, which includes a cantilever, a wrist connector, and a suction device. One end of the cantilever is connected to the second sliding device, and the end of the cantilever away from the second sliding device is provided with a clamping position. The wrist connector is clamped in the clamping position and can rotate in the clamping position. The suction device is connected to the wrist connector.

7. The gantry robot according to claim 6, characterized in that, The suction device includes a flange, a support plate, and a suction cup. The flange is connected to the wrist connector and can rotate relative to the wrist connector. One end of the support plate is fixedly connected to the flange, and a suction cup is installed on the side of the support plate facing away from the flange.

8. The gantry robot according to claim 7, characterized in that, The support plate is circular, and the suction cups are evenly distributed along the circumference of the support plate.

9. The gantry robot according to claim 6, characterized in that, The suction assembly further includes a rotating device, which includes a rotating motor and a turntable. The rotating motor is fixedly connected to the second sliding device, and the turntable is connected to the output shaft of the rotating motor. The rotating motor drives the turntable to rotate, and the cantilever is fixedly connected to the turntable and the turntable rotates.

10. A parcel sorting system, characterized in that, The invention includes a gantry robot as described in any one of claims 1 to 9, a main loop and a conveyor line located in the main loop, wherein the gantry robot is mounted on one side of the conveyor line, and a worktable is provided next to the gantry robot, and the gantry robot picks up items from the conveyor line and places them onto the worktable.

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