CN118700816B - Sorting robot - Google Patents
Sorting robot Download PDFInfo
- Publication number
- CN118700816B CN118700816B CN202410967655.XA CN202410967655A CN118700816B CN 118700816 B CN118700816 B CN 118700816B CN 202410967655 A CN202410967655 A CN 202410967655A CN 118700816 B CN118700816 B CN 118700816B
- Authority
- CN
- China
- Prior art keywords
- connecting arm
- sorting robot
- sorting
- arm
- express
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000010521 absorption reaction Methods 0.000 claims abstract description 6
- 230000035939 shock Effects 0.000 claims abstract description 6
- 239000012530 fluid Substances 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims description 40
- 210000000078 claw Anatomy 0.000 claims description 31
- 229920001971 elastomer Polymers 0.000 claims description 30
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 238000003491 array Methods 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 2
- 238000013016 damping Methods 0.000 abstract description 9
- 241000252254 Catostomidae Species 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 3
- 229920006395 saturated elastomer Polymers 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0442—Conversion of rotational into longitudinal movement
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Handcart (AREA)
Abstract
The invention discloses a sorting robot, which realizes the travelling of the sorting robot through a travelling mechanism, can improve the shock absorption performance and reduce the requirement on a road surface, and can sort express packages with different sizes into corresponding carts through the cooperation of a rotating mechanism and a clamping mechanism, thereby realizing the sorting of the express packages. The novel hydraulic bicycle is characterized by comprising a travelling mechanism, a rotating mechanism and a clamping mechanism, wherein the travelling mechanism consists of a bicycle shell, a first rotating shaft, a tire, a driving motor placing shell, a U-shaped connecting piece, a first hinging piece, a first telescopic rod, a second hinging piece, a connecting rod, a damping gasket, a second telescopic rod, a spring and a damper, the side surface of the bicycle shell is provided with a connecting groove, the notch of the connecting groove is flush with the side surface of the circumferential bicycle shell, the bicycle shell is of a hollow structure, and fluid is filled in the bicycle shell in an unsaturated mode.
Description
Technical Field
The invention relates to a sorting robot for sorting express packages, belongs to the technical field of intelligent logistics, and particularly relates to a sorting robot for realizing the travel of the sorting robot through a travelling mechanism, improving the shock absorption performance and reducing the requirement on a road surface, and sorting the express packages with different sizes into corresponding carts through the cooperation of a clamping mechanism of the travelling mechanism.
Background
Along with the development of society, online shopping has become a main shopping mode of consumers, in the process of sending express packages from an originating place to a destination, the express packages are required to be sorted and stacked to a plurality of different sorting openings according to the difference of the destination, then the express packages stacked at the different sorting openings are conveyed to corresponding express package loading points of the sorting openings through a mobile device such as a trolley and the like, the transfer of the express packages is realized, the way of sorting the express packages stacked at the sorting openings to the trolley is mainly based on manpower at present, but the labor efficiency is low, the labor intensity is high, different staff are required to be arranged at the different sorting openings, the labor cost is high, therefore, the sorting robot can simultaneously consider the sorting openings, after a preset time interval, the same sorting robot moves from one sorting opening to the other sorting opening, the express packages at the different sorting openings are sorted to the corresponding trolley, the side slip efficiency is high, the manual cost is low, the walking base of the existing sorting robot is generally in front and back of the two sides of the structure, the two sides of the existing sorting robot are not suitable for turning to the tire, and the tire is not easy to move to the tire from the two sides to the front and the two sides of the tire sides, and the tire is not easy to turn to the tire to the other tire sides, and the tire is easy to move to the tire is easy to be turned to the tire to the two sides and the tire sides is easy to be turned to the tire sides to be turned; and the gravity center is higher, no damping device is arranged, when the sorting robot encounters uneven ground in the process of moving from one sorting port to the other sorting port, the sorting robot can bounce up and down due to repeated hard impact, the abrasion of the sorting robot is easy to be caused, meanwhile, the existing sorting robot is generally arranged to move the express packages from a stacking point to the trolley through a hand-grabbing mechanical clamping jaw, the small-size express packages can be easily clamped and moved, the large-size express packages cannot be effectively clamped by the hand-grabbing mechanical clamping jaw or only a part of the large-size express packages can be clamped by the hand-grabbing mechanical clamping jaw, the clamping force is small, the express packages can be possibly dropped down, the damage to the express packages is caused, the sorting efficiency is reduced, and the existing sorting robot moves all the express packages with different sizes at the same sorting opening into the same trolley, so that the large-size express packages are stacked on the small-size express packages, the damage to the small-size express packages is easily caused, the space utilization rate of the trolley is low, and the follow-up loading work is not facilitated.
The publication number CN117484470A discloses a mobile cooperative robot, which comprises a manipulator, a mobile chassis and a camera, wherein the mobile chassis comprises a base and a driving mechanism, the manipulator is arranged on the base and is used for driving the base to move, at least one section of manipulator forms an included angle of less than 60 degrees relative to a horizontal plane when grabbing express delivery, the section of manipulator is called a transverse arm, the camera is movably arranged on the transverse arm of the manipulator and is used for shooting the inclined lower part of the manipulator, and a control module is arranged on the base and is electrically connected with the camera, the driving mechanism and the manipulator. The driving mechanism of the mobile cooperative robot is of a crawler-type structure, is low in running speed, large in contact area with the ground, large in friction force, difficult to turn, incapable of achieving in-situ turning, poor in flexibility, inapplicable to narrow roads and warehouses with limited space, high in gravity center, free of a damping device, capable of being repeatedly impacted by hard impacts to bounce up and down when encountering uneven ground, capable of easily causing dropping of express packages moved by the sorting robot to affect safe sorting of the express packages, meanwhile, the manipulator of the mobile cooperative robot is used for grabbing the express packages in a mode of simulating a human hand, capable of easily clamping and moving for express packages with larger size, incapable of effectively clamping the express packages or only clamping a part of the express packages by the hand-grabbing mechanical clamping jaw, small in clamping the express packages to a corresponding container, capable of causing dropping of the express packages, damaging the express packages, and reducing sorting efficiency.
Disclosure of Invention
In order to improve the situation, the sorting robot provided by the invention has the advantages that the travelling of the sorting robot is realized through the travelling mechanism, the shock absorption performance can be improved, the requirement on a road surface is reduced, the express packages with different sizes can be sorted into corresponding carts through the cooperation of the rotating mechanism and the clamping mechanism, and the sorting of the express packages is realized.
The sorting robot is realized in such a way that the sorting robot comprises a travelling mechanism, a rotating mechanism and a clamping mechanism,
The travelling mechanism consists of a disc vehicle shell, a first rotating shaft, a tire, a driving motor placing shell, a U-shaped connecting piece, a first hinging piece, a first telescopic rod, a second hinging piece, a connecting rod, a shock absorption gasket, a second telescopic rod, a spring and a damper,
The side surface of the disc car shell is provided with a connecting groove, the notch of the connecting groove is flush with the side surface of the circumference car shell,
Preferably, the disc shell is of a hollow structure, and the disc shell is filled with fluid in a non-saturated manner;
preferably, a plurality of connecting grooves are arranged circumferentially and equidistantly along the side surface of the circumferential vehicle shell,
One end of the connecting rod is arranged in the middle of the bottom of the connecting groove, the other end of the connecting rod is rotatably arranged at one end of the U-shaped connecting piece through the second hinging piece,
The two sides of the connecting rod are respectively and correspondingly provided with a first telescopic rod, one end of the first telescopic rod is arranged at the bottom of the connecting groove, the other end of the first telescopic rod is respectively and correspondingly and rotatably arranged at the side surface of one end of the U-shaped connecting piece through a first hinging piece,
A driving motor placing shell is arranged between two side surfaces of the U-shaped connecting piece, one end of the driving motor placing shell is arranged on the inner side surface of one end of the U-shaped connecting piece, the driving motor is arranged in the driving motor placing shell,
One end of a group of dampers is correspondingly arranged on the top surface and the bottom surface of the driving motor placing shell respectively, one end of a second telescopic rod is arranged at the other end of the damper, the other end of the second telescopic rod is correspondingly arranged on the two inner side surfaces of the U-shaped connecting piece respectively through damping gaskets,
The spring is sleeved on the side surface of the second telescopic rod,
Preferably, a plurality of dampers are arranged in the same group, the dampers are equidistantly arranged along the length direction of the driving motor placing shell,
Preferably, the top surface and the bottom surface of the driving motor placing shell are respectively and correspondingly provided with one end of a rubber column, the other end of the rubber column is respectively and correspondingly arranged on the two inner side surfaces of the U-shaped connecting piece, a plurality of rubber columns are arranged at equal intervals along the length direction of the driving motor placing shell, the rubber columns and the damper are staggered,
One end of a first rotating shaft penetrates through a through hole formed in the other end of the driving motor placing shell and is connected with a motor shaft of the driving motor, a bearing is arranged between the first rotating shaft and the driving motor placing shell,
The other end of the first rotating shaft is connected with the wheel shaft of the tire,
Preferably, the walking mechanism is also provided with a detection mechanism, the detection mechanism consists of a first camera, a fixed disc and a supporting rod,
The supporting rod is arranged on the top surface of the disc shell,
The bottom surface of the fixed disk is arranged on the top surface of the supporting rod, the first camera is arranged on the top surface of the fixed disk,
The rotating mechanism consists of a fixed bottom plate, a first connecting arm, a second connecting arm, a third connecting arm, a fourth connecting arm and a rotating motor placing shell,
One end of the first connecting arm is rotationally connected with the top surface of the disc car shell through a fixed bottom plate,
One end of the second connecting arm is rotationally connected with the other end of the first connecting arm, the other end of the second connecting arm is rotationally connected with one end of the third connecting arm, the other end of the third connecting arm is connected with one end of the fourth connecting arm, the height of one end of the second connecting arm is smaller than that of the other end,
The rotating motor placing shell is embedded in a through groove formed at the other end of the fourth connecting arm, the rotating motor is arranged in the rotating motor placing shell,
The clamping mechanism consists of a connecting shaft, a fixed sleeve, a connecting plate, a sucker, a second camera, a vacuum pump, a first hook connecting piece, a second hook connecting piece, a clamping jaw, an air cylinder, a clamping jaw connecting arm and a pushing arm,
One end of the second rotating shaft penetrates through a through hole formed in the rotating motor placing shell and is connected with a motor shaft of the rotating motor, a bearing is arranged between the second rotating shaft and the rotating motor placing shell,
The other end of the second rotating shaft is connected with the fixed sleeve,
The fixing sleeve is sleeved on the side surface of the connecting shaft through a through hole formed in the middle part, one end of the connecting shaft is arranged on the vacuum pump, the connecting plate is arranged on the vacuum pump, the sucking disc is arranged on the connecting plate, one end of the communicating pipe is connected with the air outlet of the vacuum pump and communicated with the sucking disc, the other end of the communicating pipe penetrates through the through hole formed in the connecting plate and is connected with the sucking disc and communicated with the sucking disc,
The second camera is arranged on the bottom surface of the connecting plate, the ranging sensor is arranged on the bottom surface of the connecting plate,
The other end of the connecting shaft is arranged at one end of the air cylinder,
Preferably, the connecting shaft is a double-rod type cylinder,
One end of the pushing arm is slidably arranged in the cylinder, the other end of the pushing arm is provided with a second claw connecting piece,
The first hook claw connecting piece is sleeved on the side surface of the pushing arm through a through hole formed in the middle part, the length of the first hook claw connecting piece is longer than that of the second hook claw connecting piece,
One end of a clamping jaw is correspondingly hinged at two ends of the first hook claw connecting piece, one end of a clamping jaw connecting arm is correspondingly hinged at two ends of the second hook claw connecting piece, the other end of the clamping jaw connecting arm is correspondingly hinged at one third of the clamping jaw,
The extension lines of the other ends of the two clamping jaws are overlapped with the extension lines of the other ends of the pushing arms,
Preferably, the side surface of the other end of the clamping jaw is equidistantly provided with a plurality of anti-skid patterns,
Preferably, the sorting robot controls steering by a sort of sorting robot steering system;
the invention also relates to a sorting robot steering system, which is characterized by comprising a line speed sensor, a line direction sensor, a central processor and a central controller, wherein the line speed sensor is connected with the central processor through a data line, the line direction sensor is connected with the central processor through a data line, the central controller is connected with two first telescopic rods through a data transmission line, the central processor converts digital signals into electric signals, and the sorting robot steering system comprises the following steps when being executed:
The speed sensor collects the running speed of the sorting robot, transmits real-time signals to the central processing unit, when the sorting robot turns, the line direction sensor transmits expected signals to the central processing unit, the central processing unit calculates deviation by comparing the expected signals with the real-time signals, and adjusts and controls the telescopic lengths of the two first telescopic rods in real time according to the deviation amount, so that the two first telescopic rods have length differences, the two first telescopic rods drive the U-shaped connecting pieces to turn, the U-shaped connecting pieces drive the driving motor to turn, and the driving motor drives the tires to turn, thereby realizing the purpose of turning the sorting robot.
Preferably, the sorting robot controls the rotation of the connecting arm through a sorting robot rotation system;
the invention also relates to a sorting robot rotating system which is characterized by comprising a ranging sensor, a central processor and a central controller, wherein the ranging sensor is connected with the central processor through a data line, the central processor is connected with the central controller through a data line, a servo motor is connected with the central controller through a data line, the servo motor is respectively connected with a first connecting arm, a second connecting arm and a third connecting arm through a gear transmission device, the central processor converts digital signals into electric signals, and the sorting robot rotating control system comprises the following steps when being executed:
The distance measuring sensor collects the distance from the clamping jaw or the sucking disc to the target position, transmits a real-time signal to the central processing unit, compares the distance data with a preset distance, calculates the deviation between the clamping jaw or the sucking disc and the target position, sends the deviation to the central processing unit, performs path planning according to the distance deviation, determines the optimal path from the current position to the target position of the clamping jaw or the sucking disc, calculates the angles and the positions of the first connecting arm, the second connecting arm and the third connecting arm, ensures that the first connecting arm, the second connecting arm and the third connecting arm can move according to a preset path, sends an instruction to the servo motor according to the calculation result, drives the first connecting arm, the second connecting arm and the third connecting arm to move by the servo motor in the moving process, the central controller continuously receives feedback information from the ranging sensor, and adjusts the movements of the first connecting arm, the second connecting arm and the third connecting arm in real time according to the information, so that the first connecting arm, the second connecting arm and the third connecting arm can accurately move according to a preset path, after the first connecting arm, the second connecting arm and the third connecting arm reach a target position, after the clamping jaw or the sucking disc stably grabs express packages, the first connecting arm, the second connecting arm and the third connecting arm sort the express packages with different sizes into corresponding carts according to the preset path, after the express packages are successfully sorted, the central controller can confirm that tasks are completed and send instructions to the servo motor, the servo motor drives the first connecting arm, the second connecting arm and the third connecting arm to reversely move and return to an initial position, sorting of the next express packages is performed, and sorting is performed on the express packages of each sorting opening in a round-and-round manner.
Preferably, the sorting robot further comprises a control system, the control system comprising a signal converter, a data processor and a controller,
The signal converter is arranged on the disc vehicle shell, the data processor is arranged on the disc vehicle shell, the controller is arranged on the disc vehicle shell,
The first camera and the second camera are connected with the signal converter through a data line,
The driving motor, the rotating motor, the vacuum pump and the air cylinder are respectively connected with the controller through data transmission lines,
The signal converter is connected with the data processor through a data transmission line, the data processor is connected with the controller through a data transmission line,
The signal converter can convert the electric signals of the image data acquired by the first camera and the second camera into digital signals,
The controller may be implemented by one or at least two Application Specific Integrated Circuits (ASICs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of a data processing apparatus,
The data processor and the signal converter interact with each other,
The control system, when executed, mainly implements the following steps:
Before the sorting robot is used for sorting the express packages, the control system presets in advance to clamp the small-size express packages into the No. 1 trolley through the clamping jaw, adsorbs the large-size express packages into the No. 2 trolley through the sucking disc,
When the sorting robot is used for sorting the express packages, the controller controls the driving motor to control, the driving motor drives the rotating shaft to rotate, the rotating shaft drives the tire to rotate, the sorting robot starts to linearly travel according to a preset travelling route, the travelling speed sensor acquires the travelling speed of the sorting robot and transmits a real-time signal to the central processing unit, when the sorting robot turns, the travelling direction sensor transmits a desired signal to the central processing unit, the central processing unit calculates the deviation by comparing the desired signal with the real-time signal, the telescopic lengths of the two first telescopic rods are adjusted in real time according to the deviation amount, the length difference of the two first telescopic rods is caused, the two first telescopic rods drive the U-shaped connecting pieces to turn, the U-shaped connecting pieces drive the driving motor to turn, the driving motor drives the tire to turn, the sorting robot reaches the position of one sorting opening according to the preset travelling route,
The distance measuring sensor collects the distance between the clamping jaw or the sucking disc and the target position, a real-time signal is transmitted to the central processing unit, the central processing unit calculates the distance deviation between the clamping jaw or the sucking disc and the target position and transmits the distance deviation to the central processing unit, the central processing unit plans the optimal path of the clamping jaw or the sucking disc from the current position to the target position according to the distance deviation, calculates the angles and the positions of the first connecting arm, the second connecting arm and the third connecting arm, and transmits an instruction to the servo motor according to the calculation result, the servo motor drives the first connecting arm, the second connecting arm and the third connecting arm to acquire an image of the express package when the first connecting arm, the second connecting arm and the third connecting arm reach the target position according to a preset path, namely approach the express package, the second camera transmits the acquired image data signal to the signal converter, the signal converter converts the electric signal of the received image data signal into a digital signal and transmits the digital signal to the data processor, the data processor calculates the pixel size of the image data, calculates the actual size of the express package according to the proportion coefficient of the preset pixel size and the actual size, compares the actual size with the preset size, clamps the express package by using clamping jaws if the actual size is smaller than the preset size, drives the first connecting arm, the second connecting arm and the third connecting arm to rotate to reach the position right above the express package by using the servo motor, controls the end rod corresponding to the connecting shaft to extend by the controller, controls the air cylinder to start, drives the pushing arm to extend downwards so that the two clamping jaws clamp the express package, the first connecting arm, the second connecting arm and the third connecting arm move the express package with the small size to the position above the corresponding No. 1 small cart according to a preset path, and then drives the pushing arm to shrink upwards by the air cylinder, if the actual size is larger than the preset size, the controller controls the rotating motor to rotate 180 degrees, the rotating motor drives the connecting shaft to drive the sucking disc and the clamping jaw to rotate, the sucking disc adsorbs the express packages, the servo motor drives the first connecting arm, the second connecting arm and the third connecting arm to rotate to reach the position right above the express packages, the connecting shaft is a double-out rod type cylinder, the controller controls the end rod corresponding to the connecting shaft to extend, and the controller controls the vacuum pump to suck air, so that the sucking disc attracts the express packages, the first connecting arm, the second connecting arm and the third connecting arm move to the position above the corresponding No. 2 trolley according to the large-size express packages in a preset path, and then the controller controls the vacuum pump to stop working, so that the express packages can be stacked in the small-size trolley after the express packages are completely stacked, and the large-size of the express packages can be prevented from being damaged by the small-size of the sucking disc, and the large-size packages can be completely stacked in the small-size trolley after the express packages are completely separated;
further, rubber bulges are arranged on the side surfaces of the tires;
preferably, the rubber projections are plural, and the plural rubber projections are arranged at a pitch-free distance along the side surface of the tire;
further, the sucker is replaced by a small sucker, the small sucker is arranged on the top surface of the connecting plate, one end of the connecting six-way valve is connected with the air outlet of the vacuum pump and communicated with the air outlet, the other end of the connecting six-way valve is arranged on the bottom surface of the connecting plate, one end of the connecting pipe is connected with the connecting six-way valve and communicated with the connecting six-way valve, the other end of the connecting pipe penetrates through a through hole formed in the connecting plate to be connected with the small sucker and communicated with the small sucker,
Preferably, the six-way connection can be replaced by a four-way connection and a five-way connection, the small sucking discs are multiple, the small sucking discs are uniformly distributed on the top surface of the connecting plate, and the small sucking discs are in one-to-one correspondence with the connecting pipes.
Advantageous effects
1. The tire is driven by the driving motor to linearly run, the tire is driven by the two first telescopic rods to realize steering, the sorting robot can move from one sorting opening to the other sorting opening according to a preset travelling route, express packages are sorted on a plurality of different sorting openings, the tires can all steer, the rotation and sideslip of the sorting robot during steering can be reduced, the in-situ turning is realized through the forward and reverse rotation of the driving motor, the travelling speed is improved, and the sorting robot is suitable for a warehouse with narrow pavement and limited space.
2. Through U-shaped connecting piece, attenuator and spring can increase the damping performance of letter sorting robot, reduces the requirement to the road surface, reduces the wearing and tearing of letter sorting robot in-process from a letter sorting mouth to another letter sorting mouth, improves the speed of marcing.
3. Through rotating electrical machines switching sucking disc and clamping jaw, can remove not unidimensional express delivery parcel to in the corresponding shallow, reduce the express delivery parcel and remove the in-process drop, reduce the damage of express delivery parcel, improve letter sorting efficiency.
Drawings
Fig. 1 is a perspective view of a sorting robot according to the present invention;
fig. 2 is a perspective view of a sorting robot according to the present invention, which shows only the structure of a traveling mechanism;
fig. 3 is a perspective view of a sort robot according to the present invention, showing only the structure of a cylinder and a push arm;
Fig. 4 is a perspective view showing a structure of an embodiment 2 of a sorting robot of the present invention;
Fig. 5 is a perspective view showing a structure of an embodiment 3 of a sorting robot of the present invention.
Drawings
The vacuum suction device comprises a connecting plate (1), a sucker (2), a vacuum suction pump (3), a connecting shaft (4), a fixing sleeve (5), a first hook connecting piece (6), a second hook connecting piece (7), a clamping jaw (8), a first camera (9), a fixing disc (10), a supporting rod (11), a first rotating shaft (12), a tire (13), a driving motor placing shell (14), a U-shaped connecting piece (15), a first hinging piece (16), a fixing bottom plate (17), a first connecting arm (18), a first telescopic rod (19), a second hinging piece (20), a connecting rod (21), a disc vehicle shell (22), a second connecting arm (23), a third connecting arm (24), a fourth connecting arm (25), a rotating motor placing shell (26), a second camera (27), a damping gasket (28), a second telescopic rod (29), a spring (30), a damper (31), a cylinder (32), a clamping jaw connecting arm (33), a pushing arm (34), a rubber bulge (35), a connecting pipe (36), a small sucker (37) and a connecting six-way (38).
Detailed Description
Example 1
The sorting robot is realized in such a way that the sorting robot comprises a travelling mechanism, a rotating mechanism and a clamping mechanism,
The travelling mechanism consists of a disc vehicle shell (22), a first rotating shaft (12), a tire (13), a driving motor placing shell (14), a U-shaped connecting piece (15), a first hinging piece (16), a first telescopic rod (19), a second hinging piece (20), a connecting rod (21), a damping gasket (28), a second telescopic rod (29), a spring (30) and a damper (31),
The side surface of the disc car shell (22) is provided with a connecting groove, the notch of the connecting groove is flush with the side surface of the circumference car shell,
Preferably, the disc shell (22) is of a hollow structure, and the disc shell (22) is filled with fluid in a non-saturated manner;
preferably, a plurality of connecting grooves are arranged circumferentially and equidistantly along the side surface of the circumferential vehicle shell,
One end of the connecting rod (21) is arranged in the middle of the bottom of the connecting groove, the other end of the connecting rod (21) is rotatably arranged at one end of the U-shaped connecting piece (15) through the second hinging piece (20),
The two sides of the connecting rod (21) are respectively correspondingly provided with a first telescopic rod (19), one end of the first telescopic rod (19) is arranged at the bottom of the connecting groove, the other end of the first telescopic rod (19) is correspondingly and rotatably arranged at the side face of one end of the U-shaped connecting piece (15) through a first hinging piece (16),
A driving motor placing shell (14) is arranged between two side surfaces of the U-shaped connecting piece (15), one end of the driving motor placing shell (14) is arranged on the inner side surface of one end of the U-shaped connecting piece (15), the driving motor is arranged in the driving motor placing shell (14),
One end of a group of dampers (31) is correspondingly arranged on the top surface and the bottom surface of the driving motor placing shell (14), one end of a second telescopic rod (29) is arranged at the other end of the dampers (31), the other end of the second telescopic rod (29) is correspondingly arranged on two inner side surfaces of the U-shaped connecting piece (15) through damping gaskets (28),
The spring (30) is sleeved on the side surface of the second telescopic rod (29),
Preferably, a plurality of dampers (31) in the same group are arranged at equal intervals along the length direction of the driving motor placing shell (14),
Preferably, the top surface and the bottom surface of the driving motor placement shell (14) are respectively and correspondingly provided with one end of a rubber column, the other end of the rubber column is respectively and correspondingly arranged on two inner side surfaces of the U-shaped connecting piece (15), a plurality of rubber columns are arranged at equal intervals along the length direction of the driving motor placement shell (14), the rubber columns and the damper (31) are alternately arranged,
One end of a first rotating shaft (12) penetrates through a through hole formed in the other end of the driving motor placing shell (14) and is connected with a motor shaft of the driving motor, a bearing is arranged between the first rotating shaft (12) and the driving motor placing shell (14),
The other end of the first rotating shaft (12) is connected with the wheel axle of the tyre (13),
Preferably, the walking mechanism is also provided with a detection mechanism, the detection mechanism consists of a first camera (9), a fixed disc (10) and a supporting rod (11),
The supporting rod (11) is arranged on the top surface of the disc shell,
The bottom surface of the fixed disk (10) is arranged on the top surface of the supporting rod (11), the first camera (9) is arranged on the top surface of the fixed disk (10),
The rotating mechanism consists of a fixed bottom plate (17), a first connecting arm (18), a second connecting arm (23), a third connecting arm (24), a fourth connecting arm (25) and a rotating motor placing shell (26),
One end of the first connecting arm (18) is rotationally connected with the top surface of the disc casing (22) through the fixed bottom plate (17),
One end of the second connecting arm (23) is rotationally connected with the other end of the first connecting arm (18), the other end of the second connecting arm (23) is rotationally connected with one end of the third connecting arm (24), the other end of the third connecting arm (24) is connected with one end of the fourth connecting arm (25), the height of one end of the second connecting arm (23) is smaller than that of the other end,
A rotating motor placing shell (26) is embedded in a through groove formed at the other end of the fourth connecting arm (25), the rotating motor is placed in the rotating motor placing shell (26),
The clamping mechanism consists of a connecting shaft (4), a fixed sleeve (5), a connecting plate (1), a sucker (2), a second camera (27), a vacuum pump (3), a first hook claw connecting piece (6), a second hook claw connecting piece (7), a clamping jaw (8), an air cylinder (32), a clamping jaw connecting arm (33) and a pushing arm (34),
One end of the second rotating shaft penetrates through a through hole formed in the rotating motor placing shell (26) to be connected with a motor shaft of the rotating motor, a bearing is arranged between the second rotating shaft and the rotating motor placing shell (26),
The other end of the second rotating shaft is connected with a fixed sleeve (5),
The fixing sleeve (5) is sleeved on the side surface of the connecting shaft (4) through a through hole formed in the middle, one end of the connecting shaft (4) is arranged on the vacuum pump (3), the connecting plate (1) is arranged on the vacuum pump (3), the sucker (2) is arranged on the connecting plate (1), one end of the communicating pipe is connected with an air outlet of the vacuum pump (3) and communicated with the air outlet, the other end of the communicating pipe passes through a through hole formed in the connecting plate (1) and is connected with the sucker (2) and communicated with the air outlet,
The second camera (27) is arranged on the bottom surface of the connecting plate (1), the ranging sensor is arranged on the bottom surface of the connecting plate (1),
The other end of the connecting shaft (4) is arranged at one end of the air cylinder (32),
Preferably, the connecting shaft (4) is a double-rod-out type air cylinder (32),
One end of the pushing arm (34) is slidably arranged in the air cylinder (32), the other end of the pushing arm (34) is provided with a second claw connecting piece (7),
The first claw connecting piece (6) is sleeved on the side surface of the pushing arm (34) through a through hole formed in the middle part, the length of the first claw connecting piece (6) is longer than that of the second claw connecting piece (7),
One end of a clamping jaw (8) is correspondingly hinged at two ends of the first hook claw connecting piece (6), one end of a clamping jaw connecting arm (33) is correspondingly hinged at two ends of the second hook claw connecting piece (7), the other end of the clamping jaw connecting arm (33) is correspondingly hinged at one third of the clamping jaw (8),
The extension lines of the other ends of the two clamping jaws (8) are overlapped with the extension lines of the other ends of the pushing arms (34),
Preferably, the side surface of the other end of the clamping jaw (8) is provided with a plurality of anti-skid patterns at equal intervals,
Preferably, the sorting robot controls steering by a sort of sorting robot steering system;
The invention also relates to a sorting robot steering system, which is characterized by comprising a line speed sensor, a line direction sensor, a central processor and a central controller, wherein the line speed sensor is connected with the central processor through a data line, the line direction sensor is connected with the central processor through a data line, the central controller is connected with two first telescopic rods (19) through a data transmission line, the central processor converts digital signals into electric signals, and the sorting robot steering system realizes the following steps when being executed:
The speed sensor collects the speed of the sorting robot, transmits real-time signals to the central processing unit, when the sorting robot turns, the line direction sensor transmits expected signals to the central processing unit, the central processing unit calculates deviation by comparing the expected signals with the real-time signals, and controls the telescopic length of the two first telescopic rods (19) in real time according to the deviation, so that the two first telescopic rods (19) have a length difference, the two first telescopic rods (19) drive the U-shaped connecting pieces (15) to turn, the U-shaped connecting pieces (15) drive the driving motor to turn, and the driving motor drives the tire (13) to turn, so that the purpose of turning the sorting robot is achieved.
Preferably, the sorting robot controls the rotation of the connecting arm through a sorting robot rotation system;
the invention also relates to a sorting robot rotating system, which is characterized by comprising a ranging sensor, a central processor and a central controller, wherein the ranging sensor is connected with the central processor through a data line, the central processor is connected with the central controller through a data line, a servo motor is connected with the central controller through a data line, the servo motor is respectively connected with a first connecting arm (18), a second connecting arm (23) and a third connecting arm (24) through a gear transmission device, the central processor converts digital signals into electric signals, and the sorting robot rotating control system realizes the following steps when being executed:
the distance measuring sensor collects the distance from the clamping jaw (8) or the sucking disc (2) to the target position, a real-time signal is transmitted to the central processing unit, the central processing unit compares the distance data with a preset distance, calculates the deviation between the clamping jaw (8) or the sucking disc (2) and the target position, and transmits the central processing unit, the central processing unit performs path planning according to the distance deviation, determines the optimal path from the current position to the target position of the clamping jaw (8) or the sucking disc (2), calculates the angle and the position of the first connecting arm (18), the second connecting arm (23) and the third connecting arm (24), ensures that the first connecting arm (18), the second connecting arm (23) and the third connecting arm (24) can move according to the preset path, the central processing unit transmits an instruction to the servo motor according to the calculation result, the servo motor drives the first connecting arm (18), the second connecting arm (23) and the third connecting arm (24) to move, and in the moving process, the central processing unit continuously receives feedback information from the distance measuring sensor, calculates the angle and the position of the first connecting arm (18), the second connecting arm (23), the third connecting arm (24) and the second connecting arm (23) to reach the target position, and then the first connecting arm (23) can be stably connected to the target position according to the preset path, and the preset path is guaranteed, the real-time adjusting the movement of the clamping jaw (2) and the first connecting arm (23) and the second connecting arm, and the second connecting arm (23) to reach the target position, and the target position can be accurately, and the position sensor position can be adjusted The third connecting arm (24) sorts the express packages with different sizes into corresponding carts according to a preset path, after the express packages are successfully sorted, the central controller confirms that the task is completed and sends instructions to the servo motor, the servo motor drives the first connecting arm (18), the second connecting arm (23) and the third connecting arm (24) to move reversely and return to the initial position, sorting of the next express package is carried out, and sorting of the express packages of each sorting opening is carried out repeatedly.
Preferably, the sorting robot further comprises a control system,
Preferably, the control system, the steering system and the rotating system have signal interaction,
The control system comprises a signal converter, a data processor and a controller,
The signal converter is arranged on the disc vehicle shell (22), the data processor is arranged on the disc vehicle shell (22), the controller is arranged on the disc vehicle shell (22),
The first camera (9) and the second camera (27) are connected with the signal converter through a data line,
The driving motor, the rotating motor, the vacuum pump (3) and the air cylinder (32) are respectively connected with the controller through data transmission lines,
The signal converter is connected with the data processor through a data transmission line, the data processor is connected with the controller through a data transmission line,
The signal converter can convert the electric signals of the image data acquired by the first camera (9) and the second camera (27) into digital signals,
The controller may be implemented by one or at least two Application Specific Integrated Circuits (ASICs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of a data processing apparatus,
The data processor and the signal converter interact with each other,
The control system, when executed, mainly implements the following steps:
Before the sorting robot is used for sorting express packages, the control system presets to clamp small-size express packages into the No.1 trolley through the clamping jaw (8) in advance, adsorbs large-size express packages into the No. 2 trolley through the sucking disc (2),
When the sorting robot is used for sorting express packages, the controller controls the driving motor to control, the driving motor drives the rotating shaft to rotate, the rotating shaft drives the tire (13) to rotate, the sorting robot starts to linearly travel according to a preset travel route, the travel speed sensor acquires the travel speed of the sorting robot and transmits real-time signals to the central processing unit, when the sorting robot turns, the travel direction sensor transmits expected signals to the central processing unit, the central processing unit calculates deviation by comparing the expected signals with the real-time signals, the telescopic lengths of the two first telescopic rods (19) are adjusted in real time according to the deviation amount, the two first telescopic rods (19) have a length difference, the two first telescopic rods (19) drive the U-shaped connecting pieces (15) to turn, the U-shaped connecting pieces (15) drive the driving motor to turn, the driving motor drives the tire (13) to turn, the sorting robot reaches the position of a sorting port according to the preset travel route,
The distance measuring sensor collects the distance between the clamping jaw (8) or the sucking disc (2) and the target position, a real-time signal is transmitted to the central processing unit, the central processing unit calculates the distance deviation between the clamping jaw (8) or the sucking disc (2) and the target position and transmits the distance deviation to the central processing unit, the central processing unit plans the optimal path of the clamping jaw (8) or the sucking disc (2) from the current position to the target position according to the distance deviation, calculates the angles and the positions of the first connecting arm (18), the second connecting arm (23) and the third connecting arm (24), and the central processing unit transmits an instruction to the servo motor according to the calculation result, and the servo motor drives the first connecting arm (18), A second connecting arm (23), When the third connecting arm (24) reaches a target position according to a preset path, namely, approaches an express package, the second camera (27) performs image acquisition on the express package, the acquired image data signals are sent to the signal converter, the signal converter converts the electric signals of the received image data signals into digital signals and sends the digital signals to the data processor, the data processor calculates the pixel size of the image data, calculates the actual size of the express package according to the proportionality coefficient of the preset pixel size and the actual size, compares the actual size with the preset size, and if the actual size is smaller than the preset size, the clamping jaw (8) is used for clamping the express package, and the servo motor drives the first connecting arm (18), The second connecting arm (23) and the third connecting arm (24) rotate to reach the right upper part of the express package, the controller controls the end rod corresponding to the connecting shaft (4) to extend, the controller controls the air cylinder (32) to start, the air cylinder (32) drives the pushing arm (34) to extend downwards, the two clamping jaws (8) clamp the express package, the first connecting arm (18), the second connecting arm (23) and the third connecting arm (24) move the small-size express package to the upper part of the corresponding No.1 trolley according to a preset path, then the air cylinder (32) drives the pushing arm (34) to shrink upwards, the two clamping jaws (8) are separated to throw the express package into the No.1 trolley, the central controller confirms that the task is completed and sends instructions to the servo motor, and the servo motor drives the first connecting arm (18), If the actual size is larger than the preset size, the controller controls the rotating motor to start, the rotating motor rotates 180 degrees, the rotating motor drives the connecting shaft (4) to rotate, the connecting shaft (4) drives the sucker (2) and the clamping jaw (8) to rotate, the express packages are adsorbed and sorted through the sucker (2), the servo motor drives the first connecting arm (18), the second connecting arm (23) and the third connecting arm (24) to rotate to reach the position right above the express packages, the controller controls the end rod corresponding to the connecting shaft (4) to extend, the controller controls the vacuum pump (3) to pump air, the sucker (2) sucks the express packages, and the first connecting arm (18) sucks the express packages, The second connecting arm (23) and the third connecting arm (24) move to the corresponding number 2 trolley above the large-size express packages according to the preset path, then the controller controls the vacuum pump (3) to stop working, the express packages lose the adsorption force and drop into the number 2 trolley from the sucker (2), and sorting of the express packages with different sorting openings according to the size is realized in a repeated manner. The automatic express delivery system can facilitate the follow-up loading work, and enable express delivery packages of different sizes to be transported separately, or put large express delivery packages under the express delivery packages, stack small express delivery packages on the large express delivery packages, and fully utilize the space in the vehicle, prevent the large-size express delivery packages from extruding the small-size express delivery packages, and reduce the damage of the express delivery packages;
Example 2
The embodiment and the embodiment 1 are different in that the side surface of the tire (13) is provided with a plurality of rubber bulges (35), the plurality of rubber bulges (35) are arranged at intervals along the side surface of the tire (13), when the tire is used, the rubber bulges (35) can increase the contact area and friction force between the tire (13) and the ground, the grip of the tire (13) is improved, the up-and-down bouncing of the tire (13) when the tire (13) encounters uneven ground is reduced, the running stability of the sorting robot is better, meanwhile, the rubber bulges (35) can disperse the impact and abrasion of the tire (13) in the running process, the damage to the whole tire (13) is reduced, and the service life of the tire (13) is prolonged;
Example 3
The difference between the embodiment and the embodiment 1 is that the sucker (2) is replaced by a small sucker (37), the small sucker (37) is arranged on the top surface of the connecting plate (1), one end of the connecting six-way pipe (38) is connected with the air outlet of the vacuum pump (3) and communicated with the air outlet, the other end of the connecting six-way pipe (38) is arranged on the bottom surface of the connecting plate (1), one end of the connecting pipe (36) is connected with the connecting six-way pipe (38) and communicated with the connecting six-way pipe (38), the other end of the connecting pipe (36) passes through a through hole formed in the connecting plate (1) and is connected with the small sucker (37), and is communicated with the small sucker (37), the connecting six-way pipe (38) can be replaced by a connecting four-way pipe and a plurality of small suckers (37), the small suckers (37) are uniformly distributed on the top surface of the connecting plate (1), and the small suckers (37) and the small suckers are connected with the connecting pipe (36) in a plurality of the same way, so that the small suckers can be used for sorting and the package sorting and parcel sorting process can be reduced, and the package sorting package can be increased;
The disc car shell (22) is of a hollow structure, and the design that the disc car shell (22) is internally filled with fluid in an unsaturated manner can reduce the gravity center of the disc car shell (22), improve the stability of the sorting robot, reduce the running instability and even side turnover caused by the fact that the sorting robot runs on uneven ground in the process of running from one sorting port to the other sorting port, and reduce the abrasion of the sorting robot;
The top surface and the bottom surface of the driving motor placing shell (14) are respectively correspondingly provided with one end of a rubber column, the other end of the rubber column is respectively correspondingly arranged on two inner side surfaces of the U-shaped connecting piece (15), a plurality of rubber columns are arranged at equal intervals along the length direction of the driving motor placing shell (14), the rubber columns and the dampers (31) are in staggered arrangement, when the sorting robot runs from one sorting opening to the other sorting opening, the rubber columns are matched with the dampers (31) to further absorb impact and vibration when encountering uneven ground, the shock absorption performance of the sorting robot is improved, the influence of external impact and vibration on the sorting robot is reduced, meanwhile, the impact force can be buffered, the U-shaped connecting piece (15) is prevented from being severely rocked or deformed when being impacted, and the stability of the U-shaped connecting piece (15) is improved;
The detection mechanism is further arranged on the travelling mechanism and consists of a first camera (9), a fixed disc (10) and a supporting rod (11), the supporting rod (11) is arranged on the top surface of the disc shell, the bottom surface of the fixed disc (10) is arranged on the top surface of the supporting rod (11), the first camera (9) is arranged on the top surface of the fixed disc (10), when the sorting robot travels from one sorting opening to the other sorting opening, the first camera (9) collects images in front of the travelling route of the sorting robot in real time and sends collected image data to a signal converter, the signal converter converts the electric signals of the image data to a data processor, the data processor processes the digital signals of the image data collected by the received first camera (9), and when an obstacle exists, the controller adjusts and controls the telescopic lengths of the two first telescopic rods (19) in real time according to the deviation amount, so that the two first telescopic rods (19) have different lengths, the first U-shaped telescopic rods (19) drive a steering motor (15) to drive a steering wheel to avoid the obstacle, and the steering wheel (15) can drive a tire-shaped driving device to drive the steering wheel (15) to avoid the obstacle;
the design of a plurality of anti-skid patterns is formed in the side surface of the other end of the clamping jaw (8) at equal intervals, so that friction force between the clamping jaw (8) and the express package can be increased, sliding between the clamping jaw (8) and the express package is reduced, and dropping of the express package in the process of moving the express package to the No. 1 trolley by the sorting robot is reduced;
the rotating mechanism is matched with the design of the clamping mechanism, the rotating mechanism can enable the clamping mechanism to be close to the position right above the express packages, the express packages are clamped, meanwhile, the clamping mechanism can reach the position right above the corresponding trolley, the express packages are put into the corresponding trolley, and sorting of the express packages is achieved;
The disc car shell (22) and the driving motor are matched with the first telescopic rod (19), so that a plurality of tires (13) can all linearly run and turn around under the driving of the driving motor and the first telescopic rod (19), a sorting robot can reach another sorting port from one sorting port according to a preset travelling route, express packages can be sorted on a plurality of different sorting ports, the tires (13) can all turn around, the deflection angles of a machine body and the travelling direction are small during turning, the rotation and sideslip of the sorting robot during turning can be reduced, the in-situ turning around is realized through the positive and negative rotation of the driving motor, the travelling speed is improved, and the disc car is suitable for a narrow road surface and a warehouse with limited space;
Reach and to realize the marcing of letter sorting robot through running gear, improve damping performance, reduce the requirement to the road surface, press from both sides through running gear cooperation and get the mechanism, can sort the express delivery parcel of equidimension to the dolly that corresponds, realize the purpose of the letter sorting of express delivery parcel.
It should be noted that, unless explicitly stated or limited otherwise, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, a fixed connection such as a hemmed connection, a rivet connection, a pin connection, an adhesive connection, a welded connection, a detachable connection such as a threaded connection, a snap connection, a hinge connection, or an integral connection, an electrical connection, or a direct connection, or an indirect connection via an intermediate medium, or may be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
It should be further noted that, when the foregoing specific embodiments are described, only the differences from other embodiments are described for simplicity and clarity, but those skilled in the art will appreciate that the foregoing specific embodiments are also independent of each other.
It should be noted that, in the present invention, the data processing process of the data processor and the central processing unit is described as a series of combinations of actions for simplicity of description, but it should be understood by those skilled in the art that the present invention is not limited by the description of the actions, since some steps may be performed sequentially or simultaneously according to the present invention, and those skilled in the art should also understand that the actions described and involved in the description are not necessarily required for the present invention, and the content is only a preferred embodiment of the present invention and should not be considered to limit the implementation scope of the present invention, and a person skilled in the art may have variations in the detailed embodiment and application scope according to the idea of the present invention, so that the content in the present specification should not be construed as limiting the present invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410967655.XA CN118700816B (en) | 2024-07-18 | 2024-07-18 | Sorting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410967655.XA CN118700816B (en) | 2024-07-18 | 2024-07-18 | Sorting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118700816A CN118700816A (en) | 2024-09-27 |
| CN118700816B true CN118700816B (en) | 2024-12-20 |
Family
ID=92811439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410967655.XA Active CN118700816B (en) | 2024-07-18 | 2024-07-18 | Sorting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118700816B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2831006A1 (en) * | 2012-07-27 | 2014-01-27 | Engineering Services Inc. | Modular mobile robot |
| CN111993381A (en) * | 2020-08-28 | 2020-11-27 | 王风营 | Automatic clamping and boxing robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213001277U (en) * | 2020-08-18 | 2021-04-20 | 南京挥戈智能科技有限公司 | Visual sorting practical training platform |
| CN115351793A (en) * | 2022-08-23 | 2022-11-18 | 李明 | Automatic get express delivery dolly |
| CN116002361A (en) * | 2022-11-03 | 2023-04-25 | 齐鲁工业大学 | A suction cup and jaw combined garbage sorting gripper and garbage sorting method |
| CN220031638U (en) * | 2023-03-21 | 2023-11-17 | 上海詹知信息科技有限公司 | Fork truck steering axle and fork truck |
-
2024
- 2024-07-18 CN CN202410967655.XA patent/CN118700816B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2831006A1 (en) * | 2012-07-27 | 2014-01-27 | Engineering Services Inc. | Modular mobile robot |
| CN111993381A (en) * | 2020-08-28 | 2020-11-27 | 王风营 | Automatic clamping and boxing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118700816A (en) | 2024-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108582025B (en) | Logistics stacking robot trolley and carrying stacking method thereof | |
| CN118528300B (en) | Dynamic adsorption fixture for sorting robot and sorting robot | |
| JP2018535875A (en) | System and method for crossing a vertical obstacle | |
| CN108275619A (en) | It is a kind of can 360 ° steering handling devices | |
| CN118700816B (en) | Sorting robot | |
| CN108568801A (en) | A kind of adaptive clamping transfer robot | |
| CN117734552A (en) | Intelligent logistics robot | |
| CN210258625U (en) | Obstacle crossing mechanism, wheel type chassis assembly thereof and inspection robot | |
| CN118545500B (en) | Sorting robot gravity-driven unloading structure and sorting robot | |
| CN104370244A (en) | Stepping type electric tray carriage | |
| CN205442555U (en) | Take lifter arm of double suction dish device | |
| CN209038450U (en) | A kind of pickup trolley, a kind of picking up system and a kind of transportation system | |
| CN118545499B (en) | A sorting robot package dynamic rolling structure and sorting robot | |
| KR20230072393A (en) | Cargo unloading automation machine | |
| CN118700994A (en) | A sorting robot contact deceleration and tire maintenance structure and a sorting robot | |
| CN118775494A (en) | A sorting robot multi-protection structure and a sorting robot | |
| CN206437602U (en) | A kind of intelligent carriage with remote control | |
| CN204342363U (en) | A kind of step type electric tray carriage | |
| CN118700998A (en) | A low-impact brake structure for a sorting robot and a sorting robot | |
| CN208249802U (en) | A handling device that can turn 360° | |
| CN115262443B (en) | Traffic cone winding and unwinding devices | |
| CN118004710A (en) | Portal unloading method | |
| CN118701196A (en) | A sorting robot parcel transfer telescopic carriage and a sorting robot | |
| CN115215107B (en) | Automatic stacking method | |
| CN110465955A (en) | It is a kind of based on pneumatic obstacle detouring explosive-removal robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |