技术领域technical field
本发明涉及一种快递分拣装置，具体为一种快递分拣机器人。The invention relates to an express sorting device, in particular to an express sorting robot.
背景技术Background technique
近年来，随着国内经济不断发展，对外贸易往来频繁，电商市场快速发展，物流行业正呈现强劲增长态势。如今，中国经济正走入以优化经济结构和产业创新为核心驱动力，以提质增效为特征的"新常态"。在经济新常态中，物流行业也将从传统向现代物流体系转型。在"互联网+"、中国智造与工业4.0等影响下，智能化成为各行各业转型的当务之急，智慧物流也因此成为物流行业转型重点。In recent years, with the continuous development of the domestic economy, frequent foreign trade exchanges, and the rapid development of the e-commerce market, the logistics industry is showing a strong growth trend. Today, China's economy is entering a "new normal" characterized by the optimization of economic structure and industrial innovation as the core driving force and the improvement of quality and efficiency. In the new economic normal, the logistics industry will also transform from a traditional to a modern logistics system. Under the influence of "Internet +", China's smart manufacturing and Industry 4.0, intelligence has become a top priority for the transformation of all walks of life, and smart logistics has therefore become the focus of the transformation of the logistics industry.
目前，我国物流行业的分拣环节基本还处于人工分拣阶段，存在分拣效率低下、人工成本高、差错率高等问题。At present, the sorting link of my country's logistics industry is basically still in the manual sorting stage, and there are problems such as low sorting efficiency, high labor costs, and high error rates.
随着快递业务量的增长，要求快递邮件的分拣效率越来越高，在行业内部广泛使用的交叉带自动分拣机具有高效的处理能力，但投资高、刚性强，使得各快递企业对投入有一定的顾虑。With the growth of express business volume, the sorting efficiency of express mail is required to be higher and higher. The cross-belt automatic sorting machine widely used in the industry has efficient processing capacity, but the high investment and strong rigidity make express delivery enterprises to There are certain concerns about investing.
发明内容Contents of the invention
针对现有技术中物流行业的分拣环节基本还处于人工分拣阶段，存在分拣效率低下、人工成本高、差错率高等问题等不足，本发明要解决的问题是提供一种可提高分拣效率及准确率的快递分拣机器人。In view of the fact that the sorting link of the logistics industry in the prior art is basically still in the stage of manual sorting, there are problems such as low sorting efficiency, high labor cost, high error rate, etc., the problem to be solved by the present invention is to provide a method that can improve sorting Express sorting robot with high efficiency and accuracy.
为解决上述技术问题，本发明采用的技术方案是：In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
本发明一种快递分拣机器人，包括全向移动底盘、多自由度机械臂单元、室内定位单元以及抓取单元，其中多自由度机械臂单元安装于全向移动底盘上，抓取单元安装于多自由度机械臂单元前端，室内定位单元安装于全向移动底盘前端。An express delivery sorting robot of the present invention includes an omnidirectional mobile chassis, a multi-degree-of-freedom mechanical arm unit, an indoor positioning unit and a grabbing unit, wherein the multi-degree-of-freedom robotic arm unit is installed on the omnidirectional mobile chassis, and the grabbing unit is installed on the The front end of the multi-degree-of-freedom robotic arm unit and the indoor positioning unit are installed on the front end of the omnidirectional mobile chassis.
所述多自由度机械臂单元包括第一～三关节、第二关节动力连接臂、第一关节支撑臂、第二支撑连接臂以及第二关节主动连接臂，其中第二～三关节通过第二关节主动连接臂和第二支撑连接臂连接，第一～二关节通过第一关节主动连接臂以及第一关节支撑连接臂连接，第一～三关节处分别安装动力装置。The multi-degree-of-freedom manipulator unit includes first to third joints, a second joint dynamic connection arm, a first joint support arm, a second support connection arm and a second joint active connection arm, wherein the second to third joints are connected through the second joint The joint active connection arm is connected with the second support connection arm, the first to second joints are connected through the first joint active connection arm and the first joint support connection arm, and the first to third joints are respectively equipped with power devices.
抓取单元包括固定板、气杆以及真空吸盘，其中真空吸盘安装于气杆底端，气杆穿过固定板通过气杆固定套及螺母固定在固定板上，在气杆外周与气杆固定套相邻位置设有弹簧。The grabbing unit includes a fixed plate, an air rod and a vacuum suction cup. The vacuum suction cup is installed at the bottom of the air rod. A spring is provided at the adjacent position of the sleeve.
所述真空吸盘具有吸盘空气储存囊，其上端与气杆连通，下端为吸口，吸口周边包敷海绵。The vacuum suction cup has a suction cup air storage bag, the upper end of which communicates with the air rod, and the lower end is a suction port, and the periphery of the suction port is coated with sponge.
所述吸盘空气储存囊采用两节波纹管结构。The suction cup air storage bag adopts a two-section bellows structure.
动力装置包括无刷电机、行星轮、中心轮以及内齿轮，以无刷电机作为动力，其外层设有电机保护罩，一内齿连接板分别用螺钉与无刷电机和电机保护罩一端相连，电机保护罩另一端与电机尾座相连；内齿连接板与一内齿轮连接；4个行星轮与一个中心轮啮合，并通过销钉连接在系杆轮盘上，中心轮与无刷电机输出轴固定连接，4个行星轮外缘同时与内齿和中心齿轮啮合；系杆轮盘一端面连接机械臂。The power device includes a brushless motor, a planetary wheel, a center wheel and an internal gear. The brushless motor is used as the power, and the outer layer is provided with a motor protection cover. An internal tooth connecting plate is connected to the brushless motor and one end of the motor protection cover with screws. , the other end of the motor protection cover is connected to the motor tailstock; the inner tooth connecting plate is connected to an inner gear; 4 planetary wheels mesh with a center wheel and are connected to the tie rod wheel through pins, and the center wheel is output to the brushless motor The shafts are fixedly connected, and the outer edges of the four planetary wheels mesh with the inner teeth and the central gear at the same time; one end of the tie rod disc is connected to the mechanical arm.
还设有关节轴承套，其与安装于电机尾座同轴安装，关节轴承套与电机尾座之间安装轴承。A joint bearing sleeve is also provided, which is installed coaxially with the tailstock of the motor, and a bearing is installed between the joint bearing sleeve and the tailstock of the motor.
本发明具有以下有益效果及优点：The present invention has the following beneficial effects and advantages:
1.本发明将将机器人与AGV小车组合起来，使得机器人不再局限于某一个单元、区域及工种，而是提升为生产线团队中的“自由机器人”，不仅可以在各工序间作搬运和调度，而且能够根据生产扩展需要，将机器人调配到任意一个工位中共同参与生产，或者在特定安全区域与操作人员进行协同工作，利用可移动底盘的灵活性以及机械臂的精准性，确保抓取分拣工作顺利进行。1. The present invention combines the robot with the AGV trolley, so that the robot is no longer limited to a certain unit, area and type of work, but is promoted to a "free robot" in the production line team, which can not only carry and dispatch between processes, Moreover, according to the needs of production expansion, the robot can be deployed to any station to participate in the production together, or to cooperate with the operator in a specific safe area, using the flexibility of the movable chassis and the precision of the robotic arm to ensure the grasping points Picking went smoothly.
2.快递分拣机器人具有智能化程度高和灵活性高的特点，应用分拣机器人来分拣快递包裹可以极大地提高分拣效率、降低人工成本和减小差错率2. Express sorting robots have the characteristics of high intelligence and high flexibility. Using sorting robots to sort express packages can greatly improve sorting efficiency, reduce labor costs and reduce error rates
3.本发明的应用使物流分拣朝着智能化、自动化的方向发展，在极大提高分拣效率的同时，也缩短了物流配送时间，相对于传统的大型分拣线，本发明的快递分拣机器人可集群对快递进行处理，按照快递的数量决定机器人的参与数量，节约资源，促进了物流行业的发展。3. The application of the present invention enables logistics sorting to develop towards intelligence and automation. While greatly improving sorting efficiency, it also shortens the logistics delivery time. Compared with traditional large-scale sorting lines, the express delivery of the present invention Sorting robots can process express delivery in clusters, and the number of robots participating is determined according to the number of express deliveries, saving resources and promoting the development of the logistics industry.
附图说明Description of drawings
图1为本发明快递分拣机器人总体结构示意图；Fig. 1 is the general structure schematic diagram of express sorting robot of the present invention;
图2为本发明中抓取结构示意图；Fig. 2 is the schematic diagram of grasping structure in the present invention;
图3为本发明中动力装置结构示意图；Fig. 3 is a structural schematic diagram of a power unit in the present invention;
图4为本发明快递分拣机器人控制系统框图；Fig. 4 is a block diagram of the express sorting robot control system of the present invention;
图5为本发明快递分拣机器人控制系统架构图。Fig. 5 is a structural diagram of the control system of the express sorting robot of the present invention.
其中，1为真空吸盘，2为缓冲吸盘连接嘴，3为摄像头，4为抓取单元固定板，5为抓取单元主动连接板，6为动力装置，7为抓取单元支撑连接板，8为动力装置固定件，9为第二关节主动连接臂，10为第二支撑连接臂，11为第一关节支撑臂，12为第一关节主动连接臂，13为真空泵，14为电源，15为麦克纳姆轮，16为正交码盘，17为激光雷达，18为气杆，19为弹簧，20为气杆固定套，21为气嘴，22为橡胶垫片，23为螺母，24为关节轴承套，25为第一轴承，26为电机尾座，27为电机保护罩，28为无刷电机，29为内齿连接板，30为内齿轮，31为销钉，32为行星轮，33为中心轮，34为系杆轮盘，35为第二轴承。Among them, 1 is the vacuum suction cup, 2 is the connection nozzle of the buffer suction cup, 3 is the camera, 4 is the fixing plate of the grabbing unit, 5 is the active connecting plate of the grabbing unit, 6 is the power device, 7 is the supporting connecting plate of the grabbing unit, 8 9 is the active connecting arm of the second joint, 10 is the second supporting connecting arm, 11 is the supporting arm of the first joint, 12 is the active connecting arm of the first joint, 13 is the vacuum pump, 14 is the power supply, 15 is Mecanum wheel, 16 is an orthogonal code disc, 17 is a laser radar, 18 is an air rod, 19 is a spring, 20 is a fixed sleeve for an air rod, 21 is an air nozzle, 22 is a rubber gasket, 23 is a nut, and 24 is a Joint bearing sleeve, 25 is the first bearing, 26 is the motor tailstock, 27 is the motor protection cover, 28 is the brushless motor, 29 is the internal tooth connecting plate, 30 is the internal gear, 31 is the pin, 32 is the planetary wheel, 33 Be the center wheel, 34 is the tie rod wheel disc, and 35 is the second bearing.
具体实施方式Detailed ways
下面结合说明书附图对本发明作进一步阐述。The present invention will be further elaborated below in conjunction with the accompanying drawings of the description.
本发明一种快递分拣机器人，包括全向移动底盘、多自由度机械臂单元、室内定位单元以及抓取单元，其中多自由度机械臂单元安装于全向移动底盘上，抓取单元安装于多自由度机械臂单元前端，室内定位单元安装于全向移动底盘前端。An express delivery sorting robot of the present invention includes an omnidirectional mobile chassis, a multi-degree-of-freedom mechanical arm unit, an indoor positioning unit and a grabbing unit, wherein the multi-degree-of-freedom robotic arm unit is installed on the omnidirectional mobile chassis, and the grabbing unit is installed on the The front end of the multi-degree-of-freedom robotic arm unit and the indoor positioning unit are installed on the front end of the omnidirectional mobile chassis.
如图1所示，多自由度机械臂单元包括第一～三关节、第二关节动力连接臂12、第一关节支撑臂11、第二支撑连接臂10以及第二关节主动连接臂9，其中第二～三关节通过第二关节主动连接臂9和第二支撑连接臂10连接，第一～二关节通过第一关节主动连接臂12以及第一关节支撑连接臂11连接，第一～三关节和抓取单元yaw关节和pitch关节处分别安装动力装置，构成五自由度机械臂单元。As shown in Figure 1, the multi-degree-of-freedom manipulator unit includes the first to three joints, the second joint dynamic connection arm 12, the first joint support arm 11, the second support connection arm 10 and the second joint active connection arm 9, wherein The second to third joints are connected through the second joint active link arm 9 and the second support link arm 10, the first to second joints are connected through the first joint active link arm 12 and the first joint support link arm 11, the first to third joints Power devices are respectively installed at the yaw joint and the pitch joint of the grasping unit to form a five-degree-of-freedom manipulator unit.
如图2所示，抓取单元包括固定板4、气杆18以及真空吸盘1，其中真空吸盘1安装于气杆18底端，气杆18穿过固定板4通过气杆固定套20及螺母23固定在固定板4上，在气杆18外周与气杆固定套20相邻位置设有弹簧。As shown in Figure 2, the grabbing unit includes a fixed plate 4, an air rod 18 and a vacuum chuck 1, wherein the vacuum chuck 1 is installed at the bottom of the air rod 18, and the air rod 18 passes through the fixed plate 4 through the air rod fixing sleeve 20 and the nut. 23 is fixed on the fixed plate 4, and a spring is provided at the position adjacent to the gas rod fixed sleeve 20 on the outer periphery of the gas rod 18.
真空吸盘1与气杆18相连接，通过气杆18中间的通孔实现空气抽取，在气杆18和气杆固定套20之间用弹簧19缓冲，以免多自由度机械臂单元操作过快破坏快递件表面，并且在抓取单元的固定板4前端面上均匀分布四个带缓冲真空吸盘1，可以补偿roll轴方向自由度；在气杆固定套20上部加工外螺纹，并用螺母23将其固定在抓取单元固定板4上；在气杆18末端加工内螺纹，将气嘴21和橡胶垫片22与气杆18相连，最后将气嘴21与气管连接。The vacuum chuck 1 is connected to the air rod 18, and the air is extracted through the through hole in the middle of the air rod 18, and the spring 19 is used to buffer between the air rod 18 and the air rod fixing sleeve 20, so as not to damage the express delivery by operating the multi-degree-of-freedom mechanical arm unit too quickly On the surface of the workpiece, and on the front surface of the fixed plate 4 of the grabbing unit, four buffered vacuum suction cups 1 are evenly distributed, which can compensate the degree of freedom in the direction of the roll axis; the external thread is processed on the upper part of the air rod fixing sleeve 20, and it is fixed with a nut 23 On the fixing plate 4 of the grabbing unit; process the internal thread at the end of the air rod 18, connect the air nozzle 21 and the rubber gasket 22 with the air rod 18, and finally connect the air nozzle 21 with the air pipe.
本实施例中，真空吸盘1具有吸盘空气储存囊，其上端与气杆18连通，下端为吸口，吸口周边包敷海绵；吸盘空气储存囊采用两节波纹管结构，增加空气容积，提供更大的吸力。In this embodiment, the vacuum suction cup 1 has a suction cup air storage bag, the upper end of which communicates with the air rod 18, and the lower end is a suction port, and the periphery of the suction port is coated with sponge; the suction cup air storage bag adopts a two-section bellows structure to increase the air volume and provide larger of suction.
如图3所示，动力装置包括无刷电机28、行星轮32以及中心轮33，以无刷电机28作为动力，其外层设有电机保护罩27，一内齿连接板29分别用螺钉与无刷电机28和电机保护罩27一端相连，电机保护罩27另一端与电机尾座26相连；内齿连接板29与一内齿轮30连接；4个行星轮32与一个中心轮33啮合，并通过销钉31连接在系杆轮盘34上，中心轮33与无刷电机输出轴固定连接，4个行星轮32外缘与同时与内齿轮30和中心齿轮33啮合；系杆轮盘34一端面连接机械臂。本实施例中，动力装置还设有关节轴承套24，其与安装于电机尾座26同轴安装，关节轴承套24与电机尾座26之间安装轴承25。As shown in Figure 3, the power unit includes brushless motor 28, planetary gear 32 and center wheel 33, with brushless motor 28 as power, its outer layer is provided with motor protective cover 27, and an internal tooth connecting plate 29 uses screw and The brushless motor 28 is connected to one end of the motor protection cover 27, and the other end of the motor protection cover 27 is connected to the motor tailstock 26; the inner tooth connecting plate 29 is connected to an internal gear 30; four planetary gears 32 are meshed with a sun gear 33, and Connected to the tie rod wheel 34 through the pin 31, the center wheel 33 is fixedly connected with the output shaft of the brushless motor, and the outer edges of the four planetary wheels 32 mesh with the inner gear 30 and the center gear 33 at the same time; one end of the tie rod wheel 34 Attach the arm. In this embodiment, the power device is also provided with a joint bearing sleeve 24 which is installed coaxially with the motor tailstock 26 , and a bearing 25 is installed between the joint bearing sleeve 24 and the motor tailstock 26 .
动力装置6的动力由电机28(采用无刷电机)提供，电机28外层由电机保护罩27罩住，内齿连接板29分别用螺钉与电机28和电机保护罩27相连，电机保护罩27另一端与电机尾座26相连；为方便转动，在关节轴承套24与电机尾座26之间添加轴承25；为增加动力，在无刷电机输出轴前端安装行星减速器，将内齿连接板29与内齿轮30连接，将中心轮33加工的D形面与无刷电机的输出轴的D形面配合，4个行星轮32通过销钉31连接在系杆轮盘34上，使得内齿轮与内齿轮固定板相连，固定不动，系杆轮盘34输出动力，提供给多自由度机械臂单元。The power of power unit 6 is provided by motor 28 (adopting brushless motor), and motor 28 outer layers are covered by motor protective cover 27, and internal tooth connecting plate 29 links to each other with motor 28 and motor protective cover 27 with screw respectively, and motor protective cover 27 The other end is connected with the motor tailstock 26; for the convenience of rotation, a bearing 25 is added between the joint bearing sleeve 24 and the motor tailstock 26; in order to increase the power, a planetary reducer is installed at the front end of the output shaft of the brushless motor, and the inner tooth connecting plate 29 is connected with the internal gear 30, and the D-shaped surface processed by the center wheel 33 is matched with the D-shaped surface of the output shaft of the brushless motor. The fixed plate of the internal gear is connected and fixed, and the tie rod wheel 34 outputs power, which is provided to the multi-degree-of-freedom mechanical arm unit.
本发明快递分拣机器人，整体由全向移动底盘搭载多自由度机械臂单元、室内定位单元以及抓取单元构成，主要用于中小型快递分拣工作，抓取单元中的吸盘结构保证分拣的多样性(文件+包裹+箱体)，安全性(吸盘不会硬性抓取，破坏表面尤其是包裹的包装袋)以及快速性。The express sorting robot of the present invention is composed of an omnidirectional mobile chassis equipped with a multi-degree-of-freedom mechanical arm unit, an indoor positioning unit, and a grabbing unit. It is mainly used for sorting small and medium-sized express delivery. The suction cup structure in the grabbing unit ensures sorting. The diversity (file + package + box), safety (the suction cup will not grab hard, damage the surface, especially the package bag) and speed.
四个真空吸盘1由缓冲吸盘连接嘴2通过气管与真空泵13连接，完成快递件的抓取及释放任务；在抓取、释放过程中，由全向移动底盘搭载5个动力装置6完成多自由度机械臂单元运动动作，动力装置6分别通过抓取单元主动连接板5、抓取单元支撑连接板7与抓取机构相连；通过第二关节主动连接臂9、第二支撑连接臂10将第二、三关节相连；通过第一关节主动连接臂12，第一支撑连接臂11将第一、二关节相连接；由4驱麦克纳姆轮15构成全向移动底盘，实现在环境内360°自由移动，并搭载正交码盘16，激光雷达17实现室内定位系统。The four vacuum suction cups 1 are connected to the vacuum pump 13 by the buffer suction cup connection nozzle 2 through the air pipe to complete the task of grabbing and releasing the express delivery; in the process of grabbing and releasing, the omnidirectional mobile chassis is equipped with 5 power devices 6 to complete the multi-free The movement action of the mechanical arm unit, the power device 6 is connected to the grabbing mechanism through the active connecting plate 5 of the grabbing unit and the supporting connecting plate 7 of the grabbing unit; the second joint active connecting arm 9 and the second supporting connecting arm 10 connect the 2. The three joints are connected; through the first joint active connecting arm 12, the first support connecting arm 11 connects the first and second joints; the omnidirectional mobile chassis is formed by the 4-wheel-drive mecanum wheel 15 to realize 360° in the environment It can move freely, and is equipped with an orthogonal code wheel 16 and a laser radar 17 to realize an indoor positioning system.
全向移动底盘由左右麦克纳姆轮15、电机28、法兰盘、电机安装座，底盘底板五部分组成。四个麦克纳姆轮矩形分布安装，俯视底盘，辊子呈X状排列，利用无刷电机正反转，四个麦克纳姆轮合成运动，故而实现全方向移动。The omnidirectional mobile chassis is composed of left and right mecanum wheels 15, a motor 28, a flange, a motor mounting seat, and a chassis bottom plate. The four mecanum wheels are installed in a rectangular distribution. Looking down at the chassis, the rollers are arranged in an X shape. The brushless motor is used for forward and reverse rotation, and the four mecanum wheels synthesize the movement, so it can move in all directions.
如图4～5所示，分别为快递分拣机器人控制系统框图和架构图。图4中，机器人根据由云端传入的包裹数量，决定多少台机器人参加分拣任务，并在工作过程中将自身位置、目的地等信息上传至云端，由中央控制器统一所有参与工作机器人进行路径规划，以避免机器人在工作过程中路线交叉，相互干扰，降低效率。As shown in Figures 4 to 5, they are the block diagram and architecture diagram of the express sorting robot control system, respectively. In Figure 4, the robot decides how many robots to participate in the sorting task according to the number of packages imported from the cloud, and uploads its own location, destination and other information to the cloud during the work process, and the central controller unifies all participating robots to complete the sorting task. Path planning to avoid robots intersecting routes during work, interfering with each other, and reducing efficiency.
本发明通过安装于全向移动底盘前端的室内定位单元确定分拣目标位置，利用激光雷达17，正交码盘16在已经建好模型的室内进行自主移动至目标位置，到达位置后利用抓取单元搭载的两个摄像头3对快递件几何中心进行识别，多自由度机械臂单元调整角度，当抓取单元到达快递件附近时，由激光雷达(传感器)回传信号，由控制装置(MCU)启动真空泵13开始工作，通过抓取单元中的真空吸盘1将快递件抓取，多自由度机械臂单元再运动至指定区域，调整姿态后，真空泵3停止工作，快递件被放下。The present invention determines the position of the sorting target through the indoor positioning unit installed on the front end of the omnidirectional mobile chassis, and uses the laser radar 17 and the orthogonal code disc 16 to move autonomously to the target position in the room where the model has been built. The two cameras 3 mounted on the unit identify the geometric center of the courier, and the multi-degree-of-freedom robotic arm unit adjusts the angle. When the grabbing unit reaches the vicinity of the courier, the laser radar (sensor) returns a signal, and the control unit (MCU) Start the vacuum pump 13 to start working. The express delivery is grasped by the vacuum suction cup 1 in the grasping unit, and the multi-degree-of-freedom robotic arm unit moves to the designated area. After adjusting the posture, the vacuum pump 3 stops working and the express delivery is put down.
机器人各自接收到云端的指令，按照设定路线运动至被分拣的目标前，然后通过抓取单元搭载的双目摄像头对目标物体几何中心进行提取，并将提取结果上传至机器人机载计算机，机载计算机对目标位置进行姿态变换解算，确定机械臂各关节的运动角度，并把结果发送至MCU，MCU依靠机载计算机的指令要求，对电机的转动进行直接控制，已完成机械臂的控制，当机械臂运动至包裹附近，MCU发出信号，真空泵开始工作，当机械臂到达指定位置后对目标物体进行抓取，再进行抬升，最后按照云中央控制中心发送过来的路径对目标物体进行转移。The robots each receive instructions from the cloud, move to the sorted target according to the set route, and then extract the geometric center of the target object through the binocular camera mounted on the grabbing unit, and upload the extraction results to the onboard computer of the robot. The on-board computer calculates the attitude transformation of the target position, determines the motion angle of each joint of the manipulator, and sends the result to the MCU. The MCU directly controls the rotation of the motor based on the command requirements of the on-board computer. The robot arm has been completed. Control, when the robot arm moves near the package, the MCU sends a signal, and the vacuum pump starts to work. When the robot arm reaches the designated position, it grabs the target object, then lifts it, and finally carries out the target object according to the path sent by the cloud central control center. transfer.
本发明将机器人(多自由度机械臂单元)与AGV小车(Automated Guided Vehicle，自动导引运输车)组合起来，使得机器人不再局限于某一个单元、区域及工种，而是提升为生产线团队中的“自由机器人”，不仅可以在各工序间作搬运和调度，而且能够根据生产扩展需要，将机器人调配到任意一个工位中共同参与生产，或者在特定安全区域与操作人员进行协同工作，利用可移动底盘的灵活性以及机械臂的精准性，确保抓取分拣工作顺利进行。The present invention combines a robot (manipulator unit with multiple degrees of freedom) and an AGV trolley (Automated Guided Vehicle), so that the robot is no longer limited to a certain unit, area and type of work, but is promoted to be a part of the production line team. The "free robot" can not only carry and dispatch between various processes, but also deploy the robot to any station to participate in production according to the needs of production expansion, or cooperate with operators in a specific safe area. The flexibility of the mobile chassis and the precision of the robotic arm ensure the smooth progress of the picking and sorting work.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910520561.7ACN110238812A (en) | 2019-06-17 | 2019-06-17 | A express sorting robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910520561.7ACN110238812A (en) | 2019-06-17 | 2019-06-17 | A express sorting robot |
| Publication Number | Publication Date |
|---|---|
| CN110238812Atrue CN110238812A (en) | 2019-09-17 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910520561.7APendingCN110238812A (en) | 2019-06-17 | 2019-06-17 | A express sorting robot |
| Country | Link |
|---|---|
| CN (1) | CN110238812A (en) |
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| RJ01 | Rejection of invention patent application after publication | Application publication date:20190917 | |
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