CN110694919A

CN110694919A - Manipulator and express mail sorting equipment

Info

Publication number: CN110694919A
Application number: CN201910999051.2A
Authority: CN
Inventors: 邵来方; 苗佳乐; 陈金龙; 高明; 王春涛; 丛强滋
Original assignee: Weihai Newbeiyang Zhengqi Robot Co Ltd; Shandong New Beiyang Information Technology Co Ltd
Current assignee: Weihai Newbeiyang Zhengqi Robot Co Ltd; Shandong New Beiyang Information Technology Co Ltd
Priority date: 2019-10-17
Filing date: 2019-10-17
Publication date: 2020-01-17

Abstract

The invention provides a manipulator and express sorting equipment, relates to the technical field of sorting equipment, and aims to solve the problem that the manipulator provided by the related technology is easy to interfere with express in the sorting process. The manipulator comprises a rack, a first driving mechanism, a second driving mechanism and a gripper for taking and placing articles, wherein the first driving mechanism is arranged on the rack and is configured to drive the gripper to revolve around a first horizontal axis; the second driving mechanism is configured to drive the gripper to rotate around a second horizontal axis; the second horizontal axis and the first horizontal axis are arranged at an included angle. The express mail sorting equipment comprises the manipulator. The manipulator and the express sorting equipment provided by the invention effectively avoid the situation that express delivery is misplaced and even fails to be packed by the manipulator due to the interference between the manipulator and the express on the sorting table.

Description

Manipulator and express mail sorting equipment

Technical Field

The invention relates to the technical field of sorting equipment, in particular to a manipulator and express sorting equipment.

Background

In recent years, the logistics industry is rapidly developed, and in order to improve the sorting efficiency of the express items, a sorting machine is generally adopted to realize the sorting operation of the express items. The express delivery system is used for sorting different express items and delivering the sorted express items to a specified position.

The sorting machine that correlation technique provided usually includes sign indicating number package platform and letter sorting platform, and simultaneously, in order to reduce the human cost, correlation technique has adopted the manipulator to carry out the package to the letter sorting platform, specifically, the manipulator setting is between sign indicating number package platform and letter sorting platform, and the manipulator takes out the express mail from sign indicating number package platform at first, then places the express mail in the letter sorting platform again. Although the manual packing step is omitted, the labor cost is reduced, the mechanical arm can interfere with express mails on the sorting table in the rotating process, and therefore the express mails are dislocated, and even the mechanical arm fails to pack.

Disclosure of Invention

The invention aims to provide a manipulator to solve the technical problem that the manipulator provided by the related art is easy to interfere with express items in the sorting process.

The invention provides a manipulator which comprises a rack, a first driving mechanism, a second driving mechanism and a gripper for taking and placing articles, wherein the first driving mechanism is installed on the rack and is configured to drive the gripper to revolve around a first horizontal axis; the second driving mechanism is configured to drive the gripper to rotate around a second horizontal axis;

the second horizontal axis and the first horizontal axis are arranged at an included angle.

Further, the included angle is 90 °.

Furthermore, the second driving mechanism is in transmission connection with the first driving mechanism, the hand grip is connected with the second driving mechanism, and the first driving mechanism drives the second driving mechanism to drive the hand grip to revolve around the first horizontal axis.

Further, the first driving mechanism comprises a first rotating part, the rotating axis of the first rotating part coincides with the first horizontal axis, the second driving mechanism comprises a second rotating part, the rotating axis of the second rotating part coincides with the second horizontal axis, wherein the first end of the second rotating part is directly or indirectly connected with the first rotating part in an inserting mode, and the gripper is arranged at the second end of the second rotating part.

Furthermore, the first driving mechanism further comprises a first motor and a connecting piece, the first motor is arranged on the rack, the first motor is in transmission connection with the first rotating piece, and the connecting piece is fixedly connected with the first rotating piece; the second driving mechanism further comprises a second motor, the second motor is installed on the connecting piece, and the second motor is in transmission connection with the second rotating piece.

Further, a cavity is arranged inside the first rotating member, a wire feeding hole is formed in the surface of the first rotating member, and the wire feeding hole is communicated with the cavity.

Further, the second rotating piece is rotatably matched with the connecting piece in an inserting mode.

Further, first actuating mechanism still includes the sleeve, the sleeve with connecting piece fixed connection, just telescopic axis with the coincidence of second horizontal axis, the second rotates the piece with the sleeve is rotationally pegged graft the cooperation.

Further, the second rotates the piece and is the axiform, the manipulator still includes the bearing, the inner circle of bearing with the second rotates the piece and cup joints, the sleeve with the outer lane of bearing cup joints.

Furthermore, the rack comprises a base and a mounting seat movably connected with the base, and the first driving mechanism and the second driving mechanism are both arranged on the mounting seat;

the manipulator further comprises a third driving mechanism, the third driving mechanism is arranged on the base, and the third driving mechanism is configured to drive the mounting seat to move along a preset direction relative to the base.

The manipulator of the invention has the following beneficial effects:

the manipulator provided by the invention comprises a rack, a first driving mechanism, a second driving mechanism and a gripper, wherein the first driving mechanism is arranged on the rack and can drive the gripper to revolve around a first horizontal axis; the second driving mechanism can drive the gripper to rotate around a second horizontal axis which forms an included angle with the first horizontal axis; the hand grip is used for taking and placing articles.

The method is characterized in that the mechanical arm is used for explaining the process of loading the express mails in the express mail sorting operation as an example, when the express mails need to be grabbed to the sorting table from the packing table, the grabbing hand is firstly used for grabbing the express mails on the packing table, then the first driving mechanism acts to enable the grabbing hand to revolve around the first horizontal axis, so that the grabbing hand moves from the object fetching position to the object placing position, the second driving mechanism drives the grabbing hand to rotate around the second horizontal axis, and the express mails can be placed on the sorting table when the grabbing hand loosens the express mails; when the next express item needs to be packed, the first driving mechanism acts to enable the gripper to revolve around the first horizontal axis in the direction opposite to the direction, so that the gripper returns to the position opposite to the packing table and continues to grab and take down the next express item, and the cycle is repeated, so that the packing operation of the plurality of express items is realized.

The mode of taking and placing the express items by utilizing the revolution of the gripper around the first horizontal axis enables the motion tracks of the articles grabbed by the gripper and the gripper to be located in a vertical plane perpendicular to the first horizontal axis, thereby saving the operation space of the gripper in the horizontal direction when taking and placing the articles, and avoiding the interference with other express items on the sorting table in the horizontal direction.

In addition, utilize second actuating mechanism drive tongs around the rotation of second horizontal axis, can also make the identification information face of express mail upwards to be convenient for carry out information identification to the express mail, convenient operation has improved letter sorting efficiency.

The second purpose of the present invention is to provide an express sorting device, so as to solve the technical problem that the manipulator provided by the related art is likely to interfere with the express during the sorting process, thereby causing the package loading failure.

The express sorting equipment provided by the invention comprises a stacking table, a sorting table and the manipulator, wherein the manipulator is positioned between the stacking table and the sorting table and is used for delivering express from the stacking table to the sorting table.

The express mail sorting equipment has the beneficial effects that:

through set up above-mentioned manipulator in express mail letter sorting equipment, make the manipulator be located sign indicating number package platform and sort between the platform, utilize the manipulator to realize express mail from sign indicating number package platform to the delivery of sorting platform, the manipulator removes along the circular arc route that uses first horizontal axis as the centre of a circle in vertical plane and realizes the delivery of express mail, avoided effectively that exists in the correlation technique to lead to the express mail dislocation because of manipulator and the other express mails on the sorting bench along the horizontal direction take place to interfere, lead to the situation of package failure even on the manipulator.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of express item sorting equipment provided by an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a robot provided in an embodiment of the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

fig. 4 is a second schematic structural diagram of a robot provided in the embodiment of the present invention;

FIG. 5 is a partial enlarged view of the portion B in FIG. 4;

fig. 6 is a schematic partial structural view of a robot provided in an embodiment of the present invention;

fig. 7 is a second partial schematic structural diagram of a robot according to an embodiment of the present invention;

fig. 8 is a partial structural sectional view of a robot provided in an embodiment of the present invention.

Reference numerals:

010-a manipulator; 020-code package table; 030-sorting table; 040-express item;

100-a frame; 200-hand grip; 300-a first drive mechanism; 400-a second drive mechanism; 500-a third drive mechanism; 600-a bearing; 700-connecting plate;

110-a base; 120-a mount;

310-a first rotating member; 320-a first motor; 330-a first capstan; 340-a first driven wheel; 350 — a first drive belt; 360-connecting piece; 370-a sleeve;

311-wiring holes; 361-mounting holes;

410-a second rotating member; 420-a second motor; 430-a second drive wheel; 440-a second driven wheel; 450-a second drive belt;

510-a third motor; 520-a third capstan; 530-third drive belt.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and "third" in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "connected" and "attached" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; may be directly connected or may be connected through an intermediate medium. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Fig. 1 is a schematic structural diagram of the express item sorting apparatus provided in this embodiment. As shown in fig. 1, the present embodiment provides a express sorting apparatus, which includes a palletizing station 020, a sorting station 030, and a manipulator 010, and specifically, the manipulator 010 is located between the palletizing station 020 and the sorting station 030, and is used for delivering express 040 from the palletizing station 020 to the sorting station 030.

By arranging the manipulator 010 in the express sorting equipment, the manipulator 010 is utilized to realize delivery of express 040 from the stacking platform 020 to the sorting platform 030, so that the manual packaging step is omitted, and the labor cost is reduced.

In the following text, the specific structure and operation of the manipulator 010 will be described in detail.

Fig. 2 is a first schematic structural diagram of a robot provided in this embodiment, fig. 3 is a partial enlarged view of a point a in fig. 2, fig. 4 is a second schematic structural diagram of a robot provided in this embodiment, and fig. 5 is a partial enlarged view of a point B in fig. 4. As shown in fig. 2 to 5, the present embodiment further provides a manipulator 010, which includes a rack 100, a first driving mechanism 300, a second driving mechanism 400, and a gripper 200 for picking and placing the express piece 040, specifically, the first driving mechanism 300 is mounted on the rack 100, the first driving mechanism 300 is configured to drive the gripper 200 to revolve around a first horizontal axis, and the second driving mechanism 400 is configured to drive the gripper 200 to rotate around a second horizontal axis. Wherein, the second horizontal axis and the first horizontal axis form an included angle.

When the express items 040 need to be grabbed from the stacking table 020 to the sorting table 030, the grabbing hand 200 is used for grabbing the express items 040 on the stacking table 020, then the first driving mechanism 300 acts to enable the grabbing hand 200 to revolve around the first horizontal axis, so that the grabbing hand 200 moves from the fetching position to the placing position, the grabbing hand 200 loosens the express items 040, and the express items 040 can be placed on the sorting table 030; when the next express item 040 needs to be wrapped, the first drive mechanism 300 is operated to revolve the gripper 200 around the first horizontal axis in the direction opposite to the above direction, so that the gripper 200 returns to the position opposite to the stacker table 020, and the next express item 040 is continuously gripped, and this cycle is repeated to realize the wrapping operation of the plurality of express items 040.

According to the mode of taking and placing the express items 040 by utilizing the revolution of the hand grip 200 around the first horizontal axis, the motion track of the articles grabbed by the hand grip 200 and the hand grip 200 is located in the vertical plane perpendicular to the first horizontal axis, so that the operation space of the hand grip 200 in the horizontal direction when the articles are taken and placed is saved, and the interference with other express items on the sorting table 030 in the horizontal direction is avoided, therefore, the arrangement effectively avoids the situation that the express items 040 are dislocated due to the interference of the manipulator 010 with the express items 040 on the sorting table 030, and even the package failure of the manipulator 010 is caused.

In addition, express information, such as addressee name, address, express order number, etc., is generally adhered to the express surface on the sorting platform 030, and since the express sorting equipment determines the sorting address of the express by reading the express information, the express information of the express placed on the sorting platform 030 needs to be upward so as to ensure that a subsequent express information reading mechanism (such as a camera) can read the express information, in this embodiment, after the gripper 200 grabs the express with the express information facing upward, the first driving mechanism 300 drives the gripper 200 to move from the fetching position to the placing position, at this time, the express information is located below the express, and then the second driving mechanism 400 drives the gripper 200 to rotate around the second horizontal axis, so that the identification information of the express 040 faces upward, thereby facilitating information identification of the express 040, facilitating operation, and avoiding manual turning of the express to ensure the express information facing upward, the sorting efficiency is improved.

It should be noted that, in the coordinate system shown in fig. 2 and 4, in the present embodiment, the extending direction of the first horizontal axis is the direction represented by the arrow ab, and the extending direction of the second horizontal axis is the direction represented by the arrow cd, and the vertical plane of the movement of the hand grip 200 is the plane formed by the coordinates represented by the arrow cd and the coordinates represented by the arrow ef under the driving of the first driving mechanism 300.

It should be noted that, in the embodiment, the description is only given by taking the case that the robot 010 is applied to the packing process of the express items 040 in the sorting operation of the express items 040, and of course, the robot 010 may also be applied to other delivery of items, such as: the parts are delivered from one station to the next station in an automatic production line, and the like, and the embodiments are not listed.

In this embodiment, the express piece 040 may be an envelope piece, and in other embodiments, the express piece 040 may also be a package.

Referring to fig. 2 to 5, in the present embodiment, the second driving mechanism 400 is in transmission connection with the first driving mechanism 300, the gripper 200 is in transmission connection with the second driving mechanism 400, and the second driving mechanism 400 drives the gripper 200 to revolve around the first horizontal axis under the driving of the first driving mechanism 300. Due to the arrangement, in the working process of the manipulator, the second driving mechanism 400 and the gripper 200 can synchronously rotate around the first horizontal axis, meanwhile, the second driving mechanism 400 can drive the gripper 200 to rotate around the second horizontal axis, and the two actions can be simultaneously carried out, so that the working efficiency of the manipulator of the embodiment is improved. In addition, so set up, still make the structure of this embodiment manipulator compacter, improved its integrated nature.

Of course, in other embodiments, the first driving mechanism 300 and the second driving mechanism 400 are independent and are mounted on the frame 100, the hand grip 200 and the first driving mechanism 300 can revolve around a first horizontal axis under the driving of the first driving mechanism 300, so as to realize the movement of the hand grip 200 between the object taking position and the object placing position, and the second driving mechanism 400 can be in transmission connection with the hand grip 200 located at the object taking position and the object placing position, so as to drive the hand grip 200 located at the object taking position and the object placing position to rotate around a second horizontal axis.

Specifically, the hand grip 200 may be a pneumatic suction cup. When the express items 040 need to be grabbed to the sorting table 030 from the stacking table 020, the grabber 200 is located at an article taking position opposite to the stacking table 020, an adsorption surface of the pneumatic sucker is opposite to the express items on the stacking table 020, the pneumatic sucker works to suck the express items, the first driving mechanism 300 is started, the first driving mechanism 300 drives the second driving mechanism 400 to drive the pneumatic sucker to revolve around the first horizontal axis, and therefore the pneumatic sucker drives the express items to move together from the article taking position to the article placing position; after the pneumatic suction cup moves above the sorting platform 030, the second driving mechanism 400 is started to enable the pneumatic suction cup to rotate around the second horizontal axis, so that the adsorption surface of the pneumatic suction cup is opposite to the bearing surface of the sorting platform 030; then, the suction of the pneumatic suction cups to the quick parts 040 is eliminated, so that the quick parts 040 are placed on the sorting deck 030. So set up, utilized pneumatic chuck's adsorption affinity to realize snatching express mail 040 to realize express mail 040 in the delivery between sign indicating number package platform 020 and sorting platform 030, easy operation.

Preferably, after the pneumatic suction cup adsorbs the object, the pneumatic suction cup revolves around the first horizontal axis so that when the object is moved from the pickup position to the discharge position, the second driving mechanism 400 can be used for driving the second rotating member 410 and the pneumatic suction cup to rotate, so that the object adsorbed by the pneumatic suction cup is always positioned above the pneumatic suction cup, and the object is supported by the pneumatic suction cup, thereby reducing the adsorption force requirement of the pneumatic suction cup in the process of carrying the package.

Preferably, the number of the pneumatic suction cups is four, and, as shown in fig. 6, a rectangular connection plate 700 is fixedly connected to an end of the second rotation member 410, and four pneumatic suction cups are provided at four corner points of the connection plate 700. Due to the arrangement, the adsorption positions of the hand grips 200 are increased, so that the action area of the hand grips 200 on the express items 040 is increased, and the reliability of the manipulator 010 for delivering the express items 040 is guaranteed.

It should be noted that the hand grip 200 may be provided with the above-mentioned pneumatic suction cup, but is not limited thereto, and other arrangements may be adopted, such as: the mechanical claw can comprise two claw parts which are oppositely arranged at intervals, and the two claw parts can be close to each other or away from each other. When the express piece 040 needs to be grabbed, the two claw parts approach to each other to grab the express piece 040; when the express article 040 needs to be put down, the two claw portions are back to back, and the express article 040 is placed on the sorting table 030. Therefore, the embodiment is not limited to the specific form of the gripper 200 as long as the gripper 200 of this arrangement form can pick and place the express article 040.

Referring to fig. 2 to 5, in the present embodiment, an included angle between the second horizontal axis and the first horizontal axis is 90 °. Due to the arrangement, the space occupied by the hand grips 200 in the extending direction of the first horizontal axis (the direction represented by the arrow ab in fig. 2 and 4) in the process of taking and placing the express items 040 by the manipulator 010 is effectively reduced, the interference influence of the manipulator 010 on the express items 040 on the sorting platform 030 is further reduced, and the package loading reliability of the manipulator 010 is guaranteed.

Fig. 6 is a partial schematic structural diagram of the robot provided in this embodiment. Referring to fig. 3 and fig. 5 in combination with fig. 6, in the present embodiment, the first driving mechanism 300 includes a first rotating member 310, the second driving mechanism 400 includes a second rotating member 410, wherein a rotating axis of the first rotating member 310 coincides with a first horizontal axis, a rotating axis of the second rotating member 410 coincides with a second horizontal axis, a first end of the second rotating member 410 is directly or indirectly inserted into the first rotating member 310, and the gripper 200 is disposed at a second end of the second rotating member 410.

In the arrangement mode that one end of the second rotating member 410 is directly and indirectly inserted into the first rotating member 310 and the gripper 200 is arranged at the other end of the second rotating member 410, the second rotating member 410 is connected with the first rotating member 310 and then is in an L shape, so that when the gripper 200 revolves around the first horizontal axis, the second rotating member 410 does not occupy the space above and below the first rotating member 310 at the same time, and the occupation of the vertical space in the working process of the manipulator 010 is reduced.

It should be noted that, in the present embodiment, the second rotating member 410 may be indirectly inserted into the first rotating member 310, but the present invention is not limited thereto, and other configurations may also be adopted, such as: the second rotating member 410 is directly connected to the first rotating member 310.

Fig. 7 is a second schematic view of a partial structure of the robot provided in this embodiment. Referring to fig. 3, fig. 5 and fig. 6, and with reference to fig. 7, in the present embodiment, the first driving mechanism 300 may further include a first motor 320 and a connecting member 360, and the second driving mechanism 400 may further include a second motor 420, wherein the first motor 320 is disposed on the rack 100, the first motor 320 is in transmission connection with the first rotating member 310, the connecting member 360 is fixedly connected with the first rotating member 310, the second motor 420 is mounted on the connecting member 360, and the second motor 420 is in transmission connection with the second rotating member 410.

Specifically, referring to fig. 3, fig. 5 and fig. 6, in the present embodiment, a first transmission assembly is disposed in the first driving mechanism 300, wherein the first transmission assembly includes a first driving wheel 330, a first driven wheel 340 and a first transmission belt 350, the first driving wheel 330 is fixedly connected with an output shaft of the first motor 320, the first driven wheel 340 is fixedly sleeved with the first rotating member 310, and the first transmission belt 350 is sleeved on and supported by the first driving wheel 330 and the first driven wheel 340. The belt transmission can make the first transmission assembly more compact and make the rotation of the first rotating member 310 and the hand grip 200 more stable.

Similarly, a second transmission assembly is disposed in the second driving mechanism 400, wherein the second transmission assembly includes a second driving wheel 430, a second driven wheel 440 and a second transmission belt 450, the second driving wheel 430 is fixedly connected to an output shaft of the second motor 420, the second driven wheel 440 is disposed coaxially with the second rotating member 410 and can drive the second rotating member 410 to rotate synchronously, and the second transmission belt 450 is disposed on and supported by the second driving wheel 430 and the second driven wheel 440. The belt transmission can make the second transmission assembly more compact and make the second rotation member 410 and the hand grip 200 rotate more stably.

When the manipulator 010 needs to deliver the express items 040 from the palletizing table 020 to the sorting table 030, the manipulator 010 shown in fig. 2 is in an initial state (the hand grip 200 is arranged adjacent to the palletizing table 020), after the hand grip 200 grips the express items, the first motor 320 is started, the first motor 320 drives the first driving wheel 330 to rotate, the first driven wheel 340 is driven to rotate through the transmission action of the first transmission belt 350, the first rotating member 310 is driven, and therefore the hand grip 200 can revolve around the first horizontal axis to a position adjacent to the sorting table 030; in the process, the second motor 420 may be started, the second motor 420 drives the second driving wheel 430 to rotate, the second driven wheel 440 is driven to rotate by the transmission action of the second transmission belt 450, and the second rotating member 410 is driven, so that the gripper 200 can rotate around the second horizontal axis to be opposite to the bearing surface of the sorting table 030 (as shown in fig. 4), and the express items 040 can be placed on the sorting table 030, and the wrapping is completed.

Preferably, with continued reference to fig. 7, both the connecting member 360 and the first rotating member 310 are arranged along the extending direction of the first horizontal axis. With such an arrangement, the torque of the second driving mechanism 400 rotating around the first horizontal axis is effectively reduced, so that the load borne by the first motor 320 can be reduced, and the service life of the first motor 320 can be prolonged.

Referring to fig. 7, the connecting member 360 may be provided with a mounting hole 361, wherein an output shaft of the second motor 420 passes through the mounting hole 361, and a housing of the second motor 420 is fixedly connected to the connecting member 360.

Referring to fig. 3, in this embodiment, a cavity may be disposed inside the first rotating member 310, and meanwhile, a wire hole 311 is formed on the surface of the first rotating member 310, wherein the wire hole 311 is communicated with the cavity. Specifically, the connection wire of the second motor 420 may extend into the cavity through the wire hole 311 and be received in the cavity.

With such an arrangement, the problem of the connection line of the second motor 420 being wound during the rotation of the first rotating member 310 and the connecting member 360 is effectively prevented, and the center of the second driving mechanism 400 can be shifted toward the first rotating member 310, so as to reduce the torque applied during the rotation of the first rotating member 310, thereby further reducing the load of the first motor 320.

Of course, when the gripper 200 is a pneumatic suction cup, the cavity may also be used to accommodate an air tube of the pneumatic suction cup, so as to prevent the air tube from being wound around other components, thereby ensuring reliability of pneumatic suction.

Specifically, in the present embodiment, the second rotating member 410 is rotatably inserted into the connecting member 360, that is, the second rotating member 410 is indirectly inserted into the first rotating member 310. With the arrangement, the tedious step of forming the inserting hole on the first rotating member 310 is omitted, the processing and manufacturing are facilitated, the processing cost is reduced, and the connection strength between the second rotating member 410 and the first rotating member 310 is increased.

Fig. 8 is a partial structural sectional view of the robot provided in this embodiment. Referring to fig. 3, fig. 5, fig. 6 and fig. 7 in combination with fig. 8, in the present embodiment, the first driving mechanism 300 may further include a sleeve 370, specifically, the sleeve 370 is fixedly connected to the connecting member 360, an axis of the sleeve 370 coincides with the second horizontal axis, and the second rotating member 410 is rotatably inserted into and matched with the sleeve 370.

During rotation of the hand grip 200 about the second horizontal axis, the second rotation member 410 rotates in the sleeve 370. By providing the sleeve 370, the second rotating member 410 is supported, the deflection of the second rotating member 410 due to the long-term delivery of the quick component 040 is reduced, and the load-bearing capacity of the second rotating member 410 is increased, thereby extending the operating life of the second rotating member 410.

Referring to fig. 6, in the present embodiment, the second rotating element 410 is in a shaft shape, and the manipulator 010 may further include a bearing 600, wherein an inner ring of the bearing 600 is sleeved with the second rotating element 410, and the sleeve 370 is sleeved with an outer ring of the bearing 600. With this arrangement, the frictional force between the second rotating member 410 and the sleeve 370 is reduced, thereby improving the smoothness of the rotation of the second rotating member 410 in the sleeve 370.

Preferably, the number of the bearings 600 is two, and the two bearings 600 are arranged at intervals in the axial direction of the sleeve 370.

Referring to fig. 2 to fig. 5, in the present embodiment, the rack 100 may include a base 110 and a mounting base 120 movably connected to the base 110, wherein the first driving mechanism 300 and the second driving mechanism 400 are disposed on the mounting base 120. Also, the manipulator 010 may further include a third driving mechanism 500, specifically, the third driving mechanism 500 is disposed on the base 110, and the third driving mechanism 500 is configured to drive the mounting base 120 to move in a predetermined direction relative to the base 110.

In the process of wrapping the quick parts 040 by the robot 010, the third driving mechanism 500 can drive the mount 120 to move in a predetermined direction with respect to the base 110, so that the positions of the first driving mechanism 300 and the second driving mechanism 400 provided in the mount 120 can be changed. Due to the arrangement, the fetching and placing range of the manipulator 010 is increased, and the adaptability of the manipulator 010 in the embodiment is improved.

Preferably, the preset direction is the same as the extension direction of the first horizontal axis.

Referring to fig. 3 and 5, in the present embodiment, the third driving mechanism 500 may include a third motor 510, a third driving wheel 520, a third driven wheel (the third driven wheel is not shown in the figures) and a third transmission belt 530, specifically, the third motor 510 is installed on the base 110, the third driving wheel 520 and the third driven wheel are disposed at intervals along a predetermined direction, the third driving wheel 520 is fixedly connected with an output shaft of the third motor 510, the third driven wheel is pivoted to the base 110, and the third transmission belt 530 is sleeved on and supported by the third driving wheel 520 and the third driven wheel. Wherein, the mounting seat 120 is fixedly connected with the third driving belt 530. Thus, when the third motor 510 is activated, the third driving pulley 520 transmits power to the third driving belt 530, thereby driving the mounting seat 120.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A manipulator, comprising a frame (100), a first driving mechanism (300), a second driving mechanism (400) and a gripper (200) for picking and placing an object, wherein the first driving mechanism (300) is mounted on the frame (100), and the first driving mechanism (300) is configured to drive the gripper (200) to revolve around a first horizontal axis; the second driving mechanism (400) is configured to drive the gripper (200) to rotate about a second horizontal axis;

2. The manipulator according to claim 1, wherein the second driving mechanism (400) is in transmission connection with the first driving mechanism (300), the gripper (200) is connected with the second driving mechanism (400), and the first driving mechanism (300) drives the second driving mechanism (400) to drive the gripper (200) to revolve around the first horizontal axis.

3. The manipulator according to claim 2, wherein the first driving mechanism (300) comprises a first rotating member (310), the rotation axis of the first rotating member (310) coincides with the first horizontal axis, the second driving mechanism (400) comprises a second rotating member (410), the rotation axis of the second rotating member (410) coincides with the second horizontal axis, wherein a first end of the second rotating member (410) is directly or indirectly inserted into the first rotating member (310), and the gripper (200) is disposed at a second end of the second rotating member (410).

4. The manipulator according to claim 3, wherein the first driving mechanism (300) further comprises a first motor (320) and a connecting member (360), the first motor (320) is disposed on the rack (100), the first motor (320) is in transmission connection with the first rotating member (310), and the connecting member (360) is fixedly connected with the first rotating member (310); the second driving mechanism (400) further comprises a second motor (420), the second motor (420) is mounted on the connecting piece (360), and the second motor (420) is in transmission connection with the second rotating piece (410).

5. The manipulator according to claim 4, wherein a cavity is arranged inside the first rotating member (310), a wire hole (311) is formed in the surface of the first rotating member (310), and the wire hole (311) is communicated with the cavity.

6. The manipulator according to claim 4, wherein the second rotating member (410) is rotatably fitted in a socket with the connecting member (360).

7. The manipulator according to claim 4, wherein the first driving mechanism (300) further comprises a sleeve (370), the sleeve (370) is fixedly connected with the connecting member (360), the axis of the sleeve (370) is coincident with the second horizontal axis, and the second rotating member (410) is rotatably inserted into the sleeve (370).

8. The manipulator according to claim 7, wherein the second rotating member (410) is in the form of a shaft, the manipulator further comprising a bearing (600), an inner ring of the bearing (600) being sleeved with the second rotating member (410), and the sleeve (370) being sleeved with an outer ring of the bearing (600).

9. The manipulator according to claim 1, wherein the frame (100) comprises a base (110) and a mounting base (120) movably connected with the base (110), and the first driving mechanism (300) and the second driving mechanism (400) are both arranged on the mounting base (120);

the manipulator further comprises a third driving mechanism (500), wherein the third driving mechanism (500) is arranged on the base (110), and the third driving mechanism (500) is configured to drive the mounting seat (120) to move along a preset direction relative to the base (110).

10. Express sorting equipment, characterized in that it comprises a palletizing station (020), a sorting station (030) and a manipulator according to any of claims 1 to 9, which is located between the palletizing station (020) and the sorting station (030) for delivering express (040) from the palletizing station (020) to the sorting station (030).