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CN-122008314-A - Humanoid robot arm structure for logistics sorting

CN122008314ACN 122008314 ACN122008314 ACN 122008314ACN-122008314-A

Abstract

The invention discloses a humanoid robot arm structure for logistics sorting, which relates to the technical field of logistics sorting equipment and comprises a robot arm, a rotary platform and a grabbing mechanism, wherein the grabbing mechanism is arranged on the lower surface of the rotary platform and comprises a guide groove which is formed in the surface of the rotary platform, two movable connecting blocks are connected in a sliding manner in the guide groove, sorting claws are fixedly connected to the lower surface of the movable connecting blocks, a plurality of sliding grooves are formed in the surface of each sorting claw, sliding blocks are connected in the sliding manner in the sliding grooves, a plurality of sliding blocks are arranged in pairs, an abutting frame is fixedly connected between the upper sliding block and the lower sliding block, a pressurizing air bag is fixedly connected in the sorting claw, an air hose is communicated with the surface of the pressurizing air bag, and an air pump is fixedly connected to the upper surface of the rotary platform so as to solve the problem of poor sorting effect and practicability for various packages.

Inventors

  • LI SHUANGQI
  • MAO JIANLIANG
  • YU JIAN
  • BAI GUOCHAO
  • WANG YAN
  • DONG XIN
  • YU ZHANGHAO

Assignees

  • 上海云帆智控机器人科技有限公司
  • 知行机器人科技（苏州）有限公司

Dates

Publication Date
20260512
Application Date
20260327

Claims (10)

  1. 1. The humanoid robot arm structure for logistics sorting comprises a robot arm (1) and a rotary platform (201), and is characterized by further comprising a grabbing mechanism, wherein the grabbing mechanism is arranged on the lower surface of the rotary platform (201), the grabbing mechanism comprises a guide groove (220) formed in the surface of the rotary platform (201), two movable connecting blocks (214) are connected with the inner portion of the guide groove (220) in a sliding mode, sorting claws (202) are fixedly connected with the lower surface of the movable connecting blocks (214), a plurality of sliding grooves (206) are formed in the surface of the sorting claws (202), sliding blocks (210) are connected with the inner portions of the sliding grooves (206) in a sliding mode, a plurality of sliding blocks (210) are arranged in a group, a butt joint frame (209) is fixedly connected between the two sliding blocks (210) in a corresponding mode, a pressurizing air bag (208) is fixedly connected with the inner portion of the sorting claws (202), an air conveying hose (204) is communicated with the surface of the pressurizing air bag (208), an air conveying pump (205) is fixedly connected with the upper surface of the rotary platform (201), and the air conveying pump (204) is communicated with the air outlet.
  2. 2. The humanoid robot arm structure for logistics sorting according to claim 1, wherein the surface of the abutting frame (209) is rotatably connected with a rotating shaft (213), and an abutting block (207) is fixedly sleeved on the surface of the rotating shaft (213).
  3. 3. The humanoid robot arm structure for logistics sorting according to claim 2, wherein a spiral spring (212) is fixedly sleeved at the top end of the rotating shaft (213), a shade (211) is fixedly connected to the top end of the abutting frame (209), and one end of the spiral spring (212) located outside is fixedly connected with the inner wall of the shade (211).
  4. 4. The humanoid robot arm structure for logistics sorting according to claim 1, wherein two hydraulic rods (203) are fixedly inserted into the rotary platform (201), extension rods (221) are slidably inserted into ends, close to each other, of piston rods of the two hydraulic rods (203), the two extension rods (221) are fixedly connected with the two movable connecting blocks (214) respectively, and a second spring (222) is fixedly connected between the piston rods of the hydraulic rods (203) and the movable connecting blocks (214).
  5. 5. The humanoid robot arm structure for logistics sorting of claim 4, wherein two movable connecting blocks (214) are fixedly connected with a supporting block (217) on the surface, away from each other, of a piston rod of the hydraulic rod (203), a support (215) is fixedly connected with the surface of the piston rod of the hydraulic rod (203), a first spring (219) is fixedly connected with the lower surface of the upper transverse arm end of the support (215), a clamping block (218) is fixedly connected with the bottom end of the first spring (219), a groove matched with the clamping block (218) is formed in the surface of the supporting block (217), a guide pillar (216) is fixedly connected with the upper surface of the clamping block (218), and the guide pillar (216) is inserted with the inner part of the upper transverse arm end of the support (215).
  6. 6. The humanoid robot arm structure for logistics sorting according to claim 1, wherein the surface of the robot arm (1) is fixedly connected with a spherical joint (306), a fixed connecting column (301) is sleeved on the surface of the spherical joint (306), the fixed connecting column (301) and the spherical joint (306) form a ball-and-socket structure, a movable connecting column (302) is rotatably connected to the lower surface of the fixed connecting column (301), and the lower surface of the movable connecting column (302) is fixedly connected with the upper surface of the rotary platform (201).
  7. 7. The humanoid robot arm structure for logistics sorting according to claim 6, wherein the surface of the fixed connecting column (301) is fixedly connected with a motor (305), an output shaft of the motor (305) is fixedly connected with a driving wheel (307), and the driving wheel (307) is attached to the surface of the movable connecting column (302).
  8. 8. The humanoid robot arm structure for logistics sorting as set forth in claim 6, wherein the surface of the fixed connection column (301) is fixedly connected with a balancing weight (303), and the balancing weight (303) is used for keeping balance of the rotary platform (201).
  9. 9. The humanoid robot arm structure for logistics sorting of claim 8, wherein the lower surface of the balancing weight (303) is fixedly connected with a connecting frame (304), the surface of the movable connecting column (302) is fixedly connected with a connecting sheet (308), a third spring (309) is fixedly connected between two sides of the connecting sheet (308), one ends, close to each other, of the two third springs (309) are respectively and fixedly connected with two sides of the connecting frame (304), and the third springs (309) are distributed in an arc shape.
  10. 10. The humanoid robot arm structure for logistics sorting as claimed in claim 6, wherein the surface of the movable connecting column (302) is fixedly sleeved with a bearing round frame (310), and a supporting shaft (311) is rotatably connected to the surface of the bearing round frame (310).

Description

Humanoid robot arm structure for logistics sorting Technical Field The invention relates to the technical field of logistics sorting equipment, in particular to a humanoid robot arm structure for logistics sorting. Background The humanoid robot arm structure for logistics sorting is a multi-joint mechanical execution structure applied to logistics automatic sorting operation and simulating human arm movement forms, realizes flexible rotation and posture adjustment through humanoid joint combination, can finish goods grabbing, transferring, positioning, throwing and the like, has the characteristics of flexible movement and precise sorting, and can replace manpower to realize automatic and efficient sorting of logistics packages. In the process of carrying out logistics package sorting operation by the humanoid robot arm, the appearance of the robot arm is not regular cubes and cuboid rigid packages due to complex package types, and various types such as soft packages, special-shaped packages and the like exist. Such parcel can lead to the unable effective laminating in gripper and parcel surface, very easily appears the problem of parcel landing, and just promotes through the mode that increases the dynamics of snatching and snatchs stability, easily causes the parcel to damage again, and then reduces humanoid robotic arm's letter sorting effect and practicality. Disclosure of Invention Aiming at the problems in the prior art, the invention aims to provide a humanoid robot arm structure for logistics sorting, which aims to solve the problem of poor sorting effect and practicality for various packages. In order to solve the problems, the invention adopts the following technical scheme: the utility model provides a commodity circulation letter sorting is with humanoid robot arm structure, includes arm and rotary platform, still includes snatchs the mechanism, snatch the mechanism and set up in rotary platform's lower surface, snatch the mechanism including seting up the guide way on rotary platform surface, the inside sliding connection of guide way has two removal connecting blocks, the lower fixed surface who removes the connecting block has the letter sorting claw, a plurality of spouts have been seted up on the surface of letter sorting claw, a plurality of equal sliding connection in inside of spout has the slider, a plurality of the slider is two a set of, upper and lower corresponding two fixedly connected with butt frame between the slider, the inside fixedly connected with pressurization gasbag of letter sorting claw, the surface intercommunication of pressurization gasbag has the air hose, rotary platform's upper surface fixedly connected with air pump, the gas outlet and the air hose of air pump are linked together. Further, the surface of the abutting frame is rotatably connected with a rotating shaft, and an abutting block is sleeved on the surface of the rotating shaft. Further, the top end of the rotating shaft is fixedly sleeved with a scroll spring, the top end of the abutting frame is fixedly connected with a shade, and one end of the scroll spring positioned outside is fixedly connected with the inner wall of the shade. Further, two hydraulic rods are fixedly inserted in the rotary platform, extension rods are slidably inserted in one ends, close to each other, of the piston rods of the hydraulic rods, the extension rods are fixedly connected with the two movable connecting blocks respectively, and a second spring is fixedly connected between the piston rods of the hydraulic rods and the movable connecting blocks. Further, two the equal fixedly connected with supporting piece of one side that the movable connection piece kept away from each other, the fixed surface of the piston rod of hydraulic stem is connected with the support, the lower fixed surface of the last horizontal arm end of support is connected with first spring, the bottom fixedly connected with fixture block of first spring, the recess with fixture block looks adaptation is seted up on the surface of supporting piece, the upper surface fixedly connected with guide post of fixture block, guide post inserts mutually with the inside of the horizontal arm end of support and establishes. Further, the surface fixedly connected with spherical joint of arm, the surface cover of spherical joint is equipped with the fixed spliced pole, the ball socket structure is constituteed with spherical joint to the fixed spliced pole, the lower surface rotation of fixed spliced pole is connected with the movable spliced pole, the lower surface of movable spliced pole is fixed with rotary platform's upper surface and is connected. Further, the surface of the fixed connecting column is fixedly connected with a motor, an output shaft of the motor is fixedly connected with a driving wheel, and the driving wheel is attached to the surface of the movable connecting column. Further, the surface of the fixed connection column is fixedly connected with a