CN214924370U

CN214924370U - Express classification intelligent robot

Info

Publication number: CN214924370U
Application number: CN202120814490.4U
Authority: CN
Inventors: 鲍乐平; 张洪玮; 田伟; 相栋樑; 刘伟; 张凯超; 卢灿; 武城城
Original assignee: Taiyuan Institute of Technology
Current assignee: Taiyuan Institute of Technology
Priority date: 2021-04-21
Filing date: 2021-04-21
Publication date: 2021-11-30
Anticipated expiration: 2031-04-21

Abstract

The utility model provides a categorised intelligent robot of express delivery, it includes: the chassis structure, set up drive module and the shock mitigation system, braced system, cloud platform and the gripper that set up in proper order on chassis structure from lower supreme below the chassis. This application realizes the outrigger to platform and gripper through loose-leaf connection and shock mitigation system's among the chassis structure mutually supporting, guarantees that the gripper can stably grab and put the express delivery at the robot operation in-process. Mecanum wheel among the drive module can make the robot can turn to in a flexible way through independent driving motor's drive in a flexible way to cooperation express delivery parcel classification transportation requirement improves the efficiency of classifying to commodity circulation express delivery parcel with more nimble transportation mode.

Description

Intelligent robot for express classification

Technical Field

The utility model belongs to the technical field of automation and specifically relates to an intelligent robot is related to.

Background

Currently, the logistics classification mode of China is mainly completed by traditional manual work. Compare with traditional manual sorting mode, intelligence express delivery transfer robot need not have a rest, under the sufficient condition of electric quantity, work that can not stop to very big improvement work efficiency.

However, the existing express sorting system usually adopts a flow line design, and arranges the express sorting robot at a branch position of the flow line so as to push different express packages to the corresponding branch flow line for conveying through the identification of the different express packages on the flow line. The express sorting mode has the following defects: the express classification channel is fixed, and when newly-increased type letter sorting terminal point, the system update cost is higher, and daily operation lacks the flexibility ratio moreover. Under the prior art, once the express packages are mistakenly identified due to the placement attitude angle of the express packages, the express packages entering the wrong branch assembly line can not be flexibly returned to the correct transmission path.

Disclosure of Invention

The to-be-solved technical problem of the utility model is, how to carry out categorised efficiency to commodity circulation express delivery parcel with more nimble transportation mode improvement.

In order to achieve the above object, the present invention provides an intelligent robot for sorting express, which includes: a chassis structure; the driving module is arranged on the lower side of the chassis structure and comprises 4 Mecanum wheels which are respectively arranged at four corners of the chassis structure and driving motors which are respectively connected with the Mecanum wheels, and the driving motors respectively output torque to respectively drive the Mecanum wheels connected with the driving motors to independently run; the supporting device is arranged on the upper side of the chassis structure, and the top of the supporting device is connected with a holder; the damping system is telescopically connected between the supporting device and the chassis, and the bottom end of the damping system is arranged above the Mecanum wheel; the mechanical gripper is characterized in that the cloud deck is provided with a mechanical gripper, a mechanical arm connecting rod, a mechanical arm sliding rail, a mechanical arm bottom plate and a steering engine, wherein the mechanical arm bottom plate is fixedly connected with an output shaft of the cloud deck, the mechanical arm bottom plate rotates synchronously along with the output shaft of the cloud deck, the upper surface of the mechanical arm bottom plate is fixedly connected with the mechanical arm sliding rail, one end of the mechanical arm connecting rod is in threaded connection with the mechanical arm sliding rail, the mechanical arm connecting rod rotates forwards or backwards along the axial direction of the mechanical arm sliding rail along with the mechanical arm sliding rail, the mechanical gripper is installed at the other end of the mechanical arm connecting rod, one end of the mechanical gripper is connected with the output shaft of the steering engine, and the mechanical gripper is driven by the output shaft of the steering engine to correspondingly grip express packages or put the express packages down.

Optionally, as described in any of the above, the intelligent robot for express classification includes: a main body plate; the hinge plate is used as a rotating shaft and rotates up and down relative to the main body plate along with the fluctuation of the walking ground of the intelligent express classification robot; the Mecanum wheels and the driving motors respectively connected with the Mecanum wheels are respectively arranged at two ends of the loose-leaf plate; the bottom end of the damping system is rotatably connected with the upper surface of the loose-leaf plate to resist the up-and-down rotation of the loose-leaf plate relative to the main body plate.

Optionally, as for any one of the above intelligent robot for express classification, each of the hinge plates is provided with at least two hinges connected to the main body plate.

Optionally, as above arbitrary the categorised intelligent robot of express delivery, wherein, shock mitigation system includes a plurality of groups of damping spring that evenly arranges along the loose-leaf board, and damping spring's internal connection has flexible guiding axle, and the bottom of flexible guiding axle is connected with the upper surface rotation of loose-leaf board, and the top of flexible guiding axle rotates with the backup pad at support device top to be connected. Hinge connection makes the loose-leaf board rotate from top to bottom for the main part board, provides the shock attenuation support effect through damping spring. The damping springs may be at least three pairs and are mounted between the support plate and the chassis structure.

Optionally, the intelligent robot for sorting express delivery as described in any one of the above, wherein the support device includes: backup pad and bracing piece, wherein, the bottom and the main part board fixed connection of bracing piece, bracing piece and main part board mutually perpendicular, the top and the backup pad fixed connection of bracing piece, bracing piece and backup pad mutually perpendicular, the top at the backup pad is installed to the cloud platform, the tip of backup pad is rotated with the top of each flexible guiding axle in the shock mitigation system and is connected.

Optionally, as above arbitrary express delivery classification intelligent robot, wherein, still be provided with 2 groups of sliding assembly on the main part board, each group of sliding assembly includes respectively: the sliding rail is arranged at the edge of the main body plate and extends downwards perpendicular to the main body plate; the sliding block is connected with the sliding rail, is arranged in the middle of the main body plate and can move up and down relative to the sliding rail along with the fluctuation of the walking ground of the intelligent express classification robot; the driven wheel is connected to the bottom end of the sliding rail and synchronously rotates along with the walking of the express classification intelligent robot; the coded disc is connected with the driven wheel and used for acquiring the rotation parameters of the driven wheel so as to count the walking distance or position of the express classification intelligent robot along the corresponding direction; wherein, the rotating shaft directions of the two driven wheels in the two groups of sliding combinations are mutually vertical.

Optionally, the intelligent robot for sorting express delivery as described in any one of the above, wherein the driven wheel includes: the rotating shaft of the driven wheel main body is fixedly connected with the input shaft of the code wheel, and the driven wheel main body synchronously rotates along with the walking of the express classification intelligent robot by taking the rotating shaft as a rotating center; the edge wheel set is rotatably arranged on the driven wheel body and evenly distributed along the edge of the wheel face of the driven wheel body, and the rotating shaft of the edge wheel set is perpendicular to the rotating shaft of the driven wheel body. The control system of the intelligent robot for express classification receives signals of the two code discs which are orthogonally arranged with each other, so that the rotating speed and the direction of the driven wheel are measured, express classification is calculated through accumulation operation, and calculation and control of the running state of the robot are achieved by using an STM32 single chip microcomputer as a controller. Compared with a 51 single chip microcomputer, the STM32 has high performance, low power consumption, more functions and higher working speed. The driving signal can be generated through a C language algorithm, and the Mecanum wheel is driven through the driving motor.

Optionally, the intelligent robot for sorting express delivery as described in any one of the above, wherein the gripper includes: the rear end of the first gripper assembly is provided with a first gear structure, the first gear structure is driven by a steering engine arranged at the end part of the connecting rod of the mechanical arm to rotate correspondingly, and the front end of the first gripper assembly rotates correspondingly to be folded to grip the express package or rotates correspondingly to be opened to put down the express package in the rotating process of the first gear structure; the rear end of the second gripper assembly is provided with a second gear structure, the second gear structure is meshed with the first gear structure, the second gripper assembly rotates synchronously in the opposite direction from the rotation of the first gear structure, and the front end of the second gripper assembly correspondingly rotates and folds to grab the express package or correspondingly rotates and opens to put down the express package in the rotating process of the second gear structure. Compared with a common motor, the steering engine can provide quite accurate position control and larger torque, and provides stronger grabbing force.

Optionally, as for any one of the above intelligent robot for express classification, a camera is further disposed on the mechanical arm bottom plate below the mechanical arm connecting rod, and a shooting direction of the camera faces to the front end of the mechanical gripper. The camera collects article data, the articles are judged and classified through the visual sensor, and whether the express delivery box is damaged or not and whether the express delivery box can be carried or not is judged according to parameters of the express delivery box in the camera; the camera can also classify the size of the express delivery box, and then carries respectively in the appointed place. The analysis data is then communicated to the control module. Regard as data acquisition end with visual sensor, can accurately realize the action of arm letter sorting express delivery box fast, reduce the error rate to minimum, the mistake appears in the at utmost avoidance.

The utility model discloses a loose-leaf connection and shock mitigation system among the chassis structure mutually support the stable of realization to platform and gripper, guarantee that the gripper can stably grab and put the express delivery at the robot operation in-process. Mecanum wheel among the drive module can make the robot can turn to in a flexible way through independent driving motor's drive in a flexible way to cooperation express delivery parcel classification transportation requirement improves the efficiency of classifying to commodity circulation express delivery parcel with more nimble transportation mode. The robot is easier to implement, has stronger practicability and certain innovativeness and practical value.

Drawings

The technical scheme of the invention is further described by combining the accompanying drawings as follows:

FIG. 1 is a front view of an intelligent robot for sorting express;

FIG. 2 is a left side view of the intelligent robot for sorting express;

FIG. 3 is a mechanical arm of an express classification intelligent robot;

FIG. 4 is a chassis structure of an intelligent robot for sorting express;

figure 5 is slide rail and encoder of categorised intelligent robot of express delivery.

Wherein: 1-a mechanical arm; 101-gripper; 102-a robot arm connecting rod; 103-mechanical arm sliding rail; 1031-motor; 1032-a spiral bar track; 104-a robot arm base plate; 105-a steering engine; 2-a tripod head; 3-a support device; 301-support bars; 302-sliding combination; 3021-sliding track; 3022-a slider; 303-a support plate; 4-a shock absorbing system; 401-chassis structure; 4011-body board; 4012-loose-leaf panels; 4013-hinge; 402-a damping spring; 5-a camera; 6-orthogonal code wheel; 601-an encoder; 602-a gyroscope; 7-Mecanum wheels.

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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.

As shown in fig. 1 and 2, the intelligent robot for express classification comprises a mechanical structure, a visual recognition structure, a control module and a driving module.

The mechanical structure comprises a chassis structure, a mechanical arm 1, a holder 22, a support device 3 and a damping system 4. The driving module is arranged on the lower side of the chassis structure and comprises 4 Mecanum wheels respectively arranged at four corners of the chassis structure and driving motors respectively connected with the Mecanum wheels, and the driving motors respectively output torque to respectively drive the Mecanum wheels connected with the driving motors to independently operate;

the supporting device is arranged on the upper side of the chassis structure, and the top of the supporting device is connected with a holder;

the damping system is telescopically connected between the supporting device and the chassis, and the bottom end of the damping system is arranged above the Mecanum wheel;

the cloud deck is provided with a mechanical arm 1. As shown in fig. 3, the robot comprises a mechanical claw 101, a mechanical arm connecting rod 102, a mechanical arm sliding rail 103, a mechanical arm bottom plate 104 and a steering engine 105, and the motion and connection of the joints of the human arm are simulated. The mechanical arm bottom plate is fixedly connected with an output shaft of the cloud deck, the mechanical arm bottom plate rotates synchronously along with the output shaft of the cloud deck, a mechanical arm sliding rail is fixedly connected to the upper surface of the mechanical arm bottom plate, one end of a mechanical arm connecting rod is in threaded connection with the mechanical arm sliding rail, the mechanical arm connecting rod rotates forwards or reversely along the mechanical arm sliding rail and extends forwards or retracts backwards along the axial direction of the mechanical arm sliding rail, a mechanical claw is mounted at the other end of the mechanical arm connecting rod, one end of the mechanical claw is connected with the output shaft of the steering engine, and the mechanical claw is driven by the output shaft of the steering engine to correspondingly grab express packages or put the express packages down. Specifically, the gripper 101 may be composed of two tile-shaped jaws, which are flush mounted and opened and clamped by means of gear engagement. The mechanical arm sliding rail 103 comprises a motor 1031 and a screw rod rail 1032, wherein the motor 1031 rotates forward and backward to drive the screw rod rail 1032 to rotate, so that the mechanical claw 101 is driven along the telescopic direction of the rail through the threaded connection of the mechanical arm connecting rod end, and the mechanical arm 1 can extend out to grab a remote object or retract along the screw rod rail 1032. The gripper 101 is controlled by a steering engine 105, the steering engine is a power source for controlling actions of a remote control model, and different from a common motor, the steering engine can provide quite accurate position control and larger torque and provide stronger grabbing force. The mechanical claw 101 is fixed at the front end of the mechanical arm connecting rod 102, the tail end of the mechanical arm connecting rod 102 is fixed on a mechanical arm sliding rail 103 and is in threaded fit with the mechanical arm sliding rail 103, the mechanical arm sliding rail 103 is fixed on a mechanical arm bottom plate 104, and the steering engine 105 is installed at the front end of the mechanical arm connecting rod 102 and is used for driving the mechanical claw to rotate to open and close; the mechanical arm bottom plate 104 is fixed on the holder 2, the holder 2 is fixed on the support device 3, and the mechanical arm is controlled to rotate to the corresponding direction through the rotation of the holder output shaft.

The chassis structure of the intelligent robot for express classification comprises: a main body plate; the hinge plate is used as a rotating shaft and rotates up and down relative to the main body plate along with the fluctuation of the walking ground of the intelligent express classification robot; the Mecanum wheels and the driving motors respectively connected with the Mecanum wheels are respectively arranged at two ends of the loose-leaf plate; the bottom end of the damping system is rotatably connected with the upper surface of the loose-leaf plate to resist the up-and-down rotation of the loose-leaf plate relative to the main body plate.

Wherein, each loose-leaf plate is respectively provided with at least two hinges which are connected with the main body plate.

The support device 3 comprises a support bar 301, two sliding assemblies 302 and a support plate 303. The supporting plate 303 is fixedly connected with the bottom of the holder 2, and the number of the supporting rods 301 is at least four. The bottom and the main part board fixed connection of bracing piece, bracing piece and main part board mutually perpendicular, the top and the backup pad fixed connection of bracing piece, bracing piece and backup pad mutually perpendicular, the tip of backup pad is rotated with the top of each flexible guiding axle among the shock mitigation system and is connected.

The sliding assembly 302 is disposed on the main body plate and includes two sets. Each group of sliding combination consists of a sliding rail 3021, a sliding block 3022, and a driven wheel and a coded disc connected to the lower end of the sliding rail. The slide rail 3021 is fixedly installed between the support plate 303 and the chassis structure 401, is disposed at the edge of the main body plate, and extends downward perpendicular to the main body plate. The sliding block is connected with the sliding rail, is arranged in the middle of the main body plate and can move up and down relative to the sliding rail along with the fluctuation of the walking ground of the intelligent express classification robot; the driven wheel is connected to the bottom end of the sliding rail and synchronously rotates along with the walking of the express classification intelligent robot; the coded disc is connected with the driven wheel and used for acquiring the rotation parameters of the driven wheel so as to count the walking distance or position of the express classification intelligent robot along the corresponding direction; wherein, the rotating shaft directions of the two driven wheels in the two groups of sliding combinations are mutually vertical. In order to adapt to the walking direction of the robot, the driven wheel can be arranged as shown in fig. 5, and specifically includes: driven wheel main part and a plurality of marginal wheelset. The rotating shaft of the driven wheel main body is fixedly connected with the input shaft of the code wheel, and the driven wheel main body rotates synchronously along with the walking of the express classification intelligent robot by taking the rotating shaft as a rotating center; the edge wheel set is rotatably arranged on the driven wheel body and evenly distributed along the edge of the wheel face of the driven wheel body, and the rotating shaft of the edge wheel set is perpendicular to the rotating shaft of the driven wheel body. Therefore, the edge wheel set can rotate in the direction perpendicular to the driven wheel main body, so that the whole driven wheel has two mutually orthogonal rotation directions and can automatically rotate along with the operation of the robot driven by the ground friction force. And the code wheel connected with the code wheel only detects and senses the rotation component in the direction of the rotating shaft of the driven wheel main body, so that the running condition of the robot on a single dimension can be directly obtained through statistics of the rotation data of the driven wheel main body. Therefore, two groups of sliding combinations which are arranged in an orthogonal mode can realize the statistical calculation of the running distance and the running speed component in two orthogonal directions in the running process of the robot through the driven wheel main bodies in different rotating directions, and therefore the real-time positioning of the robot is realized. When the robot climbs a slope or crosses an obstacle, the sliding rail and the sliding block are matched to move up and down, the driven wheel can be further ensured to be always in contact with the ground, and the moving distance of the robot relative to the ground can be always detected.

In a more specific implementation, the robot arm 1 of the robot of the invention is fixed to a head 22, which is connected below to a damping system 44 by means of a support plate. The chassis structure 401 of the robot is formed by splicing a main body plate 4011 and 4 loose-leaf plates 4012, and the damping system 4 comprises a plurality of groups of damping springs 402 which are uniformly distributed along the loose-leaf plates and connected between the chassis structure 401 and a supporting plate. As shown in fig. 4, the main body plate 4011 and the hinge plate 4012 are connected by a hinge 4013. The damping springs 402 may be provided in this embodiment in eight pairs, which are uniformly mounted between the support plate 303 and the chassis structure 401. Damping spring's internal connection has flexible guiding axle, and the bottom of flexible guiding axle is rotated with the upper surface of loose-leaf board and is connected, and the top of flexible guiding axle rotates with the backup pad at support device top to be connected, and the accessible is offset and the absorption of the range of rotation about the loose-leaf board and is realized the shock attenuation to the arm structure in the backup pad of robot, guarantees that it snatchs the express delivery reliable and stable.

The gripper on the robot arm, which may be seen with reference to fig. 3, is arranged to comprise:

the rear end of the first gripper assembly is provided with a first gear structure, the first gear structure is driven by a steering engine arranged at the end part of the connecting rod of the mechanical arm to rotate correspondingly, and the front end of the first gripper assembly rotates correspondingly to be folded to grip the express package or rotates correspondingly to be opened to put down the express package in the rotating process of the first gear structure;

The rear end of the second gripper assembly is provided with a second gear structure, the second gear structure is meshed with the first gear structure, the second gripper assembly rotates synchronously in the opposite direction from the rotation of the first gear structure, and the front end of the second gripper assembly correspondingly rotates and folds to grab the express package or correspondingly rotates and opens to put down the express package in the rotating process of the second gear structure.

The visual identification structure of the robot comprises a camera 5, wherein the camera 5 is arranged on a mechanical arm bottom plate and is positioned below a mechanical arm connecting rod and used for collecting express item data along the direction towards the front end of a mechanical claw, judging and classifying items through a visual sensor, and distinguishing whether express is damaged or not and whether the express can be carried or not according to the parameters of an express box in the camera 5; the camera 5 can also classify and recognize the size of the express box or express receipt labels on the express box, and then respectively control the robot to grab and carry the express to the designated place corresponding to each express box. Regard as data acquisition end with visual sensor, can accurately realize the action of arm letter sorting express delivery box fast, reduce the error rate to minimum, the mistake appears in the at utmost avoidance.

The robot moving process can realize the monitoring of the moving track route through the two orthogonally arranged code wheels 6 connected with the control module. The robot comprises two encoders 601 which are orthogonally arranged below a chassis structure 401 and a driven wheel arranged above the chassis structure 401, wherein the moving speed and direction of the robot are measured through rotation components of the driven wheel in two orthogonal directions, and then the distance is calculated through accumulation operation. Encoder 601 adopts the STM32 singlechip as the controller, compares with 51 singlechips, and STM32 is high performance, and the low-power consumption is from taking the function ratio many, and operating speed is than faster. The driving signal can be generated through a C language algorithm, and an optimal algorithm capable of meeting task requirements is adopted through combination of theory and practice.

As shown in fig. 5, two encoders 601 are respectively fixed on the sliding blocks 3022 of the two sliding assemblies 302, when the road surface is uneven, the sliding blocks 3022 slide on the sliding rails 3021, so as to generate a sliding distance to ensure that the driven wheels always roll along the ground to record the running condition of the robot; the encoder 601 collects rotation data of the driven wheel to calculate a running distance of the robot in a rotating shaft direction corresponding to the driven wheel, so as to generate a corresponding driving signal, and transmits the driving signal to the driving module.

The driving modules are Mecanum wheels 7, the number of the Mecanum wheels is four in the embodiment, and the vehicle body runs according to a set route by combining a full-field positioning technology and a PID chassis regulation and control technology. The omnibearing mobile equipment adopting the Mecanum wheel 7 technology can complete the motion modes of forward movement, transverse movement, oblique movement, rotation, combination and the like, and can move freely; and can be mounted on shafts parallel to each other as with conventional wheels, and is suitable for use in warehouses, workshops, and the like.

The practical operation is as follows: in the classified transportation scene of express delivery, the user sets the size of the express delivery box and the places to which the express delivery box is sent respectively. The camera identifies the damage degree and the size of the express box, and classifies the express box so as to determine whether to grab the express box; the mechanical arm receives signals and grabs the express box; after the robot grabs the express box with the specified size, the sensor returns a signal to the control module, so that an instruction is sent out to enable the robot to move to a specified place, the mechanical arm puts down the grabbed express box, and the next instruction is continuously executed.

It is obvious to those skilled in the art that the present invention is not limited to the above embodiments, and it is within the scope of the present invention to adopt various insubstantial modifications of the method concept and technical scheme of the present invention, or to directly apply the concept and technical scheme of the present invention to other occasions without modification.

Claims

1. a kind of express classification intelligent robot, is characterized in that, comprises:

chassis structure;

The drive module, which is arranged on the lower side of the chassis structure, includes four Mecanum wheels respectively arranged at the four corners of the chassis structure, and a drive motor respectively connected to each Mecanum wheel, and each drive motor outputs torque to drive the drive respectively The Mecanum wheel connected to the motor runs independently;

a support device, which is arranged on the upper side of the chassis structure, and the top of the support device is connected with a head;

a shock absorption system, which is telescopically connected between the support device and the chassis, and the bottom end of the shock absorption system is arranged above the Mecanum wheel;

The PTZ is provided with a mechanical claw, a connecting rod of a mechanical arm, a sliding rail of the mechanical arm, a bottom plate of the mechanical arm and a steering gear, wherein the bottom plate of the mechanical arm is connected and fixed with the output shaft of the PTZ, and the bottom plate of the mechanical arm is connected with the output shaft of the PTZ. The output shaft rotates and rotates synchronously, the upper surface of the robotic arm base plate is fixedly connected with the robotic arm sliding rail, one end of the robotic arm connecting rod is threadedly connected with the robotic arm sliding rail, and the robotic arm connecting rod is aligned with the robotic arm sliding rail. Rotate in the opposite direction to extend forward or backward along the axial direction of the sliding rail of the mechanical arm, the other end of the connecting rod of the mechanical arm is equipped with a mechanical claw, and one end of the mechanical claw is connected to the output of the steering gear The shaft is driven by the output shaft of the servo and correspondingly grabs the express package or puts it down.

2. The intelligent robot for express classification according to claim 1, wherein the chassis structure comprises:

main board;

A loose-leaf board, which includes two hinges connected to the front and rear ends of the main board respectively, and the loose-leaf board rotates up and down relative to the main board with the hinge as a rotation axis along with the ups and downs of the express sorting intelligent robot walking ground;

The Mecanum wheels and the drive motors respectively connected to the Mecanum wheels are respectively installed on both ends of the loose-leaf board;

The bottom end of the damping system is rotatably connected with the upper surface of the loose-leaf plate to resist the up-and-down rotation of the loose-leaf plate relative to the main body plate.

3 . The intelligent robot for express sorting according to claim 2 , wherein each loose-leaf board is respectively provided with at least two hinges interconnected with the main board. 4 .

4 . The intelligent robot for express sorting according to claim 2 , wherein the shock absorbing system comprises several groups of shock absorbing springs evenly arranged along the loose-leaf plate, and the shock absorbing springs are internally connected with a telescopic guide shaft, and the telescopic guide The bottom end of the shaft is rotatably connected with the upper surface of the loose-leaf plate, and the top end of the telescopic guide shaft is rotatably connected with the support plate on the top of the support device.

5. The intelligent robot for express sorting according to claim 2, wherein the support device comprises: a support plate and a support rod, wherein the bottom of the support rod is fixedly connected to the main body plate, and the support rod and the main body plate are perpendicular to each other, The top of the support rod is fixedly connected to the support plate, the support rod and the support plate are perpendicular to each other, the pan/tilt is installed on the top of the support plate, and the end of the support plate is rotatably connected to the top of each telescopic guide shaft in the shock absorption system.

6. The intelligent robot for express classification according to claim 2, wherein the main body plate is also provided with 2 groups of sliding combinations, and each group of sliding combinations respectively comprises:

a slide rail, which is arranged on the edge of the main body plate and extends downward perpendicular to the main body plate;

a sliding block, which is connected to the sliding rail, is arranged in the middle of the main body plate, and can move up and down relative to the sliding rail with the fluctuation of the ground where the express sorting intelligent robot walks;

A driven wheel, which is connected to the bottom end of the slide rail, rotates synchronously with the intelligent robot for express sorting;

A code wheel, which is connected to the driven wheel, and is used to obtain the rotation parameters of the slave wheel to count the distance or position that the intelligent robot for express classification travels in the corresponding direction;

Wherein, the rotation axis directions of the two driven wheels in the two sets of sliding combinations are perpendicular to each other.

7. The intelligent robot for express classification according to claim 6, wherein the driven wheel comprises:

The main body of the driven wheel, the rotating shaft of which is fixedly connected with the input shaft of the code disc, takes the rotating shaft as the rotation center, and rotates synchronously with the intelligent robot for express sorting;

The edge wheel set is rotatably arranged on the driven wheel main body and is evenly arranged along the edge of the wheel surface of the driven wheel body, and the rotation axis of the edge wheel set is perpendicular to the rotation axis of the driven wheel body.

8. The intelligent robot for express classification according to claim 1, wherein the mechanical claw comprises:

The rear end of the first gripper assembly is provided with a first gear structure. The first gear structure is driven by the steering gear arranged at the end of the connecting rod of the mechanical arm to rotate accordingly. During the rotation of the first gear structure, the first gripper The front end of the claw assembly is rotated and closed correspondingly to grab the express package, or opened correspondingly to put it down;

The rear end of the second gripper assembly is provided with a second gear structure, the second gear structure and the first gear structure are meshed with each other, driven by the rotation of the first gear structure to rotate synchronously in the opposite direction, the second gear structure During the rotation process, the front end of the second gripper assembly is rotated and closed correspondingly to grasp the express package, or opened correspondingly to put it down.

9 . The intelligent robot for express sorting according to claim 1 , wherein a camera is also provided on the bottom plate of the mechanical arm below the connecting rod of the mechanical arm, and the shooting direction of the camera is toward the front end of the mechanical claw. 10 .