CN108940893A - Logistic sorting machine device people with artificial intelligence - Google Patents
Logistic sorting machine device people with artificial intelligence Download PDFInfo
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- CN108940893A CN108940893A CN201810689963.5A CN201810689963A CN108940893A CN 108940893 A CN108940893 A CN 108940893A CN 201810689963 A CN201810689963 A CN 201810689963A CN 108940893 A CN108940893 A CN 108940893A
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- 238000013473 artificial intelligence Methods 0.000 title claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 125
- 239000000463 material Substances 0.000 claims abstract description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 210000000452 mid-foot Anatomy 0.000 claims description 13
- 238000003745 diagnosis Methods 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
- 238000009966 trimming Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 230000006641 stabilisation Effects 0.000 abstract description 3
- 238000011105 stabilization Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 3
- 210000004209 hair Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000003058 natural language processing Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 244000144977 poultry Species 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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Abstract
The present invention relates to industrial automation equipments, more specifically to a kind of robotic equipment for realizing Material Sorting.A kind of logistic sorting machine device people with artificial intelligence, including intelligent control system and sorting line robot；The sorting line robot includes: supporting mechanism, for realizing the manipulator of Material Sorting, for driving the manipulator to realize mobile link chain mechanism, for driving the driving mechanism of the link chain mechanism movement, for driving the manipulator to realize the overhead cam pressing plate of gripper folding, for driving the manipulator to realize the ring cam set of longitudinal movement, for carrying the dynamic track mechanism of material, for material to be pushed to the pusher manipulator mechanism of the manipulator, for fixing supporting mechanism, the combined bracket of dynamic track mechanism and pusher manipulator mechanism.The present invention applies during Material Sorting；Logistic sorting machine device people of the present invention with artificial intelligence ensure that stabilization, the smoothness of sort process for realizing the crawl and movement of material.
Description
Technical field
The present invention relates to industrial automation equipments, more specifically to a kind of robot for realizing Material Sorting
Equipment.
Background technique
Sorting line robot is a kind of robot for having sensor, object lens and electron-optical system, can be with
Quickly carry out goods sorting.
Sorting line robot detects the moving target in image sequence by vision tracking, is extracted, is identified
With track and obtain the motion profile of target, realize understanding to goal behavior with analysis to be further processed, and complete
More advanced task.In sorting system, the target of design will continuously enter the visual field of camera, and system is then to each mesh
Mark is identified, is detected and recorded result.
Suitable application area: logistics, poultry, chemical industry, ore etc.；
Application effect: reducing shipping period, improves enterprise competitiveness；
Technical process: automatic streamline bundle of lines different size product of different shapes is fed sequentially into camera lower section camera number
It is put into different small handcarts according to being transferred to after robot according to shape of product and magnitude classification.
The characteristics of sorting line robot:
1, work efficiency is high.From the name of high speed sorting line robot we it is known that, this robot is in flowing water
Work capacity on line be it is very strong, the sorting of 2-3 object can be not only executed within one second, rule can also be put it into rapidly
In fixed packing box；
2, the accuracy of crawl sorting object is high.It is known that position is unlikely to be when sorting object flows on assembly line
With high accuracy.And since there is certain recognition capability in position of the high speed sorting line robot to this object, it can be with
The object for needing to sort is caught in moment；
3, several high speed sorting lines robot can shares out the work and help one another, cooperative ability is strong.On same assembly line,
Several high speed sorting lines robot can be needed to distribute according to producer, to greatly strengthen productivity effect.
Artificial intelligence (Artificial Intelligence), english abbreviation AI.It is research, develop for simulating,
Extend and the theory of the intelligence of extension people, method, a new technological sciences of technology and application system.Artificial intelligence is to calculate
One branch of machine science, it attempts to understand essence of intelligence, and produce it is a kind of new can be in such a way that human intelligence be similar
The intelligence machine reacted, the research in the field include robot, language identification, image recognition, natural language processing and specially
Family's system etc..
Summary of the invention
The object of the present invention is to provide a kind of logistic sorting machine device people with artificial intelligence, applies in Material Sorting
In the process；The present invention ensure that and sort for realizing the crawl and movement of material with the logistic sorting machine device people of artificial intelligence
Stabilization, the smoothness of journey.
A kind of logistic sorting machine device people with artificial intelligence, including intelligent control system and sorting line robot；
The sorting line robot include: supporting mechanism, for realizing the manipulator of Material Sorting, for driving the manipulator
Realize mobile link chain mechanism, the driving mechanism for driving the link chain mechanism movement, for driving the manipulator to realize
The overhead cam pressing plate of gripper folding, for driving the manipulator to realize the ring cam set of longitudinal movement, for carrying material
Dynamic track mechanism, is used to fix supporting mechanism, dynamic rail at the pusher manipulator mechanism for material to be pushed to the manipulator
The combined bracket of road mechanism and pusher manipulator mechanism；The link chain mechanism is movably connected on the supporting mechanism, the machinery
Hand is fixed on the link chain mechanism, and the driving mechanism, overhead cam pressing plate are fixed on the supporting mechanism, the ring cam set position
It is affixed on the ring cam set always in the bottom roller on the lower part of the link chain mechanism, the manipulator, on the manipulator
Pushing bearing and the overhead cam pressing plate match；The dynamic track mechanism constitutes the structure of annular, and the pusher is mechanical
Mobile phone structure is located at the centre of the dynamic track mechanism, and the partial structurtes of the dynamic track mechanism are located at the manipulator
Crawl within the scope of.
Preferably, the dynamic track mechanism include: circular orbit, it is No.1 cross bar, No. two cross bars, meeting stile, parallel
Follower lever, fine tuning drive rod, finely tunes screw rod, orbit trimming handle at parallel driving lever, is fixed with the company on the circular orbit
Fishplate bar item is fixed with the No.1 cross bar being parallel to each other, No. two cross bars between the meeting stile；The parallel follower lever
One end is articulated with the No.1 connecting hole of the combined bracket, and the other end of the parallel follower lever is articulated with the No.1 cross bar；
One end of the parallel driving lever is articulated with No. two connecting holes of the combined bracket, and the other end of the parallel driving lever is hinged
In No. two cross bars；One end of the fine tuning drive rod is articulated with the parallel driving lever, and the fine tuning screw rod is flexibly connected
In the chain stay of the pusher manipulator mechanism, the fine tuning drive rod and fine tuning screw rod realization are threadedly engaged, described micro-
One end of screw rod is adjusted to be fixed with the orbit trimming handle.
Preferably, the pusher manipulator mechanism includes: chain stay, sprocket wheel, chain, pushes gripper, and the sprocket wheel is living
Dynamic to be connected to the chain stay, the chain is movably connected on the sprocket wheel, and the promotion gripper is fixed on the chain.
Preferably, the combined bracket includes: cam connecting plate, pusher connecting plate, support arm, and the ring cam set is connected
In the cam connecting plate, the pusher manipulator mechanism is fixed on the pusher connecting plate；Be provided on the support arm and
The No.1 connecting hole and No. two connecting holes that the dynamic track mechanism matches.
Preferably, the manipulator includes: the linear guide, linear slider, gripper shell, gripper mandrel, gripper bullet
Spring pushes bearing, end push plate, middle connecting plate, gripper；The linear guide is fixed on the link chain mechanism, the straight line
Sliding block is movably connected in the linear guide, and the gripper shell is fixed on the linear slider；The gripper mandrel activity
It is connected to the gripper shell, the outside of the gripper mandrel is provided with the gripper spring, the gripper spring, which has, to be pushed away
Move the trend that the gripper mandrel moves upwards；The upper end of the gripper mandrel is provided with the pushing bearing；Described
The lower end of gripper mandrel is provided with end push plate, and in the end of the end push plate, hingedly there are three the middle connecting plates
One end, the other end of the middle connecting plate are articulated with the end of the gripper, and the gripper is articulated with the gripper shell.
Preferably, the manipulator further include: idler wheel connecting plate, bottom roller, the idler wheel connecting plate are fixed on described straight
Line sliding block, the bottom roller are movably connected on the idler wheel connecting plate.
Preferably, the direction of motion of the gripper shell and the direction of motion of the link chain mechanism are mutually perpendicular to.
Preferably, the driving mechanism include: rotary tray motor, harmonic speed reducer, drive shaft, upper driving plate, lower driving plate,
Upper bearing (metal), lower bearing；The output shaft fixed connection of the rotary tray motor is in the input hole of the harmonic speed reducer, the harmonic speed reducer
Output shaft fixed connection in the input hole of the drive shaft；The drive shaft is movably connected on institute by the upper bearing (metal), lower bearing
Supporting mechanism is stated, the shell of the harmonic speed reducer is fixed on the supporting mechanism；Be provided on the upside of the drive shaft and
The upper driving plate that upper roller on the link chain mechanism matches is provided with and the link chain mechanism on the downside of the drive shaft
On lower roller under driving plate；The roller to match with the middle part roller on the link chain mechanism is provided in the drive shaft
Slot.
Preferably, the driving mechanism further include: driven shaft, follower plate, driven voller pilot trench, the driven shaft are flexibly connected
In the supporting mechanism, the driven shaft and the drive shaft are parallel to each other, and the follower plate is fixed on the two of the driven shaft
It holds, is provided with the driven voller pilot trench to match with the middle part roller on the link chain mechanism on the driven shaft.
Preferably, the supporting mechanism includes: midfoot support plate, support upper cover plate, support lower plate, middle connecting plate；
The middle connecting plate is fixed on the top of the ring cam set, and the support lower plate is fixed on the upper of the middle connecting plate
Portion；The midfoot support plate is fixed on the two sides of the support lower plate, and the support upper cover plate is fixed on the midfoot support
Plate；The slot structure to match with the middle part roller on the link chain mechanism is provided on the midfoot support plate.
Preferably, the link chain mechanism includes: carrier bar, upper roller, lower roller, and the carrier bar constitutes annular with being hinged
Structure is provided with intermediate calender rolls sub-aperture, upper hole, mider hole, bottom hole, recess portion, protrusion, the previous chain on the carrier bar
The recess portion of plate is inserted in the protrusion of next carrier bar, and the upper hole, bottom hole are at coaxially arranged, the rod
Sub- axis passes through the mider hole, upper hole, bottom hole, the upper roller is connected in the top movable of the roller axle, in institute
The lower removable for stating roller axle is connected with the lower roller.
Preferably, the upper roller pilot trench to match with upper roller is provided in the driving mechanism, in the drive
Motivation structure is provided with the lower roll pilot trench to match with lower roller.
Preferably, it is provided on the overhead cam pressing plate and opens curve, closes up curve, the pushing bearing on the manipulator
The opening curve is first touched, the manipulator opens；Pushing bearing on the manipulator closes up song described in touching again
Line, the manipulator gradually close up promptly.
Preferably, the ring cam set includes: descending curve, upward slope curve, bottom curve, top curve, the opening
Curve is located at the top of the bottom curve, the top for closing up curve and being located at the upward slope curve；The descending curve, bottom
Portion's curve, upward slope curve, top curve be connected with each other and constitute constitute it is smooth excessively.
Preferably, the bottom roller on the manipulator along the descending curve to moving at the bottom curve, it is described
The height of manipulator reduces；Bottom roller on the manipulator along the upward slope curve to moving at the top curve, institute
State the height lifting of manipulator.
Whether intelligent control system includes: sorting detecting function block, currently send out for detecting sorting line robot
Raw failure；Failure obtains functional block, for detecting that the sorting line robot is current in the sorting detecting function block
When breaking down, the problem of capturing the intelligent robot state；Logic function block, for judge described problem state whether be
Network environment problem or system mistake problem；First generation module, for judging described problem state in the logic function block
When for the network environment problem or system mistake problem, asking for the network environment problem or the system mistake problem is generated
Two dimensional code is inscribed, and is shown, so that mobile scanning terminal described problem two dimensional code to be to obtain corresponding fault message, and receives user
Diagnosis two dimensional code is generated for the operation of the fault message, and according to the operation；Scanning recognition module, for examining described
Disconnected two dimensional code is scanned and identifies, obtains the corresponding diagnostic message of the diagnosis two dimensional code；And control module is executed, it is used for
The sorting line robot is adjusted according to the diagnostic message；Module is obtained, for judging institute in the logic function block
When to state problem state be mechanical movement problem, corresponding error code is obtained according to the mechanical movement problem；The logic function
Block is specifically used for: obtaining problem error code corresponding to described problem state；Described problem shape is judged according to described problem error code
Whether state is the network environment problem or system mistake problem.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the logistic sorting machine device people of the invention with artificial intelligence；
Fig. 2,3,4,5,6,7 are the partial structural diagrams of the logistic sorting machine device people of the invention with artificial intelligence；
Fig. 8 is the structural schematic diagram of the carrier bar of the logistic sorting machine device people of the invention with artificial intelligence；
Fig. 9,10 be the logistic sorting machine device people with artificial intelligence of the invention partial structural diagram；
Figure 11 is the structural schematic diagram of the combined bracket of the logistic sorting machine device people of the invention with artificial intelligence；
Figure 12 is the structural schematic diagram of the circular orbit of the logistic sorting machine device people of the invention with artificial intelligence.
1 driving mechanism, 2 supporting mechanisms, 3 link chain mechanisms, 4 overhead cam pressing plates, 5 ring cam sets, 6 manipulators, 11
Rotary tray motor, 12 harmonic speed reducers, 13 drive shafts, driving plate on 14,15 lower driving plates, 16 upper bearing (metal)s, 17 lower bearings,
18 roller slots, 21 midfoot support plates, 22 support upper cover plates, 23 support lower plates, 24 middle connecting plates, 25 descendings are bent
Line, 26 upward slope curves, 28 opening curves, 27 close up curve, 29 bottom curves, 30 top curves, 31 driven shafts, 32
Follower plate, 33 driven voller pilot trench, 41 carrier bars, 42 intermediate calender rolls sub-aperture, 43 upper holes, 44 mider holes, 45 bottom holes, 46
Recess portion, 48 upper rollers, 49 lower rollers, 50 upper roller pilot trench, 51 lower roll pilot trench, 52 middle part rollers, props up on 53 at 47 protrusions
Support roller slot, 54 lower backing roll pilot trench, 60 linear guides, 61 linear sliders, 62 gripper shells, 63 gripper mandrels, 64
Gripper spring, 65 push bearing, 66 end push plates, 67 middle connecting plates, 68 grippers, 69 idler wheel connecting plates, 70 lower rollings
Wheel, 71 pusher manipulator mechanisms, 72 combined brackets, 73 dynamic track mechanisms, 74 cam connecting plates, 75 pusher connecting plates,
76 No.1 connecting holes, 77 No. two connecting holes, 78 circular orbits, 79 No.1 cross bars, 80 No. two cross bars, 81 meeting stiles,
82 support arms, 83 parallel follower levers, 84 parallel driving levers, 85 fine tuning drive rods, 86 fine tuning screw rods, 87 orbit trimming handles
Hand, 90 chain stays, 91 sprocket wheels, 92 chains, 93 push gripper.
Specific embodiment
The present invention is described in further detail below in conjunction with attached drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in attached drawing.As described above, the present invention provides a kind of logistics with artificial intelligence
Sorting machine people, applies during Material Sorting；Logistic sorting machine device people of the present invention with artificial intelligence, for realizing object
The crawl and movement of material ensure that stabilization, the smoothness of sort process.
Fig. 1 is the structural schematic diagram of the logistic sorting machine device people of the invention with artificial intelligence, and Fig. 2,3,4,5,6,7 are this hairs
The partial structural diagram of the logistic sorting machine device people of oolemma artificial intelligence, Fig. 8 are logistics sorting of the present invention with artificial intelligence
The structural schematic diagram of the carrier bar of robot, Fig. 9,10 are that the partial structurtes of the logistic sorting machine device people with artificial intelligence of the invention are shown
It is intended to, Figure 11 is the structural schematic diagram of the combined bracket of the logistic sorting machine device people of the invention with artificial intelligence, and Figure 12 is this hair
The structural schematic diagram of the circular orbit of the logistic sorting machine device people of oolemma artificial intelligence.
A kind of logistic sorting machine device people with artificial intelligence, including intelligent control system and sorting line robot；
The sorting line robot include: supporting mechanism 2, for realizing the manipulator 6 of Material Sorting, for driving the machinery
Hand 6 realizes mobile link chain mechanism 3, the driving mechanism 1 for driving the link chain mechanism 3 to move, for driving the machinery
Hand 6 realizes the overhead cam pressing plate 4 of gripper folding, for driving the manipulator 6 to realize the ring cam set 5 of longitudinal movement, being used for
It carries the dynamic track mechanism 73 of material, the pusher manipulator mechanism 71 for material to be pushed to the manipulator 6, be used to fix
The combined bracket 72 of supporting mechanism 2, dynamic track mechanism 73 and pusher manipulator mechanism 71；The link chain mechanism 3 is flexibly connected
In the supporting mechanism 2, the manipulator 6 is fixed on the link chain mechanism 3, and the driving mechanism 1, overhead cam pressing plate 4 are connected
In the supporting mechanism 2, the ring cam set 5 is located at the lower part of the link chain mechanism 2, the bottom roller 70 on the manipulator 6
Always it is affixed on the ring cam set 5, the pushing bearing 65 and the overhead cam pressing plate 4 on the manipulator 6 match；It is described
Dynamic track mechanism 73 constitutes the structure of annular, and the pusher manipulator mechanism 71 is located at the center of the dynamic track mechanism 73
The partial structurtes at position, the dynamic track mechanism 73 are located within the scope of the crawl of the manipulator 6.
More specifically, the dynamic track mechanism 73 includes: circular orbit 78,79, No. two cross bars 80 of No.1 cross bar, connection
Lath 81, parallel follower lever 83, parallel driving lever 84, fine tuning drive rod 85, fine tuning screw rod 86, orbit trimming handle 87, it is described
It is fixed with the meeting stile 81 on circular orbit 78, it is horizontal that the No.1 being parallel to each other is fixed between the meeting stile 81
79, No. two cross bars 80 of bar；One end of the parallel follower lever 83 is articulated with the No.1 connecting hole 76 of the combined bracket 72, described
The other end of parallel follower lever 83 is articulated with the No.1 cross bar 79；One end of the parallel driving lever 84 is articulated with the joint
No. two connecting holes 77 of bracket 72, the other end of the parallel driving lever 84 are articulated with No. two cross bars 80；The fine tuning is driven
One end of lever 85 is articulated with the parallel driving lever 84, and the fine tuning screw rod 86 is movably connected on the pusher manipulator mechanism
71 chain stay 90, the fine tuning drive rod 85 and the fine tuning realization of screw rod 86 are threadedly engaged, the one of the fine tuning screw rod 86
End is fixed with the orbit trimming handle 87.
More specifically, the pusher manipulator mechanism 71 includes: chain stay 90, sprocket wheel 91, chain 92, pushes gripper
93, the sprocket wheel 91 is movably connected on the chain stay 90, and the chain 92 is movably connected on the sprocket wheel 91, the promotion
Gripper 93 is fixed on the chain 92.
More specifically, the combined bracket 72 includes: cam connecting plate 74, pusher connecting plate 75, support arm 82, the ring
Shape cam 5 is fixed on the cam connecting plate 74, and the pusher manipulator mechanism 71 is fixed on the pusher connecting plate 75；It is described
The No.1 connecting hole 76 to match with the dynamic track mechanism 73 and No. two connecting holes 77 are provided on support arm 82.
More specifically, the manipulator 6 includes: the linear guide 60, linear slider 61, gripper shell 62, gripper core
Axis 63, pushes bearing 65, end push plate 66, middle connecting plate 67, gripper 68 at gripper spring 64；The linear guide 60 is connected
In the link chain mechanism 3, the linear slider 61 is movably connected in the linear guide 60, and the gripper shell 62 is fixed on
The linear slider 61；The gripper mandrel 63 is movably connected on the gripper shell 62, in the outside of the gripper mandrel 63
It is provided with the gripper spring 64, the gripper spring 64 has the trend for pushing the gripper mandrel 63 to move upwards；Institute
The upper end for stating gripper mandrel 63 is provided with the pushing bearing 65；The lower end of the gripper mandrel 63 is provided with end to push away
Plate 66, in the end of the end push plate 66, hingedly there are three one end of the middle connecting plate 67, the middle connecting plates 67
The other end be articulated with the end of the gripper 68, the gripper 68 is articulated with the gripper shell 62.
More specifically, the manipulator 6 further include: idler wheel connecting plate 69, bottom roller 70, the idler wheel connecting plate 69 are connected
In the linear slider 61, the bottom roller 70 is movably connected on the idler wheel connecting plate 69.
More specifically, the direction of motion of the gripper shell 62 and the direction of motion of the link chain mechanism 3 are mutually perpendicular to.
More specifically, the driving mechanism 1 includes: rotary tray motor 11, harmonic speed reducer 12, drive shaft 13, upper driving plate
14, lower driving plate 15, upper bearing (metal) 16, lower bearing 17；The output shaft fixed connection of the rotary tray motor 11 is in the harmonic speed reducer 12
Input hole, the output shaft fixed connection of the harmonic speed reducer 12 is in the input hole of the drive shaft 13；The drive shaft 13 passes through
The upper bearing (metal) 16, lower bearing 17 are movably connected on the supporting mechanism 2, and the shell of the harmonic speed reducer 12 is fixed on described
Supporting mechanism 2；The upper driving to match with the upper roller 48 on the link chain mechanism 3 is provided in the upside of the drive shaft 13
Plate 14 is provided with and driving plate 15 under the lower roller 49 on the link chain mechanism 3 in the downside of the drive shaft 13；The driving
The roller slot 18 to match with the middle part roller 52 on the link chain mechanism 3 is provided on axis 13.
More specifically, the driving mechanism 1 further include: driven shaft 31, follower plate 32, driven voller pilot trench 33, it is described driven
Axis 31 is movably connected on the supporting mechanism 2, and the driven shaft 31 and the drive shaft 13 are parallel to each other, and the follower plate 32 is solid
It is connected in the both ends of the driven shaft 31, is provided on the driven shaft 31 and 52 phase of middle part roller on the link chain mechanism 3
The driven voller pilot trench 33 matched.
More specifically, the supporting mechanism 2 include: midfoot support plate 21, support upper cover plate 22, support lower plate 23, in
Between connecting plate 24；The middle connecting plate 24 is fixed on the top of the ring cam set 5, and the support lower plate 23 is fixed on institute
State the top of middle connecting plate 24；The midfoot support plate 21 is fixed on the two sides of the support lower plate 23, in the support
Cover board 22 is fixed on the midfoot support plate 21；Be provided on the midfoot support plate 21 on the link chain mechanism 3 in
The slot structure that portion's roller 52 matches.
More specifically, the link chain mechanism 3 includes: carrier bar 41, upper roller 48, lower roller 49, the carrier bar 41 mutually hinge
Ground connection constitutes ring structure, be provided on the carrier bar 41 intermediate calender rolls sub-aperture 42, upper hole 43, mider hole 44, bottom hole 45,
Recess portion 46, protrusion 47, the recess portion 46 of the previous carrier bar 41 are inserted in the protrusion 47 of next carrier bar 41,
At coaxially arranged, the rod axis passes through the mider hole 44, upper hole 43, bottom hole 45 for the upper hole 43, bottom hole 45,
It is connected with the upper roller 48 in the top movable of the roller axle, is connected with the lower roll in the lower removable of the roller axle
Son 49.
More specifically, the upper roller pilot trench 50 to match with upper roller 48 is provided in the driving mechanism 1, described
The driving mechanism 1 is provided with the lower roll pilot trench 51 to match with lower roller 49.
It opens curve 28 more specifically, being provided on the overhead cam pressing plate 4, close up curve 27, on the manipulator 6
It pushes bearing 65 and first touches the opening curve 28, the manipulator 6 opens；Pushing bearing 65 on the manipulator 6 is again
Close up curve 26 described in touching, the manipulator 6 gradually closes up promptly.
More specifically, the ring cam set 5 includes: descending curve 25, upward slope curve 26, bottom curve 29, top curve
30, the top for closing up curve 27 and being located at the bottom curve 29, the opening curve 28 is located at the upward slope curve 26
Top；The descending curve 25, bottom curve 29, upward slope curve 26, top curve 30, which are connected with each other and constitute, constitutes smooth mistake
Degree.
More specifically, bottom roller 70 on the manipulator 6 is along the descending curve 25 at the bottom curve 29
The height of movement, the manipulator 6 reduces；Bottom roller 70 on the manipulator 6 is along the upward slope curve 26 to the top
It is moved at portion's curve 30, the height lifting of the manipulator 6.
Whether intelligent control system includes: sorting detecting function block, currently send out for detecting sorting line robot
Raw failure；Failure obtains functional block, for detecting that the sorting line robot is current in the sorting detecting function block
When breaking down, the problem of capturing the intelligent robot state；Logic function block, for judge described problem state whether be
Network environment problem or system mistake problem；First generation module, for judging described problem state in the logic function block
When for the network environment problem or system mistake problem, asking for the network environment problem or the system mistake problem is generated
Two dimensional code is inscribed, and is shown, so that mobile scanning terminal described problem two dimensional code to be to obtain corresponding fault message, and receives user
Diagnosis two dimensional code is generated for the operation of the fault message, and according to the operation；Scanning recognition module, for examining described
Disconnected two dimensional code is scanned and identifies, obtains the corresponding diagnostic message of the diagnosis two dimensional code；And control module is executed, it is used for
The sorting line robot is adjusted according to the diagnostic message；Module is obtained, for judging institute in the logic function block
When to state problem state be mechanical movement problem, corresponding error code is obtained according to the mechanical movement problem；The logic function
Block is specifically used for: obtaining problem error code corresponding to described problem state；Described problem shape is judged according to described problem error code
Whether state is the network environment problem or system mistake problem.
Finally it is pointed out that above embodiments are only that the logistic sorting machine device people of the invention with artificial intelligence relatively has representative
The example of property.Obviously, the present invention is not limited to the above embodiments with the logistic sorting machine device people of artificial intelligence, and acceptable there are many become
Shape.Technical spirit any letter to the above embodiments of all logistic sorting machine device people with artificial intelligence according to the present invention
Single modification, equivalent variations and modification are considered as belonging to the protection scope of the logistic sorting machine device people of the invention with artificial intelligence.
Claims (10)
1. a kind of logistic sorting machine device people with artificial intelligence, it is characterised in that: including intelligent control system and sorting flowing water
Line robot；The sorting line robot include: supporting mechanism, for realizing the manipulator of Material Sorting, for driving
The manipulator realizes the mobile link chain mechanism, driving mechanism for driving the link chain mechanism movement, described for driving
Manipulator realizes the overhead cam pressing plate of gripper folding, for driving the manipulator to realize the ring cam set of longitudinal movement, being used for
It carries the dynamic track mechanism of material, the pusher manipulator mechanism for material to be pushed to the manipulator, be used to fix support
The combined bracket of mechanism, dynamic track mechanism and pusher manipulator mechanism；The link chain mechanism is movably connected on the support machine
Structure, the manipulator are fixed on the link chain mechanism, and the driving mechanism, overhead cam pressing plate are fixed on the supporting mechanism, institute
The lower part that ring cam set is located at the link chain mechanism is stated, the bottom roller on the manipulator is affixed on always on the ring cam set,
Pushing bearing and the overhead cam pressing plate on the manipulator match；The dynamic track mechanism constitutes the structure of annular,
The pusher manipulator mechanism is located at the centre of the dynamic track mechanism, the partial structurtes position of the dynamic track mechanism
In within the scope of the crawl of the manipulator.
2. the logistic sorting machine device people according to claim 1 with artificial intelligence, which is characterized in that the dynamic track machine
Structure include: circular orbit, No.1 cross bar, No. two cross bars, meeting stile, parallel follower lever, parallel driving lever, fine tuning drive rod,
Screw rod, orbit trimming handle are finely tuned, the meeting stile is fixed on the circular orbit, is fixed between the meeting stile
The No.1 cross bar, No. two cross bars being parallel to each other；One end of the parallel follower lever is articulated with the No.1 of the combined bracket
Connecting hole, the other end of the parallel follower lever are articulated with the No.1 cross bar；One end of the parallel driving lever is articulated with institute
No. two connecting holes of combined bracket are stated, the other end of the parallel driving lever is articulated with No. two cross bars；The fine tuning driving
One end of bar is articulated with the parallel driving lever, and the fine tuning screw rod is movably connected on the chain branch of the pusher manipulator mechanism
Frame, the fine tuning drive rod and fine tuning screw rod realization are threadedly engaged, and it is micro- to be fixed with the track in one end of the fine tuning screw rod
Adjust handle.
3. the logistic sorting machine device people according to claim 1 with artificial intelligence, which is characterized in that the pusher manipulator
Mechanism includes: chain stay, sprocket wheel, chain, pushes gripper, and the sprocket wheel is movably connected on the chain stay, the chain
It is movably connected on the sprocket wheel, the promotion gripper is fixed on the chain.
4. the logistic sorting machine device people according to claim 1 with artificial intelligence, which is characterized in that the machinery handbag
Include: the linear guide, linear slider, gripper shell, gripper mandrel, gripper spring, pushing bearing, end push plate, centre connect
Fishplate bar, gripper；The linear guide is fixed on the link chain mechanism, and the linear slider is movably connected on the linear guide
On, the gripper shell is fixed on the linear slider；The gripper mandrel is movably connected on the gripper shell, in the hand
The outside of pawl mandrel is provided with the gripper spring, and the gripper spring has push the gripper mandrel to move upwards to become
Gesture；The upper end of the gripper mandrel is provided with the pushing bearing；The lower end of the gripper mandrel is provided with end
Push plate, the end of the end push plate hingedly there are three the middle connecting plate one end, the middle connecting plate it is another
End is articulated with the end of the gripper, and the gripper is articulated with the gripper shell.
5. the logistic sorting machine device people according to claim 1 with artificial intelligence, which is characterized in that the driving mechanism packet
It includes: rotary tray motor, harmonic speed reducer, drive shaft, upper driving plate, lower driving plate, upper bearing (metal), lower bearing；The rotary tray motor
Output shaft fixed connection is in the input hole of the harmonic speed reducer, and the output shaft fixed connection of the harmonic speed reducer is in the defeated of the drive shaft
Enter hole；The drive shaft is movably connected on the supporting mechanism, the shell of the harmonic speed reducer by the upper bearing (metal), lower bearing
Body is fixed on the supporting mechanism；It is provided on the upside of the drive shaft and matches with the upper roller on the link chain mechanism
Upper driving plate is provided with and driving plate under the lower roller on the link chain mechanism on the downside of the drive shaft；The drive shaft
On be provided with the roller slot to match with the middle part roller on the link chain mechanism.
6. the logistic sorting machine device people according to claim 1 with artificial intelligence, which is characterized in that the driving mechanism is also
It include: driven shaft, follower plate, driven voller pilot trench, the driven shaft is movably connected on the supporting mechanism, the driven shaft and institute
It states drive shaft to be parallel to each other, the follower plate is fixed on the both ends of the driven shaft, is provided on the driven shaft and the chain
The driven voller pilot trench that middle part roller in mechanism matches.
7. the logistic sorting machine device people according to claim 1 with artificial intelligence, which is characterized in that the supporting mechanism packet
It includes: midfoot support plate, support upper cover plate, support lower plate, middle connecting plate；The middle connecting plate is fixed on the convex annular
The top of wheel, the support lower plate are fixed on the top of the middle connecting plate；The midfoot support plate is fixed on the branch
The two sides of lower plate are supportted, the support upper cover plate is fixed on the midfoot support plate；Be provided on the midfoot support plate and
The slot structure that middle part roller on the link chain mechanism matches.
8. the logistic sorting machine device people according to claim 1 with artificial intelligence, which is characterized in that the link chain mechanism packet
Include: carrier bar, upper roller, lower roller, the carrier bar constitute ring structure, are provided with intermediate calender rolls on the carrier bar with being hinged
The recess portion of sub-aperture, upper hole, mider hole, bottom hole, recess portion, protrusion, the previous carrier bar is inserted in next described
The protrusion of carrier bar, the upper hole, bottom hole at coaxially arranged, the rod axis pass through the mider hole, upper hole, under
Portion hole is connected with the upper roller in the top movable of the roller axle, is connected in the lower removable of the roller axle described
Lower roller.
9. the logistic sorting machine device people according to claim 1 with artificial intelligence, which is characterized in that the ring cam set packet
It includes: descending curve, upward slope curve, bottom curve, top curve, the top opened curve and be located at the bottom curve, institute
It states and closes up the top that curve is located at the upward slope curve；The descending curve, bottom curve, upward slope curve, top curve are mutual
Connect and constitute constitute it is smooth excessively.
10. the logistic sorting machine device people according to claim 1 with artificial intelligence, which is characterized in that the intelligent control
Whether system processed includes: sorting detecting function block, currently break down for detecting sorting line robot；Failure obtains function
Energy block, for capturing institute when the sorting detecting function block detects that the sorting line robot currently breaks down
The problem of stating intelligent robot state；Logic function block, for judging whether described problem state is network environment problem or is
System Problem-Error；First generation module, for judging that described problem state is asked for the network environment in the logic function block
Topic or when system mistake problem, the problem of generating the network environment problem or the system mistake problem two dimensional code, and show,
So that mobile scanning terminal described problem two dimensional code to be to obtain corresponding fault message, and user is received for the fault message
Operation, and according to the operation generate diagnosis two dimensional code；Scanning recognition module, for being scanned to the diagnosis two dimensional code
And identify, obtain the corresponding diagnostic message of the diagnosis two dimensional code；And control module is executed, for according to the diagnostic message
Adjust the sorting line robot；Module is obtained, for judging described problem state for machinery in the logic function block
When motion problems, corresponding error code is obtained according to the mechanical movement problem；The logic function block is specifically used for: obtaining institute
State problem error code corresponding to problem state；Judge whether described problem state is the network rings according to described problem error code
Border problem or system mistake problem.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118253497A (en) * | 2024-05-28 | 2024-06-28 | 江苏迪泽智能科技有限公司 | Medicament delivery detection system and working method thereof |
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| CN108940893B (en) | 2020-10-30 |
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