CN109046996A - Logistic sorting machine device people's system of artificial intelligence auxiliary - Google Patents
Logistic sorting machine device people's system of artificial intelligence auxiliary Download PDFInfo
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- CN109046996A CN109046996A CN201810688628.3A CN201810688628A CN109046996A CN 109046996 A CN109046996 A CN 109046996A CN 201810688628 A CN201810688628 A CN 201810688628A CN 109046996 A CN109046996 A CN 109046996A
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- 238000013473 artificial intelligence Methods 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 160
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 230000006870 function Effects 0.000 claims description 18
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 210000000452 mid-foot Anatomy 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 238000003745 diagnosis Methods 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
- 238000009966 trimming Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008450 motivation Effects 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 230000006641 stabilisation Effects 0.000 abstract description 3
- 238000011105 stabilization Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 14
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 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
- 210000000515 tooth Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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's system of artificial intelligence auxiliary, 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, the combined bracket of dynamic track mechanism and pusher manipulator mechanism, the synchronous drive mechanism moved synchronously for realizing the manipulator and pusher manipulator mechanism, for driving the combined bracket to realize the longitudinal moving mechanism of longitudinal movement.The present invention applies during Material Sorting；Logistic sorting machine device people's system of artificial intelligence auxiliary of the present invention 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's systems of artificial intelligence auxiliary, apply in material
During sorting；Logistic sorting machine device people's system of artificial intelligence of the present invention auxiliary, for realizing the crawl and movement of material,
It ensure that stabilization, the smoothness of sort process.
A kind of logistic sorting machine device people's system of artificial intelligence auxiliary, including intelligent control system and sorting line machine
Device people；The sorting line robot includes: supporting mechanism, for realizing the manipulator of Material Sorting, described for driving
Manipulator realizes mobile link chain mechanism, the driving mechanism for driving the link chain mechanism movement, for driving the machinery
Hand realizes 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, the pusher manipulator mechanism for material to be pushed to the manipulator, be used to fix supporting mechanism,
Dynamic track mechanism with the combined bracket of pusher manipulator mechanism, it is synchronous with pusher manipulator mechanism for realizing the manipulator
The synchronous drive mechanism of movement, the longitudinal moving mechanism vertically moved for driving the combined bracket to realize；The chain making machine
Structure is movably connected on the supporting mechanism, and the manipulator is fixed on the link chain mechanism, the driving mechanism, overhead cam pressing plate
It is fixed on the supporting mechanism, the ring cam set is located at the lower part of the link chain mechanism, and the bottom roller on the manipulator begins
It is affixed on the ring cam set eventually, the pushing bearing and the overhead cam pressing plate on the manipulator match；The dynamic rail
Road mechanism constitutes the structure of annular, and the pusher manipulator mechanism is located at the centre of the dynamic track mechanism, described dynamic
The partial structurtes of state rail mechanism are located within the scope of the crawl of the manipulator；The synchronous drive mechanism is movably connected on described
The lower part of combined bracket, the combined bracket are fixed on the longitudinal moving mechanism；
The longitudinal moving mechanism includes: longitudinal slide unit, slid platform base, longitudinal linear slider, longitudinal motor, longitudinal synchronous belt biography
Motivation structure, longitudinal screw mandrel, longitudinal ball nut, the longitudinal slide unit are movably connected on the cunning by longitudinal linear slider
Platform pedestal, the shell of the longitudinal motor, longitudinal ball nut are fixed on the slid platform base；The longitudinal screw mandrel is flexibly connected
In longitudinal ball nut, the output shaft of one end of the longitudinal screw mandrel and the longitudinal motor passes through longitudinal synchronous belt
Transmission mechanism realizes connection, and the longitudinal slide unit is fixed on the end of the longitudinal screw mandrel.
Preferably, the synchronous drive mechanism include: synchronism output axis, it is No.1 driving gear, No.1 driven gear, universal
Shaft coupling, No. two driving gears, No. two driven gears, the synchronism output axis are fixed on the driving mechanism, the No.1 master
Moving gear is fixed on the synchronism output the tip of the axis；The Hooks coupling universal coupling is movably connected on the bottom of the combined bracket,
The No.1 driven gear and No. two driving gears are fixed on the both ends of the Hooks coupling universal coupling, and No. two driven gears are connected
In the sprocket wheel of the pusher manipulator mechanism；The No.1 driving gear, No.1 driven gear match, No. two driving tooths
Wheel, No. two driven gears match；The promotion gripper of the manipulator and pusher manipulator mechanism linear velocity having the same.
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 logistic sorting machine device people's system of artificial intelligence auxiliary of the present invention；
Fig. 2,3,4,5,6,7,8 are the partial structural diagrams of logistic sorting machine device people's system of artificial intelligence auxiliary of the present invention；
Fig. 9 is the structural schematic diagram of the carrier bar of logistic sorting machine device people's system of artificial intelligence auxiliary of the present invention；
Figure 10,11 be artificial intelligence of the present invention auxiliary logistic sorting machine device people's system partial structural diagram；
Figure 12 is the structural schematic diagram of the combined bracket of logistic sorting machine device people's system of artificial intelligence auxiliary of the present invention；
Figure 13 is the structural schematic diagram of the circular orbit of logistic sorting machine device people's system of artificial intelligence auxiliary of the present invention；
Figure 14,15 be artificial intelligence of the present invention auxiliary logistic sorting machine device people's system partial structural diagram.
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 grippers, 100 synchronous drive mechanisms, 101 synchronism output axis,
102 No.1 driving gears, 103 No.1 driven gears, 104 Hooks coupling universal couplings, 105 No. two driving gears, 106 No. two from
Moving gear, 107 longitudinal moving mechanisms, 108 longitudinal slide units, 109 slid platform bases, 110 longitudinal linear sliders, 111 longitudinal electricity
Machine, 112 transmission mechanism for longitudinal synchronous belt, 113 longitudinal screw mandrels, 114 longitudinal ball nuts.
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 objects of artificial intelligence auxiliary
Flow point picks robot system, applies during Material Sorting；The logistic sorting machine device people system of artificial intelligence auxiliary of the present invention
System, for realizing the crawl and movement of material, ensure that stabilization, the smoothness of sort process.
Fig. 1 is the structural schematic diagram of logistic sorting machine device people's system of artificial intelligence of the present invention auxiliary, Fig. 2,3,4,5,6,
7,8 be artificial intelligence of the present invention auxiliary logistic sorting machine device people's system partial structural diagram, Fig. 9 is the artificial intelligence of the present invention
Can auxiliary logistic sorting machine device people's system carrier bar structural schematic diagram, Figure 10,11 be artificial intelligence of the present invention auxiliary object
Flow point picks the partial structural diagram of robot system, and Figure 12 is logistic sorting machine device people's system of artificial intelligence auxiliary of the present invention
Combined bracket structural schematic diagram, Figure 13 is the circular orbit of logistic sorting machine device people's system of artificial intelligence of the present invention auxiliary
Structural schematic diagram, Figure 14,15 be artificial intelligence of the present invention auxiliary logistic sorting machine device people's system partial structural diagram.
A kind of logistic sorting machine device people's system of artificial intelligence auxiliary, including intelligent control system and sorting line machine
Device people；The sorting line robot include: supporting mechanism 2, for realizing the manipulator 6 of Material Sorting, for driving
It states manipulator 6 and realizes mobile link chain mechanism 3, the driving mechanism 1 for driving the link chain mechanism 3 to move, for driving
It states manipulator 6 and realizes the overhead cam pressing plate 4 of gripper folding, for driving the manipulator 6 to realize the ring cam set of longitudinal movement
5, for carrying the dynamic track mechanism 73 of material, the pusher manipulator mechanism 71 for material to be pushed to the manipulator 6, using
In the combined bracket 72 of fixed supporting mechanism 2, dynamic track mechanism 73 and pusher manipulator mechanism 71, for realizing the machinery
Synchronous drive mechanism 100 that hand 6 and pusher manipulator mechanism 71 move synchronously, for driving the combined bracket 72 to realize longitudinal direction
Mobile longitudinal moving mechanism 107；The link chain mechanism 3 is movably connected on the supporting mechanism 2, and the manipulator 6 is fixed on
The link chain mechanism 3, the driving mechanism 1, overhead cam pressing plate 4 are fixed on the supporting mechanism 2, and 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 are affixed on always on the ring cam set 5, the manipulator
Pushing bearing 65 and the overhead cam pressing plate 4 on 6 match；The dynamic track mechanism 73 constitutes the structure of annular, described
Pusher manipulator mechanism 71 is located at the centre of the dynamic track mechanism 73, the partial structurtes of the dynamic track mechanism 73
Within the scope of the crawl of the manipulator 6；The synchronous drive mechanism 100 is movably connected under the combined bracket 72
Portion, the combined bracket 72 are fixed on the longitudinal moving mechanism 107；
The longitudinal moving mechanism 107 includes: longitudinal slide unit 108, slid platform base 109, longitudinal linear slider 110, longitudinal motor
111, transmission mechanism for longitudinal synchronous belt 112, longitudinal screw mandrel 113, longitudinal ball nut 114, the longitudinal slide unit 108 passes through described
Longitudinal linear slider 110 is movably connected on the slid platform base 109, the shell of the longitudinal motor 111, longitudinal ball nut
114 are fixed on the slid platform base 109；The longitudinal screw mandrel 113 is movably connected on longitudinal ball nut 114, described vertical
The output shaft of one end and the longitudinal motor 111 to screw rod 113 is realized by the transmission mechanism for longitudinal synchronous belt 112 to be connected
It connects, the longitudinal slide unit 118 is fixed on the end of the longitudinal screw mandrel 113.
More specifically, the synchronous drive mechanism 100 include: synchronism output axis 101, No.1 driving gear 102, No.1 from
Moving gear 103, the driven gear 106 of driving gear 105, two of Hooks coupling universal coupling 104, two, the synchronism output axis 101 are connected
In the driving mechanism 1, the No.1 driving gear 102 is fixed on the end of the synchronism output axis 101；The universal joint shaft
Device 104 is movably connected on the bottom of the combined bracket, and the No.1 driven gear 103 and No. two driving gears 105 are fixed on
The both ends of the Hooks coupling universal coupling 104, No. two driven gears 106 are fixed on the sprocket wheel of the pusher manipulator mechanism 71
91；The No.1 driving gear 102, No.1 driven gear 103 match, 105, No. two driven gears of No. two driving gears
106 match；The linear velocity having the same of promotion gripper 93 of the manipulator 6 and pusher manipulator mechanism 71.
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 be only artificial intelligence of the present invention auxiliary logistic sorting machine device people system compared with
Representational example.Obviously, logistic sorting machine device people's system of artificial intelligence auxiliary of the present invention is not limited to the above embodiments, also
Can there are many deformation.The technical spirit of logistic sorting machine device people's system of all auxiliary of artificial intelligence according to the present invention is to above
Any simple modification, equivalent change and modification made by embodiment are considered as belonging to the logistics of artificial intelligence auxiliary of the present invention
The protection scope of sorting machine people's system.
Claims (10)
1. a kind of logistic sorting machine device people's system of artificial intelligence auxiliary, it is characterised in that: including intelligent control system and divide
Pick pipeline machine people；The sorting line robot includes: supporting mechanism, the manipulator for realizing Material Sorting, use
In the link chain mechanism for driving the manipulator realization mobile, the driving mechanism for driving the link chain mechanism movement, for driving
It moves the manipulator and realizes the overhead cam pressing plate of gripper folding, for driving the manipulator to realize the convex annular of longitudinal movement
Wheel, the dynamic track mechanism for carrying material, the pusher manipulator mechanism for material to be pushed to the manipulator are used for admittedly
Determine supporting mechanism, the combined bracket of dynamic track mechanism and pusher manipulator mechanism, for realizing the manipulator and pusher
Synchronous drive mechanism that tool mobile phone structure moves synchronously, for driving the combined bracket to realize the longitudinal movement machine of longitudinal movement
Structure；The link chain mechanism is movably connected on the supporting mechanism, and the manipulator is fixed on the link chain mechanism, the driving machine
Structure, overhead cam pressing plate are fixed on the supporting mechanism, and the ring cam set is located at the lower part of the link chain mechanism, the manipulator
On bottom roller be affixed on the ring cam set always, pushing bearing and the overhead cam pressing plate phase on the manipulator
Match；The dynamic track mechanism constitutes the structure of annular, and the pusher manipulator mechanism is located in the dynamic track mechanism
The partial structurtes of center portion position, the dynamic track mechanism are located within the scope of the crawl of the manipulator；The synchronous drive mechanism
It is movably connected on the lower part of the combined bracket, the combined bracket is fixed on the longitudinal moving mechanism；
The longitudinal moving mechanism includes: longitudinal slide unit, slid platform base, longitudinal linear slider, longitudinal motor, longitudinal synchronous belt biography
Motivation structure, longitudinal screw mandrel, longitudinal ball nut, the longitudinal slide unit are movably connected on the cunning by longitudinal linear slider
Platform pedestal, the shell of the longitudinal motor, longitudinal ball nut are fixed on the slid platform base；The longitudinal screw mandrel is flexibly connected
In longitudinal ball nut, the output shaft of one end of the longitudinal screw mandrel and the longitudinal motor passes through longitudinal synchronous belt
Transmission mechanism realizes connection, and the longitudinal slide unit is fixed on the end of the longitudinal screw mandrel.
2. logistic sorting machine device people's system of artificial intelligence auxiliary according to claim 1, which is characterized in that the synchronization
Transmission mechanism includes: synchronism output axis, No.1 driving gear, No.1 driven gear, Hooks coupling universal coupling, No. two driving gears, two
Number driven gear, the synchronism output axis are fixed on the driving mechanism, the No.1 driving gear be fixed on it is described synchronize it is defeated
The tip of the axis out；The Hooks coupling universal coupling is movably connected on the bottom of the combined bracket, the No.1 driven gear and No. two
Driving gear is fixed on the both ends of the Hooks coupling universal coupling, and No. two driven gears are fixed on the pusher manipulator mechanism
Sprocket wheel；The No.1 driving gear, No.1 driven gear match, and No. two driving gears, No. two driven gears match；
The promotion gripper of the manipulator and pusher manipulator mechanism linear velocity having the same.
3. logistic sorting machine device people's system of artificial intelligence auxiliary according to claim 1, which is characterized in that the dynamic
Rail mechanism includes: circular orbit, No.1 cross bar, No. two cross bars, meeting stile, parallel follower lever, parallel driving lever, fine tuning drive
Lever, fine tuning screw rod, orbit trimming handle, are fixed with the meeting stile on the circular orbit, between the meeting stile
It is fixed with the No.1 cross bar being parallel to each other, No. two cross bars；One end of the parallel follower lever is articulated with the combined bracket
No.1 connecting hole, the other end of the parallel follower lever is articulated with the No.1 cross bar；It cuts with scissors one end of the parallel driving lever
No. two connecting holes of the combined bracket are connected to, the other end of the parallel driving lever is articulated with No. two cross bars；It is described micro-
One end of transfer drive lever is articulated with the parallel driving lever, and the fine tuning screw rod is movably connected on the pusher manipulator mechanism
Chain stay, the fine tuning drive rod and fine tuning screw rod realization are threadedly engaged, and are fixed in one end of the fine tuning screw rod described
Orbit trimming handle.
4. logistic sorting machine device people's system of artificial intelligence auxiliary according to claim 1, which is characterized in that the machinery
Hand include: the linear guide, linear slider, gripper shell, gripper mandrel, gripper spring, push bearing, end push plate, in
Between connecting plate, gripper；The linear guide is fixed on the link chain mechanism, and the linear slider is movably connected on the straight line and leads
On rail, the gripper shell is fixed on the linear slider；The gripper mandrel is movably connected on the gripper shell, described
The outside of gripper 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. logistic sorting machine device people's system of artificial intelligence auxiliary according to claim 1, which is characterized in that the driving
Mechanism includes: rotary tray motor, harmonic speed reducer, drive shaft, upper driving plate, lower driving plate, upper bearing (metal), lower bearing；The turntable
The output shaft fixed connection of motor is in the input hole of the harmonic speed reducer, and the output shaft fixed connection of the harmonic speed reducer is in the driving
The input hole of axis；The drive shaft is movably connected on the supporting mechanism, the harmonic reduction by the upper bearing (metal), lower bearing
The shell of device is fixed on the supporting mechanism；It is provided on the upside of the drive shaft and the upper roller phase on the link chain mechanism
Matched 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；It is described
The roller slot to match with the middle part roller on the link chain mechanism is provided in drive shaft.
6. logistic sorting machine device people's system of artificial intelligence auxiliary according to claim 1, which is characterized in that the driving
Mechanism further include: driven shaft, follower plate, driven voller pilot trench, the driven shaft is movably connected on the supporting mechanism, described driven
Axis and the drive shaft are parallel to each other, and the follower plate is fixed on the both ends of the driven shaft, be provided on the driven shaft and
The driven voller pilot trench that middle part roller on the link chain mechanism matches.
7. logistic sorting machine device people's system of artificial intelligence auxiliary according to claim 1, which is characterized in that the support
Mechanism includes: midfoot support plate, support upper cover plate, support lower plate, middle connecting plate；The middle connecting plate is fixed on described
The top of ring cam set, the support lower plate are fixed on the top of the middle connecting plate；The midfoot support plate is fixed on
The two sides of the support lower plate, the support upper cover plate are fixed on the midfoot support plate；It is set on the midfoot support plate
It is equipped with the slot structure to match with the middle part roller on the link chain mechanism.
8. logistic sorting machine device people's system of artificial intelligence auxiliary according to claim 1, which is characterized in that the chain
Mechanism includes: carrier bar, upper roller, lower roller, and the carrier bar constitutes ring structure, is provided on the carrier bar with being hinged
The recess portion of intermediate calender rolls sub-aperture, upper hole, mider hole, bottom hole, recess portion, protrusion, the previous carrier bar is inserted in next
The protrusion of a carrier bar, the upper hole, bottom hole at coaxially arranged, the rod axis pass through the mider hole, on
Portion hole, bottom hole are connected with the upper roller in the top movable of the roller axle, connect in the lower removable of the roller axle
There is the lower roller.
9. logistic sorting machine device people's system of artificial intelligence auxiliary according to claim 1, which is characterized in that the annular
Cam includes: descending curve, upward slope curve, bottom curve, top curve, and the opening curve is located at the upper of the bottom curve
Portion, the top for closing up curve and being located at the upward slope curve；The descending curve, bottom curve, upward slope curve, top curve
Be connected with each other and constitute constitute it is smooth excessively.
10. logistic sorting machine device people's system of artificial intelligence auxiliary according to claim 1, which is characterized in that the intelligence
Whether energy networked control systems include: sorting detecting function block, currently break down for detecting sorting line robot；Failure
Functional block is obtained, for when the sorting detecting function block detects that the sorting line robot currently breaks down,
The problem of capturing intelligent robot state；Logic function block, for judging whether described problem state is that network environment is asked
Topic or system mistake problem；First generation module, for judging described problem state for the network in the logic function block
When environmental problem or 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 described
The operation of fault message, and diagnosis two dimensional code is generated according to the operation；Scanning recognition module, for the diagnosis two dimensional code
It is scanned and identifies, obtain the corresponding diagnostic message of the diagnosis two dimensional code；And control module is executed, for according to
Diagnostic message adjusts the sorting line robot；Module is obtained, for judging described problem shape in the logic function block
When state is mechanical movement problem, corresponding error code is obtained according to the mechanical movement problem；The logic function block is specifically used
In: obtain problem error code corresponding to described problem state；According to described problem error code judge described problem state whether be
The network environment problem or system mistake problem.
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| CN109046996B (en) | 2020-10-30 |
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