CN108789411A - Logistic sorting machine device people based on AI - Google Patents
Logistic sorting machine device people based on AI Download PDFInfo
- Publication number
- CN108789411A CN108789411A CN201810686998.3A CN201810686998A CN108789411A CN 108789411 A CN108789411 A CN 108789411A CN 201810686998 A CN201810686998 A CN 201810686998A CN 108789411 A CN108789411 A CN 108789411A
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- manipulator
- driving
- paw
- fixed
- plate
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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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
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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 based on AI, including intelligent control system and sorting pipeline machine people；The sorting pipeline machine people includes：Supporting mechanism, for realizing the manipulator of Material Sorting, for driving the manipulator to realize mobile link chain mechanism, driving mechanism for driving the link chain mechanism movement, for driving the manipulator to realize the overhead cam pressing plate of paw folding, for driving the manipulator to realize the ring cam set of longitudinal movement, dynamic track mechanism for carrying material, pusher manipulator mechanism for material to be pushed to the manipulator, for fixing supporting mechanism, the combined bracket of dynamic track mechanism and pusher manipulator mechanism.The present invention applies during Material Sorting；The present invention is based on the logistic sorting machine device people of AI 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 technology
Pipeline machine people is sorted, is a kind of robot having sensor, object lens and electron-optical system, it can be with
Quickly carry out goods sorting.
Sorting pipeline machine people is detected the moving target in image sequence by vision tracking, extracts, identifies
With the movement locus for tracking and obtaining target, to be further processed and analyze the understanding realized to goal behavior, 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, detects and record result.
Suitable application area：Logistics, poultry, chemical industry, ore etc.；
Application effect：Shipping period is reduced, enterprise competitiveness is improved；
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 shape of product and magnitude classification according to being transferred to after robot.
The characteristics of sorting pipeline machine people：
1, work efficiency is high.From high speed sorting pipeline machine people name we it is known that, this robot is in flowing water
Work capacity on line is very strong, and 2-3 object sorting can be not only executed within one second, can also put it into rule rapidly
In fixed packing box；
2, the accuracy of crawl sorting object is high.It is known that when sorting object flows on assembly line, position is unlikely to be
With high accuracy.And since high speed sorting pipeline machine people has the position of this object certain recognition capability, it can be with
The object for needing to sort is caught in moment；
3, several high speed sorting pipeline machine people can share out the work and help one another, cooperative ability is strong.On same assembly line,
Pipeline machine people can be sorted according to several high speeds that need to distribute of producer, to greatly strengthen productivity effect.
Artificial intelligence（Artificial Intelligence）, english abbreviation AI.It is research, develop for simulating,
Extend and extend intelligent theory, the new technological sciences of method, technology and application system of people.Artificial intelligence is to calculate
One branch of machine science, it attempts to understand essence of intelligence, and produce it is a kind of it is 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..
Invention content
The object of the present invention is to provide a kind of logistic sorting machine device people based on AI, applies the process in Material Sorting
In；The present invention is based on the logistic sorting machine device people of AI ensure that the steady of sort process for realizing the crawl and movement of material
It is fixed, smooth.
A kind of logistic sorting machine device people based on AI, including intelligent control system and sorting pipeline machine people；It is described
Sorting pipeline machine people includes：Supporting mechanism, for realizing the manipulator of Material Sorting, for driving the manipulator to realize
Mobile link chain mechanism, the driving mechanism for driving the link chain mechanism movement, for driving the manipulator to realize paw
The overhead cam pressing plate of folding, the ring cam set for driving the manipulator realization longitudinal movement, the dynamic for carrying material
Rail mechanism, the pusher manipulator mechanism for material to be pushed to the manipulator, for fixing supporting mechanism, dynamic track machine
Structure moves synchronously synchronous with the combined bracket of pusher manipulator mechanism, for realizing the manipulator with pusher manipulator mechanism
Transmission mechanism；The link chain mechanism is movably connected on the supporting mechanism, and the manipulator is fixed on the link chain mechanism, described
Driving mechanism, 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, described
Bottom roller on manipulator is affixed on always on the ring cam set, the pushing bearing on the manipulator and the overhead cam pressing plate
Match；The dynamic track mechanism constitutes the structure of annular, and the pusher manipulator mechanism is located at the dynamic track mechanism
Centre, the partial structurtes of the dynamic track mechanism are located within the scope of the crawl of the manipulator；The Synchronous Transmission
Mechanism is movably connected on the lower part of the combined bracket；
The synchronous drive mechanism includes：Synchronism output axis, No.1 driving gear, No.1 driven gear, Hooks coupling universal coupling, No. two
Driving gear, No. two driven gears, the synchronism output axis are fixed on the driving mechanism, and the No.1 driving 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, and the No.1 is 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 fixed on the pusher
The sprocket wheel of tool mobile phone structure；The No.1 driving gear, No.1 driven gear match, No. two driving gears, No. two it is driven
Gear matches；The promotion paw linear velocity having the same of the manipulator and pusher manipulator mechanism.
Preferably, the dynamic track mechanism includes：It is circular orbit, 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, and the company is fixed on the circular orbit
Fishplate bar item is fixed with the No.1 cross bar being mutually parallel, 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, the fine tuning screw rod flexible connection
In the chain stay of the pusher manipulator mechanism, the fine tuning drive rod and fine tuning screw rod realize screw-thread fit, 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, chain, pushes paw, the sprocket wheel to live at sprocket wheel
Dynamic to be connected to the chain stay, the chain is movably connected on the sprocket wheel, and the promotion paw is fixed on the chain.
Preferably, the combined bracket includes：Cam connecting plate, pusher connecting plate, support arm, the ring cam set are 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, paw shell, paw mandrel, paw bullet
Spring pushes bearing, end push plate, middle connecting plate, paw；The linear guide is fixed on the link chain mechanism, the straight line
Sliding block is movably connected in the linear guide, and the paw shell is fixed on the linear slider；The paw mandrel activity
It is connected to the paw shell, the outside of the paw mandrel is provided with the paw spring, the paw spring, which has, to be pushed away
Move the trend that the paw mandrel moves upwards；The upper end of the paw mandrel is provided with the pushing bearing；Described
The lower end of paw 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 paw, and the paw is articulated with the paw shell.
Preferably, the manipulator further includes：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 paw shell and the direction of motion of the link chain mechanism are mutually perpendicular to.
Preferably, the driving mechanism includes：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 includes：Driven shaft, follower plate, driven voller pilot trench, the driven shaft flexible connection
In the supporting mechanism, the driven shaft and the drive shaft are mutually parallel, and the follower plate is fixed on the two of the driven shaft
It holds, the driven voller pilot trench to match with the middle part roller on the link chain mechanism is provided 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 both 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, the carrier bar constitute annular with being hinged
Structure is provided on the carrier bar：Intermediate calender rolls sub-aperture, upper hole, mider hole, bottom hole, recess portion, protrusion, the previous chain
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.
Intelligent control system includes：Detecting function block is sorted, for detecting whether sorting pipeline machine people currently sends out
Raw failure；Failure obtains functional block, for detecting that the sorting pipeline machine people 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
For the network environment problem or system mistake problem when, generate asking for the network environment problem or the system mistake problem
Quick Response Code is inscribed, and is shown, so that mobile scanning terminal described problem Quick Response Code to be to obtain corresponding fault message, and receives user
Diagnosis Quick Response Code is generated for the operation of the fault message, and according to the operation；Scanning recognition module, for examining described
Disconnected Quick Response Code is scanned and identifies, obtains the corresponding diagnostic message of the diagnosis Quick Response Code；And control module is executed, it is used for
The sorting pipeline machine people is adjusted according to the diagnostic message；Acquisition module, 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：Obtain problem error code corresponding to described problem state；Judge described problem shape according to described problem error code
Whether state is the network environment problem or system mistake problem.
Description of the drawings
Fig. 1 is the structural schematic diagram of the logistic sorting machine device people the present invention is based on AI；
Fig. 2,3,4,5,6,7,13 are the partial structural diagrams of the logistic sorting machine device people the present invention is based on AI；
Fig. 8 is the structural schematic diagram of the carrier bar of the logistic sorting machine device people the present invention is based on AI；
Fig. 9,10 be logistic sorting machine device people the present invention is based on AI partial structural diagram；
Figure 11 is the structural schematic diagram of the combined bracket of the logistic sorting machine device people the present invention is based on AI；
Figure 12 is the structural schematic diagram of the circular orbit of the logistic sorting machine device people the present invention is based on AI.
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 times 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 the linear guides, 61 linear sliders, 62 paw shells, 63 paw mandrels, 64
Paw spring, 65 push bearing, 66 end push plates, 67 middle connecting plates, 68 paws, 69 idler wheel connecting plates, 70 times 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 paws, 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.
Specific implementation mode
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, the logistics based on AI sorts
Robot applies during Material Sorting；The present invention is based on the logistic sorting machine device people of AI, for realizing the crawl of material
And movement, it ensure that stabilization, the smoothness of sort process.
Fig. 1 is the structural schematic diagram of the logistic sorting machine device people the present invention is based on AI, and Fig. 2,3,4,5,6,7,13 are this hairs
The partial structural diagram of the bright logistic sorting machine device people based on AI, Fig. 8 are the logistic sorting machine device people the present invention is based on AI
The structural schematic diagram of carrier bar, Fig. 9,10 be logistic sorting machine device people the present invention is based on AI partial structural diagram, Tu11Shi
The present invention is based on the structural schematic diagram of the combined bracket of the logistic sorting machine device people of AI, Figure 12 is that the present invention is based on the logistics of AI point
Pick the structural schematic diagram of the circular orbit of robot.
A kind of logistic sorting machine device people based on AI, including intelligent control system and sorting pipeline machine people；It is described
Sorting pipeline machine people includes：Supporting mechanism 2, for realizing the manipulator 6 of Material Sorting, for driving the manipulator 6
Realize mobile link chain mechanism 3, the driving mechanism 1 for driving the movement of the link chain mechanism 3, for driving the manipulator 6
Realize the overhead cam pressing plate 4 of paw folding, for driving the manipulator 6 to realize the ring cam set 5 of longitudinal movement, for carrying
The dynamic track mechanism 73 of material, the pusher manipulator mechanism 71 for material to be pushed to the manipulator 6 are supported for fixed
The combined bracket 72 of mechanism 2, dynamic track mechanism 73 and pusher manipulator mechanism 71, for realizing the manipulator 6 and pusher
The synchronous drive mechanism 100 that manipulator mechanism 71 moves synchronously；The link chain mechanism 3 is movably connected on the supporting mechanism 2, institute
It states manipulator 6 and is fixed on the link chain mechanism 3, the driving mechanism 1, overhead cam pressing plate 4 are fixed on the supporting mechanism 2, institute
The lower part that ring cam set 5 is located at the link chain mechanism 2 is stated, the bottom roller 70 on the manipulator 6 is affixed on the convex annular always
On wheel 5, pushing bearing 65 and the overhead cam pressing plate 4 on the manipulator 6 match；The dynamic track mechanism 73 is constituted
The structure of annular, the pusher manipulator mechanism 71 are located at the centre of the dynamic track mechanism 73, the dynamic track
The partial structurtes of mechanism 73 are located within the scope of the crawl of the manipulator 6；The synchronous drive mechanism 100 is movably connected on described
The lower part of combined bracket 72；
The synchronous drive mechanism 100 includes：Synchronism output axis 101, No.1 driving gear 102, No.1 driven gear 103, ten thousand
To the driven gear 106 of driving gear 105, two of shaft coupling 104, two, the synchronism output axis 101 is fixed on the driving machine
Structure 1, the No.1 driving gear 102 are fixed on the end of the synchronism output axis 101；104 activity of the Hooks coupling universal coupling is even
It is connected to the bottom of the combined bracket, the No.1 driven gear 103 and No. two driving gears 105 are fixed on the universal joint shaft
The both ends of device 104, No. two driven gears 106 are fixed on the sprocket wheel 91 of the pusher manipulator mechanism 71；The No.1 master
Moving gear 102, No.1 driven gear 103 match, and 105, No. two driven gears 106 of No. two driving gears match；Institute
State 93 linear velocity having the same of promotion paw of 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 mutually parallel 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
The other end of No. two connecting holes 77 of holder 72, the parallel driving lever 84 is 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 fine tuning screw rod 86 realize screw-thread fit, 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, chain 92, pushes paw at sprocket wheel 91
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
Paw 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, paw shell 62, paw core
Axis 63, pushes bearing 65, end push plate 66, middle connecting plate 67, paw 68 at paw 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 paw shell 62 is fixed on
The linear slider 61；The paw mandrel 63 is movably connected on the paw shell 62, in the outside of the paw mandrel 63
It is provided with the paw spring 64, the paw spring 64 has the trend for pushing the paw mandrel 63 to move upwards；Institute
The upper end for stating paw mandrel 63 is provided with the pushing bearing 65；The lower end of the paw mandrel 63 is provided with end to push away
Plate 66 is hinged one end there are three the middle connecting plate 67, the middle connecting plate 67 in the end of the end push plate 66
The other end be articulated with the end of the paw 68, the paw 68 is articulated with the paw shell 62.
More specifically, the manipulator 6 further includes：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 paw 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 49 times driving plates of lower roller 15 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 includes：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 mutually parallel, 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 includes：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 both 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 are mutually cut with scissors
Ground connection constitutes loop configuration, is provided on the carrier bar 41：Intermediate calender rolls sub-aperture 42, upper hole 43, mider hole 44, bottom hole 45,
The recess portion 46 of recess portion 46, protrusion 47, the previous carrier bar 41 is 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, the lower roll is connected 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 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.
Intelligent control system includes：Detecting function block is sorted, for detecting whether sorting pipeline machine people currently sends out
Raw failure；Failure obtains functional block, for detecting that the sorting pipeline machine people 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
For the network environment problem or system mistake problem when, generate asking for the network environment problem or the system mistake problem
Quick Response Code is inscribed, and is shown, so that mobile scanning terminal described problem Quick Response Code to be to obtain corresponding fault message, and receives user
Diagnosis Quick Response Code is generated for the operation of the fault message, and according to the operation；Scanning recognition module, for examining described
Disconnected Quick Response Code is scanned and identifies, obtains the corresponding diagnostic message of the diagnosis Quick Response Code；And control module is executed, it is used for
The sorting pipeline machine people is adjusted according to the diagnostic message；Acquisition module, 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：Obtain problem error code corresponding to described problem state；Judge described problem shape according to described problem error code
Whether state is the network environment problem or system mistake problem.
Finally it is pointed out that above example is only that the present invention is based on the logistic sorting machine device people of AI is more representational
Example.Obviously, the present invention is based on the logistic sorting machine device people of AI to be not limited to the above embodiments, and acceptable there are many deformations.It is every
The technical spirit of the logistic sorting machine device people based on AI is to any simple modification made by above example, equivalent according to the present invention
Variation and modification, are considered as belonging to the protection domain of the logistic sorting machine device people the present invention is based on AI.
Claims (10)
1. a kind of logistic sorting machine device people based on AI, it is characterised in that：Including intelligent control system and sorting pipelined machine
Device people；The sorting pipeline machine people 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 paw 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, for 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 link chain mechanism is movably connected on the supporting mechanism, and the manipulator is fixed on the chain
Mechanism, the driving mechanism, overhead cam pressing plate are fixed on the supporting mechanism, and the ring cam set is located at the link chain mechanism
Lower part, the bottom roller on the manipulator is affixed on always on the ring cam set, the pushing bearing on the manipulator and institute
Overhead cam pressing plate is stated to match；The dynamic track mechanism constitutes the structure of annular, and the pusher manipulator mechanism is located at described
The partial structurtes in the centre of dynamic track mechanism, the dynamic track mechanism are located within the scope of the crawl of the manipulator；
The synchronous drive mechanism is movably connected on the lower part of the combined bracket；
The synchronous drive mechanism includes：Synchronism output axis, No.1 driving gear, No.1 driven gear, Hooks coupling universal coupling, No. two
Driving gear, No. two driven gears, the synchronism output axis are fixed on the driving mechanism, and the No.1 driving 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, and the No.1 is 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 fixed on the pusher
The sprocket wheel of tool mobile phone structure；The No.1 driving gear, No.1 driven gear match, No. two driving gears, No. two it is driven
Gear matches；The promotion paw linear velocity having the same of the manipulator and pusher manipulator mechanism.
2. the logistic sorting machine device people according to claim 1 based on AI, which is characterized in that dynamic track mechanism packet
It includes：Circular orbit, No.1 cross bar, No. two cross bars, meeting stile, parallel follower lever, parallel driving lever, fine tuning drive rod, fine tuning
Screw rod, orbit trimming handle are fixed with the meeting stile on the circular orbit, are fixed between the meeting stile mutually
The parallel No.1 cross bar, No. two cross bars；One end of the parallel follower lever is articulated with the No.1 connection of the combined bracket
The other end in hole, the parallel follower lever is articulated with the No.1 cross bar；One end of the parallel driving lever is articulated with described
No. two connecting holes of holder are closed, the other end of the parallel driving lever is articulated with No. two cross bars；The fine tuning drive rod
One end is articulated with the parallel driving lever, and the fine tuning screw rod is movably connected on the chain stay of the pusher manipulator mechanism,
The fine tuning drive rod and fine tuning screw rod realize screw-thread fit, and the orbit trimming handle is fixed in one end of the fine tuning screw rod
Hand.
3. the logistic sorting machine device people according to claim 1 based on AI, which is characterized in that the pusher manipulator mechanism
Including：Chain stay, chain, pushes paw, the sprocket wheel to be movably connected on the chain stay, the chain activity at sprocket wheel
It is connected to the sprocket wheel, the promotion paw is fixed on the chain.
4. the logistic sorting machine device people according to claim 1 based on AI, which is characterized in that the manipulator includes：Institute
State the linear guide, linear slider, paw shell, paw mandrel, paw spring, push bearing, end push plate, middle connecting plate,
Paw；The linear guide is fixed on the link chain mechanism, and the linear slider is movably connected in the linear guide, described
Paw shell is fixed on the linear slider；The paw mandrel is movably connected on the paw shell, in the paw mandrel
Outside be provided with the paw spring, the paw spring has the trend for pushing the paw mandrel to move upwards；Institute
The upper end for stating paw mandrel is provided with the pushing bearing；The lower end of the paw mandrel is provided with end push plate,
The end of the end push plate is hinged there are three one end of the middle connecting plate, and the other end of the middle connecting plate is articulated with
The end of the paw, the paw are articulated with the paw shell.
5. the logistic sorting machine device people according to claim 1 based on AI, 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 output of the rotary tray motor
Axis is fixed on the input hole of the harmonic speed reducer, and the output shaft fixed connection of the harmonic speed reducer is in the input of the drive shaft
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
It is fixed on the supporting mechanism；Be provided on the upside of the drive shaft match with the upper roller on the link chain mechanism it is 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；In the drive shaft
It is 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 based on AI, which is characterized in that the driving mechanism is also wrapped
It includes：Driven shaft, follower plate, driven voller pilot trench, the driven shaft are movably connected on the supporting mechanism, the driven shaft and described
Drive shaft is mutually parallel, and 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 based on AI, which is characterized in that 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 ring cam set
Top, the support lower plate is fixed on the top of the middle connecting plate；The midfoot support plate is fixed on the support
The both sides of lower plate, the support upper cover plate are fixed on the midfoot support plate；It is provided on the midfoot support plate and institute
State the slot structure that the middle part roller on link chain mechanism matches.
8. the logistic sorting machine device people according to claim 1 based on AI, which is characterized in that the link chain mechanism includes：
Carrier bar, upper roller, lower roller, the carrier bar constitute loop configuration, are provided on the carrier bar with being hinged：Middle roller
The recess portion of hole, upper hole, mider hole, bottom hole, recess portion, protrusion, the previous carrier bar is inserted in next chain
The protrusion of plate, at coaxially arranged, the rod axis passes through the mider hole, upper hole, lower part for the upper hole, bottom hole
Hole is connected with the upper roller in the top movable of the roller axle, the roller axle lower removable be connected with it is described under
Roller.
9. the logistic sorting machine device people according to claim 1 based on AI, which is characterized in that the ring cam set includes：
Descending curve, upward slope curve, bottom curve, top curve, the top opened curve and be located at the bottom curve, the conjunction
Hold together the top that curve is located at the upward slope curve；The descending curve, bottom curve, upward slope curve, top curve are connected with each other
And it is smooth excessively to constitute composition.
10. the logistic sorting machine device people according to claim 1 based on AI, which is characterized in that the intelligentized control method system
System includes：Detecting function block is sorted, for detecting whether sorting pipeline machine people currently breaks down；Failure obtains function
Block, for when the sorting detecting function block detects that the sorting pipeline machine people currently breaks down, described in capture
The problem of intelligent robot state；Logic function block, for judging whether described problem state is network environment problem or system
Problem-Error；First generation module, for judging described problem state for the network environment problem in the logic function block
Or when system mistake problem, the problem of generating the network environment problem or the system mistake problem Quick Response Code, and show, with
Make mobile scanning terminal described problem Quick Response Code to obtain corresponding fault message, and receives user for the fault message
Operation, and diagnosis Quick Response Code is generated according to the operation；Scanning recognition module, for being scanned simultaneously to the diagnosis Quick Response Code
Identification, obtains the corresponding diagnostic message of the diagnosis Quick Response Code；And control module is executed, for according to the diagnostic message tune
The whole sorting pipeline machine people；Acquisition module, for judging that described problem state is transported for machinery in the logic function block
When dynamic problem, corresponding error code is obtained according to the mechanical movement problem；The logic function block is specifically used for：Described in acquisition
Problem error code corresponding to problem state；Judge whether described problem state is the network environment according to described problem error code
Problem or system mistake problem.
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| CN115196182A (en) * | 2022-08-04 | 2022-10-18 | 蔡思杰 | Recyclable express packaging bag and recycling method thereof |
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