CN108789411B - AI-based logistics sorting robot - Google Patents
AI-based logistics sorting robot Download PDFInfo
- Publication number
- CN108789411B CN108789411B CN201810686998.3A CN201810686998A CN108789411B CN 108789411 B CN108789411 B CN 108789411B CN 201810686998 A CN201810686998 A CN 201810686998A CN 108789411 B CN108789411 B CN 108789411B
- Authority
- CN
- China
- Prior art keywords
- driving
- chain
- plate
- sorting
- paw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to industrial automation equipment, in particular to robot equipment for realizing material sorting. An AI-based logistics sorting robot comprises an intelligent control system and a sorting assembly line robot; the sorting assembly line robot comprises: the mechanical arm comprises a supporting mechanism, a mechanical arm used for realizing material sorting, a chain mechanism used for driving the mechanical arm to move, a driving mechanism used for driving the chain mechanism to move, an upper cam pressing plate used for driving the mechanical arm to open and close a paw, an annular cam used for driving the mechanical arm to realize longitudinal movement, a dynamic track mechanism used for bearing materials, a material pushing mechanical arm mechanism used for pushing the materials to the mechanical arm, and a combined support used for fixing the supporting mechanism, the dynamic track mechanism and the material pushing mechanical arm mechanism. The invention is applied to the material sorting process; the logistics sorting robot based on the AI is used for realizing the grabbing and moving of materials and ensuring the stability and smoothness of the sorting process.
Description
Technical Field
The invention relates to industrial automation equipment, in particular to robot equipment for realizing material sorting.
Background
A sorting assembly line robot is a robot with a sensor, an objective lens and an electronic optical system, and can quickly sort goods.
The sorting pipeline robot detects, extracts, identifies and tracks a moving target in an image sequence through visual tracking and obtains a moving track of the target, so that the target behavior is understood through further processing and analysis, and higher-level tasks are completed. In the sorting system, designed targets will be constantly in the field of view of the camera, and the system will identify, detect and record the results for each target.
The application field is as follows: logistics, poultry, chemical, ore, etc.;
the application effect is as follows: the delivery period is reduced, and the enterprise competitiveness is improved;
the process comprises the following steps: the automatic assembly line conveys products with different sizes and shapes to the camera below the camera in sequence, and the data are transmitted to the robot and then are put into different small trolleys according to the shapes and sizes of the products.
The sorting assembly line robot has the characteristics that:
1. the working efficiency is high. From the name of the robot in the high-speed sorting assembly line, the robot is very strong in operation capacity on the assembly line, can perform sorting of articles for 2-3 times within one second, and can be quickly placed into a specified packaging box;
2. the accuracy of grabbing the sorted objects is high. It is known that when the sortation flows on an assembly line, its position cannot be sufficiently precise. The high-speed sorting assembly line robot has certain recognition capability on the position of the object, so that the robot can instantly catch the object to be sorted;
3. and a plurality of high-speed sorting assembly line robots can perform work division cooperation, and the coordination capability is strong. On the same production line, a plurality of high-speed sorting production line robots can be distributed according to the needs of manufacturers, so that the production benefit is greatly enhanced.
Artificial Intelligence (Artificial Intelligence), abbreviated in english as AI. The method is a new technical science for researching and developing theories, methods, technologies and application systems for simulating, extending and expanding human intelligence. Artificial intelligence is a branch of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence, a field of research that includes robotics, language recognition, image recognition, natural language processing, and expert systems, among others.
Disclosure of Invention
The invention aims to provide an AI-based logistics sorting robot which is applied to the material sorting process; the logistics sorting robot based on the AI is used for realizing the grabbing and moving of materials and ensuring the stability and smoothness of the sorting process.
An AI-based logistics sorting robot comprises an intelligent control system and a sorting assembly line robot; the sorting assembly line robot comprises: the device comprises a supporting mechanism, a material sorting mechanical arm, a chain mechanism for driving the material sorting mechanical arm to move, a driving mechanism for driving the chain mechanism to move, an upper cam pressing plate for driving the material sorting mechanical arm to open and close a paw, an annular cam for driving the material sorting mechanical arm to move longitudinally, a dynamic track mechanism for bearing materials, a material pushing mechanical arm mechanism for pushing the materials to the material sorting mechanical arm, a combined support for fixing the supporting mechanism, the dynamic track mechanism and the material pushing mechanical arm mechanism, and a synchronous transmission mechanism for realizing synchronous movement of the material sorting mechanical arm and the material pushing mechanical arm mechanism; the chain mechanism is movably connected with the supporting mechanism, the material sorting mechanical arm is fixedly connected with the chain mechanism, the driving mechanism and the upper cam pressing plate are fixedly connected with the supporting mechanism, the annular cam is positioned at the lower part of the chain mechanism, a lower roller on the material sorting mechanical arm is always attached to the annular cam, and a lower pressing bearing on the material sorting mechanical arm is matched with the upper cam pressing plate; the dynamic track mechanism forms an annular structure, the material pushing manipulator mechanism is positioned at the central part of the dynamic track mechanism, and the local structure of the dynamic track mechanism is positioned in the grabbing range of the material sorting manipulator; the synchronous transmission mechanism is movably connected to the lower part of the combined bracket;
the synchronous drive mechanism includes: the driving mechanism comprises a synchronous output shaft, a first driving gear, a first driven gear, a universal coupling, a second driving gear and a second driven gear, wherein the synchronous output shaft is fixedly connected to the driving mechanism, and the first driving gear is fixedly connected to the tail end of the synchronous output shaft; the universal coupling is movably connected to the bottom of the combined support, the first driven gear and the second driving gear are fixedly connected to two ends of the universal coupling, and the second driven gear is fixedly connected to a chain wheel of the material pushing manipulator mechanism; the first driving gear is matched with the first driven gear, and the second driving gear is matched with the second driven gear; the pushing claws of the material sorting mechanical arm and the material pushing mechanical arm have the same linear speed.
Preferably, the dynamic rail mechanism includes: the device comprises an annular track, a first cross rod, a second cross rod, connecting battens, parallel driven rods, parallel driving rods, fine adjustment screw rods and track fine adjustment handles, wherein the connecting battens are fixedly connected to the annular track, and the first cross rod and the second cross rod which are parallel to each other are fixedly connected between the connecting battens; one end of the parallel driven rod is hinged to the first connecting hole of the combined support, and the other end of the parallel driven rod is hinged to the first cross rod; one end of the parallel driving rod is hinged to a second connecting hole of the combined support, and the other end of the parallel driving rod is hinged to the second cross rod; one end of the fine adjustment driving rod is hinged to the parallel driving rod, the fine adjustment screw is movably connected to a chain support of the material pushing manipulator mechanism, the fine adjustment driving rod and the fine adjustment screw are in threaded fit, and one end of the fine adjustment screw is fixedly connected with the track fine adjustment handle.
Preferably, the pusher manipulator mechanism comprises: the chain comprises a chain support, a chain wheel, a chain and a pushing paw, wherein the chain wheel is movably connected with the chain support, the chain is movably connected with the chain wheel, and the pushing paw is fixedly connected with the chain.
Preferably, the union stent comprises: the annular cam is fixedly connected with the cam connecting plate, and the material pushing manipulator mechanism is fixedly connected with the material pushing connecting plate; and a first connecting hole and a second connecting hole which are matched with the dynamic track mechanism are arranged on the supporting arm.
Preferably, the material sorting robot comprises: the linear guide rail, the linear sliding block, the paw shell, the paw core shaft, the paw spring, the downward pressing bearing, the tail end push plate, the middle connecting plate and the paw; the linear guide rail is fixedly connected with the chain mechanism, the linear sliding block is movably connected to the linear guide rail, and the paw shell is fixedly connected with the linear sliding block; the paw core shaft is movably connected to the paw shell, the paw spring is arranged outside the paw core shaft, and the paw spring has a tendency of pushing the paw core shaft to move upwards; the lower pressing bearing is arranged at the upper end part of the paw mandrel; the lower end part of the paw core shaft is provided with a tail end push plate, the end part of the tail end push plate is hinged with one end of three middle connecting plates, the other end of each middle connecting plate is hinged with the end part of the paw, and the paw is hinged with the paw shell.
Preferably, the material sorting robot further comprises: the roller connecting plate is fixedly connected with the linear sliding block, and the lower roller is movably connected with the roller connecting plate.
Preferably, the moving direction of the gripper housing and the moving direction of the chain mechanism are perpendicular to each other.
Preferably, the drive mechanism comprises: the device comprises a turntable motor, a harmonic reducer, a driving shaft, an upper driving plate, a lower driving plate, an upper bearing and a lower bearing; an output shaft of the turntable motor is fixedly connected with an input hole of the harmonic reducer, and an output shaft of the harmonic reducer is fixedly connected with an input hole of the driving shaft; the driving shaft is movably connected to the supporting mechanism through the upper bearing and the lower bearing, and a shell of the harmonic reducer is fixedly connected to the supporting mechanism; an upper driving plate matched with the upper roller on the chain mechanism is arranged on the upper side of the driving shaft, and a lower roller driving plate matched with the lower roller on the chain mechanism is arranged on the lower side of the driving shaft; and the driving shaft is provided with a roller groove matched with the middle roller on the chain mechanism.
Preferably, the drive mechanism further comprises: driven shaft, driven plate, driven roller groove, driven shaft swing joint in supporting mechanism, the driven shaft with the drive shaft is parallel to each other, the driven plate link firmly in the both ends of driven shaft, be provided with on the driven shaft with the last middle part roller assorted driven roller groove of chain mechanism.
Preferably, the support mechanism includes: the middle supporting plate, the supporting upper cover plate, the supporting lower bottom plate and the middle connecting plate are arranged on the upper side of the supporting frame; the middle connecting plate is fixedly connected to the upper part of the annular cam, and the lower supporting plate is fixedly connected to the upper part of the middle connecting plate; the middle supporting plate is fixedly connected to two sides of the supporting lower bottom plate, and the supporting upper cover plate is fixedly connected to the middle supporting plate; and a groove structure matched with the middle roller on the chain mechanism is arranged on the middle supporting plate.
Preferably, the chain mechanism includes: the chain plate, go up roller, lower roller, the chain plate articulates ground mutually and constitutes annular structure, be provided with on the chain plate: the chain plate structure comprises a middle roller hole, an upper hole, a middle hole, a lower hole, a concave part and a convex part, wherein the concave part of the previous chain plate is sleeved in the convex part of the next chain plate, the upper hole and the lower hole are coaxially arranged, the roller shaft penetrates through the middle hole, the upper hole and the lower hole, the upper roller is movably connected to the upper part of the roller shaft, and the lower roller is movably connected to the lower part of the roller shaft.
Preferably, the driving mechanism is provided with an upper roller groove matched with the upper roller, and the driving mechanism is provided with a lower roller groove matched with the lower roller.
Preferably, an opening curve and a closing curve are arranged on the upper cam pressing plate, a lower pressing bearing on the material sorting manipulator is firstly contacted with the opening curve, and the material sorting manipulator is opened; and the pressing bearing on the material sorting manipulator is contacted with the folding curve again, and the material sorting manipulator is gradually folded and grasped.
Preferably, the ring cam includes: the folding curve is positioned on the upper part of the ascending curve; the downhill curve, the bottom curve, the uphill curve and the top curve are connected with each other to form a smooth transition.
Preferably, the lower roller on the material sorting manipulator moves to the bottom curve along the downhill curve, and the height of the material sorting manipulator is reduced; and the lower idler wheel on the material sorting mechanical arm moves towards the top curve along the uphill curve, and the height of the material sorting mechanical arm is lifted.
The intelligent control system comprises: the sorting detection function block is used for detecting whether the sorting assembly line robot breaks down currently; the fault acquisition function block is used for capturing the problem state of the sorting assembly line robot when the sorting detection function block detects that the sorting assembly line robot has a fault currently; the logic function block is used for judging whether the problem state is a network environment problem or a system error problem; the first generation module is used for generating and displaying a problem two-dimensional code of the network environment problem or the system error problem when the logic function block judges that the problem state is the network environment problem or the system error problem, so that the mobile terminal scans the problem two-dimensional code to obtain corresponding fault information, receives the operation of a user aiming at the fault information, and generates a diagnosis two-dimensional code according to the operation; the scanning and identifying module is used for scanning and identifying the diagnosis two-dimensional code to obtain diagnosis information corresponding to the diagnosis two-dimensional code; the execution control module is used for adjusting the sorting assembly line robot according to the diagnosis information; the acquisition module is used for acquiring a corresponding fault code according to the mechanical motion problem when the logic function block judges that the problem state is the mechanical motion problem; the logic function block is specifically configured to: acquiring a problem fault code corresponding to the problem state; and judging whether the problem state is the network environment problem or the system error problem according to the problem fault code.
Drawings
Fig. 1 is a schematic structural view of an AI-based logistics sorting robot according to the present invention;
fig. 2, 3, 4, 5, 6, 7 and 13 are partial structural schematic diagrams of the AI-based logistics sorting robot according to the invention;
fig. 8 is a schematic structural view of a link plate of the AI-based logistics sorting robot according to the present invention;
fig. 9 and 10 are partial structural schematic diagrams of the AI-based logistics sorting robot of the invention;
fig. 11 is a schematic structural view of a joint support of the AI-based logistics sorting robot of the present invention;
fig. 12 is a schematic structural view of an endless track of the AI-based logistics sorting robot of the present invention.
1 driving mechanism, 2 supporting mechanism, 3 chain mechanism, 4 upper cam pressing plate, 5 annular cam, 6 mechanical arm, 11 turntable motor, 12 harmonic reducer, 13 driving shaft, 14 upper driving plate, 15 lower driving plate, 16 upper bearing, 17 lower bearing, 18 roller groove, 21 middle supporting plate, 22 supporting upper cover plate, 23 supporting lower bottom plate, 24 middle connecting plate, 25 descending curve, 26 ascending curve, 28 opening curve, 27 closing curve, 29 bottom curve, 30 top curve, 31 driven shaft, 32 driven plate, 33 driven roller groove, 41 chain plate, 42 middle roller hole, 43 upper hole, 44 middle hole, 45 lower hole, 46 concave part, 47 convex part, 48 upper roller, 49 lower roller, 50 upper roller groove, 51 lower roller groove, 52 middle roller, 53 upper supporting roller groove, 54 lower supporting roller groove, 60 linear guide rail, 61 linear slide block, 62 hand claw shell, 48 hand claw shell, 63 gripper mandrels, 64 gripper springs, 65 hold-down bearings, 66 tail end push plates, 67 intermediate connecting plates, 68 grippers, 69 roller connecting plates, 70 lower rollers, 71 material pushing manipulator mechanisms, 72 combined supports, 73 dynamic track mechanisms, 74 cam connecting plates, 75 material pushing connecting plates, 76 first connecting holes, 77 second connecting holes, 78 annular tracks, 79 first cross bars, 80 second cross bars, 81 connecting strips, 82 supporting arms, 83 parallel driven rods, 84 parallel driving rods, 85 fine adjustment driving rods, 86 fine adjustment screw rods, 87 track fine adjustment handles, 90 chain supports, 91 chain wheels, 92 chains, 93 pushing grippers, 100 synchronous transmission mechanisms, 101 synchronous output shafts, 102 first driving gears, 103 first driven gears, 104 universal couplings, 105 second driving gears and 106 second driven gears.
Detailed Description
The present invention will be described in further detail below, but without limiting the invention in any way, with reference to the following figures, wherein like reference numerals represent like elements. As described above, the present invention provides an AI-based logistics sorting robot, which is applied in the process of material sorting; the logistics sorting robot based on the AI is used for realizing the grabbing and moving of materials and ensuring the stability and smoothness of the sorting process.
Fig. 1 is a schematic structural view of an AI-based logistics sorting robot according to the present invention, fig. 2, 3, 4, 5, 6, 7, and 13 are schematic partial structural views of the AI-based logistics sorting robot according to the present invention, fig. 8 is a schematic structural view of a link plate of the AI-based logistics sorting robot according to the present invention, fig. 9 and 10 are schematic partial structural views of the AI-based logistics sorting robot according to the present invention, fig. 11 is a schematic structural view of a joint support of the AI-based logistics sorting robot according to the present invention, and fig. 12 is a schematic structural view of a circular orbit of the AI-based logistics sorting robot according to the present invention.
An AI-based logistics sorting robot comprises an intelligent control system and a sorting assembly line robot; the sorting assembly line robot comprises: the device comprises a supporting mechanism 2, a material sorting mechanical arm 6, a chain mechanism 3 for driving the material sorting mechanical arm 6 to move, a driving mechanism 1 for driving the chain mechanism 3 to move, an upper cam pressing plate 4 for driving the material sorting mechanical arm 6 to open and close a paw, a ring cam 5 for driving the material sorting mechanical arm 6 to move longitudinally, a dynamic track mechanism 73 for bearing materials, a material pushing mechanical arm mechanism 71 for pushing the materials to the material sorting mechanical arm 6, a combined bracket 72 for fixing the supporting mechanism 2, the dynamic track mechanism 73 and the material pushing mechanical arm mechanism 71, and a synchronous transmission mechanism 100 for realizing synchronous movement of the material sorting mechanical arm 6 and the material pushing mechanical arm mechanism 71; the chain mechanism 3 is movably connected to the supporting mechanism 2, the material sorting manipulator 6 is fixedly connected to the chain mechanism 3, the driving mechanism 1 and the upper cam pressing plate 4 are fixedly connected to the supporting mechanism 2, the annular cam 5 is positioned at the lower part of the chain mechanism 2, the lower roller 70 on the material sorting manipulator 6 is always attached to the annular cam 5, and the lower pressing bearing 65 on the material sorting manipulator 6 is matched with the upper cam pressing plate 4; the dynamic track mechanism 73 is of an annular structure, the pushing manipulator mechanism 71 is located at the central part of the dynamic track mechanism 73, and the local structure of the dynamic track mechanism 73 is located in the grabbing range of the material sorting manipulator 6; the synchronous transmission mechanism 100 is movably connected to the lower part of the combined bracket 72;
the synchronous drive mechanism 100 includes: the driving gear mechanism comprises a synchronous output shaft 101, a first driving gear 102, a first driven gear 103, a universal coupling 104, a second driving gear 105 and a second driven gear 106, wherein the synchronous output shaft 101 is fixedly connected to the driving mechanism 1, and the first driving gear 102 is fixedly connected to the tail end of the synchronous output shaft 101; the universal coupling 104 is movably connected to the bottom of the combined support, the first driven gear 103 and the second driving gear 105 are fixedly connected to two ends of the universal coupling 104, and the second driven gear 106 is fixedly connected to the chain wheel 91 of the material pushing manipulator mechanism 71; the first driving gear 102 is matched with the first driven gear 103, and the second driving gear 105 is matched with the second driven gear 106; the pushing claws 93 of the material sorting manipulator 6 and the pushing manipulator mechanism 71 have the same linear speed.
More specifically, the dynamic rail mechanism 73 includes: the device comprises an annular track 78, a first cross bar 79, a second cross bar 80, a connecting lath 81, a parallel driven rod 83, a parallel driving rod 84, a fine adjustment driving rod 85, a fine adjustment screw 86 and a track fine adjustment handle 87, wherein the connecting lath 81 is fixedly connected to the annular track 78, and the first cross bar 79 and the second cross bar 80 which are parallel to each other are fixedly connected between the connecting laths 81; one end of the parallel driven rod 83 is hinged to the first connecting hole 76 of the combined bracket 72, and the other end of the parallel driven rod 83 is hinged to the first cross rod 79; one end of the parallel driving rod 84 is hinged to the second connecting hole 77 of the combined bracket 72, and the other end of the parallel driving rod 84 is hinged to the second cross rod 80; one end of the fine adjustment driving rod 85 is hinged to the parallel driving rod 84, the fine adjustment screw 86 is movably connected to the chain support 90 of the material pushing manipulator mechanism 71, the fine adjustment driving rod 85 and the fine adjustment screw 86 are in threaded fit, and one end of the fine adjustment screw 86 is fixedly connected with the track fine adjustment handle 87.
More specifically, the pushing robot mechanism 71 includes: chain support 90, sprocket 91, chain 92, promotion hand claw 93, sprocket 91 swing joint in chain support 90, chain 92 swing joint in sprocket 91, it links firmly in to promote hand claw 93 chain 92.
More specifically, the union bracket 72 includes: the circular cam 5 is fixedly connected with the cam connecting plate 74, the material pushing connecting plate 75 and the supporting arm 82, and the material pushing manipulator mechanism 71 is fixedly connected with the material pushing connecting plate 75; the support arm 82 is provided with a first connecting hole 76 and a second connecting hole 77 which are matched with the dynamic track mechanism 73.
More specifically, the material sorting robot 6 includes: the linear guide rail 60, the linear sliding block 61, the paw shell 62, the paw core shaft 63, the paw spring 64, the downward pressing bearing 65, the tail end push plate 66, the middle connecting plate 67 and the paw 68; the linear guide rail 60 is fixedly connected with the chain mechanism 3, the linear sliding block 61 is movably connected to the linear guide rail 60, and the paw shell 62 is fixedly connected with the linear sliding block 61; the paw spindle 63 is movably connected to the paw shell 62, the paw spring 64 is arranged outside the paw spindle 63, and the paw spring 64 has a tendency of pushing the paw spindle 63 to move upwards; the lower pressing bearing 65 is arranged at the upper end part of the paw mandrel 63; a tail end push plate 66 is arranged at the lower end part of the paw core shaft 63, one end of three middle connecting plates 67 is hinged at the end part of the tail end push plate 66, the other end of the middle connecting plates 67 is hinged at the end part of the paw 68, and the paw 68 is hinged at the paw shell 62.
More specifically, the material sorting robot 6 further includes: the roller connecting plate 69 is fixedly connected with the linear sliding block 61, and the lower roller 70 is movably connected with the roller connecting plate 69.
More specifically, the moving direction of the gripper housing 62 and the moving direction of the chain mechanism 3 are perpendicular to each other.
More specifically, the drive mechanism 1 includes: a turntable motor 11, a harmonic reducer 12, a driving shaft 13, an upper driving plate 14, a lower driving plate 15, an upper bearing 16 and a lower bearing 17; an output shaft of the turntable motor 11 is fixedly connected to an input hole of the harmonic reducer 12, and an output shaft of the harmonic reducer 12 is fixedly connected to an input hole of the driving shaft 13; the driving shaft 13 is movably connected to the supporting mechanism 2 through the upper bearing 16 and the lower bearing 17, and a shell of the harmonic reducer 12 is fixedly connected to the supporting mechanism 2; an upper driving plate 14 matched with an upper roller 48 on the chain mechanism 3 is arranged on the upper side of the driving shaft 13, and a lower driving plate 15 matched with a lower roller 49 on the chain mechanism 3 is arranged on the lower side of the driving shaft 13; the drive shaft 13 is provided with a roller groove 18 that matches the central roller 52 of the chain mechanism 3.
More specifically, the drive mechanism 1 further includes: driven shaft 31, driven plate 32, driven roller groove 33, driven shaft 31 swing joint in supporting mechanism 2, driven shaft 31 with drive shaft 13 is parallel to each other, driven plate 32 link firmly in the both ends of driven shaft 31, be provided with on the driven shaft 31 with middle part roller 52 assorted driven roller groove 33 on the chain mechanism 3.
More specifically, the support mechanism 2 includes: a middle supporting plate 21, a supporting upper cover plate 22, a supporting lower bottom plate 23 and a middle connecting plate 24; the middle connecting plate 24 is fixedly connected to the upper part of the annular cam 5, and the support lower bottom plate 23 is fixedly connected to the upper part of the middle connecting plate 24; the middle supporting plate 21 is fixedly connected to two sides of the supporting lower bottom plate 23, and the supporting upper cover plate 22 is fixedly connected to the middle supporting plate 21; a groove structure matching with the middle roller 52 of the chain mechanism 3 is provided on the middle support plate 21.
More specifically, the chain mechanism 3 includes: the chain plate 41, upper roller 48, lower roller 49, chain plate 41 constitutes the loop configuration with articulating each other, be provided with on the chain plate 41: the roller comprises a middle roller hole 42, an upper hole 43, a middle hole 44, a lower hole 45, a concave part 46 and a convex part 47, wherein the concave part 46 of the previous chain plate 41 is sleeved in the convex part 47 of the next chain plate 41, the upper hole 43 and the lower hole 45 are coaxially arranged, the roller shaft penetrates through the middle hole 44, the upper hole 43 and the lower hole 45, the upper roller 48 is movably connected to the upper part of the roller shaft, and the lower roller 49 is movably connected to the lower part of the roller shaft.
More specifically, an upper roller groove 50 matching the upper roller 48 is provided in the drive mechanism 1, and a lower roller groove 51 matching the lower roller 49 is provided in the drive mechanism 1.
More specifically, an opening curve 28 and a closing curve 27 are arranged on the upper cam pressing plate 4, a lower pressing bearing 65 on the material sorting manipulator 6 is firstly contacted with the opening curve 28, and the material sorting manipulator 6 is opened; the pressing bearing 65 on the material sorting manipulator 6 contacts the folding curve 27 again, and the material sorting manipulator 6 is gradually folded and grasped.
More specifically, the ring cam 5 includes: a downhill curve 25, an uphill curve 26, a bottom curve 29, a top curve 30, the closing curve 27 being located at the upper part of the bottom curve 29, the opening curve 28 being located at the upper part of the uphill curve 26; the downhill curve 25, the bottom curve 29, the uphill curve 26, and the top curve 30 are connected to each other and form a smooth transition.
More specifically, the lower roller 70 on the material sorting robot 6 moves along the downhill curve 25 towards the bottom curve 29, the height of the material sorting robot 6 being reduced; the lower roller 70 of the material sorting manipulator 6 moves along the uphill curve 26 to the top curve 30, and the height of the material sorting manipulator 6 is raised.
The intelligent control system comprises: the sorting detection function block is used for detecting whether the sorting assembly line robot breaks down currently; the fault acquisition function block is used for capturing the problem state of the sorting assembly line robot when the sorting detection function block detects that the sorting assembly line robot has a fault currently; the logic function block is used for judging whether the problem state is a network environment problem or a system error problem; the first generation module is used for generating and displaying a problem two-dimensional code of the network environment problem or the system error problem when the logic function block judges that the problem state is the network environment problem or the system error problem, so that the mobile terminal scans the problem two-dimensional code to obtain corresponding fault information, receives the operation of a user aiming at the fault information, and generates a diagnosis two-dimensional code according to the operation; the scanning and identifying module is used for scanning and identifying the diagnosis two-dimensional code to obtain diagnosis information corresponding to the diagnosis two-dimensional code; the execution control module is used for adjusting the sorting assembly line robot according to the diagnosis information; the acquisition module is used for acquiring a corresponding fault code according to the mechanical motion problem when the logic function block judges that the problem state is the mechanical motion problem; the logic function block is specifically configured to: acquiring a problem fault code corresponding to the problem state; and judging whether the problem state is the network environment problem or the system error problem according to the problem fault code.
Finally, it should be noted that the above embodiments are merely representative examples of the AI-based logistics sorting robot of the present invention. It is apparent that the AI-based logistics sorting robot of the present invention is not limited to the above-described embodiment, and many variations are possible. Any simple modification, equivalent change and modification of the above embodiments in accordance with the technical spirit of the AI-based logistics sorting robot of the present invention should be considered to fall within the scope of the AI-based logistics sorting robot of the present invention.
Claims (10)
1. An AI-based logistics sorting robot, characterized in that: the system comprises an intelligent control system and a sorting assembly line robot; the sorting assembly line robot comprises: the device comprises a supporting mechanism, a material sorting mechanical arm, a chain mechanism for driving the material sorting mechanical arm to move, a driving mechanism for driving the chain mechanism to move, an upper cam pressing plate for driving the material sorting mechanical arm to open and close a paw, an annular cam for driving the material sorting mechanical arm to move longitudinally, a dynamic track mechanism for bearing materials, a material pushing mechanical arm mechanism for pushing the materials to the material sorting mechanical arm, a combined support for fixing the supporting mechanism, the dynamic track mechanism and the material pushing mechanical arm mechanism, and a synchronous transmission mechanism for realizing synchronous movement of the material sorting mechanical arm and the material pushing mechanical arm mechanism; the chain mechanism is movably connected with the supporting mechanism, the material sorting mechanical arm is fixedly connected with the chain mechanism, the driving mechanism and the upper cam pressing plate are fixedly connected with the supporting mechanism, the annular cam is positioned at the lower part of the chain mechanism, a lower roller on the material sorting mechanical arm is always attached to the annular cam, and a lower pressing bearing on the material sorting mechanical arm is matched with the upper cam pressing plate; the dynamic track mechanism forms an annular structure, the material pushing manipulator mechanism is positioned at the central part of the dynamic track mechanism, and the local structure of the dynamic track mechanism is positioned in the grabbing range of the material sorting manipulator; the synchronous transmission mechanism is movably connected to the lower part of the combined bracket;
the synchronous drive mechanism includes: the driving mechanism comprises a synchronous output shaft, a first driving gear, a first driven gear, a universal coupling, a second driving gear and a second driven gear, wherein the synchronous output shaft is fixedly connected to the driving mechanism, and the first driving gear is fixedly connected to the tail end of the synchronous output shaft; the universal coupling is movably connected to the bottom of the combined support, the first driven gear and the second driving gear are fixedly connected to two ends of the universal coupling, and the second driven gear is fixedly connected to a chain wheel of the material pushing manipulator mechanism; the first driving gear is matched with the first driven gear, and the second driving gear is matched with the second driven gear; the pushing claws of the material sorting mechanical arm and the material pushing mechanical arm have the same linear speed.
2. The AI-based logistics sorting robot of claim 1, wherein the dynamic track mechanism comprises: the device comprises an annular track, a first cross rod, a second cross rod, connecting battens, parallel driven rods, parallel driving rods, fine adjustment screw rods and track fine adjustment handles, wherein the connecting battens are fixedly connected to the annular track, and the first cross rod and the second cross rod which are parallel to each other are fixedly connected between the connecting battens; one end of the parallel driven rod is hinged to the first connecting hole of the combined support, and the other end of the parallel driven rod is hinged to the first cross rod; one end of the parallel driving rod is hinged to a second connecting hole of the combined support, and the other end of the parallel driving rod is hinged to the second cross rod; one end of the fine adjustment driving rod is hinged to the parallel driving rod, the fine adjustment screw is movably connected to a chain support of the material pushing manipulator mechanism, the fine adjustment driving rod and the fine adjustment screw are in threaded fit, and one end of the fine adjustment screw is fixedly connected with the track fine adjustment handle.
3. The AI-based logistics sorting robot of claim 1, wherein the pusher manipulator mechanism comprises: the chain comprises a chain support, a chain wheel, a chain and a pushing paw, wherein the chain wheel is movably connected with the chain support, the chain is movably connected with the chain wheel, and the pushing paw is fixedly connected with the chain.
4. The AI-based logistics sorting robot of claim 1, wherein the material sorting robot comprises: the device comprises a linear guide rail, a linear sliding block, a paw shell, a paw core shaft, a paw spring, a downward pressing bearing, a tail end push plate, a middle connecting plate and a paw; the linear guide rail is fixedly connected with the chain mechanism, the linear sliding block is movably connected to the linear guide rail, and the paw shell is fixedly connected with the linear sliding block; the paw core shaft is movably connected to the paw shell, the paw spring is arranged outside the paw core shaft, and the paw spring has a tendency of pushing the paw core shaft to move upwards; the lower pressing bearing is arranged at the upper end part of the paw mandrel; the lower end part of the paw core shaft is provided with a tail end push plate, the end part of the tail end push plate is hinged with one end of three middle connecting plates, the other end of each middle connecting plate is hinged with the end part of the paw, and the paw is hinged with the paw shell.
5. The AI-based logistics sorting robot of claim 1, wherein the drive mechanism comprises: the device comprises a turntable motor, a harmonic reducer, a driving shaft, an upper driving plate, a lower driving plate, an upper bearing and a lower bearing; an output shaft of the turntable motor is fixedly connected with an input hole of the harmonic reducer, and an output shaft of the harmonic reducer is fixedly connected with an input hole of the driving shaft; the driving shaft is movably connected to the supporting mechanism through the upper bearing and the lower bearing, and a shell of the harmonic reducer is fixedly connected to the supporting mechanism; an upper driving plate matched with an upper roller on the chain mechanism is arranged on the upper side of the driving shaft, and a lower driving plate matched with a lower roller on the chain mechanism is arranged on the lower side of the driving shaft; and the driving shaft is provided with a roller groove matched with the middle roller on the chain mechanism.
6. The AI-based logistics sorting robot of claim 1, wherein the drive mechanism further comprises: driven shaft, driven plate, driven roller groove, driven shaft swing joint in supporting mechanism, driven shaft and drive shaft are parallel to each other, the driven plate link firmly in the both ends of driven shaft, be provided with on the driven shaft with the last middle part roller assorted driven roller groove of chain mechanism.
7. The AI-based logistics sorting robot of claim 1, wherein the support mechanism comprises: the middle supporting plate, the supporting upper cover plate, the supporting lower bottom plate and the middle connecting plate are arranged on the upper side of the supporting frame; the middle connecting plate is fixedly connected to the upper part of the annular cam, and the lower supporting plate is fixedly connected to the upper part of the middle connecting plate; the middle supporting plate is fixedly connected to two sides of the supporting lower bottom plate, and the supporting upper cover plate is fixedly connected to the middle supporting plate; and a groove structure matched with the middle roller on the chain mechanism is arranged on the middle supporting plate.
8. The AI-based logistics sorting robot of claim 1, wherein the chain mechanism comprises: the chain plate, go up roller, lower roller, the chain plate articulates ground mutually and constitutes annular structure, be provided with on the chain plate: the chain plate structure comprises a middle roller hole, an upper hole, a middle hole, a lower hole, a concave part and a convex part, wherein the concave part of the previous chain plate is sleeved in the convex part of the next chain plate, the upper hole and the lower hole are coaxially arranged, a roller shaft penetrates through the middle hole, the upper hole and the lower hole, the upper part of the roller shaft is movably connected with the upper roller, and the lower part of the roller shaft is movably connected with the lower roller.
9. The AI-based logistics sorting robot of claim 1, wherein the ring cam comprises: the device comprises a downhill curve, an uphill curve, a bottom curve and a top curve, wherein an opening curve is positioned at the upper part of the bottom curve, and a closing curve is positioned at the upper part of the uphill curve; the downhill curve, the bottom curve, the uphill curve and the top curve are connected with each other to form a smooth transition.
10. The AI-based logistics sorting robot of claim 1, wherein the intelligent control system comprises: the sorting detection function block is used for detecting whether the sorting assembly line robot breaks down currently; the fault acquisition function block is used for capturing the problem state of the sorting assembly line robot when the sorting detection function block detects that the sorting assembly line robot has a fault currently; the logic function block is used for judging whether the problem state is a network environment problem or a system error problem; the first generation module is used for generating and displaying a problem two-dimensional code of the network environment problem or the system error problem when the logic function block judges that the problem state is the network environment problem or the system error problem, so that the mobile terminal scans the problem two-dimensional code to obtain corresponding fault information, receives the operation of a user aiming at the fault information, and generates a diagnosis two-dimensional code according to the operation; the scanning and identifying module is used for scanning and identifying the diagnosis two-dimensional code to obtain diagnosis information corresponding to the diagnosis two-dimensional code; the execution control module is used for adjusting the sorting assembly line robot according to the diagnosis information; the acquisition module is used for acquiring a corresponding fault code according to the mechanical motion problem when the logic function block judges that the problem state is the mechanical motion problem; the logic function block is specifically configured to: acquiring a problem fault code corresponding to the problem state; and judging whether the problem state is the network environment problem or the system error problem according to the problem fault code.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810686998.3A CN108789411B (en) | 2018-06-28 | 2018-06-28 | AI-based logistics sorting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810686998.3A CN108789411B (en) | 2018-06-28 | 2018-06-28 | AI-based logistics sorting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108789411A CN108789411A (en) | 2018-11-13 |
| CN108789411B true CN108789411B (en) | 2021-06-22 |
Family
ID=64072367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810686998.3A Active CN108789411B (en) | 2018-06-28 | 2018-06-28 | AI-based logistics sorting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108789411B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115196182A (en) * | 2022-08-04 | 2022-10-18 | 蔡思杰 | Recyclable express packaging bag and recycling method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602699A (en) * | 2012-03-30 | 2012-07-25 | 广州西力机械有限公司 | Bottle conveying mechanism connecting linear bottle blowing machine with rotary filling machine |
| CN203158693U (en) * | 2013-03-22 | 2013-08-28 | 江门市君盛实业有限公司 | Conveying device with adjustable height and applied to injection molding machine |
| CN103782924A (en) * | 2014-02-21 | 2014-05-14 | 南通大学 | Small-size annular fowl egg grading sorting system |
| CN105540145A (en) * | 2016-02-04 | 2016-05-04 | 成都泓睿科技有限责任公司 | Horizontal conveying device for liquid detection |
| JP2016088735A (en) * | 2014-11-11 | 2016-05-23 | 株式会社ダイフク | Truck type carrier device |
| CN107008657A (en) * | 2017-05-11 | 2017-08-04 | 东莞市世通国际快件监管中心有限公司 | A kind of logistics sorts platform |
-
2018
- 2018-06-28 CN CN201810686998.3A patent/CN108789411B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602699A (en) * | 2012-03-30 | 2012-07-25 | 广州西力机械有限公司 | Bottle conveying mechanism connecting linear bottle blowing machine with rotary filling machine |
| CN203158693U (en) * | 2013-03-22 | 2013-08-28 | 江门市君盛实业有限公司 | Conveying device with adjustable height and applied to injection molding machine |
| CN103782924A (en) * | 2014-02-21 | 2014-05-14 | 南通大学 | Small-size annular fowl egg grading sorting system |
| JP2016088735A (en) * | 2014-11-11 | 2016-05-23 | 株式会社ダイフク | Truck type carrier device |
| CN105540145A (en) * | 2016-02-04 | 2016-05-04 | 成都泓睿科技有限责任公司 | Horizontal conveying device for liquid detection |
| CN107008657A (en) * | 2017-05-11 | 2017-08-04 | 东莞市世通国际快件监管中心有限公司 | A kind of logistics sorts platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108789411A (en) | 2018-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100484645C (en) | Defective goods automatic sorting method and equipment for high-speed automated production line | |
| CN201930933U (en) | Device for automatically grading by weight | |
| CN105580560A (en) | Apple harvesting robot | |
| FR2725640B1 (en) | MACHINE AND METHOD FOR SORTING VARIOUS OBJECTS USING AT LEAST ONE ROBOTIZED ARM | |
| CN108789411B (en) | AI-based logistics sorting robot | |
| CN111215343A (en) | Sorting robot control system on production line | |
| CN110192472B (en) | Round grading collection robot for picking apples with two arms | |
| CN108789371B (en) | Sorting assembly line robot based on artificial intelligence | |
| Dezaki et al. | A pneumatic conveyor robot for color detection and sorting | |
| CN109046996B (en) | Artificial intelligence assisted logistics sorting robot system | |
| CN204642868U (en) | A kind of Industrial Robot Technology experience system | |
| Kiyokawa et al. | Challenges for future robotic sorters of mixed industrial waste: a survey | |
| CN108940893B (en) | Logistics sorting robot with artificial intelligence | |
| CN108971031B (en) | Process method for realizing logistics sorting by applying artificial intelligence | |
| CN107953339B (en) | Glass bottle sorting parallel robot with compliant structure | |
| US20230065554A1 (en) | Long-stroke and force-control parallel gripper | |
| CN108940892A (en) | Using the robot sorting system of artificial intelligence | |
| CN214772086U (en) | Workpiece sorting mechanical arm based on visual identification | |
| CN205158774U (en) | Real device of instructing of modularization tobacco commodity circulation production line | |
| Ibrahim et al. | Object Detection-based Automatic Waste Segregation using Robotic Arm | |
| Kang et al. | Enhancing recycling efficiency: A rapid glass bottle sorting gripper | |
| CN221046693U (en) | Intelligent sorting robot | |
| CN109720818B (en) | Nondestructive crushing conveying device and working method thereof | |
| CN108927341A (en) | A kind of e-commerce modularization express delivery sorting system | |
| CN210295109U (en) | Intelligent product inspection device for electronic tag |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210521 Address after: 325000 Room 202, building 11, sijiyuanzhu, Xiafang village, nanbaixiang street, Ouhai District, Wenzhou City, Zhejiang Province Applicant after: Yu Chengfu Address before: 325000 Room 204, West technology research and innovation building, Chashan Higher Education Park, Ouhai District, Wenzhou City, Zhejiang Province Applicant before: WENZHOU BEIJIAFU AUTOMATION TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230512 Address after: 511470 One of Lingshan Village (No. 3 Factory), Dagang Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: Guangzhou grezer renewable resources Co.,Ltd. Address before: 325000 Room 202, building 11, sijiyuanzhu, Xiafang village, nanbaixiang street, Ouhai District, Wenzhou City, Zhejiang Province Patentee before: Yu Chengfu |