CN108940892A - Using the robot sorting system of artificial intelligence - Google Patents
Using the robot sorting system of artificial intelligence Download PDFInfo
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- CN108940892A CN108940892A CN201810686962.5A CN201810686962A CN108940892A CN 108940892 A CN108940892 A CN 108940892A CN 201810686962 A CN201810686962 A CN 201810686962A CN 108940892 A CN108940892 A CN 108940892A
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- driving
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- gripper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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Abstract
The present invention relates to industrial automation equipments, more specifically to a kind of robotic equipment for realizing Material Sorting.A kind of robot sorting system using artificial intelligence, including intelligent control system and sorting line robot；The sorting line robot includes: supporting mechanism, for realizing the manipulator of Material Sorting, for driving the manipulator to realize mobile link chain mechanism, for driving the driving mechanism of the link chain mechanism movement, for driving the manipulator to realize the overhead cam pressing plate of gripper folding, for fixing supporting mechanism, the combined bracket of dynamic track mechanism and pusher manipulator mechanism, the synchronous drive mechanism moved synchronously for realizing the manipulator and pusher manipulator mechanism, for driving the combined bracket to realize the longitudinal moving mechanism of longitudinal movement, for driving the longitudinal moving mechanism to realize the transverse sliding mechanism of transverse shifting.The present invention applies during Material Sorting；The robot sorting system of present invention application artificial intelligence ensure that stabilization, the smoothness of sort process for realizing the crawl and movement of material.
Description
Technical field
The present invention relates to industrial automation equipments, more specifically to a kind of robot for realizing Material Sorting
Equipment.
Background technique
Sorting line robot is a kind of robot for having sensor, object lens and electron-optical system, can be with
Quickly carry out goods sorting.
Sorting line robot detects the moving target in image sequence by vision tracking, is extracted, is identified
With track and obtain the motion profile of target, realize understanding to goal behavior with analysis to be further processed, and complete
More advanced task.In sorting system, the target of design will continuously enter the visual field of camera, and system is then to each mesh
Mark is identified, is detected and recorded result.
Suitable application area: logistics, poultry, chemical industry, ore etc.；
Application effect: reducing shipping period, improves enterprise competitiveness；
Technical process: automatic streamline bundle of lines different size product of different shapes is fed sequentially into camera lower section camera number
It is put into different small handcarts according to being transferred to after robot according to shape of product and magnitude classification.
The characteristics of sorting line robot:
1, work efficiency is high.From the name of high speed sorting line robot we it is known that, this robot is in flowing water
Work capacity on line be it is very strong, the sorting of 2-3 object can be not only executed within one second, rule can also be put it into rapidly
In fixed packing box；
2, the accuracy of crawl sorting object is high.It is known that position is unlikely to be when sorting object flows on assembly line
With high accuracy.And since there is certain recognition capability in position of the high speed sorting line robot to this object, it can be with
The object for needing to sort is caught in moment；
3, several high speed sorting lines robot can shares out the work and help one another, cooperative ability is strong.On same assembly line,
Several high speed sorting lines robot can be needed to distribute according to producer, to greatly strengthen productivity effect.
Artificial intelligence (Artificial Intelligence), english abbreviation AI.It is research, develop for simulating,
Extend and the theory of the intelligence of extension people, method, a new technological sciences of technology and application system.Artificial intelligence is to calculate
One branch of machine science, it attempts to understand essence of intelligence, and produce it is a kind of new can be in such a way that human intelligence be similar
The intelligence machine reacted, the research in the field include robot, language identification, image recognition, natural language processing and specially
Family's system etc..
Summary of the invention
The object of the present invention is to provide a kind of robot sorting systems using artificial intelligence, apply in Material Sorting
During；The robot sorting system of present invention application artificial intelligence ensure that point for realizing the crawl and movement of material
Pick stabilization, the smoothness of process.
A kind of robot sorting system using artificial intelligence, including intelligent control system and sorting line machine
People；The sorting line robot include: supporting mechanism, for realizing the manipulator of Material Sorting, for driving the machine
Tool hand realizes mobile link chain mechanism, the driving mechanism for driving the link chain mechanism movement, for driving the manipulator
Realize the overhead cam pressing plate of gripper folding, for driving the manipulator to realize the ring cam set of longitudinal movement, for carrier
The dynamic track mechanism of material, the pusher manipulator mechanism for material to be pushed to the manipulator are used to fix supporting mechanism, are dynamic
State rail mechanism is transported with the combined bracket of pusher manipulator mechanism, for realizing the manipulator is synchronous with pusher manipulator mechanism
Dynamic synchronous drive mechanism, for driving the combined bracket to realize the longitudinal moving mechanism of longitudinal movement, described for driving
The transverse sliding mechanism of longitudinal moving mechanism realization transverse shifting；The link chain mechanism is movably connected on the supporting mechanism, institute
It states manipulator and is fixed on the link chain mechanism, the driving mechanism, overhead cam pressing plate are fixed on the supporting mechanism, the annular
Cam is located at the lower part of the link chain mechanism, and the bottom roller on the manipulator is affixed on always on the ring cam set, the machine
Tool pushing bearing on hand and the overhead cam pressing plate match；The dynamic track mechanism constitutes the structure of annular, described to push away
Material manipulator mechanism is located at the centre of the dynamic track mechanism, and the partial structurtes of the dynamic track mechanism are located at described
Within the scope of the crawl of manipulator；The synchronous drive mechanism is movably connected on the lower part of the combined bracket, the combined bracket
It is fixed on the longitudinal moving mechanism, the longitudinal moving mechanism is movably connected on the transverse sliding mechanism；
The transverse sliding mechanism includes: cast iron base, transverse shifting sliding block, horizontal drive motor, synchronous cross band driver
Structure, lateral ball nut, transverse ball lead screw, the longitudinal moving mechanism are movably connected on institute by the transverse shifting sliding block
State cast iron base；The shell of the horizontal drive motor is fixed on the longitudinal moving mechanism, and lateral ball nut is fixed on institute
Cast iron base is stated, the transverse ball lead screw is movably connected on the lower part of the longitudinal moving mechanism；The driving motor it is defeated
Shaft and transverse ball lead screw are realized by the synchronous cross tape handler to be connected.
Preferably, the longitudinal moving mechanism include: longitudinal slide unit, slid platform base, longitudinal linear slider, longitudinal motor,
Transmission mechanism for longitudinal synchronous belt, longitudinal screw mandrel, longitudinal ball nut, the longitudinal slide unit pass through longitudinal linear slider activity
It is connected to the slid platform base, the shell of the longitudinal motor, longitudinal ball nut are fixed on the slid platform base；The longitudinal direction
Screw rod is movably connected on longitudinal ball nut, and the output shaft of one end of the longitudinal screw mandrel and the longitudinal motor passes through institute
It states transmission mechanism for longitudinal synchronous belt and realizes connection, the longitudinal slide unit is fixed on the end of the longitudinal screw mandrel.
Preferably, the synchronous drive mechanism include: synchronism output axis, it is No.1 driving gear, No.1 driven gear, universal
Shaft coupling, No. two driving gears, No. two driven gears, the synchronism output axis are fixed on the driving mechanism, the No.1 master
Moving gear is fixed on the synchronism output the tip of the axis；The Hooks coupling universal coupling is movably connected on the bottom of the combined bracket,
The No.1 driven gear and No. two driving gears are fixed on the both ends of the Hooks coupling universal coupling, and No. two driven gears are connected
In the sprocket wheel of the pusher manipulator mechanism；The No.1 driving gear, No.1 driven gear match, No. two driving tooths
Wheel, No. two driven gears match；The promotion gripper of the manipulator and pusher manipulator mechanism linear velocity having the same.
Preferably, the dynamic track mechanism include: circular orbit, it is No.1 cross bar, No. two cross bars, meeting stile, parallel
Follower lever, fine tuning drive rod, finely tunes screw rod, orbit trimming handle at parallel driving lever, is fixed with the company on the circular orbit
Fishplate bar item is fixed with the No.1 cross bar being parallel to each other, No. two cross bars between the meeting stile；The parallel follower lever
One end is articulated with the No.1 connecting hole of the combined bracket, and the other end of the parallel follower lever is articulated with the No.1 cross bar；
One end of the parallel driving lever is articulated with No. two connecting holes of the combined bracket, and the other end of the parallel driving lever is hinged
In No. two cross bars；One end of the fine tuning drive rod is articulated with the parallel driving lever, and the fine tuning screw rod is flexibly connected
In the chain stay of the pusher manipulator mechanism, the fine tuning drive rod and fine tuning screw rod realization are threadedly engaged, described micro-
One end of screw rod is adjusted to be fixed with the orbit trimming handle.
Preferably, the pusher manipulator mechanism includes: chain stay, sprocket wheel, chain, pushes gripper, and the sprocket wheel is living
Dynamic to be connected to the chain stay, the chain is movably connected on the sprocket wheel, and the promotion gripper is fixed on the chain.
Preferably, the combined bracket includes: cam connecting plate, pusher connecting plate, support arm, and the ring cam set is connected
In the cam connecting plate, the pusher manipulator mechanism is fixed on the pusher connecting plate；Be provided on the support arm and
The No.1 connecting hole and No. two connecting holes that the dynamic track mechanism matches.
Preferably, the manipulator includes: the linear guide, linear slider, gripper shell, gripper mandrel, gripper bullet
Spring pushes bearing, end push plate, middle connecting plate, gripper；The linear guide is fixed on the link chain mechanism, the straight line
Sliding block is movably connected in the linear guide, and the gripper shell is fixed on the linear slider；The gripper mandrel activity
It is connected to the gripper shell, the outside of the gripper mandrel is provided with the gripper spring, the gripper spring, which has, to be pushed away
Move the trend that the gripper mandrel moves upwards；The upper end of the gripper mandrel is provided with the pushing bearing；Described
The lower end of gripper mandrel is provided with end push plate, and in the end of the end push plate, hingedly there are three the middle connecting plates
One end, the other end of the middle connecting plate are articulated with the end of the gripper, and the gripper is articulated with the gripper shell.
Preferably, the manipulator further include: idler wheel connecting plate, bottom roller, the idler wheel connecting plate are fixed on described straight
Line sliding block, the bottom roller are movably connected on the idler wheel connecting plate.
Preferably, the direction of motion of the gripper shell and the direction of motion of the link chain mechanism are mutually perpendicular to.
Preferably, the driving mechanism include: rotary tray motor, harmonic speed reducer, drive shaft, upper driving plate, lower driving plate,
Upper bearing (metal), lower bearing；The output shaft fixed connection of the rotary tray motor is in the input hole of the harmonic speed reducer, the harmonic speed reducer
Output shaft fixed connection in the input hole of the drive shaft；The drive shaft is movably connected on institute by the upper bearing (metal), lower bearing
Supporting mechanism is stated, the shell of the harmonic speed reducer is fixed on the supporting mechanism；Be provided on the upside of the drive shaft and
The upper driving plate that upper roller on the link chain mechanism matches is provided with and the link chain mechanism on the downside of the drive shaft
On lower roller under driving plate；The roller to match with the middle part roller on the link chain mechanism is provided in the drive shaft
Slot.
Preferably, the driving mechanism further include: driven shaft, follower plate, driven voller pilot trench, the driven shaft are flexibly connected
In the supporting mechanism, the driven shaft and the drive shaft are parallel to each other, and the follower plate is fixed on the two of the driven shaft
It holds, is provided with the driven voller pilot trench to match with the middle part roller on the link chain mechanism on the driven shaft.
Preferably, the supporting mechanism includes: midfoot support plate, support upper cover plate, support lower plate, middle connecting plate；
The middle connecting plate is fixed on the top of the ring cam set, and the support lower plate is fixed on the upper of the middle connecting plate
Portion；The midfoot support plate is fixed on the two sides of the support lower plate, and the support upper cover plate is fixed on the midfoot support
Plate；The slot structure to match with the middle part roller on the link chain mechanism is provided on the midfoot support plate.
Preferably, the link chain mechanism includes: carrier bar, upper roller, lower roller, and the carrier bar constitutes annular with being hinged
Structure is provided with intermediate calender rolls sub-aperture, upper hole, mider hole, bottom hole, recess portion, protrusion, the previous chain on the carrier bar
The recess portion of plate is inserted in the protrusion of next carrier bar, and the upper hole, bottom hole are at coaxially arranged, the rod
Sub- axis passes through the mider hole, upper hole, bottom hole, the upper roller is connected in the top movable of the roller axle, in institute
The lower removable for stating roller axle is connected with the lower roller.
Preferably, the upper roller pilot trench to match with upper roller is provided in the driving mechanism, in the drive
Motivation structure is provided with the lower roll pilot trench to match with lower roller.
Preferably, it is provided on the overhead cam pressing plate and opens curve, closes up curve, the pushing bearing on the manipulator
The opening curve is first touched, the manipulator opens；Pushing bearing on the manipulator closes up song described in touching again
Line, the manipulator gradually close up promptly.
Preferably, the ring cam set includes: descending curve, upward slope curve, bottom curve, top curve, the opening
Curve is located at the top of the bottom curve, the top for closing up curve and being located at the upward slope curve；The descending curve, bottom
Portion's curve, upward slope curve, top curve be connected with each other and constitute constitute it is smooth excessively.
Preferably, the bottom roller on the manipulator along the descending curve to moving at the bottom curve, it is described
The height of manipulator reduces；Bottom roller on the manipulator along the upward slope curve to moving at the top curve, institute
State the height lifting of manipulator.
Whether intelligent control system includes: sorting detecting function block, currently send out for detecting sorting line robot
Raw failure；Failure obtains functional block, for detecting that the sorting line robot is current in the sorting detecting function block
When breaking down, the problem of capturing the intelligent robot state；Logic function block, for judge described problem state whether be
Network environment problem or system mistake problem；First generation module, for judging described problem state in the logic function block
When for the network environment problem or system mistake problem, asking for the network environment problem or the system mistake problem is generated
Two dimensional code is inscribed, and is shown, so that mobile scanning terminal described problem two dimensional code to be to obtain corresponding fault message, and receives user
Diagnosis two dimensional code is generated for the operation of the fault message, and according to the operation；Scanning recognition module, for examining described
Disconnected two dimensional code is scanned and identifies, obtains the corresponding diagnostic message of the diagnosis two dimensional code；And control module is executed, it is used for
The sorting line robot is adjusted according to the diagnostic message；Module is obtained, for judging institute in the logic function block
When to state problem state be mechanical movement problem, corresponding error code is obtained according to the mechanical movement problem；The logic function
Block is specifically used for: obtaining problem error code corresponding to described problem state；Described problem shape is judged according to described problem error code
Whether state is the network environment problem or system mistake problem.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the present invention using the robot sorting system of artificial intelligence；
Fig. 2,3,4,5,6,7,8 are partial structural diagram of the present invention using the robot sorting system of artificial intelligence；
Fig. 9 is structural schematic diagram of the present invention using the carrier bar of the robot sorting system of artificial intelligence；
Figure 10,11 are partial structural diagram of the present invention using the robot sorting system of artificial intelligence；
Figure 12 is structural schematic diagram of the present invention using the combined bracket of the robot sorting system of artificial intelligence；
Figure 13 is structural schematic diagram of the present invention using the circular orbit of the robot sorting system of artificial intelligence；
Figure 14,15 are partial structural diagram of the present invention using the robot sorting system of artificial intelligence.
1 driving mechanism, 2 supporting mechanisms, 3 link chain mechanisms, 4 overhead cam pressing plates, 5 ring cam sets, 6 manipulators, 11
Rotary tray motor, 12 harmonic speed reducers, 13 drive shafts, driving plate on 14,15 lower driving plates, 16 upper bearing (metal)s, 17 lower bearings,
18 roller slots, 21 midfoot support plates, 22 support upper cover plates, 23 support lower plates, 24 middle connecting plates, 25 descendings are bent
Line, 26 upward slope curves, 28 opening curves, 27 close up curve, 29 bottom curves, 30 top curves, 31 driven shafts, 32
Follower plate, 33 driven voller pilot trench, 41 carrier bars, 42 intermediate calender rolls sub-aperture, 43 upper holes, 44 mider holes, 45 bottom holes, 46
Recess portion, 48 upper rollers, 49 lower rollers, 50 upper roller pilot trench, 51 lower roll pilot trench, 52 middle part rollers, props up on 53 at 47 protrusions
Support roller slot, 54 lower backing roll pilot trench, 60 linear guides, 61 linear sliders, 62 gripper shells, 63 gripper mandrels, 64
Gripper spring, 65 push bearing, 66 end push plates, 67 middle connecting plates, 68 grippers, 69 idler wheel connecting plates, 70 lower rollings
Wheel, 71 pusher manipulator mechanisms, 72 combined brackets, 73 dynamic track mechanisms, 74 cam connecting plates, 75 pusher connecting plates,
76 No.1 connecting holes, 77 No. two connecting holes, 78 circular orbits, 79 No.1 cross bars, 80 No. two cross bars, 81 meeting stiles,
82 support arms, 83 parallel follower levers, 84 parallel driving levers, 85 fine tuning drive rods, 86 fine tuning screw rods, 87 orbit trimming handles
Hand, 90 chain stays, 91 sprocket wheels, 92 chains, 93 push grippers, 100 synchronous drive mechanisms, 101 synchronism output axis,
102 No.1 driving gears, 103 No.1 driven gears, 104 Hooks coupling universal couplings, 105 No. two driving gears, 106 No. two from
Moving gear, 107 longitudinal moving mechanisms, 108 longitudinal slide units, 109 slid platform bases, 110 longitudinal linear sliders, 111 longitudinal electricity
Machine, 112 transmission mechanism for longitudinal synchronous belt, 113 longitudinal screw mandrels, 114 longitudinal ball nuts, 120 transverse sliding mechanisms, 121
Cast iron base, 122 transverse shifting sliding blocks, 123 horizontal drive motors, 124 synchronous cross tape handlers.
Specific embodiment
The present invention is described in further detail below in conjunction with attached drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in attached drawing.As described above, the present invention provides a kind of machines using artificial intelligence
Device people's sorting system, is applied during Material Sorting；The robot sorting system of present invention application artificial intelligence, for real
The crawl and movement of existing material, ensure that stabilization, the smoothness of sort process.
Fig. 1 is structural schematic diagram of the present invention using the robot sorting system of artificial intelligence, and Fig. 2,3,4,5,6,7,8 are
The partial structural diagram of the robot sorting system of present invention application artificial intelligence, Fig. 9 are the present invention using artificial intelligence
The structural schematic diagram of the carrier bar of robot sorting system, Figure 10,11 are robot sorting system of the present invention using artificial intelligence
Partial structural diagram, Figure 12 be the present invention using artificial intelligence robot sorting system combined bracket structural representation
Figure, Figure 13 are structural schematic diagram of the present invention using the circular orbit of the robot sorting system of artificial intelligence, and Figure 14,15 are these
The partial structural diagram of the robot sorting system of artificial intelligence is applied in invention.
A kind of robot sorting system using artificial intelligence, including intelligent control system and sorting line machine
People；The sorting line robot includes: supporting mechanism 2, for realizing the manipulator 6 of Material Sorting, described for driving
Manipulator 6 realizes the mobile link chain mechanism 3, driving mechanism 1 for driving the link chain mechanism 3 to move, described for driving
Manipulator 6 realize gripper folding overhead cam pressing plate 4, for drive the manipulator 6 realize longitudinal movement ring cam set 5,
For carrying the dynamic track mechanism 73 of material, the pusher manipulator mechanism 71 for material to be pushed to the manipulator 6, being used for
Fix the combined bracket 72 of supporting mechanism 2, dynamic track mechanism 73 and pusher manipulator mechanism 71, for realizing the manipulator
6 and pusher manipulator mechanism 71 move synchronously synchronous drive mechanism 100, for driving the combined bracket 72 to realize longitudinal shifting
Dynamic longitudinal moving mechanism 107, for driving the longitudinal moving mechanism 107 to realize the transverse sliding mechanism 120 of transverse shifting；
The link chain mechanism 3 is movably connected on the supporting mechanism 2, and the manipulator 6 is fixed on the link chain mechanism 3, the driving
Mechanism 1, overhead cam pressing plate 4 are fixed on the supporting mechanism 2, and the ring cam set 5 is located at the lower part of the link chain mechanism 2, institute
It states the bottom roller 70 on manipulator 6 to be affixed on always on the ring cam set 5, pushing bearing 65 on the manipulator 6 and described
Overhead cam pressing plate 4 matches；The dynamic track mechanism 73 constitutes the structure of annular, and the pusher manipulator mechanism 71 is located at institute
The centre of dynamic track mechanism 73 is stated, the partial structurtes of the dynamic track mechanism 73 are located at the crawl of the manipulator 6
In range；The synchronous drive mechanism 100 is movably connected on the lower part of the combined bracket 72, and the combined bracket 72 is fixed on
The longitudinal moving mechanism 107, the longitudinal moving mechanism 107 are movably connected on the transverse sliding mechanism 120；
The transverse sliding mechanism 120 includes: cast iron base 121, transverse shifting sliding block 122, horizontal drive motor 123, transverse direction
Synchronous belt drive mechanism 124, lateral ball nut 125, transverse ball lead screw 126, the longitudinal moving mechanism 107 passes through described
Transverse shifting sliding block 122 is movably connected on the cast iron base 121；The shell of the horizontal drive motor 123 is fixed on described
Longitudinal moving mechanism 107, lateral ball nut 125 are fixed on the cast iron base 121,126 activity of transverse ball lead screw
It is connected to the lower part of the longitudinal moving mechanism 107；The output shaft and transverse ball lead screw 126 of the driving motor 123 pass through
The synchronous cross tape handler 124 realizes connection.
More specifically, the longitudinal moving mechanism 107 includes: longitudinal slide unit 108, slid platform base 109, longitudinal linear slider
110, longitudinal motor 111, transmission mechanism for longitudinal synchronous belt 112, longitudinal screw mandrel 113, longitudinal ball nut 114 are described longitudinal sliding
Platform 108 is movably connected on the slid platform base 109 by longitudinal linear slider 110, the shell of the longitudinal motor 111,
Longitudinal ball nut 114 is fixed on the slid platform base 109；The longitudinal screw mandrel 113 is movably connected on longitudinal ball spiral shell
Mother 114, one end of the longitudinal screw mandrel 113 and the output shaft of the longitudinal motor 111 pass through longitudinal toothed belt transmission machine
Structure 112 realizes connection, and the longitudinal slide unit 118 is fixed on the end of the longitudinal screw mandrel 113.
More specifically, the synchronous drive mechanism 100 include: synchronism output axis 101, No.1 driving gear 102, No.1 from
Moving gear 103, the driven gear 106 of driving gear 105, two of Hooks coupling universal coupling 104, two, the synchronism output axis 101 are connected
In the driving mechanism 1, the No.1 driving gear 102 is fixed on the end of the synchronism output axis 101；The universal joint shaft
Device 104 is movably connected on the bottom of the combined bracket, and the No.1 driven gear 103 and No. two driving gears 105 are fixed on
The both ends of the Hooks coupling universal coupling 104, No. two driven gears 106 are fixed on the sprocket wheel of the pusher manipulator mechanism 71
91；The No.1 driving gear 102, No.1 driven gear 103 match, 105, No. two driven gears of No. two driving gears
106 match；The linear velocity having the same of promotion gripper 93 of the manipulator 6 and pusher manipulator mechanism 71.
More specifically, the dynamic track mechanism 73 includes: circular orbit 78,79, No. two cross bars 80 of No.1 cross bar, connection
Lath 81, parallel follower lever 83, parallel driving lever 84, fine tuning drive rod 85, fine tuning screw rod 86, orbit trimming handle 87, it is described
It is fixed with the meeting stile 81 on circular orbit 78, it is horizontal that the No.1 being parallel to each other is fixed between the meeting stile 81
79, No. two cross bars 80 of bar；One end of the parallel follower lever 83 is articulated with the No.1 connecting hole 76 of the combined bracket 72, described
The other end of parallel follower lever 83 is articulated with the No.1 cross bar 79；One end of the parallel driving lever 84 is articulated with the joint
No. two connecting holes 77 of bracket 72, the other end of the parallel driving lever 84 are articulated with No. two cross bars 80；The fine tuning is driven
One end of lever 85 is articulated with the parallel driving lever 84, and the fine tuning screw rod 86 is movably connected on the pusher manipulator mechanism
71 chain stay 90, the fine tuning drive rod 85 and the fine tuning realization of screw rod 86 are threadedly engaged, the one of the fine tuning screw rod 86
End is fixed with the orbit trimming handle 87.
More specifically, the pusher manipulator mechanism 71 includes: chain stay 90, sprocket wheel 91, chain 92, pushes gripper
93, the sprocket wheel 91 is movably connected on the chain stay 90, and the chain 92 is movably connected on the sprocket wheel 91, the promotion
Gripper 93 is fixed on the chain 92.
More specifically, the combined bracket 72 includes: cam connecting plate 74, pusher connecting plate 75, support arm 82, the ring
Shape cam 5 is fixed on the cam connecting plate 74, and the pusher manipulator mechanism 71 is fixed on the pusher connecting plate 75；It is described
The No.1 connecting hole 76 to match with the dynamic track mechanism 73 and No. two connecting holes 77 are provided on support arm 82.
More specifically, the manipulator 6 includes: the linear guide 60, linear slider 61, gripper shell 62, gripper core
Axis 63, pushes bearing 65, end push plate 66, middle connecting plate 67, gripper 68 at gripper spring 64；The linear guide 60 is connected
In the link chain mechanism 3, the linear slider 61 is movably connected in the linear guide 60, and the gripper shell 62 is fixed on
The linear slider 61；The gripper mandrel 63 is movably connected on the gripper shell 62, in the outside of the gripper mandrel 63
It is provided with the gripper spring 64, the gripper spring 64 has the trend for pushing the gripper mandrel 63 to move upwards；Institute
The upper end for stating gripper mandrel 63 is provided with the pushing bearing 65；The lower end of the gripper mandrel 63 is provided with end to push away
Plate 66, in the end of the end push plate 66, hingedly there are three one end of the middle connecting plate 67, the middle connecting plates 67
The other end be articulated with the end of the gripper 68, the gripper 68 is articulated with the gripper shell 62.
More specifically, the manipulator 6 further include: idler wheel connecting plate 69, bottom roller 70, the idler wheel connecting plate 69 are connected
In the linear slider 61, the bottom roller 70 is movably connected on the idler wheel connecting plate 69.
More specifically, the direction of motion of the gripper shell 62 and the direction of motion of the link chain mechanism 3 are mutually perpendicular to.
More specifically, the driving mechanism 1 includes: rotary tray motor 11, harmonic speed reducer 12, drive shaft 13, upper driving plate
14, lower driving plate 15, upper bearing (metal) 16, lower bearing 17；The output shaft fixed connection of the rotary tray motor 11 is in the harmonic speed reducer 12
Input hole, the output shaft fixed connection of the harmonic speed reducer 12 is in the input hole of the drive shaft 13；The drive shaft 13 passes through
The upper bearing (metal) 16, lower bearing 17 are movably connected on the supporting mechanism 2, and the shell of the harmonic speed reducer 12 is fixed on described
Supporting mechanism 2；The upper driving to match with the upper roller 48 on the link chain mechanism 3 is provided in the upside of the drive shaft 13
Plate 14 is provided with and driving plate 15 under the lower roller 49 on the link chain mechanism 3 in the downside of the drive shaft 13；The driving
The roller slot 18 to match with the middle part roller 52 on the link chain mechanism 3 is provided on axis 13.
More specifically, the driving mechanism 1 further include: driven shaft 31, follower plate 32, driven voller pilot trench 33, it is described driven
Axis 31 is movably connected on the supporting mechanism 2, and the driven shaft 31 and the drive shaft 13 are parallel to each other, and the follower plate 32 is solid
It is connected in the both ends of the driven shaft 31, is provided on the driven shaft 31 and 52 phase of middle part roller on the link chain mechanism 3
The driven voller pilot trench 33 matched.
More specifically, the supporting mechanism 2 include: midfoot support plate 21, support upper cover plate 22, support lower plate 23, in
Between connecting plate 24；The middle connecting plate 24 is fixed on the top of the ring cam set 5, and the support lower plate 23 is fixed on institute
State the top of middle connecting plate 24；The midfoot support plate 21 is fixed on the two sides of the support lower plate 23, in the support
Cover board 22 is fixed on the midfoot support plate 21；Be provided on the midfoot support plate 21 on the link chain mechanism 3 in
The slot structure that portion's roller 52 matches.
More specifically, the link chain mechanism 3 includes: carrier bar 41, upper roller 48, lower roller 49, the carrier bar 41 mutually hinge
Ground connection constitutes ring structure, be provided on the carrier bar 41 intermediate calender rolls sub-aperture 42, upper hole 43, mider hole 44, bottom hole 45,
Recess portion 46, protrusion 47, the recess portion 46 of the previous carrier bar 41 are inserted in the protrusion 47 of next carrier bar 41,
At coaxially arranged, the rod axis passes through the mider hole 44, upper hole 43, bottom hole 45 for the upper hole 43, bottom hole 45,
It is connected with the upper roller 48 in the top movable of the roller axle, is connected with the lower roll in the lower removable of the roller axle
Son 49.
More specifically, the upper roller pilot trench 50 to match with upper roller 48 is provided in the driving mechanism 1, described
The driving mechanism 1 is provided with the lower roll pilot trench 51 to match with lower roller 49.
It opens curve 28 more specifically, being provided on the overhead cam pressing plate 4, close up curve 27, on the manipulator 6
It pushes bearing 65 and first touches the opening curve 28, the manipulator 6 opens；Pushing bearing 65 on the manipulator 6 is again
Close up curve 26 described in touching, the manipulator 6 gradually closes up promptly.
More specifically, the ring cam set 5 includes: descending curve 25, upward slope curve 26, bottom curve 29, top curve
30, the top for closing up curve 27 and being located at the bottom curve 29, the opening curve 28 is located at the upward slope curve 26
Top；The descending curve 25, bottom curve 29, upward slope curve 26, top curve 30, which are connected with each other and constitute, constitutes smooth mistake
Degree.
More specifically, bottom roller 70 on the manipulator 6 is along the descending curve 25 at the bottom curve 29
The height of movement, the manipulator 6 reduces；Bottom roller 70 on the manipulator 6 is along the upward slope curve 26 to the top
It is moved at portion's curve 30, the height lifting of the manipulator 6.
Whether intelligent control system includes: sorting detecting function block, currently send out for detecting sorting line robot
Raw failure；Failure obtains functional block, for detecting that the sorting line robot is current in the sorting detecting function block
When breaking down, the problem of capturing the intelligent robot state；Logic function block, for judge described problem state whether be
Network environment problem or system mistake problem；First generation module, for judging described problem state in the logic function block
When for the network environment problem or system mistake problem, asking for the network environment problem or the system mistake problem is generated
Two dimensional code is inscribed, and is shown, so that mobile scanning terminal described problem two dimensional code to be to obtain corresponding fault message, and receives user
Diagnosis two dimensional code is generated for the operation of the fault message, and according to the operation；Scanning recognition module, for examining described
Disconnected two dimensional code is scanned and identifies, obtains the corresponding diagnostic message of the diagnosis two dimensional code；And control module is executed, it is used for
The sorting line robot is adjusted according to the diagnostic message；Module is obtained, for judging institute in the logic function block
When to state problem state be mechanical movement problem, corresponding error code is obtained according to the mechanical movement problem；The logic function
Block is specifically used for: obtaining problem error code corresponding to described problem state；Described problem shape is judged according to described problem error code
Whether state is the network environment problem or system mistake problem.
Finally it is pointed out that above embodiments are only that the present invention applies the robot sorting system of artificial intelligence relatively to have generation
The example of table.Obviously, the robot sorting system of present invention application artificial intelligence is not limited to the above embodiments, and can also be had perhaps
Shape changeable.All technical spirits according to the present invention using the robot sorting system of artificial intelligence are to the above embodiments
Any simple modification, equivalent change and modification are considered as belonging to the robot sorting system of the invention using artificial intelligence
Protection scope.
Claims (10)
1. a kind of robot sorting system using artificial intelligence, it is characterised in that: including intelligent control system and sorting stream
Waterline robot；The sorting line robot include: supporting mechanism, for realizing the manipulator of Material Sorting, for driving
It moves the manipulator and realizes mobile link chain mechanism, the driving mechanism for driving the link chain mechanism movement, for driving
It states manipulator and realizes the overhead cam pressing plate of gripper folding, for driving the manipulator to realize the ring cam set of longitudinal movement, using
In the dynamic track mechanism of carrying material, the pusher manipulator mechanism for material to be pushed to the manipulator, it is used for fixed branch
Support mechanism, the combined bracket of dynamic track mechanism and pusher manipulator mechanism, for realizing the manipulator and pusher manipulator
The synchronous drive mechanism that mechanism moves synchronously, is used the longitudinal moving mechanism for driving the combined bracket realization longitudinal movement
In the transverse sliding mechanism for driving the longitudinal moving mechanism to realize transverse shifting；The link chain mechanism is movably connected on the branch
Support mechanism, the manipulator are fixed on the link chain mechanism, and the driving mechanism, overhead cam pressing plate are fixed on the support machine
Structure, the ring cam set are located at the lower part of the link chain mechanism, and the bottom roller on the manipulator is affixed on the convex annular always
On wheel, pushing bearing and the overhead cam pressing plate on the manipulator match；The dynamic track mechanism constitutes annular
Structure, the pusher manipulator mechanism are located at the centre of the dynamic track mechanism, the part of the dynamic track mechanism
Structure is 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 combined bracket is fixed on the longitudinal moving mechanism, and the longitudinal moving mechanism, which is movably connected on, described slides laterally machine
Structure；
The transverse sliding mechanism includes: cast iron base, transverse shifting sliding block, horizontal drive motor, synchronous cross band driver
Structure, lateral ball nut, transverse ball lead screw, the longitudinal moving mechanism are movably connected on institute by the transverse shifting sliding block
State cast iron base；The shell of the horizontal drive motor is fixed on the longitudinal moving mechanism, and lateral ball nut is fixed on institute
Cast iron base is stated, the transverse ball lead screw is movably connected on the lower part of the longitudinal moving mechanism；The driving motor it is defeated
Shaft and transverse ball lead screw are realized by the synchronous cross tape handler to be connected.
2. the robot sorting system according to claim 1 using artificial intelligence, which is characterized in that the longitudinal movement
Mechanism include: longitudinal slide unit, slid platform base, longitudinal linear slider, longitudinal motor, transmission mechanism for longitudinal synchronous belt, longitudinal screw mandrel,
Longitudinal ball nut, the longitudinal slide unit are movably connected on the slid platform base, the longitudinal direction by longitudinal linear slider
The shell of motor, longitudinal ball nut are fixed on the slid platform base；The longitudinal screw mandrel is movably connected on longitudinal ball
The output shaft of nut, one end of the longitudinal screw mandrel and the longitudinal motor is realized by the transmission mechanism for longitudinal synchronous belt to be connected
It connects, the longitudinal slide unit is fixed on the end of the longitudinal screw mandrel.
3. the robot sorting system according to claim 1 using artificial intelligence, which is characterized in that the Synchronous Transmission
Mechanism include: synchronism output axis, No.1 driving gear, No.1 driven gear, Hooks coupling universal coupling, No. two driving gears, No. two from
Moving gear, the synchronism output axis are fixed on the driving mechanism, and the No.1 driving gear is fixed on the synchronism output axis
End；The Hooks coupling universal coupling is movably connected on the bottom of the combined bracket, the No.1 driven gear and No. two actives
Gear is fixed on the both ends of the Hooks coupling universal coupling, and No. two driven gears are fixed on the chain of the pusher manipulator mechanism
Wheel；The No.1 driving gear, No.1 driven gear match, and No. two driving gears, No. two driven gears match；Institute
State the promotion gripper linear velocity having the same of manipulator and pusher manipulator mechanism.
4. the robot sorting system according to claim 1 using artificial intelligence, which is characterized in that the dynamic track
Mechanism includes: circular orbit, No.1 cross bar, No. two cross bars, meeting stile, parallel follower lever, parallel driving lever, fine tuning driving
Bar finely tunes screw rod, orbit trimming handle, and the meeting stile is fixed on the circular orbit, is consolidated between the meeting stile
It is connected with the No.1 cross bar being parallel to each other, No. two cross bars；One end of the parallel follower lever is articulated with the combined bracket
No.1 connecting hole, the other end of the parallel follower lever are articulated with the No.1 cross bar；One end of the parallel driving lever is hinged
In No. two connecting holes of the combined bracket, the other end of the parallel driving lever is articulated with No. two cross bars；The fine tuning
One end of drive rod is articulated with the parallel driving lever, and the fine tuning screw rod is movably connected on the chain of the pusher manipulator mechanism
Bracket, the fine tuning drive rod and fine tuning screw rod realization are threadedly engaged, and are fixed with the rail in one end of the fine tuning screw rod
Finely tune handle in road.
5. the robot sorting system according to claim 1 using artificial intelligence, which is characterized in that the machinery handbag
Include: the linear guide, linear slider, gripper shell, gripper mandrel, gripper spring, pushing bearing, end push plate, centre connect
Fishplate bar, gripper；The linear guide is fixed on the link chain mechanism, and the linear slider is movably connected on the linear guide
On, the gripper shell is fixed on the linear slider；The gripper mandrel is movably connected on the gripper shell, in the hand
The outside of pawl mandrel is provided with the gripper spring, and the gripper spring has push the gripper mandrel to move upwards to become
Gesture；The upper end of the gripper mandrel is provided with the pushing bearing；The lower end of the gripper mandrel is provided with end
Push plate, the end of the end push plate hingedly there are three the middle connecting plate one end, the middle connecting plate it is another
End is articulated with the end of the gripper, and the gripper is articulated with the gripper shell.
6. the robot sorting system according to claim 1 using artificial intelligence, which is characterized in that the driving mechanism
It include: rotary tray motor, harmonic speed reducer, drive shaft, upper driving plate, lower driving plate, upper bearing (metal), lower bearing；The rotary tray motor
Output shaft fixed connection in the input hole of the harmonic speed reducer, the output shaft fixed connection of the harmonic speed reducer is in the drive shaft
Input hole；The drive shaft is movably connected on the supporting mechanism by the upper bearing (metal), lower bearing, the harmonic speed reducer
Shell is fixed on the supporting mechanism；It is provided on the upside of the drive shaft and matches with the upper roller on the link chain mechanism
Upper driving plate, be provided on the downside of the drive shaft and driving plate under the lower roller on the link chain mechanism；The driving
The roller slot to match with the middle part roller on the link chain mechanism is provided on axis；
The driving mechanism further include: driven shaft, follower plate, driven voller pilot trench, the driven shaft are movably connected on the support
Mechanism, the driven shaft and the drive shaft are parallel to each other, and the follower plate is fixed on the both ends of the driven shaft, described driven
The driven voller pilot trench to match with the middle part roller on the link chain mechanism is provided on axis.
7. the robot sorting system according to claim 1 using artificial intelligence, which is characterized in that the supporting mechanism
It include: midfoot support plate, support upper cover plate, support lower plate, middle connecting plate；The middle connecting plate is fixed on the annular
The top of cam, the support lower plate are fixed on the top of the middle connecting plate；The midfoot support plate is fixed on described
The two sides of lower plate are supported, the support upper cover plate is fixed on the midfoot support plate；It is provided on the midfoot support plate
The slot structure to match with the middle part roller on the link chain mechanism.
8. the robot sorting system according to claim 1 using artificial intelligence, which is characterized in that the link chain mechanism
It include: carrier bar, upper roller, lower roller, the carrier bar constitutes ring structure, is provided with centre on the carrier bar with being hinged
Roller hole, upper hole, mider hole, bottom hole, recess portion, protrusion, the recess portion of the previous carrier bar are inserted in next institute
State the protrusion of carrier bar, the upper hole, bottom hole at coaxially arranged, the rod axis pass through the mider hole, upper hole,
Bottom hole is connected with the upper roller in the top movable of the roller axle, connects in the lower removable of the roller axle
State lower roller.
9. the robot sorting system according to claim 1 using artificial intelligence, which is characterized in that the ring cam set
It include: 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 curve, upward slope curve, top curve phase
Connect and constitute constitute it is smooth excessively.
10. the robot sorting system according to claim 1 using artificial intelligence, which is characterized in that the intelligence
Whether control system includes: sorting detecting function block, currently break down for detecting sorting line robot；Failure obtains
Functional block, for capturing when the sorting detecting function block detects that the sorting line robot currently breaks down
The problem of 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 for the network environment in the logic function block
When problem or system mistake problem, the problem of generating the network environment problem or the system mistake problem two dimensional code, and show
Show, so that mobile scanning terminal described problem two dimensional code to be to obtain corresponding fault message, and receives user for the failure
The operation of information, and diagnosis two dimensional code is generated according to the operation；Scanning recognition module, for being carried out to the diagnosis two dimensional code
It scans and identifies, obtain the corresponding diagnostic message of the diagnosis two dimensional code；And control module is executed, for according to the diagnosis
Information adjusts the sorting line robot；Module is obtained, for judging that described problem state is in the logic function block
When mechanical movement problem, corresponding error code is obtained according to the mechanical movement problem；The logic function block is specifically used for: obtaining
Take the problem error code that described problem state is corresponding；Judge whether described problem state is the net according to described problem error code
Network environmental problem or system mistake problem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810686962.5A CN108940892A (en) | 2018-06-28 | 2018-06-28 | Using the robot sorting system of artificial intelligence |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810686962.5A CN108940892A (en) | 2018-06-28 | 2018-06-28 | Using the robot sorting system of artificial intelligence |
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| 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 |
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| JP2013158716A (en) * | 2012-02-06 | 2013-08-19 | Yamato Scale Co Ltd | Weight sorting device |
| 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 |
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