CN109046996B - Artificial intelligence assisted logistics sorting robot system - Google Patents
Artificial intelligence assisted logistics sorting robot system Download PDFInfo
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- CN109046996B CN109046996B CN201810688628.3A CN201810688628A CN109046996B CN 109046996 B CN109046996 B CN 109046996B CN 201810688628 A CN201810688628 A CN 201810688628A CN 109046996 B CN109046996 B CN 109046996B
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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
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Abstract
The invention relates to industrial automation equipment, in particular to robot equipment for realizing material sorting. An artificial intelligence assisted logistics sorting robot system 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, a combined support used for driving the mechanical arm to realize a ring cam, a dynamic track mechanism and a pushing mechanical arm mechanism which move longitudinally, a synchronous transmission mechanism used for realizing synchronous motion of the mechanical arm and the pushing mechanical arm mechanism, and a longitudinal moving mechanism used for driving the combined support to realize longitudinal movement. The invention is applied to the material sorting process; the artificial intelligence assisted logistics sorting robot system 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 pipeline robot is a robot with sensor, objective lens and electron optical system, which can sort goods quickly.
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 precision 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 artificial intelligence assisted logistics sorting robot system which is applied to the material sorting process; the artificial intelligence assisted logistics sorting robot system is used for realizing the grabbing and moving of materials and ensuring the stability and smoothness of the sorting process.
An artificial intelligence assisted logistics sorting robot 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 mechanical arm for realizing material sorting, a chain mechanism for driving the mechanical arm to move, a driving mechanism for driving the chain mechanism to move, an upper cam pressing plate for driving the mechanical arm to open and close a paw, an annular cam for driving the mechanical arm to move longitudinally, a dynamic track mechanism for bearing materials, a material pushing mechanical arm mechanism for pushing the materials to the mechanical arm, a combined support for fixing the supporting mechanism, the dynamic track mechanism and the material pushing mechanical arm mechanism, a synchronous transmission mechanism for realizing synchronous movement of the mechanical arm and the material pushing mechanical arm mechanism, and a longitudinal moving mechanism for driving the combined support to move longitudinally; the chain mechanism is movably connected with the supporting mechanism, the manipulator 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 manipulator is always attached to the annular cam, and a lower pressing bearing on the manipulator 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 manipulator; the synchronous transmission mechanism is movably connected to the lower part of the combined support, and the combined support is fixedly connected to the longitudinal moving mechanism;
the longitudinal movement mechanism includes: the longitudinal sliding table is movably connected to the sliding table base through the longitudinal linear sliding block, and a shell of the longitudinal motor and the longitudinal ball nut are fixedly connected to the sliding table base; the longitudinal screw rod is movably connected with the longitudinal ball nut, one end of the longitudinal screw rod is connected with an output shaft of the longitudinal motor through the longitudinal synchronous belt transmission mechanism, and the longitudinal sliding table is fixedly connected with the end part of the longitudinal screw rod.
Preferably, the synchronous drive mechanism comprises: 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 manipulator and the pushing manipulator mechanism have the same linear velocity.
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 robot arm includes: 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 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 roller 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 passes 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.
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 manipulator contacts the opening curve first, and the manipulator is opened; and the pressing bearing on the manipulator is contacted with the folding curve again, and the 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 smooth transition.
Preferably, a lower roller on the manipulator moves to the bottom curve along the downhill curve, and the height of the manipulator is reduced; and the lower idler wheel on the manipulator moves to the top curve along the uphill curve, and the height of the manipulator 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 intelligent 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 diagram of an artificial intelligence assisted logistics sorting robot system of the present invention;
2, 3, 4, 5, 6, 7 and 8 are partial structural schematic diagrams of the artificial intelligence assisted logistics sorting robot system;
FIG. 9 is a schematic structural diagram of a chain plate of the artificial intelligence assisted logistics sorting robot system of the present invention;
FIGS. 10 and 11 are schematic views of partial structures of the logistics sorting robot system assisted by artificial intelligence according to the invention;
FIG. 12 is a schematic diagram of the structure of the unified frame of the artificial intelligence assisted logistics sorting robot system of the present invention;
FIG. 13 is a schematic diagram of the structure of the circular track of the artificial intelligence assisted logistics sorting robot system of the present invention;
fig. 14 and 15 are schematic partial structural diagrams of the artificial intelligence assisted logistics sorting robot system.
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 hole, 53 upper supporting roller groove, 54 lower supporting roller groove, 60 linear guide rail, 61 linear sliding block, 62 paw shell, 63 paw mandrel, 64 paw spring, 65 lower pressing bearing, 66 tail end push plate, 67 middle connecting plate, 68 paw, 69 roller connecting plate, 70 lower roller, 71 material pushing manipulator mechanism, 72 combined bracket, 73 dynamic track mechanism, 74 cam connecting plate, 75 material pushing connecting plate, 76 first connecting hole, 77 second connecting hole, 78 circular track, 79 first cross bar, 80 second cross bar, 81 connecting bar, 82 supporting arm, 83 parallel driven bar, 84 parallel driving bar, 85 fine adjustment driving bar, 86 fine adjustment screw, 87 track fine adjustment handle, 90 chain bracket, 91 chain wheel, 92 chain, 93 pushing paw, 100 synchronous transmission mechanism, 101 synchronous output shafts, 102 driving gears, 103 driven gears, 104 universal couplings, 105 driving gears, 106 driven gears, 107 longitudinal moving mechanisms, 108 longitudinal sliding tables, 109 sliding table bases, 110 longitudinal linear sliders, 111 longitudinal motors, 112 longitudinal synchronous belt transmission mechanisms, 113 longitudinal lead screws and 114 longitudinal ball nuts.
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 invention provides an artificial intelligence assisted logistics sorting robot system, which is applied to the material sorting process; the artificial intelligence assisted logistics sorting robot system 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 artificial intelligence assisted logistics sorting robot system of the present invention, fig. 2, 3, 4, 5, 6, 7, 8 are schematic structural views of parts of the artificial intelligence assisted logistics sorting robot system of the present invention, fig. 9 is a schematic structural view of a link plate of the artificial intelligence assisted logistics sorting robot system of the present invention, fig. 10, 11 are schematic structural views of parts of the artificial intelligence assisted logistics sorting robot system of the present invention, fig. 12 is a schematic structural view of a joint support of the artificial intelligence assisted logistics sorting robot system of the present invention, fig. 13 is a schematic structural view of a circular orbit of the artificial intelligence assisted logistics sorting robot system of the present invention, and fig. 14, 15 are schematic structural views of parts of the artificial intelligence assisted logistics sorting robot system of the present invention.
An artificial intelligence assisted logistics sorting robot system 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 mechanical arm 6 for realizing material sorting, a chain mechanism 3 for driving the 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 mechanical arm 6 to open and close a paw, a ring cam 5 for driving the 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 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, a synchronous transmission mechanism 100 for realizing synchronous movement of the mechanical arm 6 and the material pushing mechanical arm mechanism 71, and a longitudinal moving mechanism 107 for driving the combined bracket 72 to move longitudinally; the chain mechanism 3 is movably connected to the supporting mechanism 2, the 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 located at the lower part of the chain mechanism 2, a lower roller 70 on the manipulator 6 is always attached to the annular cam 5, and a lower pressing bearing 65 on the manipulator 6 is matched with the upper cam pressing plate 4; the dynamic track mechanism 73 forms an annular structure, the material pushing manipulator mechanism 71 is positioned at the central part of the dynamic track mechanism 73, and the local structure of the dynamic track mechanism 73 is positioned in the grabbing range of the manipulator 6; the synchronous transmission mechanism 100 is movably connected to the lower part of the combined support 72, and the combined support 72 is fixedly connected to the longitudinal moving mechanism 107;
the longitudinal moving mechanism 107 includes: the longitudinal sliding table comprises a longitudinal sliding table 108, a sliding table base 109, a longitudinal linear sliding block 110, a longitudinal motor 111, a longitudinal synchronous belt transmission mechanism 112, a longitudinal screw rod 113 and a longitudinal ball nut 114, wherein the longitudinal sliding table 108 is movably connected to the sliding table base 109 through the longitudinal linear sliding block 110, and a shell of the longitudinal motor 111 and the longitudinal ball nut 114 are fixedly connected to the sliding table base 109; the longitudinal screw 113 is movably connected to the longitudinal ball nut 114, one end of the longitudinal screw 113 is connected to the output shaft of the longitudinal motor 111 through the longitudinal synchronous belt transmission mechanism 112, and the longitudinal sliding table 118 is fixedly connected to the end of the longitudinal screw 113.
More specifically, 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 manipulator 6 and the pushing gripper 93 of the pushing manipulator mechanism 71 have the same linear velocity.
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 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 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 manipulator 6 is firstly contacted with the opening curve 28, and the manipulator 6 is opened; the pressing bearing 65 on the manipulator 6 contacts the closing curve 26 again, and the manipulator 6 is gradually closed and gripped.
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 robot 6 moves along the downhill curve 25 toward the bottom curve 29, and the height of the robot 6 is lowered; the lower roller 70 of the manipulator 6 moves along the uphill curve 26 to the top curve 30, and the height of the 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 intelligent 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 artificial intelligence assisted logistics sorting robot system of the present invention. Obviously, the logistics sorting robot system assisted by artificial intelligence of the invention is not limited to the above-mentioned embodiment, and many variations are possible. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the artificial intelligence assisted logistics sorting robot system of the present invention shall be considered to fall within the protection scope of the artificial intelligence assisted logistics sorting robot system of the present invention.
Claims (10)
1. The utility model provides an artificial intelligence auxiliary commodity circulation letter sorting robot system which 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 mechanical arm for realizing material sorting, a chain mechanism for driving the mechanical arm to move, a driving mechanism for driving the chain mechanism to move, an upper cam pressing plate for driving the mechanical arm to open and close a paw, an annular cam for driving the mechanical arm to move longitudinally, a dynamic track mechanism for bearing materials, a material pushing mechanical arm mechanism for pushing the materials to the mechanical arm, a combined support for fixing the supporting mechanism, the dynamic track mechanism and the material pushing mechanical arm mechanism, a synchronous transmission mechanism for realizing synchronous movement of the mechanical arm and the material pushing mechanical arm mechanism, and a longitudinal moving mechanism for driving the combined support to move longitudinally; the chain mechanism is movably connected with the supporting mechanism, the manipulator 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 manipulator is always attached to the annular cam, and a lower pressing bearing on the manipulator 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 manipulator; the synchronous transmission mechanism is movably connected to the lower part of the combined support, and the combined support is fixedly connected to the longitudinal moving mechanism;
the longitudinal movement mechanism includes: the longitudinal sliding table is movably connected to the sliding table base through the longitudinal linear sliding block, and a shell of the longitudinal motor and the longitudinal ball nut are fixedly connected to the sliding table base; the longitudinal screw rod is movably connected with the longitudinal ball nut, one end of the longitudinal screw rod is connected with an output shaft of the longitudinal motor through the longitudinal synchronous belt transmission mechanism, and the longitudinal sliding table is fixedly connected with the end part of the longitudinal screw rod;
the manipulator includes: 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; a tail end push plate is arranged at the lower end part of the paw core shaft, one end of each of the three middle connecting plates is hinged to the end part of the tail end push plate, and the other end of each of the middle connecting plates is hinged to the end part of the paw;
the manipulator further includes: the roller connecting plate is fixedly connected with the linear sliding block, and the lower roller is movably connected with the roller connecting plate.
2. The artificial intelligence assisted logistics sorting robot system of claim 1, wherein the synchronous drive mechanism comprises: 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 manipulator and the pushing manipulator mechanism have the same linear velocity.
3. The artificial intelligence assisted logistics sorting robot system 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.
4. The artificial intelligence assisted logistics sorting robot system of claim 1, wherein the gripper is hinged to the gripper housing.
5. The artificial intelligence assisted logistics sorting robot system 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 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.
6. The artificial intelligence assisted logistics sorting robot system of claim 5, wherein 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.
7. The artificial intelligence assisted logistics sorting robot system 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 artificial intelligence assisted logistics sorting robot system 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 artificial intelligence assisted logistics sorting robot system 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 smooth transition.
10. The artificial intelligence assisted logistics sorting robot system 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 intelligent robot when the sorting detection function block detects that the sorting assembly line robot has a fault at present; 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.
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