CN209777648U - Real standard system of intelligence letter sorting teaching robot - Google Patents

Abstract

The utility model relates to the technical field of article sorting, in particular to a practical training system of an intelligent sorting teaching robot, which comprises an mechanical arm, a sorting device, a forklift and a warehouse device; the sorting device comprises a rack, a conveying mechanism, an identification mechanism, a plurality of transfer mechanisms and a plurality of material receiving mechanisms, wherein the conveying mechanism, the identification mechanism, the plurality of transfer mechanisms and the plurality of material receiving mechanisms are arranged on the rack; the mechanical arm transfers external articles to the conveying mechanism, the conveying mechanism drives the articles transferred by the mechanical arm to automatically move, the identification mechanism identifies performance parameters of the articles moved by the conveying mechanism, the main control device regulates and controls the plurality of transfer mechanisms to transfer different articles moved by the conveying mechanism to the plurality of material receiving mechanisms respectively according to the difference of the performance parameters of the articles identified by the identification mechanism, and the forklift automatically transfers the articles of the material receiving mechanisms to the warehouse device; realize the automatic sorting of article and store, need not the manual sorting article of operation personnel, manual storage article, promote the sorting storage efficiency of article, realize the accurate nature of intelligent automation system teaching.

Description

Real standard system of intelligence letter sorting teaching robot

Technical Field

The utility model relates to a goods letter sorting technical field especially discloses an intelligent letter sorting teaching robot real standard system.

Background

Most industries need to sort objects, for example, the logistics industry needs to sort objects, the airport needs to sort objects, products manufactured by industrial and mining enterprises need to sort, and agricultural fruits need to sort; the sorting operation mainly relies on the manual letter sorting of operation personnel among the prior art, sorts the inefficiency, can not satisfy the needs of modern production.

Along with the promotion of article letter sorting importance, intelligent automation system teaching has been seted up to more and more schools, scientific research unit etc. at the in-process of teaching, most article letter sorting still need the manual participation of student, and still need the student with the article manual packing into the warehouse after the letter sorting, can not realize the accurate nature of intelligent automation system teaching.

SUMMERY OF THE UTILITY MODEL

In order to overcome the shortcoming and the not enough that exist among the prior art, the utility model aims to provide a real standard system of intelligence letter sorting teaching robot need not the manual letter sorting article of operation personnel, manual storage article, promotes the letter sorting storage efficiency of article, realizes the accurate nature of intelligent automatic system teaching.

In order to achieve the purpose, the utility model discloses a practical training system of an intelligent sorting teaching robot, which comprises a mechanical arm, a sorting device, a forklift and a warehouse device; the sorting device comprises a rack, a conveying mechanism, an identification mechanism, a plurality of transfer mechanisms and a plurality of material receiving mechanisms, wherein the conveying mechanism, the identification mechanism, the plurality of transfer mechanisms and the plurality of material receiving mechanisms are arranged on the rack; the mechanical arm is used for transferring external articles to the conveying mechanism, the conveying mechanism is used for driving the mechanical arm to transfer the articles automatically, the identification mechanism is used for identifying performance parameters of the articles moved by the conveying mechanism, the main control device regulates and controls the plurality of transfer mechanisms to transfer different articles moved by the conveying mechanism to the plurality of material receiving mechanisms according to differences of the performance parameters of the articles identified by the identification mechanism, and the forklift is used for automatically transferring the articles of the material receiving mechanisms to the warehouse device.

Wherein, conveying mechanism includes the annular synchronous belt, first motor and a plurality of axis body, the axis body rotates and sets up in the frame, a plurality of axis bodies are interval and parallel arrangement each other, a plurality of axis body coplane sets up, the plane parallel horizontal plane at a plurality of axis bodies place, each axis body has two band pulleys, the band pulley include the disk body and with disk body complex synchronizing wheel, the external diameter of disk body is greater than the external diameter of synchronizing wheel, the synchronizing wheel of two band pulleys is located between the disk body of two band pulleys, the outside of the synchronizing wheel of axis body is located to the annular synchronous belt cover, the disk body of two band pulleys is used for the both sides of stop conflict annular synchronous belt, first motor sets up in the frame and.

The conveying mechanism comprises a first support arranged on the rack, a second motor arranged on the first support, and a pushing piece connected with an output shaft of the second motor, the pushing piece is arranged above the annular synchronous belt, the second motor drives the pushing piece to rotate, and the rotating pushing piece drives the object borne by the annular synchronous belt to push the object into the material receiving mechanism.

The receiving mechanism comprises a material guiding assembly and a storage basket matched with the material guiding assembly, wherein the material guiding assembly comprises a second support arranged on the rack, an inclined plate and a third motor which are arranged on the second support, and a baffle connected with an output shaft of the third motor; the storage basket comprises a third support and a bearing frame arranged on the third support, and the third support is provided with a yielding space; the transfer mechanism transfers the articles in the material receiving mechanism to the baffle plate along the inclined plate under the action of gravity, the third motor drives the baffle plate to rotate and release the blocked articles so that the articles fall into the bearing frame of the storage basket under the action of gravity, and the forklift extends into the abdicating space to support the storage basket and transfer the articles in the bearing frame to the warehouse device.

The identification mechanism comprises a fourth support arranged on the rack and an identifier arranged on the fourth support and positioned above the conveying mechanism, and the identifier can be a color identification sensor, a weight identification sensor or a size identification sensor.

Wherein, the arm includes the base, the activity sets up in the many articulated arms of base, set up in the terminal piece of picking up of many articulated arms, it includes the fixed plate to pick up the piece, the fourth motor, first arm lock and second arm lock, the fixed plate is connected in the end of many articulated arms, the fourth motor sets up in the fixed plate, the one end of first arm lock, the one end of second arm lock rotates respectively and sets up in the fixed plate, first arm lock, the second arm lock is equipped with the fan-shaped tooth that meshes each other, the fourth motor is used for driving first arm lock or second arm lock and rotates, the fourth motor is used for driving first arm lock, the second arm lock is kept away from each other or is close to each other, the other end of first arm lock, the other end of second arm lock is used for the external article of centre gripping, the arm drive article that the piece of.

Wherein, picking up the piece and still including first rocking arm, second rocking arm, first connecting rod and second connecting rod, the one end of first rocking arm, the one end of second rocking arm are rotated respectively and are set up in the fixed plate, and the fourth motor is used for driving first rocking arm or second rocking arm and rotate, and fan-shaped tooth sets up in the one end of rocking arm, and the other end of rocking arm rotates with the one end of arm lock and sets up, and the both ends of connecting rod rotate respectively and set up in the middle part of fixed plate and arm lock.

The forklift comprises a frame, a supporting fork arranged on the frame in a sliding mode, a second driving mechanism used for driving the supporting fork to slide back and forth, a plurality of wheels arranged at the lower end of the frame in a rotating mode, a third driving mechanism arranged on the frame and used for driving the wheels to rotate, and a control device arranged on the frame.

The warehouse device comprises a fifth support, a goods storage plate arranged in the fifth support, a bracket arranged on the fifth support, a fifth motor arranged on the fifth support or/and the bracket, and a swing arm arranged on an output shaft of the fifth motor, wherein the bracket is used for bearing an article transferred by a forklift, the fifth motor drives the swing arm to rotate, and the rotating swing arm is used for pushing the article borne by the bracket to the goods storage plate.

The device comprises a plurality of storage plates, a bracket, a fifth support, a fifth motor, a second guide rod, a linear bearing, a first motor and a second motor, wherein the storage plates are arranged in a vertical direction, the bracket is arranged on the fifth support in a sliding manner, the fifth support is provided with a fourth driving mechanism for driving the bracket to move back and forth, the fifth motor is arranged on the bracket, the fifth support is provided with the second guide rod, the second guide rod is arranged vertically, and the bracket is provided with the linear bearing which is sleeved on the outer side of the second guide rod in a sliding manner; the bracket is provided with two layer boards, and the layer board is used for the article that the bearing fork truck transferred, and the fifth motor is located between two layer boards, and the storage plate middle part has and is equipped with the parting bead, and the swing arm is used for pushing the article that two layer boards supported to the both sides of parting bead.

has the advantages that: the mechanical arm transfers external articles to the conveying mechanism, the conveying mechanism drives the articles transferred by the mechanical arm to automatically move, the identification mechanism identifies performance parameters of the articles moved by the conveying mechanism, the main control device regulates and controls the plurality of transfer mechanisms to transfer different articles moved by the conveying mechanism to the plurality of material receiving mechanisms respectively according to the difference of the performance parameters of the articles identified by the identification mechanism, and the forklift automatically transfers the articles of the material receiving mechanisms to the warehouse device; realize the automatic sorting of article and store, need not the manual sorting article of operation personnel, manual storage article, promote the sorting storage efficiency of article, realize the accurate nature of intelligent automation system teaching.

Drawings

Fig. 1 is a top view of the present invention.

Fig. 2 is a perspective view of the conveying mechanism, the recognition mechanism, the transfer mechanism and the material guiding assembly of the present invention.

Fig. 3 is a perspective view of the shaft body and the belt wheel of the present invention.

Fig. 4 is a perspective view of the transfer mechanism of the present invention.

Fig. 5 is a perspective view of the material guiding assembly of the present invention.

Fig. 6 is a perspective view of the storage basket of the present invention.

Fig. 7 is a perspective view of the robot arm of the present invention.

Fig. 8 is a perspective view of the picking member of the present invention.

Fig. 9 is a perspective view of the forklift of the present invention.

Fig. 10 is a perspective view of the warehouse device of the present invention.

The reference numerals include:

1-mechanical arm 2-sorting device 3-forklift

4-warehouse device 5-frame 6-conveying mechanism

7-recognition mechanism 8-transfer mechanism 9-material receiving mechanism

11-annular synchronous belt 12-shaft body 13-belt wheel

14-tray body 15-synchronizing wheel 16-guide assembly

17-storage basket 18-inclined plate 19-third motor

21-baffle 22-bearing frame 23-abdicating space

24-guide strip 25-fourth support 26-recognizer

27-base 28-multi-joint arm 29-fixing plate

31-fourth motor 32-first clamping arm 33-second clamping arm

34-sector tooth 35-first rotating arm 36-second rotating arm

37-first connecting rod 38-second connecting rod 39-vehicle frame

41-fork 42-second driving mechanism 43-wheel

44-control device 45-fifth support 46-storage plate

47-bracket 48-fifth motor 49-swing arm

51-fourth driving mechanism 52-second guide rod 53-supporting plate

54-parting strip 511-second motor 512-pushing piece

391-first guide bar.

Detailed Description

The present invention will be further described with reference to the following examples and accompanying drawings.

Referring to fig. 1, the practical training system of the intelligent sorting teaching robot of the present invention includes a mechanical arm 1, a sorting device 2, a forklift 3 and a warehouse device 4; sorting device 2 includes frame 5, sets up conveying mechanism 6, recognition mechanism 7, a plurality of transfer mechanism 8 and a plurality of receiving agencies 9 on frame 5, and conveying mechanism 6, recognition mechanism 7, transfer mechanism 8 and receiving agencies 9 electric connection master control unit respectively, and master control unit is located frame 5 and is located conveying mechanism 6's below.

The mechanical arm 1 is used for transferring external articles to the conveying mechanism 6, the conveying mechanism 6 is used for driving the articles transferred by the mechanical arm 1 to automatically move, the recognition mechanism 7 is used for recognizing performance parameters of the articles moved by the conveying mechanism 6, the main control device regulates and controls the plurality of transfer mechanisms 8 to transfer different articles moved by the conveying mechanism 6 to the plurality of material receiving mechanisms 9 according to the difference of the performance parameters of the articles recognized by the recognition mechanism 7, and the forklift 3 is used for automatically transferring the articles of the material receiving mechanisms 9 to the warehouse device 4. Realize the automatic sorting of article and store, need not the manual sorting article of operation personnel, manual storage article, promote the sorting storage efficiency of article, realize the accurate nature of intelligent automation system teaching.

Conveying mechanism 6 includes annular synchronous belt 11, first motor and a plurality of axis body 12, and axis body 12 is roughly rectangular form cylinder, and axis body 12 rotates and sets up on frame 5, and a plurality of axis body 12 separate and parallel arrangement each other, the coplane setting of a plurality of axis bodies 12, the plane parallel horizontal plane at a plurality of axis bodies 12 place.

Each shaft body 12 has two belt pulleys 13, preferably, the two belt pulleys 13 are respectively located at two ends of the shaft body 12, each belt pulley 13 includes a disc body 14 and a synchronizing wheel 15 cooperating with the disc body 14, in this embodiment, the disc body 14 and the synchronizing wheel 15 are integrally configured, the disc body 14 is a substantially circular flat plate, the outer diameter of the disc body 14 is greater than the outer diameter of the synchronizing wheel 15, the synchronizing wheel 15 of the two belt pulleys 13 is located between the disc bodies 14 of the two belt pulleys 13, the annular synchronizing belt 11 is sleeved outside the synchronizing wheel 15 of the shaft body 12, the disc bodies 14 of the two belt pulleys 13 are used for stopping and abutting against two sides of the annular synchronizing belt 11, the first motor is disposed on the frame 5 and is used for driving the shaft body 12 to rotate, the shaft body 12 rotates together with the belt pulleys 13, when the belt pulleys 13 rotate, the annular.

The transfer mechanism 8 and the material receiving mechanism 9 are respectively located at the left side and the right side of the annular synchronous belt 11, in this embodiment, the plurality of transfer mechanisms 8 are located at the same side of the annular synchronous belt 11, the plurality of material receiving mechanisms 9 are located at the same side of the annular synchronous belt 11, the annular synchronous belt 11 is located between the transfer mechanism 8 and the material receiving mechanism 9, the transfer mechanism 8 comprises a first support arranged on the rack 5, a second motor 511 arranged on the first support, and a pushing member 512 connected with an output shaft of the second motor 511, and the pushing member 512 is located above the annular synchronous belt 11.

When the objects need to be pushed to the material receiving mechanism 9, the second motor 511 drives the pushing member 512 to rotate, the rotating pushing member 512 pushes against the objects carried by the annular synchronous belt 11, and the objects carried by the annular synchronous belt 11 can be pushed into the material receiving mechanism 9 along with the continuous rotation of the pushing member 512, so that the objects can be automatically sorted.

The material receiving mechanism 9 comprises a material guiding assembly 16 and a storage basket 17 matched with the material guiding assembly 16, the material guiding assembly 16 comprises a second support arranged on the rack 5, an inclined plate 18 and a third motor 19 arranged on the second support, and a baffle 21 connected with an output shaft of the third motor 19, an included angle between the inclined plate 18 and a horizontal plane is an acute angle, and preferably, an included angle between the inclined plate 18 and the horizontal plane is 60 degrees.

When the pushing member 512 of the transfer mechanism 8 pushes the object onto the inclined plate 18, the object automatically slides down along the inclined plate 18 under the action of its own weight and moves to the position of the baffle plate 21 to be blocked by the baffle plate 21, after the object is stacked on the baffle plate 21 by a predetermined amount, the third motor 19 drives the baffle plate 21 to rotate and release the blocked object, and then the object released by the baffle plate 21 automatically slides down along the inclined plate 18 into the storage basket 17 under the action of its own weight.

The storage basket 17 comprises a third support and a bearing frame 22 arranged on the third support, the lower end of the third support is provided with a abdicating space 23, and the abdicating space 23 is formed by the concave arrangement of the side surface of the third support; after the carrying frame 22 is filled with the articles, the external manipulator or the forklift 3 extends into the abdicating space 23 to lift the article basket 17, so as to move the articles carried by the article basket 17 to the preset position. The forklift 3 extends into the relief space 23 to lift the storage basket 17 and transfer the articles in the carriage 22 to the warehouse device 4.

The inclined plate 18 is provided with two material guiding strips 24 and a plurality of rolling balls, the material guiding strips 24 are approximately straight rods, the rolling balls are arranged on the inclined plate 18 in a rolling mode, the rolling balls protrude out of the upper surface of the inclined plate 18, when an object is transferred onto the inclined plate 18 by the transfer mechanism 8, the object is pressed and abutted against the rolling balls, sliding friction between the inclined plate 18 and the object is converted into rolling friction between the object and the rolling balls through the arrangement of the rolling balls, the object can be guaranteed to easily slide out of the inclined plate 18 under the action of gravity, all the rolling balls are located between the two material guiding strips 24, the two material guiding strips 24 are used for blocking two sides of the object borne by the inclined plate 18, and the object is prevented from sliding out along the width direction of the inclined plate 18 through the guiding of the material guiding strips 24, and is guaranteed to accurately fall into the object storage basket 17.

The recognition mechanism 7 comprises a fourth support 25 arranged on the frame 5, and a recognizer 26 arranged on the fourth support 25 and located above the conveying mechanism 6, wherein the recognizer 26 can be a color recognition sensor, a weight recognition sensor or a size recognition sensor, and the recognizer 26 is used for recognizing performance parameters such as color, weight, volume and the like of an object moved by the conveying mechanism 6 according to actual needs.

The mechanical arm 1 comprises a base 27, a multi-joint arm 28 movably arranged on the base 27, and a picking part arranged at the tail end of the multi-joint arm 28 and used for clamping external objects. The picking piece comprises a fixing plate 29, a fourth motor 31, a first clamping arm 32 and a second clamping arm 33, the fixing plate 29 is connected and fixed to the tail end of the multi-joint arm 28, the fourth motor 31 is arranged on the fixing plate 29, one end of the first clamping arm 32 and one end of the second clamping arm 33 are respectively rotatably arranged on the fixing plate 29, the first clamping arm 32 and the second clamping arm 33 are provided with sector teeth 34 meshed with each other, and the fourth motor 31 is used for driving the first clamping arm 32 or the second clamping arm 33 to rotate.

When the fourth motor 31 drives one of the clamping arms to rotate, the synchronous rotation of the two clamping arms is realized by means of the meshing of the sector-shaped teeth 34 of the two clamping arms, and due to the special structure of the sector-shaped teeth 34, the rotation angle of the clamping arms is conveniently regulated and controlled, so that the first clamping arm 32 and the second clamping arm 33 are prevented from being excessively opened or excessively clamped.

The fourth motor 31 is used for driving the first clamping arm 32 and the second clamping arm 33 to move away from or close to each other, the other end of the first clamping arm 32 and the other end of the second clamping arm 33 are used for clamping external articles, and the mechanical arm 1 drives the articles clamped by the picking-up member to move and transfer the articles to the conveying mechanism 6.

The picking part further comprises a first rotating arm 35, a second rotating arm 36, a first connecting rod 37 and a second connecting rod 38, the rotating arm is approximately of a cut gourd ladle type, the connecting rod is in a straight strip shape, one end of the first rotating arm 35 and one end of the second rotating arm 36 are respectively and rotatably arranged on the fixed plate 29, the fourth motor 31 is used for driving the first rotating arm 35 or the second rotating arm 36 to rotate, the fan-shaped tooth 34 is arranged on one end of the rotating arm, the other end of the rotating arm and one end of the clamping arm are rotatably arranged, and two ends of the connecting rod are respectively and rotatably arranged on the fixed plate 29 and the middle part of the clamping arm.

When the fourth motor 31 drives the first rotating arm 35 and the second rotating arm 36 to rotate, the rotating arms with the clamping arms move, and in the process of moving the clamping arms, the connecting rods limit the movement of the clamping arms, so that the first clamping arms 32 are close to or far away from each other, and the clamping or releasing of the object is realized.

The forklift 3 includes a frame 39, a fork 41 slidably disposed on the frame 39, a second driving mechanism 42 for driving the fork 41 to slide back and forth, a plurality of wheels 43 rotatably disposed on the lower end of the frame 39, a third driving mechanism disposed on the frame 39 for driving the wheels 43 to rotate, and a control device 44 disposed on the frame 39, in this embodiment, the third driving mechanism is a motor disposed on the frame 39, and the motor is used for driving the wheels 43 to rotate. The second driving mechanism 42 and the third driving mechanism are electrically connected to the control device 44, and preferably, the fork 41 and the control device 44 are located at the front and rear ends of the frame 39, respectively, and the control device 44 is used to balance the weight of the forklift 3, so as to prevent the forklift 3 from tipping forward. The carriage 39 has a first guide rod 391, the fork 41 is slidably disposed on the first guide rod 391, the second driving mechanism 42 is configured to drive the fork 41 to ascend or descend along the first guide rod 391, and the fork 41 is configured to protrude into the abdicating space 23 to support the storage basket 17.

After the bearing frame 22 of the storage basket 17 bears the full articles, the third driving mechanism drives the wheels 43 to rotate, so that the forklift 3 moves to the position near the storage basket 17, then the supporting fork 41 extends into the yielding space 23, then the first driving mechanism drives the supporting fork 41 to lift the storage basket 17, then the second driving mechanism 42 drives the wheels 43 to rotate, further the frame 39 is driven to move with the articles, after the forklift 3 moves to the preset position, the first driving mechanism drives the supporting fork 41 to place the supported articles at the preset position, automatic carrying of the articles is achieved, and the articles do not need to be carried manually by operators.

The warehouse device 4 comprises a fifth support 45, a storage plate 46 arranged in the fifth support 45, a bracket 47 arranged on the fifth support 45, a fifth motor 48 arranged on the fifth support 45 or/and the bracket 47, and a swing arm 49 arranged on an output shaft of the fifth motor 48, wherein the bracket 47 is used for supporting an object transferred by the forklift 3, the fifth motor 48 drives the swing arm 49 to rotate, and the rotating swing arm 49 is used for pushing the object supported by the bracket 47 to the storage plate 46.

After the fork truck 3 places the article after sorting device 2 sorts on bracket 47, fifth motor 48 drive swing arm 49 rotates, and pivoted swing arm 49 supports the article that bracket 47 bore and pushes the article into on the storage board 46 in fifth support 45, realizes the automatic storage of article, need not the manual storage article of operating personnel, promotes the storage efficiency of article.

The number of the storage plates 46 is multiple, the storage plates 46 are arranged at intervals and in parallel, the storage plates 46 are arranged in a vertical direction, the bracket 47 is arranged on the fifth support 45 in a sliding manner, the fifth support 45 is provided with a fourth driving mechanism 51 for driving the bracket 47 to move back and forth, and the fifth motor 48 is arranged on the bracket 47.

When one of the pallets 46 is filled with articles, the fourth driving mechanism 51 drives the bracket 47 to move until the bracket 47 moves to the other pallet 46, and then the articles are put on the bracket 47, and then the fifth motor 48 drives the swing arm 49 to rotate, so that the articles held by the bracket 47 can be pushed into the other pallet 46 by the rotating swing arm 49. The three-dimensional storage of a plurality of objects is realized, and the occupied area for storing the objects is saved.

The fifth bracket 45 is provided with a second guide rod 52, the second guide rod 52 is vertically arranged, and the bracket 47 is provided with a linear bearing which is sleeved on the outer side of the second guide rod 52 in a sliding manner; through the arrangement of the linear bearing, on one hand, the friction force between the bracket 47 and the fifth bracket 45 is reduced, so that the bracket 47 can slide up and down more easily; on the other hand, the friction noise between the fifth support 45 and the bracket 47 is reduced, and the use performance of the intelligent sorting and storing device is improved.

The bracket 47 is provided with two supporting plates 53, the supporting plates 53 are used for supporting the articles transferred by the forklift 3, the fifth motor 48 is located between the two supporting plates 53, the middle part of the storage plate 46 is provided with a spacing bar 54, and the swing arm 49 is used for pushing the articles supported by the two supporting plates 53 to two sides of the spacing bar 54. When the fifth motor 48 drives the swing arm 49 to rotate in the forward direction, the swing arm 49 pushes an object on one of the pallets 53 onto the storage plate 46 on one side of the barrier strip 54; when the fifth motor 48 drives the swing arm 49 to rotate in the reverse direction, the swing arm 49 pushes the article on the other pallet 53 onto the storage plate 46 on the other side of the division bar 54.

The above description is only for the preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention is disclosed in the preferred embodiment, it is not limited to the above description, and any person skilled in the art can make some changes or modifications to equivalent embodiments without departing from the scope of the present invention, but all the technical solutions of the present invention are within the scope of the present invention.

Claims (10)

1. The utility model provides a real standard system of intelligence letter sorting teaching robot which characterized in that: comprises a mechanical arm, a sorting device, a forklift and a warehouse device; the sorting device comprises a rack, a conveying mechanism, an identification mechanism, a plurality of transfer mechanisms and a plurality of material receiving mechanisms, wherein the conveying mechanism, the identification mechanism, the plurality of transfer mechanisms and the plurality of material receiving mechanisms are arranged on the rack; the mechanical arm is used for transferring external articles to the conveying mechanism, the conveying mechanism is used for driving the mechanical arm to transfer the articles automatically, the identification mechanism is used for identifying performance parameters of the articles moved by the conveying mechanism, the main control device regulates and controls the plurality of transfer mechanisms to transfer different articles moved by the conveying mechanism to the plurality of material receiving mechanisms according to differences of the performance parameters of the articles identified by the identification mechanism, and the forklift is used for automatically transferring the articles of the material receiving mechanisms to the warehouse device.

2. The intelligent sorting teaching robot training system according to claim 1, wherein: conveying mechanism includes the annular synchronous belt, first motor and a plurality of axis body, the axis body rotates and sets up in the frame, a plurality of axis bodies are interval and parallel arrangement each other, a plurality of axis body coplane sets up, the plane parallel horizontal plane at a plurality of axis body places, each axis body has two band pulleys, the band pulley include the disk body and with disk body complex synchronizing wheel, the external diameter of disk body is greater than the external diameter of synchronizing wheel, the synchronizing wheel of two band pulleys is located between the disk body of two band pulleys, the outside of the synchronizing wheel of axis body is located to the annular synchronous belt cover, the disk body of two band pulleys is used for the both sides of stop conflict annular synchronous belt, first motor sets up in the frame and.

3. The intelligent sorting teaching robot training system according to claim 2, wherein: the conveying mechanism and the material receiving mechanism are respectively positioned on two sides of the annular synchronous belt, the conveying mechanism comprises a first support arranged on the rack, a second motor arranged on the first support, and a pushing piece connected with an output shaft of the second motor, the pushing piece is positioned above the annular synchronous belt, the second motor drives the pushing piece to rotate, and the rotating pushing piece drives the object borne by the annular synchronous belt to push the object into the material receiving mechanism.

4. The intelligent sorting teaching robot training system according to claim 1, wherein: the material receiving mechanism comprises a material guiding assembly and a storage basket matched with the material guiding assembly, wherein the material guiding assembly comprises a second support arranged on the rack, an inclined plate and a third motor which are arranged on the second support, and a baffle connected with an output shaft of the third motor; the storage basket comprises a third support and a bearing frame arranged on the third support, and the third support is provided with a yielding space; the transfer mechanism transfers the articles in the material receiving mechanism to the baffle plate along the inclined plate under the action of gravity, the third motor drives the baffle plate to rotate and release the blocked articles so that the articles fall into the bearing frame of the storage basket under the action of gravity, and the forklift extends into the abdicating space to support the storage basket and transfer the articles in the bearing frame to the warehouse device.

5. The intelligent sorting teaching robot training system according to claim 1, wherein: the identification mechanism comprises a fourth support arranged on the rack and an identifier arranged on the fourth support and positioned above the conveying mechanism, and the identifier can be a color identification sensor, a weight identification sensor or a size identification sensor.

6. The intelligent sorting teaching robot training system according to claim 1, wherein: the arm includes the base, the activity sets up in the many articulated arms of base, set up in the terminal piece of picking up of many articulated arms, it includes the fixed plate to pick up the piece, the fourth motor, first arm lock and second arm lock, the fixed plate is connected in the end of many articulated arms, the fourth motor sets up in the fixed plate, the one end of first arm lock, the one end of second arm lock rotates respectively and sets up in the fixed plate, first arm lock, the second arm lock is equipped with the fan-shaped tooth that meshes each other, the fourth motor is used for driving first arm lock or second arm lock and rotates, the fourth motor is used for driving first arm lock, the second arm lock is kept away from each other or is close to each other, the other end of first arm lock, the other end of second arm lock is used for the external article of centre gripping, the arm drive piece of picking up centre.

7. The intelligent sorting teaching robot training system according to claim 6, wherein: the picking part further comprises a first rotating arm, a second rotating arm, a first connecting rod and a second connecting rod, one end of the first rotating arm and one end of the second rotating arm are respectively arranged on the fixed plate in a rotating mode, the fourth motor is used for driving the first rotating arm or the second rotating arm to rotate, the fan-shaped teeth are arranged at one end of the rotating arm, the other end of the rotating arm is arranged in a rotating mode with one end of the clamping arm, and the two ends of the connecting rod are respectively arranged in the middle of the fixed plate and the middle of the clamping.

8. The intelligent sorting teaching robot training system according to claim 4, wherein: the forklift comprises a frame, a supporting fork arranged on the frame in a sliding mode, a second driving mechanism used for driving the supporting fork to slide back and forth, a plurality of wheels arranged at the lower end of the frame in a rotating mode, a third driving mechanism arranged on the frame and used for driving the wheels to rotate, and a control device arranged on the frame.

9. The intelligent sorting teaching robot training system according to claim 1, wherein: the warehouse device comprises a fifth support, a goods storage plate arranged in the fifth support, a bracket arranged on the fifth support, a fifth motor arranged on the fifth support or/and the bracket, a swing arm arranged on an output shaft of the fifth motor, and a bracket used for bearing the articles transferred by the forklift, wherein the swing arm is driven by the fifth motor to rotate, and the rotated swing arm is used for pushing the articles borne by the bracket to the goods storage plate.

10. The intelligent sorting teaching robot training system according to claim 9, wherein: the storage plates are arranged in parallel at intervals, the storage plates are arranged in a vertical direction, the bracket is arranged on a fifth support in a sliding mode, the fifth support is provided with a fourth driving mechanism used for driving the bracket to move back and forth, a fifth motor is arranged on the bracket, the fifth support is provided with a second guide rod, the second guide rod is arranged vertically, and the bracket is provided with a linear bearing which is sleeved on the outer side of the second guide rod in a sliding mode; the bracket is provided with two layer boards, and the layer board is used for the article that the bearing fork truck transferred, and the fifth motor is located between two layer boards, and the storage plate middle part has and is equipped with the parting bead, and the swing arm is used for pushing the article that two layer boards supported to the both sides of parting bead.