CN112824258B

CN112824258B - Intelligent garbage sorting system

Info

Publication number: CN112824258B
Application number: CN201911139060.0A
Authority: CN
Inventors: 程晓文; 丁国清; 槐香兰; 倪侃; 梁文利
Original assignee: Anbeihe Tianjin Energy Technology Co ltd
Current assignee: Shanghai Wujiao Technology Co.,Ltd.
Priority date: 2019-11-20
Filing date: 2019-11-20
Publication date: 2023-03-21
Anticipated expiration: 2039-11-20
Also published as: CN112824258A

Abstract

The application provides an intelligence rubbish letter sorting system, including the base, set up the box on the base, set up the switch board of one side in the box, set up the rubbish classification cabinet of next-door neighbour switch board in the box, set up the grabbing on rubbish classification cabinet upper portion in the box and classify the device, set up and classify the image acquisition device of device below grabbing, set up the dog-house at the box top to and be used for discerning the rubbish discernment classification module of rubbish. The utility model provides an image acquisition device sets up and is snatching the device below of classifying, carry out image acquisition to rubbish when snatching rubbish, and transmit the image for rubbish discernment classification module through the controller and discern, and simultaneously, the controller snatchs the device of classifying according to the rubbish information control of classification module feedback, snatch and remove rubbish to the sub-dustbin of corresponding classification in, realize the classification rubbish, the sorting precision has been improved, the categorised amount of labour of rubbish has been reduced, the pollution of rubbish to the environment has been reduced, help the recovery and the cyclic utilization of resource simultaneously.

Description

Intelligent garbage sorting system

Technical Field

The application relates to the technical field of garbage sorting, in particular to an intelligent garbage sorting system.

Background

Due to the complexity and diversity of domestic garbage, the awareness of people in garbage classification is not high, the garbage classification market is immature and the like, so that the garbage classification of China has been implemented for more than ten years, but no effect is still achieved, in the overseas market, according to a research report on the classification effect of domestic garbage in Shanghai City issued in 2016 and 8 months, although a cell is provided with a classification garbage can, the garbage mixing rate is as high as 80%, the classification garbage can is set, in the research process, more than 50% of people do not pay attention to the garbage classification at ordinary times, and only 13.3% of investigators can correctly distinguish the garbage classification. The practical significance of garbage classification is discussed based on the current situation and problems of garbage classification, so that the effective promotion of garbage classification is really realized, and corresponding contribution is made to the green and environment-friendly society.

The current situation of garbage classification and recovery has a plurality of problems, and the main problems are shown in the following aspects:

first, the waste sorting facility is not intelligent enough. At present, the garbage can in cities of China is only set into a recyclable garbage can and an unrecoverable garbage can, but everyone understands whether the garbage can be recycled differently, the arrangement is similar to a nominal garbage, the two garbage cans are the same in shape, only different in color and unobvious in recyclable marks, the recyclable marks of the garbage cans are easy to ignore by people, and the phenomenon that the two garbage cans are arranged but have the same function is caused.

Secondly, the awareness of the classification of the garbage of residents is not strong, people do not have the living habit of the garbage classification, and the general knowledge of the related garbage classification is lacked. The concept of people with garbage classification is always vague. Such as recyclable and non-recyclable waste, although easy to look at, are difficult to distinguish among people in life, thus making people always have a doubt when sorting the waste.

Disclosure of Invention

The application provides an intelligent rubbish letter sorting system for solving above-mentioned technical problem.

The technical scheme adopted by the application is as follows: an intelligent garbage sorting system is characterized by comprising a base, a box body arranged on the base, a control cabinet arranged on one side in the box body, a garbage classification cabinet arranged in the box body and close to the control cabinet, a grabbing and classifying device arranged on the upper portion of the garbage classification cabinet in the box body, an image acquisition device arranged below the grabbing and classifying device, a feed port arranged at the top of the box body and a garbage identification and classification module used for identifying garbage;

the control cabinet comprises a control cabinet body and a controller arranged in the control cabinet body, and the garbage classification cabinet comprises a garbage classification cabinet body, a main garbage can and a plurality of sub garbage cans, wherein the main garbage can is arranged in the garbage classification cabinet body and is vertical to the control cabinet, and the sub garbage cans are symmetrically arranged on two sides of the main garbage can;

the image acquisition device is in communication connection with the controller and transmits the acquired garbage images to the controller; the feeding port is arranged above the main garbage can;

the controller is in communication connection with the garbage recognition and classification module, transmits the received garbage images to the garbage recognition and classification module for recognition and classification, and receives classification results from the garbage recognition and classification module;

the controller is electrically connected with the grabbing and classifying device, and controls the grabbing and classifying device to grab and move the garbage into the sub-garbage boxes of the corresponding category according to the received classification result.

Furthermore, the grabbing and classifying device comprises a guide assembly arranged at the upper part of the garbage classification cabinet, a grabbing device arranged on the guide assembly and a first driving motor for driving the grabbing device to move along the guide assembly;

the garbage sorting device comprises a garbage sorting cabinet, a grabbing device and a guide component, wherein the guide component comprises a frame body, a guide screw rod and a guide slide rod, the frame body is arranged on the upper portion of the garbage sorting cabinet, the guide screw rod and the guide slide rod are arranged on two sides of the upper portion of the frame body in parallel, a first driving motor is connected with the guide screw rod, the grabbing device comprises a guide piece arranged between the guide screw rod and the guide slide rod and a manipulator component arranged on the guide piece, and the guide piece comprises a first thread seat matched with the guide screw rod, a guide slide seat matched with the guide slide rod, a connecting screw rod rotationally arranged between the first thread seat and the guide slide seat and a second driving motor arranged on one side, far away from the first thread seat, of the guide slide seat and driving the connecting screw rod to rotate; the manipulator assembly comprises a second threaded seat arranged on the connecting screw rod, a guide rod arranged between the first threaded seat and the guide sliding seat through the second threaded seat, a telescopic arm arranged below the second threaded seat and a manipulator arranged below the telescopic arm;

the manipulator comprises a mounting seat and a plurality of mechanical fingers arranged below the mounting seat, and the mechanical fingers are arranged below the mounting seat in an annular array;

the image acquisition device is arranged in the middle below the mounting seat;

and the first driving motor, the second driving motor and the telescopic arm are all electrically connected with the controller.

Further, the mechanical finger comprises a finger base arranged below the mounting seat, a finger body arranged on the finger base and a control device arranged in the finger body and used for controlling the extension and bending of the finger body;

the finger body comprises a near finger end part fixedly connected with the finger base, a far finger end part hinged to one end of the near finger end part far away from the finger base and an elastic clamping part arranged at the free end of the far finger end part; the elastic clamping part comprises a fixing part connected with the free end of the far finger end part and an elastic rubber layer sleeved on the outer side of the fixing part.

Furthermore, the near finger end part comprises a near finger shell fixed on the finger base and a first isosceles triangular support frame arranged in the near finger shell and the vertex of the first isosceles triangular support frame is fixed on the finger base, the first isosceles triangular support frame comprises an upper triangular support and extension shafts arranged at the left end and the right end of the bottom edge of the upper triangular support, and the extension shafts penetrate through the side wall of the near finger shell;

the far finger end comprises a far finger shell and a second isosceles triangular support frame which is arranged in the far finger shell and hinged to the middle of the bottom edge of the upper triangular support frame through a vertex, the far finger shell is hinged to an extension shaft on the outer side of the near finger shell, the plane of the second isosceles triangular support frame is perpendicular to the plane of the upper triangular support frame, the second isosceles triangular support frame comprises a lower triangular support frame, a fixing shaft and extension rods, the fixing shaft is arranged at the front end point and the rear end point of the bottom edge of the lower triangular support frame and perpendicular to the plane of the lower triangular support frame, the extension rods are arranged at the two ends of the bottom edge of the lower triangular support frame, and the bottom edge of the lower triangular support frame is connected with the side wall of the far finger shell through the extension rods;

the control device comprises driving cylinders and elastic connecting pieces which are symmetrically arranged on the left side and the right side of the upper triangular support and fixed on the finger root base, a first pulley arranged on the extending shaft on one side of the driving cylinders, a second pulley arranged on the extending shaft on one side of the elastic connecting pieces, a third pulley and a fourth pulley which are respectively arranged on the front and rear end points of the bottom side of the lower triangular support and fixed shafts, and a pull rope, one end of which is connected with the driving cylinders, sequentially penetrates through the first pulley, the third pulley, the fourth pulley and the second pulley and is connected with the elastic connecting pieces, and the driving cylinders are connected with the controller.

Furthermore, a reset auxiliary device is arranged between the upper triangular support and the lower triangular support and comprises an auxiliary rod arranged between the top point of the upper triangular support and the middle point of the bottom edge and a reset spring arranged between the auxiliary rod and the waist rod in the front of the lower triangular support.

Furthermore, a plurality of irregular grooves are formed in the outer side of the elastic rubber layer.

Further, the fixing piece comprises an arc-shaped base plate and an elastic air bag arranged on the inner side of the arc-shaped base plate.

Further, the garbage recognition and classification module comprises: the garbage sorting module is arranged at the cloud end, and the local garbage sorting module is arranged at the garbage can;

the garbage screening and classifying module comprises a recognition model trained by a deep learning technology and a later-stage manual screening library, and garbage pictures in the manual screening library are screened manually and then used for updating the recognition model of the garbage screening and classifying module;

the controller is in communication connection with the garbage screening and classifying module through a wireless network; the controller preferentially transmits the garbage image to the local garbage recognition and classification module, and transmits the garbage image to the garbage screening and classification module at the cloud end for secondary recognition when the local garbage recognition and classification module cannot recognize the garbage image;

the garbage screening and classifying module automatically identifies the received garbage pictures, and if the garbage pictures cannot be automatically identified, the garbage pictures are sent to a manual screening library; the manual screening library updates the identification model in the cloud garbage screening classification module after manually screening the garbage pictures;

the garbage screening and classifying module is also used for pushing the updated recognition model to the local garbage recognition and classifying module at intervals.

The base comprises a base body, a vacuum generator arranged on the upper portion of the base body and a plurality of negative pressure adsorption devices arranged below the base body, the vacuum generator is arranged on the upper portion of the base body, a mounting groove matched with the negative pressure adsorption devices is formed below the base body, the negative pressure adsorption devices are detachably arranged in the mounting groove and comprise negative pressure devices and a plurality of auxiliary cylinders, the vacuum generator is connected with the negative pressure devices through vacuum tubes, each negative pressure device comprises a sucker, a base matched with the sucker and an annular sealing element arranged at the suction end of the sucker, the sucker comprises a sucker body and a connecting part arranged at the air exhaust end of the sucker body, a groove matched with the sucker body is formed in the base, the connecting part penetrates through the base and is arranged on the base in a sliding mode, the annular sealing element comprises an annular connecting plate arranged at the suction end of the sucker body and parallel to the base and an annular elastic sealing element arranged below the annular connecting plate, the annular elastic sealing element comprises a first annular sealing element arranged on the inner side of the annular connecting plate and a second annular sealing element arranged on the outer side of the annular connecting plate, and a second annular connecting plate is formed between the first annular sealing element and the second annular connecting plate; the vacuum tube passes connecting portion and sucking disc body and communicates mutually, supplementary cylinder is the annular array setting and keeps away from sucking disc adsorption end one side at the base, and is located the connecting portion outside, supplementary cylinder output passes the base and communicates mutually with the sucking disc body.

Furthermore, a plurality of auxiliary guide sliding rods are arranged on the outer side of the sucker and one side, away from the annular elastic sealing element, of the annular connecting plate, and a guide sliding groove matched with the auxiliary guide sliding rods is formed in the base.

The application has the advantages and positive effects that: the utility model provides an intelligence rubbish letter sorting system, image acquisition device sets up snatchs the classification device below, carry out image acquisition to rubbish when snatching rubbish, and transmit the image for rubbish discernment classification module through the controller and discern, and simultaneously, the controller snatchs the classification device according to the rubbish information control of classification module feedback, snatch and remove rubbish to the sub-dustbin of corresponding classification in, realize the classification rubbish, sorting precision has been improved, the categorised amount of labour of rubbish has been reduced, the pollution of rubbish to the environment has been reduced, help the recovery and the cyclic utilization of resource simultaneously.

In addition to the technical problems addressed by the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems solved by the present application, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent garbage sorting system provided by the present application;

FIG. 2 is a schematic structural diagram of a grasping and classifying device according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a guide assembly provided in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a grasping device according to an embodiment of the present application;

FIG. 5 is a front view of a mechanical finger provided in an embodiment of the present application;

FIG. 6 is a side view of a robot finger provided in an embodiment of the present application;

FIG. 7 is a schematic structural view of an elastic clamping portion provided in an embodiment of the present application;

FIG. 8 is a schematic view of a proximal end structure provided in an embodiment of the present application;

FIG. 9 is a schematic view of a distal finger tip configuration provided by an embodiment of the present application;

FIG. 10 is a schematic view of a second isosceles triangular brace structure provided in accordance with an embodiment of the present application;

FIG. 11 is a schematic structural diagram of a control device provided in an embodiment of the present application;

fig. 12 is a schematic structural diagram of a reposition assisting apparatus provided in an embodiment of the present application;

FIG. 13 is a schematic diagram of an irregular groove structure provided in an embodiment of the present application;

FIG. 14 is a schematic view of a fastener construction provided in an embodiment of the present application;

FIG. 15 is a structural diagram of a garbage recognition and classification module according to an embodiment of the present disclosure;

FIG. 16 is a schematic view of a base structure provided in an embodiment of the present application;

FIG. 17 is a schematic structural diagram of a negative pressure adsorption device provided in an embodiment of the present application;

FIG. 18 is a schematic structural diagram of a negative pressure device provided in an embodiment of the present application;

FIG. 19 is a schematic view of a suction cup and groove configuration provided by an embodiment of the present application;

FIG. 20 is a schematic structural view of a ring seal provided by an embodiment of the present application;

fig. 21 is a schematic structural view of a guide bar and a guide groove provided in the embodiment of the present application.

In the figure: 1, a base; 110 a base body; 111 mounting grooves; 120 a vacuum generator; 130 negative pressure adsorption device; 131 negative pressure device; 132 an auxiliary cylinder; 2, a box body; 3, a control cabinet; 310 a control cabinet; 320 a controller; 4, a garbage classification cabinet; 410 a waste sorting bin; 420 a main waste bin; 430 a sub-dustbin; 5, a grabbing and classifying device; 510 a guide member; 511 a frame body; 512 leading screw; 513 a guide rod; 520 a grasping device; 530 a first drive motor; 6, an image acquisition device; 7, a feeding port; 8, a garbage identification and classification module; 810 a garbage screening and classifying module; 811 identifying a model; 812 manual screening libraries; 820 local garbage recognition and classification module; 9 a guide member; 910 a first threaded seat; 920 guiding the sliding seat; 930 connecting a lead screw; 940 a second drive motor; 10 a robot assembly; 1010 a second threaded seat; 1020 a guide bar; 1030 telescoping arms; 1040 a manipulator; 11 a mounting seat; 12 mechanical fingers; 1210 finger root base; 1220 a finger body; 1221 proximal to the finger end; 1222 a distal finger end; 1223 an elastic grip; 1230 control means; 1231 driving the cylinder; 1232 an elastic connector; 1233 a first pulley; 1234 a second sheave; 1235 a third pulley; 1236 a fourth pulley; 1237 pulling a rope; 13 a fixing member; 1310 an arcuate substrate; 1320 an elastic air bag; 14 an elastic rubber layer; 15 proximal to the finger shell; 16 a first isosceles triangular support; 1610 a triangular bracket; 1620 extending the shaft; 17 distal finger shell; 18 a second isosceles triangular support; 1810 lower triangular bracket; 1820 fixing the shaft; 1830 an extension rod; 19 resetting the auxiliary device; 1910 the auxiliary shaft; 1920 a return spring; 20 irregular grooves; 21, a sucker; 2110 sucking disc body; 2120 a connecting part; 22 a base; 2210 grooves; 23 an annular seal; 2310 annular connecting plate; 2320 annular elastic seal; 2321 a first annular seal; 2322 a second annular seal; 24 auxiliary guide sliding rods; 25 guide chute

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1, an intelligent garbage sorting system is characterized by comprising a base 1, a box 2 arranged on the base 1, a control cabinet 3 arranged on one side in the box 2, a garbage classification cabinet 4 arranged in the box 2 and close to the control cabinet 3, a grabbing classification device 5 arranged on the upper portion of the garbage classification cabinet 4 in the box 2, an image acquisition device 6 arranged below the grabbing classification device 5, a feeding port 7 arranged at the top of the box 2, and a garbage identification and classification module 8 for identifying garbage;

the control cabinet 3 comprises a control cabinet body 310 and a controller 320 arranged in the control cabinet body 310, and the garbage classification cabinet 4 comprises a garbage classification cabinet body 410, a main garbage can 420 arranged in the garbage classification cabinet body 410 and perpendicular to the control cabinet 3, and a plurality of sub garbage cans 430 symmetrically arranged at two sides of the main garbage can 420;

the image acquisition device 6 is in communication connection with the controller 320, and the image acquisition device 6 transmits the acquired garbage image to the controller 320; the feeding port 7 is arranged above the main garbage can 420;

the controller 320 is in communication connection with the garbage recognition and classification module 8, transmits the received garbage images to the garbage recognition and classification module 8 for recognition and classification, and receives classification results from the garbage recognition and classification module 8;

the controller 320 is electrically connected to the grabbing and classifying device 5, and controls the grabbing and classifying device 5 to grab and move the garbage into the sub-garbage bin 430 of the corresponding category according to the received classification result.

In this embodiment, the base 1 is a basic supporting structure of the box body 2, the box body 2 can be movably arranged on the upper portion of the base 1, so that the box body 2 and the base 1 can be conveniently moved and installed, the control cabinet 3 and the garbage classification cabinet 4 are arranged in parallel inside the box body 2, in this embodiment, the control cabinet 3 comprises a control cabinet body 310 and a controller 320, the garbage classification cabinet 4 comprises a garbage classification cabinet body 410, a main garbage can 420 and a plurality of sub garbage cans 430, the main garbage can 420 is arranged in the middle of the garbage classification cabinet body 410 and is perpendicular to the control cabinet body 310, and the sub garbage cans 430 are symmetrically arranged on two sides of the main garbage can 420; in main dustbin 420 top, box 2 roof is equipped with dog-house 7, and the user can throw rubbish into main dustbin 420 through dog-house 7, and in this embodiment, dog-house 7 can set up the lid, avoids the rubbish peculiar smell in the box 2 to give off, influences residents on every side, reduces the influence that causes the environment, and the lid can articulate at dog-house 7, also can set up in dog-house 7 department through the structure that resets such as the torsion spring that resets.

In this embodiment, snatch the setting of classifying device 5 and classifying at the upper portion of rubbish classification cabinet 4, image acquisition device 6 sets up and classifying the device 5 below snatching, carries out image acquisition to rubbish when snatching classifying the device 5 and snatching rubbish to transmit the image through controller 320 and discern for rubbish discernment classification module 8, snatch and discern and go on simultaneously, help the letter sorting efficiency of rubbish.

In this embodiment, when the intelligent garbage sorting system works, a user puts garbage into the main garbage can 420 through the material inlet 7, the controller 320 starts the grabbing and classifying device 5 to grab the garbage, the grabbing and classifying device 5 grabs the garbage while the image acquisition device 6 performs image acquisition on the garbage, meanwhile, the controller 320 performs communication transmission, the controller 320 transmits the garbage image to the garbage recognition and classification module 8 to perform recognition and classification, receives a classification result from the garbage recognition and classification module 8, and controls the grabbing and classifying device 5 to grab and move the garbage into the sub-garbage can 430 of the corresponding category according to the received classification result, so as to complete a working cycle.

As shown in fig. 2, 3 and 4, in a preferred embodiment, the gripping and sorting device 5 comprises a guide assembly 510 disposed at an upper portion of the garbage classification cabinet 4, a gripping device 520 disposed on the guide assembly 510, and a first driving motor 530 for driving the gripping device 520 to move along the guide assembly 510;

the guide assembly 510 comprises a frame body 511, a guide screw 512 and a guide sliding rod 513, the frame body 511 is arranged at the upper part of the garbage classification cabinet 4, the guide screw 512 and the guide sliding rod 513 are arranged at two sides of the upper part of the frame body 511 in parallel, the first driving motor 530 is connected with the guide screw 512, the gripping device 520 comprises a guide part 9 arranged between the guide screw 512 and the guide sliding rod 513 and a manipulator assembly 10 arranged on the guide part 9, the guide part 9 comprises a first threaded seat 910 matched with the guide screw 512, a guide sliding seat 920 matched with the guide sliding rod 513, a connecting screw 930 rotatably arranged between the first threaded seat 910 and the guide sliding seat 920 and a second driving motor 940 arranged at one side of the guide sliding seat 920 far away from the first threaded seat 910 and driving the connecting screw 930 to rotate; the manipulator assembly 10 comprises a second threaded seat 1010 arranged on the connecting screw 930, a guide rod 1020 arranged between the first threaded seat 910 and the guide sliding seat 920 through the second threaded seat 1010, a telescopic arm 1030 arranged below the second threaded seat 1010 and a manipulator 1040 arranged below the telescopic arm 1030;

the manipulator 1040 comprises a mounting seat 11 and a plurality of mechanical fingers 12 arranged below the mounting seat 11, wherein the mechanical fingers 12 are arranged below the mounting seat 11 in an annular array;

the image acquisition device 6 is arranged in the middle below the mounting seat 11;

the first driving motor 530, the second driving motor 940 and the telescopic arm 1030 are all electrically connected with the controller 320.

In this embodiment, the grabbing and classifying device 5 is provided with a guiding assembly 510, a grabbing device 520 and a first driving motor 530, the guiding assembly 510 is a guiding moving component of the grabbing device 520, and is provided with a frame body 511, a guiding screw 512 and a guiding slide bar 513, the frame body 511 is arranged on the upper portion of the garbage classifying cabinet 4, the guiding screw 512 and the guiding slide bar 513 are arranged on the upper portion of the frame body 511 in parallel, in this embodiment, the guiding screw 512 and the guiding slide bar 513 are arranged perpendicular to the control cabinet 3, the first driving motor 530 is connected with the first guiding screw 512, the first driving motor 530 can be arranged in the control cabinet body 310 or on the side wall outside the box body 2, the first driving motor 530 is arranged separately from the garbage to avoid the influence of the garbage humid environment, and the service life of the first driving motor 530 is greatly prolonged;

in this embodiment, the grasping apparatus 520 includes a guide 9 and a manipulator assembly 10, the guide 9 is vertically disposed between the guide screw 512 and the guide sliding rod 513, the guide 9 includes a first screw seat 910, a guide sliding seat 920, a connecting screw 930 and a second driving motor 940, the first screw seat 910 is disposed on the guide screw 512, the guide sliding seat 920 is disposed on the guide sliding rod 513, the connecting screw 930 is rotatably disposed between the first screw seat 910 and the guide sliding seat 920, the second driving motor 940 is disposed on a side of the guide sliding seat 920 away from the first screw seat 910 and is connected to the connecting screw 930, the manipulator assembly 10 is movably disposed on the connecting screw 930, in operation, the second driving motor 940 can drive the connecting screw 930 to rotate, and further drive the manipulator assembly to move on the connecting screw 930, in this embodiment, the manipulator assembly 10 includes a second screw seat 1010, a guide rod 1020, a telescopic arm 1040 and a manipulator 1030, the second screw seat 1010 is disposed on the connecting screw 930, the guide rod 1020 is disposed between the first screw seat 910 and the guide sliding seat 920, in this embodiment, the sliding seat 1030 is a telescopic arm cylinder 1030, and the telescopic arm is disposed below the telescopic arm 1040.

In this embodiment, the first driving motor 530 can drive the guide screw 512 to rotate, and drive the guide member 9 to move along the guide screw 512 and the guide sliding rod 513, the second driving motor 940 can drive the connecting screw 930 to rotate, and further drive the manipulator assembly 10 to move along the connecting screw 930, the first driving motor 530, the second driving motor 940 and the telescopic arm 1030 are all connected with the controller 320, the first driving motor 530 and the second driving motor 940 are matched to facilitate moving the manipulator assembly 10 to a required position, and the telescopic arm 1030 can telescopically grab garbage.

In this embodiment, the manipulator 1040 includes a mounting base 11 and a plurality of mechanical fingers 12, the mounting base 11 is disposed below the telescopic arm 1030, and the mechanical fingers 12 are disposed below the mounting base 11 in an annular array, so as to facilitate the mechanical fingers 12 to grab the garbage.

In this embodiment, image acquisition device 6 sets up in 11 below middle parts of mount pad, and the in-process that the manipulator 1040 of being convenient for snatched rubbish carries out image acquisition to rubbish, helps improving the letter sorting efficiency who snatchs classification device 5.

As shown in fig. 5, 6 and 7, in a preferred embodiment, the mechanical finger 12 includes a finger base 1210 disposed below the mounting seat 11, a finger body 1220 disposed on the finger base 1210, and a control device 1230 disposed in the finger body 1220 for controlling the extension and flexion of the finger body 1220;

the finger body 1220 comprises a proximal finger end 1221 fixedly connected with the base 1210, a distal finger end 1222 hinged at one end of the proximal finger end 1221 far away from the base 1210, and an elastic clamping portion 1223 arranged at the free end of the distal finger end 1222; the elastic clamping portion 1223 includes a fixed member 13 connected to the free end of the distal finger end 1222 and an elastic rubber layer 14 covering the outside of the fixed member 13.

In this embodiment, the finger base 1210 is a fixed component of the finger body 1220, the control device 1230 is a driving device of the finger body 1220, and the control finger body 1220 is extended and bent according to the object to be gripped, in this embodiment, the finger body 1220 is provided with a proximal finger end 1221, a distal finger end 1222 and an elastic clamping portion 1223, the proximal finger end 1221 is fixed on the finger base 1210, the distal finger end 1222 is hinged to one end of the proximal finger end 1221 away from the finger base, the elastic clamping portion 1223 is arranged at the free end of the distal finger end 1222, the elastic clamping portion 1223 includes a fixed member 13 and an elastic rubber layer 14, the fixed member 13 is arranged at the fixed member 13 at the free end of the distal finger end 1222, and the elastic rubber layer 14 is sleeved outside the fixed member 13, in this embodiment, the elastic rubber layer 14 can deform according to the specific shape of the gripped object, thereby greatly improving the application range of the mechanical finger, and simultaneously, the elastic rubber layer greatly improves the contact area between the elastic clamping portion 1223 and objects of different shapes, and reduces the gap between the elastic clamping portion 1223 and greatly improves the friction force of the gripped object, thereby improving the stability of the gripped object.

As shown in fig. 8, 9, 10 and 11, in a preferred embodiment, the proximal end 1221 includes a proximal housing 15 fixed to the base 1210, and a first isosceles triangular support 16 disposed inside the proximal housing 15 and having an apex fixed to the base 1210, the first isosceles triangular support 16 includes an upper triangular bracket 1610 and extension shafts 1620 disposed at the left and right ends of the bottom of the upper triangular bracket 1610, and the extension shafts 1620 pass through the side wall of the proximal housing 15;

the distal finger end 1222 comprises a distal finger shell 17 and a second isosceles triangular support frame 18 which is arranged in the distal finger shell 17 and hinged to the middle of the bottom edge of the upper triangular support 1610 through an apex, the distal finger shell 17 is hinged to an extension shaft 1620 which is arranged on the outer side of the proximal finger shell 15, the plane of the second isosceles triangular support frame 18 is perpendicular to the plane of the upper triangular support 1610, the second isosceles triangular support frame 18 comprises a lower triangular support 1810, a fixed shaft 1820 which is arranged at the front end and the rear end of the bottom edge of the lower triangular support 1810 and perpendicular to the plane of the lower triangular support 1810, and extension rods 1830 which are arranged at the two ends of the bottom edge of the lower triangular support 1810, and the bottom edge of the lower triangular support 1810 is connected with the side wall of the distal finger shell 17 through the extension rods 1830;

the control device 1230 comprises a driving cylinder 1231 and an elastic connecting member 1232 symmetrically arranged on the left and right sides of the upper triangular support 1610 and fixed on the finger base 1210, a first pulley 1233 arranged on the extending shaft 1620 at one side of the driving cylinder 1231 and a second pulley 1234 arranged on the extending shaft 1620 at one side of the elastic connecting member 1232, a third pulley 1235 and a fourth pulley 1236 respectively arranged on the fixed shaft 1820 at the front and rear end points of the bottom side of the lower triangular support 1810, and a pull rope 1237 with one end connected with the driving cylinder 1231, the other end sequentially passing through the first pulley 1233, the third pulley 1235, the fourth pulley 1236 and the second pulley 1234 and connected with the elastic connecting member 1232, wherein the driving cylinder 1231 is connected with the controller 320.

In this embodiment, the proximal end 1221 is provided with a proximal housing 15 and a first isosceles triangular support 16, the proximal housing 15 is a protective housing of the proximal end 1221, one end of the proximal housing 15 is fixed on the finger base 1210, the first isosceles triangular support 16 is disposed in the proximal housing 15, and the first isosceles triangular support 16 is vertically fixed on the finger base 1210 through a vertex, in this embodiment, the first isosceles triangular support 16 includes an upper triangular support 1610 and extension shafts 1620 disposed at the left and right ends of the bottom edge of the upper triangular support 1610, the extension shafts 1620 penetrate through the side wall of the proximal housing 15, the proximal housing 15 and the first isosceles triangular support 16 are matched, so as to greatly improve the structural stability of the proximal end 1221 and the ability of the proximal end 1221 to support objects.

In this embodiment, the distal end 1222 is a movable component of the finger body 1220, the distal end 1222 is provided with a distal housing 17 and a second isosceles triangular support 18, one end of the distal housing 17 is hinged to the extension shaft 1620 outside the proximal housing 15, the second isosceles triangular support 18 is disposed in the distal housing 17, in this embodiment, the vertex of the second isosceles triangular support 18 is hinged to the middle of the bottom side of the upper triangular support, and the plane of the second isosceles triangular support 18 is perpendicular to the plane of the upper triangular support 1610, in this embodiment, the second isosceles triangular support 18 includes a lower triangular support 1810, a fixing shaft 1820 and an extension rod 1830, in the front and rear end points of the bottom side of the lower triangular support 1810, the fixing shaft 1820 is located on the same side of the lower triangular support 1810 and perpendicular to the plane of the lower triangular support 1810, in this embodiment, the bottom sides of the lower triangular support 1810 are provided with extension rods 1830, and the bottom side of the lower triangular support 1810 is connected to the side wall of the distal housing 17 through the extension rods 1830, in this embodiment, the lower triangular support cooperates with the distal housing 17, greatly improves the stability of the distal housing 1222, and greatly improves the stability of the object combined with the distal housing, and the object.

In this embodiment, the control device 1230 is a power structure of the finger body 1220, and includes a driving cylinder 1231, an elastic connecting member 1232, a first pulley 1233, a second pulley 1234, a third pulley 1235, a fourth pulley 1236 and a pull rope 1237, the driving cylinder 1231 and the elastic connecting member 1232, and the upper triangular bracket 1610 is located on the same plane, the driving cylinder 1231 and the elastic connecting member 1232 are symmetrically disposed on the left and right sides of the upper triangular bracket 1610, the first pulley 1233 is disposed on the extending shaft 1620 below the driving cylinder 1231, the second pulley 1234 is disposed on the extending shaft 1620 below the elastic connecting member 1232, the third pulley 1235 and the fourth pulley 1236 are disposed on the front and rear end points 1820 of the bottom edge of the lower triangular bracket, in this embodiment, one end of the pull rope 1237 is connected to the driving device, one end of the pull rope passes through the first pulley 1233, the third pulley 1235, the fourth pulley 1236 and the second pulley 1234 in sequence and is connected to the elastic connecting shaft 1232, the elastic connecting spring 1232 is a connecting spring, when the operation, the finger body 1231 can be pulled to the finger body 1222, the finger can be quickly reset, the finger can be connected to the finger body 1222, and the finger can be quickly, the finger can be quickly reset finger can be easily operated, and the finger can be conveniently operated, and can be quickly, and the finger can be connected to the finger body 1222 can be quickly, and can be connected to be quickly, and the finger can be quickly, and can be connected to the finger body 1222.

As shown in fig. 12, in a preferred embodiment, a return assistant device 19 is disposed between the upper triangular bracket 1610 and the lower triangular bracket 1810, and the return assistant device 19 includes an assistant rod 1910 disposed between the vertex and the bottom midpoint of the upper triangular bracket 1610 and a return spring 1920 disposed between the assistant rod 1910 and the front waist rod of the lower triangular bracket 1810.

In this embodiment, a reset assisting device 19 is disposed between the upper triangular support 1610 and the lower triangular support 1810, and the reset assisting device 19 cooperates with the connecting spring and the driving cylinder 1231 to further improve the efficiency of the mechanical finger 12 in grasping and placing objects.

As shown in fig. 13, in a preferred embodiment, a plurality of irregular grooves 20 are formed on the outer side of the elastic rubber layer 14. In this embodiment, the outer side of the elastic rubber layer 14 is provided with a plurality of irregular grooves 20, the irregular grooves 20 greatly improve the friction between the elastic rubber layer 14 and the object to be clamped, and meanwhile, the irregular grooves 20 of the elastic rubber layer 14 and the surface of the object are easy to form vacuum adsorption, so that the object clamping capacity of the mechanical finger 12 is further improved.

In a preferred embodiment, as shown in fig. 14, the fixing member 13 includes an arc-shaped base 1310 and an elastic bladder 1320 disposed inside the arc-shaped base 1310. In this embodiment, the fixing frame includes an arc-shaped substrate 1310 and an elastic air bag 1320, the arc-shaped substrate 1310 is a supporting framework, the elastic air bag 1320 is disposed in the arc-shaped substrate 1310, the elastic rubber layer 14 is sleeved on the outer side of the fixing member 13, and the elastic rubber layer 14 is matched with the elastic air bag 1320, so as to further improve the deformation capability of the elastic clamping portion 1223 when clamping objects, thereby greatly improving the capability of the elastic clamping portion 1223 for clamping objects of different shapes.

As shown in fig. 15, in a preferred embodiment, the garbage recognition and classification module 8 includes: a garbage screening and classifying module 810 arranged at the cloud end and a local garbage identifying and classifying module 820 arranged at the garbage can;

the garbage screening and classifying module 810 comprises a recognition model 811 trained by a deep learning technology and a later-stage manual screening library 812, and garbage pictures in the manual screening library 812 are screened manually to update the recognition model 811 of the garbage screening and classifying module 810;

the controller 320 is in communication connection with the garbage screening and classifying module 810 through a wireless network; the controller 320 preferentially transmits the spam image to the local spam recognition and classification module 820, and transmits the spam image to the spam screening and classification module 810 at the cloud for secondary recognition when the local spam recognition and classification module 820 cannot recognize the spam image;

the spam screening classification module 810 automatically identifies the received spam pictures, and if the received spam pictures cannot be automatically identified, the spam pictures are sent to a manual screening library 812; after the manual screening library 812 manually screens the spam pictures, updating the identification models 811 in the cloud spam screening classification module 810;

the garbage screening classification module 810 is further configured to push the updated recognition model 811 to the local garbage recognition classification module 820 at intervals.

In this embodiment, the garbage recognition and classification module 8 includes: the garbage screening and classifying module 810 arranged at the cloud end and the local garbage identifying and classifying module 820 arranged at the garbage can. The garbage screening and classifying module 810 comprises a recognition model 811 trained by deep learning technology and a later-stage manual screening library 812, garbage pictures in the manual screening library 812 are screened manually, and the recognition model 811 of the garbage screening and classifying module 810 is updated. The controller 320 is in communication connection with the garbage screening and classifying module 810 through a wireless communication module.

The controller 320 preferentially transmits the spam image to a local spam recognition and classification module 820, and transmits the spam image to the spam screening and classification module 810 at the cloud for secondary recognition when the local spam recognition and classification module 820 cannot recognize the spam image; the garbage discrimination and classification module 810 automatically identifies the received garbage pictures and feeds back the classification results to the controller 320; if the images cannot be automatically identified, the spam images are sent to a manual screening library 812 for manual screening. After manually screening the spam pictures, the manual screening library 812 updates the identification models 811 in the cloud spam screening classification module 810; the spam screening classification module 810 automatically identifies the received spam images according to the updated identification model 811 and feeds back the classification results to the controller 320.

The cloud-based garbage screening and classifying module 810 is further configured to push the updated recognition model 811 to the local garbage recognition and classifying module 820 at intervals.

As shown in fig. 16, 17, 18, 19 and 20, in a preferred embodiment, the base 1 includes a base body 110, a vacuum generator 120 disposed on the upper portion of the base body 110, and a plurality of negative pressure suction devices 130 disposed under the base body 110, the vacuum generator 120 is disposed on the upper portion of the base body 110, a mounting groove 111 is disposed under the base body 110 for cooperating with the negative pressure suction device 130, the negative pressure suction device 130 is detachably disposed in the mounting groove 111, the negative pressure suction device 130 includes a negative pressure device 131 and a plurality of driving cylinders 1231, the vacuum generator 120 is connected to the negative pressure device 131 through a vacuum tube, the negative pressure device 131 includes a suction cup 21, a base 22 for cooperating with the suction cup 21, and an annular seal 23 disposed at a suction end of the suction cup 21, the suction cup 21 includes a suction cup body 2110 and a connecting portion 2120 disposed at a suction end of the suction cup body 2110, the base 22 is provided with a groove for cooperating with the suction cup body 2110, the connecting portion 2120 passes through the base 22 and is slidably disposed on the base 22, the annular seal 23 includes an annular connecting plate 2320 disposed at an inner side of the annular connecting plate 2320 and an annular connecting plate 2312 disposed at an outer side of the annular connecting plate 2310 and an annular connecting plate 2312 for forming a first annular sealing plate 2320; the vacuum tube passes through the connecting part 2120 and is communicated with the suction cup body 2110, the driving cylinders 1231 are arranged on one side of the base 22 far away from the suction end of the suction cup 21 in an annular array and are positioned on the outer side of the connecting part 2120, and the output end of the driving cylinder 1231 passes through the base 22 and is communicated with the suction cup body 2110.

In this embodiment, the base 1 includes a base body 110, a vacuum generator 120 and a plurality of negative pressure adsorption devices 130, the vacuum generator 120 is disposed on the upper portion of the base body 110 and is an air pumping and inflating device of the negative pressure adsorption devices 130, an installation groove 111 matched with the negative pressure adsorption devices 130 is disposed below the base body 110, and the negative pressure adsorption devices 130 are detachably disposed in the installation groove 111; in this embodiment, the negative pressure suction device 130 is provided with a negative pressure device 131 and a plurality of driving devices, the vacuum generator 120 is communicated with the negative pressure device 131 through a vacuum tube, and can control the air pressure in the negative pressure device 131, in this embodiment, the negative pressure device 131 is provided with a suction cup 21, a base 22 and an annular sealing member 23, the suction cup 21 comprises a suction cup body 2110 and a connecting part 2120, the base 22 is provided with a groove 2210 matched with the suction cup body 2110, the connecting part 2120 is arranged at the suction end of the suction cup body 2110 and slides through the base 22, in this embodiment, the suction cup body 2110 is a conical metal structure, and the connecting part 2120 is a rectangular parallelepiped structure, so as to facilitate the fixation of the suction cup body 2110 and avoid the rotation of the suction cup body 2110; the suction end of the suction cup body 2110 is provided with an annular sealing element 23, the annular sealing element 23 comprises an annular connecting plate 2310 and an annular elastic sealing element 2320, the annular connecting plate 2310 is arranged on the outer side of the suction cup body 2110 and is parallel to the base 22, the annular elastic sealing element 2320 is arranged below the annular connecting plate 2310, in the embodiment, the annular elastic sealing element 2320 comprises a first annular sealing element 2321 and a second annular sealing element 2322, the first annular sealing element 2321 is arranged on the inner side of the second annular sealing element 2322, and an annular cavity is formed between the first annular sealing element 2321 and the second annular sealing element 2322, in the embodiment, the first annular sealing element 2321 and the second annular sealing element 2322 are made of elastic materials, and can be well adapted to uneven planes under the action of gravity or extrusion force and form a closed space with the plane, so that double-layer sealing is realized, and the sealing effect of the negative pressure suction device 130 is greatly improved;

in this embodiment, a plurality of driving cylinders 1231 are disposed on one side of the base 22 away from the suction end of the suction cup 21, the driving cylinders 1231 are disposed outside the connecting portion 2120 in an annular array, the output end of the driving cylinders 1231 is perpendicular to the base 22, the base 22 is movably passed through to be connected to the suction cup body 2110, when the mechanical device is fixed to a wall or other vertical plane, the gravity without the mechanical device is applied to the negative pressure device 131, the driving cylinders 1231 can squeeze the negative pressure device 131, so that the negative pressure device 131, the wall or other vertical plane, and the vacuum suction is performed, the mechanical device with the negative pressure suction device 130 is fixed to the wall or other vertical plane, and the application range of the device is further expanded.

In this embodiment, install on uneven ground at mechanical equipment, when negative pressure device can't contact with the bottom surface, drive actuating cylinder and can also release negative pressure device base and ground contact formation sealed cavity, and then the evacuation is sealed, has improved mechanical equipment's firm greatly.

As shown in fig. 21, in a preferred embodiment, a plurality of auxiliary guide sliding rods 24 are disposed on the outer side of the suction cup 21 and the side of the annular connecting plate 2310 away from the annular elastic sealing member 2320, and the base 22 is provided with guide sliding grooves 25 engaged with the auxiliary guide sliding rods 24.

In this embodiment, the outside of the suction cup 21 and the side of the annular connecting plate 2310 away from the annular elastic sealing member 2320 are provided with a plurality of auxiliary guide sliding rods 24, the base 22 is provided with a guide sliding groove 25, and the auxiliary guide sliding rods 24 and the guide sliding groove 25 are matched with each other, so that the stability of the suction cup body 2110 during suction is greatly improved.

The embodiments of the present application have been described in detail, but the description is only for the preferred embodiments of the present application and should not be construed as limiting the scope of the application. All equivalent changes and modifications made within the scope of the present application shall fall within the scope of the present application.

Claims

1. The intelligent garbage sorting system is characterized by comprising a base (1), a box body (2) arranged on the base (1), a control cabinet (3) arranged on one side in the box body (2), a garbage classification cabinet (4) arranged in the box body (2) and close to the control cabinet (3), a grabbing and classifying device (5) arranged at the upper part of the garbage classification cabinet (4) in the box body (2), an image acquisition device (6) arranged below the grabbing and classifying device (5), a feeding port (7) arranged at the top of the box body (2) and a garbage identification and classification module (8) for identifying garbage;

the control cabinet (3) comprises a control cabinet body (310) and a controller (320) arranged in the control cabinet body (310), and the garbage classification cabinet (4) comprises a garbage classification cabinet body (410), a main garbage can (420) arranged in the garbage classification cabinet body (410) and perpendicular to the control cabinet (3), and a plurality of sub garbage cans (430) symmetrically arranged at two sides of the main garbage can (420);

the image acquisition device (6) is in communication connection with the controller (320), and the image acquisition device (6) transmits the acquired garbage image to the controller (320); the feeding port (7) is arranged above the main garbage can (420);

the controller (320) is in communication connection with the garbage recognition and classification module (8), transmits the received garbage images to the garbage recognition and classification module (8) for recognition and classification, and receives classification results from the garbage recognition and classification module (8);

the controller (320) is electrically connected with the grabbing and classifying device (5), and according to the received classification result, the grabbing and classifying device (5) is controlled to grab and move the garbage into the sub-garbage boxes (430) of the corresponding category;

the grabbing and classifying device (5) comprises a guide assembly (510) arranged at the upper part of the garbage classification cabinet (4), a grabbing device (520) arranged on the guide assembly (510) and a first driving motor (530) for driving the grabbing device (520) to move along the guide assembly (510), the grabbing device (520) comprises a manipulator assembly (10), the manipulator assembly (10) comprises a telescopic arm (1030) and a manipulator (1040) arranged below the telescopic arm (1030), the manipulator (1040) comprises a mounting seat (11) and a plurality of mechanical fingers (12) arranged below the mounting seat (11), and the mechanical fingers (12) are annularly arranged below the mounting seat (11);

the mechanical finger (12) comprises a finger base (1210) arranged below the mounting seat (11), a finger body (1220) arranged on the finger base (1210) and a control device (1230) arranged in the finger body (1220) and used for controlling the extension and bending of the finger body (1220);

the finger body (1220) comprises a near finger end part (1221) fixedly connected with the finger base (1210) and a far finger end part (1222) hinged to one end of the near finger end part (1221) far away from the finger base (1210);

the proximal finger end (1221) comprises a proximal finger shell (15) fixed on a finger base (1210) and a first isosceles triangular support frame (16) arranged in the proximal finger shell (15) and fixed on the finger base (1210) at the vertex, the first isosceles triangular support frame (16) comprises an upper triangular support (1610) and extension shafts (1620) arranged at the left end and the right end of the bottom edge of the upper triangular support (1610), and the extension shafts (1620) penetrate through the side wall of the proximal finger shell (15);

the far finger end part (1222) comprises a far finger shell (17) and a second isosceles triangular support frame (18) which is arranged in the far finger shell (17) and hinged to the middle part of the bottom edge of the upper triangular support frame (1610) through a vertex, the far finger shell (17) is hinged to an extension shaft (1620) on the outer side of the near finger shell (15), the plane of the second isosceles triangular support frame (18) is vertical to the plane of the upper triangular support frame (1610), the second isosceles triangular support frame (18) comprises a lower triangular support frame (1810), a fixing shaft (1820) which is arranged at the front end and the rear end of the bottom edge of the lower triangular support frame (1810) and vertical to the plane of the lower triangular support frame (1810), and extension rods (1830) arranged at the two ends of the bottom edge of the lower triangular support frame (1810), and the bottom edge of the lower triangular support frame (1810) is connected with the side wall of the far finger shell (17) through the extension rods (1830);

control device (1230) including symmetry set up in last triangle-shaped support (1610) left and right sides and fix drive cylinder (1231) and elastic connection piece (1232) on indicating root base (1210), set up first pulley (1233) on drive cylinder (1231) one side extension axle (1620) and set up second pulley (1234) on elastic connection piece (1232) one side extension axle (1620), set up third pulley (1235) and fourth pulley (1236) on lower triangle-shaped support (1810) base front and back endpoint department fixed axle (1820) respectively to and one end and drive cylinder (1231) one end pass first pulley (1233), third pulley (1235), fourth pulley (1236) and second pulley (1234) in proper order and stay cord (1237) that link to each other with elastic connection piece (1232), drive cylinder (1231) links to each other with controller (320).

2. An intelligent garbage sorting system according to claim 1, wherein the guide assembly (510) comprises a frame body (511), a guide screw (512) and a guide slide bar (513), the frame body (511) is arranged at the upper part of the garbage sorting cabinet (4), the guide screw (512) and the guide slide bar (513) are arranged at two sides of the upper part of the frame body (511) in parallel, the first driving motor (530) is connected with the guide screw (512), the gripping device (520) comprises a guide member (9) arranged between the guide screw (512) and the guide slide bar (513) and a manipulator assembly (10) arranged on the guide member (9), the guide member (9) comprises a first screw seat (910) matched with the guide screw (512), a guide slide seat (920) matched with the guide slide bar (513), a connecting screw (930) rotatably arranged between the first screw seat (910) and the guide slide seat (920) and a second driving motor (940) arranged at the side of the guide screw seat (920) far away from the first screw seat (910) and driving the connecting slide seat (930); the manipulator assembly (10) comprises a second threaded seat (1010) arranged on the connecting lead screw (930), a guide rod (1020) arranged between the first threaded seat (910) and the guide sliding seat (920) through the second threaded seat (1010), a telescopic arm (1030) arranged below the second threaded seat (1010) and a manipulator (1040) arranged below the telescopic arm (1030);

the first driving motor (530), the second driving motor (940) and the telescopic arm (1030) are all electrically connected with the controller (320).

3. An intelligent waste sorting system according to claim 2, wherein the mechanical finger (12) further comprises a resilient grip (1223) provided at the free end of the distal finger end (1222); the elastic clamping part (1223) comprises a fixing piece (13) connected with the free end of the far finger end part (1222) and an elastic rubber layer (14) sleeved outside the fixing piece (13).

4. An intelligent garbage sorting system according to claim 3, wherein a reset-assisting means (19) is provided between the upper triangular support (1610) and the lower triangular support (1810), and the reset-assisting means (19) comprises an assisting rod (1910) provided between the vertex and the bottom midpoint of the upper triangular support (1610) and a reset spring (1920) provided between the assisting rod (1910) and the front waist rod of the lower triangular support (1810).

5. An intelligent garbage sorting system according to claim 4, wherein a plurality of irregular grooves (20) are provided on the outside of the elastic rubber layer (14).

6. An intelligent waste sorting system according to claim 5, wherein the fixture (13) comprises a curved base plate (1310) and an elastic bladder (1320) arranged inside the curved base plate (1310).

7. An intelligent garbage sorting system according to claim 6, wherein the garbage recognition and classification module (8) comprises: the garbage screening and classifying module (810) is arranged at the cloud end, and the local garbage identifying and classifying module (820) is arranged at the garbage can;

the garbage screening and classifying module (810) comprises a recognition model (811) trained by a deep learning technology and a later-stage manual screening library (812), and garbage pictures in the manual screening library (812) are manually screened and then used for updating the recognition model (811) of the garbage screening and classifying module (810);

the controller (320) is in communication connection with the garbage screening and classifying module (810) through a wireless network; the controller (320) preferentially transmits the garbage image to the local garbage recognition and classification module (820), and transmits the garbage image to the garbage screening and classification module (810) at the cloud for secondary recognition when the local garbage recognition and classification module (820) cannot recognize the garbage image;

the garbage screening and classifying module (810) automatically identifies the received garbage pictures, and if the garbage pictures cannot be automatically identified, the garbage pictures are sent to a manual screening library (812); the manual screening library (812) updates the recognition model (811) in the cloud-based garbage screening classification module (810) after the garbage pictures are manually screened;

the garbage screening and classifying module (810) is further used for pushing an updated recognition model (811) to the local garbage recognition and classifying module (820) at intervals.

8. The intelligent garbage sorting system according to claim 7, wherein the base (1) comprises a base body (110), a vacuum generator (120) disposed on the upper portion of the base body (110), and a plurality of vacuum suction devices (130) disposed under the base body (110), the vacuum generator (120) is disposed on the upper portion of the base body (110), a mounting groove (111) for fitting with the vacuum suction device (130) is disposed under the base body (110), the vacuum suction device (130) is detachably disposed in the mounting groove (111), the vacuum suction device (130) comprises a vacuum device (131) and a plurality of auxiliary cylinders (132), the vacuum generator (120) is connected with the vacuum device (131) through a vacuum tube, the vacuum device (131) comprises a suction cup (21), a base (22) for fitting with the suction cup (21), and an annular seal (23) disposed on the suction end of the suction cup (21), the suction cup (21) comprises a suction cup body (2110) and a connecting portion (2110) disposed on the suction cup body (21), the base (22) is slidably disposed on the base (2110), and the base (22) passes through the groove (2110), and the base (22) and the base (2110) is disposed on the base (22), the annular sealing element (23) comprises an annular connecting plate (2310) which is arranged at the suction end of the suction cup body (2110) and is parallel to the base (22) and an annular elastic sealing element (2320) which is arranged below the annular connecting plate (2310), the annular elastic sealing element (2320) comprises a first annular sealing element (2321) which is arranged on the inner side of the annular connecting plate (2310) and a second annular sealing element (2322) which is arranged on the outer side of the annular connecting plate (2310), and an annular cavity sealing element (2322) is formed between the first annular sealing element (2321) and the second annular cavity sealing element (2322); the vacuum tube penetrates through the connecting part (2120) to be communicated with the sucker body (2110), the auxiliary air cylinders (132) are arranged on one side, away from the suction end of the sucker (21), of the base (22) in an annular array mode and located on the outer side of the connecting part (2120), and the output ends of the auxiliary air cylinders (132) penetrate through the base (22) to be communicated with the sucker body (2110).

9. An intelligent garbage sorting system according to claim 8, wherein a plurality of auxiliary guide sliding rods (24) are provided outside the suction cup (21) and on the side of the annular connecting plate (2310) away from the annular elastic sealing member (2320), and the base (22) is provided with guide sliding grooves (25) matched with the auxiliary guide sliding rods (24).