CN217369339U - Multi-objective parallel grabbing garbage automatic sorting system - Google Patents

Abstract

The utility model discloses a multi-target parallel grabbing garbage automatic sorting system, comprising: a trash can; Recycled product discharging mechanism; recycled product discharging mechanism, adjacent to trash can lifting and turning mechanism, including recycled product discharging device, photoelectric sensor and discharging conveying device, used to control the discharging of recycled product discharging device; and regeneration The article sorting mechanism includes a garbage sorting device, a recycled article storage device, a garbage classification identification device, and a control device, and is used for collecting the recycled articles sorted by the garbage sorting device. The beneficial effects of the utility model are as follows: a sorting system combining a manipulator and a visual recognition system is used to solve or alleviate the problem of high density or stacking of items on the assembly line, and the robotic manipulator realizes multi-target tracking and common sorting during sorting. pick.

Description

Multi-objective parallel grabbing garbage automatic sorting system

technical field

The utility model relates to the field of automatic garbage sorting, in particular to a multi-objective parallel grab garbage automatic sorting system based on a YOLO-v3 model.

Background technique

The country pays more and more attention to the recycling of recycled items such as municipal solid waste, but at present, most cities in China mainly use manual sorting for the sorting of recycled items. The manual sorting efficiency is low, the effect is rough, the recycling and sorting rate of recycled items is low, and it is easy to cause harm to the body of personnel during the sorting process. For some mechanical sorting using the physical properties of the sorted items (magnetism, volume, mass, etc.), no visual recognition system is used, and the sorted items need to be squeezed and crushed, which greatly affects the recycled items. resource utilization. For a very small number of systems that use robotic sorting, it is difficult to deal with the situation of high density and stacking of items, failing to complete the sorting of all items, poor sorting efficiency and high missed detection rate in case of stacking. To sum up, it is urgent to develop a sorting system that can combine a manipulator and a visual recognition system, and use the corresponding mechanical structure to solve or alleviate the problem of high density or stacking of items on the assembly line. A multi-robot parallel garbage automatic sorting system that realizes multi-target tracking and common sorting.

Utility model content

In order to solve the above problems, the present utility model proposes a sorting system that can combine a manipulator and a visual recognition system, and uses the corresponding mechanical structure to solve or alleviate the problem of high density or stacking of items on the assembly line, and to solve A garbage automatic sorting system and sorting method in which a robot manipulator realizes multi-target tracking and co-sorting with multi-target adsorption and grasping.

The multi-target adsorption-grabbing garbage automatic sorting system according to the utility model is characterized in that, it includes:

A trash can, the upper part of the trash can is provided with a garbage throwing port, which is used for throwing in or pouring out recycled items;

The trash can lifting and turning mechanism includes a support frame body and a clamping device, the support frame body is provided with a vertical guide rail assembly; the clamping device is slidably installed on the vertical guide rail assembly; the clamp The side of the holding device facing the trash can is provided with a gripping portion at the bottom of the trash can, and the gripping portion is connected to the bottom of the trash can for dumping the recycled items in the trash can to the recycled items delivery mechanism;

The recycling material discharging mechanism, which is adjacent to the trash can lifting and turning mechanism, includes a recycling material discharging device, a photoelectric sensor and a discharging conveying device, and the discharging conveying device is laid on the trash can lifting and turning mechanism and the between the sorting mechanisms for recycled items, and the upstream end of the discharge conveying device extends to below the garbage throwing port of the trash can, and the downstream end of the discharge conveying device extends to the sorting mechanism for recycled items; The recycled article discharging device is mounted on the upstream end of the discharging conveying device, and is used for classifying and discharging the recycled articles receiving the trash can lifting and turning mechanism; the photoelectric sensor is arranged on the discharging conveying device. on the device, and align with the discharge port of the recycled article discharging device to control the discharging of the recycled article discharging device;

and a recycling item sorting mechanism, including a garbage sorting device, a recycling item storage device, a garbage sorting identification device and a control device, the garbage sorting device is rack mounted on the downstream end of the recycling item discharging mechanism for sorting Recycled articles on the lower discharge conveying device; the garbage sorting and identification device is arranged on the garbage sorting device, and the signal output end of the garbage sorting identification device is signally connected or electrically connected to the signal input end of the control device. connected to send the detection information of the recycled items to the control device; the recycled item storage box is arranged beside the garbage sorting device to receive the sorted recycled items; the control device is embedded in the on the garbage sorting device, and the signal output end of the control device is connected to the action control end of the garbage sorting device, and is used to control the garbage sorting device to put the sorted recycled items into the garbage sorting device. In the regenerated article storage device; the regenerated article storage device is arranged beside the garbage sorting device, and is used for collecting the regenerated articles sorted by the garbage sorting device.

Further, there are two sets of the vertical guide rail assemblies, including a vertical guide rail and a vertical drive motor. The two sets of the vertical guide rails are respectively installed on the support frame body facing each other. One set of the vertical drive motor, and the lifting end of the vertical drive motor is kept arranged in the vertical direction; there are two sets of the clamping devices, which are respectively slidably installed on the vertical guide rails, and the A turning assembly is installed on the side of the clamping device facing the trash can, the turning assembly includes a turning motor and a turning shaft, the turning motor is installed on the clamping device, and the turning shaft is rotatably installed on the turning shaft. The clamping device faces one side of the trash can, and one end of the turning shaft is connected with the turning motor, and the other end is connected with the bottom of the trash can, for dumping the recycled items in the trash can into the recycling Item delivery mechanism.

Further, the regenerated article discharging device includes an in-feed storage box for the objects to be sorted and a discharge port control device, and the in-feed storage box for the objects to be sorted is a box mounted above the upstream end of the out-feed conveying device The box body is open at the top and bottom, and a discharge channel is provided at the discharge end of the box body as a discharge port;

The discharge port control device is arranged at the discharge end of the box body, and includes a first vertical linear module and a lifting plate, and the first vertical linear module is vertically installed on the discharge conveying device , used to drive the lifting plate to rise and fall; the lifting plate is adapted to the discharge channel, and the lifting plate is vertically slidably installed on the first vertical linear module, and is compatible with the The lifting parts of the first vertical linear module are connected to block or open the discharge channel to flow out the articles.

Further, the discharge conveying device includes a first linear conveyor belt assembly, a second linear conveyor belt assembly, a turning machine and a slope conveyor belt assembly, the first straight conveyor belt assembly, the turning machine, the first straight conveyor belt assembly The two linear conveyor belt assemblies and the slope conveyor belt assembly are connected in sequence to form a looped assembly line, wherein the feed end of the first linear conveyor belt assembly serves as the upstream end of the discharge conveying device and extends to the to-be-to-be- The bottom of the storage box for the sorted material is fed into the material, and the discharge end of the first linear conveyor belt assembly is connected to the feed end of the turning machine;

The bending angle of the turning machine is 180°, and the feeding and discharging ends of the turning conveying platform of the turning machine are respectively connected with the discharging end of the first straight conveyor belt assembly and the discharge end of the second straight conveyor belt assembly. The feeding end is connected, and the height of the turning conveying platform of the turning machine is at the same level as the straight conveying belt of the first straight conveying belt assembly and the straight conveying belt of the second straight conveying belt assembly;

The feeding end and the discharging end of the slope conveyor belt assembly are equipped with a feeding platform and a discharging platform respectively, and the feeding platform is connected with the discharging end of the turning machine, and is connected with the turning machine of the turning machine. The conveying platform is at the same level; the level of the discharging platform at the discharging end of the incline conveyor belt assembly is higher than the level of the infeeding end of the incline conveying belt assembly, and the incline conveying belt assembly serves as the downstream of the discharging conveying device The end passes through the garbage sorting device, and is used to realize the transportation of the to-be-sorted objects into the storage box for the to-be-sorted objects to the garbage sorting device.

Further, the discharge conveying device further comprises an end connecting plate, one end of the end connecting plate is rotatably mounted on the discharge end of the slope conveyor belt assembly passing through the garbage sorting device, so The other end of the end connecting plate can be movably overlapped on the side of the first linear conveyor belt assembly.

Further, the discharge conveying device further includes a height-limiting mechanism, the height-limiting mechanism is mounted on the side of the first linear conveyor belt assembly, and includes a second vertical linear module and a height-limiting rod. The second vertical linear module is installed on the side of the first linear conveyor belt assembly; the height-limiting rod spans the first linear conveyor belt assembly laterally, and the end of the height-limiting rod is connected to the The lifting parts of the second vertical linear module are connected to each other, and are used to break up the stacked articles so that the recycled articles are carried on the linear conveyor belt of the first linear conveyor belt assembly in a flat manner.

Further, the garbage sorting device includes a parallel robot, a multi-hole vacuum pump exhaust suction cup, a vacuum circuit, a parallel robot mounting platform and an outer box, and the parallel robot mounting platform is mounted on the straight line of the second linear conveyor belt assembly. Above the conveyor belt, the parallel robot carrying platform is provided with a sorting channel for the second linear conveyor belt assembly to pass through, and maintains a straight line between the center line of the parallel robot carrying platform and the second linear conveyor belt assembly The centerlines of the conveyor belts are coincident; the parallel robot is suspended on the top of the parallel robot carrying platform, and the porous vacuum pump exhaust suction cup is installed on the movable part of the parallel robot, and the porous vacuum pump exhaust type The vent hole of the suction cup is communicated with an external vacuum pump through a vacuum circuit, and the suction surface of the exhaust suction cup of the multi-hole vacuum pump is aligned with the linear conveyor belt of the second linear conveyor belt assembly for adsorbing the second linear conveyor belt. Recycled articles on a linear conveyor belt with components; the outer box body is arranged outside the parallel robot loading platform, and an observation window is provided on the outer box body.

Further, the garbage classification and identification device includes an industrial camera mounting platform, an industrial camera, a light source and an identifier, the industrial camera mounting platform is mounted on the feed end of the parallel robot mounting platform; the industrial camera, the light source and the identifier Both are arranged on the industrial camera carrying platform, and the signal acquisition port of the identifier and the camera of the industrial camera are aligned with the linear conveyor belt of the second linear conveyor belt assembly for identifying and collecting the second linear conveyor belt. Information on the regenerated items on the linear conveyor belt assembly; the control device is a control panel with a built-in controller, the signal output end of the photoelectric sensor, the signal output port of the identifier, and the signal output port of the industrial camera are all Electrical connection or signal connection with the signal output port of the controller; the control end of the parallel robot, the control end of the multi-hole vacuum pump exhaust suction cup, the control end of the first vertical linear module, the The control end of the second vertical linear module, the control end of the vertical drive motor, the control end of the recycled article discharging device, and the control end of the discharging conveying device are all related to the signal of the controller. The input end is electrically connected or signally connected; the signal transmission port of the control panel is electrically connected to the signal transmission port of the controller.

Further, the regenerated goods storage device is located on both sides of the second linear conveyor belt assembly and inside the outer box body, and below the tail of the inclined conveyor belt, and is used to store the regenerated goods after sorting by the sorting module.

The sorting method using the automatic garbage sorting system for multi-target adsorption and grabbing described in the present utility model comprises the following steps:

S1: The discharge conveying device is started. At this time, the first linear conveyor belt assembly, the turning machine, the second straight conveyor belt and the slope conveyor belt assembly are running simultaneously, and the recycled article discharging device storing the recycled articles is on the discharging conveying device. Run for time T, during which the end connecting plate at the tail of the slope conveyor belt assembly is rotated to form a closed-loop assembly line; where T is the regenerated items in the first linear conveyor belt assembly, the turning machine, the second linear conveyor belt assembly, and the slope conveying The time required for the assembly line formed with components to run for one week is T;

S2: The discharge conveying device stops running for the time T, at this time, the end connecting plate at the tail of the slope conveyor belt keeps rotating up, and the recycled items complete 2 cycles on the closed-loop assembly line;

S3: After T time, the discharge conveying device continues to operate for T time. At this time, the end connecting plate of the slope conveyor belt assembly rotates downward to form an open-loop assembly line. The items that have not been sorted by the garbage sorting device flow out of the assembly line until the end of the assembly line. Recycled item storage below the end;

S4: The discharge conveying device stops after running for a time T, and a new round of recycled items is on the conveyor belt. At this time, the end connecting plate starts to spin up, and a new round of sorting starts, and the above steps are repeated.

The beneficial effects of the utility model are: a sorting system combining a manipulator and a visual recognition system can be used, and the corresponding mechanical structure can be used to solve or alleviate the problem of high density or stacking of items on the assembly line, and the robot manipulator can be used for sorting. Realize multi-target tracking and common sorting.

Description of drawings

Fig. 1 is the overall assembly of the present utility model (axonometric view);

Fig. 2 is the overall assembly (front view) of the present utility model;

Fig. 3 is the assembly drawing of the recycling article discharging mechanism of the present invention;

Fig. 4 is the assembly drawing of the recycling article sorting mechanism of the present invention;

Fig. 5 is the front view of the recycling article sorting mechanism of the present invention;

Fig. 6 is the assembly drawing of the slope conveyor belt of the present invention;

7 is a schematic front view of the exhaust suction cup of the multi-hole vacuum pump of the present invention.

8 is a schematic diagram of the arrangement of the suction cups of the exhaust suction cup of the multi-hole vacuum pump of the present invention.

Detailed ways

The present utility model is further described below in conjunction with the accompanying drawings.

Refer to the attached picture:

Embodiment 1 The multi-target adsorption and grabbing garbage automatic sorting system according to the present utility model includes:

Trash can 1, the upper part of the trash can is provided with a garbage throwing port for throwing in or pouring out recycled items;

The trash can lifting and turning mechanism 2 is located in the upper right corner of the entire system, including a support frame body 21 and a clamping device 22. The support frame body 21 is provided with a vertical guide rail assembly 211; the clamping device 22 is slidable. Installed on the vertical rail assembly 211; the side of the clamping device 22 facing the trash can 1 is provided with a clamping portion for the bottom of the trash can 1, and the clamping portion is connected to the trash can 1. connected to the bottom of the trash can for dumping the recycled items in the trash can to the recycling item discharge mechanism;

The recycling material discharge mechanism 3 is located on the right side of the whole system, and is adjacent to the trash can lifting and turning mechanism 2, which is used to receive the feeding of the trash can lifting and turning mechanism, and uses the lifting mechanism, photoelectric sensors, etc. to complete the regeneration of the items to Discharge with moderate flow, including recycled item discharging device 31, photoelectric sensor 32 and discharging conveying device 33, said discharging conveying device 33 is laid on said trash bin lifting and turning mechanism 2 and said recycled item sorting mechanism 4, and the upstream end of the discharge conveying device 33 extends to below the garbage throwing port of the trash can 1, and the downstream end of the discharge conveying device 33 extends to the recycled article sorting mechanism 4; The recycled article discharging device 31 is mounted on the upstream end of the discharging conveying device 33, and is used to classify and discharge the recycled articles received by the trash can lifting and turning mechanism 2; the photoelectric sensor 32 is arranged at the on the discharge conveying device 33, and align with the discharge port of the recycled article discharging device 31, so as to control the discharging of the recycled article discharging device;

And the recycled article sorting mechanism 4, including a garbage sorting device 41, a recycled article storage device 42, a garbage classification identification device 43 and a control device 44, the garbage sorting device 41 is rack-mounted on the recycled article discharging mechanism 3. The downstream end is used to sort the regenerated articles on the discharge conveying device below; the garbage sorting and identification device 43 is arranged on the garbage sorting device 41, and the signal output end of the garbage sorting and identification device 43 is connected to the The signal input terminal of the control device 44 is connected in signal or electrical connection, and is used for sending the detection information of the recycled items to the control device; The collected recycled items; the control device 44 includes a control box 441 and a control panel 442, the control box 441 is arranged beside the garbage sorting device 41, and the control panel 442 is embedded in the garbage sorting device 41, and the signal output end of the control box 441 is connected to the action control end of the garbage sorting device 41, and the signal transmission port of the control box 441 is electrically connected to the signal transmission port of the control panel 442, using Control the garbage sorting device to put the sorted recycled items into the recycled item storage device; the recycled item storage device 42 is arranged next to the garbage sorting device 41 for collecting the garbage sorted. Recycled items sorted by the sorting device.

There are two sets of the vertical guide rail assemblies 211, including vertical guide rails and vertical drive motors. cover the vertical drive motor, and keep the lifting end of the vertical drive motor arranged in the vertical direction; the clamping devices 22 are two sets, which are respectively slidably installed on the vertical guide rails, and the A turning assembly is installed on the side of the clamping device facing the trash can. The turning assembly 221 includes a turning motor and a turning shaft, the turning motor is installed on the clamping device, and the turning shaft is rotatably installed on the turning shaft. The clamping device faces one side of the trash can, and one end of the overturning shaft is connected with the overturning motor, and the other end is connected with the bottom of the trash can, for dumping the recycled items in the trash can into the trash can Recycled items discharge mechanism.

The recycled article discharging device 31 includes an in-feed storage box 311 for the material to be sorted and a discharge port control device 312, and the in-feed storage box 311 for the to-be-sorted material is rack-mounted above the upstream end of the out-feed conveying device The size of the storage box 311 for the materials to be sorted is designed according to the capacity of the trash can. The volume of the storage device is about 2 trash cans. The material end is provided with a discharge channel as the discharge port;

The discharge port control device 312 is disposed at the discharge end of the box body, and includes a first vertical linear module 3121 and a lifting plate 3122. The first vertical linear module 3121 is vertically installed on the outlet. On the material conveying device 33, it is used to drive the lifting plate to rise and fall; the lifting plate 3122 is adapted to the discharge channel, and the lifting plate 3122 is vertically slidably installed on the first vertical linear mold It is connected to the lifting part of the first vertical linear module 3121, and cooperates with the photoelectric sensors 32 installed on both sides of the first linear conveyor assembly 331 to perform the lifting or lowering action of the lifting plate for sealing Block or open the discharge channel to flow out items. The lifting mechanism sets the initial height. If the photoelectric sensor does not detect the regenerated item within the time t, it will send a signal to the lifting mechanism, and the linear module drives the lifting plate to raise the height of h. If the photoelectric sensor has not detected it, repeat the above actions. When the photoelectric sensor can normally detect the regenerated item for t time, it sends a signal to the lifting mechanism, and the linear module drives the lifting plate to lower the height of h, and repeats the above actions until it drops to the initial height. By controlling the discharge speed and flow of recycled items, it can overcome or reduce the large-scale stacking and discharging of recycled items, so that recycled items can be mounted on the conveyor belt in a tiled form as much as possible, which also relieves the high-density tiling of recycled items. , where t represents the time required for the object to be sorted from the lift plate to the photoelectric sensor at a constant belt speed, in s; the moving distance of h is 1/2 of the initial height H, in cm; H is The initial height, which is the height of the largest item lying flat in this sorting, in cm.

The discharging conveying device 33 is a carrying platform, and the recycled articles are discharged by the friction between the conveyor belts, including the first linear conveyor belt assembly 331, the second linear conveyor belt assembly 332, the turning machine 333 and the slope conveyor belt assembly 334. The first linear conveyor belt assembly 331, the turning machine 333, the second linear conveyor belt assembly 332, and the slope conveyor belt assembly 334 are connected in sequence to form a circular assembly line, wherein the The feed end of the first linear conveyor belt assembly 331 extends to the bottom of the material to be sorted into the storage box 311 as the upstream end of the discharge conveying device, and the discharge end of the first linear conveyor belt assembly 331 connected with the feed end of the turning machine 333;

The bending angle of the turning machine 333 is 180°, and the feeding and discharging ends of the turning conveying platform of the turning machine 333 are respectively connected with the discharging end of the first straight conveyor belt assembly 331 and the second straight conveying end. The feed end of the belt assembly 332 is connected, and the height of the turning conveyor platform of the turning machine 333 is at the same level as the straight conveyor belt of the first straight conveyor belt assembly 331 and the straight conveyor belt of the second straight conveyor belt assembly 332 high;

The feeding end and the discharging end of the slope conveyor belt assembly 334 are respectively equipped with a feeding platform 3341 and a discharging platform 3342, and the feeding platform 3341 is connected with the discharging end of the turning machine 333, and is The turning conveying platform of the turning machine 333 is at the same level; the level of the discharging platform at the discharge end of the slope conveyor belt assembly 334 is higher than the level of the infeed end of the slope conveyor belt assembly, and the slope conveyor belt assembly 334 passes through the garbage sorting device as the downstream end of the discharge conveying device, and is used to realize the transportation of the to-be-sorted articles into the storage box for the to-be-sorted articles to the garbage sorting device 41 .

The discharge conveying device further includes an end connecting plate 335 , and one end of the end connecting plate 335 is rotatably mounted on the discharge end of the slope conveyor belt assembly 334 passing through the garbage sorting device 41 . , the other end of the end connecting plate 335 can be movably overlapped on the side of the first linear conveyor belt assembly 331. When the end connecting plate 335 is rotated upward, a closed-loop assembly line is formed, and when it is rotated downward, a closed-loop assembly line is formed. Open loop pipeline. There is a height difference between the discharge mechanism of recycled articles and the downstream linear conveyor belt, and the speed of the conveyor belt is controlled to reduce the density of the recycled articles on the conveyor belt per unit area. There are platforms on the front and rear sides of the slope conveyor belt, and there is a height difference with the straight conveyor belt on both sides. Also, the belt speed of the slope conveyor belt assembly can reduce the density of the recycled items per unit area. At the same time, there is an xcm interval on the slope conveyor belt assembly. Baffles with a height of bcm, rely on the baffles to separate the recycled items more effectively, reducing the possibility of stacking in the subsequent conveying process. Since most of the recycled items are small in size, the gap at the junction of the first linear conveyor belt assembly, the second conveyor belt assembly and the turning machine needs to be ≤5mm, which can be satisfied by the existing manufacturing process.

The conveyor belt assembly of the discharging conveying device has its own drive.

The discharge conveying device 33 further includes a height-limiting mechanism 336, and the height-limiting mechanism 336 is mounted on the side of the first linear conveyor belt assembly 331 and/or the second linear conveyor belt assembly 332, including the second linear conveyor belt assembly 331. Vertical linear module 3361 and height limit rod 3362, the second vertical linear module is installed on the side of the first linear conveyor belt assembly 331 and/or the second linear conveyor belt assembly 332; the The height-limiting rod crosses the first linear conveyor belt assembly laterally, and the end of the height-limiting rod is connected with the lifting part of the second vertical linear module, and is used for breaking up the stacked items so that the recycled items can be It is carried on the linear conveyors of the first linear conveyor belt assembly and/or the second linear conveyor belt assembly 332 in a flat manner. Set the initial height H according to the actual need to sort the maximum volume of recycled items. When the recycled items are stacked, the height-limiting bar can be used to break up the stacked items, so as to alleviate or overcome such a situation, so that the recycled items are carried on the conveyor belt in a flat manner. When encountering a special stacking situation, the user can remotely control the height of the height limit rod through the mobile APP. In this way, the secondary stacking of the recycled items when transported on the conveyor belt is overcome, so that they are carried on the conveyor belt in a flat manner.

The garbage sorting device 41 includes a parallel robot 411, a multi-hole vacuum pump exhaust suction cup 412, a vacuum circuit 413, a parallel robot mounting platform 414 and an outer box 415. The parallel robot mounting platform 414 is mounted on the first straight line. Above the linear conveyor belt of the linear conveyor belt assembly 331 and/or the second linear conveyor belt assembly 332, the parallel robot loading platform 414 is provided with the first linear conveyor belt assembly 331 and/or the second linear conveyor belt The sorting channel through which the assembly 332 passes, and keeping the centerline of the parallel robot loading platform 414 coincident with the centerline of the linear conveyor belt of the first linear conveyor belt assembly 331 and/or the second linear conveyor belt assembly 332; The parallel robot 411 is suspended on the top of the parallel robot mounting platform 414 , and the porous vacuum pump exhaust suction cup 412 is installed on the movable part of the parallel robot 411 . The vent hole is communicated with an external vacuum pump through a vacuum circuit, and the suction surface of the exhaust suction cup 412 of the multi-hole vacuum pump is aligned with the linear conveyor belt of the second linear conveyor belt assembly 332 for adsorbing the second linear conveyor belt. Recycled items on a linear conveyor belt with components; the outer box 415 is arranged outside the parallel robot mounting platform 414, and an observation window 4151 is provided on the outer box for observing the parallel robot's first The articles on the linear conveyor belt assembly 331 and the second linear conveyor assembly 332 are sorted.

Pneumatic suction cups are used for this sorting. Since the objects to be sorted are of different sizes, and most of them are in a flattened state (plastic bottles, cans, etc.), it is easier to use pneumatic suction cups to complete the grasping and sorting action. However, conventional pneumatic suction cups can only complete the adsorption and grasp of one sorting target at a time, and cannot complete batch operations, and the sorting efficiency is low. Moreover, due to the shape deformation of the sorting target, the surface is not flat, and the adsorption and grasping is prone to falling, Can not be adsorbed, etc. In order to solve the above problems, a multi-hole vacuum pump exhaust suction cup is designed. Combined with the vacuum circuit and the controller, the information (semantic information, position information, pose information, depth information) obtained by the garbage classification and identification device 43 is analyzed and integrated. Pneumatic suction cup holes are allocated to each sorting target, and they do not interfere with each other. The tracking and grasping of multiple targets can be completed in a single time, and the adsorption and placement operation is performed uniformly. Since the porous position adsorbs a single sorted object, the adsorption failure rate is greatly reduced. In order to save operation time and improve sorting efficiency, when grabbing multiple objects at a time, these objects belong to the same category and can be placed in the same storage device. There are two garbage sorting devices distributed on the overall assembly line, which are reasonably allocated according to the total number of sorting categories, and each garbage sorting device is responsible for adsorbing and grabbing its own distribution category, and at the same time sorting in parallel in the system, greatly improving the sorting efficiency And reduce the difficulty of sorting. A control panel and an observation window are embedded in the outer box. The control panel can control and operate the entire system, and is equipped with the information obtained by the identification module for visual display. The observation window is convenient for the observation of the real-time situation of sorting.

The garbage classification and identification device 43 includes an industrial camera mounting platform 431, an industrial camera 432, a light source 433 and an identifier 434. The industrial camera mounting platform is installed at the feed end of the parallel robot mounting platform, and is installed according to the needs of the industrial camera. The object distance is attached to the parallel robot carrying platform; the industrial camera 432, the light source 433 and the identifier 434 are all arranged on the industrial camera carrying platform 414, and the signal collection port of the identifier 434, the industrial camera 432 The cameras are all aimed at the linear conveyor belts of the first linear conveyor belt assembly 331 and the second linear conveyor belt assembly 332, and are used to identify and collect the first linear conveyor belt assembly 331 and the second linear conveyor belt assembly 332. information of regenerated items; because when the belt speed is changed, too short will lead to untimely operations such as identification and transmission, and too long will accumulate the error value in the process. Therefore, multiple industrial camera mounting holes are designed on the industrial camera support platform. The phase position of the sorting module can be adjusted according to the actual conveyor belt speed; the light exit port of the light source 433 is aligned with the light entrance port of the industrial camera 432; the control device 44 is a control panel with a built-in controller, and the photoelectric The signal output end of the sensor, the signal output port of the identifier, and the signal output port of the industrial camera are all electrically or signally connected to the signal output port of the controller; the control end of the parallel robot, the multi-hole The control end of the exhaust suction cup of the vacuum pump, the control end of the first vertical linear module, the control end of the second vertical linear module, the control end of the vertical drive motor, the regenerated article The control end of the discharging device and the control end of the discharging conveying device are both electrically connected or signally connected to the signal input end of the controller; the signal transmission port of the control panel is electrically connected to the signal transmission port of the controller. connect.

The controller is an image processing system based on the improved YOLO-v3 model, and since the sorting targets are all small-sized objects with complex shapes, the Hyper-Column-based scheme is adopted, and the original VGG16 network is optimized, and finally the Under complex background conditions, identify the semantic information, position information, and pose information of the sorted objects, and use industrial cameras to complete the acquisition of the depth information of the target objects, and finally transmit the above-mentioned sorted object information to the robot system to complete the sorting. action. The image processing system performs statistical counting on each recognition result, and displays the decomposition result at the control panel of the outer box of the sorting module; the controller can communicate wirelessly with a handheld device (such as a mobile phone, etc.), so that the operator can The controller can be controlled to work on the mobile phone.

The recycled article storage device 42 is located on both sides of the first linear conveyor belt assembly 331 and the second linear conveyor belt assembly and inside the outer box body, and below the tail of the slope conveyor belt, and is used for storage and sorting module sorting Recycled items afterward.

The top of the vertical guide rail assembly is provided with a limiting mechanism for limiting the position of the clamping device.

Embodiment 2 The sorting method using the automatic garbage sorting system for multi-target adsorption and grabbing described in Embodiment 1 includes the following steps:

After the S1 trash can lifting and turning mechanism dumps the objects to be sorted in the trash can into the recycled article discharging device, it detects and controls the opening of the discharging port of the recycled article discharging device according to the photoelectric sensor;

S2: The discharge conveying device is started. At this time, the first linear conveyor belt assembly, the turning machine, the second linear conveyor belt and the slope conveyor belt assembly are running at the same time. Run for time T, during which the end connecting plate at the tail of the slope conveyor belt assembly is rotated to form a closed-loop assembly line; where T is the regenerated items in the first linear conveyor belt assembly, the turning machine, the second linear conveyor belt assembly, and the slope conveying The time required for the assembly line formed with components to run for one week is T, and the unit is s;

S3: The discharge conveying device stops running for a time T. At this time, the end connecting plate at the tail of the slope conveyor belt keeps rotating upward, and the recycled articles complete 2 cycles on the closed-loop assembly line;

S4: After T time, the discharge conveying device continues to operate for T time. At this time, the end connecting plate of the slope conveyor belt assembly rotates downward to form an open-loop assembly line. The items that have not been sorted by the garbage sorting device flow out of the assembly line until the end of the assembly line. Recycled item storage below the end;

S5: The discharge conveying device stops after running for T time. At this time, there are a new round of recycled articles on the conveyor belt. At this time, the end connecting plate starts to spin up, and a new round of sorting starts, and the above steps are repeated.

Through the above steps, the recycled articles complete 2 cycles on the assembly line formed by the first straight conveyor belt assembly, the turning machine, the second conveyor belt assembly, and the slope conveyor belt assembly, which can be used by a garbage sorting and identification device dominated by industrial cameras in total. 43 is recognized 4 times, and because the two garbage sorting devices 41 allocate the sorting targets, each category has two opportunities to be sorted. This overcomes or alleviates the problem that the garbage sorting device 41 cannot completely sort the high-density recycled items on the conveyor belt at a time, and the problem of high omission rate. Two recycled item sorting mechanisms 4 composed of a garbage sorting device 41 and a garbage sorting and identifying device 43 work simultaneously in the system, that is, parallel sorting for multiple objects and multiple categories, compared with the traditional single adsorption or grabbing method, Speed boost.

The height-limiting mechanism 336 can set the initial height of the height-limiting rod, which is used to break up the accumulated recycled items so that they can be transported in a flat manner on the conveyor belt. The operator can also adjust the height of the height-limiting rod of the height-limiting mechanism 336 by remotely controlling the mobile phone APP according to the actual transportation situation.

Embodiment 2 FIG. 3 is an assembly diagram of the discharging mechanism 3 of recycled articles. The operator places the trash can full of recycled items on the trash can lifting and turning mechanism 1, uses the vertical guide rail assemblies 211 on both sides (driven by the vertical drive motor) to lift, and stops the lifting at the upper limit mechanism, This completes the lifting action. The underside of the clamping device 22 uses a turning motor and a turning shaft to complete the turning action. The recycled items in the trash can 1 are dumped into the incoming storage box 311 of the to-be-sorted items of the recycled item discharge mechanism 3, and the recycled items are discharged from the outlet under the lift plate 3122 by virtue of the friction with the surface of the first linear conveyor belt assembly 331. material. Photoelectric sensors 32 are provided on both sides of the front end of the first linear conveyor belt assembly 331 to detect whether the material is discharged normally.

The detection steps of the photoelectric sensor 32 in step S1 are as follows:

S11: Under normal conditions, the photoelectric sensor 32 can detect the material within the time t, then the first linear module assembly 331 and the lifting plate 3122 do not move, and the lifting plate 3122 maintains the initial height H; where H is the initial height, the The height is the height of the largest item in this sorting when it is lying flat, and the unit is cm;

S12: If the photoelectric sensor 32 has not detected the material after time t, it will send a signal to the control device, which will then feed it back to the first linear conveyor belt module 331 to drive the lift plate 3122 to rise by the height of h. , the photoelectric sensor 32 repeats the initial action, and if the material is still not detected, it continues to rise to the height of h;

S13: The lifting plate 3122 makes the material discharge normally by raising the height. When the photoelectric sensor 3122 can detect the material within the time t, the first linear conveyor belt module 331 drives the lifting plate 3122 to lower the height of h; After the descent, repeat the above actions until returning to the initial height H.

Embodiment 3 FIGS. 4 and 5 are assembly diagrams of the sorting mechanism 4 for recycled articles. Among them, the garbage classification and identification device 43 is assisted by the industrial camera 432 and the light source 433 to perform timed shooting, set the shooting interval according to the belt speed of the second linear conveyor belt assembly 332, and transmit it to the image processing system based on the improved YOLO-v3 model for image identification and positioning , and set the anchor point to obtain the semantic information, position information, and pose information of the items to be sorted, and then combine with the industrial camera 432 to obtain its depth information, and transmit the obtained information to the robot control system for temporary storage. At this time, by default, the recycled items remain stationary within the distance between the garbage sorting and identification device 43 and the garbage sorting device 41. The second linear conveyor belt module 332 maintains a constant speed, and because the garbage sorting and identification device 43 and the garbage sorting device The device 41 is loaded into one body, and the coordinate systems of the garbage sorting and identification device 43 and the garbage sorting device 41 are unified according to the method of hand-eye calibration, so that the real-time position information of each sorting target can be accurately obtained. The position information of each suction cup in the exhaust suction cups 412 of the multi-hole vacuum pump under the garbage sorting device 41 can be obtained. If the position of the parallel robot 411 is fixed and the working range is determined, and the movement time of each adsorption and grasping is stable within a fixed interval, the parallel connection is determined in combination with the belt speed of the second linear conveyor belt module 332 and the area of the multi-hole vacuum pump exhaust suction cup 412 The actual working range of the robot 411 (since the working range of the parallel robot 411 is much larger than the conveyor belt bandwidth of the second linear conveyor belt module 332 , the actual working range of the parallel robot 411 is Pm (bandwidth)×Lm (may involve working length)).

The workflow of the garbage sorting device in step S3 is as follows:

S31: Synthesize the semantic information, position information, and pose information of the items to be sorted, and then combine with the industrial camera 432 to obtain the depth information, combine with the pre-set sorting target assignment, leave the information of the items to be sorted according to the semantic information, and According to the position information obtained from the identification, it is judged that the items to be sorted have reached the actual working area of the robot;

S32: According to the above judgment result, it is known that the position information of each category of items in the actual working area of the robot and the relative positional relationship between the items; Loop through the interval to determine the single category that can actually cover the largest number of the work area. If the position information (and the coordinates of the center point) of the object to be sorted is within the actual working area of the robot, it is determined that the number of this category is increased by 1; for example, at the position coordinates (x1, y1) of the parallel robot, the working area can cover 4 G objects , at the point (x2, y2), the work area can cover 3 K objects, then the point (x1, y1) is preferentially selected as the task point for this grabbing, and so on.

S33: After determining the category of the object to be sorted and the task point information, assign the suction cup below the exhaust suction cup of the multi-hole vacuum pump according to the known position information and pose information, and predict the frame according to the position information obtained by the recognition module 22 (according to the pose The area covered by information adjustment) makes the suction cups in the prediction frame area of each object to be sorted cooperate with the robot control system and the controller to work in the subsequent adsorption action;

S34: The parallel robot actuator moves from the initial position (parallel robot initialization position) to the X-axis coordinate position of the task point, and performs multi-target tracking for the multiple items to be sorted this time. Since the objects to be sorted by the sub-system are of similar size, and most of them are light and small objects, they will fall to a certain height according to the obtained depth information, adsorb and move them to the storage device of the regenerated objects of this category. At the same time, repeat steps S31 to S33 , calculate the next sorting category and task point;

S35: The parallel robot actuator moves to the calculated X-axis coordinate position of the task point, and repeats the adsorption and grasping action of S34.

Embodiment 4 FIG. 6 is an assembly diagram of a slope conveyor belt. The tail end is provided with an end connecting plate 335 for realizing the open-loop and closed-loop operations of the overall pipeline.

Figures 7 and 8 are schematic diagrams of the exhaust suction cups of the multi-hole vacuum pump. The bottom is composed of multiple suction cup arrays. In this illustration, there are 7 X-axis and 4 Y-axis, which can be changed according to actual needs. The vacuum degree of a single suction cup is controlled independently, and the controller is used to coordinate the control of each suction cup as a whole, and carry out multi-directional adsorption and grasping of the objects to be sorted, so as to improve the success rate of adsorption and sorting efficiency.

The content described in the embodiments of the present specification is only an enumeration of the realization forms of the concept of the utility model, and the protection scope of the present invention should not be regarded as limited to the specific forms stated in the embodiments, and the protection scope of the present invention also includes the present invention. Equivalent technical means that can be conceived by those skilled in the art according to the concept of the present invention.

Claims (9)

1. Parallel rubbish automatic sorting system that snatchs of multi-target, its characterized in that includes:

the garbage can is provided with a garbage throwing opening at the upper part and is used for throwing or pouring out regenerated articles;

the garbage can lifting and overturning mechanism comprises a support frame body and a clamping device, wherein a vertical guide rail assembly is arranged on the support frame body; the clamping device is slidably mounted on the vertical guide rail assembly; a clamping part used for being arranged at the bottom of the garbage can is arranged on one side, facing the garbage can, of the clamping device, and the clamping part is connected with the bottom of the garbage can and used for dumping the regenerated articles in the garbage can to a regenerated article discharging mechanism;

the regenerated article discharging mechanism is close to the garbage can lifting and overturning mechanism and comprises a regenerated article discharging device, a photoelectric sensor and a discharging and conveying device, the discharging and conveying device is laid between the garbage can lifting and overturning mechanism and the regenerated article sorting mechanism, the upstream end of the discharging and conveying device extends to the position below a garbage throwing port of the garbage can, and the downstream end of the discharging and conveying device extends to the position of the regenerated article sorting mechanism; the regenerated article discharging device is erected at the upstream end of the discharging conveying device and is used for classifying and discharging regenerated articles received by the garbage can lifting and overturning mechanism; the photoelectric sensor is arranged on the discharging conveying device, is aligned to a discharging hole of the regenerated article discharging device and is used for controlling the regenerated article discharging device to discharge;

the garbage sorting device is erected at the downstream end of the regenerated article discharging mechanism and used for sorting regenerated articles on the discharging and conveying device below the garbage sorting mechanism; the garbage classification and identification device is arranged on the garbage sorting device, and a signal output end of the garbage classification and identification device is in signal connection or electric connection with a signal input end of the control device and is used for sending detection information of regenerated articles to the control device; the recycled article storage box is arranged beside the garbage sorting device and is used for receiving the sorted recycled articles; the control device is embedded on the garbage sorting device, and a signal output end of the control device is connected with an action control end of the garbage sorting device and used for controlling the garbage sorting device to place the sorted recycled articles into the recycled article storage device; the regenerated article storage device is arranged beside the garbage sorting device and is used for collecting the regenerated articles sorted by the garbage sorting device.

2. The system for automatically sorting garbage by multi-objective parallel grabbing according to claim 1, wherein: the two sets of vertical guide rail assemblies comprise vertical guide rails and vertical driving motors, the two sets of vertical guide rails are respectively installed on the support frame body in an opposite mode, each set of vertical guide rail is provided with one set of vertical driving motor, and the lifting end of each vertical driving motor is kept to be arranged along the vertical direction; the garbage bin comprises a vertical guide rail, a clamping device, a turnover assembly, a turnover motor and a turnover shaft, wherein the clamping device is arranged on the vertical guide rail in a sliding mode, the turnover assembly is arranged on one side of the clamping device facing the garbage bin and comprises the turnover motor and the turnover shaft, the turnover motor is arranged on the clamping device, the turnover shaft is rotatably arranged on one side of the clamping device facing the garbage bin, one end of the turnover shaft is connected with the turnover motor, and the other end of the turnover shaft is connected with the bottom of the garbage bin and used for dumping recycled articles in the garbage bin into a recycled article discharging mechanism.

3. The automatic sorting system of garbage with multi-objective parallel grabbing according to claim 1, characterized in that: the regenerated article discharging device comprises a to-be-sorted article feeding storage box and a discharging port control device, the to-be-sorted article feeding storage box is a box body erected above the upstream end of the discharging conveying device, the box body is open at the upper part and the lower part, and a discharging channel serving as a discharging port is arranged at the discharging end of the box body;

the discharge port control device is arranged at the discharge end of the box body and comprises a first vertical linear module and a lifting plate, and the first vertical linear module is vertically arranged on the discharge conveying device and used for driving the lifting plate to lift; the lifting plate is matched with the discharging channel, is vertically and slidably arranged on the first vertical linear module, is connected with the lifting part of the first vertical linear module, and is used for plugging or opening the discharging channel to flow articles.

4. The automatic sorting system of garbage with multi-objective parallel grabbing according to claim 3, characterized in that: the discharging and conveying device comprises a first linear conveying belt assembly, a second linear conveying belt assembly, a turning machine and a slope conveying belt assembly, wherein the first linear conveying belt assembly, the turning machine, the second linear conveying belt assembly and the slope conveying belt assembly are sequentially connected to form an annular assembly line together, the feeding end of the first linear conveying belt assembly serving as the upstream end of the discharging and conveying device extends to the bottom of a storage box for materials to be sorted, and the discharging end of the first linear conveying belt assembly is connected with the feeding end of the turning machine;

the bending angle of the turning machine is 180 degrees, the feeding end and the discharging end of a turning conveying platform of the turning machine are respectively connected with the discharging end of the first linear conveyor belt component and the feeding end of the second linear conveyor belt component, and the height of the turning conveying platform of the turning machine is at the same horizontal height as that of the linear conveyor belts of the first linear conveyor belt component and the second linear conveyor belt component;

the feeding end and the discharging end of the slope conveyor belt component are respectively provided with a feeding platform and a discharging platform, and the feeding platform is connected with the discharging end of the turning machine and is at the same horizontal height with the turning conveying platform of the turning machine; the horizontal height of a discharging platform at the discharging end of the slope conveying belt component is higher than that of the feeding end of the slope conveying belt component, and the slope conveying belt component serving as the downstream end of the discharging conveying device penetrates through the garbage sorting device and is used for conveying to-be-sorted articles to the garbage sorting device, wherein the to-be-sorted articles are fed into the storage box.

5. The automatic sorting system of garbage with multi-objective parallel grabbing according to claim 4, characterized in that: the discharging conveying device further comprises an end connecting plate, one end of the end connecting plate is rotatably installed at the discharging end of the slope conveyor belt assembly penetrating out of the garbage sorting device, and the other end of the end connecting plate is movably lapped on the side of the first linear conveyor belt assembly.

6. The automatic sorting system of garbage with multi-objective parallel grabbing according to claim 4, characterized in that: the discharging and conveying device also comprises a height limiting mechanism, the height limiting mechanism is carried on the side of the first linear conveyor belt assembly and comprises a second vertical linear module and a height limiting rod, and the second vertical linear module is mounted on the side of the first linear conveyor belt assembly; the height limiting rod transversely spans the first linear conveyor assembly, and an end of the height limiting rod is connected with the lifting portion of the second vertical linear module for breaking up stacked articles so that reclaimed articles are carried on the linear conveyor of the first linear conveyor assembly in a tiled manner.

7. The automatic sorting system for garbage by multi-target parallel grabbing according to any one of claims 4 to 6, characterized in that: the garbage sorting device comprises a parallel robot, a multi-hole vacuum pump exhaust type sucker, a vacuum loop, a parallel robot carrying platform and an outer box body, wherein the parallel robot carrying platform is carried above a linear conveyor belt of the second linear conveyor belt component, a sorting channel for the second linear conveyor belt component to pass through is arranged on the parallel robot carrying platform, and the center line of the parallel robot carrying platform is kept to be coincident with the center line of the linear conveyor belt of the second linear conveyor belt component; the parallel robot is suspended at the top of the parallel robot carrying platform, the movable part of the parallel robot is provided with the multi-hole-site vacuum pump exhaust type sucker, a vent hole of the multi-hole-site vacuum pump exhaust type sucker is communicated with an external vacuum pump through a vacuum loop, and the suction surface of the multi-hole-site vacuum pump exhaust type sucker is aligned to the linear conveyor belt of the second linear conveyor belt component and is used for adsorbing regenerated articles on the linear conveyor belt of the second linear conveyor belt component; the outer box body is arranged outside the parallel robot carrying platform, and an observation window is arranged on the outer box body.

8. The multi-objective parallel-grasping automatic sorting system for trash of claim 7, characterized in that: the garbage classification and identification device comprises an industrial camera carrying platform, an industrial camera, a light source and an identifier, wherein the industrial camera carrying platform is installed at the feed end of the parallel robot carrying platform; the industrial camera, the light source and the recognizer are all arranged on the industrial camera carrying platform, and a signal acquisition port of the recognizer and a camera of the industrial camera are all aligned with the linear conveying belt of the second linear conveying belt component and are used for recognizing and acquiring information of regenerated articles on the second linear conveying belt component; the light outlet of the light source is aligned with the light inlet of the industrial camera; the control device is a control panel with a built-in controller, and the signal output end of the photoelectric sensor, the signal output port of the identifier and the signal output port of the industrial camera are electrically or signal-connected with the signal output port of the controller; the control end of the parallel robot, the control end of the multi-hole vacuum pump exhaust type sucker, the control end of the first vertical linear module, the control end of the second vertical linear module, the control end of the vertical driving motor, the control end of the regenerated article discharging device and the control end of the discharging conveying device are all electrically connected or in signal connection with the signal input end of the controller; and the signal transmission port of the control panel is electrically connected with the signal transmission port of the controller.

9. The multi-objective parallel-grasping automatic sorting system for trash of claim 8, characterized in that: the regenerated article storage devices are positioned on two sides of the second linear conveying belt assembly and inside the outer box body, and below the tail part of the slope conveying belt, and are used for storing regenerated articles sorted by the sorting module.

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