An intelligent industrial robot and defective product classification method based on visual recognition

Abstract

The present application provides an intelligent industrial robot based on visual recognition and a defective product classification method, which relates to the technical field of intelligent industrial robots. The intelligent industrial robot includes a product transmission belt line, a sorting installation box and a fixed plate. The two sides of the product transmission belt line are fixedly connected to the lower end of the sorting installation box and the fixed plate by bolts. Three transmission boxes are fixedly connected to the two sides of the top surface of the lower end of the sorting installation box. The ends of the transmission boxes away from the center of the sorting installation box are fixedly connected to a first servo motor. The output ends of the first servo motors are all fixedly connected to the interior of the transmission box through the transmission box and are threaded rods. The present application provides an intelligent industrial robot based on visual recognition. The intelligent industrial robot can perform defect detection and rapid sorting on multiple products at the same time. At the same time, it can place defective products according to grade and category, which greatly facilitates the staff's later repair work.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent industrial robots, and specifically to an intelligent industrial robot and a defective product classification method based on visual recognition. Background Art

[0002] With the rapid development of my country's economy, industrial development has also ushered in unprecedented opportunities and challenges. However, traditional industrial production mostly relies on workers to manually or rely on experience to screen defective products on the assembly line. However, manual screening of products has low screening efficiency and poor screening quality, and requires multiple people to screen, thereby reducing production efficiency and increasing corresponding costs. To this end, intelligent industrial robots have emerged. Based on visual recognition systems, they can quickly and accurately screen and remove defective products in a timely manner. At the same time, intelligent robots have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] However, when traditional intelligent recognition intelligent industrial robots screen defective products, most of them place the defective products in one place through grippers or suction cups, making it impossible to re-grade multiple defective products and place them in order. This brings great inconvenience to the staff when repairing the defective products later. When repairing the defective products, the staff need to observe the severity of the defects in the products again. Therefore, technical improvements are urgently needed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application provides an intelligent industrial robot and defective product classification method based on visual recognition. This solves the problem that traditional intelligent industrial robots cannot classify defective products into grades and place them in order. It also solves the problem that workers need to re-observe the severity of defects in defective products when repairing them later, which affects the efficiency of workers' repairs. To achieve the above objectives, this application implements them through the following technical solutions.

[0005] In a first aspect, the present application provides an intelligent industrial robot based on visual recognition, comprising a product conveying belt line, a sorting installation box and a fixing plate, wherein both sides of the product conveying belt line are fixedly connected to the lower end of the sorting installation box and the fixing plate by bolts, and three conveying boxes are fixedly connected to both sides of the top surface of the lower end of the sorting installation box, and the ends of the conveying boxes away from the center of the sorting installation box are fixedly connected to a first servo motor, and the output ends of the first servo motors pass through the conveying boxes and are fixedly connected to the interior of the conveying boxes with threaded rods, the rod bodies of the threaded rods are provided with threaded sleeves, and the lower ends of the threaded sleeves are fixedly connected to a first electric telescopic rod, and the output end of the first electric telescopic rod is fixedly connected to a first negative pressure box, and the middle part of the lower end of the first negative pressure box is fixedly connected to a first suction cup, and the middle part of the top surface of the lower end of the sorting installation box is fixedly connected to a first defect detection camera;

[0006] A first through-groove is formed on each side of the lower end of the sorting installation box, and a second defect detection camera is fixedly connected to the middle of the top surface of each of the first through-grooves. A mounting bracket is provided on the outer wall of each side of the sorting installation box, and three first electric slide rails are fixedly connected to one end of each of the mounting brackets close to the sorting installation box. The rail body of each of the first electric slide rails is provided with a first electric slider, and one end of each of the first electric sliders close to the center of the sorting installation box is fixedly connected to a second electric telescopic rod, and an output end of the second electric telescopic rod is fixedly connected to a loading tray.

[0007] The upper end of the sorting installation box is respectively provided with a first sorting cavity, a second sorting cavity and a third sorting cavity, and both sides of the first sorting cavity, the second sorting cavity and the third sorting cavity are provided with a second through-groove, and the rear ends of the first sorting cavity, the second sorting cavity and the third sorting cavity are provided with a third through-groove, and the middle of the bottom surface of the first sorting cavity, the second sorting cavity and the third sorting cavity is fixedly connected to a transmission seat, one side of the transmission seat is fixedly connected to a second servo motor, and the front end and the rear end of the transmission seat are respectively rotatably connected to an active roller and a driven roller, and the outer walls of the active roller and the driven roller are provided with a grading belt;

[0008] Through the above technical solution, by placing the product on the product conveyor belt line for transmission, under the action of the first defect detection camera, the product on the product conveyor belt line can be detected for defects in real time. When a defective product appears, the external PLC processor will control the corresponding first servo motor to rotate, so that the threaded rod drives the threaded sleeve to rotate, and at the same time start the first electric telescopic rod to make the first suction cup contact with the product, and at the same time open the electromagnetic control valve of the corresponding connecting pipe to make the negative pressure inside the first negative pressure box, so that the first suction cup quickly sucks the defective product and places the defective product in the subsequent loading tray. At this time, the loading tray can be made by the second electric telescopic rod. The tray enters the interior of the first through-groove. At this time, under the action of the second defect detection camera, the defect levels of the products can be divided into three levels, so that the external PLC controller controls the sliding position of the first electric slider on the first electric slide rail through the divided levels, and then the second electric telescopic rod is activated to make the loading tray enter the corresponding first sorting cavity, the second sorting cavity and the third sorting cavity, and then the defective products of different levels are placed according to the levels. At the same time, under the action of the second defect detection camera, the defective products can be divided more accurately, thereby ensuring the accuracy of screening defective products, which brings great convenience to the staff in repairing the defective products later.

[0009] Preferably, three second electric slide rails are fixedly connected to both sides of the upper ends of the first sorting chamber, the second sorting chamber and the third sorting chamber, respectively; the rail bodies of the second electric slide rails are each provided with a second electric slider; the lower ends of the second electric sliders are each fixedly connected to a third electric telescopic rod; the output end of the third electric telescopic rod is fixedly connected to a second negative pressure box; the lower end of the second negative pressure box is fixedly connected to a second suction cup; one side of the upper surface of the sorting installation box is fixedly connected to a high-pressure air pump; the air intake port of the high-pressure air pump is fixedly connected to an air storage box; the outer walls of the air storage box are fixedly connected to a plurality of connecting pipes; the lower ends of the connecting pipes pass through the sorting installation box and are in continuous connection with the first negative pressure box and the second negative pressure box;

[0010] Through the above technical solution, the high-pressure air pump can continuously suck air into the interior of the air storage box, so that the interior of the air storage box becomes a negative pressure state, thereby ensuring that the first suction cup and the second suction cup are more stable when sucking and fixing defective products and are less likely to fall off.

[0011] Preferably, a sliding groove is provided in the middle of the lower end of the sorting installation box, and the outer wall of the lower end of the threaded sleeve is slidably connected inside the sliding groove;

[0012] Through the above technical solution, the threaded sleeve can be limited during the movement process by the sliding groove.

[0013] Preferably, one end of the threaded rod away from the first servo motor is rotatably connected to the sorting installation box.

[0014] Preferably, the upper end of the mounting frame is fixedly connected to the upper end of the sorting mounting box by bolts, and the lower end of the mounting frame is fixedly connected to the plate body of the fixing plate by bolts;

[0015] Through the above technical solution, the bolted connection can facilitate the disassembly of the mounting frame, the sorting mounting box and the fixing plate by the staff.

[0016] Preferably, the output end of the second servo motor passes through the transmission seat and is fixedly connected to the active roller.

[0017] Preferably, three defective product placement boxes are fixedly connected to the outer wall of the upper rear end of the sorting installation box;

[0018] Through the above technical solution, the defective product placement box can be used to store the corresponding defective products, thereby facilitating the unified collection of defective products by staff.

[0019] Preferably, the pipe body of each connecting pipe is provided with an electromagnetic control valve;

[0020] Through the above technical solution, the electromagnetic control valve can be used to control the negative pressure inside the first negative pressure box and the second negative pressure box at any time.

[0021] Working principle: The intelligent industrial robot places the product on the product conveyor belt line for transmission. At this time, under the action of the first defect detection camera, the product on the product conveyor belt line can be detected for defects in real time. When a defective product appears, the external PLC processor will control the corresponding first servo motor to rotate, so that the threaded rod drives the threaded sleeve to rotate, and at the same time start the first electric telescopic rod to make the first suction cup contact with the product, and at the same time open the electromagnetic control valve of the corresponding connecting pipe to make the first negative pressure box internal negative pressure, so that the first suction cup quickly sucks the defective product and places the defective product in the sequential loading tray. At this time, the loading tray can be entered into the first through-groove through the second electric telescopic rod. At this time, the second defect detection camera can be used to triple the level of product defects, so that the external PLC controller controls the sliding position of the first electric slider on the first electric slide rail according to the divided level, and then the loading tray is made to enter the corresponding first sorting cavity, The inside of the second sorting chamber and the third sorting chamber can then place defective products of different grades according to grade. At the same time, under the action of the second defect detection camera, the defective products can be divided more accurately, thereby ensuring the accuracy of screening defective products, which brings great convenience for the staff to repair defective products later. By controlling the position of the second electric slider on the second electric slide rail, and then starting the third electric telescopic rod, the second suction cup can be controlled to move toward the defective product on the loading plate, and at the same time, the second suction cup can be opened to absorb the defective product. At this time, during the movement of the second electric slider, the second suction cup is moved toward the upper end of the grading belt, and then the corresponding electromagnetic control valve is closed to place the defective product above the grading belt. At the same time, the second servo motor is started to make the active roller drive the grading belt to transmit, thereby realizing the placement of the defective product in the corresponding defective product placement box, avoiding manual collection of defective products by the staff, and bringing great convenience to the actual use of the staff.

[0022] In a second aspect, the present application provides a defective product classification method based on visual recognition, which is applied to any intelligent industrial robot described in the first aspect, and the method comprises the following steps:

[0023] Performing real-time defect detection on products transmitted on the product conveyor belt line based on the first defect detection camera, and selecting the detected defective products;

[0024] The defective products detected by the second defect detection camera are divided into three levels, and the defective products of different levels are placed according to the levels.

[0025] The present application provides an intelligent industrial robot and defective product classification method based on visual recognition. Compared with existing intelligent industrial robots, the intelligent industrial robot places products on a product conveyor belt line for transmission. At this time, under the action of a first defect detection camera, real-time defect detection can be performed on products on the product conveyor belt line. When a defective product appears, an external PLC processor controls a corresponding first servo motor to rotate, causing the threaded rod to drive the threaded sleeve to rotate, and at the same time starts the first electric telescopic rod to make the first suction cup contact with the product, and at the same time opens the electromagnetic control valve of the corresponding connecting pipe to make the internal pressure of the first negative pressure box negative, thereby causing the first suction cup to quickly suck up the defective product and place the defective product in sequence. The loading tray is placed in the first through-groove through the second electric telescopic rod. At this time, the second defect detection camera can be used to divide the defect levels of the products into three levels, so that the external PLC controller controls the sliding position of the first electric slide on the first electric slide rail according to the divided levels, and then the second electric telescopic rod is activated to make the loading tray enter the corresponding first sorting cavity, the second sorting cavity and the third sorting cavity, and then the defective products of different levels are placed according to the levels. At the same time, the second defect detection camera can make the defective products more accurately divided, thereby ensuring the accuracy of screening defective products, which brings great convenience to the staff in repairing the defective products later.

[0026] By controlling the position of the second electric slider on the second electric slide rail, and then starting the third electric telescopic rod, the second suction cup can be controlled to move toward the defective product on the loading tray, and at the same time, the corresponding electromagnetic control valve is opened to allow the second suction cup to absorb the defective product. At this time, during the movement of the second electric slider, the second suction cup is moved toward the upper end of the grading belt, and then the corresponding electromagnetic control valve is closed to place the defective product above the grading belt. At the same time, the second servo motor is started to make the active roller drive the grading belt to transmit, thereby achieving the purpose of placing the defective product in the corresponding defective product placement box, avoiding manual collection of defective products by staff, and bringing great convenience to the actual use of staff;

[0027] It can detect defects and quickly sort multiple products, avoiding manual sorting work for staff. At the same time, defective products can be placed according to grade and category, which greatly facilitates the staff's subsequent repair work. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the main structure of the intelligent industrial robot described in the embodiment of this application;

[0029] Figure 2 This is a schematic diagram of the front cross-section structure of the intelligent industrial robot described in an embodiment of the present application;

[0030] Figure 3 This is a schematic diagram of the rear view structure of the intelligent industrial robot described in an embodiment of the present application;

[0031] Figure 4 This is a schematic diagram of a partial top-sectional structure of the intelligent industrial robot described in an embodiment of the present application;

[0032] Figure 5 This is a schematic diagram of the structure of the sliding table and the grinding support table according to the embodiment of the present application;

[0033] Figure 6 This is a left-side cross-sectional structural diagram of the second installation box according to an embodiment of the present application;

[0034] Figure 7 For this application Figure 3 Enlarged view of point A in the middle;

[0035] Figure 8 For this application Figure 3 Enlarged view of point B in the middle;

[0036] Figure 9 This is a flowchart of the defective product classification method described in an embodiment of the present application;

[0037] Figure 10 This is a structural block diagram of the electronic device described in an embodiment of the present application.

[0038] Among them, 1. Product transmission belt line; 2. Sorting installation box; 3. Fixed plate; 4. Transmission box; 5. First servo motor; 6. Threaded rod; 7. Sliding groove; 8. Threaded sleeve; 9. First electric telescopic rod; 10. First negative pressure box; 11. First suction cup; 12. First defect detection camera; 13. First through-groove; 14. Second defect detection camera; 15. Mounting frame; 16. First electric slide rail; 17. Second electric telescopic rod; 18. Loading tray; 19. First sorting cavity; 20. Second sorting chamber; 21. Third sorting chamber; 22. Second through-groove; 23. Transmission seat; 24. Second servo motor; 25. Active roller; 26. Driven roller; 27. Grading belt; 28. Defective product placement box; 29. Third through-groove; 30. First electric slider; 31. High-pressure air pump; 32. Air storage box; 33. Connecting pipe; 34. Solenoid control valve; 35. Second electric slide rail; 36. Second electric slider; 37. Third electric telescopic rod; 38. Second negative pressure box; 39. Second suction cup. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of illustration and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0040] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0041] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0042] In view of the technical problems raised by the background technology, the present application provides an intelligent industrial robot based on visual recognition, a defective product classification method, an electronic device and a storage medium, which can classify defective products into grades and place them in order to improve work efficiency.

[0043] In one embodiment, if Figure 1-9As shown, the embodiment of the present application provides an intelligent industrial robot based on visual recognition, including a product transmission belt line 1, a sorting installation box 2 and a fixed plate 3, the two sides of the product transmission belt line 1 are fixedly connected to the lower end of the sorting installation box 2 and the fixed plate 3 by bolts, and three transmission boxes 4 are fixedly connected to the two sides of the top surface of the lower end of the sorting installation box 2, and the ends of the transmission boxes 4 away from the center of the sorting installation box 2 are fixedly connected to the first servo motor 5, and the output ends of the first servo motors 5 pass through the transmission boxes 4 and are fixedly connected to the interior of the transmission boxes 4 with threaded rods 6, the rod body of the threaded rod 6 is provided with a threaded sleeve 8, the lower end of the threaded sleeve 8 is fixedly connected to a first electric telescopic rod 9, the output end of the first electric telescopic rod 9 is fixedly connected to a first negative pressure box 10, the middle part of the lower end of the first negative pressure box 10 is fixedly connected to a first suction cup 11, and the middle part of the top surface of the lower end of the sorting installation box 2 is fixedly connected to a first defect detection camera 12;

[0044] A first through-groove 13 is formed on each side of the lower end of the sorting installation box 2. A second defect detection camera 14 is fixedly connected to the middle of the top surface of each of the first through-grooves 13. A mounting bracket 15 is provided on the outer wall of each side of the sorting installation box 2. Three first electric slide rails 16 are fixedly connected to the end of the mounting bracket 15 near the sorting installation box 2. A first electric slider 30 is provided on the rail body of the first electric slide rail 16. A second electric telescopic rod 17 is fixedly connected to the end of the first electric slider 30 near the center of the sorting installation box 2. A loading tray 18 is fixedly connected to the output end of the second electric telescopic rod 17.

[0045] The upper end of the sorting installation box 2 is respectively provided with a first sorting cavity 19, a second sorting cavity 20 and a third sorting cavity 21. Second through-grooves 22 are provided on both sides of the first sorting cavity 19, the second sorting cavity 20 and the third sorting cavity 21. Third through-grooves 29 are provided at the rear ends of the first sorting cavity 19, the second sorting cavity 20 and the third sorting cavity 21. A transmission seat 23 is fixedly connected to the middle of the bottom surface of the first sorting cavity 19, the second sorting cavity 20 and the third sorting cavity 21. A second servo motor 24 is fixedly connected to one side of the transmission seat 23. A driving roller 25 and a driven roller 26 are rotatably connected to the front and rear ends of the transmission seat 23 respectively. The outer walls of the driving roller 25 and the driven roller 26 are provided with a grading belt 27.

[0046] By placing the product on the product conveyor belt line 1 for transmission, under the action of the first defect detection camera 12, the product on the product conveyor belt line 1 can be inspected for defects in real time. When a defective product appears, the external PLC processor controls the corresponding first servo motor 5 to rotate, so that the threaded rod 6 drives the threaded sleeve 8 to rotate, and at the same time starts the first electric telescopic rod 9 to make the first suction cup 11 contact with the product, and at the same time opens the electromagnetic control valve 34 of the corresponding connecting pipe 33 to make the first negative pressure box 10 internal negative pressure, thereby making the first suction cup 11 quickly suck the defective product and place the defective product in the subsequent loading tray 18. At this time, the loading tray 18 can be moved forward by the second electric telescopic rod 17. The first through-groove 13 is entered. At this time, the second defect detection camera 14 can be used to divide the defect levels of the products into three levels. The external PLC controller controls the sliding position of the first electric slider 30 on the first electric slide rail 16 through the divided levels, and then starts the second electric telescopic rod 17 to make the loading tray 18 enter the corresponding first sorting cavity 19, the second sorting cavity 20 and the third sorting cavity 21, and then place the defective products of different levels according to the levels. At the same time, under the action of the second defect detection camera 14, the defective products can be divided more accurately, thereby ensuring the accuracy of screening defective products and bringing great convenience to the staff in repairing the defective products later.

[0047] Three second electric slide rails 35 are fixedly connected to both sides of the upper ends of the first sorting chamber 19, the second sorting chamber 20 and the third sorting chamber 21, respectively. The rail bodies of the second electric slide rails 35 are all provided with second electric sliders 36. The lower ends of the second electric sliders 36 are fixedly connected to third electric telescopic rods 37. The output end of the third electric telescopic rod 37 is fixedly connected to a second negative pressure box 38. The lower end of the second negative pressure box 38 is fixedly connected to a second suction cup 39. One side of the upper surface of the sorting installation box 2 is fixedly connected to a high-pressure air pump 31. The high-pressure air The air inlet of the pump 31 is fixedly connected to the air storage box 32, and the outer wall of the air storage box 32 is fixedly connected to a plurality of connecting pipes 33. The lower ends of the connecting pipes 33 pass through the sorting installation box 2 and are connected to the first negative pressure box 10 and the second negative pressure box 38. The high-pressure air pump 31 can continuously suck air into the interior of the air storage box 32, so that the interior of the air storage box 32 becomes a negative pressure state, thereby ensuring that the first suction cup 11 and the second suction cup 39 are more stable when sucking and fixing defective products, and are not prone to falling. The middle part of the lower end of the sorting installation box 2 A sliding groove 7 is provided, and the outer wall of the lower end of the threaded sleeve 8 is slidably connected inside the sliding groove 7. The sliding groove 7 can limit the threaded sleeve 8 during the movement process. The end of the threaded rod 6 away from the first servo motor 5 is rotatably connected to the sorting mounting box 2. The upper end of the mounting frame 15 is fixedly connected to the upper end of the sorting mounting box 2 by bolts, and the lower end of the mounting frame 15 is fixedly connected to the plate body of the fixed plate 3 by bolts. The bolted connection can facilitate the staff to disassemble the mounting frame 15, the sorting mounting box 2 and the fixed plate 3. The output end of the second servo motor 24 passes through the transmission seat 23 and is fixedly connected to the active roller 25. Three defective product placement boxes 28 are fixedly connected to the outer wall of the upper rear end of the sorting mounting box 2. The defective product placement boxes 28 can be used to store the corresponding defective products, thereby facilitating the staff to collect the defective products in a unified manner. The tube body of the connecting pipe 33 is provided with an electromagnetic control valve 34, which can control the negative pressure inside the first negative pressure box 10 and the second negative pressure box 38 at any time.

[0048] Based on the same invention concept, the specification is attached Figure 9 As shown, an embodiment of the present application further provides a defective product classification method based on visual recognition, using any of the intelligent industrial robots described in the above embodiments, the method includes the following steps:

[0049] S1. Performing real-time defect detection on products transmitted on a product conveyor belt line using a first defect detection camera, and selecting the detected defective products;

[0050] S2. Based on the second defect detection camera, the detected defective products are divided into three levels, and the defective products of different levels are placed according to the levels.

[0051] Since the principle of solving the problem of the defective product classification method in the embodiment of the present application is similar to that of the above-mentioned intelligent industrial robot in the embodiment of the present application, the implementation of the defective product classification method can refer to the implementation of the intelligent industrial robot, and the repeated parts will not be repeated.

[0052] Based on the same concept of the present invention, the specification Figure 10 As shown, an embodiment of the present application provides a structure of an electronic device 1000, which includes: at least one processor 1001, at least one network interface 1004 or other user interface 1003, a memory 1005, and at least one communication bus 1002. The communication bus 1002 is used to achieve connection and communication between these components. The electronic device 1000 optionally includes a user interface 1003, including a display (for example, a touch screen, LCD, CRT, holographic imaging (Holographic) or projection (Projector), etc.), a keyboard or a pointing device (for example, a mouse, trackball (trackball), touchpad or touch screen, etc.).

[0053] The memory 1005 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1001. A portion of the memory 1005 may also include a non-volatile random access memory (NVRAM).

[0054] In some embodiments, the memory 1005 stores the following elements, which may be protected modules or data structures, or a subset thereof, or an extended set thereof:

[0055] Operating system 10051, including various system programs for implementing various basic services and processing hardware-based tasks;

[0056] The application module 10052 includes various application programs, such as a launcher, a media player, a browser, etc., which are used to implement various application services.

[0057] In the embodiment of the present application, by calling the program or instruction stored in the memory 1005, the processor 1001 is used to execute a defective product classification method, so as to classify the defective products into grades and place them in order.

[0058] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps in the defective product classification method are executed.

[0059] Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, etc. When the computer program on the storage medium is run, the above-mentioned defective product classification method can be executed.

[0060] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0061] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0062] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0063] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0064] Finally, it should be noted that the above embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above embodiments within the technical scope disclosed in the present application, or replace some of the technical features therein with equivalents. However, these modifications, changes, or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. An intelligent industrial robot based on visual recognition, comprising a product conveying belt line (1), a sorting installation box (2) and a fixing plate (3), characterized in that: The two sides of the product transmission belt line (1) are fixedly connected to the lower end of the sorting installation box (2) and the fixed plate (3) by bolts, and three transmission boxes (4) are fixedly connected to the two sides of the top surface of the lower end of the sorting installation box (2), and the ends of the transmission boxes (4) away from the center of the sorting installation box (2) are fixedly connected to the first servo motor (5), and the output ends of the first servo motors (5) pass through the transmission box (4) and are fixedly connected to the interior of the transmission box (4) with threaded rods (6), the rod body of the threaded rod (6) is provided with a threaded sleeve (8), and the lower end of the threaded sleeve (8) is fixedly connected to a first electric telescopic rod (9), and the output end of the first electric telescopic rod (9) is fixedly connected to a first negative pressure box (10), and the middle part of the lower end of the first negative pressure box (10) is fixedly connected to a first suction cup (11), and the middle part of the top surface of the lower end of the sorting installation box (2) is fixedly connected to a first defect detection camera (12); A first through slot (13) is provided on both sides of the lower end of the sorting installation box (2), and a second defect detection camera (14) is fixedly connected to the middle of the top surface of the first through slot (13). The outer walls of both sides of the sorting installation box (2) are provided with a mounting frame (15), and one end of the mounting frame (15) close to the sorting installation box (2) is fixedly connected to three first electric slide rails (16), and the rail body of the first electric slide rail (16) is provided with a first electric slider (30), and one end of the first electric slider (30) close to the center of the sorting installation box (2) is fixedly connected to a second electric telescopic rod (17), and the output end of the second electric telescopic rod (17) is fixedly connected to a loading tray (18); The upper end of the sorting installation box (2) is respectively provided with a first sorting cavity (19), a second sorting cavity (20) and a third sorting cavity (21); both sides of the first sorting cavity (19), the second sorting cavity (20) and the third sorting cavity (21) are provided with a second through groove (22); the rear ends of the first sorting cavity (19), the second sorting cavity (20) and the third sorting cavity (21) are provided with a third through groove (29); the middle part of the bottom surface of the first sorting cavity (19), the second sorting cavity (20) and the third sorting cavity (21) is fixedly connected with a transmission seat (23); one side of the transmission seat (23) is fixedly connected with a second servo motor (24); the front end and the rear end of the transmission seat (23) are respectively rotatably connected with an active roller (25) and a driven roller (26); the outer walls of the active roller (25) and the driven roller (26) are provided with a grading belt (27).

2. The intelligent industrial robot based on visual recognition according to claim 1, characterized in that: Three second electric slide rails (35) are fixedly connected to both sides of the upper ends of the first sorting chamber (19), the second sorting chamber (20) and the third sorting chamber (21), respectively. The rail bodies of the second electric slide rails (35) are all provided with second electric sliders (36). The lower ends of the second electric sliders (36) are all fixedly connected to third electric telescopic rods (37). The output end of the third electric telescopic rod (37) is fixedly connected to a second negative pressure box (38). The lower end of the second negative pressure box (38) is fixedly connected to a second suction cup (39). One side of the upper surface of the sorting installation box (2) is fixedly connected to a high-pressure air pump (31). The air intake of the high-pressure air pump (31) is fixedly connected to an air storage box (32). The outer wall of the air storage box (32) is fixedly connected to a plurality of connecting pipes (33). The lower ends of the connecting pipes (33) all pass through the sorting installation box (2) and are connected to the first negative pressure box (10) and the second negative pressure box (38).

3. The intelligent industrial robot based on visual recognition according to claim 1, characterized in that: A sliding groove (7) is provided in the middle of the lower end of the sorting installation box (2), and the outer wall of the lower end of the threaded sleeve (8) is slidably connected inside the sliding groove (7).

4. The intelligent industrial robot based on visual recognition according to claim 1, characterized in that: One end of the threaded rod (6) away from the first servo motor (5) is rotatably connected to the sorting installation box (2).

5. The intelligent industrial robot based on visual recognition according to claim 1, characterized in that: The upper end of the mounting frame (15) is fixedly connected to the upper end of the sorting mounting box (2) by means of bolts, and the lower end of the mounting frame (15) is fixedly connected to the plate body of the fixing plate (3) by means of bolts.

6. The intelligent industrial robot based on visual recognition according to claim 1, characterized in that: The output end of the second servo motor (24) passes through the transmission seat (23) and is fixedly connected to the active roller (25).

7. The intelligent industrial robot based on visual recognition according to claim 1, characterized in that: Three defective product placement boxes (28) are fixedly connected to the outer wall of the upper rear end of the sorting installation box (2).

8. A defective product classification method based on visual recognition, characterized in that: Applied to the intelligent industrial robot according to any one of claims 1 to 7, the method comprises the following steps: Performing real-time defect detection on products transmitted on the product conveyor belt line based on the first defect detection camera, and selecting the detected defective products; The defective products detected by the second defect detection camera are divided into three levels, and the defective products of different levels are placed according to the levels.

9. An electronic device, characterized in that: The electronic device comprises a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate with each other via the bus. When the machine-readable instructions are executed by the processor, the steps of the defective product classification method according to claim 8 are performed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the defective product classification method according to claim 8.

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