Part sorting mechanical arm based on convolutional neural network

Abstract

The invention discloses a part sorting mechanical arm based on a convolutional neural network, and relates to the technical field of mechanical arms, the part sorting mechanical arm based on the convolutional neural network comprises a mechanical arm body, a mounting table is fixedly mounted at the top of the mechanical arm body, and a sliding plate is slidably connected to the inner wall of the mounting table; a fixing plate is fixedly mounted on the outer wall of the mounting table, a motor is fixedly mounted on the outer wall of the mounting table, and a threaded rod is fixedly mounted at the output end of the motor. According to the part sorting mechanical arm based on the convolutional neural network, a supporting plate slides on the outer wall of the fixing plate so that a package between the fixing plate and the sliding plate can be shoveled up, the bottom of the package can be supported through the supporting plate, and the package is prevented from sliding off from the position between the sliding plate and the fixing plate in the operation process of the mechanical arm body; and therefore, the stability of the parcel in the carrying process is improved, objects in the parcel can be protected, and safety accidents can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a parts sorting robotic arm based on a convolutional neural network. Background Art

[0002] Convolutional neural network is a type of feedforward neural network with deep structure and convolutional calculation, and is one of the representative algorithms of deep learning. Convolutional neural network has the ability of representation learning and can classify input information in a translation-invariant manner according to its hierarchical structure, so it is also called "translation-invariant artificial neural network".

[0003] According to a disclosed part sorting robot arm based on a convolutional neural network (publication number: CN214638379U), the motor installed in the above application is used by connecting an external power supply and turning on an external switch to make the motor run. The motor drives the threaded rod at the output end to rotate through the internal rotation action. The thread on the outside of the threaded rod cooperates with the thread of the threaded sleeve inside the sleeve, driving the threaded sleeve to rotate and move to one side on the outer wall of the threaded rod. The sleeve drives the arm tube on the outside through the rotation action of the outer bearing sleeve, so that the arm tube drives the small arm at one end to move left and right, so that the gripper and the small arm can adjust the gripping position through the connection action, which is convenient for the staff to adjust the robot arm and sort parts within different ranges, which can improve the flexibility of the device. At the same time, because the internal guide rod and the sleeve are connected with a gap, the sleeve has a guide rod as a limiter of the sleeve during movement, which can effectively prevent the sleeve from driving the gripper at one end to rotate and affect the gripping effect, thereby improving the use effect.

[0004] When the above-mentioned robotic arm uses the gripper to grab some medium-to-large single packages, the surface of the package is usually coated with polyvinyl chloride (PVC), which can improve the waterproofness of the package, but also makes the surface of the package very smooth. Grasping the package only by the gripper can easily cause the package to slip during the movement, and may even fall off the gripper and fall to the ground, which not only poses a safety hazard, but also easily causes damage to the items inside the package. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a parts sorting robot arm based on a convolutional neural network, which solves the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a part sorting robot arm based on convolutional neural network, comprising a robot arm body, a mounting platform fixedly installed on the top of the robot arm body, a slide board slidably connected to the inner wall of the mounting platform, a fixing plate fixedly installed on the outer wall of the mounting platform, a motor fixedly installed on the outer wall of the mounting platform, a threaded rod fixedly installed on the output end of the motor, an end of the threaded rod away from the motor passes through the mounting platform and is rotatably connected to the inner wall of the mounting platform, the threaded rod is threadedly connected to the slide board, an alarm light is fixedly installed on the outer wall of the mounting platform, a bottom supporting mechanism is provided on the mounting platform, a correction mechanism is provided on the fixing plate, a supporting mechanism is provided on the correction mechanism, a control panel is fixedly installed on the outer wall of the fixing plate, a switch is installed on the control panel, the switch is electrically connected to the control panel, and the control panel is electrically connected to the motor; wherein, The bottom supporting mechanism comprises a supporting plate, a column, a connecting rod, a top plate, a top rod, a convex plate, a hollow rod, a limiting rod, a shovel plate, a top block, a connecting spring, a bent rod, a swing rod, a through groove, a side plate and an arc block. The supporting plate is slidably connected to the outer wall of the fixed plate, and the supporting plate can lift the package between the fixed plate and the slide plate when the outer wall of the fixed plate slides. The outer wall of the supporting plate is fixedly installed with a column, the inner wall of the column is fixedly installed with a connecting rod, and the connecting rod passes through the column, the top plate is fixedly installed on the outer wall of the slide plate, and the outer wall of the top plate is fixedly installed with a top rod, one end of the convex plate is fixedly installed on the outer wall of the fixed plate, and the other end of the convex plate is hinged with a hollow rod, the outer wall of the connecting rod is attached to the inner wall of the hollow rod, and the hollow rod will push the connecting rod when it rotates, so that the connecting rod pushes the column, the outer wall of the top rod is attached to the inner wall of the hollow rod, and the top rod will push the hollow rod during the movement, so that the hollow rod rotates on the outer wall of the convex plate.

[0007] According to the above technical scheme, the limit rod is slidably connected to the inner wall of the support plate, and the limit rod passes through the support plate, one end of the limit rod is fixedly installed with a shovel plate, and the other end of the limit rod is fixedly installed with a top block, one end of the connecting spring is fixedly installed on the outer wall of the top block, and the other end of the connecting spring is fixedly installed on the outer wall of the support plate, and a bent rod is fixedly installed on the outer wall of the top block, and a swing rod is hinged on the outer wall of the support plate, and a through groove is opened on the swing rod, and one end of the bent rod away from the top block is fitted with the inner wall of the through groove, the outer wall of the fixed plate is slidably connected with a side plate, and an arc block is fixedly installed on the outer wall of the side plate, and the outer wall of the side plate is fitted with the outer wall of the swing rod, and the swing rod will push the side plate when rotating to make the side plate slide on the outer wall of the fixed plate.

[0008] According to the above technical solution, the correction mechanism includes a push block, an L-axis, an L-shaft, a wave groove, a push rod, a limit block, a push plate, a compression spring, a ramp rod and a pressure sensor. The push block is slidably connected to the inner wall of the fixed plate, and the outer wall of the push block is fixedly installed with the L-axis. A wave groove is provided on the support plate, and one end of the L-axis away from the push block is attached to the inner wall of the wave groove. When the support plate slides, the wave groove and the L-axis can drive the push block to slide back and forth on the inner wall of the fixed plate.

[0009] According to the above technical solution, the push rod is slidably connected to the inner wall of the push block, and the push rod passes through the push block, one end of the push rod is fixedly installed with a limit block, and the other end of the push rod is fixedly installed with a push plate, and the reciprocating movement of the push rod and the push plate can make the wrapping between the fixed plate and the slide plate neat, so that the slide plate and the fixed plate can better clamp the wrapping, one end of the compression spring is fixedly installed on the outer wall of the limit block, and the other end of the compression spring is fixedly installed on the outer wall of the push block, and the push block can slide back and forth on the inner wall of the fixed plate while cooperating with the compression spring and the limit block to drive the push rod to reciprocate synchronously.

[0010] According to the above technical solution, a ramp rod is fixedly installed on the outer wall of the push plate, and a pressure sensor is fixedly installed on the outer wall of the push block. The pressure sensor is electrically connected to the alarm light. When the ramp rod squeezes the pressure sensor, the pressure sensor will send an electrical signal to the alarm light, and the alarm light will make a sound and light up when receiving the electrical signal.

[0011] According to the above technical solution, the support mechanism includes a support rod, a limit plate, a suction cup, a limit groove, a limit spring, an L rod, a reset spring, a cross bar and an inclined plate. The support rod is slidably connected to the inner wall of the push block, and the support rod passes through the push block. One end of the support rod is fixedly installed with a limit plate, and the other end of the support rod is fixedly installed with a suction cup. When the support rod slides and resets on the inner wall of the push block, it can drive the suction cup to be adsorbed on the outer wall of the package.

[0012] According to the above technical solution, a limiting groove is provided on the support rod, one end of the limiting spring is fixedly installed on the outer wall of the limiting plate, and the other end of the limiting spring is fixedly installed on the outer wall of the push block. The limiting plate can drive the support rod to slide and reset on the inner wall of the push block through the elastic cooperation of the limiting spring.

[0013] According to the above technical solution, the inner wall of the push block is slidably connected with an L-rod, one end of the L-rod is fitted against the inner wall of the limiting groove, and the other end of the L-rod is fixedly installed with a return spring, and the end of the return spring away from the L-rod is fixedly installed on the inner wall of the push block. When the L-rod gradually moves out of the limiting groove, the L-rod will stretch the return spring, and the outer wall of the L-rod is fixedly installed with a cross bar, and the outer wall of the push plate is fixedly installed with an inclined panel. When the push plate moves, it cooperates with the inclined panel and the cross bar to drive the L-rod to slide on the inner wall of the push block.

[0014] The present invention provides a parts sorting robot arm based on convolutional neural network. It has the following beneficial effects: 1. The present invention can scoop up the package between the fixed plate and the slide plate by sliding the support plate on the outer wall of the fixed plate and cooperating with the shovel plate. The bottom of the package can be supported by the support plate to prevent the package from sliding off from between the slide plate and the fixed plate during the operation of the robot arm body, thereby improving the stability of the package during the handling process, not only protecting the items inside the package, but also avoiding the occurrence of safety accidents; at the same time, when the shovel plate is blocked in the process of shoveling up the package, the shovel plate is subjected to an extrusion force, so that through the cooperation of the limit rod, the top block, the bent rod, the swing rod and the side plate, the arc block can squeeze the switch on the control panel to turn off the motor, so that the shovel plate no longer applies an extrusion force to the obstruction, preventing the motor from being damaged due to overload, and further protecting the motor.

[0015] 2. The present invention enables the push block to slide back and forth on the inner wall of the fixed plate, and at the same time cooperates with the compression spring, the limit block and the push rod to drive the push plate to repeatedly hit the outer wall of the package. At this time, the two groups of push plates can be used to push the package, so that the package is kept in a centered state between the fixed plate and the slide plate, so that the package can be fully in contact with the outer walls of the fixed plate and the slide plate, thereby improving the clamping effect of the fixed plate and the slide plate on the package and preventing the package from slipping during transportation; and when the package deviates downward during transportation, the push plate will be squeezed by the package, and the push plate will drive the inclined rod to squeeze the pressure sensor, and the pressure sensor will send an electrical signal to the alarm light, which will make a sound and light up when receiving the electrical signal. The alarm light can be used to remind the staff that the package is offset, so that the staff can take action in time, and at the same time, it can prevent strangers from approaching the package to avoid safety accidents.

[0016] 3. In the present invention, the sliding of the push plate cooperates with the inclined plate and the cross bar to drive the L rod to release the limit on the support rod. At this time, the limit spring cooperates with the limit plate and the support rod to drive the suction cup to be adsorbed on the outer wall of the package, so that the package can be reinforced while the package is offset to prevent the package from sliding between the slide plate and the fixed plate, thereby further improving the stability of the package and enabling the robot arm body to stably carry the package. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the device of the present invention; Figure 2 It is a schematic diagram of the overall structure of the mounting platform of the present invention; Figure 3 For the present invention Figure 2 A side view structural schematic diagram of; Figure 4 For the present invention Figure 2 Schematic diagram of the structure viewed from above; Figure 5 It is a structural schematic diagram of the push block of the present invention; Figure 6 For the present invention Figure 3 A schematic diagram of the enlarged structure at point A; Figure 7 For the present invention Figure 3 Schematic diagram of the enlarged structure at B.

[0018] In the figure: 1, robot arm body; 2, mounting platform; 3, slide plate; 4, fixing plate; 5, motor; 6, threaded rod; 7, warning light; 8, bottom supporting mechanism; 81, supporting plate; 82, column; 83, connecting rod; 84, top plate; 85, top rod; 86, convex plate; 87, hollow rod; 88, limit rod; 89, shovel plate; 810, top block; 811, connecting spring; 812, bent rod; 813, swing rod; 814, through groove; 815, side plate; 816, arc block; 9. Correction mechanism; 91. Push block; 92. L-axis; 93. Wave groove; 94. Push rod; 95. Limit block; 96. Push plate; 97. Compression spring; 98. Inclined rod; 99. Pressure sensor; 10. Support mechanism; 101. Support rod; 102. Limit plate; 103. Suction cup; 104. Limit groove; 105. Limit spring; 106. L-rod; 107. Reset spring; 108. Cross bar; 109. Inclined panel; 11. Control panel; 12. Switch. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-Figure 7 One embodiment of the present invention is: a part sorting robot arm based on convolutional neural network, including a robot arm body 1, a mounting platform 2 is fixedly installed on the top of the robot arm body 1, a slide plate 3 is slidably connected to the inner wall of the mounting platform 2, a fixing plate 4 is fixedly installed on the outer wall of the mounting platform 2, a motor 5 is fixedly installed on the outer wall of the mounting platform 2, a threaded rod 6 is fixedly installed on the output end of the motor 5, the end of the threaded rod 6 away from the motor 5 penetrates the mounting platform 2 and is rotatably connected to the inner wall of the mounting platform 2, the threaded rod 6 is rotatably connected to the penetration point of the mounting platform 2, the threaded rod 6 is threadedly connected to the slide plate 3, the motor 5 is started to drive the threaded rod 6 to rotate, and the rotation of the threaded rod 6 will drive the slide plate 3 threadedly connected to it to slide on the inner wall of the mounting platform 2, an alarm light 7 is fixedly installed on the outer wall of the mounting platform 2, and a bottom supporting mechanism 8 is provided on the mounting platform 2.

[0021] In this embodiment, the bottom supporting mechanism 8 includes a supporting plate 81, a column 82, a connecting rod 83, a top plate 84, a top rod 85, a convex plate 86, a hollow rod 87, a limit rod 88, a shovel plate 89, a top block 810, a connecting spring 811, a bent rod 812, a swing rod 813, a through groove 814, a side plate 815 and an arc block 816. The outer wall of the supporting plate 81 is fixedly mounted with a column 82, the inner wall of the column 82 is fixedly mounted with a connecting rod 83, and the connecting rod 83 passes through the column 82, the top plate 84 is fixedly mounted on the outer wall of the slide plate 3, and the slide plate 3 gradually approaches When the top plate 84 is close to the fixed plate 4, the top plate 84 will be driven to move synchronously. The outer wall of the top plate 84 is fixedly installed with a top rod 85. One end of the convex plate 86 is fixedly installed on the outer wall of the fixed plate 4. The other end of the convex plate 86 is hinged with a hollow rod 87. The outer wall of the connecting rod 83 fits the inner wall of the hollow rod 87. When the hollow rod 87 rotates, it will push the connecting rod 83, so that the connecting rod 83 pushes the column 82. At this time, the column 82 will drive the support plate 81 to slide on the outer wall of the fixed plate 4. The outer wall of the top rod 85 fits the inner wall of the hollow rod 87. When the top plate 84 moves, The push rod 85 will drive the hollow rod 87 to make the hollow rod 87 rotate on the outer wall of the convex plate 86. The limit rod 88 is slidably connected to the inner wall of the support plate 81, and the limit rod 88 passes through the support plate 81. One end of the limit rod 88 is fixedly installed with a shovel plate 89. When the shovel plate 89 contacts the package during the movement, it will scoop up the package and move the package to the top of the support plate 81. The other end of the limit rod 88 is fixedly installed with a push block 810. One end of the connecting spring 811 is fixedly installed on the outer wall of the push block 810, and the other end of the connecting spring 811 is fixedly installed The outer wall of the support plate 81 is fixedly installed, and a bent rod 812 is fixedly installed on the outer wall of the top block 810. The outer wall of the support plate 81 is hinged with a rocker arm 813, and a through groove 814 is provided on the rocker arm 813. The end of the bent rod 812 away from the top block 810 is attached to the inner wall of the through groove 814. When the bent rod 812 pulls the rocker arm 813, it will move in contact with the inner wall of the through groove 814, and at the same time, it will drive the rocker arm 813 to rotate on the outer wall of the support plate 81. The outer wall of the fixed plate 4 is slidably connected to the side plate 815, and the outer wall of the rocker arm 813 is attached to the outer wall of the side plate 815.

[0022] The pallet 81 is slidably connected to the outer wall of the fixed plate 4. When the pallet 81 slides on the outer wall of the fixed plate 4 and gradually approaches the slide plate 3, the pallet 81 can scoop up the package between the fixed plate 4 and the slide plate 3. At this time, the pallet 81 can be used to support the bottom of the package to prevent the goods from slipping from between the slide plate 3 and the fixed plate 4, thereby improving the stability of the package during transportation. It can not only protect the package but also avoid the occurrence of safety accidents.

[0023] An arc block 816 is fixedly installed on the outer wall of the side panel 815. When the side panel 815 drives the arc block 816 to fit against the outer wall of the switch 12, the switch 12 will send an electrical signal to the control panel 11. The control panel 11 will immediately turn off the motor 5 upon receiving the electrical signal, so that the threaded rod 6 stops rotating, thereby preventing the shovel plate 89 from being blocked and causing the motor 5 to overload, thereby protecting the motor 5.

[0024] When the present embodiment is working, the motor 5 is started to drive the threaded rod 6 to rotate. When the threaded rod 6 rotates, the slide plate 3 connected with the threaded rod 6 will slide on the inner wall of the mounting platform 2. When the slide plate 3 gradually approaches the fixed plate 4, the package can be clamped by the slide plate 3 and the fixed plate 4. At the same time, the slide plate 3 will drive the top plate 84 to move synchronously. When the top plate 84 moves, the top rod 85 will move in contact with the inner wall of the hollow rod 87. At the same time, the top rod 85 will push the hollow rod 87, so that the hollow rod 87 rotates on the outer wall of the convex plate 86, and the hollow rod 8 When the shovel 89 touches the package during the movement, it will scoop up the package and move it to the top of the pallet 81. When the slide 3 and the fixed plate 4 clamp the goods, the bottom of the goods can be lifted up by the pallet 81. The robot arm 1 holds the goods to prevent them from falling when carrying the goods, thereby improving the stability of the goods. At the same time, when the shovel plate 89 is blocked by an obstacle in the process of shoveling the package, the shovel plate 89, the limit rod 88 and the top block 810 will remain stationary, and the support plate 81 is still moving at this time. At the same time, the support plate 81 will drive the swing rod 813 to move synchronously, and while the swing rod 813 is moving, the bent rod 812 will move in contact with the inner wall of the through groove 814, and at the same time, the bent rod 812 will pull the swing rod 813, so that the swing rod 813 is on the support plate 813. 1, and the swing rod 813 rotates while squeezing the side plate 815, so that the side plate 815 slides on the outer wall of the fixed plate 4 and gradually approaches the control panel 11, and at the same time, the side plate 815 drives the arc block 816 to gradually approach the switch 12. When the arc block 816 fits the outer wall of the switch 12, the switch 12 sends an electrical signal to the control panel 11. The control panel 11 receives the electrical signal and immediately turns off the motor 5, so that the threaded rod 6 stops rotating, thereby preventing the shovel plate 89 from being blocked and causing the motor 5 to overload, thereby protecting the motor 5.

[0025] See also Figure 1-Figure 5On the basis of the above embodiment, in another embodiment of the present invention, a correction mechanism 9 is provided on the fixed plate 4, and a support mechanism 10 is provided on the correction mechanism 9; the correction mechanism 9 includes a push block 91, an L axis 92, an L axis 92, a wave groove 93, a push rod 94, a limit block 95, a push plate 96, a compression spring 97, a ramp rod 98 and a pressure sensor 99, the push block 91 is slidably connected to the inner wall of the fixed plate 4, the outer wall of the push block 91 is fixedly installed with the L axis 92, a wave groove 93 is provided on the support plate 81, and one end of the L axis 92 away from the push block 91 is attached to the inner wall of the wave groove 93, and the support plate 81 can drive the push block 91 to slide on the outer wall of the fixed plate 4 by using the wave groove 93 and the L axis 92. The block 91 slides back and forth on the inner wall of the fixed plate 4, the push rod 94 is slidably connected to the inner wall of the push block 91, and the push rod 94 passes through the push block 91, one end of the compression spring 97 is fixedly installed on the outer wall of the limit block 95, and the other end of the compression spring 97 is fixedly installed on the outer wall of the push block 91. When the push block 91 slides back and forth on the inner wall of the fixed plate 4, the compression spring 97 and the limit block 95 can drive the push rod 94 to reciprocate synchronously. The pressure sensor 99 is electrically connected to the alarm light 7. When the pressure sensor 99 sends an electrical signal to the alarm light 7, the alarm light 7 will make a sound and light up when it receives the electrical signal. The alarm light 7 can be used to remind the staff that the package is offset to prevent strangers from approaching the package.

[0026] Among them, a limit block 95 is fixedly installed at one end of the push rod 94, and a push plate 96 is fixedly installed at the other end of the push rod 94. The push rod 94 slides back and forth on the inner wall of the push block 91 and cooperates with the push plate 96 to make the package be placed centrally between the fixed plate 4 and the slide plate 3, so that the package can be fully in contact with the outer walls of the fixed plate 4 and the slide plate 3, thereby improving the clamping effect of the fixed plate 4 and the slide plate 3 on the package, preventing the package from slipping during transportation.

[0027] An inclined rod 98 is fixedly installed on the outer wall of the push plate 96, and a pressure sensor 99 is fixedly installed on the outer wall of the push block 91. When the package is moved downward between the slide plate 3 and the fixed plate 4 during the process of being transported by the robot arm body 1, the deviated goods will squeeze the push plate 96. At this time, the push plate 96 will drive the inclined rod 98 to gradually approach the pressure sensor 99. When the inclined rod 98 contacts the pressure sensor 99, the pressure sensor 99 will send an electrical signal to the alarm light 7. The alarm light 7 will make a sound and light up when receiving the electrical signal. The alarm light 7 can be used to remind the staff that the package is deviated so that the staff can take timely action.

[0028] In addition, the support mechanism 10 includes a support rod 101, a limit plate 102, a suction cup 103, a limit groove 104, a limit spring 105, an L rod 106, a return spring 107, a cross bar 108 and an inclined plate 109. The support rod 101 is slidably connected to the inner wall of the push block 91, and the support rod 101 passes through the push block 91. The support rod 101 is provided with a limit groove 104. One end of the limit spring 105 is fixedly mounted on the outer wall of the limit plate 102, and the other end of the limit spring 105 is fixedly mounted on the outer wall of the push block 91. The limit plate 102 and the support rod 101 can drive the suction cup 103 to be adsorbed on the outer wall of the package through the elastic cooperation of the limit spring 105. The inner wall of the push block 91 is slidably connected with the L rod 106, and one end of the L rod 106 is attached to The inner wall of the limiting groove 104, when the L rod 106 is completely moved out of the limiting groove 104, the L rod 106 will release the limitation on the support rod 101, and the other end of the L rod 106 is fixedly installed with a return spring 107, and the end of the return spring 107 away from the L rod 106 is fixedly installed on the inner wall of the push block 91. The elasticity of the return spring 107 can drive the L rod 106 to slide and reset on the inner wall of the push block 91, and the outer wall of the L rod 106 is fixedly installed with a cross bar 108, and the outer wall of the push plate 96 is fixedly installed with an inclined panel 109. When the inclined panel 109 contacts the cross bar 108 during the movement, the cross bar 108 will be squeezed by the inclined panel 109. At this time, the cross bar 108 will push the L rod 106, so that the L rod 106 slides on the inner wall of the push block 91.

[0029] Among them, a limiting plate 102 is fixedly installed on one end of the support rod 101, and a suction cup 103 is fixedly installed on the other end of the support rod 101. The support rod 101 drives the suction cup 103 to be adsorbed on the surface of the package, so as to reinforce the deviated package and prevent the package from deviating and sliding from between the slide plate 3 and the fixed plate 4, thereby further improving the stability of the package.

[0030] When the present embodiment is working, as the support plate 81 slides on the outer wall of the fixed plate 4 and gradually approaches the slide plate 3, the wave groove 93 will repeatedly squeeze the L-axis 92, so that the L-axis 92 drives the push block 91 to slide back and forth on the inner wall of the fixed plate 4, and the push block 91 will drive the compression spring 97 to move back and forth synchronously while sliding back and forth, and the compression spring 97 will drive the limit block 95 to move back and forth while moving back and forth, and the limit block 95 will drive the push rod 94 to move back and forth synchronously while moving back and forth, and the push rod 94 will drive the push plate 96 to hit the outer wall of the package back and forth while moving back and forth, and the goods can be pushed straight by the two groups of push plates 96 repeatedly contacting the outer wall of the package, so that the goods can be centered between the fixed plate 4 and the slide plate 3, so that the slide plate 3 and the fixed plate 4 can be fully developed. The clamping effect is exerted to improve the clamping stability of the package. When the package is deflected downward between the slide plate 3 and the fixed plate 4 during the process of the robot arm body 1 carrying the package, the deflected goods will squeeze the push plate 96, so that the push plate 96 pushes the push rod 94. At this time, the push rod 94 will slide on the inner wall of the push block 91. At the same time, the limit block 95 on the outer wall of the push rod 94 will stretch the compression spring 97. At the same time, the push plate 96 will drive the inclined rod 98 to gradually approach the pressure sensor 99. When the inclined rod 98 contacts the pressure sensor 99, the pressure sensor 99 will send an electrical signal to the alarm light 7. The alarm light 7 will make a sound and light up when receiving the electrical signal. The alarm light 7 can be used to remind the staff that the package is deflected so that the staff can take timely action.

[0031] The push plate 96 drives the inclined rod 98 to gradually approach the pressure sensor 99 and drives the inclined plate 109 to move synchronously. When the inclined plate 109 contacts the cross bar 108 during the movement, the cross bar 108 will be squeezed by the inclined plate 109. At this time, the cross bar 108 will push the L rod 106, so that the L rod 106 slides on the inner wall of the push block 91 and stretches the reset spring 107. At the same time, the L rod 106 will gradually move out of the limit groove 104. When the L rod 106 is completely moved out of the limit groove 104, the L rod 106 will release the limit on the support rod 101. At this time, the limit spring 105 will pull the limit plate 102, so that the limit plate 102 gradually approaches the push block 91 and pushes the support rod 101, so that the support rod 101 slides on the inner wall of the push block 91 and drives the suction cup 103 to gradually move away from the push block 91. At this time, the support rod 101 will drive the suction cup 103 to be adsorbed on the outer wall of the package. The support rod 101 and the suction cup 103 can be used to reinforce the package clamped by the slide plate 3 and the fixed plate 4 to prevent the package from deviating and sliding from between the slide plate 3 and the fixed plate 4, thereby further improving the stability of the package.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A parts sorting robot arm based on a convolutional neural network, comprising a robot arm body (1), characterized in that: A mounting platform (2) is fixedly mounted on the top of the mechanical arm body (1), a slide plate (3) is slidably connected to the inner wall of the mounting platform (2), a fixing plate (4) is fixedly mounted on the outer wall of the mounting platform (2), a motor (5) is fixedly mounted on the outer wall of the mounting platform (2), a threaded rod (6) is fixedly mounted on the output end of the motor (5), an end of the threaded rod (6) away from the motor (5) passes through the mounting platform (2) and is rotatably connected to the inner wall of the mounting platform (2), the threaded rod (6) is threadedly connected to the slide plate (3), an alarm light (7) is fixedly mounted on the outer wall of the mounting platform (2), a bottom supporting mechanism (8) is provided on the mounting platform (2), a correction mechanism (9) is provided on the fixing plate (4), a supporting mechanism (10) is provided on the correction mechanism (9), a control panel (11) is fixedly mounted on the outer wall of the fixing plate (4), and a switch (12) is installed on the control panel (11); The bottom supporting mechanism (8) comprises a supporting plate (81), a column (82), a connecting rod (83), a top plate (84), a top rod (85), a convex plate (86), a hollow rod (87), a limit rod (88), a shovel plate (89), a top block (810), a connecting spring (811), a bent rod (812), a swing rod (813), a through groove (814), a side plate (815) and an arc block (816). The supporting plate (81) is slidably connected to the outer wall of the fixed plate (4); the outer wall of the supporting plate (81) is fixedly mounted with a column (82); the column (82) is A connecting rod (83) is fixedly mounted on the inner wall of the column (82), and the connecting rod (83) passes through the column (82); the top plate (84) is fixedly mounted on the outer wall of the slide plate (3); a top rod (85) is fixedly mounted on the outer wall of the top plate (84); one end of the convex plate (86) is fixedly mounted on the outer wall of the fixed plate (4); the other end of the convex plate (86) is hingedly connected to a hollow rod (87); the outer wall of the connecting rod (83) is in contact with the inner wall of the hollow rod (87); and the outer wall of the top rod (85) is in contact with the inner wall of the hollow rod (87).

2. The part sorting robot arm based on convolutional neural network according to claim 1, characterized in that: The limiting rod (88) is slidably connected to the inner wall of the support plate (81), and the limiting rod (88) passes through the support plate (81); a shovel plate (89) is fixedly mounted on one end of the limiting rod (88), and a top block (810) is fixedly mounted on the other end of the limiting rod (88); one end of the connecting spring (811) is fixedly mounted on the outer wall of the top block (810), and the other end of the connecting spring (811) is fixedly mounted on the outer wall of the support plate (81); and the outer wall of the top block (810) is fixedly mounted on the outer wall of the support plate (81). A bent rod (812) is fixedly installed, a swing rod (813) is hingedly connected to the outer wall of the support plate (81), a through slot (814) is provided on the swing rod (813), one end of the bent rod (812) away from the top block (810) is attached to the inner wall of the through slot (814), the outer wall of the fixed plate (4) is slidably connected to a side plate (815), an arc block (816) is fixedly installed on the outer wall of the side plate (815), and the outer wall of the swing rod (813) is attached to the outer wall of the side plate (815).

3. The part sorting robot arm based on convolutional neural network according to claim 2, characterized in that: The correction mechanism (9) comprises a push block (91), an L-axis (92), an L-axis (92), a wave groove (93), a push rod (94), a limit block (95), a push plate (96), a compression spring (97), an inclined rod (98) and a pressure sensor (99); the push block (91) is slidably connected to the inner wall of the fixed plate (4); the L-axis (92) is fixedly mounted on the outer wall of the push block (91); the support plate (81) is provided with a wave groove (93); and one end of the L-axis (92) away from the push block (91) is attached to the inner wall of the wave groove (93).

4. The part sorting robot arm based on convolutional neural network according to claim 3, characterized in that: The push rod (94) is slidably connected to the inner wall of the push block (91), and the push rod (94) passes through the push block (91); one end of the push rod (94) is fixedly mounted with a limit block (95), and the other end of the push rod (94) is fixedly mounted with a push plate (96); one end of the compression spring (97) is fixedly mounted on the outer wall of the limit block (95), and the other end of the compression spring (97) is fixedly mounted on the outer wall of the push block (91).

5. The part sorting robot arm based on convolutional neural network according to claim 4, characterized in that: An inclined rod (98) is fixedly mounted on the outer wall of the push plate (96), and a pressure sensor (99) is fixedly mounted on the outer wall of the push block (91); the pressure sensor (99) is electrically connected to the warning light (7).

6. The part sorting robot arm based on convolutional neural network according to claim 5, characterized in that: The support mechanism (10) comprises a support rod (101), a limit plate (102), a suction cup (103), a limit groove (104), a limit spring (105), an L rod (106), a return spring (107), a cross rod (108) and an inclined plate (109); the support rod (101) is slidably connected to the inner wall of the push block (91), and the support rod (101) passes through the push block (91); one end of the support rod (101) is fixedly mounted with the limit plate (102), and the other end of the support rod (101) is fixedly mounted with the suction cup (103).

7. The part sorting robot arm based on convolutional neural network according to claim 6, characterized in that: The support rod (101) is provided with a limiting groove (104), one end of the limiting spring (105) is fixedly mounted on the outer wall of the limiting plate (102), and the other end of the limiting spring (105) is fixedly mounted on the outer wall of the push block (91).

8. The part sorting robot arm based on convolutional neural network according to claim 7, characterized in that: The inner wall of the push block (91) is slidably connected to an L-rod (106), one end of the L-rod (106) is in contact with the inner wall of the limiting groove (104), the other end of the L-rod (106) is fixedly mounted with a return spring (107), one end of the return spring (107) away from the L-rod (106) is fixedly mounted on the inner wall of the push block (91), a cross bar (108) is fixedly mounted on the outer wall of the L-rod (106), and an inclined panel (109) is fixedly mounted on the outer wall of the push plate (96).

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