Intelligent garbage classification device based on few driving sources and control method

Abstract

The invention belongs to the technical field of intelligent garbage treatment, and particularly relates to an intelligent garbage classification device based on few driving sources and a control method. The intelligent garbage classification device comprises a rack and a throwing opening formed in the upper portion of the rack. The at least four garbage storage boxes are distributed at the bottom of the rack; the classified boxing parallel mechanism is used for conveying the garbage into the corresponding garbage storage box; the multi-stage conveying mechanism is mounted at the middle upper part of the rack; the classification boxing parallel mechanism comprises a fixed platform fixedly installed in the rack, a movable platform connected with the fixed platform through three parallel assemblies distributed in a circumferential array mode and a visual recognition module installed at the top of the rack, and the three parallel assemblies drive the movable platform to do lifting and pitching motion. The three parallel assemblies with the driving sources are ingeniously used for achieving the classified boxing action of at least four kinds of garbage, the structure is simple and reliable, no complex single element is needed, and precise control can be achieved through a precise processor.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent garbage processing, and in particular relates to an intelligent garbage sorting device based on a small driving source and a control method. Background Art

[0002] Smart classified garbage storage bins are a new type of garbage disposal equipment that has emerged in recent years with the improvement of environmental awareness and technological progress. The expansion of environmental protection needs is a major challenge facing the world. It is not only related to the health and stability of the earth's ecosystem, but also directly affects the sustainable development of human society. With the development of the global economy and the acceleration of urbanization, the amount of garbage generated has increased dramatically, which has put tremendous pressure on the environment. Traditional garbage disposal methods are inefficient and prone to secondary pollution, so a more efficient garbage sorting solution is needed.

[0003] In response to the country's garbage classification policy, many intelligent classification garbage storage boxes have appeared on the market. Intelligent classification garbage storage boxes can not only improve the efficiency of garbage classification, but also enhance the public's sense of participation and responsibility. In the long run, the effective implementation of garbage classification will help recycle resources and reduce the cost of landfill or incineration. At the same time, companies that develop intelligent classification garbage storage boxes have also seen the huge market potential contained therein, and have increased their R&D investment.

[0004] However, the existing intelligent classification garbage storage bins use multiple independent conveying mechanisms to move the identified garbage to the corresponding garbage storage bins. For example, when there are four types of classification, at least four drive motors are required to convey the garbage to the corresponding garbage storage bins. The classification structure is very complicated and the cost is high, which is not conducive to mass production. In addition, the garbage classification and conveying effect is not ideal, and mechanical failures are prone to occur, and the maintenance rate is high. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects in the prior art that multiple driving sources are required and the classification structure is complex, and to provide a parallel mechanism composed of three driving sources, which is an intelligent garbage classification device and control method based on few driving sources and can realize at least four types of garbage classification on the basis of simple structure.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] As a first aspect, an intelligent garbage sorting device based on a small number of driving sources comprises:

[0008] A rack and a loading port opened above the rack;

[0009] at least four waste storage bins, located at the bottom of the rack;

[0010] A classification and binning parallel mechanism is installed in the middle of the frame and is used to identify and classify the garbage and transport the garbage to the corresponding garbage storage box;

[0011] A multi-stage conveying mechanism, installed in the upper middle part of the frame, used for conveying the garbage put in from the putting port to the classification box parallel mechanism;

[0012] The classification and boxing parallel mechanism includes a fixed platform fixedly installed inside the frame, a moving platform connected to the fixed platform through three groups of parallel components distributed in a circular array, and a visual recognition module installed on the top of the frame; the conveying end of the multi-stage conveying mechanism extends above the classification and boxing parallel mechanism, and leaves recognition space for the visual recognition module; the three groups of parallel components drive the moving platform to perform lifting and pitching movements.

[0013] Furthermore, a plurality of fill light components for providing light sources to the moving platform are also arranged inside the frame; the fill light components are arranged around the outer periphery of the moving platform;

[0014] The fill light assembly comprises a right angle frame fixedly mounted on the frame, and a fill light baffle obliquely arranged on the right angle frame; the inclination angle of the fill light baffle relative to the horizontal plane where the fixed platform is located is 90<α≤135°.

[0015] Furthermore, the parallel component comprises:

[0016] A driving motor fixedly mounted on the fixed platform;

[0017] A first connecting rod, one end of which is coaxially arranged with the output shaft of the driving motor;

[0018] A second connecting rod, one end of which is rotatably connected to an end of the first connecting rod away from the driving motor; and the other end of the second connecting rod is rotatably connected to the bottom of the moving platform through a universal joint.

[0019] Furthermore, when the moving platform is in an initial state, the angle between the first connecting rod and the horizontal plane where the fixed platform is located is 30°<β<60°; and the first connecting rod and the second connecting rod are perpendicular to each other.

[0020] Furthermore, four garbage storage boxes are provided, which are correspondingly arranged below the fixed platform; the four garbage storage boxes are used to store hazardous garbage, recyclable garbage, kitchen waste, and other garbage respectively.

[0021] Furthermore, the multi-stage conveying mechanism includes a primary conveying assembly installed inside the frame and corresponding to the delivery port, a secondary conveying assembly corresponding to the conveying end of the primary conveying assembly, and photoelectric sensors installed on the primary conveying assembly and the secondary conveying assembly;

[0022] The secondary conveying component is located below the primary conveying component and is perpendicular to the conveying direction of the primary conveying component; both the primary conveying component and the secondary conveying component adopt differential conveyor belt modules; when a single piece of garbage is thrown in, only the conveying functions of the primary conveying component and the secondary conveying component are used, and when multiple pieces of garbage are thrown in, the primary conveying component and the secondary conveying component start and stop at intervals of a set time.

[0023] Furthermore, it also includes a compression mechanism arranged on at least one of the garbage storage boxes; the garbage storage box provided with the compression mechanism is used to store recyclable garbage or kitchen waste or other garbage; the compression mechanism includes:

[0024] A compression plate mounted on one side of the waste storage bin;

[0025] An electric push rod, one end of which is mounted on the outer wall of the compression plate and the other end of which is fixedly mounted on the corresponding frame;

[0026] The ultrasonic sensor is embedded in the edge of the corresponding garbage storage box and is used to detect the amount of garbage stored in the corresponding garbage storage box.

[0027] As a second aspect, a control method of an intelligent garbage sorting device based on a small number of driving sources comprises the following steps:

[0028] The classification boxing parallel mechanism is adjusted to the initial state, that is, the moving platform is set parallel to the horizontal plane;

[0029] When the garbage is put into the rack from the delivery port, the multi-stage conveying mechanism transports the garbage to the moving platform through multi-stage conveying;

[0030] Start the visual recognition module to identify and classify the garbage on the moving platform to obtain the corresponding classification data of the garbage;

[0031] According to the classification data, three sets of parallel components are started to perform parallel motion to dump the garbage on the moving platform into the corresponding garbage storage box.

[0032] Specifically, when garbage is delivered individually, the multi-stage conveying mechanism continuously conveys the garbage; when garbage is delivered in multiple mixed forms, a certain interval is set for starting and stopping the multi-stage conveying mechanism, and the multi-stage conveying mechanism conveys the garbage one by one.

[0033] Specifically, when the ultrasonic sensor detects three times in a row that the garbage in the corresponding garbage storage box exceeds 75% of the volume, it is determined that the garbage storage box is in a full load state;

[0034] When the garbage storage box is in a fully loaded state, the corresponding electric push rod is started to extend, and the compression plate is pushed to perform a garbage compression action on the garbage in the corresponding garbage storage box.

[0035] The beneficial effects of the intelligent garbage sorting device and control method based on a small driving source of the present invention are:

[0036] The intelligent garbage sorting device based on a small driving source of the present invention is provided with a classification box parallel mechanism for realizing garbage lifting and dumping in the middle of the frame. The classification box parallel mechanism is arranged in the middle of the frame, located on the upper part of the garbage storage box, and cleverly uses three parallel components with driving sources to realize at least four types of garbage classification box actions, that is, to drive the moving platform to lift in the vertical direction and tilt along the center point of the moving platform, so as to realize the precise positioning of the height, pitch position and pitch angle of the moving platform. The structure is simple and reliable, and precise control can be realized without complex single components and precision processors. The problem in the prior art that the garbage is not accurately transported into the box and is prone to mechanical failure due to the mutual constraints brought about by the complex mechanical structure is solved.

[0037] The present invention uses a multi-stage conveying assembly at the delivery port, and the multi-stage conveying assembly uses a differential conveyor belt module, which can independently convey multiple types of garbage delivered at one time at differential speeds, ensuring that the garbage entering the moving platform always remains one, solving the problem of high recognition error rate in the prior art when the garbage is mixed, irregular in shape or blocked. The present invention removes the obstruction of garbage in the early stage of garbage delivery, ensuring that the visual recognition module always recognizes and detects a single piece of garbage on the moving platform, and ensuring the accuracy of garbage classification. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0039] Figure 1 It is a three-dimensional diagram of an intelligent garbage sorting device according to an embodiment of the present invention.

[0040] Figure 2 It is a diagram of the internal structure of the intelligent garbage classification device according to an embodiment of the present invention.

[0041] Figure 3 It is a partial structural diagram of an intelligent garbage classification device according to an embodiment of the present invention.

[0042] Figure 4 yes Figure 3 main view.

[0043] Figure 5 It is a structural schematic diagram of the classification and box-entry parallel mechanism in an embodiment of the present invention.

[0044] Figure 6 Schematic diagram of the structure of the compression mechanism in the embodiment of the present invention.

[0045] Figure 7 It is a flow chart of the control method of the intelligent garbage classification device according to an embodiment of the present invention.

[0046] In the figure: 1. rack, 2. garbage storage box, 3. classification box parallel mechanism, 31. fixed platform, 32. parallel assembly, 321. drive motor, 322. first connecting rod, 323. second connecting rod, 33. moving platform, 34. visual recognition module, 4. multi-stage conveying mechanism, 41. primary conveying assembly, 42. secondary conveying assembly, 5. fill light assembly, 51. right angle frame, 52. fill light baffle, 6. compression mechanism, 61. electric push rod, 62. compression plate, 7. display, 8. delivery port. DETAILED DESCRIPTION

[0047] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0048] like Figure 1-Figure 6 The specific embodiment of the intelligent garbage sorting device based on a small driving source of the present invention shown in the figure comprises: a frame 1 and a delivery port 8 opened above the frame 1; at least four garbage storage boxes 2, distributed at the bottom of the frame 1; a classification box parallel mechanism 3, installed in the middle of the frame 1, used to identify and classify garbage, and transport the garbage to the corresponding garbage storage box 2; a multi-stage conveying mechanism 4, installed in the middle and upper part of the frame 1, used to transport the garbage delivered from the delivery port 8 to the classification box parallel mechanism 3. Among them, the classification box parallel mechanism 3 includes a fixed platform 31 fixedly installed inside the frame 1, a moving platform 33 connected to the fixed platform 31 through three groups of parallel components 32 distributed in a circular array, and a visual recognition module 34 installed on the top of the frame 1; the conveying end of the multi-stage conveying mechanism 4 extends above the classification box parallel mechanism 3, and leaves recognition space for the visual recognition module 34, and the three groups of parallel components 32 drive the moving platform 33 to perform lifting and pitching movements.

[0049] In this embodiment, the intelligent garbage classification device based on a small driving source is provided with a classification parallel mechanism 3 for realizing garbage lifting and dumping in the middle of the frame 1, and three parallel components 32 with driving sources are cleverly used to realize at least four types of garbage classification and boxing actions, that is, the moving platform is driven to lift and lower in the vertical direction and tilt along the center point of the moving platform, so as to realize the precise positioning of the height, pitch position and pitch angle of the moving platform, and the structure is simple and reliable, and precise control can be realized without complex single components and precision processors. The problem in the prior art that the garbage is not accurately transported into the box and is prone to mechanical failure due to the mutual constraints brought about by the complex mechanical structure is solved.

[0050] It is further explained that if Figure 4 and Figure 5 As shown, the parallel assembly 32 in this embodiment includes: a driving motor 321, a first connecting rod 322, and a second connecting rod 323 fixedly mounted on the fixed platform 31. Specifically, one end of the first connecting rod 322 is coaxially arranged with the output shaft of the driving motor 321, one end of the second connecting rod 323 is rotatably connected to an end of the first connecting rod 322 away from the driving motor 321, and the other end of the second connecting rod 323 is rotatably connected to the bottom of the moving platform 33 via a universal joint.

[0051] In this embodiment, three groups of parallel components 32 are set at equal angles between the fixed platform 31 and the moving platform 33. Any group of parallel components 32 includes a driving motor 321, a first connecting rod 322 and a second connecting rod 323 connected in sequence. In order to achieve the height adjustment between the fixed platform 31 and the moving platform 33, achieve the pitch of the moving platform 33 at any position and any angle, and achieve the dumping action of garbage, when the moving platform 33 is in the initial state, the angle between the first connecting rod 322 and the horizontal plane where the fixed platform 31 is located is 30°<β<60°; the first connecting rod 322 and the second connecting rod 323 are perpendicular to each other. In this embodiment, the angle between the first connecting rod 322 and the fixed platform 31 and the angle between the first connecting rod 322 and the second connecting rod 323 are both set by the inventor according to the pitch angle of the moving platform 33 in actual application. Only when the pitch angle reaches a certain angle can the garbage be dumped into the corresponding garbage storage box 2.

[0052] As an implementation method, four garbage storage boxes 2 are provided in this embodiment, which are correspondingly provided below the fixed platform 31 and distributed in four corners. The four garbage storage boxes 2 are used to store hazardous garbage, recyclable garbage, kitchen waste, and other garbage respectively. Specifically, hazardous garbage includes household batteries (No. 1, No. 2, No. 5, No. 7), lithium batteries, square batteries, expired medicines or inner packaging, etc., recyclable garbage includes paper cups, paper boxes, waste paper, plastic bottles, metal cans, etc., kitchen waste includes small potatoes, potato cubes, cut radishes, apple cubes, vegetable leaves, etc., and other garbage includes porcelain pieces, pebbles, bricks, cigarette butts, bubble film, etc.

[0053] It should be understood that the intelligent garbage sorting device of the present invention can also be provided with five, six or other numbers greater than four garbage storage bins 2. The application of three parallel components 32 with drive sources in this embodiment can realize the control of garbage entering into various numbers of garbage storage bins 2, and the control is simple, and precise control can be achieved without complex single components and sophisticated processors. The number of garbage storage bins 2 can be adaptively adjusted according to the specific type of garbage classification.

[0054] See also Figure 3 and Figure 4 In order to ensure the accuracy of garbage detection by the visual recognition module 34, a plurality of fill light components 5 are arranged inside the frame 1 and on the periphery of the moving platform 33. The fill light components 5 include a right angle frame 51 fixedly mounted on the frame 1 and a fill light baffle 52 obliquely arranged on the right angle frame 51; the inclination angle of the fill light baffle 52 relative to the horizontal plane where the fixed platform 31 is located is 90<α≤135°. The arrangement of a plurality of fill light components 5 enables the garbage on the moving platform 33 to be in an environment with sufficient brightness, thereby ensuring the accurate identification of the garbage by the visual recognition module 34.

[0055] like Figure 2 As shown, the multi-stage conveying mechanism 4 in this embodiment includes a primary conveying assembly 41 installed inside the frame 1 and corresponding to the delivery port 8, a secondary conveying assembly 42 corresponding to the delivery end of the primary conveying assembly 41, and photoelectric sensors installed on the primary conveying assembly 41 and the secondary conveying assembly 42. The secondary conveying assembly 42 is located below the primary conveying assembly 41 and is perpendicular to the delivery direction of the primary conveying assembly 41; the primary conveying assembly 41 and the secondary conveying assembly 42 both use differential conveyor belt modules; when a single piece of garbage is delivered, the primary conveying assembly 41 and the secondary conveying assembly 42 deliver continuously, and when multiple pieces of garbage are delivered, the primary conveying assembly 41 and the secondary conveying assembly 42 start and stop at intervals of a set length.

[0056] like Figure 6As shown, the intelligent garbage classification device of this embodiment also includes a compression mechanism 6 arranged on at least one garbage storage box 2, and the garbage storage box 2 provided with the compression mechanism 6 is used to place recyclable garbage or kitchen waste or other garbage. In order to ensure the safety of the compression process, it is set here that the garbage storage box 2 used to store hazardous garbage is not provided with a corresponding compression mechanism 6, so as to avoid the potential safety hazards such as toxic gas emission or battery explosion during the compression process of hazardous garbage. It is further explained that the compression mechanism 6 includes a compression plate 62, an electric push rod 61, and an ultrasonic sensor installed on one side of the garbage storage box 2. One end of the electric push rod 61 is installed on the outer wall of the compression plate 62, and the other end is fixedly installed on the corresponding frame 1. The ultrasonic sensor is embedded in the edge of the corresponding garbage storage box 2, and is used to detect the amount of garbage stored in the corresponding garbage storage box 2. Here, the ultrasonic sensor can detect the garbage in the garbage storage box 2 regularly, or in real time, and can be adjusted according to specific needs.

[0057] It should be understood that the intelligent garbage classification device of this embodiment also includes a display 7 and a controller. The controller is used to receive the data collected by the photoelectric sensor, the ultrasonic sensor, and the visual recognition module 34, and to perform analysis, processing, and calculation to determine the type of garbage. The display 7 is used to display the type of garbage, whether the garbage has been put into the bin, the number of the garbage storage box 2, and the storage volume data stored in the garbage storage box 2. The display 7 and the controller in this embodiment are both installed on the upper part of the frame 1. The display 7 and the controller are set on the upper part of the frame 1 away from the bottom garbage collection box, which effectively avoids the pollution problem of the electronic components in the intelligent classification garbage storage box 2.

[0058] It should be understood that the rack 1 in this embodiment includes multiple support frames and a shell installed outside the support frames. The specific size and shape of the support frames and the shell are not absolutely limited here, and the installation of multiple components in this embodiment can be achieved. In order to ensure the smooth transportation of garbage, a blocking plate for preventing garbage from falling is provided at the edge of the first conveying component and the second conveying component. The shape and size of the blocking plate are adaptively adjusted according to the structure and size of the conveying component, and the shape and size of the blocking plate are no longer absolutely limited here.

[0059] The control method based on the above intelligent garbage classification device includes the following steps:

[0060] Step 1: The classification and boxing parallel mechanism 3 is adjusted to the initial state, that is, the moving platform 33 is set parallel to the horizontal plane;

[0061] Step 2: When the garbage is put into the rack 1 from the delivery port 8, the multi-stage conveying mechanism 4 conveys the garbage to the moving platform 33 through multi-stage conveying. After conveying one garbage, the multi-stage conveying mechanism 4 stops running;

[0062] Step 3: Start the visual recognition module 34 to identify and classify the garbage on the moving platform 33 to obtain classification data corresponding to the garbage;

[0063] Step 4: start the three parallel components 32 to perform parallel motion according to the classification data, and dump the garbage on the moving platform 33 into the corresponding garbage storage box 2;

[0064] Step 5: Start the multi-stage conveying mechanism 4 to convey the next garbage, and repeat steps 1 to 4 to classify the next garbage into the box.

[0065] It should be specifically explained that when the ultrasonic sensor detects that the garbage in the corresponding garbage storage box 2 exceeds 75% of the volume for three consecutive times, it is determined that the garbage storage box 2 is fully loaded. When the garbage storage box 2 is in the fully loaded state, the corresponding electric push rod 61 is activated to extend, and the compression plate 62 is pushed to compress the garbage in the corresponding garbage storage box 2.

[0066] The upper part of the intelligent garbage sorting device is provided with a garbage inlet 8. When the garbage is put in, it falls on the primary conveying component 41. A photoelectric sensor is installed between the garbage inlet 8 and the primary conveying component 41. After the photoelectric sensor detects that the garbage has been put in, it controls the primary conveying component 41 and the secondary conveying component 42 to move; the garbage falls on the secondary conveying component 42 along with the primary conveying component 41. With the movement of the secondary conveying component 42, the garbage falls on the moving platform 33 in the initial state. A photoelectric sensor is installed between the moving platform 33 and the secondary conveying component 42. When the photoelectric sensor detects that the garbage has fallen, it controls the primary conveying component 41 to move. And the secondary conveying component 42 stops rotating. Specifically, a stop time is set, and it automatically runs after the time is up to avoid conflict with the previous garbage; when the garbage falls on the moving platform 33, the visual recognition module 34 just above the moving platform 33 in this embodiment uses a camera to shoot the garbage to be classified, and the controller recognizes and controls the three parallel components 32 in the classification parallel mechanism 3 to dump the garbage to be classified into the corresponding garbage storage box 2. When it is detected that the garbage in the garbage storage box 2 exceeds 75% of the total volume, the display 7 prompts "full load", and controls the electric push rod 61 to compress the garbage in the garbage storage box 2.

[0067] When garbage is deposited individually, the multi-stage conveying mechanism 4 conveys the garbage continuously; when garbage is deposited in multiple mixed forms, a certain interval is set for the start and stop of the multi-stage conveying mechanism 4, and the multi-stage conveying mechanism 4 conveys the garbage one by one. The certain interval between the start and stop of the multi-stage conveying mechanism 4 is set according to specific usage requirements and the performance of the multi-stage conveying mechanism 4 itself, and there is no absolute limitation on the set interval.

[0068] Specifically, when a single piece of garbage is put in, only the transport functions of the primary conveying component 41 and the secondary conveying component 42 are used. When the garbage falls on the moving platform 33, the visual recognition module 34 identifies the garbage and transmits the identification information to the Arduino through the serial communication. The controller controls the classification and boxing parallel mechanism 3 to drive the moving platform 33 to move up and down in the vertical direction, and to tilt at any angle with the center point of the moving platform as the rotation center, so that the garbage on the moving platform 33 is dumped in the direction of the four types of garbage storage boxes 2, so that the garbage on the moving platform 33 falls into the corresponding garbage storage box 2, and at the same time, the garbage serial number, type information, quantity, and whether the classification is completed are displayed on the display 7.

[0069] When more than two types of garbage are put in at one time, a differential conveyor belt design of a primary conveying component 41 and a secondary conveying component 42 is adopted, and a photoelectric sensor is installed between the garbage delivery port 8 and the primary conveying component 41. The photoelectric sensor detects the input of garbage, and the primary conveying component 41 works. A photoelectric sensor is also provided under the secondary conveying component 42. When the garbage falls through the secondary conveying component 42, the first conveying component and the second conveying component stop moving, and continue to move after a certain delay, so as to realize the batch transmission of multiple garbage to the moving platform 33. The visual recognition module 34 automatically identifies and determines the type of garbage, and then transmits the control signal to Arduino through serial communication to control the lifting and pitching of the classification and boxing parallel mechanism 3, and then dumps the garbage into the corresponding garbage storage box 2. At the same time, the information, quantity and classification of the garbage will be displayed on the display 7.

[0070] The present invention installs the multi-stage conveying mechanism 4, the moving platform 33, the fixed platform 31, and the garbage storage box 2 from top to bottom on different layers of the frame 1, and keeps the visual recognition module 34 away from the bottom garbage collection box, thereby effectively avoiding the damage to the electronic components caused by the pollution of the electronic components in the intelligent classification garbage storage box 2, greatly increasing the service life of the device. At the same time, the use of sensors can effectively improve the classification accuracy and efficiency of the conveyor belt and reduce power consumption.

[0071] The garbage delivery platform of the intelligent garbage classification device adopts a classification box parallel mechanism 3, which effectively improves the stability of the moving platform 33, so that the accuracy and speed of garbage delivery are effectively improved. The garbage storage box 2 without harmful garbage can be provided with a compression device, and an ultrasonic sensor is embedded in the edge of the garbage storage box 2. When the garbage in the garbage storage box 2 is detected to exceed 75% of the total volume three times, the display 7 prompts "full load". After "full load", one side of the garbage storage box 2 is connected to the electric push rod 61, and the electric push rod 61 is controlled to move, thereby achieving garbage compression. The control process is simple, the operation is simple, and the overall cost is low, which can be widely promoted.

[0072] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. An intelligent garbage sorting device based on a few driving sources, characterized in that: include: A frame (1) and a delivery port (8) opened above the frame (1); At least four garbage storage boxes (2) are distributed at the bottom of the frame (1); A classification and binning parallel mechanism (3) is installed in the middle of the frame (1) and is used to identify and classify the garbage and transport the garbage to the corresponding garbage storage box (2); A multi-stage conveying mechanism (4) is installed in the upper middle part of the frame (1) and is used to convey the garbage dropped in from the drop-in port (8) to the classification box parallel mechanism (3); The classification and boxing parallel mechanism (3) comprises a fixed platform (31) fixedly installed inside the frame (1), a moving platform (33) connected to the fixed platform (31) through three groups of parallel components (32) distributed in a circular array, and a visual recognition module (34) installed on the top of the frame (1); the conveying end of the multi-stage conveying mechanism (4) extends above the classification and boxing parallel mechanism (3), and a recognition space for the visual recognition module (34) is reserved; the three groups of parallel components (32) drive the moving platform (33) to perform lifting and lowering and pitching movements.

2. According to claim 1, the intelligent garbage sorting device based on a small driving source is characterized in that: The parallel assembly (32) comprises: A driving motor (321) fixedly mounted on the fixed platform (31); A first connecting rod (322), one end of the first connecting rod (322) being coaxially arranged with an output shaft of the driving motor (321); A second connecting rod (323), one end of which is rotatably connected to an end of the first connecting rod (322) away from the driving motor (321); and the other end of the second connecting rod (323) is rotatably connected to the bottom of the moving platform (33) via a universal joint.

3. The intelligent garbage sorting device based on a small driving source according to claim 1 is characterized in that: A plurality of fill light components (5) for providing light sources to the moving platform (33) are also arranged inside the frame (1); the fill light components (5) are arranged around the outer periphery of the moving platform (33); The fill light assembly (5) comprises a right-angle frame (51) fixedly mounted on the frame (1), and a fill light baffle (52) obliquely arranged on the right-angle frame (51); the fill light baffle (52) has an inclination angle relative to the horizontal plane where the fixed platform (31) is located of 90°<α≤135°.

4. The intelligent garbage sorting device based on a small driving source according to claim 2 is characterized in that: When the movable platform (33) is in an initial state, the angle between the first connecting rod (322) and the horizontal plane where the fixed platform (31) is located is 30°<β<60°; and the first connecting rod (322) and the second connecting rod (323) are perpendicular to each other.

5. The intelligent garbage sorting device based on a small driving source according to claim 1 is characterized in that: Four garbage storage boxes (2) are provided, and are correspondingly arranged below the fixed platform (31); the four garbage storage boxes (2) are used to store hazardous garbage, recyclable garbage, kitchen waste, and other garbage, respectively.

6. The intelligent garbage sorting device based on a small driving source according to claim 1 is characterized in that: The multi-stage conveying mechanism (4) comprises a primary conveying component (41) installed inside the frame (1) and corresponding to the delivery port (8), a secondary conveying component (42) corresponding to the conveying end of the primary conveying component (41), and photoelectric sensors installed on the primary conveying component (41) and the secondary conveying component (42); The secondary conveying assembly (42) is located below the primary conveying assembly (41) and is perpendicular to the conveying direction of the primary conveying assembly (41); the primary conveying assembly (41) and the secondary conveying assembly (42) both adopt differential conveyor belt modules; when a single piece of garbage is delivered, the primary conveying assembly (41) and the secondary conveying assembly (42) deliver the garbage continuously; when multiple pieces of garbage are delivered, the primary conveying assembly (41) and the secondary conveying assembly (42) start and stop the movement at intervals of a set time.

7. The intelligent garbage sorting device based on a small driving source according to claim 1 is characterized in that: It also includes a compression mechanism (6) arranged on at least one of the garbage storage boxes (2); the garbage storage box (2) provided with the compression mechanism (6) is used to store recyclable garbage, kitchen waste or other garbage; The compression mechanism (6) comprises: a compression plate (62) installed on one side of the garbage storage box (2); An electric push rod (61), one end of which is mounted on the outer wall of the compression plate (62) and the other end of which is fixedly mounted on the corresponding frame (1); The ultrasonic sensor is embedded in the edge of the corresponding garbage storage box (2) and is used to detect the amount of garbage stored in the corresponding garbage storage box (2).

8. The control method of the intelligent garbage sorting device based on a small driving source according to claim 7 is characterized in that: The following steps are involved: The classification boxing parallel mechanism (3) is adjusted to an initial state, that is, the moving platform (33) is arranged parallel to the horizontal plane; When garbage is put into the frame (1) from the delivery port (8), the multi-stage conveying mechanism (4) conveys the garbage to the moving platform (33) through multi-stage conveying. After conveying one garbage, the multi-stage conveying mechanism (4) stops operating. Starting the visual recognition module (34) to identify and classify the garbage on the moving platform (33) to obtain classification data corresponding to the garbage; According to the classification data, three sets of parallel components (32) are activated to perform parallel motion, and the garbage on the moving platform (33) is dumped into the corresponding garbage storage box (2); The multi-stage conveying mechanism (4) is started to carry out the conveying action of the next garbage.

9. The control method of the intelligent garbage sorting device based on a small driving source according to claim 8 is characterized in that When garbage is delivered individually, the multi-stage conveying mechanism (4) continuously conveys the garbage; when garbage is delivered in multiple mixed forms, a certain interval is set for starting and stopping the multi-stage conveying mechanism (4), and the multi-stage conveying mechanism (4) conveys the garbage one by one.

10. The control method of the intelligent garbage sorting device based on a small driving source according to claim 9 is characterized in that : When the ultrasonic sensor detects three times in succession that the garbage in the corresponding garbage storage box (2) exceeds 75% of the volume, it is determined that the garbage storage box (2) is in a full load state; When the garbage storage box (2) is in a fully loaded state, the corresponding electric push rod (61) is started to extend, pushing the compression plate (62) to perform a garbage compression action on the garbage in the corresponding garbage storage box (2).

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