Mechanical arm sorting device based on visual identification and sorting method thereof

Abstract

The invention relates to the technical field of intelligent sorting, and discloses a mechanical arm sorting device based on visual identification and a sorting method, the mechanical arm sorting device comprises a main body, the side wall of the main body is fixedly connected with an electric push rod, the output end of the electric push rod is fixedly connected with a sliding frame, and the sliding frame is slidably connected to the top of the main body. When the clamping force is too large, the elastic layer can deform to absorb redundant force, so that damage to articles is avoided, meanwhile, when the elastic layer twists and shrinks, the elastic layer can adapt to articles in different shapes through twisting and shrinking, and therefore various irregular-shaped articles can be effectively clamped, and the sorting stability is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent sorting, and specifically to a sorting method for a robotic arm sorting device based on visual recognition. Background Art

[0002] The robotic arm sorting device based on visual recognition has broad application prospects in the field of industrial automation. It can be applied to multiple industries such as logistics, manufacturing, and food processing to achieve automatic sorting and packaging of objects with different shapes, sizes, and materials;

[0003] Generally, when sorting items by a robotic arm, it is necessary to control the robotic arm to pick up and sort the items. Generally, the existing robotic arms basically use relatively rotating mechanical claws at the picking end of the robotic arm to pick up and sort the items. Since the contact area between the clamping claws and the surface of some irregular items is small when clamping the items, it is easy to cause unstable clamping during sorting and moving, affecting the stability during sorting items. Summary of the Invention

[0004] The purpose of the present invention is to provide a robotic arm sorting device based on visual recognition to solve the problems raised in the above background art.

[0005] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0006] The present invention is a robotic arm sorting device based on visual recognition, including a main body. A linear electric actuator is fixedly connected to the side wall of the main body, and the output end of the linear electric actuator is fixedly connected to a sliding frame. The sliding frame is slidably connected to the top of the main body, and further includes;

[0007] A grasping mechanism, which includes a robotic arm, a disk for transmitting the sliding force of the robotic arm, several hydraulic rods for transmitting the clamping of materials, clamping claws, and a connecting mechanism for transmitting the rotational force;

[0008] The connecting mechanism includes two push rods, a toothed plate for transmitting the sliding force, and a limiting plate for restricting the offset of the toothed plate;

[0009] The robotic arm is rotatably connected to the side wall of the sliding frame, the disk is rotatably connected to the output end of the robotic arm, several hydraulic rods are rotatably connected to the outer surface of the disk, the clamping claws are rotatably connected to the side wall of the disk, the side wall of the clamping claws is rotatably connected to the output end of the hydraulic rods, and a visual sensor is fixedly connected to the outer surface of the disk.

[0010] Furthermore, several vertical plates are fixedly connected to the side of the disk away from the robotic arm, elastic plates are fixedly connected to the side walls of the vertical plates, and several positioning rods are fixedly connected to the end of the disk close to the vertical plates.

[0011] Further, one end of two push rods close to the clamping claws is rotatably connected to the side walls of two of the clamping claws. The toothed plate is rotatably connected to the end of the push rod away from the clamping claws. The side wall of the toothed plate is slidably connected to the side wall of the disc. A return spring is arranged on the side wall of the toothed plate. One end of the return spring away from the toothed plate is fixedly connected to a limiting plate, and one end of the limiting plate close to the disc is fixedly connected to the side wall of the disc.

[0012] Further, an auxiliary mechanism is arranged on the side wall of the clamping claw. The auxiliary mechanism includes an elastic layer fixedly connected to the side walls of several clamping claws. A hollow cavity is formed inside the elastic layer. A plurality of spherical particles are slidably connected inside the hollow cavity. A plurality of guide plates are fixedly connected to the outer surface of the elastic layer, and the plurality of guide plates are circumferentially arranged around the center of the disc.

[0013] Further, a transmission mechanism is arranged on the side wall of the elastic layer. The transmission mechanism includes a chassis fixedly connected to the side of the elastic layer close to the hollow cavity. A toothed shaft is fixedly connected to the side of the chassis away from the elastic layer. One end of the toothed shaft close to the disc is rotatably connected to the side wall of the disc. Thread grooves are formed on the outer surface of the toothed shaft. The outer surface of the toothed shaft is meshed with the side walls of two toothed plates. A plug rod is slidably connected inside the thread groove. One end of the plug rod away from the toothed shaft is fixedly connected to a sliding plate. The sliding plate is slidably connected to the outer surfaces of a plurality of positioning rods. Four arc-shaped grooves are formed on the side wall of the sliding plate. A spring block is fixedly connected inside the arc-shaped groove. The bottom of the spring block is rotatably connected to an intermediate plate. One end of the intermediate plate away from the sliding plate is rotatably connected to a sliding block. The sliding block is slidably connected to the side wall of the sliding plate. An elastic rod is fixedly connected between the two sliding blocks.

[0014] Further, an adsorption mechanism is arranged inside the elastic layer. The adsorption mechanism includes a sealing cylinder fixedly connected to the inner wall of the elastic layer close to the disc. A plurality of adsorption tubes are fixedly connected to the outer surface of the sealing cylinder. One end of the adsorption tube away from the sealing cylinder penetrates through the outer wall of the elastic layer and is communicated with the hollow cavity. The adsorption tube is communicated with the inside of the sealing cylinder. Two rectangular grooves are formed on the outer surface of the sealing cylinder, and the two rectangular grooves are symmetrically distributed around the center of the sealing cylinder.

[0015] Further, a C-shaped rod is slidably connected inside the rectangular groove. A sliding disc is fixedly connected between the two C-shaped rods located inside the sealing cylinder. One end of the C-shaped rod away from the sliding disc penetrates through the outer wall of the elastic layer and extends to the outer wall of the chassis. Ring-shaped plates are fixedly connected to the extending ends of the two C-shaped rods. The ring-shaped plate is rotatably connected to the side wall of the sliding plate. A short rod is fixedly connected to the side wall of the C-shaped rod. A sliding disc is fixedly connected to the end of the C-shaped rod away from the disc.

[0016] Furthermore, a blowing component is provided on the side wall of the sealing cylinder. The blowing component includes a hollow disk slidably connected to the outer surfaces of two sliding disks. A gasbag is fixedly connected to the inner wall of the side of the hollow disk away from the sealing cylinder. A pressing plate is fixedly connected to the side wall of the gasbag. The side of the pressing plate close to the sliding disk is fixedly connected to the two sliding disks. A plurality of air outlet pipes are fixedly connected to the outer surface of the hollow disk. One ends of the plurality of air outlet pipes away from the hollow disk are fixedly connected to an airbag ring. The outer surface of the airbag ring is fixedly connected to the inner wall of the elastic layer. The airbag ring is communicated with the inside of the airbag through the air outlet pipes.

[0017] Furthermore, a shaking mechanism is provided inside the sealing cylinder. The shaking mechanism includes a limiting shaft fixedly connected to the inner wall of the side of the sealing cylinder close to the hollow disk. A swing plate is rotatably connected to the outer surface of the limiting shaft. Two convex blocks are fixedly connected to the side of the swing plate away from the hollow disk. The two convex blocks are symmetrically distributed with the limiting shaft as the center. Two shaking shafts are fixedly connected to the side wall of the swing plate. The two shaking shafts are symmetrically distributed with the limiting shaft as the center. One end of the limiting shaft away from the hollow disk is rotatably connected to a threaded shaft. The outer surface of the threaded shaft is slidably connected to a plug rod. One ends of the shaking shafts away from the swing plate are fixedly connected to the inside of the elastic layer. A short shaft is fixedly connected to the side of the threaded shaft close to the swing plate.

[0018] Furthermore, a method for using a robotic arm sorting device based on visual recognition. For the robotic arm sorting device based on visual recognition, the method includes the following steps:

[0019] S1: Start working: First, place the items to be sorted on the main body, and then start the main body to drive the items to flow. At the same time as starting the main body, start the visual sensor and the robotic arm on the disk;

[0020] S2: Rotate and scan: When the robotic arm is working, it will drive the disk and the visual sensor to scan the surface of the items. Then, after the visual sensor detects the items to be sorted, control the robotic arm and multiple disks on the disk to work;

[0021] S3: Clamp and sort: When multiple disks are working, control the clamping claws to grab and sort the required items.

[0022] The present invention has the following beneficial effects:

[0023] 1. In the present invention, when multiple clamping claws are pushed by a hydraulic rod to move closer relatively and grasp an object, when the multiple clamping claws rotate relatively, the rotation of two of the clamping claws will push a toothed plate through a push rod to make it slide on the side wall of the disc. At the same time, when the multiple clamping claws rotate relatively, it will drive an elastic layer onto the surface of the grasped object, and when the multiple clamping claws rotate relatively, it will wrap and clamp the surface of the object through the elastic layer. When the two toothed plates slide, they will drive a toothed shaft to rotate on the side wall of the disc. When the toothed shaft rotates, it will drive the top end of the elastic layer to rotate through a chassis. Since the outer wall of the bottom end of the elastic layer is fixed to the multiple clamping claws, when the top of the elastic layer is rotated by the chassis, the rotation of the top end of the elastic layer will cause the elastic layer to twist and contract when wrapping and clamping the object. When the elastic layer twists and contracts, it will shrink and tighten on the surface of the object. At the same time, when the toothed shaft rotates, the rotation of the toothed shaft will cause a plug rod to slide in a threaded groove and drive a sliding plate to slide downward on the surface of multiple positioning rods. When the sliding plate slides downward, it will push a sliding block and an elastic rod to slide downward on the surface of a guide plate through an intermediate plate. When the sliding block drives the elastic rod to slide downward, the elastic rod will be pushed by a protrusion on an elastic plate to further contract the elastic layer during torsion, so that the elastic layer can provide sufficient clamping force for the object when clamping the object after twisting and contracting. At the same time, due to the elastic characteristics of the elastic layer, when the clamping force is too large, the elastic layer will deform to absorb the excess force, thus avoiding damage to the object. At the same time, when the elastic layer twists and contracts, it can adapt to objects of different shapes through the twisting and contraction of the elastic layer, so as to effectively grasp various irregularly shaped objects, thus ensuring the stability during sorting.

[0024] 2. In the present invention, when the sliding plate slides downward under the rotation of the gear shaft, the downward sliding of the sliding plate will drive the two C-shaped rods to slide downward through the annular plate. When the annular plate drives the two C-shaped rods connected thereto to slide downward, the sliding of the two C-shaped rods will drive the sliding plate to slide downward inside the sealing tube. At the same time, when the relative rotation of the plurality of clamping claws drives the elastic layer to cover and clamp the clamped articles, the covering of the articles by the elastic layer will drive the airbag ring to contact the surface of the clamped articles. Subsequently, when the two C-shaped rods slide downward, the downward movement of the C-shaped rods will drive the extrusion plate to slide inside the hollow plate through the sliding plate. The airbag is squeezed during sliding. After the airbag is squeezed by the squeezing plate, the gas inside the airbag will enter the inside of the airbag ring through the air outlet pipe. When the gas enters the inside of the airbag ring, the airbag ring will be in a semi-expanded state. When the airbag ring is semi-expanded, it will fit on the surface of the clamped object and the semi-expanded airbag ring can increase the friction between the object and the elastic layer, and reduce the friction between the elastic layer and the object when the elastic layer is twisted and contracted to wrap the object. This will cause the object to slide inside the elastic layer during twisting and clamping, thereby improving the accuracy of clamping and sorting the objects.

[0025] 3. In the present invention, when the elastic layer is fitted and coated on the surface of the object, the plurality of spherical particles inside the hollow cavity will be distributed inside the hollow cavity when the elastic layer clamps the object and will adapt to the shape of the object through the elastic layer. Then, when the sliding plate moves downward and drives the annular plate to move downward, the downward movement of the annular plate will drive the sliding disk to slide downward inside the sealing cylinder through two C-shaped rods. When the sliding disk slides downward, the gas between the sealing cylinder and the sliding disk will be extracted. At this time, the pressure of the area between the sealing cylinder and the sliding disk will decrease. When the gas pressure between the sliding disk and the sealing cylinder becomes low, the gas pressure in the hollow cavity will be sucked through multiple adsorption tubes. The gas inside the cavity is extracted, and when the gas inside the hollow cavity is extracted, the elastic layer will become deflated and contracted. When the elastic layer becomes deflated and contracted, it will squeeze several spherical particles inside the hollow cavity. When several spherical particles squeeze each other, the sliding space inside the hollow cavity will gradually become smaller as the elastic layer becomes deflated, and the items are supported from multiple directions. At the same time, when the elastic layer becomes deflated, the elasticity of the elastic layer itself can be reduced to a certain extent, which can reduce the vibration and deviation of the items during the clamping process and reduce the situation of dropping when the items are sorted and moved, thereby improving the stability of the items during clamping and moving, and improving the sorting efficiency.

[0026] 4. In the present invention, when the two C-shaped rods slide under the movement of the annular plate, the sliding of the C-shaped rods will cause the short rods to slide on the surface of the threaded shaft. When the short rods slide downward, they will drive the threaded shaft to rotate through the thread grooves on the surface of the threaded shaft. When the threaded shaft rotates, it will intermittently squeeze the two bumps on the swing plate through the short shaft at the bottom. When the bumps are squeezed, they will drive the swing plate to rotate up and down on the surface of the limit shaft. When the swing plate rotates back and forth, it will pull the inside of the elastic layer through the shaking shaft and drive the elastic layer to shake. When the elastic layer shakes, it can enable a number of spherical particles inside the hollow cavity to redistribute when the elastic layer deflates or resets, reducing the situation where due to the squeezing of the article when the elastic layer deflates or resets, the fluidity between the particles of the multiple spherical particles inside the hollow cavity is insufficient, making it difficult to redistribute inside the hollow cavity, resulting in a weakening of the support and shock absorption effects in some areas of the unevenly distributed spherical particles inside the hollow cavity. Furthermore, it can further enhance the stability when clamping the article.

[0027] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for describing the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0029] Figure 1 Schematic diagram of the overall structure of the present invention;

[0030] Figure 2 Schematic diagram of the overall partial sectional structure of the present invention;

[0031] Figure 3 Schematic diagram of the grasping mechanism of the present invention;

[0032] Figure 4 Schematic diagram of the connecting mechanism of the present invention;

[0033] Figure 5 Schematic diagram of the transmission mechanism of the present invention;

[0034] Figure 6 Schematic diagram of the partial sectional view of the adsorption mechanism of the present invention;

[0035] Figure 7 Schematic diagram of the adsorption mechanism of the present invention;

[0036] Figure 8 Schematic diagram of the shaking mechanism of the present invention;

[0037] Figure 9 This is the flow chart of the sorting method of the present invention.

[0038] In the attached drawings, the list of components represented by each label is as follows:

[0039] In the figure: 1. Main body; 101. Electric push rod; 102. Sliding frame; 2. Gripping mechanism; 201. Robot arm; 202. Disc; 203. Hydraulic rod; 204. Clamping claw; 205. Vertical plate; 206. Elastic plate; 207. Positioning rod; 3. Connecting mechanism; 301. Push rod; 302. Tooth plate; 303. Limiting plate; 4. Auxiliary mechanism; 401. Elastic layer; 402. Hollow cavity; 403. Guide plate; 5. Transmission mechanism; 501. Tooth shaft; 502. Chassis; 503. Sliding plate; 504. Intermediate plate; 505. Sliding block; 6. Adsorption mechanism; 601. Sealing cylinder; 602. Adsorption tube; 603. C-shaped rod; 604. Sliding disc; 61. Blowing assembly; 611. Airbag; 612. Extrusion plate; 613. Air outlet pipe; 614. Airbag ring; 615. Hollow disc; 7. Shaking mechanism; 701. Threaded shaft; 702. Limiting shaft; 703. Swing plate; 704. Shaking shaft. Detailed implementation manners

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] Please refer to Figure 1 - Figure 8 As shown in the figure, the present invention is a robotic arm sorting device based on visual recognition, including a main body 1. An electric push rod 101 is fixedly connected to the side wall of the main body 1. The output end of the electric push rod 101 is fixedly connected to a sliding frame 102. The sliding frame 102 is slidably connected to the top of the main body 1. It also includes;

[0042] A gripping mechanism 2, which includes a robot arm 201, a disc 202 for transmitting the sliding force of the robot arm 201, several hydraulic rods 203 for transmitting the clamping force of the material, a clamping claw 204, and a connecting mechanism 3 for transmitting the rotational force;

[0043] A connecting mechanism 3, which includes two push rods 301, a tooth plate 302 for transmitting the sliding force, and a limiting plate 303 for restricting the offset of the tooth plate 302;

[0044] The robotic arm 201 is rotatably connected to the side wall of the sliding carriage 102. The disc 202 is rotatably connected to the output end of the robotic arm 201. A plurality of hydraulic rods 203 are rotatably connected to the outer surface of the disc 202. The clamping jaws 204 are rotatably connected to the side wall of the disc 202. The side wall of the clamping jaws 204 is rotatably connected to the output end of the hydraulic rods 203. A vision sensor is fixedly connected to the outer surface of the disc 202. When multiple clamping jaws 204 are pushed by the hydraulic rods 203 to move closer to each other and grasp an object, when the multiple clamping jaws 204 rotate relative to each other, the rotation of two of the clamping jaws 204 will push the toothed plate 302 through the push rod 301 to slide it on the side wall of the disc 202.

[0045] A plurality of vertical plates 205 are fixedly connected to the side of the disc 202 away from the robotic arm 201. An elastic plate 206 is fixedly connected to the side wall of the vertical plates 205. A plurality of positioning rods 207 are fixedly connected to one end of the disc 202 close to the vertical plates 205. When the multiple clamping jaws 204 rotate relative to each other, it will drive the elastic layer 401 to be on the surface of the grasped object and when the multiple clamping jaws 204 rotate relative to each other, it will wrap and clamp the surface of the object through the elastic layer 401.

[0046] One end of the two push rods 301 close to the clamping jaws 204 is rotatably connected to the side walls of two of the clamping jaws 204. The toothed plate 302 is rotatably connected to the end of the push rod 301 away from the clamping jaws 204. The side wall of the toothed plate 302 is slidably connected to the side wall of the disc 202. A return spring is arranged on the side wall of the toothed plate 302. One end of the return spring away from the toothed plate 302 is fixedly connected to a limiting plate 303. One end of the limiting plate 303 close to the disc 202 is fixedly connected to the side wall of the disc 202. When the robotic arm 201 is working, it will drive the disc 202 and the vision sensor to scan on the surface of the object. Subsequently, after the vision sensor detects the object to be sorted, it controls the robotic arm 201 and the multiple discs 202 on the disc 202 to work.

[0047] An auxiliary mechanism 4 is arranged on the side wall of the clamping jaws 204. The auxiliary mechanism 4 includes an elastic layer 401 fixedly connected to the side walls of a plurality of clamping jaws 204. A hollow cavity 402 is opened inside the elastic layer 401. A plurality of spherical particles are slidably connected inside the hollow cavity 402. A plurality of guide plates 403 are fixedly connected to the outer surface of the elastic layer 401. The plurality of guide plates 403 are circumferentially arrayed with the center of the disc 202 as the center. When the top of the elastic layer 401 is rotated by the chassis 502, the rotation of the top end of the elastic layer 401 will cause the elastic layer 401 to wrap around the surface of the object and twist and contract when clamping the object. When the elastic layer 401 twists and contracts, it will shrink and tighten on the surface of the object.

[0048] A transmission mechanism 5 is provided on the side wall of the elastic layer 401. The transmission mechanism 5 includes a chassis 502 fixedly connected to the side of the elastic layer 401 close to the hollow cavity 402. A tooth shaft 501 is fixedly connected to the side of the chassis 502 away from the elastic layer 401. One end of the tooth shaft 501 close to the disc 202 is rotatably connected to the side wall of the disc 202. Thread grooves are formed on the outer surface of the tooth shaft 501. The outer surface of the tooth shaft 501 is meshed with the side walls of two tooth plates 302. A plug rod is slidably connected inside the thread groove. One end of the plug rod away from the tooth shaft 501 is fixedly connected to a sliding plate 503. The sliding plate 503 is slidably connected to the outer surfaces of a plurality of positioning rods 207. Four arc grooves are formed on the side wall of the sliding plate 503. A spring block is fixedly connected inside the arc groove. The bottom of the spring block is rotatably connected to an intermediate plate 504. One end of the intermediate plate 504 away from the sliding plate 503 is rotatably connected to a sliding block 505. The sliding block 505 is slidably connected to the side wall of the sliding plate 503. An elastic rod is fixedly connected between the two sliding blocks 505. At the same time, when the tooth shaft 501 rotates, the rotation of the tooth shaft 501 will cause the plug rod to slide in the thread groove and drive the sliding plate 503 to slide downward on the surfaces of the plurality of positioning rods 207. When the sliding plate 503 slides downward, it will push the sliding block 505 and the elastic rod to slide downward on the surface of the guide plate 403 through the intermediate plate 504.

[0049] An adsorption mechanism 6 is provided inside the elastic layer 401. The adsorption mechanism 6 includes a sealing cylinder 601 fixedly connected to the inner wall of the elastic layer 401 close to the disc 202. A plurality of adsorption tubes 602 are fixedly connected to the outer surface of the sealing cylinder 601. One end of the adsorption tube 602 away from the sealing cylinder 601 penetrates through the outer wall of the elastic layer 401 and is communicated with the hollow cavity 402. The adsorption tube 602 is communicated with the inside of the sealing cylinder 601. Two rectangular grooves are formed on the outer surface of the sealing cylinder 601. The two rectangular grooves are symmetrically distributed with the middle of the sealing cylinder 601 as the center. When the sliding plate 503 slides downward under the rotation of the tooth shaft 501, the downward sliding of the sliding plate 503 will drive two C-shaped rods 603 to slide downward through the annular plate. When the annular plate drives the two connected C-shaped rods 603 to slide downward, the sliding of the two C-shaped rods 603 will drive the sliding disc 604 to slide downward inside the sealing cylinder 601.

[0050] A C-shaped rod 603 is slidably connected inside the rectangular groove. A sliding disk 604 is fixedly connected between two C-shaped rods 603 inside the sealing cylinder 601. One end of the C-shaped rod 603 away from the sliding disk 604 penetrates through the outer wall of the elastic layer 401 and extends to the outer wall of the chassis 502. The extended ends of the two C-shaped rods 603 are fixedly connected with an annular plate. The annular plate is rotatably connected to the side wall of the sliding plate 503. A short rod is fixedly connected to the side wall of the C-shaped rod 603. One end of the C-shaped rod 603 away from the disk 202 is fixedly connected with a sliding disk 604. The downward movement of the annular plate will drive the sliding disk 604 to slide downward inside the sealing cylinder 601 through the two C-shaped rods 603. When the sliding disk 604 slides downward, the gas between the sealing cylinder 601 and the sliding disk 604 will be extracted.

[0051] A blowing assembly 61 is arranged on the side wall of the sealing cylinder 601. The blowing assembly 61 includes a hollow disk 615 slidably connected to the outer surfaces of the two sliding disks 604. One end of the inner wall of the hollow disk 615 away from the sealing cylinder 601 is fixedly connected with an airbag 611. The side wall of the airbag 611 is fixedly connected with a pressing plate 612. One side of the pressing plate 612 close to the sliding disk 604 is fixedly connected with the two sliding disks 604. A plurality of air outlet pipes 613 are fixedly connected to the outer surface of the hollow disk 615. One end of the plurality of air outlet pipes 613 away from the hollow disk 615 is fixedly connected with an airbag ring 614. The outer surface of the airbag ring 614 is fixedly connected with the inner wall of the elastic layer 401. The airbag ring 614 is communicated with the inside of the airbag 611 through the air outlet pipes 613. The downward sliding of the C-shaped rod 603 will drive the pressing plate 612 to slide inside the hollow disk 615 through the sliding disk 604 and squeeze the airbag 611 when sliding. After the airbag 611 is squeezed by the pressing plate 612, the gas inside it will enter the inside of the airbag ring 614 through the air outlet pipes 613.

[0052] Inside the sealing cylinder 601, a shaking mechanism 7 is provided. The shaking mechanism 7 includes a limiting shaft 702 fixedly connected to the inner wall of the sealing cylinder 601 near one side of the hollow disk 615. A swinging plate 703 is rotatably connected to the outer surface of the limiting shaft 702. On the side of the swinging plate 703 away from the hollow disk 615, two convex blocks are fixedly connected. The two convex blocks are symmetrically distributed with respect to the limiting shaft 702. Two shaking shafts 704 are fixedly connected to the side wall of the swinging plate 703. The two shaking shafts 704 are symmetrically distributed with respect to the limiting shaft 702. One end of the limiting shaft 702 away from the hollow disk 615 is rotatably connected to a threaded shaft 701. The outer surface of the threaded shaft 701 is slidably connected to the insertion rod. One end of the shaking shaft 704 away from the swinging plate 703 is fixedly connected to the inside of the elastic layer 401. One side of the threaded shaft 701 close to the swinging plate 703 is fixedly connected to a short shaft. When the two C-shaped rods 603 slide under the movement of the annular plate, the sliding of the C-shaped rod 603 will slide on the surface of the threaded shaft 701 through the short rod. When the short rod slides downward, it will drive the threaded shaft 701 to rotate through the thread groove on the surface of the threaded shaft 701. When the threaded shaft 701 rotates, it will intermittently squeeze the two convex blocks on the swinging plate 703 through the short shaft at the bottom.

[0053] A method for using a robotic arm sorting device based on visual recognition. For a robotic arm sorting device based on visual recognition, the method includes the following steps:

[0054] S1: Start work: First, place the items to be sorted on the main body 1, and then start the main body 1 to drive the items to flow. At the same time as starting the main body 1, the visual sensor and the robotic arm 201 on the disk 202;

[0055] S2: Rotate and scan: When the robotic arm 201 is working, it will drive the disk 202 and the visual sensor to scan the surface of the item. Then, after the visual sensor detects the item to be sorted, control the robotic arm 201 and multiple disks 202 on the disk 202 to work;

[0056] S3: Clamp and sort: When multiple disks 202 are working, control the clamping claws 204 to grab and sort the required items.

[0057] During use, first place the items to be sorted on the main body 1, and then start the main body 1 to drive the items to flow. At the same time as starting the main body 1, the visual sensor and the robotic arm 201 on the disk 202. When the robotic arm 201 is working, it will drive the disk 202 and the visual sensor to scan the surface of the item. Then, after the visual sensor detects the item to be sorted, control the robotic arm 201 and multiple disks 202 on the disk 202. When multiple disks 202 are working, control the clamping claws 204 to grab and sort the required items.

[0058] When multiple clamping claws 204 are pushed by the hydraulic rod 203 to move closer relatively and grasp an object, when the multiple clamping claws 204 rotate relatively, the rotation of two of the clamping claws 204 will push the toothed plate 302 through the push rod 301 to make it slide on the side wall of the disc 202. At the same time, when the multiple clamping claws 204 rotate relatively, it will drive the elastic layer 401 onto the surface of the grasped object, and when the multiple clamping claws 204 rotate relatively, it will wrap and clamp the surface of the object through the elastic layer 401. At this time, when the two toothed plates 302 slide, they will drive the toothed shaft 501 to rotate on the side wall of the disc 202. When the toothed shaft 501 rotates, it will drive the top end of the elastic layer 401 to rotate through the chassis 502. Since the outer wall of the bottom end of the elastic layer 401 is fixed to the multiple clamping claws 204, when the top of the elastic layer 401 is rotated by the chassis 502, the rotation of the top end of the elastic layer 401 will cause the elastic layer 401 to twist and contract when it wraps around the object surface and clamps the object. When the elastic layer 401 twists and contracts, it will shrink and tighten on the surface of the object. At the same time, when the toothed shaft 501 rotates, the rotation of the toothed shaft 501 will cause the plug rod to slide in the threaded groove and drive the sliding plate 503 to slide downward on the surface of the multiple positioning rods 207. When the sliding plate 503 slides downward, it will push the sliding block 505 and the elastic rod to slide downward on the surface of the guide plate 403 through the intermediate plate 504. When the sliding block 505 drives the elastic rod to slide downward, the elastic rod will be pushed by the protrusion on the elastic plate 206 to further contract the elastic layer 401 during torsion. Thus, after the elastic layer 401 twists and contracts and clamps the object, it can provide sufficient clamping force for the object. At the same time, due to the elastic characteristics of the elastic layer 401, when the clamping force is too large, the elastic layer 401 will deform to absorb the excess force, thus avoiding damage to the object. At the same time, when the elastic layer 401 twists and contracts, it can adapt to objects of different shapes through the twisting and contraction of the elastic layer 401, so as to effectively grasp various irregularly shaped objects, thus ensuring the stability during sorting.

[0059] When the sliding plate 503 slides downward under the rotation of the gear shaft 501, the downward sliding of the sliding plate 503 will drive the two C-shaped rods 603 to slide downward through the annular plate. When the annular plate drives the two C-shaped rods 603 connected to it to slide downward, the sliding of the two C-shaped rods 603 will drive the sliding disc 604 to slide downward inside the sealing cylinder 601. At the same time, when the relative rotation of the multiple clamping claws 204 drives the elastic layer 401 to wrap and clamp the clamped item, the wrapping of the elastic layer 401 around the item will drive the airbag ring 614 to contact the surface of the clamped item. Subsequently, when the two C-shaped rods 603 slide downward, the downward sliding of the C-shaped rods 603 will drive the pressing plate 612 to slide inside the hollow disc 615 through the sliding disc 604 and squeeze the airbag 611 during the sliding. After the airbag 611 is squeezed by the pressing plate 612, the gas inside it will enter the inside of the airbag ring 614 through the air outlet pipe 613. When the gas enters the inside of the airbag ring 614, it will make the airbag ring 614 present a semi-expanded state. When the airbag ring 614 is in a semi-expanded state, it will fit on the surface of the clamped item and can increase the friction between the item and the elastic layer 401 through the semi-expanded airbag ring 614, reducing the situation where the elastic layer 401 slides inside the item during torsional clamping due to the small friction between the elastic layer 401 and the item during the torsional contraction and wrapping of the object, thereby improving the accuracy of item clamping and sorting.

[0060] When the elastic layer 401 fits and wraps the surface of the item, several spherical particles inside the hollow cavity 402 will be distributed inside the hollow cavity 402 when the elastic layer 401 clamps the item and adapt to the shape of the object through the elastic layer 401. Subsequently, when the downward movement of the sliding plate 503 drives the annular plate to move downward, the downward movement of the annular plate will drive the sliding disc 604 to slide downward inside the sealing cylinder 601 through the two C-shaped rods 603. When the sliding disc 604 slides downward, it will extract the gas between the sealing cylinder 601 and the sliding disc 604. At this time, the pressure in the area between the sealing cylinder 601 and the sliding disc 604 will decrease. When the gas pressure between the sliding disc 604 and the sealing cylinder 601 becomes lower, it will extract the gas inside the hollow cavity 402 through multiple adsorption tubes 602. When the gas inside the hollow cavity 402 is extracted, the elastic layer 401 will deflate and contract. After the elastic layer 401 deflates and contracts, it will squeeze several spherical particles inside the hollow cavity 402. When several spherical particles are squeezed against each other, the sliding space inside the hollow cavity 402 will gradually become smaller as the elastic layer 401 deflates and support the item from multiple directions. At the same time, when the elastic layer 401 deflates, it can reduce the elasticity of the elastic layer 401 itself to a certain extent, reduce the vibration and offset of the item during the clamping process, and reduce the situation of dropping during the sorting and movement of the item, thereby improving the stability of the item during clamping and movement and improving the sorting efficiency.

[0061] When the two C-shaped rods 603 slide under the movement of the annular plate, the sliding of the C-shaped rods 603 will slide on the surface of the threaded shaft 701 through the short rod. When the short rod slides downward, it will drive the threaded shaft 701 to rotate through the thread groove on the surface of the threaded shaft 701. When the threaded shaft 701 rotates, it will intermittently squeeze the two bumps on the swing plate 703 through the short shaft at the bottom. When the bumps are squeezed, they will drive the swing plate 703 to rotate up and down on the surface of the limit shaft 702. When the swing plate 703 rotates back and forth, it will pull the inside of the elastic layer 401 through the shaking shaft 704 and drive the elastic layer 401 to shake. When the elastic layer 401 shakes, it can enable several spherical particles inside the hollow cavity 402 to redistribute when the elastic layer 401 deflates or resets, reducing the situation that when the elastic layer 401 deflates or resets, due to the extrusion of the articles, the fluidity between the spherical particles in the hollow cavity 402 is insufficient, resulting in difficulty in redistributing inside the hollow cavity 402, and the support and shock absorption effects in some areas of the unevenly distributed spherical particles in the hollow cavity 402 are weakened. Furthermore, the stability during the clamping of the articles can be further enhanced.

[0062] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A robot arm sorting device based on visual recognition, comprising a main body (1), a side wall of the main body (1) is fixedly connected to an electric push rod (101), an output end of the electric push rod (101) is fixedly connected to a sliding frame (102), and the sliding frame (102) is slidably connected to the top of the main body (1), characterized in that: Also includes; A gripping mechanism (2), the gripping mechanism (2) comprising a mechanical arm (201), a disc (202) for transmitting the sliding force of the mechanical arm (201), a plurality of hydraulic rods (203) for transmitting the gripping of materials, a gripping claw (204), and a connecting mechanism (3) for transmitting the rotational force; A connecting mechanism (3), the connecting mechanism (3) comprising two push rods (301), a tooth plate (302) for transmitting a sliding force, and a limit plate (303) for limiting the displacement of the tooth plate (302); The mechanical arm (201) is rotatably connected to the side wall of the sliding frame (102), the disc (202) is rotatably connected to the output end of the mechanical arm (201), a plurality of hydraulic rods (203) are rotatably connected to the outer surface of the disc (202), the gripping claw (204) is rotatably connected to the side wall of the disc (202), the side wall of the gripping claw (204) is rotatably connected to the output end of the hydraulic rod (203), and a visual sensor is fixedly connected to the outer surface of the disc (202).

2. The robotic arm sorting device based on visual recognition according to claim 1, characterized in that: A side of the circular disk (202) away from the mechanical arm (201) is fixedly connected to a plurality of vertical plates (205), a side wall of the vertical plate (205) is fixedly connected to an elastic plate (206), and an end of the circular disk (202) close to the vertical plate (205) is fixedly connected to a plurality of positioning rods (207).

3. The robotic arm sorting device based on visual recognition according to claim 2, characterized in that: One end of the two pushing rods (301) close to the clamping claws (204) is rotatably connected to the side walls of two of the clamping claws (204); the toothed plate (302) is rotatably connected to one end of the pushing rod (301) away from the clamping claws (204); the side wall of the toothed plate (302) is slidably connected to the side wall of the disk (202); a return spring is provided on the side wall of the toothed plate (302); one end of the return spring away from the toothed plate (302) is fixedly connected to a limiting plate (303); and one end of the limiting plate (303) close to the disk (202) is fixedly connected to the side wall of the disk (202).

4. The robotic arm sorting device based on visual recognition according to claim 3, characterized in that: The side wall of the clamping claw (204) is provided with an auxiliary mechanism (4), and the auxiliary mechanism (4) includes an elastic layer (401) fixedly connected to the side walls of the clamping claw (204), a hollow cavity (402) is provided inside the elastic layer (401), and a plurality of spherical particles are slidably connected inside the hollow cavity (402), and a plurality of guide plates (403) are fixedly connected to the outer surface of the elastic layer (401), and the plurality of guide plates (403) are arranged in a circular array with the middle of the disk (202) as the center.

5. The robotic arm sorting device based on visual recognition according to claim 4, characterized in that: The side wall of the elastic layer (401) is provided with a transmission mechanism (5), and the transmission mechanism (5) comprises a bottom plate (502) fixedly connected to a side of the elastic layer (401) close to the hollow cavity (402), and a gear shaft (501) is fixedly connected to a side of the bottom plate (502) away from the elastic layer (401), and one end of the gear shaft (501) close to the disc (202) is rotatably connected to the side wall of the disc (202), and a threaded groove is provided on the outer surface of the gear shaft (501), and the outer surface of the gear shaft (501) is meshedly connected to the side walls of the two tooth plates (302), and a plunger is slidably connected inside the threaded groove. The end of the insertion rod away from the gear shaft (501) is fixedly connected to a sliding plate (503), and the sliding plate (503) is slidably connected to the outer surfaces of several positioning rods (207). The side wall of the sliding plate (503) is provided with four arc grooves, and the inside of the arc groove is fixedly connected to a spring block. The bottom of the spring block is rotatably connected to an intermediate plate (504), and the end of the intermediate plate (504) away from the sliding plate (503) is rotatably connected to a sliding block (505), and the sliding block (505) is slidably connected to the side wall of the sliding plate (503), and an elastic rod is fixedly connected between two sliding blocks (505).

6. The robot arm sorting device based on visual recognition according to claim 5, characterized in that: An adsorption mechanism (6) is arranged inside the elastic layer (401), and the adsorption mechanism (6) comprises a sealing tube (601) fixedly connected to the inner wall of the elastic layer (401) on one side close to the disc (202), and a plurality of adsorption tubes (602) are fixedly connected to the outer surface of the sealing tube (601), and one end of the adsorption tube (602) away from the sealing tube (601) penetrates to the outer wall of the elastic layer (401) and is connected to the hollow cavity (402), and the adsorption tube (602) is connected to the inside of the sealing tube (601), and two rectangular grooves are provided on the outer surface of the sealing tube (601), and the two rectangular grooves are symmetrically distributed with the middle of the sealing tube (601) as the center.

7. The robot arm sorting device based on visual recognition according to claim 6, characterized in that: A C-shaped rod (603) is slidably connected inside the rectangular groove, and a sliding disk (604) is fixedly connected between the two C-shaped rods (603) located inside the sealing cylinder (601). One end of the C-shaped rod (603) away from the sliding disk (604) penetrates the outer wall of the elastic layer (401) and extends to the outer wall of the bottom plate (502). The extended ends of the two C-shaped rods (603) are fixedly connected to an annular plate, and the annular plate is rotatably connected to the side wall of the sliding plate (503). A short rod is fixedly connected to the side wall of the C-shaped rod (603), and one end of the C-shaped rod (603) away from the disc (202) is fixedly connected to the sliding disk (604).

8. The robot arm sorting device based on visual recognition according to claim 7, characterized in that: The side wall of the sealing cylinder (601) is provided with a blowing assembly (61), and the blowing assembly (61) includes a hollow disk (615) slidably connected to the outer surfaces of the two sliding disks (604), and the inner wall of the hollow disk (615) away from the sealing cylinder (601) is fixedly connected to an air bag (611), and the side wall of the air bag (611) is fixedly connected to an extrusion plate (612), and the side of the extrusion plate (612) close to the sliding disk (604) is connected to the two sliding disks (604). The hollow disk (615) is fixedly connected to the sliding disk (604), the outer surface of the hollow disk (615) is fixedly connected to a plurality of air outlet pipes (613), one end of the plurality of air outlet pipes (613) away from the hollow disk (615) is fixedly connected to an air bag ring (614), the outer surface of the air bag ring (614) is fixedly connected to the inner wall of the elastic layer (401), and the air bag ring (614) is connected to the interior of the air bag (611) through the air outlet pipe (613).

9. The robot arm sorting device based on visual recognition according to claim 8, characterized in that: The sealing cylinder (601) is provided with a shaking mechanism (7) inside, and the shaking mechanism (7) comprises a limiting shaft (702) fixedly connected to the inner wall of the sealing cylinder (601) on the side close to the hollow disk (615), and the outer surface of the limiting shaft (702) is rotatably connected to a swing plate (703), and the swing plate (703) is fixedly connected to the side away from the hollow disk (615) with two protrusions, and the two protrusions are symmetrically distributed with respect to the limiting shaft (702), and the side wall of the swing plate (703) is fixedly connected to the inner wall of the sealing cylinder (601). Two shaking shafts (704) are connected, and the two shaking shafts (704) are symmetrically distributed with the limiting shaft (702) as the center. The end of the limiting shaft (702) away from the hollow disk (615) is rotatably connected to the threaded shaft (701), and the outer surface of the threaded shaft (701) is slidably connected to the insertion rod. The end of the shaking shaft (704) away from the swing plate (703) is fixedly connected to the inside of the elastic layer (401), and the side of the threaded shaft (701) close to the swing plate (703) is fixedly connected to a short shaft.

10. A method for using a robotic arm sorting device based on visual recognition, characterized in that: Using the mechanical arm sorting device based on visual recognition as claimed in claim 9, the method comprises the following steps: S1: Start work: firstly, the items to be sorted are placed on the main body (1), then the main body (1) is started and the items are driven to flow, and at the same time, the visual sensor and the mechanical arm (201) on the disc (202) are activated; S2: Rotation scanning: When the mechanical arm (201) is working, it drives the disk (202) and the visual sensor to scan the surface of the object, and then controls the mechanical arm (201) and the multiple disks (202) on the disk (202) to work after the visual sensor detects the object to be sorted; S3: Gripping and sorting: When the multiple discs (202) are working, the gripping claws (204) are controlled to grab and sort the required objects.

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