Intelligent sorting parallel manipulator based on visual algorithm

Abstract

The invention relates to the technical field of parallel manipulators, in particular to an intelligent sorting parallel manipulator based on a visual algorithm. Comprising a parallel connection module, the parallel connection module is slidably connected with sliding pieces which are evenly distributed in the circumferential direction, and the sliding pieces are provided with clamping blocks; the supporting plate is arranged on the parallel module, and the supporting plate is provided with a sliding plate; the elastic telescopic rod is rotationally connected to the sliding plate, the telescopic end of the elastic telescopic rod is fixedly connected with a pressing plate, the sliding plate is provided with limiting frames distributed linearly, and the pressing plate slides in all the limiting frames. The perfume bottles are pressed on the conveying belt through the pressing plate, and when the bottoms of the perfume bottles are driven by the conveying belt to move, the probability that the perfume bottle openings which are not completely hardened after being heated adhere to the clamping blocks is reduced, so that the probability that the perfume bottle openings shake due to adhesion is reduced, and then the probability that the perfume bottles topple over and the perfume bottles placed around are knocked over is reduced; therefore, normal production of the perfume bottle is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of parallel manipulators, and in particular to an intelligent sorting parallel manipulator based on a visual algorithm. Background Art

[0002] The intelligent sorting parallel robot is a device that sorts objects according to preset track programming. The addition of visual algorithms can provide the parallel robot with real-time target recognition and positioning functions. In the existing glass perfume bottle production process, there are a large number of sorting and clamping requirements for perfume bottles, especially after the perfume bottles are heated, the perfume bottle mouth needs to be clamped, and the heated perfume bottles need to be clamped to the conveyor belt of the annealing process to anneal the perfume bottles. Since the perfume bottles have not been completely hardened after heating, directly clamping the perfume bottles will cause slight adhesion between the perfume bottles and the robot, which will cause the perfume bottles to be delayed when leaving the robot. The position where the perfume bottles are to be placed is the moving conveyor belt. At the moment when the perfume bottles contact the conveyor belt, the conveyor belt drives the bottom of the perfume bottles to move, and the perfume bottle mouth and the robot arm are adhered, which will cause the perfume bottles to tilt, and even cause the perfume bottles to fall and break. Once the perfume bottles fall, other perfume bottles placed on the conveyor belt will be knocked down, which will affect the normal production of the perfume bottles. Summary of the invention

[0003] In order to overcome the shortcomings mentioned in the above background technology, the present invention provides an intelligent sorting parallel manipulator based on a visual algorithm.

[0004] The technical solution is: an intelligent sorting parallel manipulator based on visual algorithm, including: A parallel module, wherein the parallel module is slidably connected with sliding members evenly distributed in the circumferential direction, and the sliding members are provided with clamping blocks; A support plate, arranged at the lower side of the parallel module, wherein the support plate is provided with a sliding plate; The elastic telescopic rod is rotatably connected to the sliding plate, the telescopic end of the elastic telescopic rod is fixedly connected to a pressure plate, all the clamping blocks are surrounded by the pressure plate, the sliding plate is provided with linearly distributed limit frames, and the pressure plate slides in all the limit frames.

[0005] More preferably, the elastic telescopic rod and the limiting frame are both inclined.

[0006] More preferably, a grid-shaped recessed portion is provided on the lower side of the pressing plate to reduce the contact area between the lower side of the pressing plate and the object.

[0007] More preferably, it also includes: A sliding rod is slidably connected to the parallel module. The sliding rod is rotatably connected to the support plate. A first elastic member is fixedly connected between the sliding rod and the parallel module.

[0008] More preferably, the sliding member is slidably connected to the clamping block, and a second elastic member is fixedly connected between the sliding member and the clamping block.

[0009] More preferably, the elastic coefficient of the first elastic member between the sliding rod and the parallel module is greater than the elastic coefficient of the elastic telescopic rod.

[0010] More preferably, it also includes: The number of the flexible blocks is the same as that of the clamping blocks and they are respectively fixed to the adjacent clamping blocks. The flexible blocks cover the lower side of the clamping blocks and the side facing the pressure plate.

[0011] More preferably, a plurality of friction blocks are fixedly connected to one side of the flexible block facing the pressure plate, and the friction blocks are made of flexible material.

[0012] More preferably, it also includes: A micro electromagnetic slider, wherein the support plate is provided with an electromagnetic slide rail, the micro electromagnetic slider is slidably connected in the electromagnetic slide rail of the support plate, the support plate is provided with linearly distributed slide grooves, the slide plate slides in all the slide grooves, and the slide plate is rotatably connected to the limit frame; The limiting frame is fixedly connected to the micro electromagnetic slider, and the limiting frame is used to squeeze the sliding plate to move.

[0013] More preferably, it also includes: The number of strain gauges is the same as the number of the sliding slots, and they are respectively fixed to the lower side of the sliding slots, and the limit frame is used to squeeze the adjacent strain gauges; The flexible pad is fixed to the lower side of the strain gauge.

[0014] Compared with the prior art, the present invention has the following advantages: 1. The present invention presses the perfume bottle onto the conveyor belt by means of a pressing plate. When the bottom of the perfume bottle is driven by the conveyor belt to move, the probability of the perfume bottle mouth that has not been completely hardened after heating adhering to the clamping block is reduced, thereby reducing the probability of the perfume bottle mouth shaking due to adhesion, thereby reducing the probability of the perfume bottle tipping over and knocking down the perfume bottles placed around, thereby ensuring the normal production of the perfume bottles; 2. Push the mouth of the perfume bottle to move in the direction of the conveyor belt through the pressing plate, so as to reduce the initial velocity difference between the mouth of the perfume bottle and the bottom of the bottle, reduce the probability of the perfume bottle shaking when placed on the conveyor belt, and thus improve the stability of the perfume bottle placement; 3. By wrapping the mouth of the perfume bottle with a flexible block, the clamping force on the mouth of the perfume bottle is distributed more evenly, reducing the risk of the mouth of the perfume bottle being crushed due to concentrated force, and using the friction block to be stuck in the threaded depression of the mouth of the perfume bottle to increase the friction between the flexible block and the mouth of the perfume bottle, thereby improving the stability of the mouth of the perfume bottle when it is clamped; 4. By adjusting the degree of inclination of the elastic telescopic rod and all the limit frames, the horizontal moving distance of the pressing plate is changed, thereby adjusting the distance that the pressing plate pushes the perfume bottle mouth to move, so as to adapt to the initial velocity difference between the bottom of the perfume bottle and the perfume bottle mouth after the conveyor belt speed is increased, thereby improving the use range of the device; 5. The strain gauge senses the tilt of the pressure plate. When the shape of the perfume bottle is uneven after heating, the strain gauge deforms and changes its resistance value to remind the operator that the shape of the perfume bottle is unqualified. Unqualified perfume bottles are automatically detected and screened out to improve the quality of perfume bottle production. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the sliding member of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the support plate of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the pressing plate of the present invention; Figure 5 Schematic diagram of the three-dimensional structure of the strain gauge of the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the flexible pad of the present invention.

[0016] The markings of the components in the accompanying drawings are as follows: 1: parallel module, 2: sliding part, 3: clamping block, 4: support plate, 401: sliding groove, 5: sliding plate, 6: elastic telescopic rod, 7: pressure plate, 8: limit frame, 9: sliding rod, 10: flexible block, 11: friction block, 12: micro electromagnetic slider, 13: limit frame, 14: strain gauge, 15: flexible pad. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] An intelligent sorting parallel robot based on visual algorithm, such as Figure 1-Figure 6As shown, it includes: a parallel module 1, the parallel module 1 is provided with a control terminal not shown in the figure, the parallel module 1 is electrically connected to the control terminal, the parallel module 1 is a parallel mechanism of an existing manipulator, the parallel module 1 is composed of a base on the upper side, a plurality of kinematic pairs in the middle and a moving platform on the lower side, the base of the parallel module 1 is installed with a driving member not shown in the figure, the driving member is used to drive the kinematic pair, the parallel module 1 is provided with a power device not shown in the figure, the power device is electrically connected to the control terminal, the power device is used to drive the parallel module 1 to move, the parallel module 1 is slidably connected with a sliding member 2 uniformly distributed in the circumferential direction, the sliding member 2 can be an electric slider, the sliding member 2 is electrically connected to the control terminal, and the sliding member 2 is provided with a clamping block 3; a support plate 4 is arranged on the lower side of the parallel module 1, and the support plate 4 is provided with a sliding plate 5; elastic telescopic rod 6, rotatably connected to the sliding plate 5, the telescopic end of the elastic telescopic rod 6 is fixedly connected to the pressing plate 7, and a grid-shaped recessed portion is provided on the lower side of the pressing plate 7 to reduce the contact area between the lower side of the pressing plate 7 and the object, and reduce the probability of adhesion between the clamped object (i.e., the perfume bottle) and the lower side of the pressing plate 7 (the temperature of the perfume bottle before annealing is relatively high, and at this time, some areas of the perfume bottle are not completely hardened, and there is still a possibility of adhesion to the pressing plate 7), all the clamping blocks 3 are surrounded by the pressing plate 7, the sliding plate 5 is provided with two limiting frames 8 distributed in a straight line, the pressing plate 7 slides in all the limiting frames 8, the elastic telescopic rod 6 and the limiting frames 8 are both inclined, and the elastic telescopic rod 6 and the limiting frames 8 are inclined from top to bottom in the direction of movement of the conveyor belt (wherein the conveyor belt is a conveying structure in the annealing process of the perfume bottle).

[0019] The specific working principle is as follows: When the operator needs to use the device to clamp the heated perfume bottle onto the conveyor belt (hereinafter referred to as the conveyor belt) of the annealing process, the operator turns on the power device through the control terminal, and the power device drives the parallel module 1 to move horizontally. The parallel module 1 moves and drives all the sliding members 2 and the support plate 4 to move horizontally (in the process of the support plate 4 moving, the support plate 4 drives the elastic telescopic rod 6 to move through the sliding plate 5, and the telescopic end of the elastic telescopic rod 6 drives the pressing plate 7 to move), the sliding member 2 drives the clamping block 3 to move horizontally, so that all the clamping blocks 3 move to the upper part around the perfume bottle mouth, and the operator turns off the power through the control terminal. The device turns on the parallel module 1, and then the parallel module 1 drives all the parts thereon to move downward, so that the pressing plate 7 moves downward until it contacts the mouth of the perfume bottle. As the pressing plate 7 moves downward, the pressing plate 7 is blocked by the perfume bottle and moves upward relative to the mouth of the perfume bottle. The pressing plate 7 moves upward along the two limit frames 8, and the telescopic end of the elastic telescopic rod 6 contracts under pressure. After all the clamping blocks 3 move to the surroundings of the mouth of the perfume bottle, the operator controls the sliding member 2 to move toward the pressing plate 7 (that is, toward the mouth of the perfume bottle) through the control terminal, and the sliding member 2 drives the clamping blocks 3 to move, so that all the clamping blocks 3 move and gradually clamp the mouth of the perfume bottle.

[0020] After all the clamping blocks 3 clamp the mouth of the perfume bottle together, the operator closes the sliding member 2 and opens the parallel module 1 through the control terminal, and the parallel module 1 drives all parts to move upward, and then the operator turns on the power device through the control terminal, and the power device drives the parallel module 1 to move horizontally, and the parallel module 1 moves horizontally and drives all the clamping blocks 3 to move horizontally through all the sliding members 2, and all the clamping blocks 3 drive the perfume bottle to move together. After the perfume bottle moves above the conveyor belt, the power device drives the parallel module 1 to move downward, and the parallel module 1 drives all parts to move downward, and clamps the perfume bottle onto the conveyor belt. At this time, the operator closes the power device through the control terminal and controls the sliding member 2 to move and reset, and the sliding member 2 drives the clamping blocks 3 to reset, and all the clamping blocks 3 release the clamping of the perfume bottle. At this time, the telescopic end of the elastic telescopic rod 6 extends and resets (when the perfume bottle is clamped, the telescopic end of the elastic telescopic rod 6 cannot push the perfume bottle, and after the perfume bottle is no longer clamped, the telescopic end of the elastic telescopic rod 6 can push the perfume bottle downward), and the operator controls the parallel module 1 to move upward and reset through the control terminal, so that the perfume bottle is placed on the conveyor belt.

[0021] When all the clamping blocks 3 release the clamping of the perfume bottle, the telescopic end of the elastic telescopic rod 6 drives the pressing plate 7 to move downward and reset, and the pressing plate 7 moves along the limiting frame 8. The pressing plate 7 is used to press the perfume bottle onto the conveyor belt. When the bottom of the perfume bottle is driven to move by the conveyor belt, the probability of the perfume bottle mouth that has not been completely hardened after heating adhering to the clamping block 3 is reduced, thereby reducing the probability of the perfume bottle mouth shaking due to adhesion, thereby reducing the probability of the perfume bottle tipping over and knocking down the perfume bottles placed around, so as to ensure the normal production of the perfume bottles.

[0022] In the process of placing the perfume bottle on the conveyor belt, since the conveyor belt is constantly moving, at the moment when the bottom of the perfume bottle contacts the conveyor belt and the perfume bottle mouth loses the clamping of all the clamping blocks 3, there will be an initial velocity difference between the upper and lower sides of the perfume bottle, causing the perfume bottle to shake. At this time, since the elastic telescopic rod 6 and the limit frame 8 are inclined from top to bottom in the direction of the conveyor belt movement, the pressing plate 7 moves downward and moves obliquely in the direction of the conveyor belt movement (the downward movement of the pressing plate 7 here refers to its relative movement with the parallel module 1), and the pressing plate 7 pushes the perfume bottle mouth to move in the direction of the conveyor belt movement, thereby reducing the initial velocity difference between the perfume bottle mouth and the bottom of the bottle, reducing the probability of the perfume bottle shaking when placed on the conveyor belt, and thus improving the stability of the placement of the perfume bottle.

[0023] After gripping a perfume bottle, the operator repeats the above steps to grip the next perfume bottle. If the device needs to be stopped, the power device, the parallel module 1 and the sliding member 2 are turned off through the control terminal, and then the device is cleaned and maintained for the next use.

[0024] like Figure 2 and Figure 3 As shown, it also includes: a sliding rod 9, which is slidably connected to the parallel module 1, the sliding rod 9 is rotatably connected to the support plate 4, a first elastic member is fixed between the sliding rod 9 and the parallel module 1, wherein the first elastic member between the sliding rod 9 and the parallel module 1 is a compression spring, and an existing locking structure is installed between the sliding rod 9 and the support plate 4, which is not shown in the figure. The locking structure is used to lock the support plate 4, and after the locking structure is started, the support plate 4 cannot rotate.

[0025] like Figure 2 and Figure 3 As shown, the sliding member 2 is slidably connected to the clamping block 3, and a second elastic member is fixed between the sliding member 2 and the clamping block 3, wherein the second elastic member between the sliding member 2 and the clamping block 3 is a compression spring, and the elastic coefficient of the first elastic member between the sliding rod 9 and the parallel module 1 is greater than the elastic coefficient of the elastic telescopic rod 6. After the telescopic end of the elastic telescopic rod 6 is compressed and contracted to the limit, the first elastic member between the sliding rod 9 and the parallel module 1 will begin to be compressed.

[0026] The specific working principle is as follows: When the position of the conveyor belt where the perfume bottle is to be placed changes, the operator rotates the support plate 4 and then activates the locking structure to stop the support plate 4 from rotating. The support plate 4 drives the elastic telescopic rod 6 to rotate through the sliding plate 5. The telescopic end of the elastic telescopic rod 6 drives the pressing plate 7 to rotate, and the support plate 4 drives all the limit frames 8 to rotate, so that the tilting direction of the elastic telescopic rod 6 and the limit frames 8 from top to bottom is always toward the conveyor belt, so as to increase the application range of the device.

[0027] In the process of all the clamping blocks 3 clamping the mouth of the perfume bottle, since the shapes and heights of various types of perfume bottles are different, and the diameter of the perfume bottle mouth is smaller than the perfume bottle body, there is a risk that the clamping block 3 accidentally touches the perfume bottle body. When the clamping block 3 accidentally touches the bottle body, the clamping block 3 is blocked by the perfume bottle body and moves upward, and the second elastic member between the sliding member 2 and the clamping block 3 is compressed, reducing the squeezing force of the clamping block 3 on the perfume bottle, thereby reducing the probability of the perfume bottle body being crushed by the clamping block 3.

[0028] When the mouth of the perfume bottle is long and the telescopic end of the elastic telescopic rod 6 is contracted to the limit, if the telescopic end of the elastic telescopic rod 6 drives the pressing plate 7 to continue to move downward, the first elastic member between the sliding rod 9 and the parallel module 1 is compressed, and the pressure on the perfume bottle is buffered by the second elastic member between the sliding member 2 and the clamping block 3 and the first elastic member between the sliding rod 9 and the parallel module 1, so as to reduce the pressure on various types of perfume bottles when being clamped, thereby reducing the risk of the perfume bottle being crushed by pressure, thereby improving the working efficiency of the device.

[0029] When the perfume bottle is placed and the parallel module 1 starts to move upward and reset, the clamping block 3 gradually loses contact with the perfume bottle body, the second elastic member between the sliding member 2 and the clamping block 3 rebounds and resets, the pressing plate 7 loses contact with the perfume bottle mouth, the first elastic member between the sliding rod 9 and the parallel module 1 rebounds and resets, and the supporting plate 4 and the parts thereon move and reset.

[0030] like Figure 2 and Figure 3 As shown, it also includes: flexible blocks 10, the number of which is the same as the number of clamping blocks 3, and are respectively fixed to the clamping blocks 3, the vertical section of the flexible blocks 10 is L-shaped, the flexible blocks 10 cover the lower side of the clamping blocks 3 and the side facing the pressing plate 7, so that the contact surface between the clamping blocks 3 and the perfume bottle is covered by the flexible blocks 10, and the flexible blocks 10 are made of high-temperature stable material.

[0031] like Figure 3 As shown, a plurality of friction blocks 11 are fixedly connected to one side of the flexible block 10 facing the pressure plate 7. The friction blocks 11 are made of flexible high-temperature stable material and are used to be inserted into the threaded recess of the perfume bottle mouth.

[0032] The specific working principle is as follows: When the perfume bottle mouth is clamped by the clamping block 3, the clamping block 3 is pressed against the perfume bottle mouth through the flexible block 10, and the flexible block 10 is deformed to wrap the perfume bottle mouth, so that the clamping force on the perfume bottle mouth is more evenly distributed, reducing the risk of the perfume bottle mouth being crushed due to concentrated force, and part of the friction block 11 on the flexible block 10 will be stuck in the threaded recess of the perfume bottle mouth, and the friction block 11 will be deformed under pressure, reducing the probability of the perfume bottle detaching from the flexible block 10 and improving the stability of the perfume bottle mouth when it is clamped.

[0033] When the perfume bottle is placed, the flexible block 10 loses contact with the perfume bottle body, and the flexible block 10 and the friction block 11 are deformed and restored.

[0034] like Figure 3 and Figure 4 As shown, it also includes: a micro electromagnetic slider 12, a support plate 4 is provided with an electromagnetic slide rail, the micro electromagnetic slider 12 is slidably connected in the electromagnetic slide rail of the support plate 4, the electromagnetic slide rail of the support plate 4 is electrically connected to the control terminal, the support plate 4 is provided with two sliding grooves 401 distributed in a straight line, the sliding plate 5 slides in all the sliding grooves 401, the sliding plate 5 is rotatably connected to the limit frame 8, the sliding groove 401 is an arc, and the center of the circle where the arc is located coincides with the rotation axis of the lower side of the adjacent limit frame 8; a limit frame 13, fixedly connected to the micro electromagnetic slider 12, the limit frame 13 is used to squeeze the sliding plate 5 to move, and the limit frame 13 is approximately an inverted Y shape, so that Figure 4 Taking the front view of as a reference, the limiting frame 13 is used to block the left and right sides of the sliding plate 5, and prevent the sliding plate 5 from being displaced when the limiting frame 13 does not move.

[0035] like Figure 5 and Figure 6 As shown, it also includes: strain gauges 14, the number of which is the same as the number of sliding slots 401, and are respectively fixed to the lower side of the sliding slots 401, the strain gauges 14 are electrically connected to the control terminal, the strain gauges 14 are of an existing structure, the strain gauges 14 will output electrical signals to the control terminal, when the strain gauges 14 are bent, the resistance of the strain gauges 14 changes and the changed electrical signals are output to the control terminal, the limit frame 8 is used to squeeze the adjacent strain gauges 14; the flexible pads 15, which are fixed to the lower side of the strain gauges 14, when the strain gauges 14 are deformed, the flexible pads 15 are deformed.

[0036] The specific working principle is as follows: When the speed of the conveyor belt changes, the operator adjusts the position of the micro electromagnetic slider 12 through the control terminal. For example, when the speed of the conveyor belt increases (the speed of the conveyor belt increases, resulting in an increase in the initial velocity difference between the bottom and the mouth of the perfume bottle), the control terminal controls the micro electromagnetic slider 12 to move away from the conveyor belt (i.e., Figure 4 The micro electromagnetic slider 12 moves to the left with the main view as the reference. The micro electromagnetic slider 12 drives the limit frame 13 to move, the limit frame 13 drives the sliding plate 5 to move, the sliding plate 5 drives the elastic telescopic rod 6 and the upper side of all the limit frames 8 to move, and the limit frame 8 moves along the sliding groove 401, so that the angle between the elastic telescopic rod 6 and the lower right side of the sliding plate 5 becomes smaller (the observation direction of the angle is Figure 4 The angle between the limit frame 8 and the lower right side of the sliding plate 5 also becomes smaller (the observation direction of the angle is Figure 4 The main view is taken as a reference), and the degree of inclination of the elastic telescopic rod 6 and all the limit frames 8 is changed. When the telescopic end of the elastic telescopic rod 6 extends and drives the pressing plate 7 to move downward, the horizontal movement distance of the pressing plate 7 becomes longer to adapt to the initial velocity difference between the bottom and the mouth of the perfume bottle after the conveyor belt speed is increased, thereby improving the use range of the device.

[0037] When the shape of the perfume bottle is uneven after heating, the force on the pressing plate 7 will be unevenly distributed when squeezing the perfume bottle, which will cause the pressing plate 7 to have a tendency to tilt. One side of the pressing plate 7 applies a force to move the limit frame 8 downward, and the other side of the pressing plate 7 applies a force to move the limit frame 8 upward, so that the two limit frames 8 respectively generate different squeezing forces on adjacent strain gauges 14, and the resistance values ​​of the two strain gauges 14 change. The strain gauges 14 output the changed electrical signals to the control terminal. The control terminal receives the signals and determines that the shape of the perfume bottle is uneven. The perfume bottle is no longer placed on the conveyor belt, and the perfume bottles with uneven shapes are directly collected separately, and unqualified perfume bottles are automatically detected and screened out to improve the production quality of perfume bottles.

[0038] After gripping a perfume bottle, the operator repeats the above steps to grip the next perfume bottle. If the device needs to be stopped, the parallel module 1, the sliding member 2, the micro electromagnetic slider 12 and the strain gauge 14 are turned off through the control terminal, and then the device is cleaned and maintained for the next use.

[0039] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent sorting parallel manipulator based on visual algorithm, characterized by comprising: A parallel module (1), wherein the parallel module (1) is slidably connected to a sliding member (2) evenly distributed in the circumferential direction, and the sliding member (2) is provided with a clamping block (3); A support plate (4) is arranged on the lower side of the parallel module (1), and the support plate (4) is provided with a sliding plate (5); An elastic telescopic rod (6) is rotatably connected to the sliding plate (5); a pressing plate (7) is fixedly connected to the telescopic end of the elastic telescopic rod (6); all the clamping blocks (3) surround the pressing plate (7); the sliding plate (5) is provided with limiting frames (8) distributed in a linear manner; and the pressing plate (7) slides in all the limiting frames (8).

2. According to claim 1, the intelligent sorting parallel manipulator based on visual algorithm is characterized in that: The elastic telescopic rod (6) and the limiting frame (8) are both inclined.

3. According to claim 2, the intelligent sorting parallel manipulator based on visual algorithm is characterized in that: A grid-shaped recessed portion is provided on the lower side of the pressing plate (7) for reducing the contact area between the lower side of the pressing plate (7) and the object.

4. According to claim 3, the intelligent sorting parallel manipulator based on visual algorithm is characterized in that: Also included are: A sliding rod (9) is slidably connected to the parallel module (1); the sliding rod (9) is rotatably connected to the support plate (4); and a first elastic member is fixedly connected between the sliding rod (9) and the parallel module (1).

5. The intelligent sorting parallel manipulator based on visual algorithm according to claim 4 is characterized in that: The sliding member (2) is slidably connected to the clamping block (3), and a second elastic member is fixedly connected between the sliding member (2) and the clamping block (3).

6. The intelligent sorting parallel manipulator based on visual algorithm according to claim 5 is characterized in that: The elastic coefficient of the first elastic member between the sliding rod (9) and the parallel module (1) is greater than the elastic coefficient of the elastic telescopic rod (6).

7. The intelligent sorting parallel manipulator based on visual algorithm according to claim 6 is characterized in that: Also included are: The number of the flexible blocks (10) is the same as the number of the clamping blocks (3), and they are respectively fixed to adjacent clamping blocks (3). The flexible blocks (10) cover the lower side of the clamping block (3) and the side facing the pressure plate (7).

8. The intelligent sorting parallel manipulator based on visual algorithm according to claim 7 is characterized in that: A plurality of friction blocks (11) are fixedly connected to one side of the flexible block (10) facing the pressure plate (7), and the friction blocks (11) are made of a flexible material.

9. The intelligent sorting parallel manipulator based on visual algorithm according to claim 8 is characterized in that: Also included are: A micro electromagnetic slider (12), the support plate (4) being provided with an electromagnetic slide rail, the micro electromagnetic slider (12) being slidably connected in the electromagnetic slide rail of the support plate (4), the support plate (4) being provided with linearly distributed slide grooves (401), the slide plate (5) sliding in all the slide grooves (401), the slide plate (5) being rotatably connected to the limit frame (8); A limiting frame (13) is fixedly connected to the micro electromagnetic slider (12), and the limiting frame (13) is used to squeeze the sliding plate (5) to move.

10. The intelligent sorting parallel manipulator based on visual algorithm according to claim 9 is characterized in that: Also included are: The number of strain gauges (14) is the same as the number of the sliding grooves (401), and they are respectively fixed to the lower side of the sliding grooves (401), and the limiting frame (8) is used to squeeze the adjacent strain gauges (14); A flexible pad (15) is fixedly connected to the lower side of the strain gauge (14).

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