An intelligent sorting parallel manipulator based on vision algorithms

Abstract

The present invention relates to the technical field of parallel manipulators, and particularly to an intelligent sorting parallel manipulator based on a vision algorithm. It includes: a parallel module, the parallel module is slidably connected with sliding members evenly distributed circumferentially, and the sliding members are provided with clamping blocks; a support plate, which is arranged on the parallel module, and the support plate is provided with a sliding plate; an elastic telescopic rod, which is rotatably 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 within all the limiting frames. By pressing the perfume bottle against the conveyor belt with the pressing plate, when the bottom of the perfume bottle is driven by the conveyor belt to move, the probability that the mouth of the perfume bottle that has not been completely hardened after heating adheres to the clamping block is reduced, thereby reducing the probability that the mouth of the perfume bottle shakes due to adhesion, and further reducing the probability that the perfume bottle topples over and knocks down the perfume bottles placed around it, so as to ensure the normal production of perfume bottles.

Description

Technical Field

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

[0002] An intelligent sorting parallel robot arm is a device that sorts objects according to a preset track program. The addition of a vision algorithm can provide the parallel manipulator with the functions of real-time target recognition and positioning. In the existing production process of glass perfume bottles, there is a large demand for sorting and gripping perfume bottles. Especially after the perfume bottles are heated, it is necessary to grip the bottle mouths of the perfume bottles and transfer the heated perfume bottles to the conveyor belt of the annealing process to perform annealing operations on the perfume bottles. Since the perfume bottles are not completely hardened after being heated, directly gripping the perfume bottles will cause slight adhesion between the perfume bottles and the manipulator, which will result in a lag when the perfume bottles are separated from the manipulator. And the position where the perfume bottles are to be placed is a 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, while there is adhesion between the bottle mouths of the perfume bottles and the manipulator, which will cause the perfume bottles to tilt, and even cause the perfume bottles to fall and break. Once the perfume bottles fall, it will cause the other perfume bottles placed on the conveyor belt to be knocked down, thus affecting the normal production of the perfume bottles. Summary of the Invention

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

[0004] The technical solution is as follows: an intelligent sorting parallel manipulator based on a vision algorithm, comprising:

[0005] A parallel module, the parallel module is slidably connected with sliding members evenly distributed circumferentially, and the sliding members are provided with clamping blocks;

[0006] A support plate, arranged on the lower side of the parallel module, and the support plate is provided with a sliding plate;

[0007] Elastic telescopic rods, rotatably connected to the sliding plate, the telescopic ends of the elastic telescopic rods are fixedly connected with a pressing plate, all the clamping blocks are arranged around the pressing plate, and the sliding plate is provided with linearly distributed limiting frames, and the pressing plate slides within all the limiting frames.

[0008] More preferably, both the elastic telescopic rods and the limiting frames are inclined.

[0009] More preferably, a grid-shaped recessed portion is arranged on the lower side of the pressing plate to reduce the contact area between the lower side of the pressing plate and the object.

[0010] More preferably, it further comprises:

[0011] A sliding rod is slidably connected to the parallel module. The sliding rod is rotatably connected to the support plate, and a first elastic member is fixedly connected between the sliding rod and the parallel module.

[0012] 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.

[0013] 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.

[0014] More preferably, it further includes:

[0015] Flexible blocks, the number of which is the same as that of the clamping blocks, and are respectively fixedly connected to adjacent clamping blocks. The flexible blocks cover the lower side of the clamping blocks and the side facing the pressing plate.

[0016] More preferably, a plurality of friction blocks are fixedly connected to the side of the flexible block facing the pressing plate, and the friction blocks are made of flexible materials.

[0017] More preferably, it further includes:

[0018] A micro electromagnetic slider. 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 sliding grooves. The sliding plate slides in all the sliding grooves, and the sliding plate is rotatably connected to the limiting frame;

[0019] A limiting frame is fixedly connected to the micro electromagnetic slider, and the limiting frame is used to squeeze the sliding plate to move.

[0020] More preferably, it further includes:

[0021] Strain gauges, the number of which is the same as that of the sliding grooves, and are respectively fixedly connected to the lower sides in the sliding grooves. The limiting frame is used to squeeze adjacent strain gauges;

[0022] A flexible pad is fixedly connected to the lower side of the strain gauge.

[0023] Compared with the prior art, the present invention has the following advantages: 1. The present invention presses the perfume bottle on the conveyor belt through the pressing plate. When the bottom of the perfume bottle is driven by the conveyor belt to move, the probability that the mouth of the perfume bottle that has not been completely hardened after heating adheres to the clamping block is reduced, thereby reducing the probability that the mouth of the perfume bottle shakes due to adhesion, and further reducing the probability that the perfume bottle topples over and knocks down the perfume bottles placed around it, so as to ensure the normal production of perfume bottles;

[0024] 2. Push the perfume bottle mouth in the direction of the conveyor belt movement through the pressing plate, thereby reducing the initial velocity difference between the perfume bottle mouth and the bottle bottom, reducing the probability of the perfume bottle shaking when it is placed on the conveyor belt, and thus improving the stability of the perfume bottle placement;

[0025] 3. Wrap the perfume bottle mouth with a flexible block, making the clamping force distribution on the perfume bottle mouth more uniform, reducing the risk of the perfume bottle mouth being crushed due to concentrated force, and using the friction block to be stuck into the thread recess of the perfume bottle mouth to increase the friction between the flexible block and the perfume bottle mouth, improving the stability when the perfume bottle mouth is clamped;

[0026] 4. By adjusting the inclination degree of the elastic telescopic rod and all the limiting frames, change the horizontal movement distance of the pressing plate, 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 perfume bottle bottom and the perfume bottle mouth after the conveyor belt speed increases, and further improving the usage range of this device;

[0027] 5. Sense the inclination of the pressing plate through the strain gauge. When the shape of the perfume bottle is uneven after heating, the strain gauge deforms and its resistance value changes, to prompt the operator that the shape of the perfume bottle is unqualified, automatically detecting and screening out unqualified perfume bottles, so as to improve the quality of perfume bottle production. Brief Description of the Drawings

[0028] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0029] Figure 2 is a three-dimensional structural schematic diagram of the sliding part of the present invention;

[0030] Figure 3 is a three-dimensional structural schematic diagram of the support plate of the present invention;

[0031] Figure 4 is a three-dimensional structural schematic diagram of the pressing plate of the present invention;

[0032] Figure 5 is a three-dimensional structural schematic diagram of the strain gauge of the present invention;

[0033] Figure 6 is a three-dimensional structural schematic diagram of the flexible pad of the present invention.

[0034] The marks of each component in the 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: pressing plate, 8: limiting frame, 9: sliding rod, 10: flexible block, 11: friction block, 12: micro electromagnetic slider, 13: limiting frame, 14: strain gauge, 15: flexible pad. Detailed Embodiment

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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.

[0036] An intelligent sorting parallel manipulator based on a vision algorithm, as Figures 1-6 shown, 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, several kinematic pairs in the middle, and a moving platform on the lower side. A driving member not shown in the figure is installed on the base of the parallel module 1, and the driving member is used to drive the kinematic pairs. The parallel module 1 is provided with a power device not shown in the figure, and 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 sliding members 2 evenly distributed in the circumferential direction. The sliding members 2 can be electric sliders, and the sliding members 2 are electrically connected to the control terminal. The sliding members 2 are provided with clamping blocks 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, and a pressing plate 7 is fixedly connected to the telescopic end of the elastic telescopic rod 6. A grid-shaped recess is arranged 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 object to be clamped (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 surround the periphery of the pressing plate 7. The sliding plate 5 is provided with two limiting frames 8 distributed linearly, and the pressing plate 7 slides within all the limiting frames 8. Both the elastic telescopic rod 6 and the limiting frames 8 are inclined, and both the elastic telescopic rod 6 and the limiting frames 8 are inclined downward from top to bottom in the direction of the conveyor belt movement (wherein, the conveyor belt is a conveying structure in the perfume bottle annealing process).

[0037] The specific working principle is as follows:

[0038] When an operator needs to use this device to pick up a heated perfume bottle and place it on the conveyor belt (hereinafter simply referred to as the conveyor belt) of the annealing process, the operator turns on the power device through the control terminal. 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 (during the movement of the support plate 4, 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 above the periphery of the perfume bottle mouth. The operator turns off the power device through the control terminal and turns on the parallel module 1. Then the parallel module 1 drives all the parts on it to move downward, so that the pressing plate 7 moves downward until it contacts the perfume bottle mouth. Along with the downward movement of the pressing plate 7, the pressing plate 7 is blocked by the perfume bottle and moves upward relative to the perfume bottle mouth. The pressing plate 7 moves upward along the two limiting frames 8, and the telescopic end of the elastic telescopic rod 6 is compressed and contracted. After all the clamping blocks 3 move to the periphery of the perfume bottle mouth, the operator controls the sliding member 2 to move in the direction of the pressing plate 7 (i.e., in the direction of the perfume bottle mouth) through the control terminal. The sliding member 2 drives the clamping block 3 to move, so that all the clamping blocks 3 move and gradually clamp the perfume bottle mouth.

[0039] After all the clamping blocks 3 jointly clamp the perfume bottle mouth, the operator turns off the sliding member 2 and turns on the parallel module 1 through the control terminal. The parallel module 1 drives all the parts to move upward. Then the operator turns on the power device through the control terminal. The power device drives the parallel module 1 to move horizontally. The parallel module 1 moves horizontally and drives all the clamping blocks 3 to move horizontally through all the sliding members 2. All the clamping blocks 3 jointly drive the perfume bottle to move. After the perfume bottle moves above the conveyor belt, the power device drives the parallel module 1 to move downward. The parallel module 1 drives all the parts to move downward, and picks up the perfume bottle and places it on the conveyor belt. At this time, the operator turns off the power device through the control terminal and controls the sliding member 2 to move back to its original position. The sliding member 2 drives the clamping block 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. After the perfume bottle is no longer clamped, the telescopic end of the elastic telescopic rod 6 can push the perfume bottle downward). 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.

[0040] 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. The pressing plate 7 moves along the limiting frame 8, and uses the pressing plate 7 to press the perfume bottle on the conveyor belt. When the bottom of the perfume bottle is driven by the conveyor belt to move, the probability that the mouth of the perfume bottle that is not fully hardened after heating adheres to the clamping block 3 is reduced, thereby reducing the probability that the mouth of the perfume bottle shakes due to adhesion, and further reducing the probability that the perfume bottle topples over and knocks down the perfume bottles placed around it, so as to ensure the normal production of the perfume bottle.

[0041] During the process of placing the perfume bottle on the conveyor belt, since the conveyor belt is constantly moving, when the bottom of the perfume bottle touches the conveyor belt and the mouth of the perfume bottle 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, resulting in the perfume bottle shaking. At this time, since both the elastic telescopic rod 6 and the limiting frame 8 are inclined downward 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 (here, the downward movement of the pressing plate 7 refers to its relative movement with the parallel module 1). The pressing plate 7 pushes the mouth of the perfume bottle to move in the direction of the conveyor belt movement, thereby reducing the initial velocity difference between the mouth and the bottom of the perfume bottle and reducing the probability of the perfume bottle shaking when it is placed on the conveyor belt, thus improving the stability of the perfume bottle placement.

[0042] After clamping one perfume bottle, the operator repeats the above steps to clamp the next perfume bottle. If it is necessary to stop using this device, the power equipment, the parallel module 1 and the sliding part 2 are turned off through the control terminal, and then this device is cleaned and maintained for the next use.

[0043] As Figure 2 And Figure 3 As shown, it further 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 fixedly connected between the sliding rod 9 and the parallel module 1. Among them, the first elastic member between the sliding rod 9 and the parallel module 1 is a compression spring. An existing locking structure is installed between the sliding rod 9 and the support plate 4, and this locking structure is not shown in the figure. The locking structure is used to lock the support plate 4. After the locking structure is activated, the support plate 4 cannot rotate.

[0044] As Figure 2 And Figure 3 As shown, the sliding part 2 is slidably connected to the clamping block 3. A second elastic member is fixedly connected between the sliding part 2 and the clamping block 3. Among them, the second elastic member between the sliding part 2 and the clamping block 3 is a compression spring. 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 shrinks to the limit, the first elastic member between the sliding rod 9 and the parallel module 1 will start to be compressed.

[0045] The specific working principle is as follows:

[0046] When the position of the conveyor belt where the perfume bottle needs to be placed changes, the operator rotates the support plate 4, and then activates the locking structure to make the support plate 4 stop 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 limiting frames 8 to rotate, so that the downward inclination directions of the elastic telescopic rod 6 and the limiting frame 8 always face the conveyor belt, so as to increase the applicable range of this device.

[0047] During the process of clamping the perfume bottle mouth by all the clamping blocks 3, due to the different shapes and heights of perfume bottles of various models, and the diameter of the perfume bottle mouth being smaller than that of 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 exerted by the clamping block 3 on the perfume bottle, thereby reducing the probability of the perfume bottle body being crushed by the clamping block 3.

[0048] When the perfume bottle mouth is relatively long and the telescopic end of the elastic telescopic rod 6 contracts to the limit, if the telescopic end of the elastic telescopic rod 6 drives the pressing plate 7 to continue moving downward, the first elastic member between the sliding rod 9 and the parallel module 1 is compressed. Through 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, the pressure on the perfume bottle is buffered to reduce the pressure on perfume bottles of various models when being clamped, thereby reducing the risk of the perfume bottle being crushed under pressure and further improving the working efficiency of the device.

[0049] When the perfume bottle is placed and the parallel module 1 starts to move upward for resetting, 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 support plate 4 and its upper parts move back to their original positions.

[0050] As Figure 2 shown, it further includes: flexible blocks 10, the number of which is the same as that of the clamping blocks 3, and are respectively fixedly connected to the clamping blocks 3. The vertical cross-section of the flexible block 10 is L-shaped, and the flexible block 10 covers the lower side of the clamping block 3 and the side facing the pressing plate 7, so that the contact surface between the clamping block 3 and the perfume bottle is covered by the flexible block 10. The flexible block 10 is made of a high-temperature stable material. Figure 3 As

[0051] shown, several friction blocks 11 are fixedly connected to the side of the flexible block 10 facing the pressing plate 7. The friction blocks 11 are made of a flexible high-temperature stable material, and the friction blocks 11 are used to be stuck into the thread depressions of the perfume bottle mouth. Figure 3 As

[0052] The specific working principle is as follows:

[0053] When clamping the perfume bottle mouth by the clamping block 3, the clamping block 3 closely adheres to the perfume bottle mouth through the flexible block 10, and the flexible block 10 deforms to wrap the perfume bottle mouth, making the clamping force received by the perfume bottle mouth more evenly distributed, reducing the risk of the perfume bottle mouth being crushed due to concentrated force. And some of the friction blocks 11 on the flexible block 10 will be stuck into the thread depressions of the perfume bottle mouth, and the friction blocks 11 are deformed under pressure, reducing the probability of the perfume bottle slipping out of the flexible block 10 and improving the stability when the perfume bottle mouth is clamped.

[0054] After 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 return to their original shapes due to deformation.

[0055] As Figure 3 shown in Figure 4 the figure, it further includes: a micro electromagnetic slider 12. The 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 linearly. The sliding plate 5 slides in all the sliding grooves 401. The sliding plate 5 is rotatably connected to the limiting frame 8. The sliding groove 401 is arc-shaped, and the center of the circle where the arc is located coincides with the rotation axis on the lower side of the adjacent limiting frame 8; a limiting frame 13 is fixedly connected to the micro electromagnetic slider 12. The limiting frame 13 is used to squeeze the sliding plate 5 to move. The limiting frame 13 is approximately in an inverted Y shape. From the perspective of Figure 4 the front view, the limiting frame 13 is used to block the left and right sides of the sliding plate 5. When the limiting frame 13 does not move, it prevents the sliding plate 5 from displacing.

[0056] As Figure 5 shown in Figure 6 the figure, it further includes: strain gauges 14, the number of which is the same as the number of the sliding grooves 401, and are respectively fixedly connected to the lower sides inside the sliding grooves 401. The strain gauges 14 are electrically connected to the control terminal. The strain gauges 14 are of the existing structure. The strain gauges 14 will output electrical signals to the control terminal. When the strain gauges 14 are bent, the resistance values of the strain gauges 14 change and the changed electrical signals are output to the control terminal. 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 gauges 14. When the strain gauges 14 are deformed, the flexible pad 15 deforms.

[0057] The specific working principle is as follows:

[0058] When the speed of the conveyor belt changes, the operator adjusts the position of the micro electromagnetic slider 12 through the control terminal. Taking the example of the conveyor belt speed increasing (the increase in the conveyor belt speed leads to an increase in the initial velocity difference between the bottom and the mouth of the perfume bottle), at this time, the control terminal controls the micro electromagnetic slider 12 to move away from the conveyor belt (that is, from the perspective of Figure 4 the front view, the micro electromagnetic slider 12 moves to the left). The micro electromagnetic slider 12 drives the limiting frame 13 to move. The limiting frame 13 drives the sliding plate 5 to move. The sliding plate 5 drives the elastic telescopic rod 6 and the upper sides of all the limiting frames 8 to move. The limiting frame 8 moves along the sliding groove 401, making the angle between the lower right part of the elastic telescopic rod 6 and the sliding plate 5 smaller (the observation direction of this angle is from the perspective of Figure 4 the front view), and the angle between the lower right part of the limiting frame 8 and the sliding plate 5 also becomes smaller (the observation direction of this angle is from the perspective of Figure 4Based on the front view, change the inclination degree of the elastic telescopic rod 6 and all the limiting frames 8. When the telescopic end of the elastic telescopic rod 6 extends and drives the pressing plate 7 to move downward, the horizontal moving distance of the pressing plate 7 becomes longer, so as to adapt to the initial velocity difference between the bottom and the mouth of the perfume bottle after the conveyor belt speed increases, thereby improving the application range of this device.

[0059] When the shape of the perfume bottle is uneven after heating, when the pressing plate 7 presses the perfume bottle, the force on the pressing plate 7 will be unevenly distributed, resulting in a tendency for the pressing plate 7 to tilt. One side of the pressing plate 7 gives a downward moving force to the limiting frame 8, and the other side of the pressing plate 7 gives an upward moving force to the limiting frame 8, causing the extrusion forces exerted by the two limiting frames 8 on the adjacent strain gauges 14 to be different, and the resistance values of the two strain gauges 14 to 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, and no longer places the perfume bottle on the conveyor belt, but directly collects the perfume bottles with uneven shapes separately, automatically detecting and screening out unqualified perfume bottles to improve the quality of perfume bottle production.

[0060] After clamping a perfume bottle, the operator repeats the above steps to clamp the next perfume bottle. If it is necessary to stop using this device, the parallel module 1, the sliding member 2, the micro electromagnetic slider 12 and the strain gauges 14 are turned off through the control terminal, and then this device is cleaned and maintained for the next use.

[0061] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent sorting parallel manipulator based on vision algorithms, It is characterized by including: A parallel module (1), on which circumferentially uniformly distributed sliding members (2) are slidably connected, and clamping blocks (3) are provided on the sliding members (2); A support plate (4) is arranged on the lower side of the parallel module (1), and a sliding plate (5) is provided on the support plate (4); 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 periphery of the pressing plate (7), and the sliding plate (5) is provided with linearly distributed limiting frames (8), and the pressing plate (7) slides within all the limiting frames (8); Both the elastic telescopic rod (6) and the limiting frame (8) are inclined; 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 an object; It further includes: A micro electromagnetic slider (12), the support plate (4) is provided with an electromagnetic slide rail, the micro electromagnetic slider (12) is slidably connected within the electromagnetic slide rail of the support plate (4), the support plate (4) is provided with linearly distributed sliding grooves (401), the sliding plate (5) slides within all the sliding grooves (401), and the sliding plate (5) is rotatably connected to the limiting 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.

2. The intelligent sorting parallel manipulator based on a vision algorithm according to claim 1, characterized in that, It further includes: 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).

3. The intelligent sorting parallel manipulator based on a vision algorithm according to claim 2, 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).

4. The intelligent sorting parallel manipulator based on a vision algorithm according to claim 3, 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).

5. The intelligent sorting parallel manipulator based on a vision algorithm according to claim 4, wherein It further includes: Flexible blocks (10), the number of which is the same as that of the clamping blocks (3), and are respectively fixedly connected to adjacent clamping blocks (3), and the flexible blocks (10) cover the lower side of the clamping blocks (3) and the side facing the pressing plate (7).

6. The intelligent sorting parallel manipulator based on a vision algorithm according to claim 5, wherein A plurality of friction blocks (11) are fixedly connected to the side of the flexible block (10) facing the pressing plate (7), and the friction blocks (11) are made of flexible materials.

7. The intelligent sorting parallel manipulator based on a vision algorithm according to claim 6, wherein It further includes: Strain gauges (14), the number of which is the same as that of the sliding grooves (401), and are respectively fixedly connected to the lower sides within the sliding grooves (401), and the limiting frame (8) is used to squeeze adjacent strain gauges (14); A flexible pad (15) is fixedly connected to the lower side of the strain gauge (14).

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