Flexible visual identification sorting device and method
By adopting flexible visual recognition and sorting devices in automated sorting equipment and using technical means such as belt-type and flexible disk sorting structures, the existing equipment has solved the problem of insufficient flexibility in rapid adaptation and efficient handling of different materials, and achieved more efficient material identification and sorting.
Patent Information
- Application Number
- CN202510460036.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-11
- Publication Date
- 2025-06-10
AI Technical Summary
Existing automated sorting equipment lacks the ability to quickly adapt and efficient processing of different types of materials, especially in terms of rapid production change, rapid adjustment and multi-material compatibility, and is not flexible enough.
The flexible visual recognition and sorting device is adopted, including a belt sorting structure and a flexible disk sorting structure. Through components such as speed reduction belt lines, photo belt lines, return belt lines, flexible vibration disks, feed silos and detection cameras, accurate positioning, identification and efficient grabbing and transfer of materials are achieved.
It improves the identification accuracy and grabbing efficiency of materials, enhances the rapid adaptability and efficient processing capabilities of different materials, and improves the overall efficiency and automation of the production line.
Smart Images
Figure CN120115404A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of flexible visual recognition, and specifically to a flexible visual recognition sorting device and method. Background Art
[0002] Sorting is the operation of stacking items by variety and the order of inbound and outbound. Sorting is a preparatory work for improving delivery and supporting delivery, and it is an inevitable extension for different distribution enterprises to compete and improve their economic benefits during delivery. Therefore, it can also be said that sorting is an inevitable requirement for the development of delivery to a higher form. Machine vision recognition is to use machines to replace human eyes for measurement and judgment. A machine vision recognition system refers to converting the captured target into an image signal through a machine vision product (i.e., an image acquisition device: divided into two types, CMOS and CCD), transmitting it to a dedicated image processing system, and converting it into a digital signal according to information such as pixel distribution, brightness, and color; the image system performs various operations on these signals to extract the features of the target, and then controls the actions of on-site equipment according to the discrimination results. Combining multi-axis motion control with machine vision recognition will be an important content in the field of automation research in the future.
[0003] When dealing with multiple types of materials in existing automated sorting technologies, existing automated sorting equipment mostly relies on fixed work processes and structures, lacking the ability to quickly adapt to different types of materials and the ability to efficiently process them. Especially in terms of rapid production changeover, rapid adjustment, and multi-material compatibility, the flexibility of traditional systems is insufficient. Therefore, the present application discloses a flexible visual recognition sorting device and method to meet the improvement of the overall efficiency of the production line. Summary of the Invention
[0004] (I) Technical Problems to be Solved
[0005] In view of the deficiencies of the prior art, the present invention provides a flexible visual recognition sorting device and method, which have the advantages of accurate material positioning and recognition, etc., and solve a series of problems such as existing automated sorting equipment mostly relying on fixed work processes and structures, lacking the ability to quickly adapt to different types of materials and the ability to efficiently process them.
[0006] (II) Technical Solutions
[0007] To achieve the above object, the present invention provides the following technical solutions: A flexible visual recognition sorting device and method, including a belt-type sorting structure and a flexible disk sorting structure, characterized in that: the belt-type sorting structure includes a first mounting frame, a deceleration belt line is arranged on one side of the top of the first mounting frame, a photographing belt line is arranged on the other side of the top of the first mounting frame, the height of the deceleration belt line is higher than the height of the photographing belt line, and a first driving motor for driving the deceleration belt line and the photographing belt line to rotate is arranged on one side of the deceleration belt line.
[0008] Preferably, one end of the first mounting frame is provided with a return belt line, a driving source is arranged inside the return belt line, a return belt line is also arranged on one side of the first mounting frame, the height of the return belt line increases towards one side, and there are material bodies on the deceleration belt line, the photographing belt line and the return belt line.
[0009] Preferably, a mounting plate is arranged above the first mounting frame, the mounting plate can be connected to an external support, multiple second driving motors are arranged inside the mounting plate, a support arm is arranged at the output end of the second driving motor, a synchronous arm is rotatably arranged on one side of the support arm, a support side plate is arranged on the mounting plate, a first detection camera is rotatably arranged on the support side plate, the first detection camera is located at the top of the photographing belt line, and a taking arm is arranged at the bottom of multiple synchronous arms, and the taking arm is adapted to the material body.
[0010] Preferably, the flexible disk sorting structure includes a second mounting frame, a set of moving tracks are arranged at the top of the second mounting frame, a moving chain is arranged inside the moving tracks, a lifting arm is arranged on the moving tracks, a driving source is arranged on the lifting arm, and a sorting head is arranged at the bottom of the lifting arm, and the sorting head is used for taking logistics.
[0011] Preferably, a flexible vibrating disk is arranged inside the second mounting frame, a feeding bin is also arranged inside the second mounting frame, and a switch door is arranged at one end of the feeding bin.
[0012] Preferably, an adjusting rod is arranged on one side of the second mounting frame, a second detection camera is arranged on the adjusting rod, and a protection plate is also arranged at the bottom of the second detection camera, and the second detection camera is located at the top of the flexible vibrating disk.
[0013] Preferably, both the first detection camera and the second detection camera are internally provided with signal transmission devices, and the second driving motor and the moving chain can be controlled by an industrial controller.
[0014] Preferably, protection side plates are arranged on both sides of the deceleration belt line, the photographing belt line and the return belt line.
[0015] A flexible vision recognition sorting method, which is applied to a flexible vision recognition sorting device according to any one of the above, includes the following steps:
[0016] Among them, for the belt-type sorting structure:
[0017] S1. Conveyor positioning of the material body. First, the material body is conveyed to the photographing conveyor belt through the speed-reducing conveyor belt. On the photographing conveyor belt, the material body is stably conveyed to the vision system for identification. The first detection camera is located above the photographing conveyor belt, shooting the posture, angle and coordinates of the material body, obtaining the image information of the material body and transmitting it to the industrial controller for processing;
[0018] S2. Identification and analysis of the material body. After receiving the data from the first detection camera, the industrial controller analyzes it to obtain information such as the accurate position, posture and angle of the material body, and determines whether the material body needs to be sorted. Through analysis, the system can judge whether the material body is suitable for continuous transmission, grasping or reflux;
[0019] S3. Grasping and transfer of the material body. According to the position and status information of the material body, control the second drive motor to drive the moving chain, so that the lifting arm moves along the moving track. The lifting arm adjusts its height according to the analysis result, and accurately drives the sorting head to perform the grasping and transfer operation of the material body;
[0020] S4. Reflux and management of the material body. If the material body is not immediately grasped or needs to be re-sorted, the reflux conveyor belt will convey the material body back to the silo or other processing areas.
[0021] A flexible vision recognition and sorting method, in which for the flexible disk sorting structure:
[0022] S1. Supply and replenishment of the material body. The material body is automatically replenished through the replenishment bin. When the material body is lacking in the flexible vibrating disk, the switch door controls the size of the outlet of the replenishment bin, controls the replenishment bin to vibrate again, ensures that the material body falls onto the flexible vibrating disk, and ensures the continuous supply of the material body. The flexible vibrating disk vibrates the material body to keep it in a graspable state, preparing for subsequent sorting operations;
[0023] S2. Identification and real-time monitoring of the material body. The second detection camera is located above the flexible vibrating disk, responsible for real-time monitoring of the state of the material body in the sorting area. Through the adjusting rod, the position of the second detection camera can be flexibly adjusted to meet the sorting requirements of different material bodies. The second detection camera shoots the posture, angle and coordinates of the material body, and transmits the data to the industrial controller for analysis;
[0024] S3. Grasping and sorting of the material body. According to the analysis result, the lifting arm drives the sorting head to grasp the material body, and accurately grasps the material body from the flexible vibrating disk by controlling the height of the lifting arm.
[0025] (III) Beneficial effects
[0026] Compared with the prior art, the present invention provides a flexible vision recognition sorting device and method, which have the following beneficial effects:
[0027] 1. For the flexible vision recognition sorting device and method, the material body is transported to the photographing belt line through the deceleration belt line. The height difference between the deceleration belt line and the photographing belt line improves the recognition accuracy and grasping efficiency of the material body. The photographing belt line is responsible for the positioning and vision recognition of the material. The first detection camera is located above the photographing belt line, and shoots the posture, angle and coordinates of the material body, and transmits the image data to the industrial controller for analysis. According to the analysis result, the second driving motor drives the support arm and the synchronous arm to work together, grasps the material body and performs precise transfer through the picking arm. The precise positioning of the first detection camera and the coordinated work of multiple synchronous arms ensure the high-precision grasping of the material body. The setting of the protective side plate ensures the safety of the operation process, prevents the material from scattering or the equipment from being damaged. The return of the material body is completed by the return belt line. The return belt line enables the material to flow efficiently between different stages, ensures the continuity and smoothness of the production line, ensures the efficient management and recycling of the material body, and ensures the stable transportation and safe operation of the material body; it has strong adaptability and flexibility and is applicable to different types of automated production lines.
[0028] 2. For this flexible vision recognition and sorting device and method, the materials are first conveyed to the sorting area through the flexible vibrating disk on the second mounting frame. The replenishment bin provides automatic replenishment of materials, and the size of the outlet of the replenishment bin is controlled by a switch door, and the replenishment bin is controlled to vibrate again, so as to control the number of materials falling onto the vibrating disk, and further control the speed of the materials, enabling the number of materials to be adjusted in real time. A moving track is installed on the second mounting frame, and a moving chain is arranged inside the moving track. Through the movement of the moving chain, the lifting arm can move along the moving track and adjust its height as needed in the sorting area. The lifting arm is equipped with a driving source. By controlling the up and down movement of the lifting arm, the sorting head is driven to grab the materials and transfer them. One side of the second mounting frame is provided with an adjusting rod, on which a second detection camera is installed. The second detection camera is responsible for monitoring the sorting area in real time to ensure the accurate recognition and positioning of the materials. Both the first detection camera and the second detection camera are equipped with signal transmission devices. Through the collaborative work with the industrial controller, the entire sorting system can achieve automated operation and accurate sorting. Through the cooperation of the flexible vibrating disk, the moving chain and the lifting arm, the conveying and sorting efficiency of the materials is significantly improved. The setting of the replenishment bin and the switch door can ensure the continuity of material supply and avoid the situation of material shortage. The configuration of the second detection camera and the cooperation of the adjusting rod make the monitoring of the sorting area more flexible and accurate, ensuring the real-time recognition and accurate sorting of the materials. Through the control of the industrial controller, the second driving motor and the moving chain can achieve precise sorting operations, improving the automation level of the system, enhancing the adaptability of the equipment, being able to flexibly process various different types of materials, improving the flexibility and efficiency of the sorting system, and being applicable to the applications of various automated production lines.
[0029] 3. For this flexible vision recognition and sorting device and method, the above method can effectively achieve the automated sorting, accurate recognition and efficient management of the material body. The belt-type sorting structure mainly uses belt conveying and photo recognition for precise grasping, and ensures the flow of the material body through the return mechanism. The flexible disk sorting structure relies on the replenishment bin and the flexible vibrating disk to ensure the continuous supply of the material body, and at the same time, through flexible camera monitoring and the lifting arm for precise grasping, improving the automation level and adaptability of the production line. Brief Description of the Drawings
[0030] Figure 1 It is a first perspective three-dimensional structure diagram of the belt-type sorting structure of the present invention;
[0031] Figure 2 It is a second perspective three-dimensional structure diagram of the belt-type sorting structure of the present invention;
[0032] Figure 3 It is a three-dimensional structure diagram of the picking arm of the present invention;
[0033] Figure 4This is a schematic perspective view of the first perspective of the flexible disk sorting structure of the present invention;
[0034] Figure 5 This is a schematic perspective view of the second perspective of the flexible disk sorting structure of the present invention;
[0035] Figure 6 This is a schematic perspective view of the flexible vibrating disk of the present invention.
[0036] In the figure: 1. First mounting frame; 2. Reducing belt line; 3. Photographing belt line; 4. Return belt line; 5. Material body; 6. First driving motor; 7. Protective side plate; 8. Mounting plate; 9. Second driving motor; 10. Support arm; 11. Synchronous arm; 12. Taking arm; 13. Support side plate; 14. First detection camera; 15. Second mounting frame; 16. Adjusting rod; 17. Second detection camera; 18. Protective plate; 19. Moving track; 20. Moving chain; 21. Lifting arm; 22. Sorting head; 23. Refill bin; 24. Switching door; 25. Flexible vibrating disk. Detailed implementation manners
[0037] 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0038] As introduced in the background art, there are deficiencies in the prior art. To solve the above technical problems, the present application proposes a flexible visual recognition sorting device and method.
[0039] In a typical implementation manner of the present application, as Figures 1-6As shown in the figure, a flexible visual recognition sorting device and method include a belt-type sorting structure and a flexible disk sorting structure. The belt-type sorting structure includes a first mounting frame 1. On one side of the top of the first mounting frame 1, a speed-reducing belt line 2 is provided. On the other side of the top of the first mounting frame 1, a photographing belt line 3 is provided. The height of the speed-reducing belt line 2 is higher than that of the photographing belt line 3. On one side of the speed-reducing belt line 2, a first driving motor 6 is provided for driving the speed-reducing belt line 2 and the photographing belt line 3 to rotate; protective side plates 7 are provided on both sides of the speed-reducing belt line 2, the photographing belt line 3 and the return belt line 4; A return belt line 4 is provided at one end of the first mounting frame 1, and a driving source is provided inside the return belt line 4. A return belt line 4 is also provided on one side of the first mounting frame 1, and the height of the return belt line 4 increases towards one side. There are material bodies 5 on the speed-reducing belt line 2, the photographing belt line 3 and the return belt line 4; An installation plate 8 is provided above the first mounting frame 1. The installation plate 8 can be connected to an external support. Multiple groups of second driving motors 9 are provided inside the installation plate 8. A support arm 10 is provided at the output end of the second driving motor 9. A synchronous arm 11 is rotatably provided on one side of the support arm 10. A support side plate 13 is provided on the installation plate 8, and a first detection camera 14 is rotatably provided on the support side plate 13. The first detection camera 14 is located above the photographing belt line 3. Multiple groups of synchronous arms 11 are provided with a picking arm 12 at the bottom, and the picking arm 12 is adapted to the material body 5;
[0040] The material body 5 is transported to the photographing belt line 3 through the speed-reducing belt line 2. The height difference between the speed-reducing belt line 2 and the photographing belt line 3 improves the recognition accuracy and grasping efficiency of the material body 5. The photographing belt line 3 is responsible for the positioning and visual recognition of the material. The first detection camera 14 is located above the photographing belt line 3, and photographs the posture, angle and coordinates of the material body 5, and transmits the image data to the industrial controller for analysis. According to the analysis result, the second driving motor 9 drives the support arm 10 and the synchronous arm 11 to work together, grabs the material body 5 and transfers it precisely through the picking arm 12. The precise positioning of the first detection camera 14 and the coordinated work of multiple groups of synchronous arms 11 ensure the high-precision grasping of the material body 5. The setting of the protective side plate 7 ensures the safety of the operation process, avoids material scattering or equipment damage. The return of the material body 5 is completed by the return belt line 4. The return belt line 4 enables the material to flow efficiently between different stages, ensures the continuity and smoothness of the production line, ensures the efficient management and recycling of the material body 5, and ensures the stable transportation and safe operation of the material body 5; It has strong adaptability and flexibility and is suitable for different types of automated production lines.
[0041] As a preferred implementation method in this embodiment, refer to the attached Figures 4-6, the flexible disk sorting structure includes a second mounting frame 15. A set of moving tracks 19 are provided at the top of the second mounting frame 15. A moving chain 20 is arranged inside the moving tracks 19. A lifting arm 21 is arranged on the moving tracks 19. A driving source is arranged on the lifting arm 21. A sorting head 22 is arranged at the bottom of the lifting arm 21. The sorting head 22 is used to pick up the logistics. A flexible vibrating disk 25 is arranged inside the second mounting frame 15. A replenishing bin 23 is also arranged inside the second mounting frame 15. A switch door 24 is arranged at one end of the replenishing bin 23. An adjusting rod 16 is arranged on one side of the second mounting frame 15. A second detection camera 17 is arranged on the adjusting rod 16. A protective plate 18 is also arranged at the bottom of the second detection camera 17. The second detection camera 17 is located on the top of the flexible vibrating disk 25. Both the first detection camera 14 and the second detection camera 17 are internally provided with signal transmission devices. The second driving motor 9 and the moving chain 20 can be controlled by an industrial controller;
[0042] The materials are first conveyed to the sorting area through the flexible vibrating disk 25 on the second mounting frame 15. The replenishing bin 23 provides automatic replenishment of the materials, and the size of the outlet of the replenishing bin 23 is controlled by the switch door 24, and the replenishing bin 23 is controlled to vibrate again, so as to realize the number of materials falling onto the flexible vibrating disk 25, and further realize the control of the material speed, so that the number of materials can be adjusted in real time. A moving track 19 is installed on the second mounting frame 15, and a moving chain 20 is arranged inside the moving track 19. Through the movement of the moving chain 20, the lifting arm 21 can move along the moving track 19 and adjust its height according to needs in the sorting area. The lifting arm 21 is equipped with a driving source. By controlling the up and down movement of the lifting arm 21, the sorting head 22 is driven to grab the materials and transfer them. An adjusting rod 16 is arranged on one side of the second mounting frame 15, and a second detection camera 17 is installed on it. The second detection camera 17 is responsible for monitoring the sorting area in real time to ensure the accurate identification and positioning of the materials. Both the first detection camera 14 and the second detection camera 17 are equipped with signal transmission devices. Through the coordinated work with the industrial controller, the entire sorting system can realize automatic operation and accurate sorting; through the cooperation of the flexible vibrating disk 25, the moving chain 20 and the lifting arm 21, the conveying and sorting efficiency of the materials is significantly improved. The setting of the replenishing bin 23 and the switch door 24 can ensure the continuity of the material supply and avoid the situation of material shortage. The configuration of the second detection camera 17 and the cooperation of the adjusting rod 16 make the monitoring of the sorting area more flexible and accurate, ensure the real-time identification and accurate sorting of the materials. Through the control of the industrial controller, the second driving motor 9 and the moving chain 20 can realize precise sorting operations, improve the automation degree of the system, improve the adaptability of the equipment, can flexibly handle a variety of different types of materials, improve the flexibility and efficiency of the sorting system, and are suitable for the application of a variety of automated production lines.
[0043] A flexible vision recognition and sorting method, which is applied to any one of the above flexible vision recognition and sorting devices, includes the following steps:
[0044] For the belt sorting structure:
[0045] S1. Convey and position the material body. The material body 5 is first conveyed to the photographing belt line 3 through the reduction belt line 2. On the photographing belt line 3, the material body 5 is stably conveyed to the vision system for recognition. The first detection camera 14 is located above the photographing belt line 3, and photographs the posture, angle and coordinates of the material body 5, obtains the image information of the material body 5 and transmits it to the industrial controller for processing;
[0046] S2. Identify and analyze the material body. After receiving the data from the first detection camera 14, the industrial controller analyzes it to obtain information such as the accurate position, posture and angle of the material body 5, and determines whether the material body 5 needs to be sorted. Through analysis, the system can judge whether the material body 5 is suitable for continuous transmission, grasping or reflux;
[0047] S3. Grasp and transfer the material body. According to the position and state information of the material body 5, control the second drive motor 9 to drive the moving chain 20, so that the lifting arm 21 moves along the moving track 19. The lifting arm 21 adjusts its height according to the analysis result, and precisely drives the sorting head 22 to perform the grasping and transfer operation of the material body 5. The grasping head ensures the stable transfer of the material body 5 to the specified position through the high-precision positioning function;
[0048] S4. Reflux and management of the material body. If the material body 5 is not immediately grasped or needs to be re-sorted, the reflux belt line 4 will convey the material body 5 back to the storage bin or other processing areas. This process ensures the efficient reflux of the material body 5 and avoids the waste or backlog of the material body 5.
[0049] For the flexible disk sorting structure:
[0050] S1. Supply and replenish the material body. The material body 5 is automatically replenished through the replenishment bin 23. When the material body 5 is lacking in the flexible vibrating disk 25, the switch door 24 controls the size of the outlet of the replenishment bin 23, controls the replenishment bin 23 to vibrate again, ensures that the material body 5 falls into the vibrating disk 25, and ensures the continuous supply of the material body 5. The flexible vibrating disk 25 vibrates the material body 5 to keep it in a state where it can be grasped, and prepares for subsequent sorting operations;
[0051] S2. Material body identification and real-time monitoring. The second detection camera 17 is located above the flexible vibrating disk 25 and is responsible for real-time monitoring of the state of the material body 5 in the sorting area. Through the adjusting rod 16, the position of the second detection camera 17 can be flexibly adjusted to meet the sorting requirements of different material bodies 5. The second detection camera 17 captures the posture, angle and coordinates of the material body 5 and transmits the data to the industrial controller for analysis;
[0052] S3. Material body grasping and sorting. According to the analysis results, the lifting arm 21 drives the sorting head 22 to grasp the material body 5. By controlling the height of the lifting arm, the system can flexibly adapt to the material bodies 5 at different positions and accurately grasp the material body 5 from the flexible vibrating disk 25.
[0053] It can effectively realize the automatic sorting, accurate identification and efficient management of the material body 5. The belt-type sorting structure mainly uses belt conveying and photo recognition for accurate grasping and ensures the flow of the material body 5 through the return mechanism. The flexible disk sorting structure relies on the replenishment bin and the flexible vibrating disk to ensure the continuous supply of the material body 5. At the same time, through flexible camera monitoring and the lifting arm for accurate grasping, the automation degree and adaptability of the production line are improved.
[0054] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A flexible visual recognition sorting device, comprising a belt sorting structure and a flexible tray sorting structure, characterized in that: The belt-type sorting structure comprises a first mounting frame (1), a deceleration belt line (2) is arranged on one side of the top of the first mounting frame (1), a photographing belt line (3) is arranged on the other side of the top of the first mounting frame (1), the height of the deceleration belt line (2) is higher than the height of the photographing belt line (3), and a first driving motor (6) for driving the deceleration belt line (2) and the photographing belt line (3) to rotate is arranged on one side of the deceleration belt line (2).
2. A flexible visual recognition sorting device according to claim 1, characterized in that: A return belt line (4) is provided at one end of the first mounting frame (1), a driving source is provided in the return belt line (4), a return belt line (4) is also provided on one side of the first mounting frame (1), the height of the return belt line (4) increases gradually toward one side, and a material body (5) is provided on the deceleration belt line (2), the photographing belt line (3) and the return belt line (4).
3. A flexible visual recognition sorting device according to claim 2, characterized in that: A mounting plate (8) is arranged above the first mounting frame (1), and the mounting plate (8) can be connected to an external bracket. A plurality of second drive motors (9) are arranged inside the mounting plate (8), and a support arm (10) is arranged at the output end of the second drive motor (9). A synchronous arm (11) is rotatably arranged on one side of the support arm (10). A supporting side plate (13) is arranged on the mounting plate (8), and a first detection camera (14) is rotatably arranged on the supporting side plate (13). The first detection camera (14) is located at the top of the photographing belt line (3). A picking arm (12) is arranged at the bottom of the plurality of synchronous arms (11), and the picking arm (12) is adapted to the material body (5).
4. A flexible visual recognition sorting device according to claim 3, characterized in that: The flexible disk sorting structure comprises a second mounting frame (15), a group of movable rails (19) are arranged on the top of the second mounting frame (15), a movable chain (20) is arranged inside the movable rails (19), a lifting arm (21) is arranged on the movable rails (19), a driving source is arranged on the lifting arm (21), and a sorting head (22) is arranged at the bottom of the lifting arm (21), and the sorting head (22) is used to pick up materials.
5. A flexible visual recognition sorting device according to claim 4, characterized in that: A flexible vibration plate (25) is arranged in the second mounting frame (15), and a feeding bin (23) is also arranged in the second mounting frame (15), and a switch door (24) is arranged at one end of the feeding bin (23).
6. A flexible visual recognition sorting device according to claim 5, characterized in that: An adjustment rod (16) is provided on one side of the second mounting frame (15), a second detection camera (17) is provided on the adjustment rod (16), a protective plate (18) is also provided at the bottom of the second detection camera (17), and the second detection camera (17) is located on the top of the flexible vibration plate (25).
7. A flexible visual recognition sorting device according to claim 6, characterized in that: The first detection camera (14) and the second detection camera (17) are both equipped with a built-in signal transmission device, and the second drive motor (9) and the moving chain (20) can be controlled by an industrial controller.
8. The flexible visual recognition sorting device according to claim 2, characterized in that: Protective side plates (7) are provided on both sides of the deceleration belt line (2), the photographing belt line (3) and the return belt line (4).
9. A flexible visual recognition sorting method, applied to any of the flexible visual recognition sorting devices described above, characterized in that: The following steps are involved: Among them, for the belt sorting structure: S1, material body conveying and positioning, the material body (5) is firstly conveyed to the photographing belt line (3) through the deceleration belt line (2), on which the material body (5) is stably conveyed to the visual system for identification, and the first detection camera (14) is located above the photographing belt line (3), photographing the posture, angle and coordinates of the material body (5), acquiring image information of the material body (5) and transmitting it to the industrial controller for processing; S2, material body identification and analysis. After receiving the data from the first detection camera (14), the industrial controller performs analysis to obtain the accurate position, posture, angle and other information of the material body (5), and determines whether the material body (5) needs to be sorted. Through analysis, the system can determine whether the material body (5) is suitable for continued transmission, grasping or reflow; S3, material body grabbing and transfer, according to the position and state information of the material body (5), control the second drive motor (9) to drive the moving chain (20), so that the lifting arm (21) moves along the moving track (19), the lifting arm (21) adjusts the height according to the analysis result, and accurately drives the sorting head (22) to perform the material body (5) grabbing and transfer operations; S4. Material body return and management. If the material body (5) is not immediately captured or needs to be re-sorted, the return belt line (4) will transport the material body (5) back to the silo or other processing area.
10. A flexible visual recognition sorting method according to claim 9, characterized in that: Among them, for the flexible disk sorting structure: S1, material body supply and replenishment, the material body (5) is automatically replenished through the replenishment bin (23), when the material body (5) is insufficient in the flexible vibration disk (25), the switch door (24) controls the size of the outlet of the replenishment bin (23), controls the replenishment bin (23) to vibrate again, ensures that the material body (5) falls onto the flexible vibration disk (25), ensures the continuous supply of the material body (5), and the flexible vibration disk (25) vibrates the material body (5) to keep it in a graspable state, ready for subsequent sorting operations; S2, material body identification and real-time monitoring, the second detection camera (17) is located above the flexible vibration plate (25), responsible for real-time monitoring of the state of the material body (5) in the sorting area. The position of the second detection camera (17) can be flexibly adjusted through the adjustment rod (16) to meet the sorting requirements of different material bodies (5). The second detection camera (17) captures the posture, angle and coordinates of the material body (5), and transmits the data to the industrial controller for analysis; S3. Material body grabbing and sorting: According to the analysis results, the lifting arm (21) drives the sorting head (22) to grab the material body (5). By controlling the height of the lifting arm, the material body (5) is accurately grabbed from the flexible vibration plate (25).