Garbage sorting mechanical arm with intelligent recognition algorithm

Abstract

The invention relates to the technical field of mechanical arms, and discloses a garbage sorting mechanical arm with an intelligent recognition algorithm, which comprises a base, a rotating seat is rotationally connected to the base, a first arm is rotationally connected to the rotating seat, and a second arm is rotationally connected to one end, away from the rotating seat, of the first arm; the end, away from the first arm, of the second arm is connected with a third arm, and the outer wall of the third arm is connected with a hollow column. The clamping assembly is used for sorting garbage; the anti-winding assembly is used for preventing garbage from being wound on the clamping assembly; and the disinfection assembly is used for disinfecting the clamping assembly. Through the arrangement of the clamping assembly, during garbage sorting operation, after the camera module and the recognition module recognize and position garbage, two different sorting modes of clamping and adsorption can be switched according to blocky garbage and platy garbage, switching of the two modes can be achieved by controlling the shrinkage amplitude of an air cylinder, operation is convenient and fast, and the structure is simple.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and particularly to a garbage sorting robotic arm with an intelligent recognition algorithm. Background Art

[0002] Garbage sorting is a key link in realizing garbage reduction, resource utilization and harmless treatment. Existing garbage sorting technologies are roughly divided into manual sorting and mechanical sorting. Manual garbage sorting has a high labor intensity, a harsh working environment, low sorting efficiency and low accuracy. Traditional garbage sorting equipment based on mechanical principles, such as vibrating screens and drum screens, mainly sorts according to physical characteristics of garbage such as size, shape and weight, and has limited ability to recognize characteristics such as the material and composition of garbage. For some garbage with similar shapes but different materials, such as plastic bottles and glass bottles, it is difficult for traditional mechanical sorting equipment to accurately distinguish them, resulting in poor sorting effects. As an automated device that can simulate the actions of a human arm, robotic arms have been widely used in industrial production, logistics and other fields. With the continuous development of robot technology, the accuracy, speed and flexibility of robotic arms have been continuously improved, and the load capacity has also been continuously enhanced. At the same time, the control technology of robotic arms has become increasingly mature, enabling more complex actions and tasks. For example, the positioning accuracy of some high-precision robotic arms can reach the millimeter level, and they can accurately grasp and place garbage. Therefore, the prior art applies robotic arms to garbage sorting operations.

[0003] However, in the prior art, the following problems exist:

[0004] 1. When the existing garbage sorting robotic arm sorts garbage, since some garbage has an irregular shape, for example, when clamping spherical garbage, due to the small contact area between the conventional clamping mechanism and the outer surface of the spherical garbage, the garbage may fall off during the clamping process, thus affecting the work efficiency.

[0005] 2. When the prior art clamps plate-shaped garbage, when the plate-shaped garbage is laid flat on the conveyor belt, due to the small contactable area on both sides of the plate-shaped garbage, the conventional clamping mechanism is not convenient for clamping the plate-shaped garbage, and manual sorting is required, increasing the manual workload. Summary of the Invention

[0006] The purpose of the present invention is to provide a garbage sorting robotic arm with an intelligent recognition algorithm to solve the above problems and overcome the defects of the prior art, as elaborated below.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] A waste sorting robotic arm with an intelligent recognition algorithm provided by the present invention includes a base, a turntable rotatably connected to the base, a first arm rotatably connected to the turntable, a second arm rotatably connected to one end of the first arm away from the turntable, a third arm connected to one end of the second arm away from the first arm, and a hollow column connected to the outer wall of the third arm; it further includes a clamping assembly for sorting waste; an anti-winding assembly for preventing waste from winding around the clamping assembly; and a disinfection assembly for disinfecting the clamping assembly; the clamping assembly includes a cylinder installed on the inner wall of the hollow column, a mounting seat connected to the bottom of the hollow column through a bracket, clamping arms respectively hinged to both sides of the mounting seat, a telescopic rod provided on the cylinder, a connecting block connected to the outer wall of the telescopic rod of the cylinder, connecting rods respectively hinged between both sides of the connecting block and the two clamping arms, a mounting plate connected to one end of the clamping arm away from the mounting seat, and two clamping plates hinged to the mounting plate.

[0009] Preferably, the hinge joint between the clamping plate and the mounting plate is located at the middle part of the clamping plate, a plurality of springs are provided between the clamping plate and the mounting plate, a plurality of mounting holes are provided on the clamping plate, a plurality of touch rods are respectively slidably connected in the plurality of mounting holes of the clamping plate, and springs are provided between the touch rods and the mounting holes of the clamping plate.

[0010] Preferably, a suction cup is connected to the bottom of the mounting seat, a circular tube is connected to the inner wall of the mounting seat, a plug disk is connected to the bottom end of the telescopic rod of the cylinder, and the plug disk is in sliding contact with the inner wall of the circular tube during movement.

[0011] Preferably, two anti-winding assemblies are provided, and the two anti-winding assemblies are respectively provided on the two mounting plates. The anti-winding assembly includes four rotating rings, and all four rotating rings are rotatably connected through the mounting plates. Slide rods are respectively slidably connected to the inner walls of the four rotating rings, and cutting knives are connected to the outer walls of the rotating rings.

[0012] Preferably, the four slide rods are divided into two groups, one group of slide rods is two, the two groups of slide rods are respectively located on both sides of the clamping arm, a long rod is connected between the two slide rods of the same group, and a leaf spring is connected between the long rod and the mounting plate.

[0013] Preferably, an annular inclined groove is provided on the inner wall of the rotating ring, a ball is provided on the outer wall of the slide rod, and the ball of the slide rod is in sliding connection with the annular inclined groove of the rotating ring.

[0014] Preferably, the disinfection component includes a liquid tank installed inside the hollow column. Two suction pipes are connected to the bottom of the liquid tank. A check valve is connected to the inner wall of the suction pipe. A piston rod is slidably connected through the bottom inner wall of the suction pipe. A spring is arranged between the top of the piston rod and the inner wall of the suction pipe. A liquid pipe is connected to the outer wall of the suction pipe. One end of the liquid pipe away from the liquid tank is connected to a spray head.

[0015] Preferably, the liquid tank is annularly arranged. The cylinder is located in the middle of the liquid tank. A liquid injection hole is provided on the liquid tank. Both suction pipes penetrate through the bottom of the hollow column. The connecting block contacts the two piston rods during movement. Both liquid pipes penetrate through the hollow column. The liquid pipes are made of flexible materials. The two liquid pipes are mirror-image arranged.

[0016] Preferably, a rotating rod is rotatably connected to the inner wall of the clamping arm. The two rotating rods are respectively connected to the two spray heads. A lever is connected to the end of the rotating rod away from the spray head. Convex blocks are respectively connected to both sides of the mounting seat. The two levers slide into contact with the two convex blocks respectively during movement. A torsion spring is arranged inside the connection between the rotating rod and the clamping arm.

[0017] The beneficial effects are as follows:

[0018] 1. For the garbage sorting robotic arm with intelligent recognition algorithm, through the setting of the clamping component, during garbage sorting operations, after the camera module and the recognition module identify and locate the garbage, it can switch between two different sorting methods of clamping and adsorption according to block-shaped garbage and plate-shaped garbage, and the switching between the two methods can be achieved by controlling the contraction amplitude of the cylinder. The operation is convenient and the structure is simple. During clamping, the clamping plate flips to a certain extent according to the surface of the garbage to maintain the degree of fit with the garbage surface, enabling the four clamping plates to effectively clamp irregular block-shaped garbage through cooperation. The multiple touch rods on the clamping plate can contract following the garbage surface while maintaining pressure on the garbage surface, further increasing the friction with the material surface, thereby maintaining the stability of clamping and preventing the garbage from falling during sorting.

[0019] 2. For the garbage sorting robotic arm with intelligent recognition algorithm, through the setting of the two anti-winding components, when the two mounting plates open in the case of external winding of garbage, two cutting knives can be respectively rotated out from both sides of the mounting plates, thereby cutting the garbage wound outside the mounting plates and causing the broken garbage to fall, avoiding the situation where the surfaces of the two mounting plates are wound with strip-shaped or film-shaped garbage during sorting operations, which affects the operation of the two mounting plates.

[0020] 3. The robotic arm for garbage sorting with intelligent recognition algorithm, through the setting of the disinfection component, enables the two clamping arms to spray disinfectant liquid on the two clamping arms, two mounting plates and four clamping plates during the process of flipping upwards to the highest position, playing a role in disinfection and avoiding bacteria in the garbage attaching to the clamping plates during the sorting process, causing cross-contamination; through the setting of the rotating rod, the spray head can form a relative motion relationship with the clamping arm when spraying the disinfectant liquid, thereby increasing the coverage area of the disinfectant water spray and ensuring the disinfection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 is the overall structural schematic diagram of the present invention;

[0023] Figure 2 is the structural schematic diagram of the hollow column of the present invention;

[0024] Figure 3 is the structural schematic diagram of the clamping component of the present invention;

[0025] Figure 4 is the structural schematic diagram of the suction cup of the present invention;

[0026] Figure 5 is the structural schematic diagram of the mounting plate of the present invention;

[0027] Figure 6 is the structural schematic diagram of the clamping plate of the present invention;

[0028] Figure 7 is the structural schematic diagram of the anti-winding component of the present invention;

[0029] Figure 8 is the structural schematic diagram of the cutting knife of the present invention;

[0030] Figure 9 is the structural schematic diagram of the disinfection component of the present invention;

[0031] Figure 10 is the structural schematic diagram of the liquid tank of the present invention;

[0032] Figure 11 is the present invention Figure 10 magnified schematic diagram of part A;

[0033] Figure 12 is the present invention Figure 10Enlarged schematic diagram at position B.

[0034] Explanation of reference numerals in the drawings: 1, base; 2, swivel base; 3, first arm; 4, second arm; 5, third arm; 6, hollow column; 7, clamping assembly; 71, cylinder; 72, mounting seat; 73, connecting block; 74, connecting rod; 75, clamping arm; 76, mounting plate; 77, clamping plate; 771, contact rod; 78, suction cup; 79, round tube; 710, plug disc; 8, anti-winding assembly; 81, swivel ring; 82, cutter; 83, slide bar; 84, long rod; 85, leaf spring; 9, disinfection assembly; 91, liquid tank; 92, suction pipe; 93, check valve; 94, piston rod; 95, liquid pipe; 96, spray head; 97, rotating rod; 98, lever; 99, convex block. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0036] Embodiment 1

[0037] Please refer to Figure 1 , a waste sorting robotic arm with an intelligent recognition algorithm, including a base 1, a swivel base 2 rotatably connected to the base 1, a first arm 3 rotatably connected to the swivel base 2, a second arm 4 rotatably connected to the end of the first arm 3 away from the swivel base 2, a third arm 5 connected to the end of the second arm 4 away from the first arm 3, a hollow column 6 connected to the outer wall of the third arm 5. The base 1 can be installed beside a waste conveyor belt, the swivel base 2 can rotate on the base 1, the first arm 3 can rotate on the swivel base 2, the second arm 4 can rotate on the first arm 3, the third arm 5 can rotate on the second arm 4. A camera module and an identification module are provided on the third arm 5. The camera module can capture the image data of the waste, locate the approximate position of the waste, and then identify the type of the waste through the identification module, so as to judge whether to use the clamping method or the suction method to sort the waste. The identification module is provided with a convolutional neural network. By using the convolutional neural network, a large amount of waste image data can be trained, so as to automatically learn the characteristic patterns of the waste and accurately classify the newly input waste images. Through training, the convolutional neural network can distinguish different types of waste such as waste paper, plastic, metal, and glass.

[0038] In addition, please refer to Figure 1 - Figure 6, further comprising a clamping assembly 7 for sorting garbage; when sorting bulk garbage, after the camera module and the recognition module locate the position of the garbage, through the cooperation of the turntable 2, the first arm 3, the second arm 4 and the third arm 5, the hollow column 6 can be driven to move above the garbage. The clamping assembly 7 includes a cylinder 71, the cylinder 71 is installed on the inner wall of the hollow column 6, the bottom of the hollow column 6 is connected with a mounting seat 72 through a bracket, clamping arms 75 are respectively hinged on both sides of the mounting seat 72, a telescopic rod is arranged on the cylinder 71, a connecting block 73 is connected to the outer wall of the telescopic rod of the cylinder 71, connecting rods 74 are respectively hinged between both sides of the connecting block 73 and the two clamping arms 75, one end of the clamping arm 75 far away from the mounting seat 72 is connected with a mounting plate 76, two clamping plates 77 are hinged on the mounting plate 76. When the cylinder 71 extends, the four clamping plates 77 on the two mounting plates 76 approach each other. When the cylinder 71 contracts, the four clamping plates 77 on the two mounting plates 76 move away from each other. When the four clamping plates 77 approach each other, the garbage can be clamped. The hinged position between the clamping plate 77 and the mounting plate 76 is located at the middle part of the clamping plate 77. A plurality of springs are arranged between the clamping plate 77 and the mounting plate 76. When clamping, the two clamping plates 77 fit the surface of the spherical garbage and turn by a certain amplitude, so as to increase the contact area between the clamping plate 77 and the surface of the spherical garbage. At the same time, the clamping plate 77 located below can play a certain supporting role. The two clamping plates 77 maintain the pressure on the surface of the garbage through the elastic force of the spring. At this time, the four clamping plates 77 form a shape similar to a rhombus, wrapping the spherical garbage therein, achieving the effect of stably clamping the spherical garbage. Compared with the conventional flat clamping, the friction and clamping stability between the clamping plate 77 and the spherical garbage are greatly improved. A plurality of mounting holes are arranged on the clamping plate 77, and a plurality of contact rods 771 are respectively slidably connected in the plurality of mounting holes of the clamping plate 77. Springs are arranged between the contact rods 771 and the mounting holes of the clamping plate 77. After the plurality of contact rods 771 contact the garbage, they can fit the surface of the garbage and contract to a certain extent, and maintain the pressure on the surface of the garbage through the elastic force of the spring. When clamping the garbage, the plurality of contact rods 771 can cooperate to effectively fit and clamp the garbage with an irregular shape, further improving the clamping stability and avoiding the situation that the garbage falls during the sorting process; the bottom of the mounting seat 72 is connected with a suction cup 78, the inner wall of the mounting seat 72 is connected with a circular tube 79, the bottom end of the telescopic rod of the cylinder 71 is connected with a plug disk 710, and the plug disk 710 is in sliding contact with the inner wall of the circular tube 79 during the movement process. When sorting plate-shaped garbage, the cylinder 71 continuously contracts, and the telescopic rod of the cylinder 71 drives the plug disk 710 to move upward. When all four clamping plates 77 move above the horizontal plane at the bottom of the suction cup 78, the plug disk 710 enters the circular tube 79. At this time, the bottom of the suction cup 78 is attached to the surface of the garbage. Then, the cylinder 71 continues to contract. During the process that the plug disk 710 continues to move upward after entering the circular tube 79, the air between the inside of the suction cup 78 and the garbage can be pumped into the circular tube 79, so that the suction cup 78 adsorbs the garbage by using the negative pressure principle;Through the setting of the clamping assembly 7, during the garbage sorting operation, after the camera module and the recognition module identify and locate the garbage, it is possible to switch between two different sorting methods of clamping and adsorption according to block-shaped garbage and plate-shaped garbage, and the switching between the two methods can be achieved by controlling the contraction amplitude of the cylinder 71. The operation is convenient and the structure is simple. While clamping, the clamping plate 77 flips to a certain extent according to the surface of the garbage to maintain the degree of fit with the garbage surface, so that the four clamping plates 77 can effectively clamp irregular block-shaped garbage through cooperation. The multiple touch rods 771 on the clamping plate 77 can contract following the surface of the garbage, while maintaining the pressure on the garbage surface, further increasing the friction with the surface of the material, thereby maintaining the stability of the clamping and preventing the garbage from falling during sorting.;

[0039] Furthermore, please refer to Figure 7 - Figure 8 Figure, the anti-winding assembly 8 is used to prevent garbage from winding around the clamping assembly 7; there are two anti-winding assemblies 8, and the two anti-winding assemblies 8 are respectively arranged on the two mounting plates 76. The anti-winding assembly 8 includes four rotating rings 81, and the four rotating rings 81 are all rotatably connected through the mounting plate 76. The inner walls of the four rotating rings 81 are respectively slidably connected with sliding rods 83. The inner wall of the rotating ring 81 is provided with an annular inclined groove, and the outer wall of the sliding rod 83 is provided with a ball. The ball of the sliding rod 83 is slidably connected with the annular inclined groove of the rotating ring 81. When the sliding rod 83 slides, the rotating ring 81 is driven to rotate through the cooperation between the ball and the annular inclined groove of the rotating ring 81. The outer wall of the rotating ring 81 is connected with a cutter 82. When the rotating ring 81 rotates, the cutter 82 is driven to rotate. Long grooves are respectively opened on both sides of the mounting plate 76, and the four cutters 82 are respectively located in the two long grooves of the mounting plate 76. When the four cutters 82 rotate, the four cutters 82 rotate out from the long grooves on both sides of the mounting plate 76 to cut off the garbage wound around the outside of the mounting plate 76, so that the garbage falls off. The four sliding rods 83 are divided into two groups, one group of sliding rods 83 is set to two, and the two groups of sliding rods 83 are respectively located on both sides of the clamping arm 75. A long rod 84 is connected between the two sliding rods 83 in the same group, and a leaf spring 85 is connected between the long rod 84 and the mounting plate 76. Through the setting of the two anti-winding assemblies 8, when the two mounting plates 76 open in the case of garbage winding around the outside, two cutters 82 can be respectively rotated out from both sides of the mounting plate 76, so as to cut off the garbage wound around the outside of the mounting plate 76, and make the broken garbage fall off, avoiding the situation that strip-shaped or film-shaped garbage winds around the surfaces of the two mounting plates 76 during the sorting operation and affecting the operation of the two mounting plates 76.

[0040] Still further, please refer to Figure 9 - Figure 12, a disinfection component 9 is used to disinfect the clamping component 7; the disinfection component 9 includes a liquid tank 91, which is installed inside the hollow column 6, and the liquid tank 91 is filled with disinfectant. Two suction pipes 92 are connected to the bottom of the liquid tank 91, and the inner wall of the suction pipe 92 is connected to a check valve 93. A piston rod 94 is slidably connected to the inner wall of the bottom of the suction pipe 92, and a spring is provided between the top of the piston rod 94 and the inner wall of the suction pipe 92. The outer wall of the suction pipe 92 is connected to a liquid pipe 95, and the end of the liquid pipe 95 away from the liquid tank 91 is connected to a nozzle 96. The liquid tank 91 is arranged in an annular manner, and the cylinder 71 is located in the middle of the liquid tank 91. The liquid tank 9 1 is provided with a liquid injection hole, two suction pipes 92 both penetrate the bottom of the hollow column 6, the connecting block 73 contacts the two piston rods 94 during the movement, two liquid pipes 95 both penetrate the hollow column 6, the liquid pipes 95 are made of flexible material, and the two liquid pipes 95 are mirror-imaged. When the piston rod 94 moves upward, the disinfectant in the suction pipe 92 is squeezed into the liquid pipe 95, and the liquid pipe 95 transports the disinfectant to the nozzle 96, and the nozzle 96 sprays the disinfectant in atomized form. The disinfectant sprayed by the nozzle 96 can cover the clamping arm 75, the mounting plate 76 and the two clamping plates 77, and disinfect the clamping arm 75, the mounting plate 76 and the two clamping plates 77; The inner wall of the arm 75 is rotatably connected with a rotating rod 97, and the two rotating rods 97 are respectively connected to the two nozzles 96. The end of the rotating rod 97 away from the nozzle 96 is connected with a lever 98, and the two sides of the mounting seat 72 are respectively connected with bumps 99. The two levers 98 are respectively in sliding contact with the two bumps 99 during the movement. A torsion spring is provided inside the connection between the rotating rod 97 and the clamping arm 75. When the clamping arm 75 is about to flip into place, the lever 98 contacts the bump 99, so that the bump 99 abuts against the lever 98, so that the lever 98 and the rotating rod 97 stop moving, and a relative rotation relationship is formed between the clamping arm 75 and the rotating rod 97, so that the nozzle 96 sprays out. When the disinfectant is sprayed, the coverage of the disinfectant sprayed by the nozzle 96 is increased to ensure the disinfection coverage; through the setting of the disinfection component 9, when the two clamping arms 75 are flipped upward to the highest point, the two nozzles 96 can spray the disinfectant on the two clamping arms 75, the two mounting plates 76 and the four clamping plates 77, so as to play a disinfection role and avoid the bacteria in the garbage adhering to the clamping plates 77 during the sorting process, causing cross contamination; through the setting of the rotating rod 97, the nozzle 96 can form a relative motion relationship with the clamping arm 75 when spraying the disinfectant, thereby increasing the coverage of the disinfectant water spray and ensuring the disinfection effect.

[0041] With the above structure, the working principle of this case is as follows: The base 1 can be installed beside the garbage conveyor belt. The turntable 2 can rotate on the base 1. The first arm 3 can rotate on the turntable 2. The second arm 4 can rotate on the first arm 3. The third arm 5 can rotate on the second arm 4. A camera module and an identification module are provided on the third arm 5. The camera module can capture the image data of the garbage, locate the approximate position of the garbage, and then identify the type of the garbage through the identification module, so as to judge whether to use the clamping method or the suction method to sort the garbage. The identification module is provided with a convolutional neural network. By using the convolutional neural network, a large amount of garbage image data can be trained, so as to automatically learn the characteristic patterns of the garbage and accurately classify the newly input garbage images. Through training, the convolutional neural network can distinguish different types of garbage such as waste paper, plastic, metal, and glass. When sorting bulk garbage, after the camera module and the identification module locate the position of the garbage, through the cooperation of the turntable 2, the first arm 3, the second arm 4, and the third arm 5, the hollow column 6 can be driven to move above the garbage. The hollow column 6 drives the mounting seat 72 and the two clamping arms 75, the suction cups 78, and the round tube 79 above it to move synchronously through the bracket. When the cylinder 71 in the hollow column 6 extends, the telescopic rod of the cylinder 71 drives the connecting block 73 to move downward. When the cylinder 71 contracts, the connecting block 73 moves upward. When the connecting block 73 moves downward, the two clamping arms 75 are driven to move closer to each other through the two connecting rods 74. When the connecting block 73 moves upward, the two clamping arms 75 are driven to move closer to each other through the two connecting rods 74. When the clamping arms 75 move, the two clamping plates 77 are driven to move synchronously through the mounting plate 76. Therefore, when the cylinder 71 extends, the four clamping plates 77 on the two mounting plates 76 approach each other. When the cylinder 71 contracts, the four clamping plates 77 on the two mounting plates 76 move away from each other. When the four clamping plates 77 approach each other, the garbage can be clamped. Since the shapes of some garbage are irregular, for example, when clamping spherical garbage, taking the two clamping plates 77 on the same mounting plate 76 as an example, the clamping plate 77 can swing around its hinge position with the mounting plate 76 as the center. The most prominent part in the middle of the spherical garbage is located between the two clamping plates 77. When clamping, the two clamping plates 77 fit the surface of the spherical garbage and flip by a certain amplitude, so as to increase the contact area between the clamping plate 77 and the surface of the spherical garbage. At the same time, the clamping plate 77 located below can play a certain supporting role. At this time, the four clamping plates 77 form a shape similar to a rhombus, wrapping the spherical garbage in it, achieving the effect of stably clamping the spherical garbage. Compared with the conventional flat clamping, the friction and clamping stability between the clamping plate 77 and the spherical garbage are greatly improved.A plurality of contact rods 771 on the surface of the clamping plate 77 can contract to a certain extent along the surface of the garbage after contacting the garbage, and maintain the pressure on the garbage surface through the elastic force of the spring. Therefore, when clamping the garbage, the plurality of contact rods 771 can cooperate to effectively fit and clamp the garbage with an irregular shape, further improving the clamping stability and avoiding the situation of garbage falling during the sorting process; when sorting plate-shaped garbage, the cylinder 71 continuously contracts, and the telescopic rod of the cylinder 71 drives the plug disk 710 to move upward. When all four clamping plates 77 move above the horizontal plane at the bottom of the suction cup 78, the plug disk 710 enters the circular tube 79. At this time, the bottom of the suction cup 78 is attached to the garbage surface, and then the cylinder 71 continues to contract. At this time, a relatively airtight space is formed between the plug disk 710, the suction cup 78 and the garbage. During the process of the plug disk 710 continuing to move upward after entering the circular tube 79, the air between the inside of the suction cup 78 and the garbage can be pumped into the circular tube 79, so that the suction cup 78 adsorbs the garbage by using the negative pressure principle. The suction cup 78 is made of an elastic material and can deform to a certain extent. At this time, the suction cup 78 stably adsorbs the garbage by adsorption, so as to perform subsequent sorting operations; through the setting of the clamping assembly 7, when sorting garbage, after the camera module and the recognition module identify and locate the garbage, two different sorting methods of clamping and adsorption can be switched according to the block-shaped garbage and the plate-shaped garbage, and the switching between the two methods can be realized by controlling the contraction amplitude of the cylinder 71. The operation is convenient and the structure is simple. While clamping, the clamping plate 77 flips to a certain extent according to the surface of the garbage to maintain the degree of fit with the garbage surface, so that the four clamping plates 77 can effectively clamp the irregular block-shaped garbage through cooperation. The plurality of contact rods 771 on the clamping plate 77 can contract along with the garbage surface and at the same time maintain the pressure on the garbage surface, further increasing the friction force with the material surface, so as to maintain the clamping stability and avoid garbage falling during sorting.;

[0042] When sorting strip-shaped or film-shaped garbage, the garbage may wind around the outer walls of the two clamping arms 75, thus wrapping the two clamping arms 75 and affecting the operation of the two clamping arms 75 and the two mounting plates 76. When there is garbage wound around the outside of the two clamping arms 75, the garbage will also wrap around the outer walls of the four long rods 84. When the two clamping arms 75 open, the wound garbage squeezes the four long rods 84, causing the four long rods 84 to move towards the mounting plates 76. When the long rods 84 move, they drive the two sliding rods 83 to slide synchronously. When the sliding rods 83 slide, they drive the rotating ring 81 to rotate through the cooperation between the balls and the annular inclined groove of the rotating ring 81. When the rotating ring 81 rotates, it drives the cutting knife 82 to rotate. Long grooves are respectively formed on both sides of the mounting plate 76, and the four cutting knives 82 are respectively located in the two long grooves of the mounting plate 76. When the four cutting knives 82 rotate, the four cutting knives 82 rotate out of the long grooves on both sides of the mounting plate 76, cutting off the garbage wound around the outside of the mounting plate 76 and causing the garbage to fall. Subsequently, the four long rods 84 are reset respectively by the elastic force of the leaf springs 85, and the four cutting knives 82 also retract into the long grooves of the mounting plate 76 accordingly. Through the arrangement of the two anti-winding assemblies 8, when the two mounting plates 76 open under the condition that there is garbage wound around the outside, two cutting knives 82 can respectively rotate out from both sides of the mounting plate 76, thus cutting off the garbage wound around the outside of the mounting plate 76 and causing the broken garbage to fall, avoiding the situation that strip-shaped or film-shaped garbage winds around the surfaces of the two mounting plates 76 during the sorting operation and affecting the operation of the two mounting plates 76.

[0043] The liquid tank 91 is filled with disinfectant solution. The disinfectant solution flows unidirectionally through two check valves 93 into two suction pipes 92. When the connecting block 73 is about to move upward to the highest position, the connecting block 73 contacts and drives the two piston rods 94 to move upward. When the piston rods 94 move upward, the disinfectant solution in the suction pipes 92 is squeezed into the liquid pipe 95. The liquid pipe 95 transports the disinfectant solution to the nozzle 96, and the nozzle 96 atomizes and sprays the disinfectant solution. The disinfectant solution sprayed by the nozzle 96 can cover the clamping arms 75, the mounting plate 76, and the two clamping plates 77, disinfecting the clamping arms 75, the mounting plate 76, and the two clamping plates 77. When the connecting block 73 moves downward and disengages from the two piston rods 94, the piston rods 94 are reset by the elastic force of the spring. The piston rods 94 suck the disinfectant solution in the liquid tank 91 into the suction pipes 92 through the check valves 93 for the next use; when the piston rods 94 move upward, the clamping arms 75 also flip upward. The clamping arms 75 drive the rotating rod 97 to move synchronously. When the clamping arms 75 are about to flip in place, the lever 98 contacts the convex block 99, causing the convex block 99 to resist the lever 98, stopping the movement of the lever 98 and the rotating rod 97. At this time, the clamping arms 75 continue to move, forming a relative rotation relationship between the clamping arms 75 and the rotating rod 97. The rotating rod 97 simultaneously drives the nozzle 96 to stop moving, so that when the nozzle 96 sprays the disinfectant solution, the clamping arms 75 can still move to a certain extent, thereby increasing the coverage area of the disinfectant solution sprayed by the nozzle 96 and ensuring the disinfection coverage. After the clamping arms 75 flip downward, the rotating rod 97 is reset by the elastic force of the torsion spring. The reset rotating rod 97 drives the nozzle 96 back to a position close to the inner side of the clamping arms 75, avoiding the movement trajectories of the garbage and the clamping plates 77 and preventing obstruction to the garbage when clamping the garbage; through the setting of the disinfection assembly 9, when the two clamping arms 75 flip upward to the highest position, the two nozzles 96 can spray the disinfectant solution on the two clamping arms 75, the two mounting plates 76, and the four clamping plates 77, playing a disinfection role and preventing bacteria in the garbage from adhering to the clamping plates 77 during the sorting process, causing cross-contamination; through the setting of the rotating rod 97, a relative movement relationship can be formed between the nozzle 96 and the clamping arms 75 when the nozzle 96 sprays the disinfectant solution, thereby increasing the coverage area of the disinfection water spray and ensuring the disinfection effect.

[0044] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claimed rights.

Claims

1. A garbage sorting robotic arm with an intelligent recognition algorithm, comprising a base (1), characterized in that: A turntable (2) is rotatably connected to the base (1), a first arm (3) is rotatably connected to the turntable (2), a second arm (4) is rotatably connected to one end of the first arm (3) away from the turntable (2), a third arm (5) is connected to one end of the second arm (4) away from the first arm (3), and a hollow column (6) is connected to the outer wall of the third arm (5). It further includes a clamping assembly (7) for sorting garbage; An anti-winding assembly (8) for preventing garbage from winding around the clamping assembly (7); A disinfection assembly (9) for disinfecting the clamping assembly (7); The clamping assembly (7) includes a cylinder (71), the cylinder (71) is installed on the inner wall of the hollow column (6), the bottom of the hollow column (6) is connected with a mounting seat (72) through a bracket, clamping arms (75) are respectively hinged on both sides of the mounting seat (72), a telescopic rod is arranged on the cylinder (71), a connecting block (73) is connected to the outer wall of the telescopic rod of the cylinder (71), connecting rods (74) are respectively hinged between both sides of the connecting block (73) and the two clamping arms (75), a mounting plate (76) is connected to one end of the clamping arm (75) away from the mounting seat (72), and two clamping plates (77) are hinged on the mounting plate (76).

2. The robotic arm for garbage sorting with an intelligent recognition algorithm according to claim 1, wherein: The hinged part of the clamping plate (77) and the mounting plate (76) is located in the middle of the clamping plate (77), a plurality of springs are arranged between the clamping plate (77) and the mounting plate (76), a plurality of mounting holes are arranged on the clamping plate (77), a plurality of touch rods (771) are respectively slidably connected in the plurality of mounting holes of the clamping plate (77), and springs are arranged between the touch rods (771) and the mounting holes of the clamping plate (77).

3. The robotic arm for garbage sorting with an intelligent recognition algorithm according to claim 2, characterized in that: A suction cup (78) is connected to the bottom of the mounting seat (72), a circular tube (79) is connected to the inner wall of the mounting seat (72), the bottom end of the telescopic rod of the cylinder (71) is connected with a plug disk (710), and the plug disk (710) is in sliding contact with the inner wall of the circular tube (79) during movement.

4. The robotic arm for garbage sorting with an intelligent recognition algorithm according to claim 3, wherein: There are two anti-winding assemblies (8), and the two anti-winding assemblies (8) are respectively arranged on the two mounting plates (76). The anti-winding assembly (8) includes four rotating rings (81), and the four rotating rings (81) are all rotatably connected through the mounting plate (76). Slide rods (83) are respectively slidably connected to the inner walls of the four rotating rings (81), and cutting knives (82) are connected to the outer walls of the rotating rings (81).

5. The robotic arm for garbage sorting with an intelligent recognition algorithm according to claim 4, characterized in that: The four slide rods (83) are divided into two groups, one group of slide rods (83) is two, the two groups of slide rods (83) are respectively located on both sides of the clamping arm (75), a long rod (84) is connected between the two slide rods (83) of the same group, and a leaf spring (85) is connected between the long rod (84) and the mounting plate (76).

6. The robotic arm for garbage sorting with an intelligent recognition algorithm according to claim 5, wherein: An annular inclined groove is arranged on the inner wall of the rotating ring (81), a ball is arranged on the outer wall of the slide rod (83), and the ball of the slide rod (83) is in sliding connection with the annular inclined groove of the rotating ring (81).

7. The robotic arm for garbage sorting with an intelligent recognition algorithm according to claim 6, characterized in that: The disinfection component (9) includes a liquid tank (91), the liquid tank (91) is installed inside the hollow column (6), two suction pipes (92) are connected to the bottom of the liquid tank (91), a check valve (93) is connected to the inner wall of the suction pipe (92), a piston rod (94) is slidably connected through the bottom inner wall of the suction pipe (92), a spring is arranged between the top of the piston rod (94) and the inner wall of the suction pipe (92), a liquid pipe (95) is connected to the outer wall of the suction pipe (92), and one end of the liquid pipe (95) away from the liquid tank (91) is connected to a spray head (96).

8. The robotic arm for garbage sorting with an intelligent recognition algorithm according to claim 7, wherein: The liquid tank (91) is annularly arranged, the cylinder (71) is located in the middle of the liquid tank (91), a liquid injection hole is arranged on the liquid tank (91), both of the two suction pipes (92) penetrate through the bottom of the hollow column (6), the connecting block (73) contacts the two piston rods (94) during movement, both of the two liquid pipes (95) penetrate through the hollow column (6), the liquid pipe (95) is made of a flexible material, and the two liquid pipes (95) are mirror-image arranged.

9. The robotic arm for garbage sorting with an intelligent recognition algorithm according to claim 8, characterized in that: A rotating rod (97) is rotatably connected to the inner wall of the clamping arm (75), the two rotating rods (97) are respectively connected to the two spray heads (96), a lever (98) is connected to the end of the rotating rod (97) away from the spray head (96), convex blocks (99) are respectively connected to both sides of the mounting seat (72), the two levers (98) are in sliding contact with the two convex blocks (99) during movement, and a torsion spring is arranged inside the connection part of the rotating rod (97) and the clamping arm (75).

Images