Humanoid robot flexible grabbing type dynamic garbage sorting workstation

Abstract

The invention belongs to the technical field of garbage sorting, particularly relates to a humanoid robot flexible grabbing type dynamic garbage sorting workstation, and provides the following scheme aiming at the problem that an existing dynamic garbage sorting workstation cannot quickly treat garbage in collection boxes: the dynamic garbage sorting workstation comprises two symmetrical collection boxes; openings are formed in the exteriors of the two collecting boxes, and the inner walls of the openings are slidably connected with the exteriors of the containing barrels on the same sides; and the conveying belt is located on the same side of the two collecting boxes, a support is fixedly connected to the bottom of the conveying belt, and a sorting robot is arranged on the side, away from the collecting boxes, of the conveying belt. According to the flexible grabbing type dynamic garbage sorting work station of the humanoid robot, empty containing barrels and containing barrels full of garbage can be rapidly replaced by the device in the garbage sorting process, so that the shutdown waiting time of the device is shortened, the garbage sorting rhythm is ensured, and the garbage sorting efficiency of the device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage sorting, and in particular to a humanoid robot flexible grasping dynamic garbage sorting workstation. Background Art

[0002] Garbage sorting usually refers to the process of classifying, screening and collecting mixed domestic waste according to its nature, composition and treatment methods. It is the core link of modern waste management, especially in achieving the goals of "reduction, resource utilization and harmlessness".

[0003] When the collection box in the existing dynamic garbage sorting workstation is full of classified garbage, the sorting work needs to be stopped first, and the garbage in the collection box needs to be cleaned before garbage sorting can continue, which has a great impact on the overall efficiency of garbage sorting. Summary of the Invention

[0004] The present invention discloses a humanoid robot flexible grasping dynamic garbage sorting workstation, which aims to solve the technical problem in the background art that the existing dynamic garbage sorting workstation cannot quickly process garbage in a collection box.

[0005] The humanoid robot flexible grasping dynamic garbage sorting workstation proposed in the present invention comprises:

[0006] Two symmetrical collection boxes;

[0007] Two containing cylinders, both of the collecting boxes are provided with openings on their exteriors, and the inner walls of the openings are slidably connected to the exteriors of the containing cylinders on the same side;

[0008] A conveyor belt is located on the same side of the two collection boxes, a bracket is fixedly connected to the bottom of the conveyor belt, and a sorting robot is provided on the side of the conveyor belt away from the collection box;

[0009] Two interconnected replacement modules are respectively located on two collection boxes and are both outside the holding cylinder. The interconnected replacement modules are used to quickly replace an empty holding cylinder with a full garbage holding cylinder during the garbage sorting process.

[0010] In a preferred embodiment, the connection-type replacement module includes a support plate, the inner walls of the openings on the two collection boxes are fixedly connected to the support plates, the upper sides of the support plates are in contact with the bottom of the storage cylinder on the same side, the inner walls of the collection boxes are fixedly connected to the mounting plates, the two collection boxes are provided with cutouts on the opposite sides, and storage plates are provided in the cutouts, the storage plates are fixedly connected to the side opposite to the support plates, and the upper sides of the two mounting plates are fixedly connected to two symmetrical slide rails, and the slide rails are slidably connected to the sliders; the collection box has two symmetrical reserved openings on the side close to the conveyor belt, the inner walls of the reserved openings are slidably connected to the outside of the slider on the same side, and the upper sides of the sliders are opened A groove is provided, the inner wall of the groove is fixedly connected with a short shaft, the outside of the short shaft is movably connected with a push rod, a torsion spring is provided between the push rod and the short shaft, and the side of the push rod close to the holding cylinder is fixedly connected with a blocking plate, and the outside of the blocking plate is clamped with the inner wall of the groove on the same side; a plurality of the slide rails are provided with a rectangular groove on the outside, and a slide plate is slidably connected in the rectangular groove, and the outside of the slide plate is slidably connected with a limiting cylinder, and the side of the limiting cylinder away from the slide plate is fixedly connected with a fixed plate, and the side of the fixed plate opposite to the slide rail is fixedly connected, and the inner wall of the side of the limiting cylinder away from the slide plate is fixedly connected with an air bag 1, and the end of the air bag 1 away from the fixed plate is fixedly connected to the outside of the slide plate. , and a circular hole is provided on the fixing plate, and an air guide tube is fixedly connected in the circular hole. One end of the air guide tube is connected to the air bag 1 on the same side, and the other end is fixedly connected to the air bag 2. A fixing seat is provided on the outside of the air guide tube, and the outside of the fixing seat is fixedly connected to one end of the air bag 2. Two symmetrical grooves are provided on the mounting plate, and a follower plate is slidably connected in the groove, and the follower plate is fixedly connected to the side opposite to the air bag 2; a plurality of the air guide tubes are provided with a throat shrinkage joint on the outside, and the throat shrinkage joint is fixedly connected to the side opposite to the fixing seat, and a constriction ring is provided on the outside of the constriction ring, and two symmetrical fine holes are provided on the constriction ring, and a threaded rod is provided in the fine hole. The threaded rod is fixedly connected to the side opposite to the fixed seat on the same side, and two notches are provided on the outside of the tightening ring, and knobs are provided on the outside of the threaded rods, and the outsides of the knobs are slidably connected to the inner walls of the notches; a circular opening is provided on the two collecting boxes, and a guide cylinder is fixedly connected in the circular opening, a narrow groove is provided on the guide cylinder, and a connecting plate is slidably connected to the inner walls of the narrow grooves, and notches are provided on the opposite sides of the two slide rails on the same side, and the inner walls of the notches are slidably connected to the outside of the connecting plate, and the connecting plate is fixedly connected to the side opposite to the slider on the same side, and the inner wall of the guide cylinder is fixedly connected to a spring 1, and the end of the spring 1 close to the connecting plate is fixedly connected to the outside of the connecting plate;The two connecting plates are fixedly connected to a long rod on the side away from the spring. The collection boxes are each provided with a circular opening, the inner wall of which is slidably connected to the outer portion of the long rod on the same side. The outer portion of the long rod is fixedly connected to a limit ring. The outer portion of the collection box is also fixedly connected to a circular shaft, and the outer portion of the circular shaft is movably connected to a limit hook. The limit hook has a slot, the inner wall of which is engaged with the outer portion of the limit ring on the same side. A drainage module is provided on the upper side of each collection box.

[0011] In a preferred solution, the two drainage modules each include a fixed frame, the bottoms of the two fixed frames are fixedly connected to the upper side of the collecting box on the same side, the inner wall of the fixed frame on the side away from the conveyor belt is fixedly connected to a cover plate, and the inner walls of the two collecting boxes are movably connected to a rotating shaft, the outside of the rotating shaft is fixedly connected to three circumferentially equidistantly distributed drain plates, and the outside of the collecting boxes is fixedly connected to a driving motor; rectangular holes are provided on the outside of the two collecting boxes, and guide plates are fixedly connected in the rectangular holes, the guide plates are located below the drain plates, and the output ends of the driving motors are connected through couplings A notched gear is connected; the outsides of the two rotating shafts are fixedly connected with a transmission gear, and the transmission gears are engaged with the notched gears on the same side; the outsides of the collection boxes are fixedly connected with arc-shaped plates 2, and short rods are slidably connected to the arc-shaped plates 2. Springs 2 are provided on the outsides of the short rods, and one end of the springs 2 is fixedly connected to the outside of the short rods, and the other end is fixedly connected to the outside of the arc-shaped plates 2 on the same side, and the end of the short rod close to the rotating shaft is fixedly connected to arc-shaped plate 1, and the side of the arc-shaped plate 1 close to the transmission gear is fixedly connected with three equidistantly distributed curved blocks, and the outer parts of the curved blocks are engaged with the transmission gear.

[0012] From the above, it can be seen that the humanoid robot flexible grasping dynamic garbage sorting workstation provided by the present invention has the function of enabling the device to quickly replace an empty holding barrel with a holding barrel filled with garbage during the garbage sorting process, thereby reducing the device's downtime waiting time, ensuring the garbage sorting rhythm, and improving the device's garbage sorting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of the humanoid robot flexible grasping dynamic garbage sorting workstation proposed by the present invention;

[0014] Figure 2 This is a side structural diagram of the humanoid robot flexible grasping dynamic garbage sorting workstation proposed by the present invention;

[0015] Figure 3 This is a schematic diagram of the structure of the joint replacement module of the humanoid robot flexible grasping dynamic garbage sorting workstation proposed by the present invention;

[0016] Figure 4This is a schematic diagram of the limiting cylinder structure of the humanoid robot flexible grasping dynamic garbage sorting workstation proposed by the present invention;

[0017] Figure 5 This is a schematic diagram of the convergence ring structure of the humanoid robot flexible grasping dynamic garbage sorting workstation proposed by the present invention;

[0018] Figure 6 This is a schematic diagram of the long rod structure of the humanoid robot flexible grasping dynamic garbage sorting workstation proposed by the present invention;

[0019] Figure 7 This is a schematic diagram of the drainage module structure of the humanoid robot flexible grasping dynamic garbage sorting workstation proposed by the present invention;

[0020] Figure 8 This is a structural diagram of the curved plate of the humanoid robot flexible grasping dynamic garbage sorting workstation proposed by the present invention.

[0021] Figure: 1, collection box; 2, holding cylinder; 3, bracket; 4, conveyor belt; 5, sorting robot; 6, joint replacement module; 601, support plate; 602, mounting plate; 603, storage plate; 604, slide rail; 605, slider; 606, rectangular groove; 607, slide plate; 608, limiting cylinder; 609, airbag 1; 610, fixing plate; 611, air guide tube; 612, airbag 2; 613, cutting groove; 614, follower plate; 615, guide cylinder; 616, connecting plate; 617, spring 1; 618, throat reduction joint; 6 19. Clamping ring; 620. Threaded rod; 621. Knob; 622. Long rod; 623. Limiting hook; 624. Limiting ring; 625. Groove; 626. Push rod; 627. Block plate; 628. Torsion spring; 7. Drain module; 701. Fixed frame; 702. Cover plate; 703. Rotating shaft; 704. Drain plate; 705. Guide plate; 706. Drive motor; 707. Notched gear; 708. Transmission gear; 709. Arc plate one; 710. Curved block; 711. Arc plate two; 712. Short rod; 713. Spring two. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0023] The humanoid robot flexible grasping dynamic garbage sorting workstation disclosed in the present invention is mainly used in scenarios where existing dynamic garbage sorting workstations are unable to quickly process garbage in a collection box.

[0024] Reference Figures 1-8, a humanoid robot flexible grabbing dynamic garbage sorting workstation, including:

[0025] Two symmetrical collection boxes 1;

[0026] Two holding cylinders 2, two collecting boxes 1 are provided with openings on their exteriors, and the inner walls of the openings are slidably connected to the exteriors of the holding cylinders 2 on the same side;

[0027] Conveyor belt 4, which is located on the same side of the two collection boxes 1. The bottom of the conveyor belt 4 is connected to the bracket 3 by bolts, and a sorting robot 5 is provided on the side of the conveyor belt 4 away from the collection box 1;

[0028] Two interconnected replacement modules 6 are respectively located on the two collection boxes 1 and are both outside the holding cylinder 2. The interconnected replacement modules 6 are used to quickly replace the empty holding cylinder 2 with the full garbage holding cylinder 2 during the garbage sorting process.

[0029] The device utilizes the connection type replacement module 6 to enable the device to quickly replace the empty container 2 with the container 2 filled with garbage during the garbage sorting process, thereby reducing the downtime waiting time of the device, ensuring the garbage sorting rhythm, and improving the garbage sorting efficiency of the device.

[0030] Reference Figure 3 、 Figure 4 、 Figure 5 and Figure 6In a preferred embodiment, the connection-type replacement module 6 includes a supporting plate 601. The inner walls of the openings on the two collection boxes 1 are connected to the supporting plates 601 by bolts. The upper sides of the supporting plates 601 are in contact with the bottom of the receiving tube 2 on the same side. The inner walls of the collection boxes 1 are connected to the mounting plates 602 by bolts. The two collection boxes 1 have cutouts on the opposite sides, and the cutouts are provided with storage plates 603. The storage plates 603 are connected to the sides opposite to the supporting plates 601 by bolts, and the upper sides of the two mounting plates 602 are connected to two symmetrical slide rails 604 by bolts. Slide blocks 605 are slidably connected to the slide rails 604. Two symmetrical reserved openings are provided on the side of the collection box 1 close to the conveyor belt 4. The inner walls of the reserved openings are all slidably connected to the outside of the slider 605 on the same side, and the upper sides of the sliders 605 are provided with grooves 625. The inner walls of the grooves 625 are connected to short shafts by bolts, and the outsides of the short shafts are rotatably connected to push rods 626 through bearings. Torsion springs 628 are provided between the push rods 626 and the short shafts, and the push rods 626 are connected to the blocking plates 627 on the side close to the holding cylinder 2 by bolts, and the outside of the blocking plates 627 are clamped with the inner walls of the grooves 625 on the same side; the outsides of the multiple slide rails 604 are provided with rectangular grooves 606, and the sliding plates 607 are slidably connected in the rectangular grooves 606. The outsides of the sliding plates 607 are slidably connected to the limiting cylinders 608, and the side of the limiting cylinders 608 away from the sliding plates 607 is A fixing plate 610 is connected by bolts, and the side of the fixing plate 610 opposite to the slide rail 604 is connected by bolts. The inner wall of the limiting cylinder 608 on the side away from the slide plate 607 is connected to the airbag 1 609 by bolts. The end of the airbag 1 609 away from the fixing plate 610 is connected to the outside of the slide plate 607 by bolts, and a circular hole is opened on the fixing plate 610, and an air guide tube 611 is connected to the circular hole by bolts. One end of the air guide tube 611 is connected to the airbag 1 609 on the same side, and the other end is connected to the airbag 2 612 by bolts. The outside of the air guide tube 611 is provided with a fixing seat, and the outside of the fixing seat is connected to one end of the airbag 2 612 by bolts. Two pairs of The grooves 613 are slidably connected to follower plates 614 in the grooves 613, and the follower plates 614 are connected to the airbag 2 612 on the side thereof by bolts. The outsides of the multiple air guide tubes 611 are provided with choke joints 618, and the choke joints 618 are connected to the side opposite to the fixing seat by bolts. The outsides of the choke joints 618 are provided with constriction rings 619, and the constriction rings 619 are provided with two symmetrical small holes, and the small holes are provided with threaded rods 620, and the threaded rods 620 are connected to the side opposite to the fixing seat on the same side by bolts. The outsides of the constriction rings 619 are provided with two notches, and the outsides of the threaded rods 620 are provided with knobs 621, and the outsides of the knobs 621 are slidably connected to the inner walls of the notches.The two collecting boxes 1 are both provided with a circular opening, and the circular opening is connected to a guide cylinder 615 by bolts. The guide cylinder 615 is provided with a narrow groove, and the inner wall of the narrow groove is slidably connected to a connecting plate 616. The two slide rails 604 on the same side are provided with a groove on the opposite side, and the inner wall of the groove is slidably connected to the outside of the connecting plate 616. The connecting plate 616 is connected to the side opposite to the slider 605 on the same side by bolts, and the inner wall of the guide cylinder 615 is connected to a spring 617 by bolts. The end of the spring 617 close to the connecting plate 616 is connected to the outside of the connecting plate 616. The two connecting plates 616 are bolted to a long rod 622 on the side away from spring 1 617. Each collection box 1 has a circular opening, the inner wall of which slides over the outer portion of the long rod 622 on the same side. The outer portion of the long rod 622 is bolted to a limit ring 624. Furthermore, a circular shaft is bolted to the outside of the collection box 1, and the outer portion of the shaft is rotatably connected to a limit hook 623 via a bearing. The limit hook 623 has a slot, the inner wall of which engages with the outer portion of the limit ring 624 on the same side. A drain module 7 is provided on the upper side of each collection box 1.

[0031] In a specific application scenario, the connection-type replacement module 6 is mainly applicable to the connection-type replacement link in the connection-type replacement process, that is, the connection-type replacement module 6 uses the support plate 601 and the placement plate 603 to quickly complete the replacement of full and empty holding cylinders 2, thereby improving the smoothness of the device operation, and uses the throat joint 618 and the contraction ring 619 to control the gas flow resistance between the airbag 1 609 and the airbag 2 612, so that the holding cylinder 2 filled with garbage pushed by the push rod 626 will not be spilled due to the instantaneous acceleration when the spring 1 617 releases energy, thereby enhancing the stability of the device, and using the limiting hook 623 and the limiting ring 624 can increase the convenience of device operation, and can reduce the direct contact between the hands of personnel and garbage and other dirt, making the operating environment of personnel more hygienic.

[0032] Reference Figure 7 and Figure 8In a preferred embodiment, the two drainage modules 7 each include a fixed frame 701, the bottoms of the two fixed frames 701 are connected to the upper side of the collection box 1 on the same side by bolts, the inner wall of the fixed frame 701 on the side away from the conveyor belt 4 is connected to a cover plate 702 by bolts, and the inner walls of the two collection boxes 1 are rotatably connected to the rotating shaft 703 through bearings, the outside of the rotating shaft 703 is connected to three circumferentially equidistantly distributed drainage plates 704 by bolts, and the outside of the collection box 1 is connected to a driving motor 706 by bolts; the outside of the two collection boxes 1 is provided with a rectangular hole, and the rectangular hole is connected to a guide plate 705 by bolts, the guide plate 705 is located below the drain plate 704, and the output end of the driving motor 706 is connected to the notched gear 707 through a coupling. ; The outside of the two rotating shafts 703 are connected to the transmission gear 708 by bolts, and the transmission gear 708 is meshed with the notched gear 707 on the same side. The outside of the collection box 1 is connected to the arc plate 2 711 by bolts, and the short rod 712 is slidably connected to the arc plate 2 711. The outside of the short rod 712 is provided with a spring 2 713, and one end of the spring 2 713 is connected to the outside of the short rod 712 by bolts, and the other end is connected to the outside of the arc plate 2 711 on the same side by bolts, and the end of the short rod 712 close to the rotating shaft 703 is connected to the arc plate 1 709 by bolts, and the side of the arc plate 1 709 close to the transmission gear 708 is connected to three equidistantly distributed curved blocks 710 by bolts, and the outer parts of the curved blocks 710 are clamped with the transmission gear 708.

[0033] In a specific application scenario, the drain module 7 is mainly suitable for the draining link in the draining process, that is, the drain module 7 uses the cover plate 702 and the drain plate 704 to control the garbage containing liquid to fall directly into the holding barrel 2, thereby reducing the liquid content of the sorted garbage, avoiding the garbage from sticking to the holding barrel 2 due to various liquids or the liquid and dust mixed together to form lumps on the holding barrel 2, reducing the difficulty of cleaning, and using the transmission gear 708 and the notched gear 707 to enable the drain plate 704 to increase the direct current time of the garbage, ensuring that the liquid in the garbage can be fully drained, and using the arc plate 709 and the curved block 710 to provide a certain support force for the drain plate 704, so that the drain plate 704 can support a certain weight of garbage without rolling, ensuring stable operation.

[0034] Working principle: After the sorting robot 5 sorts the garbage and puts it into the fixed frame 701, the garbage will fall onto the drain plate 704 under the guidance of the cover plate 702, and the drive motor 706 will be started. The drive motor 706 drives the notched gear 707 to rotate, thereby causing the transmission gear 708 to rotate periodically by a certain angle. During the period when the notched gear 707 and the transmission gear 708 are disengaged, the curved block 710 on the arc plate 1 709 will provide resistance to movement under the push of the spring 2 713, so that the drain plate 704 can move smoothly. 04 stops rotating, so that the garbage on the drain plate 704 can stay for a while, so that the water in the garbage can drip onto the guide plate 705 and be discharged. As the notched gear 707 continues to rotate, the garbage will eventually fall into the holding cylinder 2. After the sorting robot 5 sorts the garbage on the conveyor belt 4 into the holding cylinder 2 placed on the collection box 1 and the holding cylinder 2 is about to be full, the empty holding cylinder 2 is placed on the storage plate 603, and the limit hook 623 is gently pushed with the toe to rotate the limit hook 623, and The locking of the limiting ring 624 is released, and the compressed spring 1 617 is released. The spring 1 617 pushes the connecting plate 616 and drives the slider 605 to slide outward on the slide rail 604, so that the push rod 626 pushes the filled container 2 to the outside of the collection box 1. During the movement of the slider 605, the sliding plate 607 compresses the airbag 1 609 and gradually transmits the air to the airbag 2 612 through the air guide tube 611. The knob 621 is turned to move the constricting ring 619 on the threaded rod 620, thereby Change the pressure of the throat joint 618 on the air duct 611 to increase the resistance to gas flow in the air duct 611. After the full container 2 is moved to the outside of the collection box 1, quickly lift the container 2 out, overcome the torsion force of the torsion spring 628 and rotate the push rod 626 to retract the push rod 626 into the groove 625, push the empty container 2 into the collection box 1, push the long rod 622 to recharge the spring 1 617 and drive the slider 605 to reset, rotate the limiting hook 623, and lock the limit ring 624.

[0035] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. The humanoid robot flexible grabbing dynamic garbage sorting workstation is characterized by: include: Two symmetrical collection boxes (1); Two containing cylinders (2), the outsides of the two collecting boxes (1) are both provided with openings, and the inner walls of the openings are both slidably connected to the outsides of the containing cylinders (2) on the same side; A conveyor belt (4), the conveyor belt (4) being located on the same side of the two collection boxes (1), a bracket (3) being fixedly connected to the bottom of the conveyor belt (4), and a sorting robot (5) being provided on the side of the conveyor belt (4) away from the collection box (1); Two connecting replacement modules (6) are respectively located on two collection boxes (1) and are both outside the storage barrel (2). The connecting replacement modules (6) are used to quickly replace an empty storage barrel (2) with a storage barrel (2) filled with garbage during the garbage sorting process.

2. The humanoid robot flexible grabbing dynamic garbage sorting workstation according to claim 1 is characterized in that: The connection-type replacement module (6) comprises a supporting plate (601), the inner walls of the openings on the two collection boxes (1) are fixedly connected to the supporting plates (601), the upper sides of the supporting plates (601) are in contact with the bottom of the storage cylinder (2) on the same side, the inner walls of the collection boxes (1) are fixedly connected to the mounting plates (602), the opposite sides of the two collection boxes (1) are provided with cutouts, and the cutouts are provided with storage plates (603), the storage plates (603) are fixedly connected to the sides opposite to the supporting plates (601), and the upper sides of the two mounting plates (602) are fixedly connected to two symmetrical slide rails (604), and the slide rails (604) are slidably connected to the sliders (605).

3. The humanoid robot flexible grabbing dynamic garbage sorting workstation according to claim 2, characterized in that: The collecting box (1) is provided with two symmetrical reserved openings on a side close to the conveyor belt (4), the inner walls of the reserved openings are slidably connected to the outside of the slider (605) on the same side, the upper side of the slider (605) is provided with a groove (625), the inner wall of the groove (625) is fixedly connected to a short shaft, the outside of the short shaft is movably connected to a push rod (626), a torsion spring (628) is provided between the push rod (626) and the short shaft, and a blocking plate (627) is fixedly connected to the side of the push rod (626) close to the containing cylinder (2), and the outside of the blocking plate (627) is clamped to the inner wall of the groove (625) on the same side.

4. The humanoid robot flexible grasping dynamic garbage sorting workstation according to claim 3 is characterized in that: The outside of the plurality of slide rails (604) is provided with a rectangular groove (606), the inside of the rectangular groove (606) is slidably connected to a slide plate (607), the outside of the slide plate (607) is slidably connected to a limiting cylinder (608), the side of the limiting cylinder (608) away from the slide plate (607) is fixedly connected to a fixing plate (610), the side of the fixing plate (610) opposite to the slide rail (604) is fixedly connected, the inner wall of the side of the limiting cylinder (608) away from the slide plate (607) is fixedly connected to an air bag (609), the end of the air bag (609) away from the fixing plate (610) is fixedly connected to the slide plate (607), and the inner wall of the limiting cylinder (608) away from the slide plate (607) is fixedly connected to an air bag (609). ) is fixedly connected to the outside of the airbag (609), and a circular hole is provided on the fixing plate (610), and an air guide tube (611) is fixedly connected in the circular hole. One end of the air guide tube (611) is connected to the airbag one (609) on the same side, and the other end is fixedly connected to the airbag two (612). A fixing seat is provided on the outside of the air guide tube (611), and the outside of the fixing seat is fixedly connected to one end of the airbag two (612). Two symmetrical grooves (613) are provided on the mounting plate (602), and a follower plate (614) is slidably connected in the groove (613). The follower plate (614) is fixedly connected to the side opposite to the airbag two (612).

5. The humanoid robot flexible grasping dynamic garbage sorting workstation according to claim 4 is characterized in that: The outside of the plurality of air guide tubes (611) is provided with a choke joint (618), the choke joint (618) is fixedly connected to the side opposite to the fixing seat, the outside of the choke joint (618) is provided with a constriction ring (619), the constriction ring (619) is provided with two symmetrical fine holes, the fine holes are provided with a threaded rod (620), the threaded rod (620) is fixedly connected to the side opposite to the fixing seat on the same side, and the outside of the constriction ring (619) is provided with two notches, the outside of the threaded rod (620) is provided with a knob (621), and the outside of the knob (621) is slidably connected to the inner wall of the notch.

6. The humanoid robot flexible grasping dynamic garbage sorting workstation according to claim 3, characterized in that: The two collecting boxes (1) are each provided with a circular opening, and a guide cylinder (615) is fixedly connected to the circular opening. A narrow groove is provided on the guide cylinder (615), and a connecting plate (616) is slidably connected to the inner wall of the narrow groove. The two slide rails (604) on the same side are each provided with a notch on the opposite side, and the inner wall of the notch is slidably connected to the outside of the connecting plate (616). The connecting plate (616) is fixedly connected to the side opposite to the slider (605) on the same side, and a spring (617) is fixedly connected to the inner wall of the guide cylinder (615), and the end of the spring (617) close to the connecting plate (616) is fixedly connected to the outside of the connecting plate (616).

7. The humanoid robot flexible grasping dynamic garbage sorting workstation according to claim 6, characterized in that: The two connecting plates (616) are fixedly connected to a long rod (622) on one side away from the spring (617), and a circular opening is provided on the collection box (1). The inner wall of the circular opening is slidably connected to the outside of the long rod (622) on the same side. The outside of the long rod (622) is fixedly connected to a limiting ring (624), and the outside of the collection box (1) is fixedly connected to a circular shaft. The outside of the circular shaft is movably connected to a limiting hook (623). A card slot is provided on the limiting hook (623), and the inner wall of the card slot is card-engaged with the outside of the limiting ring (624) on the same side. A drainage module (7) is provided on the upper side of the collection box (1).

8. The humanoid robot flexible grasping dynamic garbage sorting workstation according to claim 7, characterized in that: The two drainage modules (7) each comprise a fixed frame (701), the bottoms of the two fixed frames (701) are fixedly connected to the upper side of the collection box (1) on the same side, the inner wall of the fixed frame (701) away from the conveyor belt (4) is fixedly connected to a cover plate (702), and the inner walls of the two collection boxes (1) are movably connected to a rotating shaft (703), the outside of the rotating shaft (703) is fixedly connected to three circumferentially equidistantly distributed drainage plates (704), and the outside of the collection box (1) is fixedly connected to a drive motor (706).

9. The humanoid robot flexible grasping dynamic garbage sorting workstation according to claim 8, characterized in that: The outsides of the two collecting boxes (1) are each provided with a rectangular hole, and a guide plate (705) is fixedly connected to the rectangular hole. The guide plate (705) is located below the drain plate (704), and the output end of the driving motor (706) is connected to a notched gear (707) via a coupling.

10. The humanoid robot flexible grasping dynamic garbage sorting workstation according to claim 9, characterized in that: The exteriors of the two rotating shafts (703) are fixedly connected to transmission gears (708), which mesh with the notched gears (707) on the same side. The exteriors of the collection box (1) are fixedly connected to arc-shaped plates (711). Short rods (712) are slidably connected to the arc-shaped plates (711). Springs (713) are provided on the exteriors of the short rods (712). One end of the springs (713) is fixedly connected to the exteriors of the short rods (712), and the other end is fixedly connected to the exteriors of the arc-shaped plates (711) on the same side. The ends of the short rods (712) close to the rotating shaft (703) are fixedly connected to arc-shaped plates (709). Three equally spaced curved blocks (710) are fixedly connected to the side of the arc-shaped plates (709) close to the transmission gear (708). The exteriors of the curved blocks (710) are engaged with the transmission gear (708).

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