Intelligent sorting device based on machine vision and sorting method thereof

Abstract

The invention relates to the technical field of logistics sorting, in particular to an intelligent sorting device based on machine vision and a sorting method.The intelligent sorting device comprises a conveying table body, a side rail is fixedly connected to the top of the conveying table body, a frame assembly is movably connected to the top of the side rail, and the frame assembly comprises a main frame; the top of the main frame is fixedly connected with a top frame, and the top of the inner side of the main frame is fixedly connected with a servo motor. According to the intelligent sorting device based on machine vision and the sorting method thereof, the conveying table body is arranged for normally conveying goods, the frame assembly is limited while the frame assembly is installed on the side rails, the frame assembly can flexibly move in the conveying direction along the top of the conveying table body, and the sorting efficiency is improved. The main frame of the frame assembly serves as a main support of the structure, and meanwhile when the frame assembly is located over, goods can be shielded through the surrounding type main frame, so that reasons such as misjudgment caused by external environment light are avoided.

Description

Technical Field

[0001] This invention relates to the field of logistics sorting technology, specifically to an intelligent sorting device and sorting method based on machine vision. Background Technology

[0002] As we all know, logistics sorting is an important part of the express delivery and logistics industry, encompassing mainstream sorting equipment and intelligent auxiliary equipment. Among them, cross-belt sorting machines are the industry mainstream, which achieve sorting through independent trolleys on a circular track and cross-belts. Sliding block sorting machines use lateral guide blocks on plate conveyors for high-speed sorting, which is suitable for regular boxed items and adaptable to small and medium-sized sorting scenarios. In recent years, there have also been technologies that use intelligent equipment to assist in sorting, including but not limited to logistics guide vehicles or damage recognition robots.

[0003] In existing technologies, logistics sorting usually involves using conveyor equipment to continuously transport goods and sort them according to the place of origin, size, and type of goods. When intercepting target goods or removing damaged goods, in addition to manual identification, machine vision can be used to identify them through barcodes, damaged appearance, etc., and then they can be removed by personnel or gripping equipment. However, whether it is a human workstation or gripping equipment, it requires a large space outside the goods conveyor line, which is poor space utilization. At the same time, it is easy to miss identification due to limited ambient light or mutual obstruction between goods, making it inconvenient to use. Based on the problems mentioned above, we found that existing sorting devices have difficulty avoiding these problems at the same time. Therefore, we propose an intelligent sorting device based on machine vision that reduces space occupation, lowers the probability of missed or false judgments, and can sort and guide goods. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides an intelligent sorting device and sorting method based on machine vision, which has the advantages of reducing space occupation, reducing the probability of missed or false judgments, and being able to sort and guide goods.

[0006] (II) Technical Solution

[0007] The above-mentioned technical objective of the present invention is achieved through the following technical solution: an intelligent sorting device based on machine vision, including a conveyor body, a side rail fixedly connected to the top of the conveyor body, and a frame assembly movably connected to the top of the side rail; The frame assembly includes a main frame, a top frame fixedly connected to the top of the main frame, a servo motor fixedly connected to the top of the inner side of the main frame, a sorting frame fixedly connected to the top output end of the servo motor, a first section frame fixedly connected to the front and rear sides of the left side of the main frame, a lever installed on the left side of each of the two first section frames, and a visual acquisition camera installed on the inner side of the lever and the top of the inner side of the main frame. The sorting rack includes a horizontal frame, the bottom of which is fixedly connected to the output end of a servo motor. A fixed shaft is rotatably connected to the inner side of the horizontal frame, and a shaft cylinder is rotatably connected to the outer side of the fixed shaft. A sorting arm is fixedly connected to the right side of the shaft cylinder, and a transmission frame is fixedly connected to the bottom of the sorting arm. Two picking claws are slidably connected to the inner side of the transmission frame. The lever frame includes a double-layer frame. Long pins are fixedly connected to the left side of each of the two first-section frames. The outer sides of the two long pins are rotatably connected to the two double-layer frames respectively. Torsion springs are installed between the two adjacent double-layer frames and the first-section frames. Long rollers are rotatably connected to the inner side of the double-layer frames. Short rollers are rotatably connected to the bottom of the double-layer frames. A transparent plate is fixedly connected to the inner side of the double-layer frames. A left-side visual acquisition camera is fixedly connected to the right side of the transparent plate.

[0008] Using the above technical solution, a conveyor platform is set up to transport goods normally. The frame assembly is installed on the side rails and simultaneously limited, allowing the frame assembly to move flexibly along the top of the conveyor platform in the conveying direction. The main frame of the frame assembly serves as the main structural support. When the frame assembly is directly above, the enclosed main frame can shield the goods, preventing misjudgments caused by ambient light. When goods pass over the frame assembly, they can be sorted by a deflector. Upon contact with the double-layered frame of the deflector, pressure is applied to the double-layered frame. As the double-layered frame rotates along the long pin, a torsion spring stores force. When the two double-layered frames open to the gap corresponding to the size of the goods, the goods can pass through, simultaneously allowing passage. If other items that might obstruct the identification process are placed side-by-side, they will be briefly delayed by the transparent panel, long rollers, and short rollers of the double-layer rack, allowing the items to be transported in a straight line. Subsequently, the vision acquisition camera will identify the outer side and top of the items to determine their shape, size, and degree of damage. If an item that needs to be rejected is identified, the horizontal rack can be rotated to the outside of the item by a servo motor, and the shaft cylinder will rotate along the fixed axis to lower the sorting arm until the two picking claws are located outside the item. Then, the two picking claws will move along the transmission frame, and when the picking claws come close to each other, the item can be grabbed and rejected. This reduces the external space occupation, effectively improves space utilization, and improves the grasping accuracy.

[0009] The present invention is further configured such that: a backing frame is fixedly connected to the front and rear sides of the bottom of the main frame, a force-bearing plate is fixedly connected to the top of the backing frame, and the outer side of the force-bearing plate is fixedly connected to the main frame.

[0010] By adopting the above technical solution, a support frame is set in conjunction with a load-bearing plate. The support frame facilitates the connection between the frame components and the side rails, while the load-bearing plate is used to improve the structural strength and prevent deformation.

[0011] The present invention is further configured such that: a limiting pulley is rotatably connected to the top of the inner side of the frame; axles are rotatably connected to both sides of the inner side of the frame; a transmission wheel is fixedly connected to the outer side of the axle; a U-shaped groove is provided on the top of the side rail to cooperate with the limiting pulley; and a transmission groove is provided on the side of the side rail near the transmission wheel to cooperate with the transmission wheel.

[0012] By adopting the above technical solution, a limiting pulley is set in conjunction with a transmission wheel on the inside of the side rail. When the wheel axle and the transmission wheel rotate, they are used to control and drive the entire frame assembly to move along the direction of the side rail.

[0013] The present invention is further configured such that: a transmission frame is fixedly connected to the outer side of the main frame; the inner side of the bottom of the transmission frame is rotatably connected to two wheel axles on the left side; a drive shaft is rotatably connected to the inner side of the transmission frame; synchronous pulleys are fixedly connected to the outer sides of the drive shaft and the wheel axles; the synchronous pulleys are connected to each other by a synchronous belt drive; and the drive shaft is externally connected to a drive device.

[0014] By adopting the above technical solution, by setting up a transmission frame in conjunction with the drive shaft, the drive shaft can be driven to rotate inside the transmission frame by controlling the external drive equipment. The wheel axle driven by the synchronous pulley and synchronous belt will also rotate synchronously, so as to achieve the effect of controlling and driving the frame assembly.

[0015] The invention is further configured such that: a bidirectional lead screw is rotatably connected to the inner side of the transmission frame; a servo motor is fixedly connected to the rear side of the transmission frame; the output end of the servo motor is fixedly connected to the bidirectional lead screw; the outer side of the bidirectional lead screw is threadedly connected to two pickup claws; a connecting pin is fixedly connected to the opposite side of the two pickup claws; a backing plate is rotatably connected to the outer side of the connecting pin; a torsion spring is installed between the backing plate and the pickup claws; anti-slip pads are adhered to the opposite side of the two backing plates; and an electric cylinder is rotatably connected to the right side of the horizontal frame, with the telescopic end of the electric cylinder rotatably connected to the pickup claw.

[0016] Using the above technical solution, a servo motor is set to drive the bidirectional lead screw to rotate. When the bidirectional lead screw rotates forward, the two picking claws are driven by the thread and move closer to each other due to the opposite thread direction under the limit of the transmission frame. Conversely, when the bidirectional lead screw rotates backward, they move away from each other. A backing plate is set to increase the contact area between the picking claws and the goods, and an anti-slip pad is used to prevent slippage. When the backing plate contacts the goods, it will rotate along the picking claws to conform to the shape of the goods. At this time, the torsion spring stores force, and after the gripping stops, the structure is reset by the rebound of the torsion spring.

[0017] The present invention is further configured such that: an assembly frame is fixedly connected to the front side of the conveyor body, a baffle is provided on the front side of the conveyor body, and a locking pin is fixedly connected to the outer side of the baffle, and the outer side of the locking pin engages with the assembly frame.

[0018] By adopting the above technical solution, the baffle can be easily disassembled and assembled by setting up an assembly frame and locking pins. The baffle can also guide the goods when the servo motor and sorting rack grab them to the outside.

[0019] The present invention is further configured such that: a sliding sleeve is fixedly connected to the top of the main frame, a sliding rod is slidably connected to the inner side of the sliding sleeve, and sliding pins are fixedly connected to the front and rear sides of the bottom of the sliding rod; a push-pull frame is fixedly connected to the top of each of the two double-layer frames, and the inner sides of the two push-pull frames are slidably connected to the two sliding pins respectively.

[0020] By adopting the above technical solution, and by setting up a sliding sleeve and a sliding rod, when the goods push the two double-layer frames, the two double-layer frames will rotate and unfold under force. When the double-layer frame on one side is under greater force, the sliding rod and sliding pin at the top of the push-pull frame will slide on the inside of the push-pull frame. Since the movement direction of the sliding rod is limited by the sliding sleeve, it can only move horizontally. Therefore, the two sliding pins are synchronous on the inside of the two push-pull frames, so that the two double-layer frames open and close synchronously, avoiding the situation where the double-layer frame on one side opens and closes more than the other side, resulting in the goods being out of center during transport.

[0021] The present invention is further configured such that: a lifting frame is provided on the inner side of the main frame, a suction tube is fixedly connected to the inner side of the left side of the lifting frame, a suction nozzle is fixedly connected to the bottom of the suction tube, a scraper is rotatably connected to the inner side of the bottom of the lifting frame, and a torsion spring is installed between the scraper and the lifting frame.

[0022] The above technical solution involves setting up a scraper to scrape off impurities, leaked liquids, or dust from the surface of the conveyor belt when it is idle. After scraping, the impurities are discharged through a suction pipe and a suction nozzle. The torsion spring allows the scraper to adhere to the surface of the conveyor belt and apply a certain pressure.

[0023] The present invention is further configured such that: a vertical frame is fixedly connected to the inner side of the main frame; a vertical lead screw is rotatably connected to the inner side of the vertical frame; a connecting frame is threadedly connected to the outer side of the vertical lead screw; the bottom of the connecting frame is fixedly connected to the top of the lifting frame; a driving device is externally connected to the top of the vertical lead screw; a temporary storage box is fixedly connected to the top of the main frame; a pull-out frame is slidably connected to the inner side of the temporary storage box; a fan device is externally connected to the top of the temporary storage box through a filter device; and the front side of the temporary storage box is fixedly connected to the top of the suction pipe through a flexible hose.

[0024] By adopting the above technical solution, a vertical frame is set up in conjunction with a vertical screw. When the external drive device drives the vertical screw to rotate, it can drive the connecting frame connected to it to move vertically along the inner side of the vertical frame, and drive the lifting frame connected to it to rise and fall vertically. In the working state, the lifting frame and the structure connected to it are moved upward to avoid affecting the sorting work. The external fan device generates negative pressure, which causes the temporary storage box, hose and suction pipe to be under negative pressure, sucking the impurities into the inner side of the temporary storage box and finally falling into the pull-out rack for easy handling by personnel.

[0025] A sorting method using a machine vision-based intelligent sorting device includes the following steps: S1. Secure the baffle to the assembly frame of the conveyor body using a snap-fit ​​pin. Adjust the position of the frame components according to the sorting requirements. Start the drive shaft through an external drive device. Drive the wheel axle and transmission wheel to rotate with the help of the synchronous pulley and synchronous belt. Move the frame components along the side rail to the preset sorting station. At the same time, drive the vertical screw to rotate and move the lifting frame upward to avoid cleaning parts interfering with the sorting work. S2. The conveyor body continuously transports goods. After the goods come into contact with the double-layer frame of the rack, the double-layer frame is pushed to open and close synchronously to achieve orderly single-row transport. Multi-directional visual acquisition cameras collect information from the side and top of the goods. After identifying unqualified goods, the servo motor and electric cylinder work together to drive the sorting arm to descend. The servo motor drives the bidirectional lead screw to make the picking claw adaptively grab the goods, and then remove them to the baffle guide area to complete the precise sorting. S3. During or after the sorting process, drive the vertical screw to lower the lifting frame. The scraper scrapes impurities against the surface of the conveyor under the action of the torsion spring. Start the fan device connected to the temporary storage box. Through negative pressure, the impurities are sucked into the pull-out rack of the temporary storage box through the suction nozzle and suction pipe. The pull-out rack is then removed to clean the impurities.

[0026] (III) Beneficial Effects

[0027] Compared with the prior art, the present invention provides an intelligent sorting device and sorting method based on machine vision, which has the following beneficial effects: This machine vision-based intelligent sorting device uses a conveyor platform for normal goods transport. A frame assembly is mounted on the side rails and simultaneously limited in position, allowing the frame assembly to move flexibly along the top of the conveyor platform in the transport direction. The main frame of the frame assembly serves as the primary structural support. When the frame assembly is directly above the goods, the enveloping main frame can shield them from external light-induced misjudgments. As goods pass over the frame assembly, they are sorted by a guide frame. When goods contact the double-layered frame of the guide frame, pressure is applied to the double-layered frame. Simultaneously, the double-layered frame rotates along a long pin while a torsion spring stores force. When the two double-layered frames open to the gap corresponding to the size of the goods, the goods can pass through. When other items that might obstruct the view are placed side-by-side with the goods, they will briefly pause along the transparent plate, long rollers, and short rollers of the double-layer rack, allowing the goods to be transported in a straight line. Then, the vision acquisition camera will identify the outside and top of the goods to determine their shape, size, and degree of damage. If a product that needs to be rejected is identified, the horizontal rack can be rotated to the outside of the product by the servo motor, and the shaft cylinder will rotate along the fixed axis to lower the sorting arm until the two picking claws are on the outside of the product. Then, the two picking claws will move along the transmission frame, and when the picking claws get close to each other, they can grab and reject the product, reducing the external space occupation, effectively improving space utilization, and improving the grasping accuracy. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 This is a schematic diagram of the frame component in this invention; Figure 3 This is a schematic diagram of the sorting rack structure in this invention; Figure 4 This is a schematic diagram of the left side of the main structure in this invention; Figure 5 This is a schematic diagram of the lever structure in this invention; Figure 6 This is a schematic diagram of the connection of the side rails in this invention; Figure 7 This is a schematic diagram of the structure of the hanging plate in this invention; Figure 8 This is a schematic diagram showing the position of the visual acquisition camera in this invention; Figure 9 This is a flowchart illustrating the method of using the present invention.

[0029] In the diagram: 1. Conveyor body; 2. Side rail; 3. Frame assembly; 31. Main frame; 32. Top frame; 33. Servo motor; 34. Sorting frame; 341. Horizontal frame; 342. Fixed shaft; 343. Shaft cylinder; 344. Sorting arm; 345. Transmission frame; 346. Pick-up claw; 35. First section frame; 36. Alternating frame; 361. Double-layer frame; 362. Long pin; 363. Long roller; 364. Short roller; 365. Transparent plate; 37. Vision acquisition camera; 4. Frame support; 5. Force bearing. 6. Plate; 7. Limiting pulley; 8. Wheel axle; 9. Transmission wheel; 10. Transmission frame; 11. Drive shaft; 12. Synchronous belt pulley; 13. Double-acting lead screw; 14. Servo motor; 15. Connecting pin; 16. Backing plate; 17. Assembly frame; 18. Baffle; 19. Locking pin; 20. Sliding sleeve; 21. Sliding rod; 22. Sliding pin; 23. Lifting frame; 24. Suction tube; 25. Suction nozzle; 26. Scraper; 27. Vertical frame; 28. Vertical lead screw; 29. ​​Connecting frame; 30. Temporary storage box; 31. Push-pull frame. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Example 1

[0032] Please see Figure 1-8 A machine vision-based intelligent sorting device includes a conveyor body 1, a side rail 2 fixedly connected to the top of the conveyor body 1, and a frame assembly 3 movably connected to the top of the side rail 2. The frame assembly 3 includes a main frame 31, a top frame 32 fixedly connected to the top of the main frame 31, a servo motor 33 fixedly connected to the top of the inner side of the main frame 31, a sorting frame 34 fixedly connected to the top output end of the servo motor 33, a first section frame 35 fixedly connected to the front and rear sides of the left side of the main frame 31, a lever 36 installed on the left side of each of the two first section frames 35, and a visual acquisition camera 37 installed on the inner side of the lever 36 and the top of the inner side of the main frame 31. The sorting rack 34 includes a horizontal frame 341. The bottom of the horizontal frame 341 is fixedly connected to the output end of the servo motor 33. A fixed shaft 342 is rotatably connected to the inner side of the horizontal frame 341. A shaft cylinder 343 is rotatably connected to the outer side of the fixed shaft 342. A sorting arm 344 is fixedly connected to the right side of the shaft cylinder 343. A transmission frame 345 is fixedly connected to the bottom of the sorting arm 344. Two picking claws 346 are slidably connected to the inner side of the transmission frame 345. The lever 36 includes a double-layer frame 361. Long pins 362 are fixedly connected to the left side of each of the two first-section frames 35. The outer sides of the two long pins 362 are rotatably connected to the two double-layer frames 361 respectively. Torsion springs are installed between the two adjacent double-layer frames 361 and the first-section frames 35. Long rollers 363 are rotatably connected to the inner side of the double-layer frame 361. Short rollers 364 are rotatably connected to the bottom of the double-layer frame 361. A transparent plate 365 is fixedly connected to the inner side of the double-layer frame 361. A left-side visual acquisition camera 37 is fixedly connected to the right side of the transparent plate 365. The conveyor body 1 is used for normal transport of goods. The side rail 2, while mounting the frame assembly 3, also limits the movement of the frame assembly 3, allowing it to move flexibly along the top of the conveyor body 1 in the transport direction. The main frame 31 of the frame assembly 3 serves as the main structural support. When the frame assembly 3 is directly above, the enclosed main frame 31 can shield the goods to avoid misjudgments caused by ambient light. When goods pass over the frame assembly 3, they can be sorted using the deflector 36. When goods contact the double-layer frame 361 of the deflector 36, pressure is applied to the double-layer frame 361. As the double-layer frame 361 rotates along the long pin 362, the torsion spring stores energy. When the two double-layer frames 361 open to the gap corresponding to the size of the goods, the goods can pass through. Simultaneously, goods passing alongside the deflector may... Other items that obstruct the identification process will be briefly delayed along the transparent plate 365, long roller 363, and short roller 364 of the double-layer frame 361, causing the items to be transported in a straight line. Subsequently, the visual acquisition camera 37 identifies the outer side and top of the items to identify their shape, size, and degree of damage. If an item that needs to be rejected is identified, the servo motor 33 can drive the horizontal frame 341 to rotate to the outside of the item, and rotate the shaft cylinder 343 along the fixed axis 342 to lower the sorting arm 344 until the two picking claws 346 are located outside the item. Then, the two picking claws 346 move along the transmission frame 345. When the picking claws 346 are close to each other, the item can be grabbed and rejected, reducing the occupation of external space, effectively improving space utilization, and improving the grasping accuracy.

[0033] The transmission frame 345 has a bidirectional lead screw 12 rotatably connected to its inner side, a servo motor 13 fixedly connected to its rear side, and the output end of the servo motor 13 fixedly connected to the bidirectional lead screw 12. The outer side of the bidirectional lead screw 12 is threadedly connected to two pickup claws 346. A connecting pin 14 is fixedly connected to the opposite side of the two pickup claws 346, and a backing plate 15 is rotatably connected to the outer side of the connecting pin 14. A torsion spring is installed between the backing plate 15 and the pickup claws 346. Anti-slip pads are adhered to the opposite sides of the two backing plates 15. The horizontal frame 3... An electric cylinder is rotatably connected to the right side of 41. The telescopic end of the electric cylinder is rotatably connected to the pickup claw 346. A servo motor 13 is provided to drive the bidirectional lead screw 12 to rotate. When the bidirectional lead screw 12 rotates forward, the two pickup claws 346 are driven by the thread and move closer to each other due to opposite thread directions under the limit of the transmission frame 345. Conversely, when the bidirectional lead screw 12 rotates backward, they move away from each other. A backing plate 15 is provided to increase the contact area between the pickup claws 346 and the goods, and an anti-slip pad prevents slippage. When the backing plate 15 contacts the goods... The gripper rotates along the picking claw 346 to conform to the shape of the goods. At this time, the torsion spring stores force, and after the gripping stops, the spring rebounds to reset the structure. A sliding sleeve 19 is fixedly connected to the top of the main frame 31, and a sliding rod 20 is slidably connected to the inner side of the sliding sleeve 19. Sliding pins 21 are fixedly connected to the front and rear sides of the bottom of the sliding rod 20. Push-pull frames 30 are fixedly connected to the top of the two double-layer frames 361. The inner sides of the two push-pull frames 30 are slidably connected to the two sliding pins 21 respectively. By setting the sliding sleeve 19 in conjunction with the sliding rod 20, the goods are pushed... When the two double-layer frames 361 are moved, they will rotate and unfold under force. When one double-layer frame 361 is subjected to greater force, the sliding rod 20 and sliding pin 21 at the top of the push-pull frame 30 will slide inside the push-pull frame 30. Since the movement direction of the sliding rod 20 is limited by the sliding sleeve 19, it can only move horizontally. Therefore, the two sliding pins 21 are synchronized inside the two push-pull frames 30, so that the two double-layer frames 361 open and close synchronously, avoiding the situation where the goods are not centered due to the larger opening and closing of one side of the double-layer frame 361 and the smaller opening and closing of the other side.

[0034] The working principle of this embodiment is as follows: The conveyor body 1 carries the goods for normal transport. The side rail 2 provides a moving track for the frame assembly 3 and limits its movement, allowing the frame assembly to move flexibly along the conveying direction without occupying additional external space. The enclosed structure formed by the main frame 31 and the top frame 32 can block external ambient light and prevent light from interfering with visual recognition. When the goods approach the frame assembly, they first contact the double-layer frame 361 of the lever 36 and apply pressure. The double-layer frame rotates around the long pin 362 and the torsion spring stores force synchronously. At the same time, the sliding sleeve 19 restricts the sliding rod 20 to move only horizontally. The sliding pin 21 at the bottom of the sliding rod slides in the push-pull frame 30 at the top of the double-layer frame, ensuring that the double-layer frames on both sides open and close synchronously to adapt to the size of the goods, allowing a single item to pass through. Side-by-side goods are briefly stopped by the transparent plate 365, the long roller 363, and the short roller 364, achieving orderly single-row transport to avoid mutual interference. When goods in a single-row conveyor pass through the frame assembly, the visual acquisition cameras 37 on the right side of the transparent plate 365 and the top of the inner side of the main frame 31 respectively collect information on the side and top of the goods, comprehensively and accurately identifying the shape, size and degree of damage of the goods. When a goods that need to be rejected is identified, the servo motor 33 drives the horizontal frame 341 to rotate to the outside of the goods. The electric cylinder extends and retracts, driving the shaft cylinder 343 to rotate around the fixed shaft 342, causing the sorting arm 344 to descend. The servo motor 13 drives the bidirectional lead screw 12 to rotate. Under the limit of the transmission frame 345, the two picking claws 346 move closer to each other synchronously due to the reverse threads of the bidirectional lead screw. The backing plate 15 rotates around the connecting pin 14 to adapt to the shape of the goods. The anti-slip pad prevents the goods from slipping, achieving stable gripping and rejection of unqualified goods. After the gripping is completed, the torsion spring rebounds and drives the backing plate to reset, preparing for the next gripping.

[0035] Example 2

[0036] refer to Figure 1-7 A machine vision-based intelligent sorting device also includes a support frame 4 at the bottom of the main frame 31. A force plate 5 is fixedly connected to the top of the support frame 4. The outer side of the force plate 5 is fixedly connected to the main frame 31. By setting the support frame 4 in conjunction with the force plate 5, the support frame 4 can facilitate the connection between the frame assembly 3 and the side rail 2. The force plate 5 is used to improve the structural strength and prevent deformation. A limit pulley 6 is rotatably connected to the top of the inner side of the support frame 4. A wheel axle 7 is rotatably connected to both sides of the inner side of the support frame 4. A transmission wheel 8 is fixedly connected to the outer side of the wheel axle 7. The top of the side rail 2 is provided with a U-shaped groove that works with the limit pulley 6. A transmission groove that works with the transmission wheel 8 is opened on the side of the side rail 2 near the transmission wheel 8. By setting the limit pulley 6 in conjunction with the transmission wheel 8 on the inner side of the side rail 2, the wheel axle 7 and the transmission wheel 8 are used to control and drive the entire frame assembly 3 to move along the direction of the side rail 2 when they rotate.

[0037] The main frame 31 is fixedly connected to a transmission frame 9 on its outer side. The inner side of the bottom of the transmission frame 9 is rotatably connected to two axles 7 on the left side. The inner side of the transmission frame 9 is rotatably connected to a drive shaft 10. The outer sides of both the drive shaft 10 and the axles 7 are fixedly connected to synchronous pulleys 11. The synchronous pulleys 11 are connected to each other by a synchronous belt drive. The drive shaft 10 is externally connected to a drive device. By setting the transmission frame 9 in conjunction with the drive shaft 10, the drive shaft 10 can be driven to rotate inside the transmission frame 9 by controlling the external drive device. The axles 7, which are driven by the synchronous pulleys 11 and the synchronous belt, will also rotate synchronously, thus achieving the effect of controlling and driving the frame assembly 3. The front side of the conveyor body 1 is fixedly connected to... An assembly frame 16 is attached. A baffle 17 is provided on the front side of the conveyor body 1. A locking pin 18 is fixedly connected to the outer side of the baffle 17. The outer side of the locking pin 18 engages with the assembly frame 16. By setting the assembly frame 16 in conjunction with the locking pin 18, the baffle 17 can be easily assembled and disassembled. The baffle 17 can facilitate the guidance of the goods when the servo motor 33 and the sorting frame 34 grab them to the outside. A lifting frame 22 is provided on the inner side of the main frame 31. A suction tube 23 is fixedly connected to the inner side of the left side of the lifting frame 22. A suction nozzle 24 is fixedly connected to the bottom of the suction tube 23. A scraper 25 is rotatably connected to the inner side of the bottom of the lifting frame 22. A torsion spring is installed between the scraper 25 and the lifting frame 22. The scraper 25 is used to scrape impurities, leaked liquids, or adhering dust from the surface of the conveyor belt when idle. After scraping, the impurities are discharged through the suction pipe 23 and the suction nozzle 24. The torsion spring allows the scraper 25 to adhere to the surface of the conveyor belt and apply a certain pressure. A vertical frame 26 is fixedly connected to the inner side of the main frame 31. A vertical screw 27 is rotatably connected to the inner side of the vertical frame 26. A connecting frame 28 is threadedly connected to the outer side of the vertical screw 27. The bottom of the connecting frame 28 is fixedly connected to the top of the lifting frame 22. A drive device is externally connected to the top of the vertical screw 27. A temporary storage box 29 is fixedly connected to the top of the main frame 31. A pull-out drawer is slidably connected to the inner side of the temporary storage box 29. The top of the temporary storage box 29 is connected to an external fan device via a filter. The front of the temporary storage box 29 is fixedly connected to the top of the suction pipe 23 via a flexible hose. A vertical frame 26 is set up in conjunction with a vertical screw 27. When the external drive device drives the vertical screw 27 to rotate, it can drive the connecting frame 28 connected to it to move vertically along the inner side of the vertical frame 26, and drive the lifting frame 22 connected to it to rise and fall vertically. In the working state, the lifting frame 22 and the structure connected to it are moved upward to avoid affecting the sorting work. The external fan device generates negative pressure, which causes the temporary storage box 29, the flexible hose, and the suction pipe 23 to suck impurities into the inner side of the temporary storage box 29 and finally fall into the pull-out rack for easy handling.

[0038] The working principle of this embodiment is as follows: The bottom frame 4 of the main frame 31 is used to connect the frame assembly 3 and the side rail 2. The top load-bearing plate 5 is fixedly connected to the main frame to enhance the overall structural strength and prevent deformation. The limiting pulley 6 on the inner top of the frame is adapted to the U-shaped groove on the top of the side rail. The transmission wheels 8 on the outer sides of the inner two axles 7 are adapted to the transmission grooves of the side rail. The transmission frame 9 on the outer side of the main frame is rotatably connected to the drive shaft 10. The drive shaft and the synchronous pulley 11 on the outer side of the axle are driven by a synchronous belt. When the external drive device drives the drive shaft to rotate, it can drive the axle and the transmission wheel to rotate synchronously, thereby controlling the frame assembly to move stably along the side rail. The assembly frame 16 on the front side of the conveyor body 1 is engaged with the locking pin 18 on the outer side of the baffle 17. The baffle is easy to install and remove. When the sorting rack 34 picks up and removes unqualified goods, the baffle can guide the goods. The vertical frame 26 inside the main frame is rotatably connected to the vertical screw 27. When the external drive equipment drives the vertical screw to rotate, it can drive the threaded connecting frame 28 and the bottom lifting frame 22 to move vertically. When sorting is in operation, the lifting frame moves up to avoid interfering with sorting. When idle, the lifting frame moves down. The scraper 25 at the bottom of the lifting frame is attached to the surface of the conveyor belt under the action of the torsion spring to scrape off impurities, leaked liquids and dust. At the same time, the temporary storage box 29 at the top of the main frame generates negative pressure through the filter device and the external fan. The scraped impurities are sucked into the pull-out rack in the temporary storage box through the hose, suction pipe 23 and suction nozzle 24 for subsequent processing by personnel.

[0039] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. Those skilled in the art can make modifications to this embodiment without contributing any inventive step after reading this specification. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art 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 machine vision based intelligent sorting device comprising a conveyor table body (1), characterized in that: The top of the conveying table body (1) is fixedly connected with a side rail (2), and the top of the side rail (2) is movably connected with a frame assembly (3); The frame assembly (3) comprises a main frame (31), the top of the main frame (31) is fixedly connected with a top frame (32), the top of the inner side of the main frame (31) is fixedly connected with a servo motor (33), the top output end of the servo motor (33) is fixedly connected with a sorting frame (34), the front side and the rear side of the left side of the main frame (31) are both fixedly connected with a first section frame (35), the left side of the two first section frames (35) is both mounted with a dial frame (36), and the inner side of the dial frame (36) and the top of the inner side of the main frame (31) are both mounted with a visual acquisition camera (37); The sorting frame (34) comprises a horizontal frame (341), the bottom of the horizontal frame (341) is fixedly connected with the output end of the servo motor (33), the inner side of the horizontal frame (341) is rotatably connected with a fixed shaft (342), the outer side of the fixed shaft (342) is rotatably connected with a shaft cylinder (343), the right side of the shaft cylinder (343) is fixedly connected with a sorting arm (344), the bottom of the sorting arm (344) is fixedly connected with a transmission frame (345), and the inner side of the transmission frame (345) is slidably connected with two picking claws (346). The dial frame (36) comprises a double-layer frame (361), the left side of the two first section frames (35) is both fixedly connected with an elongated pin (362), the outer sides of the two elongated pins (362) are respectively rotatably connected with the two double-layer frames (361), adjacent two double-layer frames (361) and the first section frame (35) are mounted with a torsion spring, the inner side of the double-layer frame (361) is rotatably connected with an elongated roller (363), the bottom of the double-layer frame (361) is rotatably connected with a short roller (364), and the inner side of the double-layer frame (361) is fixedly connected with a transparent plate (365), and the left visual acquisition camera (37) is fixedly connected to the right side of the transparent plate (365).

2. The machine vision based intelligent sorting device according to claim 1, wherein: The front side and the rear side of the bottom of the main frame (31) are both fixedly connected with a leaning frame (4), the top of the leaning frame (4) is fixedly connected with a stress plate (5), and the outer side of the stress plate (5) is fixedly connected with the main frame (31).

3. The machine vision based intelligent sorting device according to claim 2, wherein: The top of the inner side of the leaning frame (4) is rotatably connected with a limiting pulley (6), the inner sides of the two sides of the leaning frame (4) are both rotatably connected with an axle (7), the outer side of the axle (7) is fixedly connected with a transmission wheel (8), the top of the side rail (2) is provided with a U-shaped groove matched with the limiting pulley (6), and one side of the side rail (2) close to the transmission wheel (8) is provided with a transmission groove matched with the transmission wheel (8).

4. The machine vision-based intelligent sorting device according to claim 3, characterized in that: The outer side of the main frame (31) is fixedly connected with a transmission frame (9), the inner sides of the bottom of the transmission frame (9) are respectively rotatably connected with the two axles (7) on the left side, the inner side of the transmission frame (9) is rotatably connected with a driving shaft (10), the outer sides of the driving shaft (10) and the axle (7) are both fixedly connected with a synchronous belt wheel (11), the synchronous belt wheels (11) are drivingly connected through a synchronous belt, and the driving shaft (10) is driven by an external driving device.

5. The machine vision based intelligent sorting device according to claim 1, wherein: The inner side of the transmission frame (345) is rotatably connected with a bidirectional screw rod (12), the rear side of the transmission frame (345) is fixedly connected with a servo motor (13), the output end of the servo motor (13) is fixedly connected with the bidirectional screw rod (12), the outer side of the bidirectional screw rod (12) is threadedly connected with two pickup claws (346), the opposite side of the two pickup claws (346) is fixedly connected with a connecting pin (14), the outer side of the connecting pin (14) is rotatably connected with a backboard (15), a torsion spring is installed between the backboard (15) and the pickup claw (346), the opposite side of the two backboards (15) is bonded with a non-slip pad, and the right side of the horizontal frame (341) is rotatably connected with an electric cylinder, and the telescopic end of the electric cylinder is rotatably connected with the pickup claw (346).

6. The machine vision-based intelligent sorting device according to claim 1, wherein: The front side of the conveying table body (1) is fixedly connected with an assembly frame (16), the front side of the conveying table body (1) is provided with a baffle (17), the outer side of the baffle (17) is fixedly connected with a clamping pin (18), and the outer side of the clamping pin (18) is clamped with the assembly frame (16).

7. The machine vision-based intelligent sorting device according to claim 1, wherein: The top of the main frame (31) is fixedly connected with a sliding sleeve (19), the inner side of the sliding sleeve (19) is slidably connected with a sliding rod (20), and the front side and the rear side of the bottom of the sliding rod (20) are fixedly connected with sliding pins (21). The top of each of the two double-layer frames (361) is fixedly connected with a push-pull frame (30), and the inner sides of the two push-pull frames (30) are slidably connected with the two sliding pins (21) respectively.

8. The machine vision based intelligent sorting device according to claim 1, wherein: The inner side of the main frame (31) is provided with a lifting frame (22), the inner side of the left side of the lifting frame (22) is fixedly connected with a suction pipe (23), the bottom of the suction pipe (23) is fixedly connected with a suction nozzle (24), the inner side of the bottom of the lifting frame (22) is rotatably connected with a scraper (25), and a torsion spring is installed between the scraper (25) and the lifting frame (22).

9. The machine vision-based intelligent sorting device according to claim 8, characterized in that: The inner side of the main frame (31) is fixedly connected with a vertical frame (26), the inner side of the vertical frame (26) is rotatably connected with a vertical screw rod (27), the outer side of the vertical screw rod (27) is threadedly connected with a link frame (28), the bottom of the link frame (28) is fixedly connected with the top of the lifting frame (22), the top of the vertical screw rod (27) is externally connected with a driving device, the top of the main frame (31) is fixedly connected with a temporary storage box (29), the inner side of the temporary storage box (29) is slidably connected with a pull frame, the top of the temporary storage box (29) is externally connected with an air blower device through a filtering device, and the front side of the temporary storage box (29) is fixedly connected with the top of the suction pipe (23) through a hose.

10. A method of sorting according to any one of claims 1-9, wherein: The steps include: S1. The baffle (17) is clamped and fixed with the assembly frame (16) of the conveying table body (1) through the clamping pin (18), the position of the frame assembly (3) is adjusted according to the sorting requirement, the driving shaft (10) is started through the external driving device, the wheel shaft (7) and the transmission wheel (8) are driven to rotate through the synchronous belt pulley (11) and the synchronous belt, and the frame assembly (3) is moved to the preset sorting station along the edge rail (2); at the same time, the vertical screw rod (27) is driven to rotate, the lifting frame (22) is driven to move upwards, and the cleaning components are prevented from interfering with the sorting work; S2. The conveying table body (1) carries the continuous conveying of goods. After the goods contact the double-layer shelves (361) of the pusher (36), the double-layer shelves (361) are pushed to open and close synchronously, realizing single-row ordered conveying. The multi-directional visual collection camera (37) collects the side and top information of the goods. After identifying unqualified goods, the servo motor (33) and the electric cylinder cooperatively drive the sorting arm (344) to descend. The servo motor (13) drives the bidirectional screw rod (12) to make the picking claw (346) adaptively grasp the goods. Then, the goods are rejected to the baffle (17) guide area, completing accurate sorting; S3. After the sorting work gap or is completed, the vertical screw rod (27) is driven to make the lifting frame (22) move downward. The scraper (25) is attached to the surface of the conveying table under the action of the torsional spring to scrape impurities. The fan device connected to the temporary storage box (29) is started. Through negative pressure, the impurities are sucked into the pull-out shelf in the temporary storage box (29) through the suction nozzle (24) and the suction pipe (23). The pull-out shelf is taken out to clean the impurities.

Images