Environment-friendly sorting robot

Abstract

The environment-friendly sorting robot comprises a movable frame, a sorting mechanical arm is arranged at the front end of the movable frame, a circular storage bin with the top open is fixedly arranged at the top of the movable frame, and a discharging opening is formed in the rear side wall of the storage bin. A pair of bin doors which are distributed left and right and can be independently opened backwards are arranged at the discharge port; a plurality of storage partition plates which are circumferentially distributed around the axis of the storage bin are arranged in the storage bin, a sorting placement area is defined by every two adjacent storage partition plates and the inner side wall of the storage bin, and the multiple storage partition plates are driven by a rotating assembly to rotate so that the sorting placement areas can sequentially rotate to correspond to the position of the discharging opening. According to the utility model, the design is reasonable, sorting placement of a plurality of types can be realized, and meanwhile, the two bin doors which can be independently controlled are matched, so that different unloading requirements are met, the use flexibility is good, and the sorting efficiency is improved.

Description

Technical Field

[0001] This utility model relates to an environmentally friendly sorting robot. Background Technology

[0002] Robots possess basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, arduous, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] Existing sorting and handling robots mostly use a single-door design for their storage compartments, and the number of sorting areas within the storage compartment is relatively small and the size of each sorting area is the same, resulting in a low sorting limit and reduced sorting efficiency. Utility Model Content

[0004] This utility model addresses the problems existing in the prior art by providing an environmentally friendly sorting robot.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: an environmentally friendly sorting robot, including a movable frame, a sorting robotic arm at the front end of the movable frame, and a circular storage compartment with an open top fixedly installed on the top of the movable frame. The rear side wall of the storage compartment has a discharge port, and the discharge port has a pair of left and right distributed doors that can be opened independently to the rear. The interior of the storage compartment has multiple storage partitions arranged in a circle around the axis of the storage compartment. Two adjacent storage partitions and the inner side wall of the storage compartment form a sorting and placement area. The multiple storage partitions are driven to rotate by a rotating component so that each sorting and placement area rotates sequentially to correspond to the position of the discharge port.

[0006] Furthermore, the storage partitions are arranged radially along the storage compartment, and each sorting and placement area is fan-shaped; the sorting and placement areas inside the storage compartment are divided into several large sorting and placement areas and several small sorting and placement areas, and the arc length of the large sorting and placement areas is greater than the arc length of the small sorting and placement areas.

[0007] Furthermore, several large sorting and placement areas are continuously distributed along the circumference of the storage warehouse; several small sorting and placement areas are continuously distributed along the circumference of the storage warehouse; the arc length of the large sorting and placement area is twice the arc length of the small sorting and placement area; the unloading port and the warehouse door are both arc-shaped; the arc length of the large sorting and placement area is the same as the arc length of the unloading port; and the arc length of the warehouse door is greater than the arc length of the small sorting and placement area.

[0008] Furthermore, one end of each of the multiple storage partitions is fixed to the outer surface of the vertical connecting cylinder; the rotating assembly includes a rotating shaft fixedly extending vertically through the inner cavity of the vertical connecting cylinder, and a horizontally set rotating platform is fixed at the bottom of the rotating shaft. The rotating platform is located inside the clearance hole in the middle of the bottom surface of the storage compartment, and the rotating platform is driven to rotate by a drive servo motor located below it and mounted on a movable frame.

[0009] Furthermore, the rear end of the movable frame is provided with a pair of left and right distributed compartment door opening mechanisms, each compartment door opening mechanism being connected to the compartment door located on the same side to control the compartment door located on the same side to open or close.

[0010] Furthermore, the left and right ends of the unloading port are respectively hinged to the hopper door located on the same side; the hopper door opening mechanism includes a first link, a second link, and a hopper door servo motor. The hopper door servo motor is vertically installed at the rear end of the movable frame. The output shaft of the hopper door servo motor is fixedly connected to one end of the first link. The other end of the first link is hinged to one end of the second link. The other end of the second link is hinged to the end of the hopper door located on the same side away from the hinge. The hopper door servo motor drives the first link to rotate in the horizontal plane. The first link pulls the hopper door to rotate around the hinge through the second link, thereby opening or closing the hopper door.

[0011] Furthermore, a first baffle is fixed between two storage partitions in the large sorting and placement area. The first baffle is inclined with its outer end lower and its inner end higher. A second baffle is fixed between the lower end of the first baffle and the two storage partitions. The second baffle is also inclined with its outer end lower and its inner end higher. The angle between the second baffle and the first baffle is an obtuse angle. An auxiliary unloading trough with an open top is also provided in the large sorting and placement area. The auxiliary unloading trough is used to place sorted items. The auxiliary unloading trough is located in the area between the first baffle and the inner wall of the storage compartment. The bottom surface of the auxiliary unloading trough is inclined and contacts the surface of the second baffle.

[0012] Furthermore, the movable frame has a mounting groove at the center of its front end; the sorting robot arm includes a first dual-axis servo, a first U-shaped swing frame, a connecting rod, a second U-shaped swing frame, a second dual-axis servo, a U-shaped mounting frame, a single-axis servo, a rotating frame, and an execution terminal. The first dual-axis servo is vertically fixed in the mounting groove. The second U-shaped swing frame and the first U-shaped swing frame are distributed in opposite directions, front and back. The left and right sides of the first U-shaped swing frame are respectively connected to the two output shafts of the first dual-axis servo, and the left and right sides of the second U-shaped swing frame are connected to the two output shafts of the first dual-axis servo. The sides are respectively connected to the two output shafts of the second dual-axis servo, which is located in front of the first dual-axis motor; there is a pair of connecting rods, which are fixed between the first U-shaped swing frame and the second U-shaped swing frame; the U-shaped mounting frame is located in front of the second U-shaped swing frame, and the openings of the two are facing each other; the second dual-axis servo is installed between the left and right sides of the U-shaped mounting frame; the single-axis servo is installed at the front end of the U-shaped mounting frame, and the output shaft of the single-axis servo extends forward and is connected to the rotating frame; the actuator is installed on the rotating frame.

[0013] Furthermore, the execution terminal includes a U-shaped fixing frame fixed to one end of the rotating frame, and a pair of electromagnets are installed inside the U-shaped fixing frame.

[0014] Furthermore, Mecanum wheels are installed at both the front left and right ends and the rear left and right ends of the movable frame.

[0015] Compared with the prior art, the present invention has the following advantages: The present invention is reasonably designed and can realize the sorting and placement of multiple types. At the same time, it is equipped with two independently controllable bin doors, so as to adapt to different unloading needs, have good flexibility of use, and improve sorting efficiency. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present utility model. Figure 1 ;

[0017] Figure 2 This is a three-dimensional structural diagram of an embodiment of the present utility model. Figure 2 ;

[0018] Figure 3 This is a top view of an embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the main structure of an embodiment of this utility model;

[0020] Figure 5 This is a three-dimensional structural diagram of the movable frame in an embodiment of this utility model. Figure 1 ;

[0021] Figure 6This is a three-dimensional structural diagram of the movable frame in an embodiment of this utility model. Figure 2 ;

[0022] Figure 7 This is a schematic diagram of the structure of multiple storage partitions working together in an embodiment of this utility model. Figure 1 ;

[0023] Figure 8 This is a schematic diagram of the structure of multiple storage partitions working together in an embodiment of this utility model. Figure 2 ;

[0024] Figure 9 This is a three-dimensional structural diagram of the storage compartment in an embodiment of this utility model;

[0025] Figure 10 This is a three-dimensional structural diagram of the auxiliary unloading trough in an embodiment of this utility model;

[0026] Figure 11 This is a schematic diagram showing the state where both doors are open in an embodiment of this utility model;

[0027] Figure 12 This is a schematic diagram of the working state of the sorting robot arm in an embodiment of this utility model.

[0028] In the picture:

[0029] 1-Movable frame; 2-Sorting robotic arm; 3-Storage compartment; 4-Unloading port; 5-Door; 6-Storage partition; 7-Large sorting area; 8-Small sorting area; 9-Vertical connecting cylinder; 10-Rotating shaft; 11-Rotating table; 12-Leaving hole; 13-Drive servo motor; 14-Hinge; 15-First link; 16-Second link; 17-Door servo motor; 18-First baffle; 19-Second baffle; 20-Auxiliary unloading chute; 21-Mounting groove; 22-First dual-axis servo motor; 23-First U-shaped swing frame; 24-Connecting rod; 25-Second U-shaped swing frame; 26-Second dual-axis servo motor; 27-U-shaped mounting frame; 28-Single-axis servo motor; 29-Rotating frame; 30-U-shaped fixed frame; 31-Electromagnet; 32-Mecanum wheel; 33-Item. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0031] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0032] like Figures 1-12 As shown, this utility model discloses an environmentally friendly sorting robot, including a movable frame 1. A sorting robotic arm 2 is installed at the front center of the movable frame 1. A circular storage compartment 3 with an open top is fixedly installed at the top center of the movable frame 1. The storage compartment 3 is located behind the sorting robotic arm 2. The rear side wall of the storage compartment 3 has an unloading port 4. The unloading port 4 has a pair of left and right distributed compartment doors 5 that can be opened independently to the rear, i.e., the pair of compartment doors form a double-door structure. The interior of the storage compartment 3 is provided with multiple storage compartments arranged circumferentially around the axis of the storage compartment 3. The storage partitions 6, with two adjacent storage partitions 6 and the inner wall of the storage compartment 3 forming a sorting and placement area, that is, multiple sorting and placement areas are formed inside the storage compartment, each of which can be used to sort and place one type of item; the multiple storage partitions 6 are driven to rotate by a rotating component so that each sorting and placement area rotates sequentially to correspond to the position of the unloading port 4. When the sorting and placement area rotates to correspond to the position of the unloading port, unloading is achieved by opening one or two compartment doors; by controlling the number of compartment doors opened, two unloading modes can be realized to adapt to different task requirements.

[0033] In this embodiment, the storage partitions 6 are arranged radially along the storage compartment 3, and each sorting and placement area is fan-shaped. The sorting and placement areas inside the storage compartment 3 are divided into several large sorting and placement areas 7 and several small sorting and placement areas 8, with the arc length of the large sorting and placement areas 7 being greater than the arc length of the small sorting and placement areas 8. Specifically, there are seven storage partitions 6, which, together with the inner wall of the storage compartment 3, form eight sorting and placement areas, enabling eight sorting and classification tasks. Among them, there are three large sorting and placement areas 7 and five small sorting and placement areas 8. The three large sorting and placement areas 7 are continuously distributed along the circumference of the storage compartment 3, and the four small sorting and placement areas 8 are continuously distributed along the circumference of the storage compartment 3. Materials of different sizes can be placed in the large sorting and placement areas or the small sorting and placement areas respectively.

[0034] In this embodiment, the arc length of the large sorting and placement area 7 is twice the arc length of the small sorting and placement area 8. The unloading port 4 and the storage door 5 are both arc-shaped. The arc length of the large sorting and placement area 7 is the same as the arc length of the unloading port 4, and the arc length of the storage door 5 is slightly greater than the arc length of the small sorting and placement area 8. Therefore, when unloading items, there are two operations: opening one storage door to unload items from the small sorting and placement area, or opening both storage doors to unload items from the large sorting and placement area.

[0035] In this embodiment, the inner ends of multiple storage partitions 6 are all fixed to the outer surface of a vertical connecting cylinder 9. The rotating assembly includes a rotating shaft 10 fixedly extending vertically through the inner cavity of the vertical connecting cylinder 9. A horizontally positioned rotating platform 11 is fixed to the bottom of the rotating shaft 10. The rotating platform 11 is located inside the clearance hole 12 in the middle of the bottom surface of the storage compartment 3. The rotating platform 11 is driven to rotate by a drive servo motor 13 located below it and mounted on a movable frame 1. During operation, the drive servo motor 13 drives the rotating platform 11 to rotate, which in turn drives the rotating shaft 10, which is vertically fixed in the middle, to rotate. Since the rotating shaft 10 is fixedly connected to the vertical connecting cylinder 9, the rotating shaft 10 drives the vertical connecting cylinder 9 to rotate, and the vertical connecting cylinder 9 drives the multiple storage partitions 6 to rotate synchronously. Because the storage compartment is fixed while the storage partitions rotate, the classification and placement area enclosed between the storage partitions and the inner wall of the storage compartment is rotatable and movable.

[0036] In this embodiment, the left and right ends of the unloading port 4 are respectively hinged to the compartment door 5 located on the same side by hinges 14 (such as hinges); the rear end of the movable frame 1 is provided with a pair of compartment door opening mechanisms distributed on the left and right, and each compartment door opening mechanism is connected to the compartment door 5 located on the same side to control the compartment door located on the same side to open or close. Specifically: Each door opening mechanism includes a first link 15, a second link 16, and a door servo motor 17. The door servo motor 17 is vertically mounted at the rear end of the movable frame 1. The output shaft of the door servo motor 17 is fixedly connected to one end of the first link 15. The other end of the first link 15 is hinged to one end of the second link 16. The other end of the second link 16 is hinged to the end of the door 5 located on the same side away from the hinge 14. During operation, the door servo motor 17 drives the first link 15 to rotate in the horizontal plane. The first link 15 pulls the door 5 to rotate around the hinge 14 through the second link 16. By controlling the forward and reverse rotation of the door servo motor, the door can be opened or closed.

[0037] In this embodiment, a first baffle 18 is fixed between two storage partitions 6 within the large sorting and placement area 7. The first baffle 18 is inclined with its outer end (i.e., the end away from the storage bin axis) lower and its inner end (i.e., the end closer to the storage bin axis) higher. A second baffle 19 is fixed between the lower end of the first baffle 18 and the two storage partitions 6. The second baffle 19 is inclined with its outer end lower and its inner end higher, and the angle between the second baffle 19 and the first baffle 18 is an obtuse angle. An auxiliary unloading trough 20 with an open top is also provided within the large sorting and placement area 7. The auxiliary unloading trough 20 is used to place sorted items and is located in the area between the first baffle 18 and the inner wall of the storage bin 3. The bottom surface of the auxiliary unloading trough 20 is inclined and contacts the surface of the second baffle 19. By setting an inclined second baffle and an auxiliary unloading trough with a sloping bottom, sorted items are placed in the auxiliary unloading trough. When the sorting and placement area rotates to correspond to the unloading port position, the two doors open simultaneously. The auxiliary unloading trough utilizes the sloping bottom to facilitate sliding down along the second baffle and through the unloading port, improving the smoothness of unloading and reducing jamming. At the same time, it can ensure that the items will not jam when the storage compartment rotates.

[0038] In this embodiment, the movable frame 1 has a mounting groove 21 at the center of its front end; the sorting robotic arm 2 includes a first dual-axis servo motor 22, a first U-shaped swing frame 23, a connecting rod 24, a second U-shaped swing frame 25, a second dual-axis servo motor 26, a U-shaped mounting frame 27, a single-axis servo motor 28, a rotating frame 29, and an execution terminal. The first dual-axis servo motor 22 is vertically fixed in the mounting groove 21, and its two output shafts face left and right respectively. The second U-shaped swing frame 25 and the first U-shaped swing frame 23 are distributed in a front-to-back interval, with their openings facing away from each other. The left and right sides of the first U-shaped swing frame 23 are connected to the two output shafts of the first dual-axis servo motor 22 respectively. The left and right sides of the frame 25 are respectively connected to the two output shafts of the second dual-axis servo motor 26, which is located in front of the first dual-axis motor 22. A pair of connecting rods 24 are fixed between the first U-shaped swing frame 23 and the second U-shaped swing frame 25, connecting the first and second U-shaped swing frames into a whole. The U-shaped mounting frame 27 is located in front of the second U-shaped swing frame 25, and the openings of the two are facing each other. The second dual-axis servo motor 26 is installed between the left and right sides of the U-shaped mounting frame 25. The single-axis servo motor 28 is installed at the front end of the U-shaped mounting frame 27, and the output shaft of the single-axis servo motor 28 extends forward and is connected to the rotating frame 29. The execution terminal is installed on the rotating frame 29 and is used to connect with the sorted items. During operation: The first dual-axis servo motor 22 drives the first U-shaped swing frame 23 to rotate. The first U-shaped swing frame 23 drives the second U-shaped swing frame 25 to rotate synchronously via a pair of connecting rods 24. The second U-shaped swing frame 25 can drive the second dual-axis servo motor 26, the U-shaped mounting frame 27, the single-axis servo motor 28, the rotating frame 29, and the execution terminal to rotate synchronously. When the second dual-axis servo motor 26 rotates, the position of the second dual-axis servo motor 26, the U-shaped mounting frame 27, the single-axis servo motor 28, the rotating frame 29, and the execution terminal as a whole can be adjusted. The single-axis servo motor 28 is used to drive the rotating frame 29 to rotate, and the rotating frame 29 drives the execution terminal to rotate synchronously. This sorting robot arm consists of two dual-axis servos and one single-axis servo motor. These servos, together with the swing frame, rotating frame, and mounting frame, form a stable mechanical system. This structural design enables the sorting robot arm to achieve two degrees of freedom of movement, providing higher flexibility and operational precision.

[0039] In this embodiment, the execution terminal includes a U-shaped fixing frame 30 fixed to one end of the rotating frame 29. A pair of electromagnets 31 are installed inside the U-shaped fixing frame 30. When the pair of electromagnets are energized, they generate magnetic attraction force, which is used to attract and hold the object.

[0040] In this embodiment, Mecanum wheels 32 are installed at both the front left and right ends and the rear left and right ends of the movable frame 1, that is, the movable frame 1 has four Mecanum wheels 32. Existing sorting and handling robots mostly use differential wheel structures, which limits the dimensions of movement, enabling only two-dimensional planar movement (forward / backward + turning). In narrow spaces, multiple turns are required, resulting in poor flexibility in space-constrained environments. This embodiment, by equipping four Mecanum wheels, enables omnidirectional movement within a plane, including forward, backward, left, and right movement, as well as rotation. This multi-dimensional movement capability greatly improves flexibility in space-constrained environments, significantly enhancing inspection efficiency and target pickup efficiency.

[0041] In this embodiment, servo motors, as a commonly used and important structure in robot design, are highly practical in achieving rotation. The servo motors used in this robot are mainly employed in the sorting arm, the center of the storage compartment, and the opening and closing of the compartment door. The servo motors used are from the DSSERVO series, specifically models DS3120, DS3225, and RDS3225. DSSERVO servo motors utilize digital control technology, enabling precise position and speed control. They also feature low noise and low power consumption, allowing for extended operation. This series of servo motors uses PWM control signals, making control convenient. The specific control principles and methods are well-known existing technologies and will not be elaborated upon here.

[0042] It should be noted that the control aspects of the sorting robot, such as movement obstacle avoidance and item recognition, can be similar to those of existing sorting robots (e.g., multimodal perception system (MT9V034 camera + 3 OpenART mini vision modules + TOF ranging, etc., to improve the ability to recognize complex environments). These are not related to the technical problems to be solved by this utility model, so they will not be repeated in detail.

[0043] If this utility model discloses or relates to mutually fixedly connected parts or structural components, then, unless otherwise stated, a fixed connection can be understood as: a detachable fixed connection (e.g., using bolts or screws), or a non-detachable fixed connection (e.g., riveting, welding). Of course, mutually fixed connections can also be replaced by an integral structure (e.g., manufactured using a casting process) (except where it is obviously impossible to use an integral molding process).

[0044] In addition, unless otherwise stated, the terms used to indicate positional relationships or shapes in any of the technical solutions disclosed in this utility model above include states or shapes that are similar to, close to, or approximate with them.

[0045] Any component provided by this utility model can be assembled from multiple individual components, or it can be a single component manufactured by a one-piece molding process.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. An environmentally friendly sorting robot, comprising a movable frame, characterized in that: The movable frame is equipped with a sorting robotic arm at its front end, and a circular storage compartment with an open top is fixedly installed on the top of the movable frame. The rear side wall of the storage compartment has a discharge port, which has a pair of left and right doors that can be opened independently to the rear. The interior of the storage compartment is equipped with multiple storage partitions arranged in a circle around the axis of the storage compartment. The space between two adjacent storage partitions and the inner side wall of the storage compartment forms a sorting and placement area. The multiple storage partitions are driven to rotate by a rotating component so that each sorting and placement area rotates sequentially to correspond to the position of the discharge port.

2. The environmentally friendly sorting robot according to claim 1, characterized in that: The storage partitions are arranged radially along the storage compartment, and each sorting and placement area is fan-shaped. The sorting and placement areas inside the storage compartment are divided into several large sorting and placement areas and several small sorting and placement areas. The arc length of the large sorting and placement area is greater than the arc length of the small sorting and placement area.

3. The environmentally friendly sorting robot according to claim 2, characterized in that: Several large sorting and placement areas are continuously distributed along the circumference of the storage warehouse; several small sorting and placement areas are continuously distributed along the circumference of the storage warehouse; the arc length of the large sorting and placement areas is twice the arc length of the small sorting and placement areas; the unloading port and the warehouse door are both arc-shaped; the arc length of the large sorting and placement areas is the same as the arc length of the unloading port; and the arc length of the warehouse door is greater than the arc length of the small sorting and placement areas.

4. The environmentally friendly sorting robot according to claim 1, characterized in that: One end of each of the multiple storage partitions is fixed to the outer surface of the vertical connecting cylinder; the rotating assembly includes a rotating shaft fixedly extending vertically through the inner cavity of the vertical connecting cylinder, and a horizontally set rotating platform is fixed at the bottom of the rotating shaft. The rotating platform is located inside the clearance hole in the middle of the bottom surface of the storage compartment, and the rotating platform is driven to rotate by a drive servo motor located below it and mounted on a movable frame.

5. An environmentally friendly sorting robot according to claim 1, characterized in that: The rear end of the movable frame is provided with a pair of left and right distributed compartment door opening mechanisms. Each compartment door opening mechanism is connected to the compartment door located on the same side to control the opening or closing of the compartment door located on the same side.

6. An environmentally friendly sorting robot according to claim 5, characterized in that: The left and right ends of the unloading port are respectively hinged to the hopper door located on the same side; the hopper door opening mechanism includes a first link, a second link, and a hopper door servo motor. The hopper door servo motor is vertically installed at the rear end of the movable frame. The output shaft of the hopper door servo motor is fixedly connected to one end of the first link. The other end of the first link is hinged to one end of the second link. The other end of the second link is hinged to the end of the hopper door located on the same side away from the hinge. The hopper door servo motor drives the first link to rotate in the horizontal plane. The first link pulls the hopper door to rotate around the hinge through the second link, thereby opening or closing the hopper door.

7. An environmentally friendly sorting robot according to claim 2, characterized in that: Within the large sorting and placement area, a first baffle is fixed between two storage partitions. The first baffle is inclined with its outer end lower and its inner end higher. A second baffle is fixed between the lower end of the first baffle and the two storage partitions. The second baffle is also inclined with its outer end lower and its inner end higher. The angle between the second baffle and the first baffle is an obtuse angle. The large sorting and placement area is also equipped with an auxiliary unloading chute with an open top. The auxiliary unloading chute is used to place sorted items. The auxiliary unloading chute is located in the area between the first baffle and the inner wall of the storage compartment. The bottom surface of the auxiliary unloading chute is inclined and contacts the surface of the second baffle.

8. An environmentally friendly sorting robot according to claim 1, characterized in that: The movable frame has a mounting groove at its front center; the sorting robot arm includes a first dual-axis servo, a first U-shaped swing frame, a connecting rod, a second U-shaped swing frame, a second dual-axis servo, a U-shaped mounting frame, a single-axis servo, a rotating frame, and an execution terminal. The first dual-axis servo is vertically fixed in the mounting groove. The second U-shaped swing frame and the first U-shaped swing frame are distributed in opposite directions, front and rear. The left and right sides of the first U-shaped swing frame are respectively connected to the two output shafts of the first dual-axis servo, and the left and right sides of the second U-shaped swing frame are respectively connected to the two output shafts of the first dual-axis servo. The first dual-axis servo is connected to the two output shafts of the second dual-axis servo, which is located in front of the first dual-axis motor. A pair of connecting rods are fixed between the first and second U-shaped swing frames. The U-shaped mounting frame is located in front of the second U-shaped swing frame, with their openings facing each other. The second dual-axis servo is mounted between the left and right sides of the U-shaped mounting frame. The single-axis servo is mounted at the front end of the U-shaped mounting frame, with its output shaft extending forward and connecting to the rotating frame. The actuator is mounted on the rotating frame.

9. An environmentally friendly sorting robot according to claim 8, characterized in that: The execution terminal includes a U-shaped fixing frame fixed to one end of the rotating frame, and a pair of electromagnets are installed inside the U-shaped fixing frame.

10. An environmentally friendly sorting robot according to claim 1, characterized in that: Mecanum wheels are installed at both the front left and right ends and the rear left and right ends of the movable frame.

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