CN114310920B - Intelligent sorting parallel robot and control system thereof - Google Patents
Intelligent sorting parallel robot and control system thereof Download PDFInfo
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- CN114310920B CN114310920B CN202210250385.1A CN202210250385A CN114310920B CN 114310920 B CN114310920 B CN 114310920B CN 202210250385 A CN202210250385 A CN 202210250385A CN 114310920 B CN114310920 B CN 114310920B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
Abstract
The application relates to an intelligence letter sorting parallel robot and control system thereof, including the mount pad, still include: the sorting and picking mechanism comprises a first rotating platform arranged on the mounting base, a balance arm arranged on the first rotating platform and a negative pressure picking assembly arranged at the moving end of the balance arm and used for picking the objects to be sorted; the picking point dispersion assembly is arranged at the picking end of the negative pressure picking assembly and is used for regulating and controlling the distance between the picking points of the negative pressure picking assembly; the visual camera shooting mechanism is arranged at the picking end of the negative pressure picking assembly and is used for acquiring the image information of the object to be sorted; the motion drive portion is installed on the mount pad for drive letter sorting picks up mechanism and screening peeling means, picks up the mechanism and picks up the mechanism complex pick up point dispersion subassembly with the letter sorting through the letter sorting, has realized the dispersion function of area letter sorting work piece pick up point, and the screening peeling means and the plastics detector that set up have realized waiting to sort the peeling function of work piece bottom adhesion plastics adhesion thing.
Description
Technical Field
The invention relates to an intelligent sorting parallel robot, and belongs to the technical field of computer vision.
Background
Due to the complexity and diversity of household garbage, the awareness of garbage classification of people is not high, the garbage classification market is immature and the like, so that the garbage classification of China has been implemented for more than ten years, and still has no effect. The garbage is solid waste generated in daily life and production of human beings, and due to large discharge amount and complex and various components, if the garbage cannot be properly treated, the garbage pollutes the environment, influences the environmental sanitation, wastes resources, destroys the safety of production and life, and destroys the social harmony. The garbage disposal is to rapidly remove the garbage, perform harmless treatment and finally reasonably utilize the garbage. The garbage disposal methods widely used today are sanitary landfills, high temperature composting and incineration. The most common method is landfill, but the effect is slow, the occupied area is large, secondary pollution is easily caused to underground water, and the other method is incineration, but the air pollution is large and the investment is also large. The comprehensive utilization of garbage becomes the direction of garbage treatment, and the effective sorting and treatment of garbage are the premise of the comprehensive utilization of garbage.
The household garbage recycling production line generally uses a conveyor belt as a carrier to sort garbage flatly paved on the conveyor belt. The method for grabbing and sorting the target objects by adopting the multiple manipulators on the garbage sorting line has the advantages of high working efficiency and reduction of the labor intensity of workers. However, since the general types of the household garbage are various, the types of objects and features to be identified from the household garbage are very various, for example, bottles, cans and the like with various shapes and colors, and the requirements on the sorting clamping jaws are higher.
And screening when other workpieces are adhered to the bottom of the workpiece.
In the environmental protection field, effective treatment of domestic garbage and recycling of related high-value waste products have gradually become the focus of increasing social development attention, wherein the classification process of garbage is the key of domestic garbage treatment, garbage sorting is the premise of realizing the recycling treatment of urban domestic garbage resources, and the automatic garbage sorting technology is the inevitable development trend of garbage sorting.
At present, domestic waste letter sorting line still mainly adopts the mode of manual sorting to the conveyer belt lasts the tiling conveying with domestic waste, and the mode that its both sides were stood many workers and were snatched with the hand sorts rubbish, and this kind of mode of sorting leaks easily and examines, and sorts inefficiency.
In the prior art, the invention patent with the patent application number CN202110240460.1 discloses "an intelligent sorting system and method for classifying domestic garbage, the system includes: the garbage target identification unit is used for acquiring optical images of a moving target object and an irregular background of the moving target object on the conveyor belt, processing the optical images according to the characteristics of target garbage pre-sorted by the system, identifying target objects in the optical images by combining morphological identification and deep learning with manual interaction, obtaining coordinates and angle information frames of the targets and inputting the coordinates and the angle information frames into the garbage sorting control unit; the garbage sorting control unit is used for judging whether the target object enters a working interval of the idle manipulator or not according to the input target coordinate and the angle information frame and the relative position of the manipulator and the conveyor belt, converting the coordinate and the angle information of the target object entering the working interval of the manipulator into a manipulator coordinate system, sending the coordinate and the angle information to the corresponding manipulator, and controlling the corresponding manipulator to grab the corresponding target object ", but still has the following defects:
(1) due to the complex components of the household garbage, when the household garbage is conveyed on the surface of the conveying belt, the contact surface of the garbage to be sorted and recycled and the conveying belt is adhered with disposable plastic products due to the existence of oil stains or other liquid on the surface of the recyclable bottles or paper, so that the sorting accuracy is influenced during sorting;
(2) the garbage sorting clamping jaw is used for positioning the garbage to be sorted, the central point of the garbage to be sorted is adsorbed and sorted, the adsorption point is unique, the scattered adsorption of the adsorption point cannot be carried out according to the garbage with different volumes, and the sorting failure is caused when the flatness or the sealing degree of the adsorption point does not reach the standard.
Therefore, the intelligent sorting parallel robot is improved, and the intelligent sorting parallel robot is provided.
Disclosure of Invention
The technical problem to be solved by the invention is as follows:
due to the complex components of the household garbage, when the household garbage is conveyed on the surface of the conveying belt, the contact surface of the garbage to be sorted and recycled and the conveying belt is adhered with disposable plastic products due to the existence of oil stains or other liquid on the surface of the recyclable bottles or paper, so that the sorting accuracy is influenced during sorting;
the garbage sorting clamping jaw is commonly used at present for positioning that a central point of garbage to be sorted is adsorbed and sorted, an adsorption point is unique, the adsorption point can not be dispersed and adsorbed according to garbage with different volumes, and the sorting failure is caused when the flatness or the sealing degree of the adsorption point does not reach the standard.
(II) technical scheme
In order to achieve the above object, the present invention provides an intelligent sorting parallel robot, which comprises a mounting seat, and further comprises:
the sorting and picking mechanism comprises a first rotating platform arranged on the mounting base, a balance arm arranged on the first rotating platform and a negative pressure picking assembly arranged at the moving end of the balance arm and used for picking objects to be sorted, wherein the balance arm comprises a first swing arm arranged on the first rotating platform, a second rotating platform arranged at the swinging end of the first swing arm, a second swing arm arranged on the second rotating platform and a third swing arm arranged at the swinging end of the second swing arm;
the negative pressure picking assembly comprises a first negative pressure pump arranged between the mounting seat and the first rotating platform, an assembling seat arranged at the swinging end of the third swing arm, a negative pressure adsorption part arranged at the corner of the assembling seat and a negative pressure pipe connected between the negative pressure adsorption part and the first negative pressure pump;
the picking point dispersion assembly is arranged at the picking end of the negative pressure picking assembly and is used for regulating and controlling the distance between the picking points of the negative pressure picking assembly;
the picking point dispersing assembly comprises a rotating part and an electric telescopic rod, wherein the rotating part is arranged at the corner of the assembling seat, and the electric telescopic rod is arranged between the rotating part and the negative pressure adsorption part;
the visual camera shooting mechanism is arranged at the picking end of the negative pressure picking assembly and used for acquiring the image information of the objects to be sorted, and the visual camera shooting mechanism is in communication connection with the picking point dispersing assembly;
the plastic detector is arranged on the mounting seat through a bracket and is used for detecting plastic adhesive substances at the bottom of the objects to be sorted;
the screening and stripping mechanism is arranged on the mounting seat and is used for stripping the adhesive at the bottom of the object to be sorted;
the screening and stripping mechanism comprises a stripping assembly, a third rotating platform, a rotating arm and a clamping arm, the third rotating platform is installed on an installation seat, the rotating arm is installed on the third rotating platform, the clamping arm is installed at the end part of the rotating arm, the stripping assembly comprises a second negative pressure pump installed between the installation seat and the third rotating platform, a plastic stripping head installed on the clamping arm and a second negative pressure pipe connected between the plastic stripping head and the second negative pressure pump, and the power of the first negative pressure pump is larger than that of the second negative pressure pump;
the motion driving part is arranged on the mounting seat and is used for driving the sorting and picking mechanism and the screening and stripping mechanism;
the sorting robot is arranged on the side edge of a conveying belt for conveying objects to be sorted, when the robot is used, the objects to be sorted on the conveying belt are photographed through a visual camera mechanism, the pictures are preprocessed, interested parts of the pictures are extracted, the pictures are processed into black and white pictures through a gray threshold segmentation method, images of the workpieces to be sorted are obtained, in the images of the workpieces to be sorted, circular image outlines which can comprise all the workpieces to be sorted are extracted through a minimum circumcircle method, the center point coordinates of the circular image outlines are obtained, the minimum inscribed square area of the circular image outlines is selected according to the center point coordinates, the minimum inscribed square area is scanned globally, the coordinates of negative pressure adsorption points fall in the minimum inscribed square area, the coordinates of the negative pressure adsorption points of all the workpieces to be sorted are determined, and the negative pressure adsorption part is based on the coordinate values of the workpieces to be sorted under a robot coordinate system, picking up workpieces to be sorted respectively, and placing the workpieces to be sorted at specified positions;
after the position coordinates of the workpieces to be sorted are determined and the sorting tracks are planned at the same time, the first rotating platform and the second rotating platform rotate, the workpieces to be sorted with designated position coordinates are moved through the swinging of the first swing arm, the second swing arm and the third swing arm, further, the first rotating platform rotates, the negative pressure adsorption part is moved to the position above the workpieces to be sorted through the swinging of the first swing arm, the second swing arm and the third swing arm, the electric telescopic rod is controlled to extend, the position of a negative pressure adsorption point after the electric telescopic rod extends is required to fall in a minimum square inscribed region determined by the workpieces to be sorted, at the moment, the first negative pressure pump is started, the negative pressure adsorption part generates negative pressure through the negative pressure pipe, then the workpieces to be sorted of the negative pressure adsorption part are picked up, then the first rotating platform and the second rotating platform are driven to rotate through the motion driving part, and the workpieces to be sorted with designated position coordinates are moved through the swinging of the first swing arm, the second swing arm and the third swing arm, and sorting is completed.
The visual camera shooting mechanism comprises a camera, a gray sensor and a light source, wherein the camera, the gray sensor and the light source are installed on one side, far away from the third swing arm, of the assembling seat.
A control system of an intelligent sorting parallel robot comprises a main control module, and a vision camera module, a plastic detection module, a robot arm driving module and a clamping driving module which are in communication connection with the main control module and used for collecting and transmitting image information, wherein the vision camera module is in signal connection with a vision camera mechanism, and the plastic detection module is in signal connection with a plastic detector;
the visual camera module comprises a coordinate positioning module, an image acquisition module and an image processing module, wherein the positioning module is used for acquiring the coordinate value of the object to be sorted in an image coordinate system;
the main control module comprises an identification part, a receiving part, a size measuring part, a track planning part and a communication part, wherein the communication part is in communication connection with the robot arm driving module and the clamping driving module, the identification part and the receiving part perform identification processing on image information transmitted by the visual camera module, coordinate values of all objects to be sorted under an image coordinate system are converted into coordinates under a sorting clamping jaw coordinate system, position coordinates of the objects to be sorted are determined, sorting tracks are planned through the track planning part, a minimum inscribed positive quadrangle of the objects to be sorted is measured through the size measuring part, the coordinates of the negative pressure adsorption part fall into a minimum inscribed square area, the objects to be sorted are picked respectively, and the objects to be sorted are placed at a specified recovery position.
The plastic sorting machine is characterized in that at least one part exists in an article moving track planned by the main control module, so that the bottom of the article is exposed at a detection end of the plastic detection machine, if the plastic detection module does not receive a signal detected by the plastic detection machine, the negative pressure adsorption part moves according to a set track, if the plastic detection module receives the signal of the plastic detection machine, the central processing unit controls the mechanical arm driving module to move the position, where the material detects the plastic signal, to the plastic stripping head, and the material to be sorted is separated from the plastic through the plastic stripping head negative pressure adsorption.
The recognition part and the receiving part recognize the images by a gray threshold segmentation method, determine the position coordinates of the objects to be sorted, and plan and execute the sorting track planned by the track planning part of the negative pressure adsorption part by the communication part.
(III) advantageous effects
The invention provides an intelligent sorting parallel robot, which has the beneficial effects that:
1. the sorting and picking mechanism and the picking point dispersing assembly matched with the sorting and picking mechanism are arranged, so that the dispersing function of picking points with sorted workpieces is realized, and the problems that in the prior art, an adsorption point is unique, the dispersed adsorption of the adsorption point cannot be carried out according to garbage with different volumes, and the sorting fails when the flatness or the sealing degree of the adsorption point does not reach the standard are solved;
2. through the arranged plastic detector, the detection of plastic adhesive substances adhered to the bottom of the workpiece to be sorted is realized, and the problem that in the prior art, disposable plastic products are adhered to the contact surface of the garbage to be sorted and recycled and the conveying belt due to the existence of oil stains or other liquid on the surface of recyclable bottles or paper, so that the sorting accuracy is influenced during sorting is solved;
3. the screening and stripping mechanism is arranged, so that the stripping function of plastic adhesive substances adhered to the bottom of the workpiece to be sorted is realized, and the problem that the sorting accuracy is influenced due to the fact that plastic is adhered during sorting in the prior art is solved;
4. through the matching of the vision camera shooting mechanism and the vision camera shooting module in the arranged control system, the replacement and confirmation of the position coordinates of the workpiece to be sorted and the position coordinates of the negative pressure adsorption part are realized, and the sorting and positioning accuracy is improved;
5. through the size survey portion that sets up, realized carrying out the dispersion of adsorption site and adsorbing according to the rubbish of different volumes, solved the only problem of selecting the failure that leads to of adsorption site among the prior art.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent sorting parallel robot provided in the present application;
fig. 2 is a second schematic structural diagram of the intelligent sorting parallel robot provided in the present application;
fig. 3 is a third schematic structural diagram of an intelligent sorting parallel robot provided by the present application;
fig. 4 is a fourth schematic structural diagram of the intelligent sorting parallel robot provided by the present application;
fig. 5 is one of schematic structural diagrams of a sorting and picking mechanism of an intelligent sorting parallel robot provided by the present application;
fig. 6 is a second schematic structural diagram of a sorting and picking mechanism of the intelligent sorting parallel robot provided by the present application;
fig. 7 is a third schematic structural diagram of a sorting and picking mechanism of the intelligent sorting parallel robot provided by the present application;
fig. 8 is a schematic structural diagram of a screening and stripping mechanism of an intelligent sorting parallel robot provided in the present application;
fig. 9 is a second schematic structural diagram of a screening and peeling mechanism of the intelligent sorting parallel robot provided by the present application.
110. A first rotating table; 120. a balance arm; 121. a first swing arm; 122. a second rotating table; 123. a second swing arm; 124. a third swing arm; 130. a negative pressure pickup assembly; 131. a first negative pressure pump; 132. assembling a seat; 133. a negative pressure adsorption part; 134. a negative pressure tube; 20. a visual camera mechanism; 30. a plastic detector; 410. a rotating part; 420. an electric telescopic rod; 50. a motion driving section; 60. a screening and stripping mechanism; 610. a third rotating table; 620. a rotating arm; 630. installing a clamping arm; 710. a second negative pressure pump; 720. a plastic stripping head; 730. a second negative pressure tube.
Detailed Description
The following detailed description of the embodiments of the present invention is made with reference to the drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
Example 1:
as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, and fig. 9, the present embodiment provides an intelligent sorting parallel robot, which includes a mounting base, and further includes:
the sorting and picking mechanism comprises a first rotating platform 110 arranged on the mounting seat, a balance arm 120 arranged on the first rotating platform 110 and a negative pressure picking assembly 130 arranged at the moving end of the balance arm 120 and used for picking up the objects to be sorted, wherein the negative pressure picking assembly 130 comprises a first negative pressure pump 131 arranged between the mounting seat and the first rotating platform 110, an assembling seat 132 arranged at the swinging end of a third swinging arm 124, a negative pressure adsorption part 133 arranged at the corner of the assembling seat 132 and a negative pressure pipe 134 connected between the negative pressure adsorption part 133 and the first negative pressure pump 131 and used for picking up the objects to be sorted;
the picking point dispersing assembly is arranged at the picking end of the negative pressure picking assembly 130 and used for regulating and controlling the distance between the picking points of the negative pressure picking assembly 130, and the picking point dispersing assembly comprises a rotating part 410 arranged at the corner of the assembling seat 132 and an electric telescopic rod 420 arranged between the rotating part 410 and the negative pressure adsorption part 133 and used for regulating and controlling the distance of the negative pressure adsorption part 133;
the visual shooting mechanism 20 is arranged at the picking end of the negative pressure picking assembly 130 and used for acquiring image information of an object to be sorted, the visual shooting mechanism 20 is in communication connection with the picking point dispersing assembly, the central point and the adsorption point of the object to be sorted are determined by a minimum inscribed square method, a camera on the visual shooting mechanism is used for shooting an object to be sorted on a conveying belt, a picture is preprocessed, an interested part of the picture is extracted, the picture is processed into a black and white picture by a gray threshold segmentation method, and an image of a workpiece to be sorted is acquired;
the plastic detector 30 is installed on the installation seat through a support and used for detecting plastic adhesion at the bottom of the object to be sorted, the plastic detector 30 is over against the position point of the plastic detector 30 when the balance arm 120 is lifted, the plastic detector 30 monitors whether plastic parts are adhered to the bottom of the object to be sorted adsorbed by the negative pressure adsorption part 133, and transmits a monitoring result to the screening and stripping mechanism 60, if an adhesion signal is detected, the signal is transmitted to the screening and stripping mechanism 60, and a control system plans a screening track of the screening and stripping mechanism 60 to clean the adhesion;
the screening and stripping mechanism 60 is arranged on the mounting seat and is used for stripping the adhered substances at the bottom of the objects to be sorted, and the plastic detector 30 is used for detecting whether plastic parts are adhered to the bottoms of the objects to be sorted adsorbed by the negative pressure adsorption part 133;
and the motion driving part 50 is arranged on the mounting seat and used for driving the sorting and picking mechanism and the screening and stripping mechanism, namely, the motion driving part 50 is controlled by the intelligent sorting robot control system to move according to a set track.
The balance arm 120 includes a first swing arm 121 mounted on the first rotating stage 110, a second rotating stage 122 mounted on a swing end of the first swing arm 121, a second swing arm 123 mounted on the second rotating stage 122, and a third swing arm 124 mounted on a swing end of the second swing arm 123.
The vision camera mechanism 20 includes a camera, a gray sensor and a light source installed on a side of the mounting seat 132 away from the third swing arm 124, and is used for recognizing the object to be sorted and determining a center point of the object to be sorted.
The sorting robot is arranged at the side edge of a conveying belt for conveying objects to be sorted, when the sorting robot is used, the objects to be sorted on the conveying belt are photographed through a camera on a visual camera mechanism, the picture is preprocessed, the interested part of the picture is extracted, the picture is processed into a black-and-white picture through a gray threshold segmentation method, the image of the workpieces to be sorted is obtained, the circular image outline which can comprise all the workpieces to be sorted is extracted from the image of the workpieces to be sorted by utilizing a minimum circumcircle method, the central point coordinate of the circular image outline is obtained, the minimum inscribed square area of the circular image outline is selected according to the central point coordinate, the minimum inscribed square area is globally scanned, the coordinate of a negative pressure adsorption point falls into the minimum inscribed square area, the coordinate of the negative pressure adsorption point of all the workpieces to be sorted is determined, and the negative pressure adsorption part 133 is based on the coordinate value of the workpieces to be sorted under the robot coordinate system, picking up workpieces to be sorted respectively, and placing the workpieces to be sorted at specified positions;
specifically, after determining the position coordinates of the workpieces to be sorted and planning the sorting trajectory, the first rotating platform 110 and the second rotating platform 122 rotate, the first swing arm 121, the second swing arm 123 and the third swing arm 124 swing to complete the movement of the workpieces to be sorted with the designated position coordinates, further, the first rotating platform 110 and the second rotating platform 122 rotate, the first swing arm 121, the second swing arm 123 and the third swing arm 124 swing to move the vacuum adsorption part 133 above the workpieces to be sorted, and control the electric telescopic rod 420 to extend, after the electric telescopic rod 420 extends, the position of the vacuum adsorption point 133 should fall within the minimum square inscribed region determined by the workpieces to be sorted, at this time, the first vacuum pump 131 is turned on, the vacuum adsorption part 133 generates a negative pressure through the vacuum pipe 134, then the workpieces to be sorted by the vacuum adsorption part 133 are picked up, and then the first rotating platform 110 and the second rotating platform 122 are driven to rotate by the motion driving part 50, the first swing arm 121, the second swing arm 123 and the third swing arm 124 swing to complete the movement of the workpiece to be sorted of the designated position coordinates, and the sorting is completed.
Example 2:
the scheme of example 1 is further described below in conjunction with specific working modes, which are described in detail below:
as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8 and 9, in addition to the above embodiment, the sieving and peeling mechanism further includes a peeling unit, a third rotating table 610 attached to the mounting base, a rotating arm 620 attached to the third rotating table 610, and a chuck arm 630 attached to an end of the rotating arm 620.
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8 and 9, in addition to the above-mentioned embodiment, the stripping assembly further includes a second negative pressure pump 710 installed between the mounting base and the third rotating table 610, a plastic stripping head 720 installed on the clamping arm 630, and a second negative pressure pipe 730 connected between the plastic stripping head 720 and the second negative pressure pump 710, and the power of the first negative pressure pump 131 is greater than that of the second negative pressure pump 710.
The sorting robot is arranged at the side edge of a conveying belt for conveying objects to be sorted, when the sorting robot is used, the objects to be sorted on the conveying belt are photographed through a camera on a visual camera mechanism, the picture is preprocessed, the interested part of the picture is extracted, the picture is processed into a black-and-white picture through a gray threshold segmentation method, the image of the workpieces to be sorted is obtained, the circular image outline which can comprise all the workpieces to be sorted is extracted from the image of the workpieces to be sorted by utilizing a minimum circumcircle method, the central point coordinate of the circular image outline is obtained, the minimum inscribed square area of the circular image outline is selected according to the central point coordinate, the minimum inscribed square area is globally scanned, the coordinate of a negative pressure adsorption point falls into the minimum inscribed square area, the coordinate of the negative pressure adsorption point of all the workpieces to be sorted is determined, and the negative pressure adsorption part 133 is based on the coordinate value of the workpieces to be sorted under the robot coordinate system, picking up workpieces to be sorted respectively, and placing the workpieces to be sorted at specified positions;
after determining the position coordinates of the workpieces to be sorted and planning the sorting track at the same time, the first rotating platform 110 and the second rotating platform 122 rotate, the first swing arm 121, the second swing arm 123 and the third swing arm 124 swing to complete the movement of the workpieces to be sorted with the designated position coordinates, further, the first rotating platform 110 and the second rotating platform 122 rotate, the first swing arm 121, the second swing arm 123 and the third swing arm 124 swing to enable the negative pressure adsorption part 133 to move to the upper side of the workpieces to be sorted, and control the electric telescopic rod 420 to extend, after the electric telescopic rod 420 extends, the position of the negative pressure adsorption point 133 should fall within the minimum inscribed square area determined by the workpieces to be sorted, at this time, the first negative pressure pump 131 is started, the negative pressure adsorption part 133 generates negative pressure through the negative pressure pipe 134, then the picking up of the workpieces to be sorted by the negative pressure adsorption part 133 is completed, and then the first rotating platform 110 and the second rotating platform 122 are driven by the motion driving part 50 to rotate, the first swing arm 121, the second swing arm 123 and the third swing arm 124 swing to complete the movement of the workpiece to be sorted with the specified position coordinates, and the sorting is completed.
When planning the moving path of the workpiece to be sorted during the picking process, the control system controls the motion driving part 50 to stop at the position where the negative pressure adsorption part 133 faces the plastic detector 30 for a period of time, so as to ensure that the plastic detector 30 can detect whether the plastic part is adhered to the bottom of the workpiece to be sorted, and if detecting an adhesive signal, the control system stops at the position for a period of time again, transmits the detected adhesive signal to the screening and peeling mechanism 60, plans the screening track of the screening and peeling mechanism 60 through the control system, cleans the adhesive, and removes the peeled adhesive through the clamping arm 630.
Example 3:
the schemes of example 1 and example 2 are further described below in conjunction with specific working examples, which are described in detail below:
the embodiment provides a control system of an intelligent sorting parallel robot, which comprises a main control module, and a visual camera module, a plastic detection module, a robot arm driving module and a clamping driving module which are in communication connection with the main control module and used for collecting and transmitting image information, wherein the visual camera module is in signal connection with a visual camera mechanism 20, and the plastic detection module is in signal connection with a plastic detector 30;
the visual camera module comprises a coordinate positioning module, an image acquisition module and an image processing module, wherein the positioning module is used for acquiring coordinate values of the objects to be sorted in an image coordinate system;
the main control module comprises an identification part, a receiving part, a size measuring part, a track planning part and a communication part, wherein the communication part is in communication connection with the robot arm driving module and the clamping driving module, the identification part and the receiving part carry out identification processing on image information transmitted by the visual camera module, coordinate values of all objects to be sorted under an image coordinate system are converted into coordinates under a sorting clamping jaw coordinate system, position coordinates of the objects to be sorted are determined, sorting tracks are planned through the track planning part, a minimum internal positive quadrangle of the objects to be sorted is measured through the size measuring part, coordinates of the negative pressure adsorption part 133 fall in a minimum internal square area, the objects to be sorted are respectively picked up, the objects to be sorted are placed at an appointed recovery position, at least one part exists in an object moving track planned by the main control module, so that the bottom of the objects is exposed at a detection end of the plastic detection machine, and if the plastic detection module does not receive signals detected by the plastic detection machine, the negative pressure adsorption part 133 moves according to the established track, if the plastic detection module receives the signal of the plastic detector 30, the central processor controls the mechanical arm driving module to move the position of the plastic signal detected by the material to the position above the plastic stripping head 720, the plastic stripping head 720 performs negative pressure adsorption to separate the material to be sorted from the plastic, the identification part and the receiving part perform identification processing on the image by a gray threshold segmentation method, determine the position coordinate of the material to be sorted, and plan and execute the sorting track planned by the negative pressure adsorption part 133 track planning part through the communication part.
The sorting robot is arranged at the side edge of a conveying belt for conveying objects to be sorted, when the sorting robot is used, the objects to be sorted on the conveying belt are photographed through a camera on a visual camera mechanism 20, the pictures are preprocessed through an image acquisition module and an image processing module of a visual camera module connected with the visual camera mechanism 20 through signals, interested parts of the pictures are extracted, the pictures are processed into black and white pictures through a gray threshold segmentation method, images of the workpieces to be sorted are obtained, in the images of the workpieces to be sorted, a circular image outline which can comprise all the workpieces to be sorted is extracted through a coordinate positioning module by using a minimum circumcircle method, a central point coordinate of the circular image outline is obtained, a minimum inscribed square area of the circular image outline is selected according to the central point coordinate, the minimum inscribed square area is globally scanned, and the coordinates of negative pressure adsorption points of all the workpieces to be sorted are determined, the negative pressure adsorption part 133 is used for transmitting the determined coordinate values to the recognition part of the main control module based on the coordinate values of the workpieces to be sorted under the robot coordinate system, converting the coordinate values of all the objects to be sorted under the image coordinate system to the coordinates under the sorting clamping jaw coordinate system, determining the position coordinates of the objects to be sorted, determining the minimum inscribed positive quadrangle of the objects to be sorted through the size measurement part, controlling the clamping driving module to drive the negative pressure adsorption part 133 to work through the communication part, picking up the objects to be sorted respectively, planning the sorting track through the track planning part, controlling the robot arm driving module to work through the communication part, and placing the workpieces to be sorted to the designated positions;
specifically, after determining the position coordinates of the workpieces to be sorted and planning the sorting track, the mechanical arm driving module controls and drives the first rotating platform 110 and the second rotating platform 122 to rotate, and controls the first swing arm 121, the second swing arm 123 and the third swing arm 124 to swing to complete the movement of the workpieces to be sorted with the designated position coordinates, further, the first rotating platform 110 and the second rotating platform 122 rotate, the negative pressure adsorption part 133 moves to the upper side of the workpieces to be sorted by swinging 124 the first swing arm 121, the second swing arm 123 and the third swing arm 124, and controls the electric telescopic rod 420 to extend, after the electric telescopic rod 420 extends, the position of the negative pressure adsorption point 133 should fall in the smallest inscribed square area of the workpieces to be sorted with the determined size, at this time, the first negative pressure pump 131 is started by the clamping driving module, and the negative pressure adsorption part 133 generates negative pressure by the negative pressure pipe 134, then, the negative pressure adsorption part 133 finishes picking up the workpiece to be sorted, the motion driving part 50 drives the first rotating platform 110 and the second rotating platform 122 to rotate, and the first swing arm 121, the second swing arm 123 and the third swing arm 124 swing to finish the movement of the workpiece to be sorted with the specified position coordinates, and the sorting is finished.
When planning the moving path of the workpiece to be sorted during the picking process, the position coordinate of the negative pressure adsorption part facing the plastic detector 30 is considered, and the control system controls the motion driving part 50 to stop at the position for a period of time, at this time, the plastic detection module works to ensure that the plastic detector 30 can detect whether plastic parts are adhered to the bottom of the object to be sorted, if an adhesive substance signal is detected, the plastic detection module transmits the detected signal to the communication part, the communication part controls the clamping driving module to drive the plastic peeling head 720 to peel the adhesive substance on the third rotating table 610 and the rotating arm 620, the communication part of the control system controls the position coordinate to stop at the position for a period of time again, transmits the detected adhesive substance signal to the screening and peeling mechanism 60 and plans the screening track of the screening and peeling mechanism 60 through the track planning part in the control system, cleaning the adhered objects, removing the stripped adhered objects through clamping arms 630, and finally finishing the sorting of the workpieces.
The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.
Claims (5)
1. The utility model provides an intelligence letter sorting parallel robot, includes the mount pad, its characterized in that still includes:
the sorting and picking mechanism comprises a first rotating platform (110) arranged on a mounting seat, a balance arm (120) arranged on the first rotating platform (110) and a negative pressure picking assembly (130) arranged at the moving end of the balance arm (120) and used for picking an object to be sorted, wherein the balance arm (120) comprises a first swing arm (121) arranged on the first rotating platform (110), a second rotating platform (122) arranged at the swinging end of the first swing arm (121), a second swing arm (123) arranged on the second rotating platform (122) and a third swing arm (124) arranged at the swinging end of the second swing arm (123);
the negative pressure picking assembly (130) comprises a first negative pressure pump (131) arranged between the mounting seat and the first rotating platform (110), an assembling seat (132) arranged at the swinging end of the third swinging arm (124), a negative pressure adsorption part (133) arranged at the corner of the assembling seat (132) and a negative pressure pipe (134) connected between the negative pressure adsorption part (133) and the first negative pressure pump (131);
the picking point dispersion assembly is arranged at the picking end of the negative pressure picking assembly (130) and is used for regulating and controlling the distance between the picking points of the negative pressure picking assembly (130);
the picking point dispersing assembly comprises a rotating part (410) arranged at the corner of the assembling seat (132) and an electric telescopic rod (420) arranged between the rotating part (410) and the negative pressure adsorption part (133);
the visual camera shooting mechanism (20) is arranged at the picking end of the negative pressure picking assembly (130) and used for acquiring the image information of the objects to be sorted, and the visual camera shooting mechanism (20) is in communication connection with the picking point dispersing assembly;
the plastic detector (30) is arranged on the mounting seat through a bracket and is used for detecting plastic adhesive substances at the bottom of the objects to be sorted;
the screening and stripping mechanism (60) is arranged on the mounting seat and is used for stripping the adhered matters at the bottom of the to-be-sorted matters;
the screening and stripping mechanism (60) comprises a stripping assembly, a third rotating table (610) installed on a mounting seat, a rotating arm (620) installed on the third rotating table (610), and a clamping arm (630) installed at the end part of the rotating arm (620), wherein the stripping assembly comprises a second negative pressure pump (710) installed between the mounting seat and the third rotating table (610), a plastic stripping head (720) installed on the clamping arm (630), and a second negative pressure pipe (730) connected between the plastic stripping head (720) and the second negative pressure pump (710), and the power of the first negative pressure pump (131) is greater than that of the second negative pressure pump (710);
the motion driving part (50) is arranged on the mounting seat and is used for driving the sorting and picking mechanism and the screening and stripping mechanism;
the sorting parallel robot is arranged on the side edge of a conveying belt for conveying objects to be sorted, when the sorting parallel robot is used, the objects to be sorted on the conveying belt are photographed through a visual camera mechanism, the picture is preprocessed, the interested part of the picture is extracted, the picture is processed into a black and white picture through a gray threshold segmentation method, the image of the workpieces to be sorted is obtained, in the image of the workpieces to be sorted, the circular image outline which can comprise all the workpieces to be sorted is extracted through a minimum circumcircle method, the central point coordinate of the circular image outline is obtained, the minimum inscribed square area of the circular image outline is selected according to the central point coordinate, the minimum inscribed square area is scanned globally, the coordinate of a negative pressure adsorption point falls into the minimum inscribed square area, the coordinate of the negative pressure adsorption point of all the workpieces to be sorted is determined, and the negative pressure adsorption part (133) is based on the coordinate value of the workpieces to be sorted under the robot coordinate system, picking up workpieces to be sorted respectively, and placing the workpieces to be sorted at specified positions;
when the position coordinates of the workpieces to be sorted are determined and the sorting track is planned at the same time, the first rotating platform (110) and the second rotating platform (122) rotate, the workpieces to be sorted with the designated position coordinates are moved by swinging the first swing arm (121), the second swing arm (123) and the third swing arm (124), the first rotating platform (110) and the second rotating platform (122) rotate, the negative pressure adsorption part (133) moves to the position above the workpieces to be sorted by swinging the first swing arm (121), the second swing arm (123) and the third swing arm (124), the electric telescopic rod (420) is controlled to extend, the position of the negative pressure adsorption point after the electric telescopic rod (420) extends is required to fall in the minimum inscribed square area determined by the workpieces to be sorted, at the moment, the first negative pressure pump (131) is started, the negative pressure adsorption part (133) generates negative pressure through the negative pressure pipe (134), and then the picking of the workpieces to be sorted by the negative pressure adsorption part (133) is completed, then, the motion driving part (50) drives the first rotating platform (110) and the second rotating platform (122) to rotate, and the first swing arm (121), the second swing arm (123) and the third swing arm (124) swing to complete the movement of the workpiece to be sorted with the specified position coordinate and complete the sorting;
when a moving path of a workpiece to be sorted in a picking process is planned, the position coordinate of the negative pressure adsorption part (133) facing the plastic detector (30) is considered, the control system controls the motion driving part (50) to pause for a period of time at the position to ensure that the plastic detector (30) can detect whether the plastic part is adhered to the bottom of the workpiece to be sorted, if an adhered substance signal is detected, the control system pauses for a period of time again at the position coordinate, the detected adhered substance signal is transmitted to the screening and peeling mechanism (60), the control system plans a screening track of the screening and peeling mechanism (60), the adhered substance is cleaned, and the peeled adhered substance is removed through the clamping arm (630).
2. An intelligent sorting parallel robot according to claim 1, wherein the vision camera mechanism (20) comprises a camera, a grayscale sensor and a light source mounted on the side of the mounting base (132) far from the third swing arm (124).
3. The control system of the intelligent sorting parallel robot as claimed in claim 2, comprising a main control module, and a vision camera module, a plastic detection module, a robot arm driving module and a clamping driving module which are connected with the main control module in communication for collecting and transmitting image information, wherein the vision camera module is in signal connection with a vision camera mechanism, and the plastic detection module is in signal connection with a plastic detector (30);
the visual camera module comprises a coordinate positioning module, an image acquisition module and an image processing module, wherein the positioning module is used for acquiring the coordinate value of the object to be sorted in an image coordinate system;
the main control module comprises an identification part, a receiving part, a size measuring part, a track planning part and a communication part, wherein the communication part is in communication connection with the robot arm driving module and the clamping driving module, the identification part and the receiving part carry out identification processing on image information transmitted by the visual camera module, coordinate values of all objects to be sorted under an image coordinate system are converted into coordinates under a sorting clamping jaw coordinate system, position coordinates of the objects to be sorted are determined, sorting tracks are planned through the track planning part, the minimum inscribed positive quadrangle of the objects to be sorted is measured through the size measuring part, the coordinates of the negative pressure adsorption part (133) fall into the minimum inscribed square area, the objects to be sorted are respectively picked up, and the objects to be sorted are placed at a specified recovery position.
4. The control system of an intelligent sorting parallel robot as claimed in claim 3, wherein at least one position exists in the movement track of the objects planned by the main control module, so that the bottom of the objects is exposed to the detection end of the plastic detector, if the plastic detection module does not receive the signal detected by the plastic detector, the negative pressure adsorption part (133) moves according to the predetermined track, if the plastic detection module receives the signal of the plastic detector (30), the central processing unit controls the mechanical arm driving module to move the position where the plastic signal is detected by the material to the upper side of the plastic stripping head (720), and the material to be sorted is separated from the plastic by the negative pressure adsorption of the plastic stripping head (720).
5. The control system of an intelligent sorting parallel robot according to claim 3, wherein the recognition part and the receiving part perform recognition processing on the image by a gray threshold segmentation method, determine the position coordinates of the object to be sorted, and plan and execute the sorting track planned by the negative pressure adsorption part (133) track planning part by the communication part.
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