WO2022257265A1 - Visual identification-based sorting robot and sorting method - Google Patents

Abstract

The present invention relates to the technical field of logistics, and relates to a visual identification-based sorting robot and sorting method. The visual identification-based sorting robot comprises an item box, a conveying mechanism, a transfer mechanism, an identification mechanism, a flow limiting mechanism, and a sorting mechanism, wherein items are loaded in the item box; the conveying mechanism is provided with a conveyor belt for conveying the items; the transfer mechanism is mounted close to the item box; the transfer mechanism transfers the items in the item box onto the conveying mechanism; the identification mechanism is used for identifying identification codes of the items on the conveying mechanism, and transferring information to a computer; the flow limiting mechanism allows a predetermined number of items to pass; and the sorting mechanism sorts the items to preset positions. According to the present invention, letter-type items are organized, identified, and sorted to prevent the loss of such items; whether a pickup mechanism is normally operated can be calculated by using an air pressure sensor in combination with a computer program, so that an intelligent operation is achieved; and the identification codes on the items are identified by using an identification instrument, and automatic sorting is realized in cooperation with the sorting mechanism.

Description

A sorting robot and sorting method based on visual recognition technical field

The invention relates to a sorting robot and a sorting method based on visual recognition, belonging to the technical field of logistics.

Background technique

At present, with the prosperity of the social economy, more and more trade and cooperation between companies, followed by related documents, contracts, and various invoices, these things are basically of no weight, but because of their own People's protection habits will occupy a certain plane space. These certificates are becoming more and more important in today's social and business relationships. As these things come and go between cities and companies, it is inevitable that there will be loss and such When such envelope-like items are sorted by region in the logistics center, errors will inevitably occur, or when they are transported to the courier point, they will disappear in larger volumes of goods, and the disappearance of these envelope-like items may bring huge losses to relevant personnel and companies. For this reason, based on the characteristics of these objects, we need a robot that can organize them and sort them out in time.

technical problem

In order to solve the technical problems in the above-mentioned background technology, the present invention provides a sorting robot and a sorting method based on visual recognition.

technical solution

The present invention adopts the following technical solutions to achieve: a sorting robot based on visual recognition, comprising:

The object box is installed on the ground for loading objects;

The transmission mechanism is installed close to the object box and the centerline of the running track surface of the transmission mechanism corresponds to the extension of the symmetry line of the object box upwards, and the transmission mechanism is provided with a conveyor belt to transmit objects;

The transfer mechanism is installed close to the object box, and the pick-up mechanism in the transfer mechanism moves along the extension of the symmetry line of the object box. The transfer mechanism is provided with a lifting mechanism and a pick-up mechanism, and the transfer mechanism transfers the items in the item box onto the transfer mechanism;

The identification mechanism corresponds to the identification code installed above the transmission mechanism and is used to identify the object on the transmission mechanism through the installation shaft, and transmits the information to the computer;

The current limiting mechanism is correspondingly installed above the conveying mechanism and is set to allow a predetermined number of objects conveyed on the conveying mechanism to pass within a predetermined time;

The sorting mechanism is installed close to the end of the conveying mechanism and its rotation center is located upwards from the center line of the running track surface of the conveying mechanism. The sorting mechanism sorts objects to a predetermined position.

By adopting the above technical solution, the transfer mechanism absorbs one object at a time and transfers it to the transmission mechanism. The identification code on the object is recognized by the instrument in the recognition machine, and the information is sent to the computer. The current limiting mechanism transmits an object within a predetermined time. After each item passes, the sorting mechanism grabs an item correspondingly, and receives the feedback signal from the computer, and puts the item into the designated position.

In a further embodiment, the item box includes:

An adjusting plate is elastically connected to the bottom of the object box;

An adjustment member, arranged between the adjustment plate and the bottom of the object box, is used to adjust the elasticity of the adjustment plate relative to the object box, thereby adjusting the objects in the object box to correspond to the movement of the conveying mechanism. The height of the running track surface.

By adopting the above technical solutions,

In a further embodiment, the delivery mechanism includes:

The conveyor belt has an installation height corresponding to the height of the objects loaded in the object box, carries the objects transferred by the transfer mechanism and transmits the objects to the identification code of the identification mechanism, and a section of baffle is respectively installed on both sides of the conveyor belt. The baffles are turned outward by a predetermined angle relative to the conveyor belt.

By adopting the above technical solution, it is convenient to adjust the height of the object in the object box corresponding to the running track surface of the conveying mechanism, and at the same time, the object maintains a certain degree of elasticity, which is convenient for increasing the contact area with the picking mechanism.

In a further embodiment, the transfer mechanism includes:

The horizontal slide rail is arranged parallelly above the conveyor belt and the object box through the installation shaft, and the movement range of the sliding seat on the horizontal slide rail is from the object box to the conveyor belt;

The lifting mechanism is connected to the sliding seat through the first mounting plate, and the lifting mechanism is composed of connecting the first mounting plate and the second mounting plate through a plurality of first cylinders, the first mounting plate and the A telescopic shaft is also provided in the middle of the second mounting plate to assist lifting.

By adopting the above technical solution, the horizontal slide rail and the lifting mechanism can realize the horizontal and vertical movement from the object box to the conveyor belt.

In a further embodiment, the pick-up mechanism includes:

The first support plate is assembled with the second mounting plate and has a space for placing the drive motor, and is connected to the first support plate in rotation. A second rotating shaft that is threaded, rotating the first rotating shaft to adjust the lifting of the second rotating shaft;

The second air cylinder is connected to the first support plate through a plurality of second fixed shafts. One end of the second air cylinder is open and a flexible connecting piece is provided outside the open end for directly contacting objects. The second air cylinder passes through the flexible When the connecting piece connects the object, the object and the bottom space of the second cylinder generate air pressure, and the other end of the second cylinder is provided with a vent hole to maintain the balance of internal and external air pressure and a through hole for the second shaft to pass through;

The piston is connected to the second rotating shaft and slides in the second cylinder, the piston is provided with multiple annular grooves and a seal is provided in the grooves for close contact with the inner wall of the second cylinder ;

The air pressure sensor is arranged under the piston and at the air hole on the side of the second cylinder. The air pressure sensor senses the air pressure change and feeds back the signal to the computer.

By adopting the above technical solution, the pick-up mechanism controls the space pressure between the bottom of the second cylinder and the object to become smaller, and the object is absorbed by the pick-up device; when the object is transported to the conveyor belt, the pick-up mechanism controls the bottom of the second cylinder and the object The pressure in the space between becomes larger, and the objects are placed on the conveyor belt, and an air pressure sensor is set up to monitor the working condition of the pick-up mechanism.

In a further embodiment, the identification mechanism includes:

The identification instrument is set directly above the transmission mechanism through the installation shaft, and the identification instrument identifies the identification code on the object and transmits the information to the computer.

By adopting the above-mentioned technical solution, the identification code on the object identified by the identification instrument is transmitted to the computer.

In a further embodiment, the current limiting mechanism includes:

a support member correspondingly installed above the transmission mechanism;

The third air cylinder is installed under the support and is facing the conveyor belt;

The top of the clamping plate is connected to the third cylinder and the two sides are provided on both sides of the supporting member to slide up and down. The minimum distance between the clamping plate and the conveyor belt is preset to prevent objects from passing through.

By adopting the above technical solution, controlling the time for a single item to pass from the current limiting mechanism to the end of the conveyor belt, and allowing a single item to pass per unit of time is to finally cooperate with the sorting mechanism to achieve accurate sorting.

In a further embodiment, the following steps are included:

Step 1. Put a sufficient number of objects into the object box. The transfer mechanism adjusts the height through the lifting mechanism, so that the pick-up mechanism uses pressure to absorb the objects. At the same time, there is an air pressure sensor at the bottom of the pick-up mechanism. Send the corresponding data to the computer, then the lifting mechanism rises, the horizontal slide rail controls the pick-up mechanism to slide above the transfer mechanism, the lift mechanism goes down, the pick-up machine goes down, and the objects are placed on the conveyor belt;

Step 2. At this time, the object passes through the identification mechanism, and the identification instrument scans and recognizes the identification code on the object, and transmits the information to the computer, which then feeds back to the sorting mechanism;

Step 3. When the object is conveyed to the current limiting mechanism, the current limiting mechanism is set to allow a single object to pass through within a predetermined time. When an object passes through the current limiting mechanism, the clamp on the current limiting mechanism moves up and down on the track of the support , until the preset distance is reached, that is, the minimum distance between the pallet and the conveyor belt prevents objects from passing through;

Step 4: It takes a fixed time for the objects to go from the pallet to the end of the conveyor belt. At this time, the sorting mechanism sorts the objects and receives signals from the computer to control the classification. The fourth cylinder controls the clamping plates to approach each other to clamp the objects and rotate The table receives the signal from the computer and rotates to the designated position, then the drive motor is started, the rotating shaft controls the turntable to rotate at a predetermined angle, and the fourth cylinder is controlled to release the two clamping plates, and the object falls to the designated position.

Beneficial effect

The invention organizes, recognizes and sorts letter-like objects to prevent the loss of such objects; it can calculate whether the pick-up mechanism is working normally by using the air pressure sensor in it combined with a computer program, and realize intelligent operation; The identification code on the object is automatically sorted with the sorting mechanism.

Description of drawings

Fig. 1 is a schematic diagram of the overall system structure of the present invention.

Fig. 2 is a schematic structural view of the object box of the present invention.

Fig. 3 is a schematic diagram of a partial structure of the transmission mechanism of the present invention.

Fig. 4 is a schematic structural diagram of the transfer mechanism of the present invention.

Fig. 5 is a schematic structural diagram of the current limiting mechanism of the present invention.

Fig. 6 is a schematic structural view of the sorting mechanism of the present invention.

Reference signs: object box 1, adjusting plate 11, adjusting member 12, transfer mechanism 2, transverse slide rail 21, sliding seat 211, lifting mechanism 22, first mounting plate 221, first cylinder 223, first telescopic shaft 224, Second mounting plate 225, pick-up mechanism 23, first support plate 231, second fixed shaft 232, first rotating shaft 233, second rotating shaft 234, second cylinder 235, piston 236, flexible connector 237, air pressure sensor 238 , transmission mechanism 3, conveyor belt 31, baffle plate 32, identification mechanism 4, identification instrument 41, current limiting mechanism 5, support member 51, third cylinder 52, pallet 53, sorting mechanism 6, rotary table 61, support platform 62 , rotating shaft 63, turntable 64, fourth cylinder 65, clamping plate 66.

Embodiments of the present invention

In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details; in other instances, certain technical features known in the art are omitted in order to avoid obscuring the present invention. to describe.

The sorting robot based on visual recognition includes: an object box 1 , a transmission mechanism 3 , a transfer mechanism 2 , an identification mechanism 4 , a current limiting mechanism 5 and a sorting mechanism 6 . Wherein, the object box 1 is installed on the ground and the object box 1 is used for loading objects, the transmission mechanism 3 is installed close to the object box 1 and the center line of the running track surface of the transmission mechanism 3 corresponds to the extension of the symmetry line of the object box 1, and the transmission mechanism 3 is close to The object box 1 is installed and the center line of the running track surface of the transmission mechanism 3 corresponds to the extension of the symmetry line of the object box 1. The transmission mechanism 3 is provided with a conveyor belt 31 to transmit the objects. The transfer mechanism 2 is installed near the object box 1, and the transfer mechanism 2 The pick-up mechanism 23 moves along the extension of the symmetry line of the object box 1. The transfer mechanism 2 is provided with a lifting mechanism 22 and a pick-up mechanism 23. The transfer mechanism 2 transfers the objects in the object box 1 to the transmission mechanism 3, and the identification mechanism 4 passes The installation shaft corresponds to the top of the transmission mechanism 3 and is used to identify the identification code of the object on the transmission mechanism 3, and transmits the information to the computer. The current limiting mechanism 5 is correspondingly installed above the transmission mechanism 3 and allows the transmission mechanism 3 to upload within a predetermined time. The predetermined number of objects delivered passes through. The sorting mechanism 6 is installed near the end of the conveying mechanism 3 and its rotation center is located at the center line of the running track surface of the conveying mechanism 3. The sorting mechanism 6 sorts the objects to a predetermined position.

In this embodiment, the object box 1, the conveying mechanism 3 and the sorting mechanism 6 are arranged and installed on the same straight line, and the sliding seat 211 in the corresponding transfer mechanism 2 slides reciprocally along the direction of the line, wherein the object box 1 is loaded with document objects, The transfer mechanism 2 absorbs one piece of the object at a time, and places it on the transmission mechanism 3. The identification code on the object is recognized by the instrument in the recognition machine, and the information is sent to the computer. When the object passes through the current limiting mechanism 5, the limit The flow mechanism 5 is set to allow an object to pass through the conveying mechanism 3 within a predetermined time, corresponding to the sorting mechanism 6 picking up an object each time, and receiving a feedback signal from the computer to put the object into a predetermined position.

In a further embodiment, the object box 1 is also provided with an adjustment plate 11 and an adjustment piece 12, the adjustment plate 11 is elastically connected to the bottom of the object box 1 by a spring, and the adjustment plate 11 is provided with a height adjustment corresponding to the conveyor belt 31, so that a predetermined number of When placing objects, the height of the top of the object is always close to the height of the conveyor belt 31, corresponding to the preset height that can be lowered when the transfer mechanism 2 absorbs the object to avoid real-time adjustment. Between the bottoms, rope parts can be selected for use to adjust the elasticity between the adjusting plate 11 and the object box 1, so as to facilitate adjustment of the height of the object corresponding to the running track surface of the conveying mechanism 3 in the object box 1.

In a further embodiment, the transmission mechanism 3 mainly includes a conveyor belt 31, which carries the objects transferred by the transfer mechanism 2 and transmits the objects to the identification code on the identification mechanism 4. A section of baffle is respectively installed on both sides of the end of the conveyor belt 31 close to the object box 1. 32. The baffle plate 32 is turned outward at a predetermined angle relative to the conveyor belt 31. When the transfer mechanism 2 transfers objects from the object box 1, the objects are usually document-shaped. When they are placed on the conveyor belt 31, greater air resistance may be generated. The frictional force is small, and the object is easy to slide out to the both sides of the conveyor belt 31. For this reason, an inclined baffle plate 32 is provided, and the object is not released until the transfer mechanism 2 transports the object into the range of the baffle plate 32.

In a further embodiment, the transfer mechanism 2 is arranged above the object box 1 and the conveyor belt 31, and includes a horizontal slide rail 21 and a lifting mechanism 22 to realize horizontal and vertical displacements respectively. The horizontal slide rail 21 is arranged parallel to the conveyor belt through the installation shaft 31 and the top of the object box 1, the range of motion of the sliding seat 211 on the transverse slide rail 21 is from the object box 1 to the position where the conveyor belt 31 is adjacent to the identification mechanism 4, and the lifting mechanism 22 is connected to the sliding seat 211 through the first mounting plate 221, and The lifting mechanism 22 is composed of a plurality of first cylinders 223 connected between the first mounting plate 221 and the second mounting plate 225. The first cylinder 223 controls the lifting. The shaft 224 assists the lifting mechanism 22 to lift smoothly. In this embodiment, the horizontal slide rail 21 and the lifting mechanism 22 can realize the lateral and longitudinal displacement from the object box 1 to the conveyor belt 31 .

In a further embodiment, the pick-up mechanism 23 is mainly used for picking up objects, and the characteristics of the objects themselves are paper-type. At the same time, after the documents are packaged, the outer surface is mostly smooth. Therefore, we use a mechanism similar to a suction cup to pick up the objects, wherein The pick-up mechanism 23 includes a first support plate 231, a second cylinder 235, a piston 236 and an air pressure sensor 238. The first support plate 231 is assembled with the second mounting plate 225 and a space is provided for placing the drive motor. The first The rotating shaft 233 is threadedly connected to the second rotating shaft 234, and the second cylinder 235 is connected to the first support plate 231 through a plurality of second fixed shafts 232. One end of the second cylinder 235 is open and the open end is provided with a flexible connector 237 for direct contact with objects , the flexible connector 237 can be made of a rubber suction cup to further increase the contact area between the object and the flexible connector 237, that is, the force-bearing area. Part 237 presses the object, and now the drive motor controls the first rotating shaft 233 to rotate on the first support plate 231 through gear transmission, and the second rotating shaft 234 that is screwed with the first rotating shaft 233 adjusts the second rotating shaft by rotating the first rotating shaft 233 234 rises, the second rotating shaft 234 is connected to the piston 236, and finally drives the piston 236 to rise and fall in the second cylinder 235. At this time, the space pressure between the bottom of the second cylinder 235 and the object becomes smaller, and the object is absorbed by the pick-up mechanism 23 ; When the object is transported to the conveyor belt 31, reverse drive the motor, the piston 236 moves up and down in the second cylinder 235, and the object is placed on the conveyor belt 31.

Wherein, the other end of the second cylinder 235 is provided with a vent hole to maintain the balance of internal and external air pressure. The piston 236 can slide freely in the second cylinder 235. The second cylinder 235 is an interference fit. In order to maintain the air tightness and the smooth movement of the piston 236, a plurality of annular grooves are provided and seals are placed therein.

Further, in order to maintain the stability of the pick-up mechanism 23 and offset the poor airtightness, the piston 236 can be controlled to be in a moving state all the time, that is, the pressure between the control object and the bottom of the second cylinder 235 is in a slowly increasing state.

Further, in order to prevent the pick-up mechanism 23 from malfunctioning, or to timely adjust the pressure between the predetermined object and the second cylinder 235 during pick-up, the object falls, or the pick-up mechanism 23 cannot place the object on the conveyor belt 31 For this reason, we are provided with an air pressure sensor 238 for monitoring the pressure at the bottom of the object and the second cylinder 235 when picking up the piece. , is a relatively definite fixed value time. For this reason, use the air pressure sensor 238 to record the pressure change during the period, and calculate by computer. Adjust the machine.

In a further embodiment, the identification instrument 41 is installed directly above the conveying mechanism 3 through the installation shaft. The identification instrument 41 scans and identifies the identification code on the object, and transmits the information to the computer, and then the computer feeds back to the sorting mechanism 6 middle.

In a further embodiment, the current limiting mechanism 5 is set to allow a single object to pass within a predetermined time. The current limiting mechanism 5 includes a support member 51, a third cylinder 52 and a clamping plate 53. The support member 51 is correspondingly installed on the conveying mechanism 3 Above, the third cylinder 52 is installed below the support 51 and corresponds to the conveyor belt 31. The top of the clamp 53 is connected to the third cylinder 52 and the two sides are arranged on both sides of the support 51 to slide up and down. The clamp 53 is preset to the conveyor belt 31 The minimum distance prohibits objects from passing through, that is, without affecting the work of the conveyor belt 31, the third cylinder 52 controls the clamping plate 53 to descend, and the clamping plate 53 slides on both sides of the support member 51 until it is close to the surface of the conveyor belt 31. At the same time, the corresponding The time when the transfer mechanism 2 transfers the object can control a single object from

The time from the current limiting mechanism 5 to the end of the conveyor belt 31 allows a single item to pass per unit of time in order to finally cooperate with the sorting mechanism 6 to achieve accurate sorting.

In a further embodiment, the sorting mechanism 6 includes: a rotating table 61, a rotating shaft 63 and two clamping plates 66, wherein the rotating table 61 is installed near the end of the conveying mechanism 3 and its center of rotation is extended on the centerline of the conveying belt 31 On the line, a supporting platform 62 is provided on the rotating table 61 for installing multiple mechanisms. The rotating shaft 63 is arranged on the supporting platform 62 through a bearing seat. The two ends of the rotating shaft 63 are respectively connected with a driving motor and a turntable 64. The starting motor drives the rotating shaft. 63 rotation, two clamping plates 66 are installed on the turntable 64 corresponding to the end position of the conveyor belt 31 and one clamping plate 66 is fixedly installed, and the outside of the other clamping plate 66 is connected to the fourth cylinder 65, and the fourth cylinder 65 is installed on the turntable 64 Above, the rotary table 61 rotates the clamping plate 66 corresponding to the end of the conveyor belt 31. When the conveyor belt 31 transmits the object to the middle of the clamping plate 66, the fourth cylinder 65 controls the clamping plate 66 to clamp the object. At this time, the rotary table 61 receives the signal from the computer Rotate to the specified position, then the drive motor starts, the rotating shaft 63 controls the rotation of the priority disc to rotate 90°, controls the fourth cylinder 65 to release the clamping plate 66, and the object falls to the specified position.

Working principle: first, put a sufficient amount of objects on the adjustment plate 11 in the object box 1, adjust the adjustment member 12 to keep the objects at a certain height and in an elastic state, then the transfer mechanism 2 adjusts the height through the lifting mechanism 22, the first The cylinder 223 is elongated and the first telescopic shaft 224 assists the lifting mechanism 22 to work smoothly, so that the flexible connector 237 at the bottom of the pick-up mechanism 23 contacts the surface of the object, the first cylinder 223 continues to elongate, and the flexible connector 237 continues to press down for a certain distance And in contact with a larger area of the object, at this time, the driving motor in the space where the first support plate 231 and the second mounting plate 225 are assembled works, and the first rotating shaft 233 is driven to rotate through the gear transmission, and the first rotating shaft 233 is screwed to the second mounting plate 225. Rotating shaft 234, at this time, the second rotating shaft 234 rises relative to the first rotating shaft 233, and the second rotating shaft 234 is connected to the piston 236, so that the piston 236 in the second cylinder 235 moves upward slowly, wherein, the second cylinder 235 passes through a plurality of second fixed shafts. The shaft 232 is connected to the first support plate 231, the position of the second cylinder 235 is relatively static, the pressure of the space between the bottom of the second cylinder 235 and the object becomes smaller, and the object is absorbed by the pick-up mechanism 23, wherein the other end of the second cylinder 235 Ventilation holes are provided to maintain the balance of internal and external air pressure. The piston 236 is provided with multiple annular grooves and seals are provided in the grooves. At the same time, an air pressure sensor 238 is provided at the bottom of the second cylinder 235 to monitor the pressure and send corresponding data. Then, the first cylinder 223 shrinks, the horizontal slide rail 21 slides horizontally above the transmission mechanism 3 through the slide seat 211, the first cylinder 223 extends until the object crosses the uppermost end of the baffle plate 32, and reverses the drive motor, the first The rotating shaft 233 reverses, the second rotating shaft 234 descends relative to the first rotating shaft 233, the piston 236 descends, the space pressure between the bottom of the second cylinder 235 and the object becomes larger, and the object is placed on the conveyor belt 31. At this time, the object passes through the identification mechanism 4 , the identification instrument 41 is set directly above the transmission mechanism 3 through the installation shaft, the identification instrument 41 scans and identifies the identification code on the object, and transmits the information to the computer, and then the computer feeds back to the sorting mechanism 6, and the object is transmitted to When the current-limiting mechanism 5 is used, the current-limiting mechanism 5 is set to a predetermined time to allow a single object to pass through. When an object passes through the current-limiting mechanism 5, the third cylinder 5 controls the clamping plate 53 to move up and down on the track of the support member 51 until Reaching the preset distance, that is, the minimum distance between the pallet 53 and the conveyor belt 31 prohibits the object from passing through. At this time, it is a fixed time for the object to go from the pallet 53 to the end of the conveyor belt 31. At this time, the sorting mechanism 6 sorts the object, and The fourth cylinder 65 is installed on the turntable 64 to control the clamping plate 66 to approach each other to clamp objects, the rotary table 61 receives the signal from the computer and rotates to the designated position, then the drive motor is started, and the rotating shaft 63 is controlled The turntable rotates 90° preferentially, controls the fourth cylinder 65 to release the clamping plate 66, and the object falls to the designated position.

The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be carried out to the technical solutions of the present invention. These equivalent transformations all belong to the protection scope of the present invention.

Claims (9)

1. A sorting robot based on visual recognition, characterized in that it includes:

   The object box is installed on the ground for loading objects;

   The transmission mechanism is installed close to the object box and the centerline of the running track surface of the transmission mechanism corresponds to the extension of the symmetry line of the object box upwards, and the transmission mechanism is provided with a conveyor belt to transmit objects;

   The transfer mechanism is installed close to the object box, and the pick-up mechanism in the transfer mechanism moves along the extension of the symmetry line of the object box. The transfer mechanism is provided with a lifting mechanism and a pick-up mechanism, and the transfer mechanism transfers the items in the item box onto the transfer mechanism;

   The identification mechanism corresponds to the identification code installed above the transmission mechanism and is used to identify the object on the transmission mechanism through the installation shaft, and transmits the information to the computer;

   The current limiting mechanism is correspondingly installed above the conveying mechanism and is set to allow a predetermined number of objects conveyed on the conveying mechanism to pass within a predetermined time;

   The sorting mechanism is installed close to the end of the conveying mechanism and its rotation center is located upwards from the center line of the running track surface of the conveying mechanism. The sorting mechanism sorts objects to a predetermined position.
2. The sorting robot based on visual recognition according to claim 1, wherein the object box comprises:

   An adjusting plate is elastically connected to the bottom of the object box;

   An adjustment member, arranged between the adjustment plate and the bottom of the object box, is used to adjust the elasticity of the adjustment plate relative to the object box, thereby adjusting the objects in the object box to correspond to the movement of the conveying mechanism. The height of the running track surface.
3. A sorting robot based on visual recognition according to claim 1, wherein the transmission mechanism comprises:

   The conveyor belt has an installation height corresponding to the height of the objects loaded in the object box, carries the objects transferred by the transfer mechanism and transmits the objects to the identification code of the identification mechanism, and a section of baffle is respectively installed on both sides of the conveyor belt. The baffles are turned outward by a predetermined angle relative to the conveyor belt.
4. The sorting robot based on visual recognition according to claim 3, wherein the transfer mechanism comprises:

   The horizontal slide rail is arranged parallelly above the conveyor belt and the object box through the installation shaft, and the movement range of the sliding seat on the horizontal slide rail is from the object box to the conveyor belt;

   The lifting mechanism is connected to the sliding seat through the first mounting plate, and the lifting mechanism is composed of connecting the first mounting plate and the second mounting plate through a plurality of first cylinders, the first mounting plate and the A telescopic shaft is also provided in the middle of the second mounting plate to assist lifting.
5. The sorting robot based on visual recognition according to claim 4, wherein the pick-up mechanism includes:

   The first support plate is assembled with the second mounting plate and has a space for placing the drive motor, and is connected to the first support plate in rotation. A second rotating shaft that is threaded, rotating the first rotating shaft to adjust the lifting of the second rotating shaft;

   The second air cylinder is connected to the first support plate through a plurality of second fixed shafts. One end of the second air cylinder is open and a flexible connecting piece is provided outside the open end for directly contacting objects. The second air cylinder passes through the flexible When the connector connects the object, the object and the bottom space of the second cylinder generate air pressure, and the other end of the second cylinder is provided with a vent hole to maintain the balance of internal and external air pressure and a through hole for the second shaft to pass through;

   The piston is connected to the second rotating shaft and slides in the second cylinder, the piston is provided with multiple annular grooves and a seal is provided in the grooves for close contact with the inner wall of the second cylinder ;

   The air pressure sensor is arranged under the piston and at the air hole on the side of the second cylinder. The air pressure sensor senses the air pressure change and feeds back the signal to the computer.
6. The sorting robot based on visual recognition according to claim 1, wherein the recognition mechanism comprises:

   The identification instrument is set directly above the transmission mechanism through the installation shaft, and the identification instrument identifies the identification code on the object and transmits the information to the computer.
7. The sorting robot based on visual recognition according to claim 1, wherein the current limiting mechanism comprises:

   a support member correspondingly installed above the transmission mechanism;

   The third air cylinder is installed under the support and is facing the conveyor belt;

   The top of the clamp is connected to the third cylinder and the two sides are provided on both sides of the support to slide up and down. The minimum distance between the clamp and the conveyor belt is preset to prevent objects from passing through.
8. The sorting robot based on visual recognition according to claim 1, wherein the sorting mechanism comprises:

   A rotary table is installed close to the end of the transmission mechanism and its rotation center is on the extension line of the center line of the conveyor belt. The rotary table is provided with a support platform for installing multiple mechanisms;

   The rotating shaft is arranged on the support platform through the bearing seat, and the two ends of the rotating shaft are respectively connected with a driving motor and a turntable, and the starting motor drives the rotating shaft to rotate;

   Two clamping plates are installed on the turntable corresponding to the position of the end of the conveyor belt and one of the clamping plates is fixedly installed, and the outside of the other clamping plate is connected to a third cylinder and the third cylinder is installed on the on the turntable.
9. A kind of sorting method based on visual recognition, is characterized in that, comprises the following steps:

   Step 1. Put a sufficient number of objects into the object box, and the transfer mechanism adjusts the height through the lifting mechanism, so that the pick-up mechanism uses pressure to absorb the objects. At the same time, an air pressure sensor is installed at the bottom of the pick-up mechanism to monitor the pressure, and Send the corresponding data to the computer, then the lifting mechanism rises, the horizontal slide rail controls the pick-up mechanism to slide above the transfer mechanism, the lift mechanism goes down, the pick-up machine goes down, and the objects are placed on the conveyor belt;

   Step 2. At this time, the object passes through the identification mechanism, and the identification instrument scans and recognizes the identification code on the object, and transmits the information to the computer, which then feeds back to the sorting mechanism;

   Step 3. When the object is conveyed to the current limiting mechanism, the current limiting mechanism is set to allow a single object to pass through within a predetermined time. When an object passes through the current limiting mechanism, the clamp on the current limiting mechanism moves up and down on the track of the support , until the preset distance is reached, that is, the minimum distance between the pallet and the conveyor belt prevents objects from passing through;

   Step 4: It takes a fixed time for the objects to go from the pallet to the end of the conveyor belt. At this time, the sorting mechanism sorts the objects and receives signals from the computer to control the classification. The fourth cylinder controls the clamping plates to approach each other to clamp the objects and rotate The table receives the signal from the computer and rotates to the designated position, and then the drive motor starts, the rotating shaft controls the turntable to rotate at a predetermined angle, controls the fourth cylinder to release the two clamping plates, and the object falls to the designated position.