CN112405557B

CN112405557B - Article identification pre-sorting robot based on deep learning and use method

Info

Publication number: CN112405557B
Application number: CN202011250445.7A
Authority: CN
Inventors: 杜志尧
Original assignee: Guangdong Botong Technology Service Co ltd
Current assignee: Guangdong Botong Technology Service Co ltd
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2022-02-18
Anticipated expiration: 2040-11-10
Also published as: CN112405557A

Abstract

The invention relates to the technical field of sorting robots, in particular to an article recognition pre-sorting robot based on deep learning and a use method thereof, the article recognition pre-sorting robot comprises a robot mechanical part and a recognition part, the bottom end of the robot mechanical part is fixedly connected with a base, the left end of the base is fixedly connected with a controller, the other end of the robot mechanical part is fixedly connected with a transition plate, the bottom end of the transition plate is fixedly connected with a side plate, the inner side of the side plate is fixedly connected with an electric telescopic rod, and the other end of the electric telescopic rod is fixedly connected with a clamping plate. And the floor can not fall under the action of the supporting plate, so that the overall stability and safety are improved.

Description

Article identification pre-sorting robot based on deep learning and use method

Technical Field

The invention relates to the technical field of sorting robots, in particular to an article identification pre-sorting robot based on deep learning and a using method thereof.

Background

A robot, which is a machine device that automatically performs work; the robot can not only accept the human command, but also run the programs arranged in advance, and also can perform actions according to the principle formulated by the artificial intelligence technology; the main task of a robot is to assist or replace human work in, for example, production industry, construction industry, or other dangerous industry, wherein the Sorting robot is a kind of robot, and the Sorting robot (Sorting robot) is a robot with a sensor, an objective lens, and an electronic optical system, and can quickly sort goods, and the Sorting robot needs deep learning through software to identify goods.

Most sorting robots in the existing market are simple in structure and single in function, if the general sorting robot takes articles and drops the articles in the carrying process, the sorting robot has no protection effect, the articles can fall off from the sorting robot, the general sorting robot has the problem that bar codes on the articles are not clear, the general sorting robot does not have the cleaning function, and scanning and recognition are not clear.

Disclosure of Invention

The invention aims to provide an article identification pre-sorting robot based on deep learning and a using method thereof, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an article identification pre-sorting robot based on deep learning and a using method thereof comprise a robot mechanical part and an identification part, wherein the bottom end of the robot mechanical part is fixedly connected with a base, the left end of the base is fixedly connected with a controller, the other end of the robot mechanical part is fixedly connected with a transition plate, the bottom end of the transition plate is fixedly connected with a side plate, the inner side of the side plate is fixedly connected with an electric telescopic rod, the other end of the electric telescopic rod is fixedly connected with a clamping plate, one end of the clamping plate is provided with an article, one end of the transition plate is fixedly connected with a protective supporting device, the top end of the base is fixedly connected with a supporting frame, the inner side of the top end of the supporting frame is fixedly connected with an identification part, the inner side of the supporting frame is fixedly connected with a cleaning device, one end of the cleaning device is fixedly connected with a limiting device, the protective supporting device comprises a fixed block, a first motor, a gear, a toothed ring, a limiting frame, a telescopic rod, a first spring, a supporting plate and balls, wherein the left end and the right end of the transition plate are fixedly connected with the fixed block, the top end of the fixed block is fixedly connected with the limiting frame, the inner side of the rear end of the fixed block is fixedly connected with the first motor, the tail end of a main shaft of the first motor is fixedly connected with the gear, the other end of the gear is meshed with the toothed ring, the toothed ring is in sliding connection with the limiting frame, one end of the toothed ring is fixedly connected with the telescopic rod, the other end of the telescopic rod is fixedly connected with the supporting plate, the outer side of the telescopic rod is provided with the first spring, the top end and the bottom end of the first spring are respectively and fixedly connected with the supporting plate and the toothed ring, the inner side of the top end of the supporting plate is rotatably connected with the balls, the number of the supporting plates is two, and the supporting plates are symmetrically distributed on the left side and the right side of the vertical central line of the transition plate, the end face of the supporting plate close to the vertical central line of the transition plate is arranged at a constant gradient, the cleaning device comprises a second motor, an adjusting screw, a third motor, a rotating block, a fourth motor, a cleaning brush and a sliding block, the inner side of the rear end of the supporting frame is fixedly connected with the second motor, the tail end of a main shaft of the second motor is fixedly connected with the adjusting screw, the outer side of the adjusting screw is spirally connected with the sliding block, the left end of the sliding block is fixedly connected with the third motor, the tail end of the main shaft of the third motor is fixedly connected with the rotating block, the inner side of the rotating block is fixedly connected with the fourth motor, the tail end of the main shaft of the fourth motor is fixedly connected with the cleaning brush, the inner side of the sliding block is provided with threads, the adjusting screw is spirally connected with the sliding block through threads, and the limiting device comprises a connecting rod, a supporting rod, a limiting shaft, a limiting block, a pressing plate, a protective pad and a second spring, the slider is connected with the supporting rod, the front end of the supporting rod is fixedly connected with the supporting rod, the inner side of the supporting rod is connected with the limiting shaft in a sliding mode, the bottom end of the limiting shaft is fixedly connected with the pressing plate, the outer side of the limiting shaft is provided with the second spring, and the top end and the bottom end of the second spring are fixedly connected with the supporting rod and the pressing plate respectively.

Preferably, the left side and the right side of the top end of the limiting shaft are fixedly connected with limiting blocks.

Preferably, the bottom end of the pressing plate is fixedly connected with a protective pad, and the protective pad is made of a rubber pad.

Preferably, the method comprises the following steps:

the method comprises the following steps: firstly, cleaning dust on a bar code on the surface of an article by a cleaning device;

step two: the limiting device can be used for pressing and limiting the articles while cleaning;

step three: the article is clamped through the clamping plate, and the article is supported and protected through the protection supporting device.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the clamping device, due to the arrangement of the fixing block, the first motor, the gear, the toothed ring, the limiting frame, the telescopic rod, the first spring, the supporting plate and the balls, when an article is clamped by the clamping plate, the bottom of the article is supported by the supporting plate driven by the toothed ring, and the article is prevented from falling to the ground under the action of the supporting plate when falling off from the clamping plate, so that the overall stability and safety are improved.

2. According to the invention, through the arrangement of the second motor, the adjusting screw, the third motor, the rotating block, the fourth motor, the cleaning brush and the sliding block, when dust on the surface of the bar code on the object needs to be cleaned, the dust on the surface of the bar code can be cleaned through the cleaning brush, so that the accuracy of identification of the identification part is improved.

3. According to the cleaning brush, due to the arrangement of the connecting rod, the supporting rod, the limiting shaft, the limiting block, the pressing plate, the protective pad and the second spring, when dust on the surface of the bar code is cleaned through the cleaning brush, the pressing plate can drive the protective pad to press an object under the action of the second spring, and therefore the phenomenon that the object shakes when cleaned is avoided.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an enlarged view of the mounting structure of the ring gear of the present invention;

FIG. 3 is a schematic view of a top view of the cleaning brush of the present invention;

FIG. 4 is a schematic view of the structure of FIG. 1 at point A in accordance with the present invention;

FIG. 5 is a schematic view of the structure at B of FIG. 2 according to the present invention.

In the figure: 1-protective supporting device, 101-fixed block, 102-first motor, 103-gear, 104-toothed ring, 105-limit frame, 106-telescopic rod, 107-first spring, 108-supporting plate, 109-ball, 2-cleaning device, 201-second motor, 202-adjusting screw rod, 203-third motor, 204-rotating block, 205-fourth motor, 206-cleaning brush, 207-sliding block, 3-limit device, 301-connecting rod, 302-supporting rod, 303-limit shaft, 304-limit block, 305-pressing plate, 306-protecting pad, 307-second spring, 4-base, 5-controller, 6-robot mechanical part, 7-identification part, 8-transition plate, 9-side plate, 10-electric telescopic rod, 11-splint, 12-article and 13-support frame.

Detailed Description

Example 1:

referring to fig. 1-5, the present invention provides a technical solution:

an article identification and pre-sorting robot based on deep learning and a using method thereof comprise a robot mechanical part 6 and an identification part 7, wherein the bottom end of the robot mechanical part 6 is fixedly connected with a base 4, the left end of the base 4 is fixedly connected with a controller 5, the other end of the robot mechanical part 6 is fixedly connected with a transition plate 8, the bottom end of the transition plate 8 is fixedly connected with a side plate 9, the inner side of the side plate 9 is fixedly connected with an electric telescopic rod 10, the other end of the electric telescopic rod 10 is fixedly connected with a clamping plate 11, one end of the clamping plate 11 is provided with an article 12, one end of the transition plate 8 is fixedly connected with a protective supporting device 1, the top end of the base 4 is fixedly connected with a supporting frame 13, the inner side of the top end of the supporting frame 13 is fixedly connected with the identification part 7, and the inner side of the supporting frame 13 is fixedly connected with a cleaning device 2, one end of the cleaning device 2 is fixedly connected with a limiting device 3, the protective supporting device 1 comprises a fixed block 101, a first motor 102, a gear 103, a toothed ring 104, a limiting frame 105, an expansion link 106, a first spring 107, a supporting plate 108 and balls 109, the left end and the right end of the transition plate 8 are fixedly connected with the fixed block 101, the top end of the fixed block 101 is fixedly connected with the limiting frame 105, the inner side of the rear end of the fixed block 101 is fixedly connected with the first motor 102, the tail end of a main shaft of the first motor 102 is fixedly connected with the gear 103, the other end of the gear 103 is meshed with the toothed ring 104, the toothed ring 104 is in sliding connection with the limiting frame 105, one end of the toothed ring 104 is fixedly connected with the expansion link 106, the other end of the expansion link 106 is fixedly connected with the supporting plate 108, the outer side of the expansion link 106 is provided with the first spring 107, and the top end and the bottom end of the first spring 107 are respectively fixedly connected with the supporting plate 108 and the toothed ring 104, the inner side of the top end of the supporting plate 108 is rotatably connected with two balls 109, the number of the supporting plates 108 is two, and the two supporting plates are symmetrically distributed on the left side and the right side of the vertical central line of the transition plate 8, the end surface of the supporting plate 108 close to the vertical central line of the transition plate 8 is arranged at a certain gradient, the cleaning device 2 comprises a second motor 201, an adjusting screw 202, a third motor 203, a rotating block 204, a fourth motor 205, a cleaning brush 206 and a sliding block 207, the inner side of the rear end of the supporting frame 13 is fixedly connected with the second motor 201, the tail end of a main shaft of the second motor 201 is fixedly connected with the adjusting screw 202, the outer side of the adjusting screw 202 is spirally connected with the sliding block 207, the left end of the sliding block 207 is fixedly connected with the third motor 203, the tail end of the main shaft of the third motor 203 is fixedly connected with the rotating block 204, the inner side of the rotating block 204 is fixedly connected with the fourth motor 205, and the tail end of the main shaft of the fourth motor 205 is fixedly connected with the cleaning brush 206, the inboard of slider 207 is provided with the screw thread, and adjusting screw 202 passes through screw thread and slider 207 threaded connection, stop device 3 includes connecting rod 301, bracing piece 302, spacing axle 303, stopper 304, clamp plate 305, protection pad 306 and second spring 307, the equal fixedly connected with connecting rod 301 in both ends about slider 207, the front end fixedly connected with bracing piece 302 of connecting rod 301, the inboard sliding connection of bracing piece 302 has spacing axle 303, the bottom fixedly connected with clamp plate 305 of spacing axle 303, the outside of spacing axle 303 is provided with second spring 307, and the top and the bottom of second spring 307 respectively with bracing piece 302 and clamp plate 305 fixed connection.

The limiting blocks 304 are fixedly connected to the left side and the right side of the top end of the limiting shaft 303, the protective pads 306 are fixedly connected to the bottom ends of the pressing plates 305, and the protective pads 306 are made of rubber pads.

The method comprises the following steps:

the method comprises the following steps: firstly, cleaning dust on a bar code on the surface of an article through a cleaning device 2;

step two: the limiting device 3 can suppress and limit the articles while cleaning;

step three: the article is clamped by the clamping plate 11 and is supported and protected by the protection and support device 1.

The working process is as follows: before the cleaning brush is used, the external power supply is firstly used for supplying power, when dust on a bar code on the surface of an article 12 needs to be cleaned, the controller 5 controls the second motor 201 to drive the adjusting screw 202 to rotate spirally on the inner side of the sliding block 207, so that the sliding block 207 drives the cleaning brush 206 to gradually contact with the bar code on the surface of the article 12 through the fourth motor 205, in the process that the cleaning brush 206 contacts with the article 12, the sliding block 207 also drives the pressing plate 305 and the protective pad 306 to gradually press the article 12 through the connecting rod 301, the supporting rod 302 and the limiting shaft 303, and simultaneously, in the pressing process, the second spring 307 gradually contracts under the effects of the pressing plate 305 and the protective pad 306, and the pressing plate 305 and the protective pad 306 are pressed and limited under the effect of the second spring 307, then the controller 5 controls the fourth motor 205 to drive the cleaning brush 206 to rotate, so that the cleaning brush 206 cleans the dust on the bar code on the surface of the article 12, after cleaning, the cleaning part 7 recognizes the articles, the electric telescopic rod 10 on the robot mechanical part 6 clamps the articles 12 through the clamping plate 11, the controller 5 controls the first motor 102 to drive the gear 103 to rotate, the gear 103 drives the toothed ring 104 to slide along the limiting frame 105 and the inner side of the fixing block 101, the toothed ring 104 drives the supporting plate 108 and the balls 109 to gradually support the bottoms of the articles 12 through the telescopic rod 106, and the supporting plate 108 extends to the bottoms of the articles 12 due to the fact that the supporting plate 108 is close to the vertical center line of the transition plate 8 and has a certain gradient, friction between the supporting plate 108 and the articles 12 can be reduced through the balls 109, and when the articles 12 fall off from the clamping plate 11, the problem that the articles 12 fall off under the action of the supporting plate 108 does not occur.

The same parts of embodiment 2 as those of embodiment 1 are not described again, and when the bar code on the article is cleaned by the identification part 7, the worker controls the third motor 203 to drive the rotating block 204 to rotate backwards through the controller 5, and simultaneously the rotating block 204 drives the cleaning brush 206 to rotate backwards through the fourth motor 205. Ensuring that the cleaning brush 206 does not interfere with the detection of the article 12 by the identification portion 7.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.

Claims

1. An article identification pre-sorting robot based on deep learning, comprising a robot mechanical part (6) and an identification part (7), characterized in that: the bottom end of the robot mechanical part (6) is fixedly connected with a base (4), the left end of the base (4) is fixedly connected with a controller (5), the other end of the robot mechanical part (6) is fixedly connected with a transition plate (8), the bottom end of the transition plate (8) is fixedly connected with a side plate (9), the inner side of the side plate (9) is fixedly connected with an electric telescopic rod (10), the other end of the electric telescopic rod (10) is fixedly connected with a clamping plate (11), one end of the clamping plate (11) is provided with an article (12), one end of the transition plate (8) is fixedly connected with a protective supporting device (1), the top end of the base (4) is fixedly connected with a supporting frame (13), the inner side of the top end of the supporting frame (13) is fixedly connected with an identification part (7), and the inner side of the supporting frame (13) is fixedly connected with a cleaning device (2), one end of the cleaning device (2) is fixedly connected with a limiting device (3), the protective supporting device (1) comprises a fixed block (101), a first motor (102), a gear (103), a toothed ring (104), a limiting frame (105), a telescopic rod (106), a first spring (107), a supporting plate (108) and balls (109), the left end and the right end of the transition plate (8) are fixedly connected with the fixed block (101), the top end of the fixed block (101) is fixedly connected with the limiting frame (105), the inner side of the rear end of the fixed block (101) is fixedly connected with the first motor (102), the gear (103) is fixedly connected with the tail end of a main shaft of the first motor (102), the toothed ring (104) is meshed with the other end of the gear (103), the toothed ring (104) is connected with the limiting frame (105) in a sliding manner, and the telescopic rod (106) is fixedly connected with one end of the toothed ring (104), the other end of the telescopic rod (106) is fixedly connected with a supporting plate (108), a first spring (107) is arranged on the outer side of the telescopic rod (106), the top end and the bottom end of the first spring (107) are respectively fixedly connected with the supporting plate (108) and the toothed ring (104), the inner side of the top end of the supporting plate (108) is rotatably connected with balls (109), the number of the supporting plates (108) is two, the supporting plates are symmetrically distributed on the left side and the right side of the vertical central line of the transition plate (8), the end face, close to the vertical central line of the transition plate (8), of the supporting plate (108) is arranged at a constant gradient, the cleaning device (2) comprises a second motor (201), an adjusting screw rod (202), a third motor (203), a rotating block (204), a fourth motor (205), a cleaning brush (206) and a sliding block (207), the inner side of the rear end of the supporting frame (13) is fixedly connected with a second motor (201), the tail end of a main shaft of the second motor (201) is fixedly connected with an adjusting screw rod (202), the outer side of the adjusting screw rod (202) is spirally connected with a sliding block (207), the left end of the sliding block (207) is fixedly connected with a third motor (203), the tail end of the main shaft of the third motor (203) is fixedly connected with a rotating block (204), the inner side of the rotating block (204) is fixedly connected with a fourth motor (205), the tail end of the main shaft of the fourth motor (205) is fixedly connected with a cleaning brush (206), the inner side of the sliding block (207) is provided with threads, the adjusting screw rod (202) is spirally connected with the sliding block (207) through the threads, the limiting device (3) comprises a connecting rod (301), a supporting rod (302), a limiting shaft (303), a limiting block (304), a pressing plate (305), a protective pad (306) and a second spring (307), the left end and the right end of the sliding block (207) are both fixedly connected with the connecting rod (301), the utility model discloses a spacing axle of bracing piece (303), including connecting rod (301), the front end fixedly connected with bracing piece (302) of bracing piece (301), the inboard sliding connection of bracing piece (302) has spacing axle (303), the bottom fixedly connected with clamp plate (305) of spacing axle (303), the outside of spacing axle (303) is provided with second spring (307), and the top and the bottom of second spring (307) respectively with bracing piece (302) and clamp plate (305) fixed connection.

2. The deep learning based item identification pre-sorting robot of claim 1, wherein: the left side and the right side of the top end of the limiting shaft (303) are fixedly connected with limiting blocks (304).

3. The deep learning based item identification pre-sorting robot of claim 1, wherein: the bottom end of the pressing plate (305) is fixedly connected with a protective pad (306), and the protective pad (306) is made of a rubber pad.

4. The use method of the deep learning based item identification pre-sorting robot according to claim 1, characterized in that: the method comprises the following steps:

the method comprises the following steps: firstly, cleaning dust on a bar code on the surface of an article through a cleaning device (2);

step two: the limiting device (3) can press and limit the articles while cleaning;

step three: the article is clamped by the clamping plate (11) and is supported and protected by the protection supporting device (1).