CN212197020U - Plastic bottle recycling robot based on machine vision - Google Patents
Plastic bottle recycling robot based on machine vision Download PDFInfo
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- CN212197020U CN212197020U CN201922380766.8U CN201922380766U CN212197020U CN 212197020 U CN212197020 U CN 212197020U CN 201922380766 U CN201922380766 U CN 201922380766U CN 212197020 U CN212197020 U CN 212197020U
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- recycling
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- Separation, Recovery Or Treatment Of Waste Materials Containing Plastics (AREA)
Abstract
The utility model relates to a robot is retrieved to plastic bottle based on machine vision, this robot includes: a recycling vehicle body (11) which is used for walking in an area to be recycled and accommodating recycled plastic bottles; the visual identification mechanism is used for identifying plastic bottles in an area to be recovered; the clamping and conveying mechanism is used for clamping the plastic bottles and conveying the plastic bottles to the recycling vehicle body (11); the vision recognition mechanism and the clamping and conveying mechanism are both arranged at the head of the recovery vehicle body (11). Compared with the prior art, the utility model discloses can be in the relatively more complicated actual environment, accurate differentiation is lost the plastic bottle on ground to reliably retrieve, simple structure, stability is high.
Description
Technical Field
The utility model relates to a robot especially relates to a robot is retrieved to plastic bottle based on machine vision.
Background
The plastic bottles are widely used in life as food packages, and if the waste plastic bottles are improperly treated, the plastic bottles are lost at will and will destroy the environment, thus harming the health of people. In recent years, the problem of environmental pollution has become more serious, and recycling of waste plastics has become more important in international society. The value of renewable resources which can be recycled and are not recycled in China is as high as 300-350 billion yuan each year, about 7000 tons of domestic garbage are required to be cleaned and transported in Shanghai regions on average every day, and the recyclable resources such as paper, plastics and the like account for 28 percent. If the whole is buried or burned, the annual loss is 6800 ten thousand yuan. PET bottles are one of the plastic varieties with the largest use amount at present, and the recycling and reusing work of the PET bottles is very important for national relevant departments. After being classified by color screening, the waste plastic bottles are changed into plastic particles with different colors through processes of crushing, granulating, modifying and the like, and become recyclable raw materials.
At present, plastic bottle recycling and classification in China are mainly completed by manual operation, but the working environment is severe, the plastic bottle recycling and classification method is not suitable for long-time work, and the manual operation efficiency is low.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a plastic bottle recycling robot based on machine vision for overcoming the defects of the prior art.
The purpose of the utility model can be realized through the following technical scheme:
a machine vision based plastic bottle recycling robot, the robot comprising:
and (3) vehicle body recovery: the plastic bottle is used for walking in the area to be recycled and accommodating recycling;
visual identification mechanism: a plastic bottle for identifying an area to be recycled;
the clamping and conveying mechanism comprises: the plastic bottle clamping device is used for clamping plastic bottles and conveying the plastic bottles to a recovery vehicle body;
the vision recognition mechanism and the clamping and conveying mechanism are both arranged at the head of the recovery vehicle body.
The visual recognition mechanism comprises a camera which is fixedly installed through an installation rod vertically installed at the head of the recovery vehicle body.
The clamping and conveying mechanism comprises a clamping unit and a turning unit, the turning unit is fixed on the head of the recovery vehicle body, the clamping unit is fixed on the turning unit, and the turning unit can turn relative to the horizontal plane.
The clamping unit comprises a fixed plate, a cylinder, a rack, a gear, clamping arms and a connecting rod, the fixed plate is fixed on the overturning unit, the clamping arms are arranged on two sides of the fixed plate symmetrically, one end of each clamping arm is connected with the fixed plate through the connecting rod, the other end of each clamping arm is used for clamping the clamping end, the fixed plate is provided with the gear corresponding to the clamping arm, the rack is arranged between the two gears and is meshed with the gear respectively, and the cylinder is connected with the rack.
The clamping end of the clamping arm is a toothed surface, and the toothed surface is a rubber toothed surface.
The turnover unit comprises a turnover plate and a steering engine for driving the turnover plate to horizontally rotate, the turnover plate is fixed on the edge of the head of the recovery vehicle body, and a turnover shaft is formed by the turnover plate and the side of the recovery vehicle body, which is in contact with the recovery vehicle body.
The head of the recovery vehicle body is also provided with a lighting unit, the lighting unit comprises a lighting lamp, and the lighting lamp is fixedly installed through an installation rod vertically installed on the head of the recovery vehicle body.
The power supply unit of the robot comprises a solar cell.
Compared with the prior art, the utility model has the advantages of as follows:
(1) the robot picks up the bottle for recycling after finding the plastic bottle, can realize the all-weather recycling function, gets rid of the mobility of the original recycling personnel, and has extremely high social value and environmental protection significance;
(2) the robot can accurately distinguish plastic bottles lost on the ground in a relatively complex real environment through visual identification, so that the reliability of the robot is improved;
(3) the clamping unit of the utility model utilizes the gear, the rack, the connecting rod and other parts to transmit power, has simple structure, very low economic cost and very high transmission efficiency, can avoid the loss in the power transmission process, and improves the whole mechanical efficiency;
(4) the utility model discloses can effectively utilize the solar energy resource, energy-concerving and environment-protective.
Drawings
FIG. 1 is a schematic view of the overall structure of a plastic bottle recycling robot based on machine vision according to the present invention;
FIG. 2 is a top view of the plastic bottle recycling robot based on machine vision according to the present invention;
fig. 3 is the mechanism schematic diagram of the robot gripping and transporting mechanism of the present invention.
In the figure, 1 is a rubber tooth-shaped surface, 2 is a clamping arm, 3 is a connecting rod, 4 is a gear, 5 is a rack, 6 is a lighting lamp, 7 is a cylinder, 8 is a turnover plate, 9 is a camera, 10 is a steering engine, 11 is a recovery vehicle body, and 12 is a power supply and a control component.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Note that the following description of the embodiments is merely an example of the nature, and the present invention is not intended to limit the application or the use thereof, and the present invention is not limited to the following embodiments.
Examples
As shown in fig. 1 to 3, a robot for recycling plastic bottles based on machine vision includes:
the recovery vehicle body 11: the plastic bottle is used for walking in the area to be recycled and accommodating recycling;
visual identification mechanism: a plastic bottle for identifying an area to be recycled;
the clamping and conveying mechanism comprises: used for clamping plastic bottles and conveying the plastic bottles to the recovery vehicle body 11;
power supply and control assembly 12: the power supply part comprises a solar cell;
the visual recognition mechanism and the clamping and conveying mechanism are both arranged at the head part of the recovery vehicle body 11.
The visual recognition mechanism comprises a camera 9, and the camera 9 is fixedly installed through an installation rod vertically installed at the head of the recovery vehicle body 11.
The clamping and conveying mechanism comprises a clamping unit and a turning unit, the turning unit is fixed at the head of the recovery vehicle body 11, the clamping unit is fixed on the turning unit, and the turning unit can turn relative to the horizontal plane.
The clamping unit comprises a fixed plate, a cylinder 7, a rack 5, gears 4, clamping arms 2 and a connecting rod 3, the fixed plate is fixed on the overturning unit, the clamping arms 2 are arranged on two sides of the fixed plate symmetrically, one end of each clamping arm 2 is connected with the fixed plate through the connecting rod 3, the other end of each clamping arm 2 is a clamping end, the fixed plate is provided with the gears 4 corresponding to the clamping arms 2, the rack 5 is arranged between the two gears 4 and is meshed with the gears 4 respectively, and the cylinder 7 is connected with the rack 5.
The clamping end of the clamping arm 2 is a tooth-shaped surface, the tooth-shaped surface is a rubber tooth-shaped surface 1, the rubber tooth-shaped surface 1 can increase friction force, and the bottle is prevented from falling off in the clamping process.
The head of the recovery vehicle body 11 is also provided with an illuminating unit which comprises an illuminating lamp 6, and the illuminating lamp 6 is fixedly installed through an installation rod vertically installed at the head of the recovery vehicle body 11. The robot stops working in the daytime, the solar energy is used for charging the battery, when no person is present at night, the robot starts working, the lighting unit is used for lighting, the robot patrols in the area where the robot is responsible, the bottle is picked up and recycled after the robot finds the bottle, and the all-weather recycling function can be achieved.
The utility model discloses utilize machine vision technique and robot, a robot is retrieved to plastic bottle based on machine vision has been designed, this robot adopts solar cell to provide power, arduino singlechip is controlled, through visual identification, can be in the relatively more complicated real environment, accurate differentiation is lost the plastic bottle on ground, when reacing the suitable position of snatching the plastic bottle, the singlechip gives an instruction, steering wheel 10 angle of adjustment, cylinder 7 work, through gear 4, rack 5, 3 transmission power of connecting rod, the action is got to the clamp of accomplishing the plastic bottle, then steering wheel 10 drives to turn over the board and rotate to suitable position, 7 reverse motion of cylinder, accomplish the action of retrieving, both resources are saved, the environmental protection again, simultaneously can save the labour, alleviate the person's intensity of labour who keeps a public place clean.
The utility model discloses the concrete process that the robot carried out the plastic bottle and snatchs the recovery does: the turnover unit comprises a turnover plate 8 and a steering engine 10 driving the turnover plate 8 to horizontally rotate, the turnover plate 8 is fixed at the edge of the head of the recovery vehicle body 11, and the turnover shaft is formed by the turnover plate 8 and the side of the recovery vehicle body 11 which is in contact with the turnover plate. When the bottle clamping device works, the steering engine 10 overturns to enable the clamping unit to be aligned to a bottle body, the air cylinder 7 works to drive the rack 5 to move backwards to drive the meshed gear 4 to rotate, the motion is transmitted to the clamping arms 2 through the connecting rod 3 fixed on the gear 4 to clamp the bottle, then the steering engine 10 rotates reversely to overturn the bottle above the vehicle body, and the air cylinder 7 works reversely to place the bottle into the recovery vehicle body 11.
The robot can realize all-weather recovery function, get rid of the mobility of original recovery personnel, has high social value and environmental protection significance, and can be used for spinning to prepare fibers to be used as pillow cores, mattresses, sleeping bags, felts and the like. The glass fiber reinforced plastic can also be used as a glass fiber reinforced material, and the glass fiber reinforced material has better heat resistance and mechanical strength and can be used for manufacturing automobile parts. The waste plastics are re-melted to prepare low-value recycled plastics, the recycled plastics with good properties can be recovered, the performance of the recycled plastics is similar to that of new materials, and the recycled plastics can be used as the new materials to a great extent. All thermoplastic waste plastics, even a small amount of mixed thermosetting waste plastics can be recycled. The composite recycled plastic can also be used for preparing lower-grade products, such as: building materials, fillers, garbage bags, microporous sandals, raincoats, packing materials of instruments and the like. Under the background of novel social development, the recycling robot is inoculated with the concepts of green, environmental protection and circular economy, the consciousness of energy conservation and environmental protection is deeply felt, and the phenomenon that beverage bottles are thrown away at will in the society can be effectively improved by automatically recycling the plastic bottles. Economic benefits brought by the automatic plastic bottle recycling robot can stimulate green, energy-saving and low-carbon environmental protection behaviors of people, so that the environmental sanitation of public places in the whole society is obviously improved, and the social civilization degree is greatly improved.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (8)
1. A machine vision based plastic bottle recycling robot, comprising:
recovery vehicle body (11): the plastic bottle is used for walking in the area to be recycled and accommodating recycling;
visual identification mechanism: a plastic bottle for identifying an area to be recycled;
the clamping and conveying mechanism comprises: used for clamping plastic bottles and conveying the plastic bottles to a recovery vehicle body (11);
the vision recognition mechanism and the clamping and conveying mechanism are both arranged at the head of the recovery vehicle body (11).
2. The plastic bottle recycling robot based on machine vision as claimed in claim 1, characterized in that said vision recognition mechanism comprises a camera (9), said camera (9) is fixedly installed by a mounting rod vertically installed on the head of the recycling car body (11).
3. The plastic bottle recycling robot based on machine vision as claimed in claim 1, wherein said gripping and transporting mechanism comprises a gripping unit and a turning unit, said turning unit is fixed on the head of the recycling vehicle body (11), said gripping unit is fixed on the turning unit, and said turning unit can turn and move relative to the horizontal plane.
4. The machine vision-based plastic bottle recycling robot is characterized in that the clamping unit comprises a fixing plate, a cylinder (7), a rack (5), a gear (4), two clamping arms (2) and a connecting rod (3), the fixing plate is fixed on the overturning unit, the two clamping arms (2) are symmetrically arranged on two sides of the fixing plate, one end of each clamping arm (2) is connected with the fixing plate through the connecting rod (3), the other end of each clamping arm (2) is a clamping end, the fixing plate is provided with the gear (4) corresponding to the clamping arm (2), the rack (5) is arranged between the two gears (4) and is meshed with the gear (4), and the cylinder (7) is connected with the rack (5).
5. The plastic bottle recycling robot based on machine vision as claimed in claim 4, characterized in that the gripping end of the gripping arm (2) is a toothed surface, and the toothed surface is a rubber toothed surface (1).
6. The plastic bottle recycling robot based on the machine vision is characterized in that the overturning unit comprises an overturning plate (8) and a steering engine (10) for driving the overturning plate (8) to horizontally rotate, the overturning plate (8) is fixed on the edge of the head of a recycling vehicle body (11), and the edge of the overturning plate (8) which is in contact with the recycling vehicle body (11) forms an overturning shaft.
7. The plastic bottle recycling robot based on machine vision as claimed in claim 1, characterized in that the head of the recycling vehicle body (11) is further provided with an illumination unit, the illumination unit comprises an illumination lamp (6), and the illumination lamp (6) is fixedly installed through an installation rod vertically installed at the head of the recycling vehicle body (11).
8. A machine vision based plastic bottle recycling robot as claimed in claim 1, characterized in that the power supply unit of the robot comprises solar cells.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922380766.8U CN212197020U (en) | 2019-12-26 | 2019-12-26 | Plastic bottle recycling robot based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922380766.8U CN212197020U (en) | 2019-12-26 | 2019-12-26 | Plastic bottle recycling robot based on machine vision |
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| Publication Number | Publication Date |
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| CN212197020U true CN212197020U (en) | 2020-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922380766.8U Active CN212197020U (en) | 2019-12-26 | 2019-12-26 | Plastic bottle recycling robot based on machine vision |
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| CN (1) | CN212197020U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113184488A (en) * | 2021-06-04 | 2021-07-30 | 宝武集团马钢轨交材料科技有限公司 | Train wheel clamping device |
-
2019
- 2019-12-26 CN CN201922380766.8U patent/CN212197020U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113184488A (en) * | 2021-06-04 | 2021-07-30 | 宝武集团马钢轨交材料科技有限公司 | Train wheel clamping device |
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