CN113578769A - Garbage sorting system of duplex robot - Google Patents
Garbage sorting system of duplex robot Download PDFInfo
- Publication number
- CN113578769A CN113578769A CN202110779907.2A CN202110779907A CN113578769A CN 113578769 A CN113578769 A CN 113578769A CN 202110779907 A CN202110779907 A CN 202110779907A CN 113578769 A CN113578769 A CN 113578769A
- Authority
- CN
- China
- Prior art keywords
- garbage
- mechanical arm
- arm
- feeding
- duplex
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 89
- 238000011084 recovery Methods 0.000 claims abstract description 9
- 239000002699 waste material Substances 0.000 claims description 14
- 239000012636 effector Substances 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 10
- 238000004064 recycling Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
Landscapes
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a garbage sorting system of a duplex robot, which comprises a feeding conveyor belt, a sorting device and a sorting device, wherein the feeding conveyor belt is used for conveying garbage to the garbage sorting system of the duplex robot; the annular conveying belt is used for circularly conveying the garbage to be sorted; the mechanical arm device is used for sorting garbage, and the mechanical arm unit comprises a first mechanical arm and a second mechanical arm; the image acquisition device is used for controlling the garbage sorting system of the duplex robot; and the recovery device is used for recovering the sorted garbage.
Description
Technical Field
The invention relates to the field of garbage classification, in particular to a garbage sorting system of a duplex robot.
Background
The existing garbage sorting system mostly adopts a one-way conveying system, so that the garbage can only pass in front of an identification device and a sorting robot once, the time is short, the mistake is easy to happen, a single-arm type robot is adopted, or even though multiple robots which respectively operate independently do not work in coordination, the sorting speed is limited, large pieces or heavy garbage is difficult to handle, the sorting system is not suitable for objects taken out by a single mechanical arm, the working capacity and the adaptability of the system are reduced, the end effector of the existing sorting system is single, usually a clamp or a sucker, the range and the load capacity of articles which can be picked up are limited, the existing sorting robot identification system is simple and mostly adopts a single camera or a sensor, the garbage categories capable of being identified and sorted are limited, and the end effector of the mechanical arm of the sorting robot is in rigid connection, so that the garbage sorting robot is easy to collide and damage when accidents happen. The conveyer belt only executes the function of conveying, can not break apart the rubbish that probably mixes, overlaps, piles up, has increaseed the degree of difficulty of discernment and letter sorting, is unfavorable for improving the operational capability of system.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. To this end, the invention provides a duplex robot garbage sorting system, which conveys garbage to the site through the feeding conveyor belt onto the endless conveyor belt, the garbage circularly moves on the endless conveyor belt, if the garbage is not identified or sorted when passing through the mechanical arm device for the first time, the garbage can be identified and sorted again when passing through the next time, and the type and the position of the garbage can be identified through the machine vision through the image acquisition devices on the two sides.
The invention provides a garbage sorting system with the automatic function for the duplex robot. The method comprises the following steps: the feeding conveyor belt is used for conveying the garbage to the garbage sorting system of the duplex robot; the annular conveying belt is used for circularly conveying the garbage to be sorted and is arranged below the tail end of the feeding conveying belt; the mechanical arm device is used for sorting garbage, the mechanical arm unit comprises a first mechanical arm and a second mechanical arm, the first mechanical arm and the second mechanical arm are respectively arranged on the inner side and the outer side of the annular conveying belt, the first mechanical arm and the second mechanical arm are oppositely arranged, sorting is carried out through the first mechanical arm and the second mechanical arm, the first mechanical arm and the second mechanical arm respectively operate when only small garbage and light garbage are collected, and if large garbage or objects with large weight are identified, the first mechanical arm and the second mechanical arm work cooperatively to sort out the objects together; the image acquisition device is used for controlling the garbage sorting system of the duplex robot and is arranged on the annular conveying belt; and the recovery device is used for recovering the sorted garbage and is arranged on the side of the mechanical arm device.
The duplex robot garbage sorting system at least has the following technical effects that the duplex robot garbage sorting system conveys garbage to the site through the feeding conveying belt, the garbage circularly moves on the annular conveying belt, if the garbage is not identified or sorted when passing through the mechanical arm device for the first time, the garbage can be identified and sorted again when passing through the mechanical arm device for the next time, and the type and the position of the garbage can be identified through machine vision through the image acquisition devices on two sides.
According to the garbage sorting system with the duplex robot, disclosed by the embodiment of the invention, the feeding conveyor belt comprises a feeding frame, a feeding belt arranged on the feeding frame, a feeding motor used for driving the feeding belt to rotate, a pivoting device used for generating a vibration effect, and the pivoting device is arranged on the inner side of the feeding belt. The feeding conveyor belt has the function of generating a vibration effect while executing a conveying function, and can be used for disassembling mixed, overlapped and piled garbage, so that the working capacity and efficiency of the system are improved.
According to the garbage sorting system with the duplex robot, the pivoting device comprises a central rotating shaft, a first roller, a second roller and a third roller, the first roller, the second roller and the third roller are respectively connected with the central rotating shaft, and the central rotating shaft is connected with the feeding motor. The first roller, the second roller and the third roller are arranged in the feeding conveyor belt mechanism to form a group of pivoting devices, a plurality of sets of pivoting devices can be arranged as required, and the first roller, the second roller and the third roller impact the bottom of the feeding conveyor belt in turn to achieve the effect of vibration.
According to the garbage sorting system with the duplex robot, provided by the embodiment of the invention, the annular conveying belt comprises a first linear conveying belt, a first semicircular conveying belt, a second linear conveying belt and a second semicircular conveying belt, and the first linear conveying belt, the first semicircular conveying belt, the second linear conveying belt and the second semicircular conveying belt are sequentially connected.
According to the garbage sorting system with the duplex robot, provided by the embodiment of the invention, the first mechanical arm and the second mechanical arm respectively comprise a base, a first support arm, a second support arm and a tail end manipulator, and the base, the first support arm, the second support arm and the tail end manipulator are sequentially connected. The end manipulator combines a paw mode and a sucker mode, and can select which clamping mode or the combination of the paw mode and the sucker mode according to the shape and the property of an article. And the end manipulator is connected to the first mechanical arm or the second mechanical arm in a magnetic attraction mode, and can generate displacement and even take off the first mechanical arm or the second mechanical arm if impact and collision are met, so that the technical effect of protecting the first mechanical arm and the second mechanical arm is achieved.
According to the garbage sorting system with the duplex robot, the tail end manipulator comprises a lifting hook connected with the second support arm, a tail end support connected with the lifting hook in a magnetic attraction mode, a first clamp connected with the tail end support, a second clamp connected with the tail end support and a sucking disc connected with the tail end support.
According to the garbage sorting system with the duplex robot, at least one mechanical arm device is arranged. The robotic device may be increased or decreased as a sorting unit, and further increases the speed of sorting may be achieved by arranging more such sorting units along the endless conveyor. In addition, only need suitable a small amount of transformation just can be applied to the occasion of sorting, classification such as commodity circulation, warehouse, production line, adaptability and flexibility are very strong.
According to the garbage sorting system with the duplex robot, the image acquisition device comprises a camera bracket, a first camera and a second camera, and the first camera and the second camera are mounted on the camera bracket. The first camera and the second camera perform machine vision recognition on the type and the position of the garbage.
According to the garbage sorting system with the duplex robot, the recycling device comprises at least two recycling barrels.
The duplex robot garbage sorting system further comprises a control device for controlling the duplex robot garbage sorting system, and the feeding conveyor belt, the annular conveyor belt, the mechanical arm device and the image acquisition device are respectively and electrically connected with the control device.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic diagram of a duplex robot waste sorting system according to an embodiment of the present invention;
fig. 2 is a schematic view of a first robot arm of a duplex robot waste sorting system according to an embodiment of the present invention;
fig. 3 is a schematic view of a second robotic arm of a duplex robot waste sorting system in accordance with an embodiment of the present invention;
fig. 4 is a schematic view of a feeding conveyor belt of a duplex robot garbage sorting system according to an embodiment of the present invention;
reference numerals:
a feeding conveyor belt 101, a feeding frame 102, a feeding belt 103, a pivoting device 104, a central rotating shaft 105, a first roller 106, a second roller 107, a third roller 108,
An endless conveyor 201, a first linear conveyor 202, a first semicircular conveyor 203, a second linear conveyor 204, a second semicircular conveyor 205,
A robot arm assembly 301, a first robot arm 302, a second robot arm 303, a base 304, a first arm 305, a second arm 306, an end effector 307, a hook 308, an end post 309, a first clamp 310, a second clamp 311, a suction cup 312, a vacuum chuck,
An image acquisition device 401, a camera bracket 402, a first camera 403, a second camera 404,
A recovery device 501 and a recovery barrel 502.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
With reference to fig. 1, 2 and 3, the present invention proposes a duplex robot waste sorting system with the above-mentioned automation. The method comprises the following steps: the feeding conveyor belt 101 is used for conveying the garbage to the garbage sorting system of the duplex robot; the annular conveying belt 201 is used for circularly conveying the garbage to be sorted and is arranged below the tail end of the feeding conveying belt 101; the mechanical arm device 301 is used for sorting garbage, the mechanical arm unit comprises a first mechanical arm 302 and a second mechanical arm 303, the first mechanical arm 302 and the second mechanical arm 303 are respectively arranged on the inner side and the outer side of the endless conveyor 201, the first mechanical arm 302 and the second mechanical arm 303 are oppositely arranged, sorting is carried out through the first mechanical arm 302 and the second mechanical arm 303, only small garbage and light garbage respectively operate, and if large garbage or objects with large weight are identified, the first mechanical arm 302 and the second mechanical arm 303 cooperatively work to sort out articles together; the image acquisition device 401 is used for controlling the garbage sorting system of the duplex robot, and the image acquisition device 401 is arranged on the annular conveying belt; and the recovery device 501 is used for recovering the sorted garbage, and the recovery device 501 is arranged on the side of the mechanical arm device 301.
Referring to fig. 1, 2 and 3, the duplex robot garbage sorting system according to the embodiment of the present invention has at least the technical effects that the duplex robot garbage sorting system transports garbage to a site and then conveys the garbage to an endless conveyor belt through a feeding conveyor belt, the garbage circulates on the endless conveyor belt, if the garbage is not recognized or sorted in the first pass through the robot arm device 301, the garbage can be recognized and sorted in the next pass, and the type and position of the garbage can be recognized through machine vision by the image capturing devices 401 on both sides.
Referring to fig. 1 and 4, in the duplex robot garbage sorting system according to the embodiment of the present invention, the feeding conveyor 101 includes a feeding frame 102, a feeding belt 103 disposed on the feeding frame 102, a feeding motor for driving the feeding belt 103 to rotate, a pivoting device 104 for generating a vibration effect, and the pivoting device 104 is disposed inside the feeding belt 103. The feeding conveyor belt 101 has a function of generating a vibration effect while performing a conveying function, and is used for scattering mixed, overlapped and piled garbage, so that the working capacity and efficiency of the system are improved.
Referring to fig. 1 and 4, in the duplex robot garbage sorting system according to the embodiment of the present invention, the pivoting device 104 includes a central shaft 105, a first roller 106, a second roller 107, and a third roller 108, the first roller 106, the second roller 107, and the third roller 108 are respectively connected to the central shaft 105, and the central shaft 105 is connected to the feeding motor. A first roller 106, a second roller 107 and a third roller 108 are arranged in the feeding conveyor belt 101 mechanism to form a group of pivoting devices 104, a plurality of sets of pivoting devices can be arranged as required, and the first roller 106, the second roller 107 and the third roller 108 impact the bottom of the feeding conveyor belt 101 in turn to achieve the effect of vibration.
Referring to fig. 1, in the duplex robot trash sorting system according to the embodiment of the present invention, an endless conveyor 201 includes a first linear conveyor 202, a first semicircular conveyor 203, a second linear conveyor 204, and a second semicircular conveyor 205, and the first linear conveyor 202, the first semicircular conveyor 203, the second linear conveyor 204, and the second semicircular conveyor 205 are connected in this order.
Referring to fig. 2 and 3, in the duplex robot garbage sorting system according to the embodiment of the present invention, the first robot arm 302 and the second robot arm 303 respectively include a base 304, a first arm 305, a second arm 306, and an end effector 307, and the base 304, the first arm 305, the second arm 306, and the end effector 307 are connected in this order. The end effector 307 incorporates both a gripper and a suction cup 312, and can select which gripping method or both of them are used depending on the shape and properties of the article. And the end effector 307 is magnetically attached to the first arm 302 or the second arm 303, and may displace even disengage from the first arm 302 or the second arm 303 when encountering impact or collision, thereby protecting the first arm 302 and the second arm 303.
Referring to fig. 2 and 3, in the duplex robot trash sorting system according to the embodiment of the present invention, the end effector 307 includes a hook 308 coupled to the second arm 306, an end post 309 magnetically coupled to the hook 308, a first clamp 310 coupled to the end post 309, a second clamp 311 coupled to the end post 309, and a suction cup 312 coupled to the end post 309.
Referring to fig. 1, 2 and 3, in the garbage sorting system of the duplex robot according to the embodiment of the present invention, at least one robot arm device 301 is provided. The robotic arm arrangement 301 may be increased or decreased as a sorting unit, and further increases the sorting speed by arranging more such sorting units along the endless conveyor. In addition, only need suitable a small amount of transformation just can be applied to the occasion of sorting, classification such as commodity circulation, warehouse, production line, adaptability and flexibility are very strong.
Referring to fig. 1, in the duplex robot trash sorting system according to the embodiment of the present invention, an image capturing device 401 includes a camera stand 402, a first camera 403, and a second camera 404, and the first camera 403 and the second camera 404 are mounted on the camera stand 402. The first camera 403 and the second camera 404 perform machine vision to identify the trash type and location.
Referring to fig. 1, a recycling apparatus 501 of a duplex robot trash sorting system according to an embodiment of the present invention includes at least two recycling bins 502.
Referring to fig. 1, the duplex robot garbage sorting system according to the embodiment of the present invention further includes a control device for controlling the duplex robot garbage sorting system, and the feeding conveyor belt 101, the endless conveyor belt 201, the mechanical arm device 301, and the image acquisition device 401 are electrically connected to the control device respectively.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A duplex robot waste sorting system, comprising:
the feeding conveyor belt is used for conveying the garbage to the garbage sorting system of the duplex robot;
the annular conveying belt is used for circularly conveying the garbage to be sorted and is arranged below the tail end of the feeding conveying belt;
the mechanical arm device is used for sorting garbage, the mechanical arm unit comprises a first mechanical arm and a second mechanical arm, the first mechanical arm and the second mechanical arm are respectively arranged on the inner side and the outer side of the annular conveying belt, and the first mechanical arm and the second mechanical arm are oppositely arranged;
the image acquisition device is used for controlling the garbage sorting system of the duplex robot and is arranged on the annular conveying belt;
and the recovery device is used for recovering the sorted garbage and is arranged on the side of the mechanical arm device.
2. The duplex robot waste sortation system as recited in claim 1, wherein the feeding conveyor includes a feeding rack, a feeding belt disposed on the feeding rack, a feeding motor for driving the feeding belt in rotation, a pivoting device for producing a vibratory effect, the pivoting device being disposed inside the feeding belt.
3. The duplex robot garbage sorting system according to claim 2, wherein the pivoting means comprises a central shaft, a first roller, a second roller and a third roller, the first roller, the second roller and the third roller are respectively connected with the central shaft, and the central shaft is connected with the feeding motor.
4. The duplex robot waste sortation system as recited in claim 1, wherein the endless conveyor comprises a first linear conveyor, a first semi-circular conveyor, a second linear conveyor, and a second semi-circular conveyor, the first linear conveyor, the first semi-circular conveyor, the second linear conveyor, and the second semi-circular conveyor being connected in series.
5. The duplex robot waste sortation system as recited in claim 1, wherein said first robotic arm and said second robotic arm each include a base, a first arm, a second arm, and an end effector, said base, said first arm, said second arm, and said end effector being connected in series.
6. The duplex robot waste sortation system as recited in claim 5, wherein the end effector includes a hook coupled to the second arm, an end post magnetically coupled to the hook, a first gripper coupled to the end post, a second gripper coupled to the end post, and a suction cup coupled to the end post.
7. The duplex robot waste sortation system as recited in claim 1, wherein at least one of the robotic arm devices is provided.
8. The duplex robot waste sortation system as recited in claim 1, wherein the image capture device includes a camera carriage, a first camera, and a second camera, the first camera and the second camera being mounted on the camera carriage.
9. The duplex robot waste sortation system as recited in claim 8, wherein the recovery device includes at least two recovery buckets.
10. The duplex robot waste sorting system according to claim 1, further comprising a control device for controlling the duplex robot waste sorting system, wherein the feeding conveyor belt, the endless conveyor belt, the arm device, and the image acquisition device are electrically connected to the control device, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110779907.2A CN113578769A (en) | 2021-07-09 | 2021-07-09 | Garbage sorting system of duplex robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110779907.2A CN113578769A (en) | 2021-07-09 | 2021-07-09 | Garbage sorting system of duplex robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113578769A true CN113578769A (en) | 2021-11-02 |
Family
ID=78246792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110779907.2A Pending CN113578769A (en) | 2021-07-09 | 2021-07-09 | Garbage sorting system of duplex robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113578769A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114247726A (en) * | 2021-12-03 | 2022-03-29 | 四川同益环境科技集团有限责任公司 | Comprehensive treatment method and system for household garbage |
| WO2024179679A1 (en) * | 2023-03-01 | 2024-09-06 | Littertech Uk Limited | Roadside litter collecting apparatus |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5237801A (en) * | 1991-09-26 | 1993-08-24 | Technistar Corporation | Automated utensil packaging system |
| WO2011144796A1 (en) * | 2010-05-19 | 2011-11-24 | Zenrobotics Oy | Robot hand mechanism |
| CN203438234U (en) * | 2013-07-22 | 2014-02-19 | 南京信息工程大学 | Multipurpose material-carrying industrial robot |
| CN105751196A (en) * | 2016-04-12 | 2016-07-13 | 华南理工大学 | Operating method on basis of master-slave industrial robot collaboration |
| CN206305183U (en) * | 2016-11-30 | 2017-07-07 | 上海同蔚环境工程有限公司 | A kind of building waste classification conveying arrangement |
| CN106964559A (en) * | 2017-05-02 | 2017-07-21 | 山东西霞口海珍品股份有限公司 | A kind of full-automatic sea cucumber screening picks throwing device |
| CN209038384U (en) * | 2018-08-13 | 2019-06-28 | 湖北香耳山生态农业开发有限公司 | A kind of tealeaves belt conveyor with dither functions |
| CN111959990A (en) * | 2020-08-20 | 2020-11-20 | 常州工学院 | Garbage classification processing device |
| CN112024424A (en) * | 2020-08-19 | 2020-12-04 | 中物智建(武汉)科技有限公司 | Man-machine cooperation type garbage sorting system |
| CN213612698U (en) * | 2020-09-02 | 2021-07-06 | 沈阳三丰电气有限公司 | Annular component sorting device |
-
2021
- 2021-07-09 CN CN202110779907.2A patent/CN113578769A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5237801A (en) * | 1991-09-26 | 1993-08-24 | Technistar Corporation | Automated utensil packaging system |
| WO2011144796A1 (en) * | 2010-05-19 | 2011-11-24 | Zenrobotics Oy | Robot hand mechanism |
| CN203438234U (en) * | 2013-07-22 | 2014-02-19 | 南京信息工程大学 | Multipurpose material-carrying industrial robot |
| CN105751196A (en) * | 2016-04-12 | 2016-07-13 | 华南理工大学 | Operating method on basis of master-slave industrial robot collaboration |
| CN206305183U (en) * | 2016-11-30 | 2017-07-07 | 上海同蔚环境工程有限公司 | A kind of building waste classification conveying arrangement |
| CN106964559A (en) * | 2017-05-02 | 2017-07-21 | 山东西霞口海珍品股份有限公司 | A kind of full-automatic sea cucumber screening picks throwing device |
| CN209038384U (en) * | 2018-08-13 | 2019-06-28 | 湖北香耳山生态农业开发有限公司 | A kind of tealeaves belt conveyor with dither functions |
| CN112024424A (en) * | 2020-08-19 | 2020-12-04 | 中物智建(武汉)科技有限公司 | Man-machine cooperation type garbage sorting system |
| CN111959990A (en) * | 2020-08-20 | 2020-11-20 | 常州工学院 | Garbage classification processing device |
| CN213612698U (en) * | 2020-09-02 | 2021-07-06 | 沈阳三丰电气有限公司 | Annular component sorting device |
Non-Patent Citations (4)
| Title |
|---|
| 吕建强等: "《冲压工艺与模具设计》", 30 June 2017, 西安电子科技大学出版社 * |
| 英红: "《基于视觉的水泥路面病害检测方法》", 30 November 2014, 电子科技大学出版社 * |
| 路易斯•阿杜安: "《自主车辆导航-从行为到混合多控制器体系结构》", 31 July 2020, 北京理工大学出版社 * |
| 阮少兰等: "稻谷加工工艺与设备", 中国农业大学出版社 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114247726A (en) * | 2021-12-03 | 2022-03-29 | 四川同益环境科技集团有限责任公司 | Comprehensive treatment method and system for household garbage |
| WO2024179679A1 (en) * | 2023-03-01 | 2024-09-06 | Littertech Uk Limited | Roadside litter collecting apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109279373B (en) | Flexible unstacking and stacking robot system and method based on machine vision | |
| CN108750690B (en) | Suction device, unstacking device and unstacking method | |
| CN113578769A (en) | Garbage sorting system of duplex robot | |
| CN106742380B (en) | Automatic detection packaging equipment for automobile connecting rod | |
| CN110642025A (en) | Stacking and unstacking device for automatic transfer of box body structure | |
| CN111137664A (en) | Glue removing system | |
| CN116654509A (en) | Intelligent stacking device for logistics storage | |
| CN110813783A (en) | Appearance intelligent detection system based on manipulator | |
| CN109290214B (en) | Goods feeding mechanical arm capable of collecting information and goods feeding system | |
| CN209049749U (en) | One kind can information collection get in stocks manipulator and system of getting in stocks | |
| CN219216295U (en) | Safety protection system | |
| CN113843173B (en) | Intelligent grading sorting system for international mail | |
| CN113118039B (en) | Automatic sorting and unloading matching system and method for garbage carrying | |
| CN212143526U (en) | Domestic waste sorting device | |
| CN211134659U (en) | Sorting machine | |
| CN212334193U (en) | Strip thread gluing area compound head end splitter | |
| CN211003013U (en) | Automatic unloading mechanism of going up of SMT charging tray | |
| CN115610995B (en) | Jig blanking equipment and blanking method | |
| CN113213053A (en) | Empty box warehousing method, system, equipment, electronic equipment and readable storage medium | |
| CN211134652U (en) | Appearance intelligent detection system based on manipulator | |
| CN218691695U (en) | Five-direction sorting device | |
| KR102684445B1 (en) | Recycling system | |
| US12128561B2 (en) | Material picker assembly | |
| CN111659623A (en) | Intelligent logistics sorting system | |
| KR102686515B1 (en) | Gripping robot and recycling system containing the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211102 |