Picking Manipulator and End Effector Based on Visual Recognition

Abstract

The present invention discloses a picking manipulator and an end effector based on visual recognition, including a picking manipulator body. One side of the picking manipulator body is fixedly connected with a CCD industrial camera. Two groups of picking arms are movably connected to the upper end of the picking manipulator body. A connecting block is movably connected inside the picking arm. Two movable plates are movably connected inside the first feeding hole, and the other end is fixedly connected with a second T-shaped rod. Chip removal through holes are respectively opened on both sides inside the picking manipulator body, and the chip removal through holes are communicated with the crushing cavity; the CCD industrial camera can identify the fruits to be picked. Since the colors of overripe fruits and normally ripe fruits on the surface are different, the reuse of the fruits is realized. When the CCD industrial camera identifies that the fruit is a normally ripe fruit, the picked normally ripe fruit will enter another network bag for storage under the transmission of several groups of second transmission rollers, realizing the separation of overripe fruits and normally ripe fruits.

Description

Technical Field

[0001] The present invention relates to the technical field of picking manipulators, and particularly to a picking manipulator and an end effector based on visual recognition. Background Art

[0002] For example, a Chinese patent with the publication number CN216532679U discloses a picking manipulator, which includes a mounting plate. A telescopic electric rod is fixedly connected to the center of the bottom of the mounting plate. The driving end of the telescopic electric rod penetrates through the mounting plate, and a driving motor is fixedly connected to the driving end of the telescopic electric rod. A working plate is fixedly connected to the driving end of the driving motor. A control seat is fixedly connected to the upper surface of the working plate, and a rotating disk is rotatably connected to the inner surface of the control seat.

[0003] However, the above solution has the following deficiencies: Although the two rotating arms in the above patent can conveniently pick fruits, there is a lack of a mechanism for classifying the picked fruits. During the picking period, the plant fruits in the pond generally include overripe fruits and normally ripe fruits. For overripe fruits, the lotus seeds in the fruit core can be removed by simply shaking after picking, while for normally ripe fruits, the operator needs to separately peel the fruit core. After the two types of fruits are picked and mixed together, manual sorting is still required, which is time-consuming and laborious. At the same time, the fruits after the lotus seeds are taken are often directly discarded by the user without being reused. Therefore, we have developed a picking manipulator and an end effector based on visual recognition. Summary of the Invention

[0004] The purpose of the present invention is to provide a picking manipulator and an end effector based on visual recognition to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A picking robot based on visual recognition comprises a picking robot body, wherein the upper end of the picking robot body is movably connected with two groups of picking arms, the picking arms are movably connected with a connecting block, the connecting block is movably connected with a plurality of groups of first transmission rollers, a cavity is provided in the picking robot body, a first feeding hole is provided in the upper end of the picking robot body, the first feeding hole is communicated with the cavity, two groups of movable plates are movably connected in the first feeding hole, a CCD industrial camera is fixedly connected to one side of the picking robot body, and the cavity A threshing plate is provided inside, the CCD industrial camera collects fruit image signals for processing and is used to control the opening or closing of the movable plate and the up and down vibration of the threshing plate, a plurality of groups of threshing through holes are provided in the upper end of the threshing plate, a second T-shaped rod is fixedly connected to the lower end of the threshing plate all around, the second T-shaped rod is movably connected to the connecting tube, one end of the connecting tube away from the threshing plate is fixedly connected to the cavity, a second spring is sleeved on the outer side of the second T-shaped rod, one end of the second spring is fixedly connected to the inner wall of the connecting tube, and the other end is fixedly connected to the second T-shaped rod;

[0007] The connecting pipe is connected to the U-shaped connecting pipe, the lower end of the U-shaped connecting pipe is fixedly connected to an oil guide pipe, the end of the oil guide pipe away from the U-shaped connecting pipe extends into the oil storage cavity, the oil storage cavity is arranged in the picking manipulator body, a transmission T-shaped rod is movably connected in the oil storage cavity, the end of the transmission T-shaped rod away from the oil storage cavity extends into the give-way cavity and is fixedly connected to the U-shaped plate, a return spring is sleeved on the outer side of the transmission T-shaped rod, one end of the return spring is fixedly connected to the U-shaped plate, and the other end is fixedly connected to the give-way cavity, the give-way cavity is arranged in the picking manipulator body;

[0008] An elliptical plate is clamped in the U-shaped plate, a connecting shaft is fixedly sleeved in the elliptical plate, the connecting shaft is movably connected to the picking robot body, the upper end of the connecting shaft extends into the crushing chamber, the crushing chamber is opened in the lower end of the cavity, a plurality of groups of crushing blades are arranged in the crushing chamber, the crushing blades are fixedly connected to the connecting shaft, chip removal holes are opened in both sides of the picking robot body, and the chip removal holes are communicated with the crushing chamber.

[0009] Preferably, a gear is fixedly connected to the lower end of the picking arm, and the gear is movably connected to the picking robot body. A group of lower ends of the picking arms are fixedly connected to the output end of the first motor, and the first motor is fixedly connected to the picking robot body. A switch is fixedly connected inside a group of the picking arms.

[0010] Preferably, an image acquisition card is connected inside the CCD industrial camera. The image acquisition card transmits the acquired image signal to the processor. The processor converts the image signal into an electrical signal to control the micro-motor and the second motor arranged on the inner side wall of the first feed hole. The output end of the micro-motor is fixedly connected to the movable plate to drive the movable plate to rotate. The output end of the second motor is fixed to the second pulley. The second pulley is connected to the first pulley through a belt. The first pulley is fixedly connected to the lower end of the connecting shaft.

[0011] Preferably, two groups of first T-shaped rods are fixedly connected to the opposite surfaces of the two groups of connecting blocks. The first T-shaped rods are movably connected inside the picking arm. A first spring is sleeved outside the first T-shaped rods. One end of the first spring is fixedly connected to the connecting block, and the other end is fixedly connected to the picking arm.

[0012] Preferably, a number of second driving rollers are fixedly connected inside the upper end of the movable plate and inside the upper end of the picking manipulator body. One end of the picking manipulator body away from the picking arm is slidably connected inside the connecting seat. Buckle grooves are opened on both sides inside the connecting seat. A connecting column is movably connected inside the connecting seat. The lower end of the connecting column is fixedly connected to the upper end of the mounting plate.

[0013] Preferably, a first discharge port is opened inside the upper end of the picking manipulator body, and a second discharge port is opened inside the lower end of the cavity. Mesh bags are movably installed inside the lower ends of the first discharge port and the second discharge port. Hydraulic oil is provided inside the oil storage cavity, the U-shaped connecting pipe, and the oil guide pipe.

[0014] In addition, to achieve the above object, the present invention also provides an end effector, including the picking manipulator based on visual recognition described above.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The CCD industrial camera can perform visual recognition on the lotus seedpod fruits to be picked. Since the colors on the surfaces of overripe fruits and normally ripe fruits are different, when the visual recognition device detects that the fruit is an overripe fruit, at this time, the two groups of picking arms pick the overripe fruit and send it into the cavity through the first driving roller for threshing. The threshed overripe fruit will continue to move and enter the crushing cavity for crushing, and is discharged through the chip discharge through hole to the surface of the pond for fish to eat. The separated lotus seeds will be stored in a mesh bag, realizing the reuse of the fruit. When the CCD industrial camera recognizes that the fruit is a normally ripe fruit, at this time, the picked normally ripe fruit will enter another mesh bag for storage under the transmission of a number of second driving rollers, realizing the separation of overripe fruits and normally ripe fruits, saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional exploded structural schematic diagram of the present invention;

[0017] Figure 2 This is a schematic diagram of the three-dimensional structure of the picking arm of the present invention;

[0018] Figure 3 It is a schematic diagram of the cross-sectional structure of the present invention;

[0019] Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle;

[0020] Figure 5 It is a three-dimensional cross-sectional structural schematic diagram of the connection relationship between the threshing plate and the connecting pipe of the present invention;

[0021] Figure 6 This is a schematic diagram of the cross-sectional structure of the crushing chamber of the present invention;

[0022] Figure 7 For the present invention Figure 6 The enlarged structural diagram at B in the middle;

[0023] Figure 8 It is a schematic diagram of the top-sectional structure of the present invention.

[0024] In the figure: 1. picking manipulator body; 2. first transmission roller; 3. first spring; 4. first discharge port; 5. second transmission roller; 6. first feed hole; 7. picking arm; 8. CCD industrial camera; 9. second T-bar; 10. second spring; 11. connecting column; 12. buckle groove; 13. mounting plate; 14. U-shaped connecting pipe; 15. connecting seat; 16. net bag; 17. cavity; 18. crushing blade; 19. connecting shaft; 20. crushing cavity; 21. threshing plate; 22. Threshing through hole; 23, connecting pipe; 24, oil storage chamber; 25, movable plate; 26, second discharge port; 27, first motor; 28, gear; 29, connecting block; 30, switch; 31, second motor; 32, second pulley; 33, belt; 34, first pulley; 35, chip removal through hole; 36, oil guide pipe; 37, give way chamber; 38, elliptical plate; 39, U-shaped plate; 40, transmission T-bar; 41, first T-bar; 42, reset spring; 43, micro motor. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] See also Figure 1-8 , the present invention provides a technical solution:

[0027] Embodiment 1:

[0028] A picking manipulator based on visual recognition includes a picking manipulator body 1. On one side of the picking manipulator body 1, a CCD industrial camera 8 is fixedly connected. The CCD industrial camera 8 collects fruit image signals for processing and is used to control the opening or closing of the movable plate 25 and the up-and-down vibration of the threshing plate 21. The visual recognition system composed of the CCD industrial camera 8 is a relatively mature industrial technology. In this embodiment, the specific model of the CCD industrial camera 8 is acA2500-14gc produced by Dongguan Tongqi Intelligent Technology Co., Ltd. After the CCD industrial camera 8 collects the image of the lotus pod fruit to be picked, the image acquisition card in the CCD industrial camera 8 will convert the collected picture into an electrical signal and send it to the processor for research and judgment recognition, completing the use of the visual recognition function. When it is determined through research and judgment that the fruit is an overripe fruit, at this time, the processor sends a signal to the motor driver to control the opening of the second motor 31 and the start of the micro motor 43 in the movable plate 25, so that the two groups of movable plates 25 are opened synchronously, so that the picked overripe fruit can enter the cavity 17 through the first feed hole 6 for threshing treatment. When it is determined through research and judgment that it is a normally ripe fruit, the second motor 31 will not rotate and the two groups of movable plates 25 will not open either. Two groups of picking arms 7 are movably connected to the upper end of the picking manipulator body 1. The two groups of picking arms 7 are arranged in an arc shape. A connecting block 29 is movably connected inside the picking arm 7;

[0029] The two groups of connecting blocks 29 can clamp and position the fruit to prevent the fruit from falling into the pond after picking. A number of first transmission rollers 2 are movably connected inside the connecting block 29. When the two groups of picking arms 7 are completely closed, the switch 30 is triggered to make a number of first transmission rollers 2 and a number of second transmission rollers 5 rotate. At this time, the fruit clamped between the two groups of connecting blocks 29 is separated from between the two groups of connecting blocks 29 under the transmission of the number of first transmission rollers 2. A cavity 17 is opened inside the picking manipulator body 1. A first feed hole 6 is opened inside the upper end of the picking manipulator body 1. The first feed hole 6 is communicated with the cavity 17. Two groups of movable plates 25 are movably connected inside the first feed hole 6. The two groups of movable plates 25 can be rotated inside the first feed hole 6 through the micro motor 43. When the CCD industrial camera 8 detects that the fruit to be picked is an overripe fruit, the image acquisition card in the CCD industrial camera 8 will transmit the collected signal to the processor. The processor converts the received image signal into an electrical signal. At this time, the two groups of movable plates 25 will automatically open, so that the picked overripe fruit enters the cavity 17 through the first feed hole 6;

[0030] A threshing plate 21 is provided in the cavity 17, and a plurality of threshing through holes 22 are provided in the upper end of the threshing plate 21. The threshing plate 21 can make the lotus seeds in the overripe fruit fall out during the upward vibration process. The lower end of the threshing plate 21 is fixedly connected with a second T-shaped rod 9 all around, and the second T-shaped rod 9 is movably connected in a connecting pipe 23. The connecting pipe 23 is fixedly connected to the cavity 17 at one end away from the threshing plate. A second spring 10 is sleeved on the outer side of the second T-shaped rod 9. One end of the second spring 10 is fixedly connected to the inner wall of the connecting pipe 23, and the other end is fixedly connected to the second T-shaped rod 9. The connecting pipe 23 It is connected to the U-shaped connecting tube 14, and an oil guide tube 36 is fixedly connected to the lower end of the U-shaped connecting tube 14. The end of the oil guide tube 36 away from the U-shaped connecting tube 14 extends into the oil storage chamber 24. The oil storage chamber 24 is opened in the picking robot body 1. A transmission T-shaped rod 40 is movably connected in the oil storage chamber 24. The end of the transmission T-shaped rod 40 away from the oil storage chamber 24 extends into the clearance chamber 37 and is fixedly connected to the U-shaped plate 39. A return spring 42 is sleeved on the outer side of the transmission T-shaped rod 40. One end of the return spring 42 is fixedly connected to the U-shaped plate 39, and the other end is fixedly connected to the clearance chamber 37.

[0031] The yield cavity 37 is provided in the picking manipulator body 1. The elliptical plate 38 drives the U-shaped plate 39 connected thereto to move back and forth during the rotation process. The back and forth movement of the U-shaped plate 39 drives the transmission T-shaped rod 40 to move synchronously. When the transmission T-shaped rod 40 moves to the left, the U-shaped plate 39 compresses the return spring 42. At the same time, the transmission T-shaped rod 40 starts to move along the oil storage cavity 24 and squeezes the hydraulic oil set therein. Since hydraulic oil is provided in both the U-shaped connecting pipe 14 and the oil guide pipe 36, the hydraulic oil will enter the connecting pipe 23 under extrusion and push the second T-shaped rod 9 The second T-shaped rod 9 moves upward, and the second spring 10 is compressed. The four groups of second T-shaped rods 9 move upward synchronously to drive the threshing plate 21 to move upward. When the U-shaped plate 39 moves to the right under the elastic force of the return spring 42, the hydraulic oil entering the connecting pipe 23 at this time will re-enter the U-shaped connecting pipe 14. At this time, the second T-shaped rod 9 moves downward under the elastic force of the second spring 10, and the threshing plate 21 moves downward synchronously. When the U-shaped plate 39 moves to the left again, the threshing plate 21 will move upward again, realizing the up and down vibration of the threshing plate 21.

[0032] An oval plate 38 is clamped inside a U-shaped plate 39. A connecting shaft 19 is fixedly sleeved inside the oval plate 38. The connecting shaft 19 is movably connected to the picking manipulator body 1. The upper end of the connecting shaft 19 extends into a crushing chamber 20. The crushing chamber 20 is opened inside the lower end of a cavity 17. A plurality of groups of crushing blades 18 are arranged inside the crushing chamber 20. The crushing blades 18 are fixedly connected to the connecting shaft 19. Chip removal through holes 35 are opened inside both sides of the picking manipulator body 1. The chip removal through holes 35 communicate with the crushing chamber 20. The overripe fruits from which the lotus seeds have fallen enter the crushing chamber 20 under the vibration of a threshing plate 21. At this time, the overripe fruits are crushed under the cutting of the plurality of groups of crushing blades 18. The crushed overripe fruits finally enter a pond through the chip removal through holes 35 for fish to eat.

[0033] Embodiment 2:

[0034] On the basis of Embodiment 1, in order to enable the two picking arms 7 to open and close synchronously and ensure that the separated dry lotus seeds and normally ripe fruits can be collected, a gear 28 is fixedly connected to the lower end of the picking arm 7. The gear 28 is movably connected inside the picking manipulator body 1. The lower end of one group of picking arms 7 is fixedly connected to the output end of a first motor 27. The first motor 27 is fixedly connected inside the picking manipulator body 1. A switch 30 is fixedly connected inside one group of picking arms 7. When the fruit moves between the two picking arms 7, at this time, the first motor 27 is controlled to start rotating. The rotation of the first motor 27 drives the gear 28 connected to its output end to start rotating. The rotation of the gear 28 drives the other group of gears 28 to start rotating. At this time, the two picking arms 7 pick the fruit. Two groups of first T-shaped rods 41 are fixedly connected to the opposite surfaces of the two connecting blocks 29. The first T-shaped rods 41 are movably connected inside the picking arms 7. A first spring 3 is sleeved outside the first T-shaped rods 41. One end of the first spring 3 is fixedly connected to the connecting block 29, and the other end is fixedly connected to the picking arm 7. When the picking arm 7 clamps the fruit, at this time, the connecting block 29 is driven by the fruit to move outwards. The outward movement of the connecting block 29 drives the first T-shaped rods 41 to move synchronously. At this time, the first spring 3 is compressed. After the picking is completed, the connecting block 29 returns to its original position under the elastic force of the first spring 3;

[0035] An image acquisition card is connected inside the CCD industrial camera 8. The image acquisition card can convert the data obtained from the camera into information that can be processed by a computer. The image acquisition card transmits the acquired image signal to the processor, and the processor converts the image signal into an electrical signal, thereby controlling the start of two sets of micro-motors 43 to open the movable plate 25 and the rotation of the second motor 31. The specific model of the micro-motor 43 is JCX-011 produced by Shenzhen Jichuangxing Technology Co., Ltd. The lower end of the connecting shaft 19 extends out of the picking manipulator body 1 and is fixedly connected to a first pulley 34. The first pulley 34 is connected to a second pulley 32 through a belt 33. The second pulley 32 is fixedly connected to the output end of the second motor 31. The second motor 31 is fixedly connected to the picking manipulator body 1. When the second motor 31 rotates, the second pulley 32 connected to its output end starts to rotate. When the second pulley 32 rotates, it drives the first pulley 34 to start rotating through the belt 33. The rotation of the first pulley 34 drives the connecting shaft 19 to start rotating. During the rotation of the connecting shaft 19, a plurality of sets of crushing blades 18 and elliptical plates 38 rotate synchronously;

[0036] A plurality of sets of second transmission rollers 5 are fixedly connected inside the upper end of the movable plate 25 and inside the upper end of the picking manipulator body 1. One end of the picking manipulator body 1 away from the picking arm 7 is slidably connected inside the connecting seat 15. Buckle grooves 12 are provided inside both sides of the connecting seat 15. The connecting seat 15 is movably connected to the connecting column 11. The lower end of the connecting column 11 is fixedly connected to the upper end of the mounting plate 13. A first discharge port 4 is provided inside the upper end of the picking manipulator body 1. A second discharge port 26 is provided inside the lower end of the cavity 17. Mesh bags 16 are movably installed inside the lower ends of the first discharge port 4 and the second discharge port 26. After picking is completed, the overripe fruits and normally ripe fruits can be taken out by removing the mesh bags 16. Hydraulic oil is provided inside the oil storage cavity 24, the U-shaped connecting pipe 14, and the oil guide pipe 36.

[0037] In addition, to achieve the above object, the present invention also provides an end effector, including the above-mentioned vision recognition-based picking manipulator.

[0038] Working principle: During use, the mounting plate 13 is installed on the ship. At this time, the picking manipulator body 1 can be used on the picking ship. When fruits need to be picked, the connecting seat 15 can be rotated through the buckle groove 12 at this time. By pushing the picking manipulator body 1, it can move forward along the connecting seat 15, so that the position of the fruit to be picked is between the two sets of open picking arms 7. At this time, the CCD industrial camera 8 connected to one side of the picking manipulator body 1 can identify the color of the fruit surface. Since the surface of the dried fruit is black and the surface of the normally ripe fruit is set to be green, when the CCD industrial camera 8 detects that the fruit surface is black, at this time, the CCD industrial camera 8 will send the processed signal to the processor. After receiving the signal, the processor controls the second motor 31 to start rotating, and at the same time controls the two sets of movable plates 25 in the first feed hole 6 to automatically open;

[0039] The rotation of the second motor 31 drives the second pulley 32 connected to its output end to start rotating. When the second pulley 32 rotates, it drives the first pulley 34 to start rotating through the belt 33. The rotation of the first pulley 34 drives the connecting shaft 19 to start rotating. During the rotation of the connecting shaft 19, a plurality of sets of crushing blades 18 and the elliptical plate 38 rotate synchronously. Since the elliptical plate 38 is elliptical, during the rotation of the elliptical plate 38 at this time, it will drive the U-shaped plate 39 clamped to it to move left and right. The reciprocating movement of the U-shaped plate 39 drives the transmission T-shaped rod 40 to move synchronously. When the transmission T-shaped rod 40 moves to the left, the U-shaped plate 39 will compress the return spring 42. At the same time, the transmission T-shaped rod 40 will move along the oil storage cavity 24 and squeeze the hydraulic oil arranged therein. Since the U-shaped connecting pipe 14 and the oil guide pipe 36 are both provided with hydraulic oil, at this time, the hydraulic oil will be squeezed into the connecting pipe 23 and push the second T-shaped rod 9 upward. The upward movement of the second T-shaped rod 9 compresses the second spring 10. The synchronous upward movement of the four groups of second T-shaped rods 9 drives the threshing plate 21 to move upward. When the U-shaped plate 39 moves to the right under the elastic force of the return spring 42, at this time, the hydraulic oil entering the connecting pipe 23 will re-enter the U-shaped connecting pipe 14. At this time, under the elastic force of the second spring 10, the second T-shaped rod 9 moves downward, and at the same time the threshing plate 21 moves downward synchronously. When the U-shaped plate 39 moves to the left again, the threshing plate 21 will move upward again, realizing the reciprocating up and down vibration of the threshing plate 21;

[0040] When the fruit moves between the two groups of picking arms 7, at this time, the first motor 27 is controlled to start rotating. The rotation of the first motor 27 drives the gear 28 connected to its output end to start rotating. The rotation of the gear 28 drives another group of gears 28 to start rotating. At this time, the two groups of picking arms 7 pick the fruit. The connecting block 29 arranged inside the picking arm 7 can clamp and position the fruit. When the two groups of picking arms 7 are completely closed, the switch 30 is triggered to control the first motor 27 to stop rotating and make several groups of first transmission rollers 2 and several groups of second transmission rollers 5 rotate synchronously. At this time, the fruit clamped between the two connecting blocks 29 is conveyed into the first feed hole 6 by several groups of first transmission rollers 2. At this time, the fruit falls onto the upper end of the vibrating threshing plate 21. Under the vibration of the threshing plate 21, the lotus seeds in the overripe fruit fall off and pass through the threshing through holes 22 into the net pocket 16. Since the threshing plate 21 is arranged in a slightly inclined shape, the overripe fruit after the lotus seeds have fallen off enters the crushing cavity 20 under the vibration of the threshing plate 21. At this time, the overripe fruit is crushed by several groups of crushing blades 18. The crushed overripe fruit finally discharges into the pond through the chip discharge through holes 35 for fish to eat;

[0041] When the CCD industrial camera 8 detects that the fruit is a normally ripe fruit, at this time, the two movable plates 25 will close again, and at the same time, the second motor 31 will stop. When the two groups of picking arms 7 pick the normally ripe fruit, the switch 30 is started again at this time. The normally ripe fruit falls onto the upper ends of several groups of picking manipulator bodies 1 driven by the first transmission rollers 2. At this time, driven by several groups of second transmission rollers 5, the normally ripe fruit falls into the first discharge port 4 and then into the net pocket 16 arranged at its lower end. At this time, control the first motor 27 to rotate in the reverse direction to open the two groups of picking arms 7 to start picking continuously.

[0042] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A picking manipulator based on visual recognition, comprising a picking manipulator body (1), characterized in that: The upper end of the picking robot body (1) is movably connected to two groups of picking arms (7), the picking arms (7) are movably connected to a connecting block (29), the connecting block (29) is movably connected to a plurality of groups of first transmission rollers (2), a cavity (17) is provided in the picking robot body (1), a first feed hole (6) is provided in the upper end of the picking robot body (1), the first feed hole (6) is communicated with the cavity (17), two groups of movable plates (25) are movably connected in the first feed hole (6), a CCD industrial camera (8) is fixedly connected to one side of the picking robot body (1), a threshing plate (21) is provided in the cavity (17), and the CCD industrial camera (8) is fixedly connected to one side of the picking robot body (1), a threshing plate (21) is provided in the cavity (17), and the CCD industrial camera (8) is fixedly connected to the one side of the picking robot body (1), a threshing plate (21) is provided in the cavity (17), and the CCD industrial camera (8) is fixedly connected to the one side of the picking robot body (1), a threshing plate (21) is provided in the cavity (17), and the CCD industrial camera (8) is fixedly connected to the one side of the picking robot body (1), and a threshing plate (21) is provided in the cavity (17). The camera (8) collects fruit image signals for processing and is used to control the opening or closing of the movable plate (25) and the up and down vibration of the threshing plate (21). A plurality of threshing through holes (22) are provided in the upper end of the threshing plate (21). The lower end of the threshing plate (21) is fixedly connected with a second T-shaped rod (9) on all sides. The second T-shaped rod (9) is movably connected in a connecting tube (23). The end of the connecting tube (23) away from the threshing plate is fixedly connected to the cavity (17). A second spring (10) is sleeved on the outer side of the second T-shaped rod (9). One end of the second spring (10) is fixedly connected to the inner wall of the connecting tube (23), and the other end is fixedly connected to the second T-shaped rod (9). The connecting tube (23) is connected to the U-shaped connecting tube (14); the lower end of the U-shaped connecting tube (14) is fixedly connected to an oil guide tube (36); the end of the oil guide tube (36) away from the U-shaped connecting tube (14) extends into the oil storage chamber (24); the oil storage chamber (24) is arranged in the picking robot body (1); a transmission T-shaped rod (40) is movably connected in the oil storage chamber (24); the end of the transmission T-shaped rod (40) away from the oil storage chamber (24) extends into the clearance chamber (37) and is fixedly connected to the U-shaped plate (39); a return spring (42) is sleeved on the outer side of the transmission T-shaped rod (40); one end of the return spring (42) is fixedly connected to the U-shaped plate (39); and the other end of the return spring (42) is fixedly connected to the clearance chamber (37); the clearance chamber (37) is arranged in the picking robot body (1); An elliptical plate (38) is clamped in the U-shaped plate (39), a connecting shaft (19) is fixedly sleeved in the elliptical plate (38), the connecting shaft (19) is movably connected to the picking robot body (1), the upper end of the connecting shaft (19) extends into the crushing chamber (20), the crushing chamber (20) is opened in the lower end of the cavity (17), a plurality of groups of crushing blades (18) are arranged in the crushing chamber (20), the crushing blades (18) are fixedly connected to the connecting shaft (19), and chip removal holes (35) are opened in both sides of the picking robot body (1), and the chip removal holes (35) are connected to the crushing chamber (20).

2. The picking manipulator based on visual recognition according to claim 1, wherein: The lower end of the picking arm (7) is fixedly connected with a gear (28), the gear (28) is movably connected within the picking manipulator body (1), the lower ends of a set of the picking arms (7) are fixedly connected to the output end of a first motor (27), the first motor (27) is fixedly connected within the picking manipulator body (1), and a switch (30) is fixedly connected within a set of the picking arms (7).

3. The picking manipulator based on visual recognition according to claim 1, characterized in that: An image acquisition card is connected within the CCD industrial camera (8), the image acquisition card transmits the acquired image signal to a processor, the processor converts the image signal into an electrical signal for controlling a micro motor (43) arranged on the inner side wall of the first feed hole (6) and a second motor (31), the output end of the micro motor (43) is fixedly connected to a movable plate (25) for driving the movable plate (25) to rotate, the output end of the second motor (31) is fixedly connected to a second pulley (32), the second pulley (32) is interconnected with a first pulley (34) through a belt (33), and the first pulley (34) is fixedly connected to the lower end of a connecting shaft (19).

4. The picking manipulator based on visual recognition according to claim 1, wherein: Two sets of first T-shaped rods (41) are fixedly connected to the opposite surfaces of the two sets of connecting blocks (29), the first T-shaped rods (41) are movably connected within the picking arms (7), a first spring (3) is sleeved outside the first T-shaped rods (41), one end of the first spring (3) is fixedly connected to the connecting block (29), and the other end is fixedly connected to the picking arm (7).

5. The picking manipulator based on visual recognition according to claim 1, wherein: A number of second driving rollers (5) are fixedly connected within the upper end of the movable plate (25) and within the upper end of the picking manipulator body (1), one end of the picking manipulator body (1) away from the picking arm (7) is slidably connected within a connecting seat (15), buckle grooves (12) are formed within both sides of the connecting seat (15), a connecting column (11) is movably connected within the connecting seat (15), and the lower end of the connecting column (11) is fixedly connected to the upper end of a mounting plate (13).

6. The picking manipulator based on visual recognition according to claim 1, wherein: A first discharge port (4) is formed within the upper end of the picking manipulator body (1), a second discharge port (26) is formed within the lower end of the cavity (17), a mesh bag (16) is movably installed within the lower ends of the first discharge port (4) and the second discharge port (26), and hydraulic oil is provided within the oil storage cavity (24), the U-shaped connecting pipe (14), and the oil guide pipe (36).

7. An end effector, characterized in that, Including the vision recognition-based picking manipulator according to any one of the above claims 1-6.

Images