A precise clamping and shelling device for foamy walnuts based on machine vision

Abstract

This invention discloses a machine vision-based precision walnut shelling and clamping device. A support frame, a clamping and conveying component, and a bionic pendulum shelling mechanism are arranged sequentially along the conveying direction. A pick-up and conveying component is mounted on top of the support frame, and a material tray movement mechanism is installed within the support frame and directly below the pick-up and conveying component. The material tray is placed on the top surface of the material tray movement mechanism and between the pick-up and conveying component and the material tray movement mechanism, with walnuts placed on the tray. A machine vision sensor is mounted on the pick-up and conveying component and directly above the walnuts. A collection tray is located directly below the clamping and conveying component and the bionic pendulum shelling mechanism. This invention achieves automated, precise, and efficient walnut shelling, ensuring the accuracy and uniformity of the shelling, improving the shelling efficiency and kernel integrity, reducing reliance on manual operation, and lowering labor costs. This invention provides new ideas and methods for the development of walnut processing technology.

Description

Technical Field

[0001] This invention relates to a device for clamping and opening the shells of soaked walnuts, specifically a machine vision-based device for precisely clamping and opening the shells of soaked walnuts. Background Technology

[0002] Peeled walnuts (Juglans sigillata Dode) are a deciduous tree belonging to the genus Juglans in the family Juglandaceae. Rich in various nutrients, peeled walnuts are popular for their health benefits, including strengthening the stomach, replenishing blood, moisturizing the lungs, benefiting the kidneys, and nourishing the brain. It is estimated that peeled walnuts account for over 50% of China's total walnut production.

[0003] In the processing of pickled walnuts, shelling is a crucial step that directly affects the quality and value of the pickled walnuts. However, current walnut shelling mainly relies on manual operation or simple tools, which presents several problems that urgently need to be addressed. First, manual shelling easily leads to inaccurate shelling, resulting in walnut kernels that are easily broken, discolored, oxidized, or contaminated, thus reducing their edible and health benefits. Second, manual shelling is inefficient, with limited output that cannot meet market demand. Furthermore, manual shelling also faces high costs, requires a significant investment of human and material resources, and generates substantial waste and pollutants.

[0004] Research and field investigations revealed that the shelling process for walnuts in my country's main producing areas still relies heavily on manual labor, resulting in low efficiency, high costs, and potential damage or contamination of the walnut kernels. Therefore, there is an urgent need to develop a machine vision-based precision walnut shelling and clamping device. Summary of the Invention

[0005] To address the problems existing in the background technology, this invention provides a machine vision-based precision clamping and shelling device for walnuts. We conducted preliminary research to address the aforementioned issues. Through analysis of the characteristics of walnuts, we found that their shells are relatively hard, rough, with pits and textures, a dark overall color, and a nearly round shape with a protruding tip. These physical characteristics provided theoretical data support for designing the machine vision-based device. The machine vision-based precision clamping and shelling device for walnuts mainly utilizes machine vision technology to identify, locate, estimate the posture of, and plan the grasping action of the walnuts, then uses corresponding mechanical devices to clamp and open the shells. This device achieves automated, intelligent, and efficient shelling of walnuts, standardizes the degree of shell opening, improves the integrity of the kernel after shelling, thereby enhancing the quality and yield of walnuts. Simultaneously, using a machine vision device can also reduce labor costs and resource consumption, providing a more competitive solution for the walnut processing industry.

[0006] The technical solution adopted in this invention is:

[0007] The present invention provides a precise walnut-opening and clamping device, comprising a picking and conveying component, a machine vision sensor, a material tray, a material tray motion mechanism, a clamping and conveying component, a bionic pendulum shell-opening mechanism, a collecting tray, several ground wheels, a support plate, and a support frame. Each ground wheel is mounted on the bottom surface of the support plate. The support frame, the clamping and conveying component, and the bionic pendulum shell-opening mechanism are sequentially arranged on the top surface of the support plate along the conveying direction of the walnuts. The picking and conveying component is horizontally mounted at the top center of the support frame. The material tray motion mechanism is horizontally mounted in the support frame and located directly below the picking and conveying component. The material tray is placed on the top surface of the material tray motion mechanism and between the picking and conveying component and the material tray motion mechanism. Several ground wheels are placed on the material tray. Dried walnuts; machine vision sensors are mounted on the picking and conveying components, directly above each walnut, with the sensor lenses pointing downwards towards each walnut; a collection tray is placed on the top surface of the support plate, directly below the clamping and conveying components and the bionic pendulum shell-opening mechanism; the picking and conveying components, machine vision sensors, tray movement mechanism, clamping and conveying components, and bionic pendulum shell-opening mechanism are all electrically connected to an external industrial control computer; the ground wheels are mainly used for the overall movement of the device, and the support plate is mainly used for the overall load-bearing of the device; the machine vision sensing system consists of a 6-megapixel resolution industrial camera and lens, and vision software, namely the OpenCV vision library.

[0008] The picking and conveying component includes a first lead screw module, a linear motor, a robot, and a connecting plate. The first lead screw module is horizontally installed at the top center of the support frame. The first lead screw module includes a first lead screw, a first slider threaded onto the first lead screw, and a first servo motor. The output shafts of the first lead screw and the first servo motor are synchronously connected. The first lead screw of the first lead screw module is parallel to the conveying direction of the walnuts. The linear motor and the robot are installed on the same side of the first lead screw of the first lead screw module through the connecting plate. The connecting plate is vertically arranged on one side of the first lead screw of the first lead screw module. One side of the upper part of the connecting plate is installed on one side of the first slider. The body of the linear motor and the robot are installed sequentially from top to bottom on the other side of the connecting plate. The output shaft of the linear motor is synchronously connected to the top of the robot through a connecting block. A machine vision sensor is installed on one side of the body of the linear motor away from the first slider. The linear motor and the first servo motor of the first lead screw module are electrically connected to an external industrial control computer.

[0009] The robotic arm includes a first upper connecting rod, a second upper connecting rod, a first middle connecting rod, a second middle connecting rod, a first lower clamping rod, and a second lower clamping rod. The upper ends of the first and second upper connecting rods are respectively hinged to the bottom center of the connecting block. The lower ends of the first and second upper connecting rods are respectively hinged to the upper ends of the first and second middle connecting rods. The lower ends of the first and second middle connecting rods are respectively fixedly connected to the upper ends of the first and second lower clamping rods at a preset angle. The connection point of the first middle connecting rod and the first lower clamping rod is hinged to one of the lower corners of the other side of the connecting plate. The connection point of the second middle connecting rod and the second lower clamping rod is hinged to the other lower corner of the other side of the connecting plate. The lower ends of the first and second lower clamping rods are arc-shaped and both bend towards the center of the robotic arm. The total length of the first upper connecting rod and the first middle connecting rod is greater than the vertical distance from the bottom surface of the connecting block to the hinge point of the upper end of the first lower clamping rod.

[0010] A stop is also provided on the lower part of the other side plate of the connecting plate of the pickup and conveying component. The stop is located between the first upper connecting rod, the second upper connecting rod, the first middle connecting rod and the second middle connecting rod, and directly above the first lower clamping rod and the second lower clamping rod.

[0011] The tray has several grooves evenly arranged on it, and each groove holds a soaked walnut. The tip of each soaked walnut faces downward and the middle seam line is perpendicular to the transport direction of the soaked walnut.

[0012] The material tray movement mechanism includes a support platform and a second lead screw module. The second lead screw module is horizontally mounted in the support frame and includes a second lead screw, a second slider threaded onto the second lead screw, and a second servo motor. The output shafts of the second lead screw and the second servo motor are synchronously connected. The second lead screw of the second lead screw module is perpendicular to the conveying direction of the walnuts. The support platform is horizontally mounted on the top surface of the second slider, and the material tray is placed on the top surface of the support platform. The second servo motor of the second lead screw module is electrically connected to an external industrial control computer. Several through holes are provided on the support platform to increase friction.

[0013] The clamping and conveying component includes two roller chains, several adaptive clamping mechanisms, four sprockets, two drive shafts, a fourth servo motor, and a conveying support frame. The four sprockets are vertically arranged on symmetrical sides of the conveying direction of the walnuts, without contacting each other. Two sprockets are located directly below the other end of the first lead screw of the first lead screw module of the picking and conveying component and are arranged opposite each other at intervals. The other two sprockets are located on the side away from the picking and conveying component and are arranged opposite each other at intervals. The two sprockets on the same side of the conveying direction of the walnuts are located on the same vertical plane. One roller chain is wound around the two sprockets on one side of the conveying direction of the walnuts, and the other roller chain is wound around... On the two sprockets on the opposite side of the conveying direction of the walnuts, the centers of each pair of opposite sprockets are connected by a horizontal drive shaft. The two ends of one drive shaft are movably connected to the conveying support frame, and one end of the other drive shaft is movably connected to the conveying support frame. The body of the fourth servo motor is mounted on the conveying support frame near the other end of the other drive shaft, and the other end of the other drive shaft is synchronously connected to the output shaft of the fourth servo motor. The fourth servo motor is electrically connected to an external industrial control computer. Each adaptive clamping mechanism is evenly spaced and horizontally installed on one side of the two roller chains that are opposite each other. Each pair of adaptive clamping mechanisms on the two roller chains is arranged opposite each other.

[0014] The adaptive clamping mechanism includes a clamping hand, a spring, and a sleeve. The clamping hand comprises an arc-shaped plate and a clamping handle. One end of the horizontally arranged clamping handle is connected to the center of the vertically arranged arc-shaped plate. The arc-shaped plate is bent in the opposite direction to the clamping handle. The arc-shaped plates of two opposing adaptive clamping mechanisms are arranged opposite each other at intervals. The sleeve is fitted onto the other end of the clamping handle. The spring is fitted onto the clamping handle and located between the arc-shaped plate and the sleeve. The end of the sleeve away from the spring is mounted on a roller chain. A vertical slide bar is provided on the top surface of the clamping handle near the arc-shaped plate. A strip-shaped groove is formed on the top surface of the sleeve near the spring, facing inwards. The strip-shaped groove and the slide bar are arranged opposite each other. The width of the strip-shaped groove is equal to the width of the strip-shaped groove. The center distance between two opposing arc-shaped plates is less than the diameter of the walnut. The spring can expand and contract according to the size of the walnut. When the walnut is too large, the slide bar slides into the strip-shaped groove.

[0015] The bionic pendulum shell-opening mechanism includes an elliptical motion component, a pulley, a bionic pendulum, a support slot plate, a shell-opening mechanism mounting frame, and a third servo motor. The support slot plate has a U-shaped structure and is vertically mounted on a support plate. The top of the support slot plate is horizontally positioned between the upper and lower sides of the two roller chains and close to the upper sides of the two roller chains. The top of the support slot plate is located directly below the gap between two opposing adaptive clamping mechanisms of the bionic pendulum shell-opening mechanism on the upper sides of the two roller chains. The support slot plate is located directly above the collection tray. The vertically arranged elliptical motion component is movably mounted on the shell-opening mechanism mounting frame via its central axis. The body of the third servo motor is mounted on the shell-opening mechanism mounting frame on one side near the central axis of the elliptical motion component. One end of the elliptical motion component is synchronously connected to the output shaft of the third servo motor, and the other end of the central axis of the elliptical motion component is movably mounted on the shell-opening mechanism mounting frame. The bionic pendulum is mounted on the shell-opening mechanism mounting frame and located between the elliptical motion component and the support slot plate. The root end of the bionic pendulum is hinged to the center of a vertically arranged pulley. The pulley is close to the edge of the elliptical motion component. The bionic pendulum is movably mounted on the shell-opening mechanism mounting frame through a horizontal connecting shaft set on the side near the pulley. The end of the bionic pendulum is provided with an axe-shaped hammerhead. The edge of the hammerhead is perpendicular to the conveying direction of the walnuts. The horizontal distance from the center of the elliptical motion component to the center of the pulley is less than the total length of the elliptical motion component's major radius plus the pulley's radius. After the hammerhead falls, it is located between two opposing adaptive clamping mechanisms on the top of the support slot plate.

[0016] The conveying support frame of the clamping and conveying component is also provided with horizontally arranged baffle strips. The baffle strips are located directly below the side of the two roller chains near the bionic pendulum shell-opening mechanism. The distance between the baffle strips and the center of each pair of directly opposite adaptive clamping mechanisms on the lower side of the two roller chains is less than the radius of the walnut.

[0017] The control method for the precise walnut-opening clamping device is as follows:

[0018] First, several walnuts are placed on a feeding tray, which is then placed on the support platform of the feeding tray movement mechanism. For each walnut, a real-time machine vision sensor captures an image of the walnut below and obtains the relative position between the robotic arm of the picking and conveying component and the walnut. This relative position is transmitted to an external industrial control computer. The external industrial control computer controls the first and second lead screw modules to move the robotic arm directly above the walnut. Then, a linear motor controls the upper ends of the first and second upper connecting rods of the robotic arm to move downwards until they abut against a stop, placing the walnut between the first and second lower clamping rods. Next, a linear motor drives the upper ends of the first and second upper connecting rods of the robotic arm to move upwards, clamping the walnut between the first and second lower clamping rods. Finally, the first lead screw module drives the robotic arm to move the clamped walnut to the side of the clamping and conveying component closer to the picking and conveying component. At this point, the walnut is positioned for picking. Above the two opposing grippers on the two roller chains of the conveying component, a linear motor drives the upper ends of the first and second upper connecting rods of the robotic arm to move downwards, releasing the walnut and clamping it between the two grippers. At this time, the spring is compressed. The external industrial control computer then drives the two roller chains to horizontally transport the walnut to the other side of the two roller chains, directly above the top of the support trough. At this time, the third servo motor of the bionic pendulum shell-opening mechanism drives the elliptical motion component to rotate, which in turn drives the bionic pendulum to rotate around its own connecting axis via pulleys. The end edge of the pendulum's hammer head strikes the middle seam line of the walnut, causing the shell of the walnut to crack open. The fourth servo motor then drives the two roller chains to convey the shell-opened walnut to the baffle strip below the two roller chains. Finally, the baffle strip pushes the shell-opened walnut into the collection tray directly below, completing the collection of the shell-opened walnut.

[0019] The industrial camera and lens of the machine vision sensor are mainly used for the identification and positioning of walnuts. The working end of the drive picking and conveying component moves the walnuts to its discharge end, while driving the material tray movement mechanism to facilitate the robot arm to pick up the walnuts. At its discharge end, the walnuts are accurately placed in the clamping working position of the clamping and conveying component. The clamping and conveying component starts to work, and the adaptive clamping mechanism ensures that the walnuts maintain a consistent posture as they move towards the working position of the bionic pendulum shell-opening mechanism. When they reach the working position of the bionic pendulum, the bionic pendulum falls and strikes, thereby cracking the walnut shell.

[0020] The fourth servo motor drives the elliptical motion component to rotate, which in turn drives the pulley to rotate, thus realizing the rising and falling motion of the bionic pendulum. The walnut is cracked by the downward force of the bionic pendulum and the supporting force of the support plate. The bionic pendulum shell-opening mechanism is designed based on the process of a human using a pendulum to open a walnut shell. It has a good shell-opening effect and can split the walnut in half. This shell-opening method has been proven in practice to effectively open walnut shells, facilitating subsequent processes such as kernel extraction.

[0021] The beneficial effects of this invention are:

[0022] 1. By setting up a machine vision system, walnuts can be accurately transported and separated into individual walnuts for shelling, ensuring the accuracy of shelling and the uniformity of the shelling position.

[0023] 2. This equipment allows for precise shelling of walnuts, ensuring uniform shelling and significantly improving the integrity of the kernels after shelling, thereby enhancing the added value of walnut processing.

[0024] 3. It has effectively improved the efficiency of shelling soaked walnuts and enhanced their market competitiveness.

[0025] In summary, this invention achieves automated, precise, and efficient walnut shelling, ensuring accuracy and uniformity in shelling position, improving shelling efficiency and kernel integrity, reducing reliance on manual operation, and lowering labor costs. Furthermore, this invention provides new ideas and methods for the development of walnut processing technology, promoting technological upgrading and innovation in related industries. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0027] Figure 2 This is the front view of the present invention;

[0028] Figure 3 This is a three-dimensional structural diagram of the pickup and conveying component of the present invention;

[0029] Figure 4 This is a three-dimensional structural diagram of the walnut-containing tray of the present invention;

[0030] Figure 5 This is a three-dimensional structural diagram of the material tray movement mechanism of the present invention;

[0031] Figure 6 This is a three-dimensional structural diagram of the clamping and conveying component of the present invention;

[0032] Figure 7 This is a three-dimensional structural diagram of the adaptive clamping mechanism of the present invention;

[0033] Figure 8 This is a three-dimensional structural schematic diagram of the biomimetic pendulum shell-opening mechanism of the present invention;

[0034] In the diagram: 1. Pick-up and conveying component; 101. First servo motor; 102. First lead screw module; 103. Linear motor; 104. Robotic arm; 2. Industrial camera; 3. Material tray; 4. Material tray motion mechanism; 401. Bearing platform; 402. Second lead screw module; 5. Clamping and conveying component; 501. Roller chain; 502. Adaptive clamping mechanism; 503. Sprocket; 504. Drive shaft; 5021. Clamping hand; 5022. Spring; 5023. Sleeve; 6. Bionic pendulum shell opening mechanism; 601. Elliptical motion component; 602. Pulley; 603. Bionic pendulum; 604. Support trough plate; 7. Material collection tray; 8. Ground wheel; 9. Support plate; 10. Support frame; 11. Walnut; 12. Baffle strip. Detailed Implementation

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] like Figure 1 and Figure 2 As shown, the machine vision-based precision walnut shelling device of the present invention includes a picking and conveying component 1, a machine vision sensor 2, a material tray 3, a material tray motion mechanism 4, a clamping and conveying component 5, a bionic pendulum shelling mechanism 6, a collecting tray 7, several ground wheels 8, a support plate 9, and a support frame 10. Each ground wheel 8 is installed on the bottom surface of the support plate 9. The support frame 10, the clamping and conveying component 5, and the bionic pendulum shelling mechanism 6 are sequentially arranged on the top surface of the support plate 9 along the conveying direction of the walnuts 11. The picking and conveying component 1 is horizontally installed in the middle of the top of the support frame 10. The material tray motion mechanism 4 is horizontally installed in the support frame 10 and located directly below the picking and conveying component 1. The material tray 3 is placed on the top surface of the material tray motion mechanism 4 and located between the picking and conveying component 1 and the material tray motion mechanism 4. Between them, several walnuts 11 are placed on the material tray 3; the machine vision sensor 2 is installed on the picking and conveying component 1 and is located directly above each walnut 11, with the lens of the machine vision sensor 2 pointing downwards towards each walnut 11; the collection tray 7 is placed on the top surface of the support plate 9 and is located directly below the clamping and conveying component 5 and the bionic pendulum shell-opening mechanism 6; the picking and conveying component 1, the machine vision sensor 2, the material tray motion mechanism 4, the clamping and conveying component 5 and the bionic pendulum shell-opening mechanism 6 are all electrically connected to an external industrial control computer; the ground wheel 8 is mainly used for the overall movement of the device, and the support plate 9 is mainly used for the overall support of the device; the machine vision sensing system consists of a 6-megapixel resolution industrial camera and lens and vision software, etc., and the vision software is the OpenCV vision library.

[0037] like Figure 3As shown, the picking and conveying component 1 includes a first lead screw module 102, a linear motor 103, a robot arm 104, and a connecting plate. The first lead screw module 102 is horizontally installed at the top center of the support frame 10. The first lead screw module 102 includes a first lead screw, a first slider threaded onto the first lead screw, and a first servo motor. The output shafts of the first lead screw and the first servo motor are synchronously connected. The first lead screw of the first lead screw module 102 is parallel to the conveying direction of the walnuts 11. The linear motor 103 and the robot arm 104 are mounted on the first lead screw of the first lead screw module 102 through the connecting plate. On the same side, the connecting plate is vertically arranged on one side of the first lead screw of the first lead screw module 102. One side of the upper part of the connecting plate is installed on one side of the first slider. The body of the linear motor 103 and the robot arm 104 are installed sequentially from top to bottom on the other side of the connecting plate. The output shaft of the linear motor 103 is synchronously connected to the top of the robot arm 104 through the connecting block. The machine vision sensor 2 is installed on one side of the body of the linear motor 103 away from the first slider. The linear motor 103 and the first servo motor 101 of the first lead screw module 102 are electrically connected to an external industrial control computer.

[0038] The robotic arm 104 includes a first upper connecting rod, a second upper connecting rod, a first middle connecting rod, a second middle connecting rod, a first lower clamping rod, and a second lower clamping rod. The upper ends of the first and second upper connecting rods are respectively hinged to the bottom center of the connecting block. The lower ends of the first and second upper connecting rods are respectively hinged to the upper ends of the first and second middle connecting rods. The lower ends of the first and second middle connecting rods are respectively fixedly connected to the upper ends of the first and second lower clamping rods at a preset angle. The connection point of the first middle connecting rod and the first lower clamping rod is hinged to one of the lower corners of the other side of the connecting plate. The connection point of the second middle connecting rod and the second lower clamping rod is hinged to the other lower corner of the other side of the connecting plate. The lower ends of the first and second lower clamping rods are arc-shaped and both bend towards the center of the robotic arm 104. The total length of the first upper connecting rod and the first middle connecting rod is greater than the vertical distance from the bottom surface of the connecting block to the hinge point of the upper end of the first lower clamping rod.

[0039] A stop block is also provided on the lower part of the other side plate of the connecting plate of the pickup and conveying component 1. The stop block is located between the first upper connecting rod, the second upper connecting rod, the first middle connecting rod and the second middle connecting rod, and directly above the first lower clamping rod and the second lower clamping rod.

[0040] like Figure 4 As shown, the material tray 3 has several grooves evenly arranged on it, and each groove holds a soaked walnut 11. The tip of each soaked walnut 11 faces downward and the middle seam line is perpendicular to the transport direction of the soaked walnut 11.

[0041] like Figure 5As shown, the material tray motion mechanism 4 includes a support platform 401 and a second lead screw module 402. The second lead screw module 402 is horizontally installed in the support frame 10. The second lead screw module 402 includes a second lead screw, a second slider threaded onto the second lead screw, and a second servo motor. The output shafts of the second lead screw and the second servo motor are synchronously connected. The second lead screw of the second lead screw module 402 is perpendicular to the conveying direction of the walnuts 11. The support platform 401 is horizontally installed on the top surface of the second slider, and the material tray 3 is placed on the top surface of the support platform 401. The second servo motor of the second lead screw module 402 is electrically connected to an external industrial control computer. The support platform 401 is provided with several through holes to increase friction.

[0042] like Figure 6 As shown, the clamping and conveying component 5 includes two roller chains 501, several adaptive clamping mechanisms 502, four sprockets 503, two drive shafts 504, a fourth servo motor, and a conveying support frame. The four sprockets 503 are vertically arranged on both symmetrical sides of the conveying direction of the walnuts 11 and do not contact each other. Two of the sprockets 503 are located directly below the other end of the first lead screw of the first lead screw module 102 of the picking and conveying component 1 and are arranged opposite each other at intervals. The other two sprockets 503 are located on the side away from the picking and conveying component 1 and are arranged opposite each other at intervals. The two sprockets 503 on the same side of the conveying direction of the walnuts 11 are located on the same vertical plane. One roller chain 501 is wound around the two sprockets 503 on one side of the conveying direction of the walnuts 11, and the other roller chain... 501 is wound around two sprockets 503 on the opposite side of the conveying direction of the walnut 11. The centers of each pair of opposing sprockets 503 are connected by a horizontal drive shaft 504. The two ends of one drive shaft 504 are movably connected to the conveying support frame, and one end of the other drive shaft 504 is movably connected to the conveying support frame. The body of the fourth servo motor is mounted on the conveying support frame near the other end of the other drive shaft 504. The other end of the other drive shaft 504 is synchronously connected to the output shaft of the fourth servo motor. The fourth servo motor is electrically connected to an external industrial control computer. Each adaptive clamping mechanism 502 is evenly spaced and horizontally installed on one side of the two roller chains 501 facing each other. Each pair of adaptive clamping mechanisms 502 on the two roller chains 501 is arranged facing each other.

[0043] like Figure 7As shown, the adaptive clamping mechanism 502 includes a clamping hand 5021, a spring 5022, and a sleeve 5023. The clamping hand 5021 includes an arc-shaped plate and a clamping handle. One end of the horizontally arranged clamping handle is connected to the center of the vertically arranged arc-shaped plate. The arc-shaped plate is bent in the opposite direction to the clamping handle. The arc-shaped plates of the two adaptive clamping mechanisms 502 are arranged opposite each other at intervals. The sleeve 5023 is fitted onto the other end of the clamping handle, and the spring 5022 is fitted onto the clamping handle. The handle is located between the arc-shaped plate and the sleeve 5023. The end of the sleeve 5023 away from the spring 5022 is mounted on the roller chain 501. A vertical slide bar is provided on the top surface of the side of the handle near the arc-shaped plate. A strip-shaped groove is formed on the top surface of the sleeve 5023 near the spring 5022 facing inward. The strip-shaped groove and the slide bar are arranged opposite each other. The width of the strip-shaped groove is equal to the width of the strip-shaped groove. The center distance between two opposite arc-shaped plates is less than the diameter of the walnut 11. The spring 5022 can extend and retract according to the size of the walnut 11. When the walnut 11 is too large, the slide bar slides into the strip-shaped groove.

[0044] like Figure 8As shown, the bionic pendulum shell-opening mechanism 6 includes an elliptical motion component 601, a pulley 602, a bionic pendulum 603, a support slot plate 604, a shell-opening mechanism mounting frame, and a third servo motor. The support slot plate 604 has a U-shaped structure and is vertically mounted on the support plate 9. The top of the support slot plate 604 is horizontally positioned between the upper and lower sides of the two roller chains 501 and close to the upper side of the two roller chains 501. The top of the support slot plate 604 is located directly below the gap between two opposing adaptive clamping mechanisms 502 of the bionic pendulum shell-opening mechanism 6 on the upper side of the two roller chains 501. The support slot plate 604 is located directly above the collection tray 7. The vertically arranged elliptical motion component 601 is movably mounted on the shell-opening mechanism mounting frame via its central axis. The body of the third servo motor is mounted on one side of the shell-opening mechanism mounting frame near one end of the central axis of the elliptical motion component 601. One end is synchronously connected to the output shaft of the third servo motor, and the other end of the central axis of the elliptical motion component 601 is movably mounted on the shell-opening mechanism mounting frame; the bionic pendulum 603 is mounted on the shell-opening mechanism mounting frame and located between the elliptical motion component 601 and the support slot plate 604. The root end of the bionic pendulum 603 is hinged to the center of the vertically arranged pulley 602. The pulley 602 is close to the edge of the elliptical motion component 601. The bionic pendulum 603 is movably mounted on the shell-opening mechanism mounting frame through a horizontal connecting shaft set on its side near the pulley 602. The end of the bionic pendulum 603 is provided with an axe-shaped hammer head. The edge of the hammer head is perpendicular to the conveying direction of the walnut 11; the horizontal distance from the center of the elliptical motion component 601 to the center of the pulley 602 is less than the total length of the major radius of the elliptical motion component 601 plus the radius of the pulley 602; after the end of the hammer head falls, it is located between two opposing adaptive clamping mechanisms 502 on the top of the support slot plate 604.

[0045] The conveying support frame of the clamping and conveying component 5 is also provided with horizontally arranged baffle strips 12. The baffle strips 12 are located directly below the two roller chains 501 on the side near the bionic pendulum shell-opening mechanism 6. The distance between the baffle strips 12 and the center of each pair of directly opposite adaptive clamping mechanisms 502 on the lower side of the two roller chains 501 is less than the radius of the walnut 11.

[0046] The control method of the precise walnut shell-opening device of the present invention is as follows:

[0047] First, several walnuts 11 are placed on the material tray 3, and the material tray 3 is placed on the support platform 401 of the material tray motion mechanism 4. For each walnut 11, an image of the walnut 11 below is captured by the real-time machine vision sensor 2, and the relative position between the robot arm 104 of the picking and conveying component 1 and the walnut 11 is obtained. The relative position is transmitted to an external industrial control computer. The external industrial control computer controls the first lead screw module 102 and the second lead screw module 402 to move the robot arm 104 directly above the walnut 11. Then, the linear motor 103 controls the robot arm 104. The upper ends of the first and second upper connecting rods move downwards until they abut against the stop block, so that the walnut 11 is positioned between the first and second lower clamping rods. Then, the upper ends of the first and second upper connecting rods of the robot arm 104 are driven upwards by the linear motor 103, so that the first and second lower clamping rods clamp the walnut 11. Then, the robot arm 104 is driven by the first lead screw module 102 to move the clamped walnut 11 to the side of the clamping and conveying component 5 that is close to the picking and conveying component 1. At this time, the walnut 11 is positioned above the picking and conveying component 1. Above the middle of the two opposing grippers 5021 of the two roller chains 501, the upper ends of the first and second upper connecting rods of the robotic arm 104 are driven downward by the linear motor 103, releasing the walnut 11 and clamping it between the two grippers 5021. At this time, the spring 5022 is in a compressed state. The external industrial control computer then drives the two roller chains 501 to horizontally transmit the walnut 11 to the other side of the two roller chains 501 and to be located directly above the top of the support groove plate 604. At this time, the first... Three servo motors drive the elliptical motion component 601 to rotate, which in turn drives the bionic pendulum 603 to rotate around its own connecting axis via pulley 602. The end edge of the hammer head of the bionic pendulum 603 hammers the middle seam line of the walnut 11, causing the shell of the walnut 11 to be hammered open. Then, the fourth servo motor drives two roller chains 501 to convey the hammered walnut 11 to the baffle strip 12 below the two roller chains 501. Finally, the baffle strip 12 pushes the hammered walnut 11 into the collection tray 7 directly below, completing the collection of the hammered walnut 11.

[0048] The industrial camera and lens of the machine vision sensor are mainly used for the identification and positioning of the walnut 11. The working end of the drive picking and conveying component 1 moves the walnut 11 to its discharge end, and at the same time drives the material tray movement mechanism 4 to facilitate the robot arm 104 to pick up the walnut 11. The robot arm 104 accurately places the walnut 11 at the discharge end and clamps it in the clamping working position of the clamping and conveying component 5. The clamping and conveying component 5 starts to work, and the adaptive clamping mechanism 502 ensures that the walnut maintains a consistent posture and moves towards the working position of the bionic pendulum shell-opening mechanism 6. When the walnut reaches the working position of the bionic pendulum 603, the bionic pendulum 603 falls down and strikes, thereby cracking the walnut shell.

[0049] The fourth servo motor drives the elliptical motion component 601 to rotate, which in turn drives the pulley 602 to rotate, thereby realizing the rising and falling motion of the bionic pendulum 603. The walnut 302 is cracked by the downward force of the bionic pendulum 603 and the supporting force of the support plate 604. The bionic pendulum shell-opening mechanism 6 is designed based on the process of a person using a pendulum to open a walnut shell. It has a good shell-opening effect and can split the walnut in half. This shell-opening method has been tested in practice and can effectively open the walnut shell, facilitating subsequent processes such as kernel extraction.

[0050] The technical solution of this invention can achieve precise shelling of walnuts, uniform shelling degree, improve the integrity of the kernel after shelling, and facilitate subsequent kernel processing.

Claims

1. A machine vision-based device for precisely clamping and opening the shells of walnuts, characterized in that: The system includes a pickup and conveying component (1), a machine vision sensor (2), a material tray (3), a material tray motion mechanism (4), a clamping and conveying component (5), a bionic pendulum shell-opening mechanism (6), a collection tray (7), several ground wheels (8), a support plate (9), and a support frame (10). Each ground wheel (8) is installed on the bottom surface of the support plate (9). The support frame (10), the clamping and conveying component (5), and the bionic pendulum shell-opening mechanism (6) are arranged sequentially on the top surface of the support plate (9) along the conveying direction of the walnuts (11). The pickup and conveying component (1) is horizontally installed in the middle of the top of the support frame (10). The material tray motion mechanism (4) is horizontally installed in the support frame (10) and located directly below the pickup and conveying component (1). The material tray (3) is... The material tray (3) is placed on the top surface of the material tray movement mechanism (4) and between the picking and conveying component (1) and the material tray movement mechanism (4). Several walnuts (11) are placed on the material tray (3). The machine vision sensor (2) is installed on the picking and conveying component (1) and located directly above each walnut (11). The lens of the machine vision sensor (2) faces downward toward each walnut (11). The collection tray (7) is placed on the top surface of the support plate (9) and located directly below between the clamping and conveying component (5) and the bionic pendulum shell opening mechanism (6). The picking and conveying component (1), the machine vision sensor (2), the material tray movement mechanism (4), the clamping and conveying component (5) and the bionic pendulum shell opening mechanism (6) are all electrically connected to an external industrial control computer. The material tray (3) is provided with several grooves evenly arranged, and a soaked walnut (11) is placed in each groove. The tip of each soaked walnut (11) is facing down and the middle stitch line is perpendicular to the transmission direction of the soaked walnut (11). The precise clamping and shell-opening device for soaked walnuts can achieve precise shell opening of the middle part of the soaked walnuts (11), unify the degree of shell opening of the soaked walnuts (11), and improve the integrity of the kernel after shell opening; The picking and conveying component (1) includes a first lead screw module (102), a linear motor (103), a robot (104), and a connecting plate; The robotic arm (104) includes a first upper connecting rod, a second upper connecting rod, a first middle connecting rod, a second middle connecting rod, a first lower clamping rod, and a second lower clamping rod. The upper ends of the first upper connecting rod and the second upper connecting rod are respectively hinged to the bottom center of the connecting block. The lower ends of the first upper connecting rod and the second upper connecting rod are respectively hinged to the upper ends of the first middle connecting rod and the second middle connecting rod. The lower ends of the first middle connecting rod and the second middle connecting rod are respectively fixedly connected to the upper ends of the first lower clamping rod and the second lower clamping rod at a preset angle. The connection point of the first middle connecting rod and the first lower clamping rod is hinged to one of the lower corners of the other side of the connecting plate. The connection point of the second middle connecting rod and the second lower clamping rod is hinged to the other lower corner of the other side of the connecting plate. The lower ends of the first lower clamping rod and the second lower clamping rod are arc-shaped and both bend toward the center of the robotic arm (104). The bionic pendulum shell-opening mechanism (6) includes an elliptical motion component (601), a pulley (602), a bionic pendulum (603), a support slot plate (604), a shell-opening mechanism mounting frame, and a third servo motor. The support slot plate (604) has a U-shaped structure and is vertically mounted on the support plate (9). The top of the support slot plate (604) is horizontally arranged between the upper and lower sides of the two roller chains (501) and close to the upper side of the two roller chains (501). The top of the support slot plate (604) is located directly below the gap between two opposing adaptive clamping mechanisms (502) of the bionic pendulum shell-opening mechanism (6) on the upper side of the two roller chains (501). The support slot plate (604) is located directly above the collection tray (7). The vertically arranged elliptical motion component (601) is movably mounted on the shell-opening mechanism mounting frame through its own central axis. The third servo motor... The machine body is mounted on the shell-opening mechanism mounting frame on one side near the central axis of the elliptical motion component (601). One end of the central axis of the elliptical motion component (601) is synchronously connected to the output shaft of the third servo motor. The other end of the central axis of the elliptical motion component (601) is movably mounted on the shell-opening mechanism mounting frame. The bionic pendulum (603) is mounted on the shell-opening mechanism mounting frame and located between the elliptical motion component (601) and the support groove plate (604). The root end of the bionic pendulum (603) is hinged to the center of the vertically arranged pulley (602). The pulley (602) is close to the edge of the elliptical motion component (601). The bionic pendulum (603) is movably mounted on the shell-opening mechanism mounting frame through a horizontal connecting shaft set on one side near the pulley (602). The end of the bionic pendulum (603) is provided with an axe-shaped hammer. The edge of the hammer is perpendicular to the conveying direction of the walnut (11).

2. The machine vision-based precise walnut clamping and shell-opening device according to claim 1, characterized in that: The first lead screw module (102) is horizontally installed at the top center of the support frame (10). The first lead screw module (102) includes a first lead screw, a first slider threaded onto the first lead screw, and a first servo motor. The output shafts of the first lead screw and the first servo motor are synchronously connected. The first lead screw of the first lead screw module (102) is parallel to the conveying direction of the walnuts (11). The linear motor (103) and the robot (104) are installed on the same side of the first lead screw of the first lead screw module (102) through a connecting plate. The connecting plate is vertically arranged on the first lead screw module (102). On one side of the first lead screw of 02), the upper side of the connecting plate is mounted on one side of the first slider. The body of the linear motor (103) and the robot (104) are mounted on the other side of the connecting plate from top to bottom. The output shaft of the linear motor (103) is synchronously connected to the top of the robot (104) through the connecting block. The machine vision sensor (2) is mounted on one side of the body of the linear motor (103) away from the first slider. The first servo motor (101) of the linear motor (103) and the first lead screw module (102) is electrically connected to an external industrial control computer.

3. The machine vision-based precise walnut clamping and shell-opening device according to claim 2, characterized in that: The picking and conveying component (1) is provided with a stop block on the lower part of the other side plate of the connecting plate. The stop block is located between the first upper connecting rod, the second upper connecting rod, the first middle connecting rod and the second middle connecting rod and is located directly above the first lower clamping rod and the second lower clamping rod.

4. The machine vision-based precise walnut clamping and shell-opening device according to claim 1, characterized in that: The material tray motion mechanism (4) includes a support platform (401) and a second lead screw module (402). The second lead screw module (402) is horizontally installed in the support frame (10). The second lead screw module (402) includes a second lead screw, a second slider threaded on the second lead screw, and a second servo motor. The output shafts of the second lead screw and the second servo motor are synchronously connected. The second lead screw of the second lead screw module (402) is perpendicular to the conveying direction of the walnuts (11). The support platform (401) is horizontally installed on the top surface of the second slider. The material tray (3) is placed on the top surface of the support platform (401). The second servo motor of the second lead screw module (402) is electrically connected to an external industrial control computer.

5. The machine vision-based precise walnut clamping and shell-opening device according to claim 2, characterized in that: The clamping and conveying component (5) includes two roller chains (501), several adaptive clamping mechanisms (502), four sprockets (503), two drive shafts (504), a fourth servo motor, and a conveying support frame. The four sprockets (503) are vertically arranged on both symmetrical sides of the conveying direction of the walnut (11) and do not contact each other. Two of the sprockets (503) are located directly below the other end of the first lead screw of the first lead screw module (102) of the picking and conveying component (1) and are arranged opposite each other at intervals. The other two sprockets (503) are located on the side away from the picking and conveying component (1) and are arranged opposite each other at intervals. The two sprockets (503) on the same side of the conveying direction of the walnut (11) are located on the same vertical plane. One of the roller chains (501) is wound around the two sprockets (503) on one side of the conveying direction of the walnut (11), and the other... A roller chain (501) is wound around two sprockets (503) on the opposite side of the conveying direction of the walnut (11). The centers of each pair of opposing sprockets (503) are connected by a horizontal drive shaft (504). The two ends of one drive shaft (504) are movably connected to the conveying support frame, and the one end of the other drive shaft (504) is movably connected to the conveying support frame. The body of the fourth servo motor is mounted on the conveying support frame near the other end of the other drive shaft (504). The other end of the other drive shaft (504) is synchronously connected to the output shaft of the fourth servo motor. The fourth servo motor is electrically connected to an external industrial control computer. Each adaptive clamping mechanism (502) is evenly spaced and horizontally installed on the opposite side of the two roller chains (501). Each pair of adaptive clamping mechanisms (502) on the two roller chains (501) is arranged opposite each other.

6. The machine vision-based precise walnut clamping and shell-opening device according to claim 1, characterized in that: The adaptive clamping mechanism (502) includes a clamping hand (5021), a spring (5022), and a sleeve (5023). The clamping hand (5021) includes an arc-shaped plate and a clamping handle. One end of the horizontally arranged clamping handle is connected to the center of the vertically arranged arc-shaped plate. The arc-shaped plate is bent in the opposite direction to the clamping handle. The arc-shaped plates of the two adaptive clamping mechanisms (502) are arranged opposite each other at intervals. The sleeve (5023) is fitted onto the other end of the clamping handle, and the spring (5022) is fitted onto the clamping handle. The handle is located between the arc plate and the sleeve (5023). The end of the sleeve (5023) away from the spring (5022) is mounted on the roller chain (501). The top surface of the handle near the arc plate is provided with a vertical slide bar. The top surface of the sleeve (5023) near the spring (5022) is provided with a strip groove facing the inside of the sleeve (5023). The strip groove and the slide bar are arranged opposite each other. The width of the strip groove is equal to the width of the strip groove. The center distance between two opposite arc plates is less than the diameter of the walnut (11).

7. The machine vision-based precise walnut clamping and shell-opening device according to claim 5, characterized in that: The horizontal distance from the center of the elliptical motion component (601) to the center of the pulley (602) is less than the total length of the long radius of the elliptical motion component (601) plus the radius of the pulley (602); after the end of the hammer falls, it is located between two opposing adaptive clamping mechanisms (502) on the top of the support groove plate (604).

8. The machine vision-based precise walnut clamping and shell-opening device according to claim 7, characterized in that: The clamping and conveying component (5) is also provided with a horizontally arranged baffle strip (12) on the conveying support frame. The baffle strip (12) is located directly below the two roller chains (501) on the side close to the bionic pendulum shell opening mechanism (6). The distance between the baffle strip (12) and the center of each pair of opposite adaptive clamping mechanisms (502) on the lower side of the two roller chains (501) is less than the radius of the walnut (11).

9. The control method for the precise walnut-opening clamping device according to any one of claims 1-8, characterized in that: The methods include the following: First, several walnuts (11) are placed on a tray (3) and the tray (3) is placed on the support platform (401) of the tray motion mechanism (4). For each walnut (11), an image of the walnut (11) below is captured by a real-time machine vision sensor (2), and the relative position between the robot arm (104) of the picking and conveying component (1) and the walnut (11) is obtained. The relative position is transmitted to an external industrial control computer. The external industrial control computer controls the first lead screw module (102) and the second lead screw module (402) to move the robot arm (104) to directly above the walnut (11). Then, the mechanical arm is controlled by a linear motor (103). The upper ends of the first and second upper connecting rods of the hand (104) move downwards until they abut against the stop, so that the walnut (11) is located between the first and second lower clamping rods. Then, the upper ends of the first and second upper connecting rods of the robot (104) are driven upwards by the linear motor (103), so that the first and second lower clamping rods clamp the walnut (11). Then, the first lead screw module (102) drives the robot (104) to move the clamped walnut (11) to the side above the clamping conveying component (5) near the picking conveying component (1). At this time, the walnut (11) is located above the picking conveying component (5). The upper ends of the first and second upper connecting rods of the robotic arm (104) are driven downward by the linear motor (103) directly above the middle of the two opposing gripping hands (5021) of the two roller chains (501), releasing the walnut (11) and clamping it between the two gripping hands (5021). At this time, the spring (5022) is in a compressed state. The external industrial control computer then drives the two roller chains (501) to horizontally transmit the walnut (11) to the other side of the two roller chains (501) and to be located directly above the top of the support groove plate (604) through the third of the bionic pendulum shell-opening mechanism (6). The servo motor drives the elliptical motion component (601) to rotate, which in turn drives the bionic pendulum (603) to rotate around its own connecting axis via the pulley (602). The end edge of the hammer head of the bionic pendulum (603) hammers the middle seam of the walnut (11), causing the shell of the walnut (11) to be hammered open. Then, the fourth servo motor drives two roller chains (501) to transport the hammered walnut (11) to the baffle strip (12) below the two roller chains (501). Finally, the baffle strip (12) pushes the hammered walnut (11) to fall into the collection tray (7) directly below, completing the collection of the hammered walnut (11).

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