Fruit picking scissor hand robot based on visual identification

Abstract

The invention relates to the field of fruit picking robots, in particular to a fruit picking scissor hand robot based on visual recognition, a driving end is driven by a mechanical arm to achieve single-axis rotation, a single-axis driving head is installed on one side of the outer portion of the driving end, and electric scissors are installed on one side of the single-axis driving head. According to the fruit sorting device, picked fruits are collected through the sorting cabin, the fruits are driven to rotate through the rotating sorting disc rotating intermittently, the appearance is recognized through the camera assembly in the rotating process, the rotating state of the overturning plate is changed by controlling the electromagnet, and therefore the sorting function of good and inferior-quality fruits is achieved; the whole sorting process is orderly and efficient, effective detection of single fruits is achieved through the gap rotating mechanism, and the picking efficiency and quality are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit picking robots, and in particular to a fruit picking robot with scissors hands based on visual recognition. Background Art

[0002] The fruit picking scissor-hand robot is an agricultural automation equipment that integrates mechanics, electronics, and artificial intelligence. It is a product promoted by the continuous development of agricultural technology. It can effectively improve picking efficiency and serve as a tool for uninterrupted and efficient automatic picking.

[0003] In the existing technology, robots are equipped with visual recognition mechanisms to identify and pick fruits of corresponding colors. However, the recognition logic of traditional visual recognition manipulators is relatively simple. When some fruits have obvious appearance defects such as disease spots and insect holes on the surface, they cannot effectively identify them and will still pick defective fruits. At the same time, traditional visual recognition manipulators can only realize a single picking function, and a net bag needs to be installed under the mechanical shears to collect the fruits, which affects the picking efficiency. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a fruit picking scissor-hand robot based on visual recognition.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A fruit picking scissor-hand robot based on visual recognition includes a driving end head and a robotic arm. The driving end head is driven by the robotic arm to achieve single-axis rotation. A single-axis driving head is installed on one side of the driving end head, and electric scissors are installed on one side of the single-axis driving head. A camera 1 is installed on the upper part of the driving end head; A mounting frame is installed below the driving end head, a sorting cabin is fixed in the middle of the mounting frame, a rotating sorting disk is coaxially installed inside the sorting cabin, the top of the rotating sorting disk is rotatably connected to the bottom wall of the driving end head through a bearing, and through slots are provided on both sides of the rotating sorting disk and the driving end head; A connecting disk is installed at the bottom of the rotary sorting disk, which extends into the interior of the mounting frame and is equipped with a plurality of arc-shaped magnetic blocks. A plurality of limiting columns are provided above the arc-shaped magnetic blocks, and the limiting columns are connected to the connecting disk through springs; A bevel gear 1 is installed at the bottom of the connecting plate, and a bevel gear 2 is connected to the bottom of the bevel gear 1 through tooth groove engagement, and the bevel gear 2 is driven to rotate by a driving motor; A flip plate is rotatably installed in the middle of the rotary sorting disk, and one side of the flip plate is magnetically connected to the electromagnet outside the rotary sorting disk through a magnetic sheet. In a natural state, the flip plate is flush with the top surface of the rotary sorting disk.

[0006] In addition, the preferred structure is that the mounting frame is inclined toward one side of the electric scissors and is provided with a conical material guide plate, the top of the conical material guide plate gradually approaches the electric scissors, a plurality of through slots are provided at the end of the conical material guide plate, and the upper middle portion of the conical material guide plate faces the electric scissors.

[0007] In addition, a preferred structure is that the conical material guide plate is wide on the side facing the electric scissors, and gradually narrows on the side facing the sorting chamber and has the same width as the slot opening of the through slot opened on one side of the sorting chamber.

[0008] In addition, a preferred structure is that a driving motor is obliquely installed on one side of the bottom of the mounting frame, the output end of the driving motor is drivingly connected to bevel gear 2, and the upper part of bevel gear 2 is connected to bevel gear 2 through tooth groove engagement.

[0009] In addition, a preferred structure is that a discharge port is provided on a side of the mounting frame away from the drive motor, and the discharge port penetrates upward and downward.

[0010] In addition, a preferred structure is that the rotary sorting disc rotates relatively inside the sorting compartment, and a sorting port is opened on one side of the middle of the rotary sorting disc, a flip plate is installed on one side of the inner part of the sorting port through a pin shaft, and a magnetic sheet is installed on one side of the flip plate.

[0011] In addition, a preferred structure is that the upper walls of the rotary sorting disc and the flip plate are symmetrically provided with multiple plastic clips.

[0012] In addition, a preferred structure is that a torsion spring is provided at the rotation connection between the flip plate and the sorting port, and when the flip plate rotates, the torsion spring is deformed.

[0013] In addition, a preferred structure is that an electromagnet is installed on the outside of the rotary sorting disk, and the electromagnet is connected to an external power supply in a natural state to generate electromagnetic attraction, thereby achieving electromagnetic adsorption between the electromagnet and the magnetic sheet.

[0014] In addition, the preferred structure is that camera 2 is installed directly above the rotating sorting disk, and camera 2 is installed at the bottom end of the driving end head.

[0015] The beneficial effects of the present invention are: In the present invention, the picked fruits are collected by a sorting cabin, and the fruits are driven to rotate by an intermittently rotating rotary sorting disk. During the rotation process, the appearance is recognized by a camera component, and the rotation state of the flip plate is changed by controlling the electromagnet, thereby realizing the sorting function of good and defective fruits. The entire sorting process is orderly and efficient, and effective detection of individual fruits is achieved through the intermittent rotation mechanism, which effectively improves the picking efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1This is a schematic diagram of the external structure of a fruit picking scissor-hand robot based on visual recognition proposed by the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the external structure of a fruit picking scissor-hand robot based on visual recognition proposed by the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the mounting frame structure proposed by the present invention; Figure 4 This is a schematic diagram of the connection disk structure proposed by the present invention; Figure 5 This is a schematic diagram of the driving structure of the driving motor proposed in the present invention; Figure 6 This is a schematic diagram of the flip plate structure proposed by the present invention; Figure 7 This is an exploded schematic diagram of the rotary sorting disc connection structure proposed in the present invention.

[0017] In the figure: 1. Driving end; 101. Robotic arm; 102. Single-axis driving head; 103. Electric scissors; 104. Camera 1; 2. Conical material guide plate; 3. Good quality mesh bag; 4. Defective mesh bag; 5. Sorting compartment; 51. Mounting frame; 6. Driving motor; 61. Bevel gear 2; 7. Limiting column; 71. Spring; 8. Plastic snap ring; 9. Rotating sorting plate; 91. Passing slot; 92. Connecting plate; 93. Arc-shaped magnetic block; 94. Bevel gear 1; 95. Sorting port; 10. Discharge port; 11. Flip plate; 12. Camera 2; 14. Electromagnet; 15. Magnetic sheet; 16. Torsion spring. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0019] Reference Figure 1-7 A fruit picking scissor-hand robot based on visual recognition includes a driving end head 1 and a robotic arm 101. The driving end head 1 is driven by the robotic arm 101 to achieve single-axis rotation. A single-axis driving head 102 is installed on one side of the driving end head 1. An electric scissor 103 is installed on one side of the single-axis driving head 102. The electric scissor 103 is driven by a motor to achieve electric cutting.

[0020] A camera 104 is installed on the upper part of the driving end 1. The camera 104 is used to capture and obtain fruit images and transmit the corresponding images to the calculation unit for pre-processing. The execution unit drives the corresponding driving unit to realize cutting and picking. A mounting frame 51 is mounted below the drive end head 1. A sorting compartment 5 is fixed in the middle of the mounting frame 51. A rotating sorting disc 9 is coaxially mounted inside the sorting compartment 5. The top of the rotating sorting disc 9 is rotatably connected to the bottom wall of the drive end head 1 via a bearing, thereby achieving the rotational movement of the rotating sorting disc 9. Both sides of the rotary sorting disc 9 and the driving end head 1 are provided with through slots 91, which are used to pass the picked fruits. After being picked, the fruits will fall into the conical guide material plate 2 and fall to the bottom under the inclined guidance. They will pass through the through slots 91 on one side of the sorting cabin 5 and directly enter the internal rotary sorting disc 9.

[0021] A connecting plate 92 is installed at the bottom of the rotary sorting plate 9. The connecting plate 92 extends into the interior of the mounting frame 51 and is installed with multiple arc-shaped magnetic blocks 93. A plurality of limiting posts 7 are provided above the arc-shaped magnetic blocks 93. The limiting posts 7 are connected to the connecting plate 92 via springs 71. The upper part of the mounting frame 51 is provided with a plurality of slots for assembling the spring 71 and the limiting post 7. When the arc-shaped magnetic block 93 moves to the position directly below the limiting post 7, the limiting post 7 is driven downward by the magnetic force, thereby allowing the fruit blocked outside to pass through.

[0022] The spring 71 assists the limiting post 7 in returning to its upward position.

[0023] A bevel gear 1 94 is installed at the bottom of the connecting disk 92. The bottom of the bevel gear 1 94 is connected to the bevel gear 2 61 through tooth groove engagement. The bevel gear 2 61 is driven to rotate by the drive motor 6. The drive motor 6 cooperates with the bevel gear 2 61 to realize the driving rotation function of the connecting disk 92. The driving motor 6 drives the connecting plate 92 to operate with a single rotation angle of 90°.

[0024] A flip plate 11 is rotatably installed in the middle of the rotary sorting disk 9. One side of the flip plate 11 is magnetically connected to the electromagnet 14 on the outside of the rotary sorting disk 9 through a magnetic sheet 15. In the natural state, the flip plate 11 is flush with the top surface of the rotary sorting disk 9, and the fruit is naturally placed on the flip plate 11 and the rotary sorting disk 9.

[0025] The mounting frame 51 is tilted toward one side of the electric scissors 103 and is provided with a conical material guide plate 2. The top of the conical material guide plate 2 gradually approaches the electric scissors 103. The end of the conical material guide plate 2 is provided with multiple through slots, and the upper middle portion of the conical material guide plate 2 faces the electric scissors 103.

[0026] The conical material guide plate 2 is wide on the side facing the electric shears 103 and gradually narrows on the side facing the sorting chamber 5 and has the same width as the slot 91 opened on one side of the sorting chamber 5 .

[0027] A driving motor 6 is obliquely mounted on one side of the bottom of the mounting frame 51 . The output end of the driving motor 6 is drivingly connected to the second bevel gear 61 . The upper portion of the second bevel gear 61 is meshed with the second bevel gear 61 via teeth and grooves.

[0028] A discharge port 10 is formed on a side of the mounting frame 51 away from the driving motor 6 , and the discharge port 10 penetrates upward and downward.

[0029] The rotary sorting disc 9 rotates relatively inside the sorting chamber 5, and a sorting opening 95 is provided on one side of the middle portion of the rotary sorting disc 9. A flip plate 11 is rotatably mounted on one side of the sorting opening 95 via a pin, and a magnetic sheet 15 is mounted on one side of the flip plate 11.

[0030] A plurality of plastic clips 8 are symmetrically provided on the upper walls of the rotary sorting disc 9 and the flip plate 11 .

[0031] A torsion spring 16 is provided at the rotation connection between the flip plate 11 and the sorting port 95. When the flip plate 11 rotates, the torsion spring 16 deforms to generate a torsional force, driving the flip plate 11 to return to its original position and rotate upward.

[0032] An electromagnet 14 is installed on the outer side of the rotary sorting disc 9. The electromagnet 14 is connected to an external power source in a natural state to generate electromagnetic attraction, thereby achieving electromagnetic adsorption between the electromagnet 14 and the magnetic sheet 15.

[0033] A second camera 12 is installed just above the rotary sorting disc 9 , and the second camera 12 is installed at the bottom end of the driving end head 1 .

[0034] A defective product net bag 4 is installed at the bottom of the discharge port 10; A good product net bag 3 is installed on one side of the sorting cabin 5.

[0035] In this embodiment, a scissor-hand robot is composed of a driving end head 1, a robotic arm 101, a single-axis driving head 102, and an electric scissors 103. During the fruit picking process by the electric scissors 103, the fruit part cut off from the branch will fall down into the conical guide material plate 2, and naturally roll down due to the inclined surface until it contacts the limit column 7 set on one side of the sorting compartment 5, and the limit column 7 blocks the fruit.

[0036] At the same time, the driving motor 6 rotates in conjunction with the bevel gear 2 61, and the bevel gear 2 61 engages to drive the bevel gear 1 94 to rotate, thereby driving the rotary sorting disk 92 to rotate. The arc-shaped magnetic block 93 provided at the bottom of the rotary sorting disk 92 rotates synchronously. When the arc-shaped magnetic block 93 rotates and moves to just below the limiting post 7, the limiting post 7 is driven downward by the magnetic force, causing the blocked fruits to roll through the sorting compartment 5 and the rotary sorting disk 9 in turn until they are clamped by multiple plastic clamps 9. At this time, the fruits are placed in the center of the rotary sorting disk 9. The driving motor 6 continues to drive the rotary sorting plate 92 to rotate at an angle of 90° each time. At this time, the rotary sorting plate 9 is staggered with the through slots 91 on the sorting chamber 5. The through slots 91 are closed, and the arc-shaped magnetic block 93 is separated from the bottom of the limiting column 7. It is deformed by the spring 71 and pushed up again to block the next fruit.

[0037] The fruits inside the rotary sorting plate 92 rotate on both sides and reach the passing slot 91 facing the good product net bag 3. At this time, the fruits are identified by the camera 2 12 on the square of the rotary sorting plate 92 during the rotation process. If there are no defects on the surface of the fruit, the rotary sorting plate 92 will rotate for the last time, so that the two sides of the passing slot 91 are connected, and the limiting column 7 moves downward, causing the fruit to pass through the rotary sorting plate 92 and enter the good product net bag 3 for collection; When it is identified that the fruit has appearance defects, the rotary sorting disc 92 will still make a final rotation, so that both sides pass through the slot 91 and connect the limit column 7 to move downward. However, at this time, the electromagnet 4 component is powered off by the external control unit and the magnetic attraction disappears. Under the weight of the fruit, the flip plate 11 supporting the fruit will be forced to open, and the fruit will fall from the sorting port 95 and the discharge port 10 in turn into the defective net bag 4 to complete collection.

[0038] Then, the torsion spring 16 drives the flip plate 11 to reset under the torsion action, and the electromagnet 4 is energized again to magnetically attract the flip plate 11 .

[0039] After a single fruit processing is completed, the rotary sorting disc 9 continues to perform the rotation action, thereby realizing the working sequence of loading, testing and discharging.

[0040] The plastic clamping ring 9 has a certain deformation ability due to its plastic material characteristics to achieve the clamping operation on the fruit.

[0041] The specific control methods and internal structures of the robotic arm 101 not explained in detail above are common knowledge to those skilled in the art. It is also necessary to explain that the visual recognition principles of the camera assembly and its related control unit that have not been explained in detail above are common knowledge to those skilled in the art and will not be explained further.

[0042] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0043] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A fruit picking scissor-hand robot based on visual recognition, comprising a driving end (1) and a mechanical arm (101), characterized in that: The driving end head (1) is driven by a mechanical arm (101) to realize single-axis rotation, a single-axis driving head (102) is installed on one side of the outside of the driving end head (1), and an electric scissors (103) is installed on one side of the single-axis driving head (102); A camera 1 (104) is installed on the upper portion of the driving end head (1); A mounting frame (51) is installed below the driving end head (1), a sorting chamber (5) is fixed in the middle of the mounting frame (51), a rotating sorting disc (9) is coaxially installed inside the sorting chamber (5), the top of the rotating sorting disc (9) is rotatably connected to the bottom wall of the driving end head (1) through a bearing member, and a through slot (91) is provided on both sides of the rotating sorting disc (9) and the driving end head (1); A connecting disk (92) is installed at the bottom of the rotary sorting disk (9), the connecting disk (92) extends into the interior of the mounting frame (51) and is installed with a plurality of arc-shaped magnetic blocks (93), a plurality of limiting columns (7) are provided above the arc-shaped magnetic blocks (93), and the limiting columns (7) are connected to the connecting disk (92) via springs (71); A bevel gear 1 (94) is installed at the bottom of the connecting plate (92), and the bottom of the bevel gear 1 (94) is connected to a bevel gear 2 (61) through tooth groove engagement, and the bevel gear 2 (61) is driven to rotate by a driving motor (6); A flip plate (11) is rotatably mounted in the middle of the rotary sorting disc (9), and one side of the flip plate (11) is magnetically connected to an electromagnet (14) on the outside of the rotary sorting disc (9) through a magnetic sheet (15). In a natural state, the flip plate (11) is flush with the top surface of the rotary sorting disc (9).

2. A fruit picking scissor-hand robot based on visual recognition according to claim 1, characterized in that: The mounting frame (51) is provided with a conical material guide plate (2) tilted toward one side of the electric scissors (103), the top end of the conical material guide plate (2) gradually approaches the electric scissors (103), a plurality of through slots are provided at the end of the conical material guide plate (2), and the upper middle portion of the conical material guide plate (2) faces the electric scissors (103).

3. The fruit picking scissor-hand robot based on visual recognition according to claim 3 is characterized in that: The conical material guide plate (2) is wide on the side facing the electric scissors (103), and gradually narrows on the side facing the sorting chamber (5) and has the same width as the slot opening of the through slot (91) opened on one side of the sorting chamber (5).

4. The fruit picking scissor-hand robot based on visual recognition according to claim 1, characterized in that: A driving motor (6) is obliquely mounted on one side of the bottom of the mounting frame (51), and the output end of the driving motor (6) is drivingly connected to the second bevel gear (61), and the upper portion of the second bevel gear (61) is connected to the second bevel gear (61) through tooth groove engagement.

5. The fruit picking scissor-hand robot based on visual recognition according to claim 4, characterized in that: A discharge opening (10) is provided on a side of the mounting frame (51) away from the drive motor (6), and the discharge opening (10) penetrates upward and downward.

6. The fruit picking scissor-hand robot based on visual recognition according to claim 1, characterized in that: The rotary sorting disc (9) rotates relatively inside the sorting chamber (5), and a sorting opening (95) is provided on one side of the middle portion of the rotary sorting disc (9). A flip plate (11) is rotatably mounted on one side of the interior of the sorting opening (95) via a pin shaft, and a magnetic sheet (15) is mounted on one side of the flip plate (11).

7. The fruit picking scissor-hand robot based on visual recognition according to claim 6, characterized in that: The upper walls of the rotary sorting disc (9) and the flip plate (11) are both symmetrically provided with a plurality of plastic clips (8).

8. The fruit picking scissor-hand robot based on visual recognition according to claim 6, characterized in that: A torsion spring (16) is provided at the rotation connection between the flip plate (11) and the sorting port (95), and when the flip plate (11) rotates, the torsion spring (16) is deformed.

9. The fruit picking scissor-hand robot based on visual recognition according to claim 1, characterized in that: An electromagnet (14) is installed on the outer side of the rotary sorting disc (9), and the electromagnet (14) is connected to an external power source in a natural state to generate electromagnetic attraction, thereby achieving electromagnetic adsorption between the electromagnet (14) and the magnetic sheet (15).

10. The fruit picking scissor-hand robot based on visual recognition according to claim 1, characterized in that: A second camera (12) is installed directly above the rotating sorting disc (9), and the second camera (12) is installed at the bottom end of the driving end head (1).

Images