Machine vision-based robot, blemish removing system and chili stalk removing and cap removing system

Abstract

The application provides a kind of mechanical hand based on machine vision, blemish removal system and chili stalk removal cap removal system, belongs to the technical field of mechanical hand.It includes: vision mechanism, mechanical arm, gripper and controller.Gripper is installed on mechanical arm.Vision mechanism, mechanical arm and gripper are electrically connected with controller.Vision mechanism is used to obtain the image data of target area.Controller is used to judge whether the object object reaches the predetermined position and is at the predetermined placement angle according to the image data, if yes, controller controls mechanical arm to move gripper to the object object, and controller controls gripper to grasp the object object.It can more accurately grasp the object object, effectively reduces the probability of failure of grasping.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and more specifically, to a machine vision-based robotic arm, a blemish removal system, and a chili pepper stem and cap removal system. Background Technology

[0002] Robotic arms are commonly used tools in modern industry.

[0003] Currently, robotic arms typically move along a preset trajectory during operation, and then perform the corresponding action once they reach the designated position.

[0004] However, in actual use, once the robotic arm reaches the predetermined position, it will execute the corresponding action (e.g., grasping) according to the control process. If the object to be grasped is not positioned according to the predetermined angle and location, the grasping may fail, or even cause the object to fall or be damaged. Summary of the Invention

[0005] The first objective of this application is to provide a machine vision-based robotic hand that can grasp objects more accurately and effectively reduce the probability of grasping failure.

[0006] The second objective of this application is to provide a blemish removal system that can automate the removal of defects in a product.

[0007] The third objective of this application is to provide a chili pepper stem and cap removal system that enables automated stem and cap removal operations on chili peppers.

[0008] The embodiments of this application are implemented as follows: A machine vision-based robotic hand includes: a vision mechanism, a robotic arm, a gripper, and a controller.

[0009] The gripper is mounted on the robotic arm.

[0010] The vision mechanism, robotic arm, and gripper are all electrically connected to the controller.

[0011] Vision mechanisms are used to acquire image data of target areas.

[0012] The controller is used to determine whether the object has reached the predetermined position and is at the predetermined placement angle based on the image data. If so, the controller controls the robotic arm to move the gripper to the object and controls the gripper to grab the object.

[0013] Furthermore, the gripper includes two corresponding clamping arms.

[0014] At least one of the two clamping arms has a relief groove on its clamping surface. The relief groove is located at the front end of the clamping arm and extends through to the front end wall of the clamping arm.

[0015] The clearance groove extends along the width of the clamping arm, and the end of the clearance groove is spaced apart from the side of the clamping arm.

[0016] An elastic membrane is fitted inside the relief groove, extending along the length of the groove and having an arc-shaped cross-section. Both ends of the elastic membrane are connected to the end walls of the relief groove. One edge of the elastic membrane is connected to the side wall of the relief groove near the clamping surface, and this edge is positioned near the opening edge of the relief groove. The other edge of the elastic membrane is connected to the side wall of the relief groove near the front end wall of the clamping arm, and this edge is also positioned near the opening edge of the relief groove.

[0017] In its natural state, the elastic membrane is in a naturally stretched state.

[0018] The elastic membrane will seal the opening of the relief groove.

[0019] A distance sensor is also installed inside the relief groove. The distance sensor is installed on the end wall of the relief groove, and the orientation of the distance sensor is set along the length of the relief groove.

[0020] The distance sensor is electrically connected to the controller.

[0021] Furthermore, a first extension groove and a second extension groove are provided on the side wall of the relief groove near the clamping surface. The first extension groove and the second extension groove are respectively located at both ends of the relief groove and are respectively located near the end wall of the relief groove. Both the first extension groove and the second extension groove extend along the length direction of the clamping arm.

[0022] The first extension slot is provided with an exhaust port, and the second extension slot is provided with an air inlet.

[0023] The exhaust port is equipped with a first one-way structure.

[0024] Machine vision-based robotic arms also include: an air supply mechanism.

[0025] The gas supply mechanism is connected to the air inlet.

[0026] The air supply mechanism is used to supply air into the second extension slot when the gripper releases the object.

[0027] Furthermore, the air inlet is located on the side wall of the second extension groove away from the relief groove, and the air inlet is arranged along the length direction of the clamping arm.

[0028] The exhaust port is located on the side of the clamping arm and is positioned along the width of the clamping arm.

[0029] The first unidirectional structure includes: a stop ring, a first core, a first rod, and a first end block.

[0030] The stop ring is located inside the exhaust port, and the outer ring wall of the stop ring is attached to and fixedly connected to the inner wall of the exhaust port.

[0031] A mating hole is provided between the first extension groove and the second extension groove to connect the two, and the mating hole is set along the width direction of the clamping arm.

[0032] The first rod can be slidably fitted into the mating hole.

[0033] The first core and the first end block are respectively connected to the two ends of the first rod. The first core is located on the side of the stop ring away from the first extension groove, and the first end block is located in the second extension groove.

[0034] The air inlet is equipped with a second one-way structure. The second one-way structure includes: a positioning post, a second core, a second rod, and a second end block.

[0035] The positioning post is located inside the air inlet, with its two ends connected to the inner walls of both sides of the air inlet. A second rod is positioned axially along the air inlet, passing through the positioning post and slidably fitted onto it. A second core and a second end block are connected to the two ends of the second rod, respectively. The second core is located within a second extension groove, and the second end block is located on the side of the positioning post furthest from the second extension groove.

[0036] A first elastic element is connected between the second extension groove and the first end block on the side wall away from the first extension groove, and the first elastic element is in an elastically stretched state.

[0037] A second elastic element abuts between the second end block and the positioning post. In its natural state, the second core fits against the side wall of the second extension groove away from the relief groove and seals the air inlet.

[0038] The second core has a first notch, which is located along the width of the clamping arm and extends through the second core. The first notch also extends axially along the air inlet. The width of the first notch matches the diameter of the first rod.

[0039] On the side of the second core away from the first extension groove, the sidewall of the first notch further extends along the thickness direction of the clamping arm to form a second notch, which is located at the end of the first notch near the second rod.

[0040] Along the axial direction of the mating hole, the depth of the second notch is less than the outer diameter of the first end block.

[0041] In the width direction of the first notch, the width of the first notch is less than the outer diameter of the first end block, and the width of the second notch is greater than or equal to the outer diameter of the first end block.

[0042] The side of the first end block furthest from the second rod is wedge-shaped.

[0043] The first rod passes through the first notch, and the first end block is located on the side of the second core away from the first extension groove.

[0044] When the second core is attached to the side wall of the second extension groove away from the relief groove, the first rod is located at the end of the first notch away from the second notch, the first end block is attached to the side wall of the second core away from the first extension groove, and the first core is attached to the stop ring and seals the exhaust port.

[0045] When the air supply mechanism supplies air into the second extension groove, the second core separates from the side wall of the second extension groove away from the clearance groove, thus opening the air inlet. The first rod moves to the end where the second notch of the first notch is located, and the first rod passes through both the first and second notches simultaneously. The airflow pushes the first core to separate from the stop ring, thus opening the exhaust port, and the first end block moves into the second notch.

[0046] Furthermore, an air guide channel is provided between the first extension groove and the second extension groove to connect the two, and the air guide channel is arranged along the width direction of the clamping arm.

[0047] Furthermore, the detection path of the distance sensor is set close to the side wall of the clearance groove near the clamping surface, and the detection path of the distance sensor is set close to the clamping surface of the clamping arm.

[0048] A blemish removal system includes: a positioning mechanism, a blemish removal tool, and the aforementioned machine vision-based robotic arm.

[0049] The positioning mechanism is used to fix the object to be removed.

[0050] The blemish removal tool is gripped by a claw.

[0051] The controller of the machine vision-based robotic arm is used to determine the location of defects on the object to be removed based on image data. The controller is also used to control the robotic arm to move the gripper to the vicinity of the defect location, and to control the gripper to remove the defects on the object using the removal tool.

[0052] A chili pepper stem and cap removal system includes a conveying mechanism and the aforementioned machine vision-based robotic arm.

[0053] The conveying mechanism is used to transport chili peppers to the vicinity of a machine vision-based robotic arm.

[0054] The controller of the machine vision-based robotic arm is used to determine, based on image data, whether the chili pepper stem and / or the chili pepper body has been conveyed to a predetermined position and is at a predetermined placement angle by the conveying mechanism. If so, the controller controls the robotic arm to move the gripper to the chili pepper, and the controller controls the gripper to grab the chili pepper stem or the chili pepper body and rotate and / or pull it, thereby separating the chili pepper stem and the chili pepper body.

[0055] Furthermore, the conveying mechanism includes a first synchronous belt and a second synchronous belt, which are arranged side by side and their belt surfaces are in contact with each other.

[0056] Furthermore, both the first and second synchronous belts have teeth on their belt surfaces, with the teeth arranged along the width direction of the belt surface and evenly spaced along the length direction of the belt surface.

[0057] The beneficial effects of the technical solutions in this application include: Overall, the machine vision-based robotic arm provided in this application embodiment can grasp objects more accurately, effectively reducing the probability of grasping failure. The defect removal system provided in this application embodiment can automate the processing of product defects. The chili pepper stem and cap removal system provided in this application embodiment can automate the stem and cap removal operation of chili peppers. Attached Figure Description

[0058] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 A schematic diagram of the internal structure of the gripper arm of a machine vision-based robotic arm provided in an embodiment of this application; Figure 2 A schematic diagram of the external structure of the gripper arm of a machine vision-based robotic arm provided in an embodiment of this application; Figure 3 A schematic diagram of a robotic arm gripping an object using its two gripping arms; Figure 4 This is a schematic diagram showing the fit between the first extension groove and the clearance groove; Figure 5 This is a schematic diagram showing the interaction of the first extension groove, the second extension groove, and the clearance groove (when both the air inlet and the exhaust port are closed). Figure 6 for Figure 5 A schematic diagram of the structure at the central air intake; Figure 7 for Figure 5 Schematic diagram of the structure at the central exhaust port; Figure 8 This is a schematic diagram of the structure of the second core near the first extension groove; Figure 9 A schematic diagram of the structure of the second core on the side away from the first extension groove; Figure 10This is a schematic diagram showing the interaction of the first extension groove, the second extension groove, and the clearance groove (when both the air inlet and the exhaust port are open). Figure 11 for Figure 10 A schematic diagram of the structure at the central air intake; Figure 12 This is a schematic diagram of the chili pepper stem and cap removal system provided in an embodiment of this application; Figure 13 A schematic diagram of the conveying mechanism of the system for removing the caps from chili peppers.

[0060] Explanation of reference numerals in the attached figures: Clamping arm 100; clamping surface 110; clearance groove 120; elastic membrane 130; distance sensor 200; detection path 210; first extension groove 300; exhaust port 310; second extension groove 400; air inlet 410; mating hole 510; air guide channel 520; first one-way structure 600; stop ring 610; first core 620; first rod 630; first end block 640; wedge surface 641; second one-way structure 700; positioning post 710; second core 720; first notch 730; second notch 740; second rod 750; second end block 760; first synchronous belt 810; second synchronous belt 820; tooth 830. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0062] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0063] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0064] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0065] Furthermore, the terms "vertical" and "parallel" do not mean that the parts must be absolutely vertical or parallel, but can be slightly tilted.

[0066] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0067] The technical solutions of this application will be described by way of example through some embodiments below.

[0068] To overcome the shortcomings of the prior art, this application provides a machine vision-based robotic hand, which includes: a vision mechanism (not shown in the figure), a robotic arm (not shown in the figure), a gripper, and a controller (not shown in the figure).

[0069] The gripper is mounted on the robotic arm.

[0070] The vision mechanism, robotic arm, and gripper are all electrically connected to the controller.

[0071] Vision mechanisms are used to acquire image data of target areas.

[0072] The controller is used to determine whether the object has reached the predetermined position and is at the predetermined placement angle based on the image data obtained by the vision mechanism. If so, the controller controls the robotic arm to move the gripper to the object and controls the gripper to grab the object.

[0073] This design effectively reduces the probability of grasping failure due to improper object placement angle, and effectively improves the operational efficiency of the robotic arm.

[0074] Overall, the machine vision-based robotic arm provided in this application embodiment can grasp objects more accurately and effectively reduce the probability of grasping failure.

[0075] Furthermore, please combine Figures 1-3 The gripper includes two corresponding clamping arms 100.

[0076] It is understood that the gripper also includes other necessary accessories, including but not limited to: a base for mounting the gripper arm 100, a power component for driving the gripper arm 100 to clamp and separate, etc., which will not be described in detail in this application.

[0077] At least one of the two clamping arms 100 has a relief groove 120 on its clamping surface 110. In this embodiment, both clamping arms 100 have relief grooves 120.

[0078] The clearance groove 120 is located at the front end of the clamping arm 100 and extends through to the front end wall of the clamping arm 100.

[0079] The clearance groove 120 extends along the width direction of the clamping arm 100, and the end of the clearance groove 120 is spaced apart from the side of the clamping arm 100, that is, the clearance groove 120 does not penetrate the side of the clamping arm 100.

[0080] In this embodiment, the cross-section of the cavity of the relief groove 120 is square.

[0081] An elastic membrane 130 is fitted inside the relief groove 120. The elastic membrane 130 extends continuously along the length of the relief groove 120, and its cross-section is arc-shaped. In this embodiment, the cross-section of the elastic membrane 130 is arc-shaped, and the central angle of the elastic membrane 130 is 90°.

[0082] The two ends of the elastic membrane 130 are respectively connected to the two end walls of the relief groove 120.

[0083] One side edge of the elastic membrane 130 is connected to the side wall of the relief groove 120 near the clamping surface 110, and the side edge of the elastic membrane 130 is disposed near the opening edge of the relief groove 120. In this embodiment, the outer ring wall of the side edge of the elastic membrane 130 is tangent to the plane of the clamping surface 110.

[0084] The other edge of the elastic membrane 130 is connected to the side wall of the relief groove 120 near the front end wall of the clamping arm 100, and the side edge of the elastic membrane 130 is disposed near the opening edge of the relief groove 120. In this embodiment, the outer ring wall of the side edge of the elastic membrane 130 is tangent to the plane of the front end face of the clamping arm 100.

[0085] The central axis of the cylinder corresponding to the outer ring wall of the elastic membrane 130 is located on the side of the elastic membrane 130 near the relief groove 120.

[0086] Under natural conditions, the elastic membrane 130 is in a naturally stretched state. In other words, as long as the elastic membrane 130 is not actively squeezed or stretched, the elastic membrane 130 basically does not have elastic compression or elastic stretching.

[0087] The elastic membrane 130 seals the opening of the relief groove 120, thus making the side of the elastic membrane 130 near the relief groove 120 a sealed space.

[0088] The elastic membrane 130 may be a rubber membrane, but is not limited to this.

[0089] A distance sensor 200 is also provided inside the clearance groove 120, and the distance sensor 200 is installed on the end wall of the clearance groove 120. In this embodiment, distance sensors 200 are installed on both end walls of the clearance groove 120.

[0090] The distance sensor 200 is oriented along the length direction of the relief groove 120 (i.e., the width direction of the clamping arm 100), meaning that the detection path 210 of the distance sensor 200 is oriented along the length direction of the relief groove 120.

[0091] Distance sensor 200 is electrically connected to the controller.

[0092] When the gripper is not gripping an object, the elastic membrane 130 is in a naturally extended state. The elastic membrane 130 will not block the detection path 210 of the distance sensor 200, and the distance value detected by the distance sensor 200 should match the length of the clearance groove 120.

[0093] When the gripper grasps an object, if the object is compressible, then when the two gripping arms 100 hold the object, the object will be compressed by the compressive force of the two gripping arms 100. This will cause the part of the object between the two gripping arms 100 to be compressed, while the part of the object outside the two gripping arms 100 will not be compressed. At the boundary between the compressed and uncompressed parts (i.e., near the front end wall of the gripping arm 100), compression will occur at the intersection of the front end wall of the gripping arm 100 and the gripping surface 110. Figure 3 As shown.

[0094] Because an elastic membrane 130 is provided at this location, the elastic membrane 130 is squeezed and undergoes elastic deformation into the relief groove 120. The deformed part of the elastic membrane 130 will block the detection path 210 of the distance sensor 200. At this time, the distance sensor 200 actually detects the distance to the deformed part, and the distance value detected by the distance sensor 200 will become smaller. The deformed part corresponding to this distance value must be located in the area where the elastic membrane 130 is located.

[0095] Based on this, when the gripper holds a compressible object, the change in the distance value detected by the distance sensor 200 can be used to determine whether the object being gripped is being squeezed and compressed by the gripper.

[0096] In specific applications, by adjusting the distance between the detection path 210 of the distance sensor 200 and the elastic membrane 130 in its naturally stretched state, the detection range for different degrees of compression can be adjusted.

[0097] When using a robotic arm to grasp an object, the above methods can be used to determine whether the robotic arm is excessively squeezing the object.

[0098] Furthermore, when using a robotic arm to grasp an object, as soon as the distance sensor 200 detects that the elastic membrane 130 has an elastic deformation area, the controller controls the gripper arm 100 of the robotic arm to stop clamping the object, thereby controlling the degree of clamping of the object by the robotic arm within a suitable range and avoiding excessive squeezing of the object by the robotic arm.

[0099] Based on this, each time the robotic arm grasps an object, it can determine the actual location of the deformation on the elastic membrane 130 based on the distance value corresponding to the deformed part detected by the distance sensor 200. This allows it to determine which specific position of the gripper arm 100 is used to grasp the object. If the gripper generally uses the middle of the gripper arm 100 to grasp the object, it indicates that the robotic arm's positioning effect is good. If the gripper generally uses the position near the edge of the gripper arm 100 to grasp the object, it indicates that the robotic arm's positioning effect is poor. If the positioning effect continues to deteriorate, the robotic arm will easily miss grasping objects, requiring calibration of the positioning accuracy when the robotic arm grasps objects.

[0100] In addition, since distance sensors 200 are provided on both end walls of the relief groove 120, the two sets of distance sensors 200 can accurately measure the size of the deformed part in the length direction of the relief groove 120 (i.e., the width direction of the clamping arm 100). After subtracting twice the thickness of the elastic membrane 130 from this size, it basically matches the size of the part of the object being clamped in the length direction of the relief groove 120. In other words, the above method can also help monitor the size data of the part of the object being clamped.

[0101] It should be noted that the elastic membrane 130 can also seal the clearance groove 120, which can protect the distance sensor 200 from direct impact and prevent dust from adhering to the distance sensor 200, thereby ensuring the detection accuracy of the distance sensor 200.

[0102] The distance sensor 200 may be a laser-type distance sensor, but is not limited to this.

[0103] Furthermore, please combine Figures 4-9 The relief groove 120 has a first extension groove 300 and a second extension groove 400 on one side of the groove wall near the clamping surface 110. The first extension groove 300 and the second extension groove 400 are respectively located at both ends of the relief groove 120 and are respectively located near the end wall of the relief groove 120. The first extension groove 300 and the second extension groove 400 both extend along the length direction of the clamping arm 100.

[0104] The first extension groove 300 is provided with an exhaust port 310, and the second extension groove 400 is provided with an air inlet 410.

[0105] The machine vision-based robotic arm also includes an air supply mechanism (not shown in the figure). The air supply mechanism is connected to the air inlet 410.

[0106] The exhaust port 310 is provided with a first one-way structure 600. The first one-way structure 600 allows gas in the first extension groove 300 to leave the first extension groove 300 through the exhaust port 310, and prevents external gas from entering the first extension groove 300 through the exhaust port 310.

[0107] The air inlet 410 is provided with a second one-way structure 700. The second one-way structure 700 prevents the gas in the second extension groove 400 from leaving the second extension groove 400 through the air inlet 410, and allows the gas supplied by the gas supply mechanism to enter the second extension groove 400 through the air inlet 410.

[0108] The air supply mechanism is electrically connected to the controller. The controller is used to control the air supply mechanism to supply air to the second extension slot 400 at a preset flow rate when the gripper releases the object.

[0109] With this design, when the robotic arm releases an object, the two grippers move away from each other, and the air supply mechanism supplies air to the second extension groove 400 through the air inlet 410 at a preset flow rate. This air enters the first extension groove 300 through the clearance groove 120. When the air pressure reaches the trigger pressure of the first one-way structure 600, the first one-way structure 600 can be opened and discharged from the exhaust port 310.

[0110] During this process, the gas supplied by the gas supply mechanism into the clearance groove 120 promotes the rapid reset of the elastic membrane 130, allowing the previously deformed parts to quickly recover. Since the deformed parts disappear, the detection path 210 of the distance sensor 200 is no longer obstructed, and the distance value detected by the distance sensor 200 once again matches the length of the clearance groove 120. This design not only promotes the recovery of the elastic membrane 130 but also allows the distance sensor 200 to detect whether the elastic membrane 130 has successfully recovered, while simultaneously calibrating the distance sensor 200.

[0111] The maximum air pressure in the clearance groove 120 during the air supply process can be controlled by adjusting the trigger pressure that opens the first unidirectional structure 600, thereby adjusting the restoring force exerted by the airflow on the elastic membrane 130 to meet the restoring needs of elastic membranes 130 with different elasticities.

[0112] The air supply mechanism can be an air pump or a piston mechanism, and is not limited to either. When the air supply mechanism is a piston mechanism, it can be controlled to draw in air when the two gripping arms 100 of the robot arm are close to each other, and to exhaust air when the two gripping arms 100 are far apart (i.e., to deliver the exhausted air to the air inlet 410). It is not limited to this either.

[0113] In this embodiment, the first one-way structure 600 and the second one-way structure 700 are configured such that when both the first one-way structure 600 and the second one-way structure 700 are in the closed state, the second one-way structure 700 can lock the first one-way structure 600. That is, if the second one-way structure 700 is not opened, the first one-way structure 600 cannot be opened. If the first one-way structure 600 is to be opened, the second one-way structure 700 must be opened first.

[0114] In this embodiment, the air inlet 410 is located on the side wall of the second extension groove 400 away from the relief groove 120, and the air inlet 410 is arranged along the length direction of the clamping arm 100.

[0115] The exhaust port 310 is located on the side of the clamping arm 100. The exhaust port 310 is located on the side of the first extension groove 300 away from the second extension groove 400, and the exhaust port 310 is arranged along the width direction of the clamping arm 100.

[0116] Specifically, the first unidirectional structure 600 includes: a stop ring 610, a first core 620, a first rod 630, and a first end block 640.

[0117] The stop ring 610 is located inside the exhaust port 310. The outer ring wall of the stop ring 610 is attached to and fixedly connected with the inner wall of the exhaust port 310, and the outer ring wall of the stop ring 610 is sealed to the inner wall of the exhaust port 310.

[0118] A mating hole 510 is provided between the first extension groove 300 and the second extension groove 400 to connect the two. The mating hole 510 is set along the width direction of the clamping arm 100. That is to say, the mating hole 510 is parallel to and spaced apart from the relief groove 120.

[0119] Along the length of the mating hole 510, the first rod body 630 is slidably fitted into the mating hole 510.

[0120] The first core 620 and the first end block 640 are respectively fixedly connected to the two ends of the first rod 630. The first core 620 is located on the side of the stop ring 610 away from the first extension groove 300, and the first end block 640 is located in the second extension groove 400.

[0121] The second unidirectional structure 700 includes: a positioning post 710, a second core 720, a second rod 750, and a second end block 760.

[0122] The positioning post 710 is located inside the air inlet 410. The two ends of the positioning post 710 are fixedly connected to the inner walls of the two sides of the air inlet 410, and the positioning post 710 is arranged radially along the air inlet 410.

[0123] The second rod 750 is arranged along the axial direction of the air inlet 410. Along the axial direction of the air inlet 410, the second rod 750 passes through the positioning post 710 and is slidably fitted to the positioning post 710.

[0124] The second core 720 and the second end block 760 are respectively connected to the two ends of the second rod 750. The second core 720 is located inside the second extension groove 400, and the second end block 760 is located on the side of the positioning post 710 away from the second extension groove 400.

[0125] A first elastic element (not shown in the figure) is connected between the second extension groove 400 on the side wall away from the first extension groove 300 and the first end block 640. The first elastic element is in an elastic tension state, that is, the first elastic element provides tension.

[0126] A second elastic element (not shown in the figure) abuts between the second end block 760 and the positioning post 710, that is, the second elastic element provides thrust.

[0127] In its natural state, under the elastic force of the second elastic element, the second core 720 adheres to the side wall of the second extension groove 400 away from the relief groove 120 and closes the air inlet 410.

[0128] In this embodiment, the elastic force of the second elastic element is greater than the elastic force of the first elastic element.

[0129] The second core 720 has a first notch 730, which is located along the width direction of the clamping arm 100 and extends through the second core 720. The first notch 730 also extends axially along the air inlet 410. The width of the first notch 730 matches the diameter of the first rod 630.

[0130] On the side of the second core 720 away from the first extension groove 300, the sidewall of the first notch 730 further extends along the thickness direction of the clamping arm 100 to form a second notch 740, and the second notch 740 is located at the end of the first notch 730 near the second rod 750.

[0131] In the axial direction of the mating hole 510, the second notch 740 does not penetrate the second core 720. Along the axial direction of the mating hole 510, the depth of the second notch 740 is less than the outer diameter of the first end block 640 in the axial direction of the mating hole 510.

[0132] In the width direction of the first notch 730 (i.e., in the thickness direction of the clamping arm 100), the width of the first notch 730 is less than the dimension of the first end block 640 in this direction, and the width of the second notch 740 is greater than or equal to the dimension of the first end block 640 in this direction.

[0133] The first end block 640 is wedge-shaped on the side away from the second rod 750. Specifically, in the axial direction of the mating hole 510, and in the direction from the first end block 640 to the first core 620, the distance between the wedge-shaped surface 641 of the first end block 640 and the air inlet 410 decreases.

[0134] The first rod 630 passes through the first notch 730, and the first end block 640 is located on the side of the second core 720 away from the first extension groove 300.

[0135] When the robotic arm begins to grip an object, the air supply mechanism is not activated. At this time, under the action of the second elastic element, the second core 720 adheres to the side wall of the second extension groove 400 away from the relief groove 120, and the air inlet 410 is sealed by the second core 720. Meanwhile, the first rod 630 is located at the end of the first notch 730 away from the second notch 740, and the surface of the first end block 640 near the first core 620 adheres to the side wall of the second core 720 away from the first extension groove 300. The first core 620 adheres to the stop ring 610 and seals the exhaust port 310. Figure 5 , Figure 6 and Figure 7 As shown.

[0136] In this state, the second core 720 blocks the first end block 640 on the side away from the first core 620, and the first end block 640 cannot move to the side where the first core 620 is located, and the first unidirectional structure 600 is locked.

[0137] Through the above design, the elastic force of the second elastic element can be set to be relatively large, while the elastic force of the first elastic element can be set to be relatively small.

[0138] Specifically, since the second one-way structure 700 seals the air inlet 410 and also assists in locking the first one-way structure 600, the exhaust port 310 is also stably in a closed state. In this state, when the robotic arm grips an object, even if the elastic membrane 130 is squeezed and deformed, no gas will be discharged from the exhaust port 310. The deformation will only increase the air pressure in the relief groove 120, which will help the elastic membrane 130 to fit more tightly with the object being gripped, avoiding local gaps between the elastic membrane 130 and the object being gripped at the deformation point. At the deformation point of the elastic membrane 130, the membrane layer of the elastic membrane 130 can fit more fully with the surface of the object, and the elastic membrane 130 can more accurately reflect the actual deformation of the object being gripped. This not only improves the accuracy of the distance sensor 200 in detecting the deformation of the clamped object, but also improves the accuracy of detecting the specific position of the object actually clamped by the clamping arm 100. Furthermore, when clamping the object, it can more accurately detect the size of the clamped object in the width direction of the clamping arm 100.

[0139] Specifically, if the object being gripped is large, the contact area between the gripping arm 100 and the object will be larger, and the contact area between the elastic diaphragm 130 and the object will also be larger. When the gripped part of the object undergoes compression deformation, the elastic diaphragm 130 will also undergo elastic deformation, and the deformation area of ​​the elastic diaphragm 130 will be larger. This results in a larger compressed area of ​​the elastic diaphragm 130 and a larger increase in air pressure within the clearance groove 120. For this larger deformation area, it is more conducive to the elastic diaphragm 130 fully adhering to the object surface, thereby minimizing the gap between the elastic diaphragm 130 and the gripped object. Although the deformation area is large, the elastic diaphragm 130 can fully adhere to the object surface throughout the entire deformation area. This effectively ensures the accuracy of the distance sensor 200 in detecting the deformation of the gripped object, the accuracy in detecting the specific position of the gripping arm 100 used to grip the object, and the accuracy in detecting the dimensions of the gripped object in the width direction of the gripping arm 100.

[0140] When the robotic arm releases the object, the two gripping arms 100 move away from each other. The air supply mechanism supplies air into the second extension groove 400. The airflow pushes the second core 720 to overcome the elastic force of the second elastic element. The second core 720 separates from the side wall of the second extension groove 400 away from the relief groove 120, thus opening the air inlet 410. The second core 720 moves relative to the first rod 630. This causes the first rod 630 to enter the end of the first notch 730 where the second notch 740 is located. The first rod 630 passes through both the first notch 730 and the second notch 740, and the first end block 640 is also aligned with the second notch 740.

[0141] As the gas supply mechanism supplies gas into the second extension groove 400, the gas pressure in the second extension groove 400, the clearance groove 120, and the first extension groove 300 gradually increases. The gas tends to push the first core 620 apart from the stop ring 610. The first end block 640, being able to move into the second notch 740, provides space for the movement of the first rod 630. When the gas pressure in the second extension groove 400, the clearance groove 120, and the first extension groove 300 rises to the trigger pressure of the first one-way structure 600, it can overcome the elastic force of the first elastic element. The first end block 640 moves into the second notch 740 and approaches the inner wall of the first core 620. The first core 620 smoothly separates from the stop ring 610, and the exhaust port 310 opens. Figure 10 and Figure 11 As shown. In this state, the end of the first end block 640 that is away from the first core 620 is still outside 740, that is, the first end block 640 has not been fully inserted into the second notch 740.

[0142] When both the first unidirectional structure 600 and the second unidirectional structure 700 are activated, the gas in the clearance groove 120 can promote the rapid recovery of the elastic membrane 130.

[0143] With the above design, the elastic force of the first elastic element does not need to be set too high (i.e., the trigger pressure of the first one-way structure 600 does not need to be set too high). It only needs to be able to allow the gas in the relief groove 120 to promote the recovery of the elastic membrane 130. Since the second core 720 cooperates with the first end block 640, it can lock the first one-way structure 600 when both the first one-way structure 600 and the second one-way structure 700 are closed. Although the trigger pressure of the first one-way structure 600 is small, during the process of the robot gripping the object, the second one-way structure 700 can help the first one-way structure 600 to achieve locking, ensuring that the elastic membrane 130 can fully adhere to the surface of the object being gripped.

[0144] In this way, when the robotic arm releases the object, the resistance provided by the first unidirectional structure 600 will not be too great, which will prevent the elastic membrane 130 from being over-expanded, reduce the loss of elastic performance of the elastic membrane 130, and help extend the service life of the elastic membrane 130.

[0145] For the second unidirectional structure 700, it can be opened directly using the airflow provided by the air supply mechanism without additional control.

[0146] It should be noted that during the gas supply process, the airflow flowing through the air inlet 410, the second extension groove 400, the clearance groove 120, the first extension groove 300 and the exhaust port 310 can also cool down the distance sensor 200 to prevent it from overheating.

[0147] Once the two gripper arms 100 of the robotic arm have moved away from each other and are in position, the air supply mechanism stops working. At this time, the second one-way structure 700 resets under the elastic force of the second elastic element, and the air inlet 410 closes again. During the reset process, the second core 720 moves toward the air inlet 410, and the end wall of the second notch 740 away from the second end block 760 abuts against the wedge-shaped surface 641 of the first end block 640. Under the action of the wedge-shaped surface 641, the first end block 640 is pushed away from the first core 620, thereby causing the first end block 640 to exit from the second notch 740. In addition, the first elastic element also applies a pulling force to the first end block 640, allowing the first end block to move quickly away from the first core 620, thus enabling the first one-way structure 600 to close the exhaust port 310 more quickly. In other words, the elastic forces of the first elastic element and the second elastic element can act directly or indirectly on the first end block 640, which can help the first unidirectional structure 600 close the exhaust port 310 more quickly.

[0148] Because the exhaust port 310 can close faster, when the exhaust port 310 is completely closed, the air pressure in the first extension groove 300, the clearance groove 120 and the second extension groove 400 can be maintained at a higher level, which is more conducive to the elastic membrane 130 fully adhering to the surface of the object when the robot arm grasps the object.

[0149] In this embodiment, an air guide channel 520 is provided between the first extension groove 300 and the second extension groove 400 to connect the two, and the air guide channel 520 is arranged along the width direction of the clamping arm 100.

[0150] The gas channel 520 is used to provide an additional channel for the gas in the second extension groove 400 to enter the first extension groove 300, so as to avoid excessive gas pressure in the relief groove 120 and cause the elastic membrane 130 to be over-expanded.

[0151] In this embodiment, the detection path 210 of the distance sensor 200 is positioned close to the side wall of the relief groove 120 near the clamping surface 110, and the detection path 210 of the distance sensor 200 is also positioned close to the clamping surface 110 of the clamping arm 100. The distance between the detection path 210 and the side wall of the relief groove 120 near the clamping surface 110, and the distance between the detection path 210 and the plane containing the clamping surface 110, can be flexibly set according to actual needs to adjust the detection range for different degrees of compression when the robotic arm grips an object.

[0152] It is understood that the machine vision-based robotic arm provided in this application is suitable for various scenarios that require grasping objects, especially for grasping objects that can be squeezed / compressed. Its specific application scenarios can be flexibly selected according to actual needs and are not limited to a single application scenario.

[0153] This embodiment also provides a blemish removal system, which includes: a positioning mechanism (not shown in the figure), a blemish removal tool (not shown in the figure), and the aforementioned machine vision-based robotic arm.

[0154] The positioning mechanism is used to fix the object to be removed (the object whose defects need to be removed).

[0155] The blemish removal tool is gripped by a claw.

[0156] The controller of the machine vision-based robotic arm is used to determine the location of defects on the object to be removed based on image data. The controller is also used to control the robotic arm to move the gripper to the vicinity of the defect location, and to control the gripper to remove the defects on the object using the removal tool.

[0157] Specifically, taking a product with rough edges (the object to be removed) as an example, the object to be removed is fixed by a positioning mechanism. The controller of the robotic arm determines the specific location of the rough edges of the object to be removed based on image data. The controller then controls the robotic arm to move the gripper with the burr remover (removal tool) to the vicinity of the rough edges. The controller further controls the gripper to use the burr remover to remove the rough edges of the object to be removed.

[0158] This design enables the automatic removal of defects from items.

[0159] This embodiment also provides a chili pepper stem and cap removal system, which includes a conveying mechanism and the aforementioned machine vision-based robotic arm.

[0160] In use, the conveying mechanism is used to transport the chili peppers to the vicinity of the machine vision-based robotic arm.

[0161] The controller of the robotic arm is used to determine, based on image data, whether the chili pepper stem and / or the chili pepper body has been conveyed to a predetermined position and is at a predetermined placement angle by the conveying mechanism.

[0162] Specifically, when the conveyor mechanism is conveying chilies, if the chili stem is facing the robotic arm, then when the controller detects that the chili stem has extended towards the robotic arm while the main body of the chili is still fixed by the conveyor mechanism, the controller controls the robotic arm to move the gripper to the chili and control the gripper to grab the chili stem. After grabbing, the controller controls the robotic arm to rotate and / or pull, thereby separating the chili stem from the chili body.

[0163] When the conveyor mechanism is conveying chili peppers, if the main body of the pepper is facing the robotic arm, then when the controller detects that the main body of the pepper has reached towards the robotic arm and the pepper stem is still fixed by the conveyor mechanism, the controller controls the robotic arm to move the gripper to the pepper and control the gripper to grab the main body of the pepper. After grabbing, the controller controls the robotic arm to rotate and / or pull, thereby separating the main body of the pepper from the pepper stem.

[0164] By using the aforementioned machine vision-based robotic arm to perform the chili pepper stem removal operation (rotation and / or pulling), the degree of compression exerted on the chili pepper stem and body by the robotic arm 100 when gripping them can be monitored in real time. This prevents excessive clamping force that could over-compress the chili pepper stem and body, thus avoiding the direct breakage of the chili pepper stem or body during the stem removal operation (rotation and / or pulling). If the chili pepper stem is broken, rotation and pulling can no longer be performed, and the remaining stem must be re-gripped. If the chili pepper body is broken, the integrity of the chili pepper body is compromised.

[0165] The above design allows for more reasonable control of the force applied by the clamping arm 100 when clamping chili peppers, preventing them from being broken off directly while clamping.

[0166] It should be noted that, in this embodiment, the main body of the chili pepper refers to the part of the chili pepper after the stem and cap have been removed.

[0167] In this embodiment, the chili pepper stem and cap removal system is more suitable for removing stems and caps from dried chili peppers.

[0168] Please combine Figure 12 The conveying mechanism includes a first synchronous belt 810 and a second synchronous belt 820, which are arranged side by side and whose belt surfaces are in contact with each other.

[0169] The first synchronous belt 810 and the second synchronous belt 820 run synchronously at the same speed. The side of the first synchronous belt 810 closest to the second synchronous belt 820 moves toward the side where the robot arm is located, and the side of the second synchronous belt 820 closest to the first synchronous belt 810 also moves toward the side where the robot arm is located. The conveying mechanism clamps the chili peppers between the first synchronous belt 810 and the second synchronous belt 820 and conveys them toward the side where the robot arm is located.

[0170] With this design, during the conveying process, if the chili pepper stem faces the robotic arm, the robotic arm will perform a stem removal and cap removal operation (rotation and / or pulling) when the chili pepper stem and cap leave the conveying mechanism and the chili pepper body is still clamped between the first synchronous belt 810 and the second synchronous belt 820.

[0171] During the conveying process, if the main body of the chili pepper is facing the robotic arm, the chili pepper body and cap will be removed from the conveying mechanism while the chili pepper stem is still held between the first synchronous belt 810 and the second synchronous belt 820. The robotic arm will then hold the chili pepper body to perform a stem removal and cap removal operation (rotation and / or pulling).

[0172] As dried chilies lose moisture, their overall toughness increases, while the connection between the cap and the body becomes more fragile, making it easier to separate.

[0173] In this way, the conveying mechanism not only facilitates the robotic arm to perform the removal of the cap, but also allows the first synchronous belt 810 and the second synchronous belt 820 to pre-compress the dried chili peppers while conveying them. This pre-compresses the connection between the chili pepper cap and the chili pepper body, which is beneficial for separating the chili pepper cap from the chili pepper body, making it easier for the chili pepper stem and cap to detach from the chili pepper body as a whole.

[0174] In addition, by using the first synchronous belt 810 and the second synchronous belt 820 to pre-compress the dried chili peppers, any gas that may be present inside the dried chili peppers can be expelled, promoting local cracking of the dried chili peppers. This can eliminate the gas inside the dried chili peppers, and when cooking with the whole chili pepper body, it can prevent the chili peppers from bursting and causing burns.

[0175] Additionally, it's important to note that when the robotic arm grasps the chili pepper stems, it can use the distance sensor 200 to detect the dimensions of the stems along the width of the gripper arm 100, thus allowing for a rough assessment of the stem diameter. For dried chili peppers, due to moisture loss, the stem diameter of dried chili peppers of the same size will be significantly smaller than that of fresh chili peppers. Therefore, when performing stem removal and cap removal operations, the robotic arm can also use stem size detection to help determine whether the chili peppers are sufficiently dry. If a chili pepper stem diameter is detected to be significantly larger than average, it indicates that the chili pepper is likely not fully dried.

[0176] Furthermore, please combine Figure 13 Both the first synchronous belt 810 and the second synchronous belt 820 are provided with teeth 830 on their belt surfaces. The teeth 830 extend along the width direction of the belt surface and are evenly distributed along the length direction of the belt surface.

[0177] The teeth 830 of the first synchronous belt 810 and the second synchronous belt 820 are staggered. That is, the teeth 830 of the first synchronous belt 810 do not directly engage with the teeth 830 of the second synchronous belt 820. The teeth 830 of the first synchronous belt 810 engage with the belt surface of the second synchronous belt 820, while the teeth 830 of the second synchronous belt 820 engage with the belt surface of the first synchronous belt 810.

[0178] The teeth 830 not only improve the ability of the first synchronous belt 810 and the second synchronous belt 820 to fix the dried chili peppers, but also promote the cracking of the dried chili peppers more smoothly and promote the expulsion of air inside the dried chili peppers. In addition, they can leave a certain gap between the belt surfaces of the first synchronous belt 810 and the second synchronous belt 820, providing more space for the dried chili peppers to expel internal gas.

[0179] If the tooth 830 is not provided, since the belt surfaces of the first synchronous belt 810 and the second synchronous belt 820 are in close contact, when the dried chili pepper is squeezed to expel the internal gas, due to the small redundant space, the instantaneous airflow intensity of the air inside the chili pepper may be high when it is expelled. This can easily cause the chili pepper seeds inside the chili pepper to be blown out along with it, resulting in the chili pepper seeds splashing.

[0180] In summary, the machine vision-based robotic arm provided in this application embodiment can grasp objects more accurately, effectively reducing the probability of grasping failure. The defect removal system provided in this application embodiment can automate the processing of product defects. The chili pepper stem and cap removal system provided in this application embodiment can automate the stem and cap removal operation of chili peppers.

[0181] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robotic hand based on machine vision, characterized in that, include: Vision mechanisms, robotic arms, grippers, and controllers; The gripper is mounted on the robotic arm; The vision mechanism, the robotic arm, and the gripper are all electrically connected to the controller; The vision mechanism is used to acquire image data of the target area; The controller is used to determine whether the object has reached the predetermined position and is at the predetermined placement angle based on the image data. If so, the controller controls the robotic arm to move the gripper to the object and controls the gripper to grab the object. The gripper includes two corresponding clamping arms; At least one of the two clamping arms has a relief groove on its clamping surface, the relief groove is located at the front end of the clamping arm, and the relief groove extends through to the front end wall of the clamping arm; The relief groove extends along the width direction of the clamping arm, and the end of the relief groove is spaced apart from the side of the clamping arm. An elastic membrane is fitted inside the relief groove, the elastic membrane extending along the length of the relief groove, and the cross-section of the elastic membrane is arc-shaped; both ends of the elastic membrane are connected to the end walls of the relief groove respectively; one side edge of the elastic membrane is connected to the side wall of the relief groove near the clamping surface, and this side edge of the elastic membrane is located near the opening edge of the relief groove; the other side edge of the elastic membrane is connected to the side wall of the relief groove near the front end wall of the clamping arm, and this side edge of the elastic membrane is located near the opening edge of the relief groove. In its natural state, the elastic membrane is in a naturally stretched state; The elastic membrane seals the opening of the relief groove; A distance sensor is also provided inside the clearance groove. The distance sensor is installed on the end wall of the clearance groove, and the orientation of the distance sensor is set along the length direction of the clearance groove. The distance sensor is electrically connected to the controller; The relief groove has a first extension groove and a second extension groove on the side wall near the clamping surface. The first extension groove and the second extension groove are respectively located at both ends of the relief groove and are respectively located near the end wall of the relief groove. Both the first extension groove and the second extension groove extend along the length direction of the clamping arm. The first extension groove is provided with an exhaust port, and the second extension groove is provided with an air inlet; The exhaust port is provided with a first one-way structure; The machine vision-based robotic arm also includes: an air supply mechanism; The air supply mechanism is connected to the air inlet; The air supply mechanism is used to supply air into the second extension slot when the gripper releases the object; The air inlet is located on the side wall of the second extension groove away from the relief groove, and the air inlet is arranged along the length direction of the clamping arm. The exhaust port is located on the side of the clamping arm and is arranged along the width direction of the clamping arm. The first unidirectional structure includes: a stop ring, a first core, a first rod, and a first end block; The stop ring is disposed inside the exhaust port, and the outer ring wall of the stop ring is fitted and fixedly connected to the inner wall of the exhaust port. A mating hole is provided between the first extension groove and the second extension groove to connect the two, and the mating hole is provided along the width direction of the clamping arm; The first rod body is slidably fitted into the mating hole; The first core and the first end block are respectively connected to the two ends of the first rod; the first core is located on the side of the stop ring away from the first extension groove, and the first end block is located in the second extension groove; The air inlet is provided with a second one-way structure; the second one-way structure includes: a positioning post, a second core, a second rod, and a second end block; The positioning post is located inside the air inlet, and its two ends are respectively connected to the inner walls of the two sides of the air inlet; the second rod is arranged along the axial direction of the air inlet, and the second rod passes through the positioning post and is slidably fitted to the positioning post; the second core and the second end block are respectively connected to the two ends of the second rod; the second core is located inside the second extension groove, and the second end block is located on the side of the positioning post away from the second extension groove; A first elastic element is connected between the second extension groove on the side wall away from the first extension groove and the first end block, and the first elastic element is in an elastic tension state. A second elastic element abuts between the second end block and the positioning post; in its natural state, the second core fits against the side wall of the second extension groove away from the relief groove and seals the air inlet; The second core has a first notch, which is provided along the width direction of the clamping arm and penetrates the second core. The first notch also extends along the axial direction of the air inlet. The width of the first notch matches the diameter of the first rod. On the side of the second core away from the first extension groove, the sidewall of the first notch further extends along the thickness direction of the clamping arm to form a second notch, and the second notch is located at the end of the first notch near the second rod. Along the axial direction of the mating hole, the depth of the second notch is less than the outer diameter of the first end block; In the width direction of the first notch, the width of the first notch is less than the outer diameter of the first end block, and the width of the second notch is greater than or equal to the outer diameter of the first end block; The side of the first end block furthest from the second rod is wedge-shaped; The first rod passes through the first notch, and the first end block is located on the side of the second core away from the first extension groove; When the second core is attached to the side wall of the second extension groove away from the relief groove, the first rod is located at the end of the first notch away from the second notch, the first end block is attached to the side wall of the second core away from the first extension groove, and the first core is attached to the stop ring and seals the exhaust port. When the air supply mechanism supplies air into the second extension groove, the second core separates from the side wall of the second extension groove away from the relief groove, thereby opening the air inlet. The first rod moves to the end of the first notch where the second notch is located, and the first rod passes through both the first notch and the second notch. The airflow pushes the first core to separate from the stop ring, thereby opening the exhaust port. The first end block moves into the second notch.

2. The machine vision-based robotic arm according to claim 1, characterized in that, An air guide channel is provided between the first extension groove and the second extension groove to connect the two, and the air guide channel is arranged along the width direction of the clamping arm.

3. The machine vision-based robotic arm according to claim 1, characterized in that, The detection path of the distance sensor is located close to the side wall of the clearance groove near the clamping surface, and the detection path of the distance sensor is located close to the clamping surface of the clamping arm.

4. A blemish removal system, characterized in that, include: Positioning mechanism, blemish removal tool, and machine vision-based robotic arm as described in any one of claims 1-3; The positioning mechanism is used to fix the object to be removed; The blemish removal tool is grasped by the gripper; The controller of the machine vision-based robotic arm is used to determine the location of the defect in the object to be removed based on the image data. The controller is also used to control the robotic arm to move the gripper to the vicinity of the defect location. The controller is also used to control the gripper to remove the defect in the object using the removal tool.

5. A system for removing the stems and caps from chili peppers, characterized in that, include: The conveying mechanism and the machine vision-based robotic arm as described in any one of claims 1-3; The conveying mechanism is used to transport the chili peppers to the vicinity of the machine vision-based robotic arm; The controller of the machine vision-based robotic arm is used to determine, based on the image data, whether the stem and / or body of the chili pepper has been transported to a predetermined position and is at a predetermined placement angle by the conveying mechanism. If so, the controller controls the robotic arm to move the gripper to the chili pepper, and the controller controls the gripper to grab the stem or body of the chili pepper and rotate and / or pull it, thereby separating the stem and body of the chili pepper.

6. The chili pepper stem and cap removal system according to claim 5, characterized in that, The conveying mechanism includes a first synchronous belt and a second synchronous belt, which are arranged side by side and their belt surfaces are in contact with each other.

7. The chili pepper stem and cap removal system according to claim 6, characterized in that, Both the first synchronous belt and the second synchronous belt have teeth on their belt surfaces. The teeth are arranged along the width direction of the belt surface and are evenly spaced along the length direction of the belt surface.

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