Disordered vegetable and fruit grabbing device based on 3D camera

Abstract

The device comprises a bottom plate, the top of the bottom plate is fixedly connected with a base, the top of the base is rotationally connected with a rotating large arm, the top of the rotating large arm is rotationally connected with a rotating small arm, and one side of the outer portion of the rotating small arm is rotationally connected with a shell; an air pipe is fixedly connected to the interior of the shell, a driving assembly is fixedly connected to one side of the exterior of the air pipe, two connecting columns are slidably connected to the interior of the shell, second special-shaped blocks are fixedly connected to the tops of the connecting columns, clamping blocks are fixedly connected to the bottoms of the connecting columns, and a supporting frame is fixedly connected to the top of the bottom plate. The top of the supporting frame is fixedly connected with a machine body. According to the utility model, the plurality of rotating arms can be driven by the motor set to move, and the camera body in the center can be freely adjusted in direction under the driving of the plurality of rotating shafts.

Description

Technical Field

[0001] The present application relates to the technical field of vegetable and fruit processing equipment, and in particular to a disordered fruit and vegetable grabbing device based on a 3D camera. Background Art

[0002] The 3D camera-based vegetable and fruit random grabbing device is a device that uses 3D camera technology to assist in the automated grabbing of vegetables and fruits. It combines computer vision and robotics technology to improve the efficiency and accuracy of the random grabbing process of vegetables and fruits.

[0003] After searching: Chinese patent publication number: CN219424995U, it relates to the field of automatic material grabbing technology, and discloses a disordered grabbing mechanical mechanism device, including a bottom frame, a motor is fixedly installed on the side of the bottom frame, a round rod is fixedly sleeved on the output shaft of the motor, a first roller is fixedly installed on the side of the round rod, a transmission belt is meshed on the gear teeth of the first roller, a second roller is movably sleeved on the inner wall of the transmission belt, and a fixed rod is fixedly installed on the side of the bottom frame. The disordered grabbing mechanical mechanism device, through the coordinated use of the motor and the round rod, uses the motor to drive the round rod to rotate, so that the round rod drives the first roller to rotate, and then the first roller drives the second stirring rod to rotate, and the second roller and the first stirring rod are driven to rotate through the transmission belt, so as to adjust the position of the parts on the top of the tympanic membrane until the parts are in a position that is convenient for grabbing. Compared with the traditional device, this device is convenient for stably clamping the parts, so as to facilitate the operation of the robot arm.

[0004] The above patent embodiment states that "by adding the limit plate 11, it is convenient to utilize the limit plate 11 to assist the movement of the line scan 3D camera", and the 3D camera can be moved on the device, but the angle cannot be adjusted. Therefore, in view of the above shortcomings, a new type of disordered fruit and vegetable grasping device based on a 3D camera is now proposed. Summary of the invention

[0005] The purpose of the present application is to provide a disordered fruit and vegetable grasping device based on a 3D camera, so as to improve the problem that the camera position of some devices cannot be adjusted, so that the device cannot effectively grasp the position of the object.

[0006] The present application provides a 3D camera-based disordered fruit and vegetable grabbing device that adopts the following technical solutions:

[0007] A disorderly fruit and vegetable grabbing device based on a 3D camera comprises a bottom plate, the top of the bottom plate is fixedly connected to a base, the top of the base is rotatably connected to a rotating large arm, the top of the rotating large arm is rotatably connected to a rotating small arm, the outer side of the rotating small arm is rotatably connected to a shell, the inside of the shell is fixedly connected to an air pipe, the outer side of the air pipe is fixedly connected to a driving component, the inside of the shell is slidably connected to two connecting columns, the top of the connecting column is fixedly connected to a special-shaped block 2, the bottom of the connecting column is fixedly connected to a gripping block, the top of the bottom plate is fixedly connected to a support frame, and the support frame The top of the body is fixedly connected, the top of the body is fixedly connected with multiple support columns, the tops of the multiple support columns are fixedly connected with a top plate, the top of the top plate is provided with a power assembly, the outside of the power assembly is fixedly connected with a rotating arm 1, the inside of the rotating arm 1 is rotatably connected to two rotating shafts 1, the adjacent sides of the two rotating shafts 1 are fixedly connected with a camera body, the outside of the power assembly is fixedly connected with a rotating arm 2, the inside of the rotating arm 2 is rotatably connected to a rotating shaft 2, the outside of the rotating shaft 2 is fixedly connected with a rotating arm 3, and the inside of the rotating arm 3 is rotatably connected to a rotating shaft 3.

[0008] By adopting the above technical solution, the angle at which the camera grasps the object can be adjusted when the device grasps the object normally.

[0009] Optionally, a control panel is fixedly connected to the top of the top plate, and a connecting line is fixedly connected to an outer side of the control panel.

[0010] By adopting the above technical solution, telecommunication control can be released to externally connected devices.

[0011] Optionally, the power assembly includes motor 1, central shaft 1, motor 2, and central shaft 2, the bottom of motor 1 is fixedly connected to the top of the top plate, the outer side of central shaft 1 is fixedly connected to the driving end of motor 1, the bottom of motor 2 is fixedly connected to the top of the top plate, and the outer side of central shaft 2 is fixedly connected to the driving end of motor 2.

[0012] By adopting the above technical solution, power can be provided for adjusting the angle of the device.

[0013] Optionally, the driving assembly includes a cylinder, a transmission shaft, and a special-shaped block 1, wherein the outside of the cylinder is fixedly connected to the inside of the outer shell, the top of the transmission shaft is fixedly connected to the driving end of the cylinder, and the top of the special-shaped block 1 is fixedly connected to the bottom of the transmission shaft.

[0014] By adopting the above technical solution, power is provided for the pneumatic clamping of the device.

[0015] Optionally, the outside of the special-shaped block 2 is slidably connected to the inside of the shell, and the left and right sides of the outside of the special-shaped block 1 are respectively slidably connected to the adjacent sides of the two special-shaped blocks 2.

[0016] By adopting the above technical solution, the force in the vertical direction can be converted into the clamping force in the horizontal direction.

[0017] Optionally, a motor three is fixedly connected to an external side of the body, a driving end of the motor three is fixedly connected to a central axis three, two rotating drums are rotatably connected inside the body, a transmission belt is provided on the outside of the two rotating drums, and two storage boxes are fixedly connected to the top of the base plate.

[0018] By adopting the technical solution, objects can be moved on the device and storage space can be provided.

[0019] Optionally, an outer side of the second rotating arm is fixedly connected to an outer side of the second central axis, and an outer side of the first rotating arm is fixedly connected to an outer side of the first central axis.

[0020] In summary, the present application includes at least one of the following beneficial technical effects:

[0021] In the utility model, with the coordinated use of structures such as central axis 2, rotating arm 1, rotating axis 1, and rotating arm 2, the device can drive multiple rotating arms to move through a motor group during use, and the camera body at the center can be freely adjusted in direction under the drive of multiple rotating axes, thereby solving the problem that the camera position of some devices cannot be adjusted, making it impossible for the device to effectively grasp the position of an object. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional diagram of the disordered fruit and vegetable grabbing device based on a 3D camera proposed in the utility model;

[0023] Figure 2 This is a schematic diagram of the base structure of the 3D camera-based vegetable and fruit disorderly grabbing device proposed by the utility model;

[0024] Figure 3 This is a schematic diagram of the transmission shaft structure of the vegetable and fruit disorderly grasping device based on a 3D camera proposed in the utility model;

[0025] Figure 4 This is a schematic diagram of the support column structure of the vegetable and fruit disorderly grasping device based on a 3D camera proposed in the utility model;

[0026] Figure 5 This is a schematic diagram of the top plate structure of the vegetable and fruit disorderly grasping device based on a 3D camera proposed in the utility model.

[0027] In the figure, 1, bottom plate; 2, base; 3, rotating arm; 4, rotating arm; 5, outer shell; 6, air pipe; 7, cylinder; 8, transmission shaft; 9, special-shaped block one; 10, connecting column; 11, special-shaped block two; 12, clamping block; 13, support frame; 14, machine body; 15, supporting column; 16, top plate; 17, motor one; 18, center axis one; 19, motor two; 20, center axis two; 21, rotating arm one; 22, rotating axis one; 23, camera body; 24, rotating arm two; 25, rotating axis two; 26, rotating arm three; 27, rotating axis three; 28, control panel; 29, connecting line; 30, motor three; 31, center axis three; 32, rotating drum; 33, transmission belt; 34, storage box. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1 - Attachment Figure 5 , further details of this application are given.

[0029] Reference Figure 1 , Figure 2 , Figure 3 , Figure 5The utility model provides an embodiment: first, fruits and vegetables are placed on a bottom plate 1, which is connected to a base 2 by a fixed connection, and a rotating arm 3 is connected to the base 2 by a rotating connection, and it can rotate in the horizontal direction. The rotating arm 4 is connected to the rotating arm 3 by a rotating connection to realize the rotation in the vertical direction. The housing 5 is connected to one side of the rotating arm 4 by a rotating connection, and it includes an air pipe 6, which is connected to an external driving component by an internal connection. The driving component includes a cylinder 7, a transmission shaft 8 and a special-shaped block 9. The cylinder 7 is connected to the inside of the housing 5 by a fixed connection, the transmission shaft 8 is fixedly connected to the driving end of the cylinder 7 by the bottom, and the special-shaped block 9 is fixedly connected to the bottom of the transmission shaft 8 by the top. The left and right sides of the outside of the special-shaped block 9 are respectively connected to the adjacent sides of the two special-shaped blocks 11 by sliding connection, the connecting column 10 is fixedly connected to the clamping block 12 by the bottom, and two connecting columns 10 are slidably connected inside the housing 5. The special-shaped block 2 11 is fixedly connected to the connecting column 10 through the top, and can slide inside the housing 5 with the support of the connecting column 10. The top of the bottom plate 1 is fixedly connected to the support frame 13, and the top of the support frame 13 is fixedly connected to the body 14. The top of the body 14 is fixedly connected to multiple supporting columns 15, and the top of the supporting columns 15 is fixedly connected to the top plate 16. The top of the top plate 16 is provided with a power assembly, including a motor 17, a central axis 18, a motor 2 19, and a central axis 20. The motor 17 is fixedly connected to the top plate 16 through the bottom, and the central axis 18 is fixedly connected to the driving end of the motor 17 through one side of the outside. Similarly, the motor 2 19 is fixedly connected to the top plate 16 through the bottom, and the central axis 20 is fixedly connected to the driving end of the motor 2 19 through one side of the outside. The outside of the power assembly is fixedly connected to a rotating arm 1 21, and the inside of the rotating arm 1 21 is rotatably connected to two rotating shafts 1 22. The camera body 23 is fixedly connected to the adjacent side of the two rotating shafts 1 22, the outside of the power assembly is fixedly connected to the rotating arm 2 24, and the inside of the rotating arm 24 is rotatably connected to the rotating shaft 2 25. The outside of the rotating shaft 25 is fixedly connected to the rotating arm 3 26, and the inside of the rotating arm 3 26 is rotatably connected to the rotating shaft 3 27. The top of the top plate 16 is fixedly connected to the control panel 28, and the outside side of the control panel 28 is fixedly connected to the connecting line 29.

[0030] like Figure 1 and Figure 4 As shown: a motor 30 is fixedly connected to one side of the outer side of the body 14, a driving end of the motor 30 is fixedly connected to a central shaft 31, two rotating drums 32 are rotatably connected to the inside of the body 14, a transmission belt 33 is provided on the outer side of the two rotating drums 32, and two storage boxes 34 are fixedly connected to the top of the bottom plate 1.

[0031] Compared with some existing technologies, the above content can drive multiple rotating arms to move through a motor group, and the camera body 23 at the center can freely adjust the direction under the drive of multiple rotating axes, solving the problem that the camera position of some devices cannot be adjusted, making the device unable to effectively grasp the position of the object.

[0032] The implementation principle of the embodiment of the present application is:

[0033] The power of the device is started by the control button on the control panel 28, so that each power component and sensor starts working, and the 3D camera body 23 uses its camera function to scan and generate a three-dimensional model of fruits and vegetables. The camera transmits the collected data to the control panel 28 for analysis and processing. The control panel 28 uses an algorithm to analyze the shape, size and position of fruits and vegetables and determine the best grasping strategy. The control panel 28 transmits the signal to the drive component, and the drive component controls the expansion and contraction of the cylinder 7 to move the special-shaped block 1 9 up and down. The special-shaped block 2 11 slides and rotates inside the housing 5 according to the movement of the special-shaped block 1 9 and the support of the connecting column 10, thereby realizing the grasping action. The grasping clamp of the special-shaped block 2 11 grasps the target fruits and vegetables and lifts them to the designated position. The storage box 34 of the device can store multiple fruits and vegetables at the same time. The grasped fruits and vegetables are moved to the designated storage box 34 by the rotating arm 1 21 and the rotating arm 2 24 and other components. The device can continue to detect and grasp the next fruit and vegetable until the storage box 34 is full or there is no fruit and vegetable to be grasped.

[0034] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A 3D camera-based disordered fruit and vegetable grabbing device, comprising a bottom plate (1), characterized in that: The top of the bottom plate (1) is fixedly connected to a base (2), the top of the base (2) is rotatably connected to a rotating arm (3), the top of the rotating arm (3) is rotatably connected to a rotating small arm (4), the outer side of the rotating small arm (4) is rotatably connected to a shell (5), the inside of the shell (5) is fixedly connected to an air pipe (6), the outer side of the air pipe (6) is fixedly connected to a driving assembly, the inside of the shell (5) is slidably connected to two connecting columns (10), the top of the connecting column (10) is fixedly connected to a special-shaped block 2 (11), the bottom of the connecting column (10) is fixedly connected to a clamping block (12), the top of the bottom plate (1) is fixedly connected to a support frame (13), the top of the support frame (13) is fixedly connected to an organic body (14) The top of the body (14) is fixedly connected to a plurality of support columns (15), the tops of the plurality of support columns (15) are fixedly connected to a top plate (16), the top of the top plate (16) is provided with a power assembly, the outside of the power assembly is fixedly connected to a rotating arm 1 (21), the inside of the rotating arm 1 (21) is rotatably connected to two rotating shafts 1 (22), the adjacent sides of the two rotating shafts 1 (22) are fixedly connected to a camera body (23), the outside of the power assembly is fixedly connected to a rotating arm 2 (24), the inside of the rotating arm 2 (24) is rotatably connected to a rotating shaft 2 (25), the outside of the rotating shaft 2 (25) is fixedly connected to a rotating arm 3 (26), the inside of the rotating arm 3 (26) is rotatably connected to a rotating shaft 3 (27).

2. The device for grabbing fruits and vegetables in an unordered manner based on a 3D camera according to claim 1, characterized in that: A control panel (28) is fixedly connected to the top of the top plate (16), and a connecting line (29) is fixedly connected to the outer side of the control panel (28).

3. The device for grabbing fruits and vegetables in an unordered manner based on a 3D camera according to claim 1, characterized in that: The power assembly comprises a motor 1 (17), a center shaft 1 (18), a motor 2 (19), and a center shaft 2 (20); the bottom of the motor 1 (17) is fixedly connected to the top of the top plate (16); the outer side of the center shaft 1 (18) is fixedly connected to the driving end of the motor 1 (17); the bottom of the motor 2 (19) is fixedly connected to the top of the top plate (16); and the outer side of the center shaft 2 (20) is fixedly connected to the driving end of the motor 2 (19).

4. The device for grabbing fruits and vegetables in an unordered manner based on a 3D camera according to claim 1, characterized in that: The driving assembly comprises a cylinder (7), a transmission shaft (8), and a special-shaped block (9); the outside of the cylinder (7) is fixedly connected to the inside of the housing (5); the top of the transmission shaft (8) is fixedly connected to the driving end of the cylinder (7); and the top of the special-shaped block (9) is fixedly connected to the bottom of the transmission shaft (8).

5. The device for grabbing fruits and vegetables in an unordered manner based on a 3D camera according to claim 4, characterized in that: The outside of the second special-shaped block (11) is slidably connected to the inside of the shell (5), and the left and right sides of the outside of the first special-shaped block (9) are respectively slidably connected to the adjacent sides of the two second special-shaped blocks (11).

6. The device for grabbing fruits and vegetables in an unordered manner based on a 3D camera according to claim 1, characterized in that: A motor three (30) is fixedly connected to one side of the exterior of the machine body (14), a driving end of the motor three (30) is fixedly connected to a central shaft three (31), two rotating drums (32) are rotatably connected to the interior of the machine body (14), a transmission belt (33) is sleeved on the exterior of the two rotating drums (32), and two storage boxes (34) are fixedly connected to the top of the bottom plate (1).

7. The device for grabbing fruits and vegetables in an unordered manner based on a 3D camera according to claim 3, characterized in that: The outer side of the second rotating arm (24) is fixedly connected to the outer side of the second central axis (20), and the outer side of the first rotating arm (21) is fixedly connected to the outer side of the first central axis (18).

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