Clamping mechanism for fruit processing

Abstract

The utility model relates to the technical field of fruit processing and clamping, in particular to a clamping mechanism for fruit processing, which comprises a frame, a five-axis linkage manipulator, a positioning camera device, a pin inserting mechanism and a control system. The five-axis linkage mechanical arm is arranged on the rack and used for grabbing fruits located on the first conveying line. The camera shooting direction of the positioning camera shooting equipment corresponds to the camera shooting direction when the five-axis linkage manipulator grabs the fruits and adjusts the fruits to a certain angle; the needle inserting mechanism is provided with a needle inserting piece, the needle inserting mechanism is arranged on the second conveying line, the control system is connected with the positioning camera shooting device and the five-axis linkage mechanical arm, and the control system controls the five-axis linkage mechanical arm to grab the fruits, adjust the fruits to be in a preset shape and push the fruits to the needle inserting piece. Therefore, the processing deviation phenomenon caused by the postures of the fruits is avoided, and the fruit processing quality is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of fruit processing clamping, and particularly relates to a clamping mechanism for fruit processing. Background Art

[0002] In the existing fruit transmission and clamping system, fruits located on a transmission line are mainly grabbed by a manipulator and transferred to other transmission lines or other devices. In some processing fields, during the fruit transfer process, strict requirements are needed for the posture of the fruit to achieve good processing effects. Otherwise, errors will occur in fruit processing, and in severe cases, repeated processing is required, resulting in reduced processing efficiency.

[0003] For the current transfer manipulator, after the manipulator grabs the fruit, it does not adjust its posture. That is, after the fruit is grabbed, if the fruit is not in a specific posture, it can only be simply adjusted according to the predetermined grabbing program and then directly transferred. However, during the process of the manipulator grabbing the fruit, due to unequal grabbing positions, the fruit will not be in the predetermined posture. At this time, the manipulator cannot timely correct it to the predetermined form, resulting in deviations in fruit processing and failing to obtain the preset processing effect. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a clamping mechanism for fruit processing, so as to overcome the defect that the current fruit transfer manipulator cannot be timely corrected due to unequal grabbing positions, resulting in deviations in processing effects.

[0005] To achieve the above purpose, the utility model provides a clamping mechanism for fruit processing, including: a frame, a five-axis linkage manipulator, a positioning camera device, a pin inserting mechanism and a control system;

[0006] The five-axis linkage manipulator is arranged on the frame and is used for grabbing fruits located on the first transmission line;

[0007] The imaging direction of the positioning camera device corresponds to a certain angle when the five-axis linkage manipulator grabs and adjusts the fruit;

[0008] The pin inserting mechanism is provided with a pin inserting part. The pin inserting mechanism is arranged on the second transmission line. The control system is respectively connected with the positioning camera device and the five-axis linkage manipulator. The positioning camera device takes an image of the fruit and sends it to the control system. The control system controls the five-axis linkage manipulator to grab the fruit, adjust it to a predetermined form, and then push it onto the pin inserting part according to the image.

[0009] Preferably, in the above technical solution, the positioning camera device includes a first positioning camera device and a second positioning camera device, and the first positioning camera device and the second positioning camera device are respectively connected with the control system.

[0010] The first positioning camera device is used to capture a first positioning image of the first perspective after the five-axis linkage manipulator grabs the fruit; the second positioning camera device is used to capture a second positioning image of the second perspective after the five-axis linkage manipulator grabs the fruit; the control system is used to control the five-axis linkage manipulator to drive the fruit to be in a vertical state according to the first positioning image and the second positioning image.

[0011] Preferably, in the above technical solution, the pin inserting mechanism is arranged on one side of the five-axis linkage manipulator. The pin inserting mechanism includes a pin inserting seat, a rotating motor and a pin inserting member. The rotating motor is fixed on the pin inserting seat, and the pin inserting member is arranged on the pin inserting seat in a rotatable manner. The rotating motor is used to drive the pin inserting member to rotate.

[0012] Preferably, in the above technical solution, a plurality of pin inserting mechanisms are arranged on the second transmission line.

[0013] Preferably, in the above technical solution, the first transmission line includes a conveyor belt and a plurality of brackets arranged on the conveyor belt.

[0014] Preferably, in the above technical solution, the second transmission line is an endless conveyor belt.

[0015] Compared with the existing technology, the utility model has the following beneficial effects:

[0016] In the clamping mechanism for fruit processing of the utility model, after the five-axis linkage manipulator grabs the fruit, the positioning camera device captures an image of the fruit, and the control system judges whether the image of the fruit is in a predetermined posture, such as whether it is perpendicular to the horizontal plane. When it is not in the predetermined posture, the five-axis linkage manipulator is controlled to adjust the angle of the fruit. After adjustment, the five-axis linkage manipulator drives the fruit to be pushed onto the pin inserting member, so that the fruit can perform subsequent processing operations in a predetermined posture, thereby avoiding the processing deviation phenomenon caused by the fruit posture and improving the fruit processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the clamping mechanism for fruit processing of the present utility model.

[0018] Figure 2 For the present utility model Figure 1 Partial enlarged view.

[0019] Figure 3 It is a schematic diagram of the fruit positioning shooting of the positioning camera of the present utility model.

[0020] Figure 4 It is a schematic structural diagram of the pin inserting mechanism of the present utility model.

[0021] Among them, 1 is a five-axis linkage manipulator, 11 is a five-axis linkage drive mechanism, 12 is a mechanical claw, 2 is a positioning camera device, 21 is a first positioning camera device, 22 is a second positioning camera device, 3 is a pin insertion mechanism, 31 is a pin insertion seat, 32 is a pin insertion part, 33 is a rotating motor, and 4 is a first transmission line. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "thick", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0024] In the description of the present invention, the meaning of "several" is one or more, the meaning of "multiple" is two or more, and understandings such as "greater than", "less than", "exceeding", etc. do not include the present number, and understandings such as "above", "below", "within", etc. include the present number. If there are descriptions of the terms "first", "second", "third", etc., they are only for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0025] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. Next, the embodiments of the present invention will be described according to the overall structure of the present invention.

[0026] As Figures 1 - 4As shown, a clamping mechanism for fruit processing in this embodiment includes: a frame, a five-axis linkage manipulator 1, a positioning camera device 2, a pin insertion mechanism 3, and a control system.

[0027] Continue to refer to Figures 1 - 2 , the five-axis linkage manipulator 1 is arranged on the frame. The five-axis linkage manipulator 1 is located on the first transmission line 4 and is mainly used for grasping fruits located on the first transmission line 4. In this embodiment, the first transmission line 4 includes a conveyor belt and a plurality of brackets arranged on the conveyor belt. The five-axis linkage manipulator 1 is composed of a five-axis linkage drive mechanism 11 and a mechanical claw 12. The five-axis linkage drive mechanism 11 is composed of five coordinate drive modules, namely three linear coordinate drive modules (i.e., an X-axis movement module, a Y-axis movement module arranged on the X-axis movement module, and a Z-axis movement module arranged on the Y-axis movement module) and two rotational coordinate drive modules (i.e., a longitudinal rotation module arranged on the Z-axis movement module and a horizontal rotation module arranged on the longitudinal rotation module. The mechanical claw is arranged on the horizontal rotation module).

[0028] Continue to refer to Figure 4 , the pin insertion mechanism 3 is arranged on one side of the five-axis linkage manipulator 1. The pin insertion mechanism 3 includes a pin insertion base 31, a rotary motor 33, and a pin insertion member 32. The rotary motor 33 is fixed to the pin insertion base 31, and the pin insertion member 32 is arranged on the pin insertion base 31 in a rotatable manner. The rotary motor 33 is used to drive the pin insertion member 32 to rotate. The pin insertion mechanism 3 is arranged on the second transmission line, and a plurality of pin insertion mechanisms are arranged on the second transmission line. The second transmission line is preferably an endless conveyor belt. The control system is respectively connected to the positioning camera device and the five-axis linkage manipulator. The positioning camera device 2 captures an image of the fruit and sends it to the control system. The control system controls the five-axis linkage manipulator 1 to grasp the fruit, adjust it to a predetermined shape, and then push it onto the pin insertion member 32. In this embodiment, the control system can adopt a PLC controller, but this embodiment is not limited thereto.

[0029] The imaging direction of the positioning camera device 2 corresponds to a certain angle when the five-axis linkage manipulator 1 grasps the fruit and adjusts it. Specifically in this embodiment, the positioning camera device 2 includes a first positioning camera device 21 and a second positioning camera device 22. The first positioning camera device 21 and the second positioning camera device 22 are respectively connected to the control system.

[0030] The first positioning camera device 21 and the second positioning camera device 22 are respectively arranged on a vertical line in the same horizontal plane or longitudinal plane (for example: the first positioning camera device is located on the X-axis of the same water surface, and the second positioning camera device is located on the Y-axis of the same water surface). In this embodiment, the first positioning camera device 21 and the second positioning camera device 22 are preferably cameras. The first positioning camera device 21 is used to capture a first positioning image of the first perspective after the five-axis linkage manipulator grabs the fruit, and the second positioning camera device 22 is used to capture a second positioning image of the second perspective after the five-axis linkage manipulator grabs the fruit, and capture images in two perpendicular directions of the same horizontal plane or the same longitudinal plane. After calibration from two perspectives, it is ensured that the fruit is in a vertical state perpendicular to the horizontal plane or the longitudinal plane.

[0031] Among them, the control system controls the five-axis linkage manipulator to drive the fruit to a vertical state according to the first positioning image and the second positioning image. That is, after obtaining the images of the fruit in two directions, the vertical correction angles of the fruit are obtained from the two directions respectively, and the five-axis linkage manipulator is controlled by the vertical correction angles in the two directions to drive the fruit to perform angle adjustment from the two directions, so that the fruit is perpendicular to the horizontal plane or the longitudinal plane. It should be noted in this embodiment that the control system obtains the vertical correction angle in the first direction by recognizing the fruit contour according to the first positioning image (for example, photographing and recognizing the fruit contour in the XY-axis direction, and judging whether the maximum width and maximum length of the fruit contour are parallel to the XY-axis. If not, the angles between the maximum width and the X-axis and between the maximum length and the Y-axis are obtained as the vertical correction angle in the first direction) and obtains the vertical correction angle in the second direction by recognizing the fruit contour according to the second positioning image (for example, photographing and recognizing the fruit contour in the ZY-axis direction, and judging whether the maximum width and maximum length of the fruit contour are parallel to the ZY-axis. If not, the angles between the maximum width and the Z-axis and between the maximum length and the Y-axis are obtained as the vertical correction angle in the second direction). Both are conventional techniques in the field of fruit image recognition and calibration, and converting the vertical correction angle into the motion trajectory of the five-axis linkage manipulator is also a conventional technique in the field of mechanical control. Therefore, it will not be elaborated here. The innovation point of this embodiment is to use the combination of the five-axis linkage manipulator and the camera device to grab the fruit on the first conveyor line, adjust its posture, and then push it onto the needle inserting part on the second conveyor line.

[0032] When performing the fruit grabbing and positioning operation, the control system controls the five-axis linkage manipulator to grab the fruit on the first conveyor line 4, and then adjusts it to a predetermined position. The first positioning camera device 21 and the second positioning camera device 22 capture the first positioning image and the second positioning image of the fruit in two directions, and then obtain the vertical correction angles of the fruit in the two directions according to the first positioning image and the second positioning image. The five-axis linkage manipulator is controlled by the vertical correction angles in the two directions to drive the fruit to perform angle adjustment from the two directions, so that the fruit is perpendicular to the horizontal plane or the longitudinal plane.

[0033] Thus, in this embodiment, the five-axis linkage manipulator drives the fruit to the needle inserting member, enabling the fruit to perform subsequent processing operations in a predetermined posture, thereby avoiding processing deviation phenomena caused by the fruit posture and improving the fruit processing quality.

[0034] The foregoing description of the specific exemplary embodiments of the present invention is for purposes of illustration and exemplification. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it is obvious that many changes and variations are possible in light of the above teaching. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical applications, so that those skilled in the art can implement and utilize the various different exemplary embodiments of the present invention, as well as various different selections and changes. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. A clamping mechanism for fruit processing, characterized in that, Including: A frame, a five-axis linkage manipulator, a positioning camera device, a pin insertion mechanism and a control system; The five-axis linkage manipulator is arranged on the frame and is used for grasping fruits located on a first transmission line; The imaging direction of the positioning camera device corresponds to a certain angle when the five-axis linkage manipulator adjusts to grasp the fruit; The pin insertion mechanism is provided with a pin insertion part. The pin insertion mechanism is arranged on a second transmission line. The control system is respectively connected to the positioning camera device and the five-axis linkage manipulator. The control system controls the five-axis linkage manipulator to grasp the fruit, adjust it to a predetermined shape and then push it onto the pin insertion part.

2. The clamping mechanism for fruit processing according to claim 1, characterized in that, The positioning camera device includes a first positioning camera device and a second positioning camera device. The first positioning camera device and the second positioning camera device are respectively connected to the control system; The first positioning camera device is used for taking a first positioning image of a first view angle after the five-axis linkage manipulator grasps the fruit; the second positioning camera device is used for taking a second positioning image of a second view angle after the five-axis linkage manipulator grasps the fruit.

3. The clamping mechanism for fruit processing according to claim 1, characterized in that, The pin insertion mechanism is arranged on one side of the five-axis linkage manipulator. The pin insertion mechanism includes a pin insertion seat, a rotating motor and a pin insertion part. The rotating motor is fixed on the pin insertion seat. The pin insertion part is arranged on the pin insertion seat in a rotatable manner. The rotating motor is used for driving the pin insertion part to rotate.

4. The clamping mechanism for fruit processing according to claim 3, characterized in that, A plurality of pin insertion mechanisms are arranged on the second transmission line.

5. The clamping mechanism for fruit processing according to claim 3, characterized in that, The first transmission line includes a conveyor belt and a plurality of supports arranged on the conveyor belt.

6. The clamping mechanism for fruit processing according to claim 1, wherein The second transmission line is a circular conveyor belt.

Images