Food grabbing device based on visual inspection

Abstract

The utility model discloses a food gripping device based on visual inspection, which comprises a mounting rack and a conveying component, a mechanical arm is mounted on the outer wall of the top of the mounting rack, a supporting disc is mounted at the output end of the mechanical arm, a clamping jaw mechanism for gripping food is mounted on the supporting disc, a fixing plate is welded on the side wall of the supporting disc, and a clamping jaw is mounted on the fixing plate. And a heating cylinder is fixed to the outer wall of the top of the mounting frame, a water collecting disc is fixed to the inner wall of the circumference of the heating cylinder, and a spray head is fixed to the inner wall of the water collecting disc through a connector. After the heating cylinder and the nozzle are arranged and the clamping jaw mechanism completes a grabbing task, the mechanical arm can automatically move into the heating cylinder to be cleaned, water is supplied through the water supply assembly, the nozzle flushes the surface of the clamping jaw mechanism, residual food is effectively removed, and mildewing is prevented; and the electric heating wire in the heating cylinder can dry and sterilize the clamping jaw mechanism at high temperature after cleaning, so that food safety is ensured, and the service life of equipment is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to food grabbing technical field especially, it relates to a food grabbing device based on visual inspection. BACKGROUND

[0002] In the food processing and packaging industry, the application of automatic production line is increasingly widespread, aiming at improving production efficiency, reducing labor cost and ensuring the consistency of product quality, among which the grabbing and carrying of food is one of the key links in the automatic production line, by grabbing the food, it is moved to different positions, facilitating the subsequent packaging and other steps operation;

[0003] In the field of food grabbing, hygiene and safety is a crucial consideration, food is easy to be contaminated in the grabbing process, if the grabbing device cannot be cleaned and disinfected in time, it may cause food mold, bacterial growth and other problems, and further affect the quality and safety of food;

[0004] In view of the above problems, the present design puts forward a food grabbing device based on visual inspection, which integrates automatic cleaning and disinfection function, and automatically cleans and disinfects the clamping jaw mechanism after food grabbing is completed, so as to ensure the hygiene and safety of food grabbing process, improve the automation level of food processing and packaging industry, and provide strong guarantee for food safety. CONTENT OF THE UTILITY MODEL

[0005] The utility model aims at solving the shortcomings in the prior art, and provides a food grabbing device based on visual inspection.

[0006] In order to realize the above-mentioned purpose, the utility model adopts the following technical scheme:

[0007] A food grabbing device based on visual inspection, comprising a mounting frame and a conveying assembly, a mechanical arm is installed on the top outer wall of the mounting frame, a support disc is installed on the output end of the mechanical arm, and a clamping jaw mechanism for grabbing food is installed on the support disc, a fixed plate is welded on the side wall of the support disc, a visual inspection camera is fixed on the bottom of the fixed plate, a heating cylinder is fixed on the top outer wall of the mounting frame, a water collecting disc is fixed on the circumferential inner wall of the heating cylinder, a spray head is fixed on the inner wall of the water collecting disc through a joint, a control valve two is fixed on the bottom of the heating cylinder, a liquid discharge pipe is fixed on the bottom of the control valve two, and a water supply assembly is connected to the water collecting disc.

[0008] As a further scheme of the utility model: the conveying assembly comprises a conveying belt, conveying rollers and support plates, the conveying rollers are movably connected between two support plates, and the conveying belt is driven between two conveying rollers.

[0009] As a further scheme of the utility model: drive motor is fixed on one side outer wall of the supporting plate, and the drive motor output end is connected to one end of one conveying roller through a shaft coupling.

[0010] As a further scheme of the utility model: the water supply assembly includes a connecting plate, a pump body and a control valve one, the connecting plate is welded to the sidewall of the heating cylinder, and the pump body and the control valve one are both fixed to the top of the connecting plate, and the control valve one is used for connecting between the pump body and the heating cylinder.

[0011] As a further scheme of the utility model: the clamping jaw mechanism includes a clamping jaw main body, a rotating rod, a vertical plate is welded to the bottom of the supporting disc, the rotating rod is movably connected to one side outer wall of the vertical plate, and the clamping jaw main body is fixed to the outer wall of the rotating rod through a pin.

[0012] As a further scheme of the utility model: an electric telescopic rod is fixed to the top outer wall of the supporting disc, a support is fixed to the output end of the electric telescopic rod through a pin, a driving block is movably connected to the inner wall of the support through a rotating shaft, the driving block is fixed to the outer wall of the driving block, a connecting frame is welded to one end of the driving block, and the connecting frame and the clamping jaw main body are movably connected through a rotating shaft.

[0013] As a further scheme of the utility model: a sealing gasket is bonded to the bottom of the supporting disc.

[0014] As a further scheme of the utility model: a controller is installed on the top of the mounting bracket.

[0015] Compared with the prior art, the utility model provides a food grabbing device based on visual detection, which has the following beneficial effects:

[0016] 1. Equipped with a heating cylinder and a spray head, the clamping jaw mechanism can be automatically moved into the heating cylinder for cleaning by the mechanical arm after completing the grabbing task, water is supplied through the water supply assembly, the spray head washes the surface of the clamping jaw mechanism, effectively removes the residual food and prevents mildewing, the heating wire in the heating cylinder can dry and high-temperature sterilize the clamping jaw mechanism after cleaning, ensures food safety and prolongs the service life of the equipment.

[0017] 2. The clamping jaw mechanism is driven by the electric telescopic rod, the distance between the two clamping jaw main bodies can be flexibly adjusted to adapt to the food grabbing requirements of different sizes and shapes, combined with the visual detection camera and advanced image processing technology, the device can accurately identify the position, shape and boundary contour of the food, realizes accurate grabbing, improves work efficiency and accuracy.

[0018] 3. The support disc bottom is bonded with a sealing gasket, when the clamping jaw mechanism is moved to the top of the heating cylinder, the sealing gasket is attached to the top of the heating cylinder to form a sealed environment, effectively preventing external particles from entering the inside of the heating cylinder, protecting the clamping jaw mechanism, the device realizes automatic control through the controller, coordinates the work of the mechanical arm, the conveying assembly, the water supply assembly and the clamping jaw mechanism, realizes automatic conveying, grabbing, cleaning and disinfecting of food, and improves the production automation level.

[0019] The parts not involved in the device are the same as or can be realized by the prior art, and the device has simple structure and convenient operation. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A whole structure schematic view of a food grabbing device based on visual detection is provided for the utility model;

[0021] Figure 2 A grabbing assembly main body structure schematic view of a food grabbing device based on visual detection is provided for the utility model;

[0022] Figure 3 A cleaning mechanism structure schematic view of a food grabbing device based on visual detection is provided for the utility model;

[0023] Figure 4 A clamping jaw mechanism structure schematic view of a food grabbing device based on visual detection is provided for the utility model;

[0024] Figure 5 A cleaning mechanism bottom structure schematic view of a food grabbing device based on visual detection is provided for the utility model.

[0025] In the figure: mounting frame 1; heating cylinder 2; mechanical arm 3; conveying belt 4; conveying roller 5; support plate 6; driving motor 7; controller 8; vertical plate 9; support disc 10; water collecting disc 11; spray head 12; connecting plate 13; pump body 14; control valve one 15; liquid discharge pipe 16; electric telescopic rod 17; sealing gasket 18; support 19; clamping jaw main body 20; rotating rod 21; connection frame 22; swing arm 23; driving block 24; visual detection camera 25; fixed plate 26; control valve two 27. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments.

[0027] A food grabbing device based on visual detection, like Figures 1 to 5As shown, including the mounting frame 1 and conveying assembly, the mounting frame 1 top outer wall is provided with a mechanical arm 3, and the mechanical arm 3 output end is provided with a support disc 10, and the support disc 10 is provided with a clamping jaw mechanism for grabbing food, the support disc 10 side wall is welded with a fixed plate 26, and the fixed plate 26 bottom is fixed with a visual detection camera 25, the mounting frame 1 top outer wall is fixed with a heating cylinder 2 through bolts, and the heating cylinder 2 circumferential inner wall is fixed with a water collecting disc 11 through screws, and the water collecting disc 11 inner wall is fixed with a spray head 12 through a joint, the heating cylinder 2 bottom is fixed with a control valve two 27, and the control valve two 27 bottom is fixed with a liquid discharge pipe 16, and the water collecting disc 11 is connected with a water supply assembly;

[0028] The conveying assembly is used for conveying food, the mechanical arm 3 can control the clamping jaw mechanism to move, the clamping jaw mechanism grabs the food on the conveying assembly, the mechanical arm 3 is powered by a driving system such as a motor, a hydraulic device or a pneumatic device through pre-programming or real-time control instructions, drives the rotation or movement of each joint, drives the connecting rod structure to change the position and posture of the end effector, and the sensor feeds back the position, speed and other information to the control system in real time, and the control system adjusts the driving signal accordingly to ensure that the mechanical arm completes the grabbing task, and the movement process of the mechanical arm 3 is a prior art, and the structure and operation process thereof will not be described in more detail here;

[0029] The clamping jaw mechanism is used in cooperation with the visual detection camera 25, the visual detection camera 25 uses the Mask R-CNN instance segmentation technology to accurately segment the target object, and identifies the shape and boundary profile of the food; then, the directionality of the object is estimated by principal component analysis (PCA), and the center points of the thin areas of the object are extracted by K-means clustering, so as to determine the best grabbing position, 2D-3D coordinate conversion and depth estimation technology are adopted, Intel RealSense D435 RGB-D camera is used to collect depth data in real time, and two-dimensional image coordinates are converted into three-dimensional coordinates in the actual environment through hand-eye calibration, and the depth information of the grabbing point is obtained, the three-dimensional coordinates and depth information of the grabbing point are transmitted to the control system to accurately execute the grabbing action;

[0030] After the clamping jaw mechanism finishes grabbing the food, the mechanical arm 3 is used to move the clamping jaw mechanism to the inside of the heating cylinder 2, the water supply assembly can supply water to the water collecting disc 11, and finally the surface of the clamping jaw mechanism is washed by the spray head 12 to clean the food remaining on the clamping jaw mechanism, so that mold is prevented from growing on the clamping jaw mechanism due to long-term adhesion, the waste liquid after washing is discharged through the liquid discharge pipe 16 after the control valve two 27 is opened, and the heating cylinder 2 is preferably provided with an electric heating wire, so that the clamping jaw mechanism is dried after cleaning, and the high temperature also has a disinfection effect.

[0031] The conveying assembly comprises a conveying belt 4, conveying rollers 5 and support plates 6, the conveying rollers 5 are rotationally connected between the two support plates 6, the conveying belt 4 is driven between the two conveying rollers 5, and one side outer wall of the support plate 6 is fixed with a driving motor 7 through bolts, and the output end of the driving motor 7 is connected to one end of one of the conveying rollers 5 through a shaft coupling;

[0032] The driving motor 7 can drive the conveying belt 4 and the conveying rollers 5 to convey the food, and when the conveying belt 4 conveys the food to below the gripper mechanism, the driving motor 7 stops driving the conveying rollers 5 to rotate, so that the gripper mechanism is conveniently moved to grasp the food.

[0033] The water supply assembly comprises a connecting plate 13, a pump body 14 and a control valve 15, the connecting plate 13 is welded to the side wall of the heating cylinder 2, the pump body 14 and the control valve 15 are both fixed to the top of the connecting plate 13, and the control valve 15 is used to connect the pump body 14 and the heating cylinder 2;

[0034] When supplying water, the pump body 14 is connected with a water supply pipeline (not shown), and after the control valve 15 is opened, water is pressurized by the pump body 14, then enters the water collecting disc 11 through the control valve 15, and finally is sprayed out through the spray head 12 to wash the gripper mechanism.

[0035] The gripper mechanism comprises gripper bodies 20 and a rotating rod 21, a vertical plate 9 is welded to the bottom of the support disc 10, the rotating rod 21 is rotationally connected to one side outer wall of the vertical plate 9, the gripper body 20 is fixed to the outer wall of the rotating rod 21 through a pin, a motorized telescopic rod 17 is fixed to the top outer wall of the support disc 10 through bolts, the output end of the motorized telescopic rod 17 is fixed with a bracket 19 through a pin, the inner wall of the bracket 19 is rotationally connected with a driving block 24 through a rotating shaft, the outer wall of the driving block 24 is fixed with a driving block 24, one end of the driving block 24 is welded with a connecting frame 22, and the connecting frame 22 and the gripper body 20 are rotationally connected through a rotating shaft;

[0036] When the motorized telescopic rod 17 drives the bracket 19 to move forward or return, the swing arm 23 and the connecting frame 22 drive the gripper body 20 and the rotating rod 21 to rotate along the vertical plate 9, so that the distance between the two gripper bodies 20 can be adjusted, and the food can be grasped when the two gripper bodies 20 are contracted.

[0037] The bottom of the support disc 10 is bonded with a sealing gasket 18;

[0038] After the gripper mechanism completes the task of grasping the food, the mechanical arm 3 moves the support disc 10 to the top of the heating cylinder 2 and keeps the sealing gasket 18 in close contact with the top of the heating cylinder 2, so that the gripper mechanism is sealed by the heating cylinder 2 and the sealing gasket 18, thereby preventing external particulate matter from entering the inside of the heating cylinder 2 and protecting the gripper mechanism.

[0039] The controller 8 is installed at the top of the mounting frame 1;

[0040] The controller 8 as the core control unit receives visual information from the visual detection camera 25, determines the best grabbing position of the food after processing by using MaskR-CNN instance segmentation technology, principal component analysis PCA, K-means clustering and 2D-3D coordinate conversion and depth estimation technology, and transmits the three-dimensional coordinates and depth information of the grabbing point to the robot control system to control the mechanical arm 3 to accurately perform the grabbing action. The controller 8 also coordinates the driving motor 7 to control the operation of the conveying assembly to ensure that the food is accurately conveyed to the grabbing position; after the grabbing is completed, the controller 8 instructs the mechanical arm 3 to move the gripper mechanism into the heating cylinder 2, flushes the gripper mechanism by controlling the pump body 14 and control valve one 15 of the water supply assembly, and controls the control valve two 27 to discharge waste liquid; in addition, the controller 8 also manages the work of the heating wire in the heating cylinder 2 to dry and disinfect the gripper mechanism after flushing; the controller 8 accurately controls the opening and closing of the gripper mechanism by receiving the feedback signal of the electric telescopic rod 17 to complete the grabbing and releasing task of the food. The controller 8 realizes the cooperative control of the mechanical arm 3, the conveying assembly, the water supply assembly and the gripper mechanism through electrical connection in the whole process.

[0041] Working principle: the driving motor 7 drives the conveying roller 5 to rotate, and drives the conveying belt 4 to convey the food, when the conveying belt 4 conveys the food to the lower part of the clamping jaw mechanism, the driving motor 7 stops driving the conveying roller 5 to rotate, the visual detection camera 25 uses the Mask R-CNN instance segmentation technology to accurately segment the target food, identifies the shape and boundary profile of the food, estimates the directionality of the food through principal component analysis PCA, and extracts the center point of the thin area of the food in combination with K-means clustering, so as to determine the optimal grabbing position, adopts 2D-3D coordinate conversion and depth estimation technology, uses Intel RealSense D435 RGB-D camera to collect depth data in real time, and converts two-dimensional image coordinates into three-dimensional coordinates in the actual environment through hand-eye calibration, and obtains the depth information of the grabbing point, transmits the three-dimensional coordinates and depth information of the grabbing point to the controller 8, and the controller 8 transmits the three-dimensional coordinates and depth information of the grabbing point to the robot control system, the mechanical arm 3 is powered by a driving system such as a motor, a hydraulic or pneumatic device, drives the rotation or movement of each joint, changes the position and posture of the end effector through the linkage structure, and the sensor feeds back the position, speed and other information to the control system in real time, the control system adjusts the driving signal accordingly, so that the mechanical arm 3 drives the clamping jaw mechanism to move to the grabbing position, when the electric telescopic rod 17 drives the support 19 to do the process or return motion, the swing arm 23 and the connecting frame 22 drive the clamping jaw body 20 and the rotating rod 21 to rotate along the vertical plate 9, adjust the distance between the two clamping jaw bodies 20, when the two clamping jaw bodies 20 are contracted, the food is grabbed, after the clamping jaw mechanism finishes grabbing the food, the mechanical arm 3 moves the supporting disc 10 to the top of the heating cylinder 2 and keeps the sealing gasket 18 and the top of the heating cylinder 2 in close contact, connects the pump body 14 and the water supply pipeline when supplying water, opens the control valve one 15, pressurizes the water by the pump body 14, the water enters the water collecting disc 11 through the control valve one 15, and finally is sprayed out through the nozzle 12 to wash the surface of the clamping jaw mechanism, clean the food remaining on the clamping jaw mechanism, avoid the food from being moldy for a long time, and the waste liquid is discharged through the liquid discharge pipe 16 after the control valve two 27 is opened.

[0042] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A food gripping device based on vision detection, comprising a mounting frame (1) and a conveying assembly, characterized in that, The top outer wall of the mounting frame (1) is equipped with a robotic arm (3), and the output end of the robotic arm (3) is equipped with a support plate (10). The support plate (10) is equipped with a gripper mechanism for grabbing food. The side wall of the support plate (10) is welded with a fixing plate (26), and the bottom of the fixing plate (26) is fixed with a visual inspection camera (25). The top outer wall of the mounting frame (1) is fixed with a heating cylinder (2), and the inner circumference of the heating cylinder (2) is fixed with a water collection tray (11). The inner wall of the water collection tray (11) is fixed with a nozzle (12) through a connector. The bottom of the heating cylinder (2) is fixed with a control valve (27), and the bottom of the control valve (27) is fixed with a drain pipe (16). The water collection tray (11) is connected to a water supply component.

2. The food gripping device based on vision detection according to claim 1, characterized in that, The conveying assembly includes a conveyor belt (4), a conveyor roller (5) and a support plate (6). The conveyor roller (5) is movably connected between two support plates (6), and the conveyor belt (4) is driven between the two conveyor rollers (5).

3. The food gripping device based on vision detection according to claim 2, characterized in that, A drive motor (7) is fixed to one side of the outer wall of the support plate (6), and the output end of the drive motor (7) is connected to one end of one of the conveying rollers (5) through a coupling.

4. The food gripping device based on vision detection according to claim 1, characterized in that, The water supply assembly includes a connecting plate (13), a pump body (14), and a control valve (15). The connecting plate (13) is welded to the side wall of the heating cylinder (2), and the pump body (14) and the control valve (15) are both fixed to the top of the connecting plate (13). The control valve (15) is used to connect the pump body (14) and the heating cylinder (2).

5. A food gripping device based on vision detection according to claim 1, characterized in that, The gripper mechanism includes a gripper body (20) and a rotating rod (21). A vertical plate (9) is welded to the bottom of the support plate (10), and the rotating rod (21) is movably connected to the outer wall of one side of the vertical plate (9). The gripper body (20) is fixed to the outer wall of the rotating rod (21) by a pin.

6. A food gripping device based on vision detection according to claim 5, characterized in that, An electric telescopic rod (17) is fixed to the top outer wall of the support plate (10), and a bracket (19) is fixed to the output end of the electric telescopic rod (17) by a pin. A drive block (24) is movably connected to the inner wall of the bracket (19) by a rotating shaft. A drive block (24) is fixed to the outer wall of the drive block (24), and a connecting frame (22) is welded to one end of the drive block (24). The connecting frame (22) and the gripper body (20) are movably connected by a rotating shaft.

7. A food gripping device based on vision detection according to claim 6, characterized in that, A sealing gasket (18) is adhered to the bottom of the support plate (10).

8. The food gripping device based on vision detection according to claim 1, characterized in that, The controller (8) is mounted on the top of the mounting bracket (1).

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