A waste lotus seed grabbing device

Abstract

The utility model discloses a kind of waste lotus seed grabbing devices;Including conveying device, mounting bracket, fixed frame and waste frame, the top of conveying device is fixedly installed with guard plate in the position close to left and right sides, the top of two guard plates is fixedly installed with feed hopper in the position close to front end, the bottom of feed hopper is fixedly installed with frame in the position close to left and right sides, rotating shaft is set in the inside left and right sides middle position of frame, the outer surface of rotating shaft is fixedly connected with circular column, the left side of rotating shaft is fixedly connected with driving motor, the inner top wall of mounting bracket is provided with multimode vision device, mechanical arm claw is set on horizontal drive device, fixed frame is fixedly installed with suction pump in the inside right side wall, suction pump is fixedly connected with air inlet pipe in air inlet end, fixed pipe is fixedly connected with air inlet pipe away from suction pump one end, fixed pipe is fixedly connected with suction end away from air inlet pipe one end.

Description

Technical Field

[0001] This utility model relates to the field of lotus seed processing technology, specifically a waste lotus seed grabbing device. Background Technology

[0002] The waste lotus seed grabbing device is a mechanical device used to collect and process waste lotus seeds. It is mainly used for the efficient sorting and recycling of substandard or damaged lotus seeds during the lotus seed processing.

[0003] Chinese utility model patent CN221585838U discloses a lotus seed grasping device, including a material platform with a material trough at the top. A material picking tube penetrates the bottom of the material trough and is slidably connected to the side wall of the material trough. The material picking tube is hollow and has two blocks installed inside. A rotating shaft is rotatably arranged between the two blocks. The bottom end of the rotating shaft is connected to the output end of a motor installed inside the material picking tube. Two baffles are installed on the rotating shaft, located below the blocks and rotatably connected to the inner wall of the material picking tube. By controlling a telescopic mechanism, the material picking tube is moved up and down. When the material picking tube moves downward to the lower part of the material trough, the lotus seeds in the material trough fall into the material picking tube. At this time, the material picking tube moves upward to the higher part of the material trough. After the material picking tube is full, the excess lotus seeds fall back into the material trough from the material picking tube. Then, the baffles are rotated to make the lotus seeds in the material picking tube fall into the funnel below, completing the grasping of the lotus seeds.

[0004] Traditional lotus seed sorting often uses mechanical grippers to directly grasp the seeds, which can be too forceful, leading to the crushing, damage, or even breakage of discarded lotus seeds during the process. This not only reduces the integrity of the discarded lotus seeds but can also cause fragments to scatter onto the conveyor belt or among other healthy lotus seeds, shortening their spoilage time. Furthermore, the relatively simple gripping method of mechanical grippers can result in insecure gripping, causing discarded lotus seeds to fall during transport, affecting sorting efficiency and accuracy. Therefore, a discarded lotus seed gripping device is needed to solve these problems. Utility Model Content

[0005] This invention provides a device for grabbing discarded lotus seeds to solve the problems in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a waste lotus seed gripping device, comprising a conveying device, a mounting frame, a fixing frame, and a waste frame. Protective plates are fixedly installed on the top of the conveying device near both left and right sides. Feed hoppers are fixedly installed on the top of the two protective plates near their front ends. Frames are fixedly installed on the bottom of the feed hoppers near both left and right sides. A rotating shaft is located in the middle of the left and right sides inside the frame. A circular column is fixedly connected to the outer surface of the rotating shaft. A drive motor is fixedly connected to the left side of the rotating shaft. A multimodal vision device is installed on the inner top wall of the mounting frame. A lateral drive device is fixedly installed on the inner top wall of the fixing frame. A robotic arm gripper is installed on the lateral drive device. An air pump is fixedly installed on the inner right side wall of the fixing frame. An air inlet pipe is fixedly connected to the air inlet end of the air pump. A fixed pipe is fixedly connected to the end of the air inlet pipe away from the air pump. An air suction end is fixedly connected to the end of the fixed pipe away from the air inlet pipe. A sorting hopper is fixedly installed on the other of the two protective plates.

[0007] Furthermore, the right side of the drive motor is fixedly connected to the left side of one of the two protective plates near the front end. The outer surface of the circular column is circularly provided with a material receiving groove. The left side of the rotating shaft passes through the inner left side wall of the frame and the right side of one of the two protective plates near the front end and is fixedly connected to the output end of the drive motor. The connection between the rotating shaft and the frame and the protective plates is made by ball bearings.

[0008] Furthermore, the right end of the rotating shaft is connected to the inner right side wall of the frame via a ball bearing.

[0009] Furthermore, a discharge device is provided at the bottom of the feed hopper, and a control valve is provided on the discharge device. A portion of the outer surface of the circular column is located inside the discharge device.

[0010] Furthermore, the multimodal vision device includes an image recognition system, a multispectral imaging module, an integrated ring LED illumination system, and a depth sensor.

[0011] Furthermore, the lower surfaces of the left and right sides of the mounting bracket, near the bottom, are fixedly connected to the opposite sides of the two protective plates near the middle.

[0012] Furthermore, multiple pipe fixing brackets are evenly distributed on the outer surface of the fixed tube, and the fixed tube is fixedly connected to the robotic arm of the robotic claw through the pipe fixing brackets. A filter screen is provided on the air intake end, and a camera device is fixedly installed on the robotic claw near the gripping end of the robotic claw.

[0013] Furthermore, a controller is provided on the right side of the mounting frame, and the inner left and right side walls of the mounting frame are fixedly connected to the opposite side of the two protective plates near the rear end, respectively. The end of the sorting hopper away from the protective plate is placed on the waste frame, and a conveyor belt is provided on the conveying device.

[0014] Compared with the prior art, this utility model provides a waste lotus seed grasping device, which has the following beneficial effects:

[0015] 1. This waste lotus seed gripping device consists of a robotic arm, camera, air inlet pipe, fixed pipe, suction end, and suction pump. Once the suction pump is activated, a negative pressure environment is created through the air inlet pipe, fixed pipe, and suction end, causing the gripped waste lotus seeds to adhere tightly to the suction end equipped with a filter. Because of the filter at the suction end, the waste lotus seeds are adsorbed onto its surface and cannot enter the fixed pipe, effectively preventing pipe blockage caused by lotus seeds entering the air inlet and fixed pipes. This ensures the long-term stable operation of the entire adsorption and gripping system and reduces downtime for maintenance due to blockages. The connection method between the air inlet and fixed pipes, as well as the pipe fixing bracket on the fixed pipe, provides the suction end with flexibility and adjustability. During the gripping process, the movement of the robotic arm and the gripping status are monitored in real time, helping operators to promptly identify potential gripping deviations or malfunctions, facilitating quick adjustments and handling, and ensuring the stable operation of the entire gripping device. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a structural diagram of the fixing frame of this utility model;

[0018] Figure 3 This is a diagram showing the connection between the frame and the feed hopper of this utility model.

[0019] In the diagram: 1. Conveying device; 2. Multimodal vision device; 3. Waste box; 4. Sorting hopper; 5. Protective plate; 6. Mechanical claw arm; 7. Fixing frame; 8. Mounting frame; 9. Feed hopper; 10. Lateral drive device; 11. Air pump; 12. Air inlet pipe; 13. Fixing pipe; 14. Suction end; 15. Frame; 16. Circular column; 17. Rotating shaft; 18. Drive motor; 19. Camera device. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1-3 This utility model discloses a waste lotus seed grabbing device, including a conveying device 1, a mounting frame 8, a fixing frame 7, and a waste frame 3. Protective plates 5 are fixedly installed on the top of the conveying device 1 near the left and right sides. Feed hoppers 9 are fixedly installed on the top of the two protective plates 5 near the front end. Frames 15 are fixedly installed on the bottom of the feed hoppers 9 near the left and right sides. A rotating shaft 17 is located in the middle of the left and right sides inside the frame 15. A circular column 16 is fixedly connected to the outer surface of the rotating shaft 17. A drive motor 18 is fixedly connected to the left side of the rotating shaft 17. The inner top wall of the mounting frame 8 is equipped with a multimodal vision device 2. The inner top wall of the fixed frame 7 is fixedly installed with a horizontal drive device 10. The horizontal drive device 10 is equipped with a robotic arm claw 6. The inner right side wall of the fixed frame 7 is fixedly installed with a vacuum pump 11. The air inlet end of the vacuum pump 11 is fixedly connected to an air inlet pipe 12. The end of the air inlet pipe 12 away from the vacuum pump 11 is fixedly connected to a fixed pipe 13. The end of the fixed pipe 13 away from the air inlet pipe 12 is fixedly connected to a suction end 14. The other of the two protective plates 5 is fixedly installed with a sorting hopper 4.

[0022] Specifically, the right side of the drive motor 18 is fixedly connected to the left side of one of the two protective plates 5 near the front end. The outer surface of the circular column 16 is circular and has a material receiving groove. The left side of the rotating shaft 17 passes through the inner left side wall of the frame 15 and the right side of one of the two protective plates 5 near the front end and is fixedly connected to the output end of the drive motor 18. The connection between the rotating shaft 17 and the frame 15 and the protective plate 5 is through ball bearings.

[0023] Specifically, the right end of the rotating shaft 17 is connected to the inner right side wall of the frame 15 via a ball bearing.

[0024] Specifically, a discharge device is provided at the bottom of the feed hopper 9, and a control valve is provided on the discharge device. A portion of the outer surface of the circular column 16 is located inside the discharge device.

[0025] Specifically, the multimodal vision device 2 includes an image recognition system, a multispectral imaging module, an integrated ring LED illumination system, and a depth sensor.

[0026] Specifically, the lower surfaces of the left and right sides of the mounting bracket 8 are fixedly connected to the opposite sides of the two protective plates 5 near the middle, respectively, at the bottom position.

[0027] Specifically, multiple pipe fixing brackets 7 are evenly distributed on the outer surface of the fixed pipe 13. The fixed pipe 13 is fixedly connected to the robotic arm of the robotic claw 6 through the pipe fixing brackets 7. A filter screen is provided on the suction end 14. A camera device 19 is fixedly installed on the robotic claw 6 near the gripping end of the robotic claw.

[0028] Specifically, a controller is provided on the right side of the mounting frame 8. The left and right side walls inside the mounting frame 8 are fixedly connected to the opposite side of the two protective plates 5 near the rear end, respectively. The end of the sorting hopper 4 away from the protective plate 5 is placed on the waste frame 3. A conveyor belt is provided on the conveying device 1.

[0029] In use, lotus seeds are fed into the feeding hopper 9 from the top. Then, the drive unit 1, multimodal vision device 2, robotic arm gripper 6, lateral drive unit 10, drive motor 18, and vacuum pump 11 are activated. The drive motor 18 drives the rotating shaft 17 to rotate, which in turn drives the circular column 16 to rotate. The lotus seeds fall into the receiving trough on the circular column 16 by gravity. The rotation of the circular column 16 causes the lotus seeds in the trough to fall onto the conveyor belt on the conveyor unit 1. They are then conveyed by the conveyor belt until they reach the area below the multimodal vision device 2, where they pass through the multimodal vision system. After device 2 identifies damaged, moldy, or other discarded lotus seeds, the system precisely locates their positions. When the conveyor belt transports these discarded lotus seeds to below the robotic arm gripper 6, the robotic arm gripper 6 quickly and accurately moves to the corresponding position based on the position information provided by the multimodal vision device 2, and picks up the identified discarded lotus seeds. Simultaneously, the suction pump 11 starts, generating negative pressure through the air inlet pipe 12, the fixed pipe 13, and the suction end 14, tightly adsorbing the picked-up discarded lotus seeds onto the suction end 14. Because the suction end 14 is equipped with a filter screen, the discarded lotus seeds are adsorbed onto the suction end 14. The lotus seeds are placed on the air end 14 and cannot enter the fixed pipe 13, thus preventing the lotus seeds from entering the pipe and causing blockages. Next, the lateral drive device 10 drives the robotic arm claw 6 to move to the right. When it moves above the sorting hopper 4, the robotic arm claw 6 releases and the air pump 11 is turned off. The grabbed waste lotus seeds are then smoothly put into the sorting hopper 4 and flow into the waste box 3. After the waste lotus seeds are put into the sorting hopper 4, the lateral drive device 10 drives the robotic arm claw 6 back to its original position for the next grabbing operation. Throughout the process, the multimodal vision device 2 continuously monitors the conveyor. The lotus seeds are monitored and identified to ensure timely detection and disposal of waste lotus seeds, improving the efficiency and quality of lotus seed sorting. The controller on the right side of the mounting frame 8 plays a crucial role in the entire process, controlling the coordinated operation of various devices and components, ensuring that the entire grasping and sorting process proceeds in an orderly manner. The end of the sorting hopper 4 away from the protective plate 5 is stably placed on the waste box 3, ensuring that waste lotus seeds fall accurately into the waste box 3 and avoiding omissions. The conveyor belt on the conveying device 1 continuously circulates lotus seeds throughout the process, providing a continuous supply of materials for subsequent sorting work.

[0030] In summary, this waste lotus seed grasping device, by incorporating a robotic arm gripper 6, a camera device 19, an air inlet pipe 12, a fixed pipe 13, an air intake end 14, and an air pump 11, creates a negative pressure environment through the air inlet pipe 12, fixed pipe 13, and air intake end 14 after the air pump 11 is activated. This causes the grasped waste lotus seeds to be tightly adsorbed onto the air intake end 14, which is equipped with a filter screen. Because the air intake end 14 has a filter screen, the waste lotus seeds are adsorbed onto its surface and cannot enter the fixed pipe 13. This effectively prevents the lotus seeds from entering the air inlet pipe 12 and fixed pipe 13 and causing pipe blockage, ensuring the long-term stable operation of the entire adsorption and grasping system and reducing downtime for maintenance due to blockage. The connection method between the air inlet pipe 12 and the fixed pipe 13, as well as the pipe fixing bracket 7 set on the fixed pipe 13, give the air intake end 14 a certain degree of flexibility and adjustability. During the gripping process, the movement of the robotic arm claw 6 and the gripping situation are monitored in real time, which helps the operator to discover possible gripping deviations, malfunctions and other problems in a timely manner, so as to make quick adjustments and handle them and ensure the stable operation of the entire gripping device.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A waste lotus seed grabbing device, comprising a conveying device (1), a mounting frame (8), a fixing frame (7), and a waste frame (3), characterized in that: Protective plates (5) are fixedly installed on the top of the conveying device (1) near the left and right sides. Feed hoppers (9) are fixedly installed on the top of the two protective plates (5) near the front end. Frames (15) are fixedly installed on the bottom of the feed hoppers (9) near the left and right sides. Rotating shafts (17) are arranged in the middle of the left and right sides inside the frame (15). Circular columns (16) are fixedly connected to the outer surface of the rotating shafts (17). A drive motor (18) is fixedly connected to the left side of the rotating shafts (17). A multimodal vision device is provided on the inner top wall of the mounting frame (8). (2) A transverse drive device (10) is fixedly installed on the inner top wall of the fixed frame (7). A mechanical arm claw (6) is provided on the transverse drive device (10). An air pump (11) is fixedly installed on the inner right side wall of the fixed frame (7). An air inlet pipe (12) is fixedly connected to the air inlet end of the air pump (11). A fixed pipe (13) is fixedly connected to the end of the air inlet pipe (12) away from the air pump (11). An air suction end (14) is fixedly connected to the end of the fixed pipe (13) away from the air inlet pipe (12). A sorting hopper (4) is fixedly installed on the other of the two protective plates (5).

2. The waste lotus seed grasping device according to claim 1, characterized in that: The right side of the drive motor (18) is fixedly connected to the left side of one of the two protective plates (5) near the front end. The outer surface of the circular column (16) is circular and has a material receiving groove. The left side of the rotating shaft (17) passes through the inner left side wall of the frame (15) and the right side of one of the two protective plates (5) near the front end and is fixedly connected to the output end of the drive motor (18). The connection between the rotating shaft (17) and the frame (15) and the protective plate (5) is connected by ball bearings.

3. The waste lotus seed grasping device according to claim 1, characterized in that: The right end of the rotating shaft (17) is connected to the inner right side wall of the frame (15) by a ball bearing.

4. The waste lotus seed grasping device according to claim 1, characterized in that: The bottom of the feed hopper (9) is provided with a discharge device, and the discharge device is provided with a control valve. A portion of the outer surface of the circular column (16) is located inside the discharge device.

5. The waste lotus seed grasping device according to claim 1, characterized in that: The multimodal vision device (2) includes an image recognition system, a multispectral imaging module, an integrated ring LED lighting system, and a depth sensor.

6. The waste lotus seed grasping device according to claim 1, characterized in that: The lower surfaces of the left and right sides of the mounting bracket (8) are fixedly connected to the opposite sides of the two protective plates (5) near the middle, respectively, at the bottom position.

7. The waste lotus seed grasping device according to claim 1, characterized in that: The outer surface of the fixed tube (13) is evenly distributed with multiple pipe fixing brackets (7). The fixed tube (13) is fixedly connected to the mechanical arm of the robotic arm claw (6) through the pipe fixing brackets (7). A filter screen is provided on the air intake end (14). A camera device (19) is fixedly installed on the robotic arm claw (6) near the gripping end of the robotic arm claw.

8. The waste lotus seed grasping device according to claim 1, characterized in that: A controller is provided on the right side of the mounting frame (8). The inner left and right side walls of the mounting frame (8) are fixedly connected to the opposite side of the two protective plates (5) near the rear end, respectively. The sorting hopper (4) is placed on the waste frame (3) at the end away from the protective plate (5). A conveyor belt is provided on the conveying device (1).

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