CN112275656B - Vegetable and fruit sorting robot and using method thereof - Google Patents

Abstract

The invention discloses a vegetable and fruit sorting robot, which relates to the field of robots and comprises the following components: the feeding portion, the sorting portion, the manipulator portion, the collection portion, after vegetables and fruits sent to the feeding device of feeding portion, detect the record by detection device to vegetables and fruits, snatch the vegetables and fruits that article looks size is moderate again by the manipulator and send into the separation box, accomplish the screening of optimum grade, the vegetables and fruits that do not snatch by the manipulator fall into collection device from the feeding device, the collection bottom plate among the collection device carries out the secondary screening, less vegetables and fruits whereabouts in the collection bottom plate from the top, great vegetables and fruits fall under the collection bottom plate, wait for down to collect the bottom plate and rise the back and send out, accomplish and select separately.

Description

Vegetable and fruit sorting robot and using method thereof

Technical Field

The invention relates to the field of robots, in particular to a vegetable and fruit sorting robot and a using method thereof.

Background

Nowadays, the manipulator is widely applied to the fields of traditional manufacturing industry, emerging robot industry and the like, can replace manual work to complete complicated repetitive actions, and is excellent in working efficiency.

And the manipulator among the current fruit vegetables sorting device often has the problem, and current manipulator when snatching vegetables and fruits, its clamp is grabbed when pressing from both sides vegetables and fruits and get, causes the damage to vegetables and fruits extremely easily.

Disclosure of Invention

The invention aims to solve the problem that when a manipulator of an existing vegetable and fruit sorting robot grabs vegetables and fruits, the vegetables and fruits are extremely easy to damage.

The invention also aims to provide a use method of the vegetable and fruit sorting robot.

In order to achieve one of the purposes, the invention adopts the following scheme: a vegetable and fruit sorting robot is characterized by comprising: a feeding portion disposed on a ground, the feeding portion comprising: the feed arrangement, this feed arrangement sets up subaerial, detection device, and this detection device connects in this feed arrangement's top, and this detection device is located this feed arrangement's upper front end, selects separately the portion, and this sorting unit sets up subaerial, and this sorting unit is located the both sides of this feed arrangement, and this sorting unit is provided with two sets ofly, and this sorting unit includes: sorting unit, this sorting unit sets up subaerial, and this sorting unit is located one side manipulator portion of this feed arrangement, and this manipulator portion is connected in this feed arrangement, and this manipulator portion is provided with two sets ofly, and this manipulator portion includes: the arm, this arm is connected at this feed arrangement's upper rear end, and mechanical palm, the upper end at this arm is connected to this mechanical palm, and this mechanical palm is located this feed arrangement's top, and the manipulator, this manipulator are connected in the upper end of this mechanical palm, and this manipulator is located this feed arrangement's top, the portion of collecting, and this portion of collecting sets up subaerial, and this portion of collecting is located the rear of this feed arrangement, and this portion of collecting includes: the collecting device is arranged on the ground and is positioned behind the feeding device.

Further, in the embodiment of the present invention, the feeding body is disposed on the ground, the feeding body is provided with two lower layers, the rear end of the upper layer of the feeding body is provided with a platform, the front end of the upper layer of the feeding body is provided with two left and right channels, the lower layer of the feeding body is provided with a crawler, the lower end of the feeding body is provided with twenty-four support legs, the first feeding crawler is connected in the channel on the left side of the front end of the upper layer of the feeding body, the second feeding crawler is connected in the channel on the right side of the front end of the upper layer of the feeding body, and the mounting table is connected to the platform on the rear end of the upper layer of the feeding body.

Further, in the embodiment of the present invention, the camera is attached to the feeding main body, and the camera is located at the upper front end of the feeding main body.

Further, in the embodiment of the present invention, the sorting body is disposed on the ground, the sorting body is connected to one side of the feeding body, the upper end of the sorting body is provided with a left channel and a right channel, the channel on the right side of the sorting body is disposed to be inclined outward, the inner wall of the right channel of the sorting body is provided with a top plate, the lower end of the sorting body is provided with eight support legs, the sorting box is disposed in the left channel and the right channel of the sorting body, the right surface of the sorting box is provided with a hole, the sorting rack is connected to the right side of the sorting body, the sorting motor is connected to the sorting body, and the sorting motor is disposed at the rear end of the sorting body.

Further, in the embodiment of the present invention, the machine base is connected to the mounting table, a motor and a mechanical main rod are arranged inside the machine base, the mechanical main rod is connected to the machine base, the motor and the mechanical adjusting rod are arranged at the upper end of the mechanical main rod, the mechanical adjusting rod is connected to the upper end of the mechanical main rod, a cylinder and a mechanical telescopic rod are arranged at the front end of the mechanical adjusting rod, the mechanical telescopic rod is connected to the front end of the mechanical adjusting rod, the mechanical telescopic rod is provided with five sections, a mechanical end is connected to the front end of the mechanical rod, a movable groove is arranged at the front end of the mechanical end, and a mechanical ejector rod is connected to the mechanical ejector rod in a sliding groove at the front end of the mechanical end.

Further, in the embodiment of the present invention, a front end of the first mechanical rod is connected to the mechanical thimble, a second mechanical rod is connected to an inside of the first mechanical rod, and a rear end of the third mechanical rod is connected to rear ends of the first mechanical rod and the second mechanical rod.

Further, in the embodiment of the present invention, the first mechanical gear is connected to the inner left side of the third mechanical lever, the first mechanical gear is provided with three layers of gears, the middle layer of the first mechanical gear is helical teeth, the second mechanical gear is a bevel gear, the second mechanical gear is meshed with the first mechanical gear and is provided with helical teeth and a lower mechanical claw, the lower mechanical claw is connected with the outer side of the middle layer of the first mechanical gear, the surface of the lower mechanical claw is provided with helical teeth meshed with the first mechanical gear, the upper mechanical claw, the upper mechanical claw is connected inside the lower mechanical claw, a vertical plate meshed with the second mechanical gear is arranged on the outer side of the surface of the upper mechanical claw, the claw head of the upper mechanical claw is provided with a clamping table, a lower claw baffle is connected above the end head of the lower mechanical claw, and an upper claw baffle is connected in the clamping table arranged at the claw head of the upper mechanical claw.

Further, in the embodiment of the present invention, the collecting body is disposed on the ground, the collecting body is located at the rear end of the feeding body, the upper collecting bottom plate is connected to the inner upper end of the collecting body, the upper section of the surface of the upper collecting bottom plate is provided with an oblique opening plate, the middle section of the surface of the upper collecting bottom plate is provided with a concave vertical plate, the middle section of the surface of the upper collecting bottom plate is provided with a rectangular opening, the back of the concave vertical plate disposed at the middle section of the surface of the upper collecting bottom plate is provided with a connecting platform, the collecting vertical plate is disposed on the surface of the upper collecting bottom plate, the lower collecting bottom plate is connected to the inner lower end of the collecting body, the surface of the lower collecting bottom plate is provided with a rack vertical plate, and the collecting gear is connected to the connecting platform at the back of the concave vertical plate of the upper collecting bottom plate.

A use method of a vegetable and fruit sorting robot comprises the following steps:

the feeding part is started, vegetables and fruits are placed on the first feeding crawler belt or the second feeding crawler belt, the first feeding crawler belt and the second feeding crawler belt drive the vegetables and fruits to move forwards, during movement, the vegetables and fruits on the two crawler belts are detected by the left camera and the right camera which are arranged at the front end of the feeding main body, when the vegetables and fruits which meet the specification are detected, the mechanical hand part on the corresponding feeding crawler belt starts to work, the front part of the mechanical hand part descends through the mechanical adjusting rod, the length of the mechanical hand part is adjusted through the mechanical telescopic rod, when the mechanical hand moves to a proper position, the horizontal direction of the mechanical hand part is finely adjusted through the mechanical thimble, the first mechanical rod and the second mechanical rod finely adjust the vertical position of the mechanical hand part, and when the position of the mechanical hand is adjusted to be correct, the mechanical hand is ready to be grabbed.

Firstly, the first mechanical gear starts to rotate anticlockwise, the second mechanical gear starts to rotate clockwise, the second mechanical gear rotates clockwise to drive the upper gripper to rotate clockwise, the upper gripper starts to grip towards the inside, when the first mechanical gear rotates anticlockwise, the middle end of the first mechanical gear drives the lower gripper to rotate anticlockwise, the lower gripper also starts to grip towards the inside, meanwhile, when the first mechanical gear rotates, the lower end of the first mechanical gear is meshed with the first mechanical gear of the next group of manipulators, the gripping action of the last group of manipulators is repeated, the total five groups of manipulators grip towards the inside, when the manipulators at different positions are different in gripping position due to different shapes of vegetables and fruits, the middle end of the first mechanical gear and the inside of the lower gripper are gripped towards the inside, when the meshing, because the setting of skewed tooth receives certain resistance after, take place to skid, first mechanical gear continues to rotate, but lower gripper can't continue to inside centre gripping, simultaneously, after last gripper received the resistance, first mechanical gear's upper end and second mechanical gear take place to skid, go up the gripper also can't inside centre gripping, a set of manipulator stops to continue the centre gripping, and the manipulator that corresponds other diameter less positions then continues the centre gripping, until the centre gripping to vegetables and fruits.

Further, in the embodiment of the invention, after the vegetables and fruits are clamped, the mechanical seat adjusts the mechanical hand part to rotate, the mechanical hand part places the vegetables and fruits on the mechanical hand in the sorting box, after the sorting box bears a certain weight, the sorting box slides downwards in the channel on the left side of the sorting main body, the sorting box prepared on the right side falls into the position of the sorting box sliding before, the sorting box is responsible for continuously charging, the sorting motor starts to start after the prepared sorting box enters the position to be sorted, and the sorting motor drives the sorting rack. The sorting rack drives the next sorting box to a prepared sorting box position.

Substandard vegetables and fruits are under the condition that the mechanical hand clamp was got not, fall into the lower part of advancing the main part, vegetables and fruits fall into the collection portion in the lower part by the main part that advances, vegetables and fruits slide along last collection bottom plate, be collected the riser and concentrate downward flow again, under the blockking of the bevel connection opening plate that last feeding bottom plate set up, great vegetables and fruits fall down from both sides, the open position of the bevel connection opening plate that less vegetables and fruits set up from the last feeding bottom plate falls into the lower floor of collecting the main part, great vegetables and fruits fall behind from both sides down, fall into down and collect the bottom plate, after a period, collect the gear and start, it rises to collect the bottom plate under the gear drive, send out great vegetables and fruits, fall into the tertiary with vegetables and fruits.

Has the advantages that: use and collect the riser, on collect the bottom plate, collect the bottom plate down and accomplish the secondary of vegetables and fruits and select separately, lead to vegetables and fruits by collecting the riser, on collect the bottom plate and select separately, collect less vegetables and fruits from the last bottom plate that collects and select out, collect the vegetables and fruits that the bottom plate rolls from the top down again, when collecting, to the condition that some less vegetables and fruits from the last collection board dropped, when the lower collection board rises, also can sieve it down, accomplish secondary and select separately, select separately vegetables and fruits once more, greatly reduced artificial consumption, it comprises two sorting channels to select separately the main part, the sorting box of one side installation is owing to waiting to adorn and get, the opposite side owing to prepare the packing, under the artificial condition need not, sorting efficiency has been improved.

Drawings

Fig. 1 is a front perspective view of a vegetable and fruit sorting robot according to an embodiment of the present invention.

Fig. 2 is a schematic rear perspective view of a vegetable and fruit sorting robot according to an embodiment of the present invention.

FIG. 3 is a perspective view of a feeding section and a sorting section according to an embodiment of the present invention.

Fig. 4 is a schematic perspective view of a sorting unit according to an embodiment of the present invention.

Fig. 5 is a schematic perspective view of a manipulator according to an embodiment of the present invention.

Fig. 6 is a schematic perspective view of a mechanical palm and a manipulator according to an embodiment of the present invention.

Fig. 7 is a schematic perspective view of a robot according to an embodiment of the present invention.

Fig. 8 is a schematic view of the internal structure of the robot according to the embodiment of the present invention.

Fig. 9 is a schematic diagram of the transmission relationship of the robot according to the embodiment of the present invention.

FIG. 10 is a perspective view of a collecting part according to an embodiment of the present invention.

FIG. 11 is a side view of a collection portion according to an embodiment of the present invention.

1. Feeding section 2, sorting section 3, and robot hand section

4. Collecting part

11. Feeding device 111, feeding body 112, first feeding crawler

113. Second feed crawler 114, mounting table

12. Detection device 121 and camera

21. Sorting device 211, sorting body 212, and sorting cassette

213. Sorting rack 214 and sorting motor

31. Mechanical arm 311, mechanical base 312 and mechanical main rod

313. Mechanical adjusting rod 314, mechanical telescopic rod 315 and mechanical end head

316. Mechanical ejector rod

32. Mechanical palm 321, first mechanical rod 322 and second mechanical rod

323. Third mechanical lever

33. Manipulator 331, first mechanical gear 332, second mechanical gear

333. Upper gripper 334, lower gripper 335, lower gripper stop

336. Upper claw baffle plate

41. Collecting device 411, collecting body 412, upper collecting bottom plate

413. Collecting vertical plate 414, lower collecting bottom plate 415 and collecting gear

In order to make the objects, technical solutions and advantages of the present invention clear and fully described, embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of some embodiments of the invention and are not limiting of the invention, and that all other embodiments obtained by those of ordinary skill in the art without the exercise of inventive faculty are within the scope of the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "inner", "outer", "top", "bottom", "side", "vertical", "horizontal", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "a," "an," "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

For the purposes of simplicity and explanation, the principles of the embodiments are described by referring mainly to examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. It will be apparent, however, to one skilled in the art that the embodiments may be practiced without these specific details. In some instances, well-known methods and structures have not been described in detail so as not to unnecessarily obscure the embodiments. In addition, all embodiments may be used in combination with each other.

The first embodiment is as follows:

a vegetable and fruit sorting robot is characterized by comprising:

the portion of advancing 1, the portion of advancing 1 sets up on ground, and the portion of advancing 1 includes: a feeding device 11, the feeding device 11 being disposed on the ground, wherein the feeding device 11 further comprises: the main part 111 feeds in, the main part 111 feeds in sets up subaerial, the main part 111 feeds in is provided with two lower two-stories, the upper rear end of the main part 111 that feeds in is provided with a platform, two passageways about the upper front end of the main part 111 that feeds in is provided with, the lower floor of the main part 111 that feeds in is provided with a track, the lower extreme of the main part 111 that feeds in is provided with twenty-four stabilizer blades, first track 112 that feeds in is connected in the passageway on the left of the upper front end of the main part 111 that feeds in, second track 113 that feeds in is connected in the passageway on the right of the upper front end of the main part 111 that feeds in, mount table 114 is connected on the platform of the main part 111 upper rear end that feeds in, detection device 12 is connected in the top of the feeding device 11, detection device 12 is located the upper front end of feeding device 11, wherein, detection device 12 still includes: the camera 121, the camera 121 is connected to the feeding body 111, and the camera 121 is located at the upper front end of the feeding body 111.

Sorting unit 2, sorting unit 2 set up subaerial, and sorting unit 2 is located the both sides of portion 1 that send, and sorting unit 2 is provided with two sets ofly, and sorting unit 2 includes: a sorting device 21, the sorting device 21 being arranged on the ground, the sorting device 21 being located on one side of the feeding device 11, wherein the sorting device 21 further comprises: sorting main part 211, sorting main part 211 sets up subaerial, sorting main part 211 connects in the one side of advancing main part 111, sorting main part 211 upper end is provided with two passageways about, the passageway ground on sorting main part 211 right side sets up to outside slope, the inner wall of sorting main part 211 right side passageway is provided with the roof, sorting main part 211 lower extreme is provided with eight stabilizer blades, sorting box 212, the sorting is located two passageways about sorting main part 211, the right side surface of sorting box 212 is provided with the hole, sorting rack 213 connects on the right side of sorting main part 211, sorting motor 214 connects on sorting main part 211, sorting motor 214 is located the rear end of sorting main part 211.

Manipulator 3, manipulator 3 connect on feeding portion 1, and manipulator 3 is provided with two sets ofly, and manipulator 3 includes: and a robot arm 31, the robot arm 31 being connected to the upper rear end of the feeder 11, wherein the robot arm 31 further includes: mechanical seat 311, mechanical seat 311 is connected on mount 114, the inside of mechanical seat 311 is provided with the motor, mechanical mobile jib 312 is connected on mechanical seat 311, mechanical mobile jib 312 upper end is provided with the motor, mechanical adjusting rod 313 is connected in the upper end of mechanical mobile jib 312, the front end of mechanical adjusting rod 313 is provided with the cylinder, mechanical telescopic rod 314 is connected in the front end of mechanical adjusting rod 313, mechanical telescopic rod 314 is provided with five sections, mechanical end 315 is connected in the front end of mechanical rod, mechanical end 315 front end is provided with the movable slot, mechanical ejector pin 316 is connected in the spout of mechanical end 315 front end, mechanical palm 32 is connected in the upper end of mechanical arm 31, mechanical palm 32 is located the top of feeder apparatus 11, wherein, mechanical palm 32 still includes: first mechanical rod 321, the front end of first mechanical rod 321 is connected on mechanical thimble, second mechanical rod 322 are connected in the inside of first mechanical rod 321, third mechanical rod 323, the rear end of third mechanical rod 323 is connected on the rear end of first mechanical rod 321 and second mechanical rod 322, manipulator 33 is connected in the upper end of machinery palm 32, manipulator 33 is located the top of advancing device 11, wherein, manipulator 33 still includes: a first mechanical gear 331, the first mechanical gear 331 is connected to the left side of the inside of the third mechanical lever 323, the first mechanical gear 331 is provided with three layers of gears, the middle layer of the first mechanical gear 331 is helical teeth, the second mechanical gear 332 is engaged with the first mechanical gear 331, the second mechanical gear 332 is helical teeth, the lower gripper 334 is connected to the outer side of the middle layer of the first mechanical gear 331, the surface of the lower gripper 334 is provided with helical teeth engaged with the first mechanical gear 331, the upper gripper 333 is connected to the inside of the lower gripper 334, the outer side of the surface of the upper gripper 333 is provided with a vertical plate engaged with the second mechanical gear 332, the gripper head of the upper gripper 333 is provided with a gripping table, when gripping, the first mechanical gear 331 starts to rotate counterclockwise, the second mechanical gear 332 starts to rotate clockwise, the second mechanical gear 332 rotates clockwise to drive the upper gripper 333 to rotate clockwise, the upper gripper 333 starts to grip inwards, when the first mechanical gear 331 rotates counterclockwise, the middle end of the first mechanical gear 331 drives the lower gripper 334 to rotate counterclockwise, the lower gripper 334 also starts to grip inwards, when the upper gripper 333 and the lower gripper 334 grip vegetables and fruits, the upper gripper 333 and the lower gripper 334 are subjected to resistance when continuing to tighten, after the resistance is received, the first mechanical gear 331 continues to rotate counterclockwise, but due to the helical gear design of the middle part of the first mechanical gear 331 and the second mechanical gear 332, the upper gripper 333 and the lower gripper 334 cannot continue to grip after being subjected to resistance, start to slip and cannot continue to grip inwards, it is ensured that vegetables and fruits cannot be damaged by the grippers, and during the gripping process of the vegetables and fruits by the grippers, damage to vegetables and fruits.

Collecting part 4, collecting part 4 sets up subaerial, and collecting part 4 is located the rear of portion 1 that advances, and collecting part 4 includes: a collecting device 41, the collecting device 41 being disposed on the ground, the collecting device 41 being located behind the feeding device 11, wherein the collecting device 41 further comprises: collect main part 411, collect main part 411 and set up subaerial, collect the rear end that main part 411 is located into main part 111, on collect bottom plate 412 and connect the inside upper end of collecting main part 411, on collect bottom plate 412 the surperficial upper segment and be provided with the bevel connection board, on collect bottom plate surface middle section and be provided with the recess riser, be provided with the rectangle opening in the recess riser that upper collect plate surface middle section set up, the recess riser back that upper collect plate surface middle section set up is provided with the connection platform, collect riser 413 and set up the surface at upper collect bottom plate 412, collect bottom plate 414 down and connect the inside lower extreme at collecting main part 411, collect bottom plate 414 surface down and be provided with a rack riser, collect gear 415 and connect on the connection platform at upper collect plate recess riser back.

Example two:

as in the first embodiment, the feeding unit 1 is disposed on the ground, and the feeding unit 1 includes: a feeding device 11, the feeding device 11 being disposed on the ground, wherein the feeding device 11 further comprises: the main part 111 feeds in, the main part 111 feeds in sets up subaerial, the main part 111 feeds in is provided with two lower two-stories, the upper rear end of the main part 111 that feeds in is provided with a platform, two passageways about the upper front end of the main part 111 that feeds in is provided with, the lower floor of the main part 111 that feeds in is provided with a track, the lower extreme of the main part 111 that feeds in is provided with twenty-four stabilizer blades, first track 112 that feeds in is connected in the passageway on the left of the upper front end of the main part 111 that feeds in, second track 113 that feeds in is connected in the passageway on the right of the upper front end of the main part 111 that feeds in, mount table 114 is connected on the platform of the main part 111 upper rear end that feeds in, detection device 12 is connected in the top of the feeding device 11, detection device 12 is located the upper front end of feeding device 11, wherein, detection device 12 still includes: the camera 121, the camera 121 is connected to the feeding body 111, and the camera 121 is located at the upper front end of the feeding body 111.

Sorting unit 2, sorting unit 2 set up subaerial, and sorting unit 2 is located the both sides of portion 1 that send, and sorting unit 2 is provided with two sets ofly, and sorting unit 2 includes: a sorting device 21, the sorting device 21 being arranged on the ground, the sorting device 21 being located on one side of the feeding device 11, wherein the sorting device 21 further comprises: the sorting machine comprises a sorting main body 211, wherein the sorting main body 211 is arranged on the ground, the sorting main body 211 is connected to one side of the feeding main body 111, the upper end of the sorting main body 211 is provided with a left channel and a right channel, the ground of the channel on the right side of the sorting main body 211 is arranged to incline towards the outside, the inner wall of the channel on the right side of the sorting main body 211 is provided with a top plate, the lower end of the sorting main body 211 is provided with eight support legs, a sorting box 212 is arranged in the left channel and the right channel of the sorting main body 211 in a sorting mode, the right side surface of the sorting box 212 is provided with holes, a sorting rack 213 is connected to the right side of the sorting main body 211, a sorting motor 214 is connected to the sorting main body 211, and the sorting motor 214 is arranged at the rear end of the sorting main body 211.

Manipulator 3, manipulator 3 connect on feeding portion 1, and manipulator 3 is provided with two sets ofly, and manipulator 3 includes: and a robot arm 31, the robot arm 31 being connected to the upper rear end of the feeder 11, wherein the robot arm 31 further includes: the mechanical base 311, the mechanical base 311 is connected to the mounting table 114, a motor is disposed inside the mechanical base 311, the mechanical main rod 312 is connected to the mechanical base 311, the motor is disposed at the upper end of the mechanical main rod 312, the mechanical adjusting rod 313 is connected to the upper end of the mechanical main rod 312, a cylinder is disposed at the front end of the mechanical adjusting rod 313, the mechanical telescopic rod 314 is connected to the front end of the mechanical adjusting rod 313, five sections are disposed on the mechanical telescopic rod 314, the mechanical end 315 is connected to the front end of the mechanical rod 315, a movable groove is disposed at the front end of the mechanical end 315, the mechanical push rod 316 is connected to the sliding groove at the front end of the mechanical end 315, the mechanical palm 32 is connected to the upper end of the mechanical arm 31, and the mechanical palm 32 is located above the feeding device 11, wherein the mechanical palm 32 further includes: first mechanical rod 321, the front end of first mechanical rod 321 is connected on mechanical thimble, second mechanical rod 322 are connected in the inside of first mechanical rod 321, third mechanical rod 323, the rear end of third mechanical rod 323 is connected on the rear end of first mechanical rod 321 and second mechanical rod 322, manipulator 33 is connected in the upper end of machinery palm 32, manipulator 33 is located the top of advancing device 11, wherein, manipulator 33 still includes: a first mechanical gear 331, wherein the first mechanical gear 331 is connected to the left side of the inside of the third mechanical rod 323, the first mechanical gear 331 is provided with three layers of gears, the middle layer of the first mechanical gear 331 is helical teeth, and the number of the first mechanical gear 331 is five; a second mechanical gear 332, the second mechanical gear 332 being engaged with the first mechanical gear 331, the second mechanical gear 332 being provided with helical teeth, the second mechanical gear 332 being provided with five; the lower gripper 334 is connected to the outer side of the middle layer of the first mechanical gear 331, the surface of the lower gripper 334 is provided with inclined teeth engaged with the first mechanical gear 331, and five lower grippers 334 are arranged; the upper gripper 333 is connected to the inside of the lower gripper 334, a vertical plate meshed with the second mechanical gear 332 is arranged on the outer side of the surface of the upper gripper 333, a clamping table is arranged at the head of the upper gripper 333, and five upper grippers 333 are arranged; the lower claw baffle 335 is connected above the end head of the lower mechanical claw 334, the surface of the lower claw baffle 335 is arc-shaped, and five lower claw baffles 335 are arranged; an upper claw guard 336, the upper claw guard 336 is connected in a clamping table arranged at the head of the upper gripper 333, the surface of the upper claw guard 336 is arc-shaped, five upper claw guards 336 are arranged, when clamping is performed, the first mechanical gear 331 starts to rotate counterclockwise, the second mechanical gear 332 starts to rotate clockwise, the second mechanical gear 332 rotates clockwise to drive the upper gripper 333 to rotate clockwise, the upper gripper 333 starts to clamp towards the inside, when the first mechanical gear 331 rotates counterclockwise, the middle end of the first mechanical gear 331 drives the lower gripper 334 to rotate counterclockwise, the lower gripper 334 also starts to clamp towards the inside, the gear arranged at the lower layer of the first mechanical gear 331 drives the first mechanical gear 331 in the next group to repeatedly clamp again, and five groups of manipulators 33 perform firm clamping on vegetables and fruits with completely different sizes and shapes, the fixed point of ten directions, the arc contact surface of last claw baffle 336 on the fixed point and lower claw baffle 335 then avoids the direct contact of claw head and vegetables and fruits, and the degree of depth of snatching of fixed point can carry out the self-adaptation to the radius that corresponds of the vegetables and fruits of being snatched and adjust, guarantees not to destroy fruit again under the prerequisite that can steadily press from both sides the vegetables and fruits of equidimension shape and get, has solved the problem that the vegetables and fruits of not equidimension shape can't be snatched in the selection hand.

Collecting part 4, collecting part 4 sets up subaerial, and collecting part 4 is located the rear of portion 1 that advances, and collecting part 4 includes: a collecting device 41, the collecting device 41 being disposed on the ground, the collecting device 41 being located behind the feeding device 11, wherein the collecting device 41 further comprises: collect main part 411, collect main part 411 and set up subaerial, collect main part 411 and be located the rear end of advancing main part 111, on collect bottom plate 412 and connect the inside upper end at collecting main part 411, on collect bottom plate 412 and be provided with the bevel connection division board in the upper segment of surface, on collect bottom plate surface middle section and be provided with the recess riser, be provided with the rectangle opening in the recess riser that goes up collection plate surface middle section and set up, the recess riser back that goes up collection plate surface middle section and set up is provided with the connection platform, collect riser 413 and set up the surface at last collection bottom plate 412, collect bottom plate 414 down and connect the inside lower extreme at collecting main part 411, it is provided with a rack riser to collect bottom plate 414 surface down, collect gear 415 and connect on the connection platform at last collection plate recess riser back.

Example three:

a use method of a vegetable and fruit sorting robot comprises the following steps:

starting the feeding part 1, placing the vegetables and fruits on the first feeding crawler 112 or the second feeding crawler 113, the first feeding crawler 112 and the second feeding crawler 113 driving the vegetables and fruits to move forward, when moving, the left and right cameras 121 arranged at the front end of the feeding main body 111 detecting the vegetables and fruits on the two crawlers, when detecting the vegetables and fruits which meet the specification, the manipulator 3 on the corresponding feeding crawler starts working, the mechanical adjusting rod 313 adjusts the front part of the manipulator 3 to descend, the mechanical telescopic rod 314 adjusts the length of the manipulator 3, when the manipulator 33 moves to a proper position, the mechanical ejector pin is adjusted to finely adjust the horizontal direction of the manipulator 32 again, the first mechanical rod 321 and the second mechanical rod 322 finely adjust the vertical position of the manipulator 32, and when the position of the manipulator 33 is adjusted to be correct, the picking is prepared,

first, the first mechanical gear 331 starts to rotate counterclockwise, the second mechanical gear 332 starts to rotate clockwise, the second mechanical gear 332 drives the upper gripper 333 to rotate clockwise, the upper gripper 333 starts to grip the inside, when the first mechanical gear 331 rotates counterclockwise, the middle end of the first mechanical gear 331 drives the lower gripper 334 to rotate counterclockwise, the lower gripper 334 also starts to grip the inside, and when the first mechanical gear 331 rotates, the lower end of the first mechanical gear 331 meshes with the first mechanical gear 331 of the next set of manipulators 33, the gripping operation of the previous set of manipulators 33 is repeated, all the total five sets of manipulators 33 grip the inside, when the manipulators 33 at different positions are different in gripping position due to the shape of the fruit and vegetable, the upper gripper 333 and the lower gripper 334 of the manipulator 33 corresponding to the position with a larger diameter are gripping the inside, when the middle end of the first mechanical gear 331 is engaged with the inside of the lower gripper 334, due to the arrangement of the helical teeth, after a certain resistance is applied, the first mechanical gear 331 slips, the first mechanical gear 331 continues to rotate, but the lower gripper 334 cannot continue to grip the inside of the vegetable, meanwhile, after the upper gripper 333 is subjected to the resistance, the upper end of the first mechanical gear 331 slips with the second mechanical gear 332, the upper gripper 333 cannot grip the inside of the vegetable, the group of manipulators 33 stops continuing to grip the vegetable, and the manipulators 33 corresponding to other positions with smaller diameters continue to grip the vegetable until the vegetable is gripped.

After the vegetables and fruits are clamped, the mechanical seat 311 adjusts the mechanical hand part 3 to rotate, the mechanical hand part 3 places the vegetables and fruits on the mechanical arm 33 inside the sorting box 212, after the sorting box 212 bears a certain weight, the sorting box 212 slides downwards in a channel on the left side of the sorting main body 211, the sorting box 212 prepared on the right side drops to the position of the sorting box 212 sliding before, the sorting box is responsible for continuously charging materials, the sorting motor 214 starts to be started after the prepared sorting box 212 enters the position to be sorted, and the sorting motor 214 drives the sorting rack 213. The sorting rack 213 brings the next cassette 212 to the ready cassette 212 position,

the substandard vegetables and fruits fall into the lower part of the feeding main body 111 under the condition that the manipulator part 3 is not used for clamping, the vegetables and fruits fall into the collecting part 4 from the lower part of the feeding main body 111, the vegetables and fruits slide downwards along the upper collecting bottom plate 412 and then flow downwards in a concentrated mode through the collecting vertical plate 413, under the blocking of the bevel opening plate arranged on the upper feeding bottom plate, larger vegetables and fruits fall down from two sides, smaller vegetables and fruits fall into the lower layer of the collecting main body 411 from the opening position of the bevel opening plate arranged on the upper feeding bottom plate, larger vegetables and fruits fall behind from two sides and fall into the lower collecting bottom plate 414, after a period of time, the collecting gear 415 is started, the collecting gear 415 drives the lower collecting bottom plate 414 to ascend, the larger vegetables and fruits are sent out, and the vegetables and fruits are divided into three stages.

Although the illustrative embodiments of the present invention have been described above to enable those skilled in the art to understand the present invention, the present invention is not limited to the scope of the embodiments, and it is apparent to those skilled in the art that all the inventive concepts using the present invention are protected as long as they can be changed within the spirit and scope of the present invention as defined and defined by the appended claims.

Claims (7)

1. A vegetable and fruit sorting robot is characterized by comprising:

a feeding portion, the feeding portion disposed on the ground, the feeding portion including:

the feeding device is arranged on the ground;

the detection device is connected above the feeding device and is positioned at the front end of the upper layer of the feeding device;

the part of selecting separately, the part of selecting separately sets up subaerial, the part of selecting separately is located the both sides of portion of advancing, the part of selecting separately is provided with two sets ofly, the part of selecting separately includes:

the sorting device is arranged on the ground and is positioned on one side of the feeding device;

mechanical hand portion, mechanical hand portion connects in the portion of advancing, mechanical hand portion is provided with two sets ofly, mechanical hand portion includes:

the mechanical arm is connected to the rear end of the upper layer of the feeding device;

the mechanical palm is connected to the upper end of the mechanical arm and is positioned above the feeding device;

the manipulator, the manipulator is connected the upper end of machinery palm, the manipulator is located feed arrangement's top, the manipulator includes:

the first mechanical gear is connected to the left side inside the third mechanical rod and provided with three layers of gears, and the middle layer of the first mechanical gear is helical teeth;

a second mechanical gear engaged with the first mechanical gear, the second mechanical gear being provided as helical teeth;

the lower mechanical claw is connected to the outer side of the middle layer of the first mechanical gear, and helical teeth meshed with the first mechanical gear are arranged on the surface of the lower mechanical claw;

the upper mechanical claw is connected to the inside of the lower mechanical claw, a vertical plate meshed with a second mechanical gear is arranged on the outer side of the surface of the upper mechanical claw, and a clamping table is arranged at the claw head of the upper mechanical claw;

a collecting portion disposed on a ground, the collecting portion being located behind the feeding portion, the collecting portion including:

the collecting device is arranged on the ground and is positioned behind the feeding device;

the feeding device further comprises:

the feeding device comprises a feeding main body, a feeding main body and a conveying device, wherein the feeding main body is arranged on the ground and is provided with an upper layer and a lower layer, a platform is arranged at the rear end of the upper layer of the feeding main body, a left channel and a right channel are arranged at the front end of the upper layer of the feeding main body, a crawler belt is arranged at the lower layer of the feeding main body, and twenty-four support legs are arranged at the lower end of the feeding main body;

a first feeding crawler connected in a passage on the left of the front end of the upper layer of the feeding body;

the second feeding crawler is connected in a channel on the right side of the front end of the upper layer of the feeding main body;

the mounting table is connected to a platform at the rear end of the upper layer of the feeding main body;

the sorting device further comprises:

the sorting main body is arranged on the ground and connected to one side of the feeding main body, a left channel and a right channel are arranged at the upper end of the sorting main body, the channel ground on the right side of the sorting main body is inclined outwards, a top plate is arranged on the inner wall of the channel on the right side of the sorting main body, and eight support legs are arranged at the lower end of the sorting main body;

the sorting boxes are positioned in the left channel and the right channel of the sorting main body, and holes are formed in the right side surfaces of the sorting boxes;

the sorting rack is connected to the right side of the sorting main body;

the sorting motor is connected to the sorting main body, and the sorting motor is located at the rear end of the sorting main body.

2. The fruit and vegetable sorting robot of claim 1, wherein the detecting device further comprises:

the camera is connected to the feeding main body and located at the front end of the upper layer of the feeding main body.

3. The fruit and vegetable sorting robot of claim 1, wherein the robotic arm further comprises:

the mechanical seat is connected to the mounting table, and a motor is arranged inside the mechanical seat;

the mechanical main rod is connected to the upper end of the mechanical base, and a motor is arranged at the upper end of the mechanical main rod;

the mechanical adjusting rod is connected to the upper end of the mechanical main rod, and the front end of the mechanical adjusting rod is provided with a cylinder;

the mechanical telescopic rod is connected to the front end of the mechanical adjusting rod and is provided with five sections;

the mechanical end head is connected to the front end of the mechanical telescopic rod, and a movable groove is formed in the front end of the mechanical end head;

and the mechanical ejector rod is connected in a movable groove at the front end of the mechanical end head.

4. The fruit and vegetable sorting robot of claim 3, wherein the mechanical palm further comprises:

the front end of the first mechanical rod is connected to the mechanical ejector rod;

a second mechanical bar connected inside the first mechanical bar;

a third mechanical lever having a rear end connected to rear ends of the first and second mechanical levers.

5. The fruit and vegetable sorting robot of claim 4, wherein the collecting device further comprises:

a collecting body disposed on the ground, the collecting body being located at a rear end of the feeding body;

the upper collecting bottom plate is connected to the upper end inside the collecting main body, an inclined opening plate is arranged at the upper section of the surface of the upper collecting bottom plate, a groove vertical plate is arranged at the middle section of the surface of the upper collecting bottom plate, a rectangular opening is arranged in the groove vertical plate arranged at the middle section of the surface of the upper collecting bottom plate, and a connecting platform is arranged at the back of the groove vertical plate arranged at the middle section of the surface of the upper collecting bottom plate;

the collecting vertical plate is arranged on the surface of the upper collecting bottom plate;

the lower collecting bottom plate is connected to the lower end inside the collecting main body, and a rack vertical plate is arranged on the surface of the lower collecting bottom plate;

and the collecting gear is connected on the connecting platform on the back of the groove vertical plate of the upper collecting bottom plate.

6. Use of the fruit and vegetable sorting robot of claim 5, comprising the steps of:

the feeding part is started, vegetables and fruits are placed on the first feeding crawler belt or the second feeding crawler belt, the first feeding crawler belt and the second feeding crawler belt drive the vegetables and fruits to move forwards, during movement, the left camera and the right camera which are arranged at the front end of the feeding main body detect the vegetables and fruits on the two crawler belts, when the vegetables and fruits which meet the specification are detected, the mechanical hand part on the corresponding feeding crawler belt starts to work, the mechanical adjusting rod adjusts the front part of the mechanical hand part to descend, the mechanical telescopic rod adjusts the length of the mechanical hand part, when the mechanical hand moves to a proper position, the mechanical ejector rod is adjusted to finely adjust the horizontal direction of the mechanical hand part again, the first mechanical rod and the second mechanical rod finely adjust the vertical position of the mechanical hand part, and after the position of the mechanical hand is adjusted to be correct, grabbing is prepared;

firstly, the first mechanical gear starts to rotate anticlockwise, the second mechanical gear starts to rotate clockwise, the second mechanical gear rotates clockwise to drive the upper gripper to rotate clockwise, the upper gripper starts to grip towards the inside, when the first mechanical gear rotates anticlockwise, the middle end of the first mechanical gear drives the lower gripper to rotate anticlockwise, the lower gripper also starts to grip towards the inside, meanwhile, when the first mechanical gear rotates, the lower end of the first mechanical gear is meshed with the first mechanical gear of the next group of manipulators, the gripping action of the last group of manipulators is repeated, the total five groups of manipulators grip towards the inside, when the manipulators at different positions are different in gripping position due to different shapes of vegetables and fruits, the middle end of the first mechanical gear and the inside of the lower gripper are gripped towards the inside, when the meshing, because the setting of skewed tooth receives certain resistance after, take place to skid, first mechanical gear continues to rotate, but lower gripper can't continue to inside centre gripping, simultaneously, after last gripper received the resistance, first mechanical gear's upper end and second mechanical gear take place to skid, go up the gripper also can't inside centre gripping, a set of manipulator stops to continue the centre gripping, and the manipulator that corresponds other diameter less positions then continues the centre gripping, until the centre gripping to vegetables and fruits.

7. The method of using the fruit and vegetable sorting robot according to claim 6, wherein the method further comprises the steps of:

after the vegetables and fruits are clamped, the mechanical seat adjusts the mechanical hand to rotate, the mechanical hand places the vegetables and fruits on the mechanical hand in the sorting box, after the sorting box bears a certain weight, the sorting box slides downwards in a channel on the left side of the sorting main body, the sorting box prepared on the right side falls into the position of the sorting box sliding before, and is responsible for continuously charging materials, the sorting motor starts after the prepared sorting box enters the position to be sorted, and the sorting motor drives the sorting rack; the sorting rack drives the next sorting box to a prepared sorting box position;

substandard vegetables and fruits are under the condition that the mechanical hand clamp was got not, fall into the lower part of advancing the main part, vegetables and fruits fall into the collection portion in the lower part by the main part that advances, vegetables and fruits slide along last collection bottom plate, be collected the riser and concentrate downward flow again, under the blockking of the bevel connection opening plate that last feeding bottom plate set up, great vegetables and fruits fall down from both sides, the open position of the bevel connection opening plate that less vegetables and fruits set up from the last feeding bottom plate falls into the lower floor of collecting the main part, great vegetables and fruits fall behind from both sides down, fall into down and collect the bottom plate, after a period, collect the gear and start, it rises to collect the bottom plate under the gear drive, send out great vegetables and fruits, fall into the tertiary with vegetables and fruits.

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