CN212331025U - Mango sorting manipulator - Google Patents
Mango sorting manipulator Download PDFInfo
- Publication number
- CN212331025U CN212331025U CN202021151357.7U CN202021151357U CN212331025U CN 212331025 U CN212331025 U CN 212331025U CN 202021151357 U CN202021151357 U CN 202021151357U CN 212331025 U CN212331025 U CN 212331025U
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- parallel mechanism
- conveying belt
- controller
- delta robot
- conveying frame
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Abstract
The utility model discloses a mango sorting manipulator, which comprises a controller, a first conveying frame, a second conveying frame and a Delta robot parallel mechanism, wherein a high-definition camera positioned above the first conveying belt is fixedly arranged on the Delta robot parallel mechanism, and a mechanical claw is arranged below the Delta robot parallel mechanism in a transmission way; the controller is internally provided with a memory and an image sensor, the high-definition camera is in signal connection with the controller through the image sensor, and the controller is respectively in electric control connection with the first conveying belt, the second conveying belt, the Delta robot parallel mechanism and the mechanical claw; the utility model utilizes the machine vision to carry out the real-time detection, classification and motion tracking of the food, and can exert the advantages of high speed, high precision and good repeatability of the machine vision detection; the high-speed mechanical arm is used for quickly sorting the food, so that the sorting efficiency of the food can be obviously improved, the sanitation and the quality of food production are ensured, and the labor intensity of an operator is reduced.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a mango letter sorting manipulator.
Background
Mango is one of the famous tropical fruits, also known as lemon fruit, \28461fruit, fruit, stuffy fruit, honey, coffee cherry, and an-pol fruit, etc., and is famous for "tropical fruit king" because of its fine and smooth pulp, unique flavor and being popular with people. Fruit such as mango need sort according to factors such as size, shape, flaw and epidermis fold, decay before selling to the convenience is sold mango classification, generally uses the manual work to sort at present, leads to sorting inefficiency, and extravagant a large amount of manpower resources.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model provides a mango sorting manipulator, advanced technologies such as manipulator and machine vision are introduced into the field of modern food production and packaging, real-time detection, classification and motion tracking of food are carried out by utilizing machine vision, and the advantages of high speed, high precision and good repeatability of machine vision detection can be exerted; the high-speed mechanical arm is used for quickly sorting the food, so that the sorting efficiency of the food can be obviously improved, the sanitation and the quality of food production are ensured, and the labor intensity of an operator is reduced.
In order to solve the technical problem, the utility model provides a following technical scheme:
a mango sorting manipulator comprises a controller, a first conveying frame and a second conveying frame which are arranged side by side, and a Delta robot parallel mechanism arranged above the first conveying frame and the second conveying frame, wherein a first conveying belt is arranged on the first conveying frame in a transmission manner, a second conveying belt is arranged on the second conveying frame in a transmission manner, a plurality of distribution boxes are arranged on the second conveying belt in a arraying manner, a high-definition camera positioned above the first conveying belt is fixedly arranged on the Delta robot parallel mechanism, and a mechanical claw is arranged below the Delta robot parallel mechanism in a transmission manner; the controller is internally provided with a memory and an image sensor, the high-definition camera is in signal connection with the controller through the image sensor, and the controller is in electric control connection with the first conveying belt, the second conveying belt, the Delta robot parallel mechanism and the mechanical claw respectively.
As the utility model discloses a preferred technical scheme, Delta robot parallel mechanism includes quiet platform, the outer lane fixed mounting of quiet platform bottom surface has three steering wheel of group, every group the equal transmission of one end of steering wheel is connected with the driving lever, the equal transmission of one end of driving lever is connected with driven branch chain, the other end swing joint of driven branch chain has movable platform, gripper fixed mounting is in movable platform's bottom.
As an optimized technical scheme of the utility model, the gripper is the air current negative pressure formula sucking disc.
Compared with the prior art, the utility model discloses the beneficial effect that can reach is:
the utility model discloses a high definition high speed camera lens carries out holographic data acquisition, based on CMOS image sensor, acquires high quality big data image information, can gather the discernment to mango surface color, size, shape, volume, density, flaw and epidermis fold, decay etc. information, utilizes machine vision to carry out real-time detection, grading and motion tracking of food, can exert the advantage that machine vision detection speed is fast, the precision is high, good reproducibility; the food is quickly sorted by using the high-speed manipulator, so that the sorting efficiency of the food can be obviously improved, the sanitation and the quality of food production are ensured, and the labor intensity of an operator is reduced; the parallel mechanism of the Delta robot is used for driving the mechanical claw to replace a serial mechanism which is common in the traditional industrial manipulator, the end effector of the parallel manipulator is connected with the base through at least two kinematic chains, and each kinematic chain is driven by a unique sliding pair or a unique rotating pair, so that the sorting capacity of the mango sorting machine becomes more efficient.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
wherein: 1. a first conveying frame; 2. a second conveying frame; 3. a first conveying belt; 4. a second conveying belt; 5. subpackaging boxes; 6. delta robot parallel mechanism; 7. a static platform; 8. a steering engine; 9. a driving lever; 10. a high-definition camera; 11. a driven branched chain; 12. a movable platform; 13. and (4) a mechanical claw.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
Referring to fig. 1, a mango sorting manipulator comprises a controller, a first conveying frame 1 and a second conveying frame 2 which are arranged side by side, and a Delta robot parallel mechanism 6 arranged above the first conveying frame 1 and the second conveying frame 2, wherein a first conveying belt 3 is arranged on the first conveying frame 1 in a transmission manner, a second conveying belt 4 is arranged on the second conveying frame 2 in a transmission manner, a plurality of subpackaging boxes 5 are arranged on the second conveying belt 4 in a row, a high-definition camera 10 positioned above the first conveying belt 3 is fixedly arranged on the Delta robot parallel mechanism 6, and a mechanical claw 13 is arranged below the Delta robot parallel mechanism 6 in a transmission manner; the controller is internally provided with a memory and an image sensor, the high-definition camera 10 is in signal connection with the controller through the image sensor, and the controller is in electric control connection with the first conveying belt 3, the second conveying belt 4, the Delta robot parallel mechanism 6 and the mechanical claw 13 respectively.
Delta robot parallel mechanism 6 includes quiet platform 7, and the outer lane fixed mounting of quiet platform 7 bottom surface has three steering wheel 8 of group, and the equal transmission of one end of every steering wheel 8 is connected with driving lever 9, and the equal transmission of one end of driving lever 9 is connected with driven branched chain 11, and the other end swing joint of driven branched chain 11 has movable platform 12, and gripper 13 fixed mounting is in the bottom of movable platform 12.
Industrial robots of conventional interest are generally series-connected, i.e., open-loop, mechanisms, which have only a single kinematic chain between their end-effector and their base. In contrast to the tandem mechanism, the end effector of the parallel robot is connected to the base by at least two kinematic chains, each of which is a unique kinematic or revolute pair drive. Compared with the traditional serial mechanism, the parallel mechanism has relatively fewer parts, and the parts are common and general parts, such as Hooke's joints, spherical joints, ball screws, servo motors, telescopic rods and the like. Since these universal components can be manufactured in a large scale by a professional manufacturer in a modularized manner, the parallel manipulator has the advantages of high performance and low cost, and is very beneficial to the development and design of the parallel manipulator. Besides the above-described outstanding features of the structure, the parallel manipulator has other advantages in practical application, and the main advantages are as follows:
(1) the load ratio is large. Each kinematic chain of the parallel mechanism bears load, so that under the condition of the same self weight, the parallel mechanism has larger bearing capacity than the serial mechanism.
(2) The rigidity is high. Each kinematic chain of the parallel mechanism can share the load, and in most cases it can be designed to only withstand tensile and compressive loads. The high rigidity makes the deformation on each kinematic chain extremely small, and ensures the position precision of the end effector on the parallel mechanism.
(3) The inertia is low. Most drivers are directly fixed on the base, such as a servo motor is directly fixed on a machine frame, so that the mass of parts needing to move in the parallel mechanism is small.
(4) The dynamic performance is good. The moving parts in the parallel mechanism have the advantages of low inertia and light weight.
(5) The motion precision is high. Errors in the parallel mechanism are equally divided by the individual kinematic chains, unlike the errors in the series mechanism which result primarily from the accumulation of individual joint errors. Therefore, the error of the parallel mechanism is relatively small and the motion precision is ensured.
(6) The cost is low. Most parts of the parallel mechanism are standard parts.
The Delta parallel mechanism mainly comprises a static platform 7, a driving rod 9, a driven branched chain 11 and a movable platform 12. The application of the driven branched chain 11 parallelogram structure eliminates the rotational freedom degree of a manipulator mechanism; the steering engine 8 is installed on the static platform 7, and the driving rod 9 is made into a light rod structure, so that the quality of a moving component of the mechanism is reduced, and the dynamic performance of the mechanism is improved.
The gripper 13 is an airflow negative pressure type suction cup, and compared with a jaw type hand, the airflow negative pressure type suction cup has the characteristics of simple structure, light weight, uniform surface adsorption force distribution and the like.
The utility model discloses the controller adopts stm32 single chip microcomputer controller, and image sensor adopts CMOS image sensor.
Specifically, the device during operation, when the mango was transported to high definition digtal camera 10 below from a conveyer belt, high definition digtal camera 10 can acquire mango size and shape, whether rot the information such as, high definition digtal camera 10 passes through CMOS image sensor with information transfer for the controller, the mango image data that the controller passes through the memory storage compares with the image information of shooing, thereby classify the mango, later controller drive Delta robot parallel mechanism 6 and gripper 13 open, gripper 13 can put into corresponding partial shipment box 5 with the mango of corresponding size through the drive of steering wheel 8, accomplish the letter sorting process.
The embodiments of the present invention are not limited to the above embodiments, and according to the contents of the above embodiments of the present invention, the above preferred embodiments can also make modifications, replacements or combinations of other forms by using conventional technical knowledge and conventional means in the field without departing from the basic technical idea of the present invention, and the obtained other embodiments all fall within the scope of the present invention.
Claims (3)
1. A mango sorting manipulator comprises a controller, a first conveying frame (1) and a second conveying frame (2) which are arranged side by side, and a Delta robot parallel mechanism (6) arranged above the first conveying frame (1) and the second conveying frame (2), and is characterized in that a first conveying belt (3) is installed on the first conveying frame (1) in a transmission manner, a second conveying belt (4) is installed on the second conveying frame (2) in a transmission manner, a plurality of subpackaging boxes (5) are placed on the second conveying belt (4) in a row manner, a high-definition camera (10) positioned above the first conveying belt (3) is fixedly installed on the Delta robot parallel mechanism (6), and a mechanical claw (13) is installed below the Delta robot parallel mechanism (6) in a transmission manner; the high-definition camera (10) is in signal connection with the controller through the image sensor, and the controller is in electric control connection with the first conveying belt (3), the second conveying belt (4), the Delta robot parallel mechanism (6) and the mechanical claw (13) respectively.
2. The mango sorting manipulator according to claim 1, characterized in that the Delta robot parallel mechanism (6) comprises a static platform (7), three groups of steering engines (8) are fixedly mounted on an outer ring of the bottom surface of the static platform (7), one end of each steering engine (8) is in transmission connection with a driving rod (9), one end of each driving rod (9) is in transmission connection with a driven branched chain (11), the other end of each driven branched chain (11) is movably connected with a movable platform (12), and the gripper (13) is fixedly mounted at the bottom of the movable platform (12).
3. Mango sorting manipulator according to claim 1, characterized in that said gripper (13) is an air-flow negative-pressure suction cup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021151357.7U CN212331025U (en) | 2020-06-19 | 2020-06-19 | Mango sorting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021151357.7U CN212331025U (en) | 2020-06-19 | 2020-06-19 | Mango sorting manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212331025U true CN212331025U (en) | 2021-01-12 |
Family
ID=74077983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021151357.7U Expired - Fee Related CN212331025U (en) | 2020-06-19 | 2020-06-19 | Mango sorting manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212331025U (en) |
-
2020
- 2020-06-19 CN CN202021151357.7U patent/CN212331025U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210112 Termination date: 20210619 |
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| CF01 | Termination of patent right due to non-payment of annual fee |