CN108273764A - A kind of intelligence fruit sorter - Google Patents
A kind of intelligence fruit sorter Download PDFInfo
- Publication number
- CN108273764A CN108273764A CN201711454683.8A CN201711454683A CN108273764A CN 108273764 A CN108273764 A CN 108273764A CN 201711454683 A CN201711454683 A CN 201711454683A CN 108273764 A CN108273764 A CN 108273764A
- Authority
- CN
- China
- Prior art keywords
- fruit
- gripper
- turnover box
- box
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 490
- 230000007306 turnover Effects 0.000 claims abstract description 146
- 238000007689 inspection Methods 0.000 claims abstract description 3
- 230000032258 transport Effects 0.000 claims description 110
- 229910052782 aluminium Inorganic materials 0.000 claims description 40
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 40
- 239000000523 sample Substances 0.000 claims description 36
- 229910000831 Steel Inorganic materials 0.000 claims description 28
- 239000010959 steel Substances 0.000 claims description 28
- 229910052736 halogen Inorganic materials 0.000 claims description 25
- 150000002367 halogens Chemical class 0.000 claims description 25
- 239000004411 aluminium Substances 0.000 claims description 22
- 229910052751 metal Inorganic materials 0.000 claims description 22
- 239000002184 metal Substances 0.000 claims description 22
- 239000000835 fiber Substances 0.000 claims description 18
- 210000000078 claw Anatomy 0.000 claims description 16
- 230000001771 impaired effect Effects 0.000 claims description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 235000009967 Erodium cicutarium Nutrition 0.000 claims description 12
- 240000003759 Erodium cicutarium Species 0.000 claims description 12
- 239000000284 extract Substances 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 6
- 230000003760 hair shine Effects 0.000 claims description 4
- 230000001678 irradiating effect Effects 0.000 claims description 4
- 239000013307 optical fiber Substances 0.000 claims description 2
- 238000001228 spectrum Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 5
- 210000000245 forearm Anatomy 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 239000000203 mixture Substances 0.000 description 9
- 230000005611 electricity Effects 0.000 description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 2
- 239000010931 gold Substances 0.000 description 2
- 229910052737 gold Inorganic materials 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- RFSUNEUAIZKAJO-ARQDHWQXSA-N Fructose Chemical compound OC[C@H]1O[C@](O)(CO)[C@@H](O)[C@@H]1O RFSUNEUAIZKAJO-ARQDHWQXSA-N 0.000 description 1
- 229930091371 Fructose Natural products 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229960002737 fructose Drugs 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000002329 infrared spectrum Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
Landscapes
- Sorting Of Articles (AREA)
Abstract
The invention discloses a kind of intelligent fruit sorters, it is made of loading bay, conveyance, sliding rail, transhipment rack, transferring box, fruits transport platform, fruit cull board, fruit pickout apparatus, control cabinet, turnover box transportation platform, using conveyance by the turnover box transportation equipped with fruit stored on loading bay to transferring box, the fruits transport in transferring box to fruit cull board is selected by fruits transport platform；Appearance and internal progress complete detection of the fruit pickout apparatus by image recognition and transmission of near infra red light technology to fruit；Turnover box transportation platform places vacant turnover box transportation to turnover box lay down location.Selecting for fruit can be realized without artificial participation in the present invention, the quality inspection for reducing cost of labor, improving work efficiency, and carried out from the appearance of fruit and inside, it effectively picks out i.e. by rotten fruit, while on-line checking and classification can also be carried out to the sugar of fruit internal, acidity.
Description
Technical field
Field more particularly to a kind of intelligent fruit sorter are selected the present invention relates to fruit.
Background technology
There are sizes to differ for the fruit that picking is returned, and is mutually squeezed in fruit case, is easy impaired, deformation even corruption
Rotten, after fruit rots, microorganism also will produce various harmful substances in metabolic process, influence the quality of other fruit, rot
The fruit become reconciled of fruit put together the rotting of the fruit that can have accelerated.Therefore, before fruit listing, fruit need to be divided
Choosing, removal of impurities, pick out fruit inferior.
In the prior art, to selecting for fruit completed by a large amount of manual operation, it is higher that there are costs of labor, effect
The low defect of rate.Domestic existing fruit selection equipment relies primarily on gravity and carries out selecting for fruit, equipment cannot to it is impaired,
Deformation even rotten fruit carries out deep detection, and the sugar of fruit internal, acidity cannot also detect.
Invention content
It to solve the above-mentioned problems, will using conveyance the purpose of the present invention is to provide a kind of intelligent fruit sorter
The turnover box transportation equipped with fruit stored on loading bay to transferring box, by fruits transport platform by the fruits transport in transferring box extremely
Fruit cull board is selected；Appearance and inside of the fruit pickout apparatus by image recognition and transmission of near infra red light technology to fruit
Carry out complete detection；Turnover box transportation platform places vacant turnover box transportation to turnover box lay down location.The present invention is not necessarily to
It is artificial to participate in that selecting for fruit can be realized, cost of labor is reduced, is improved work efficiency, and from the appearance of fruit and inside
The quality inspection carried out, is effectively picked out i.e. by rotten fruit, while can also online be examined to the sugar of fruit internal, acidity
It surveys and is classified.
To achieve the above object, a kind of intelligent fruit sorter provided by the invention is realized in：
It is a kind of intelligence fruit sorter, including loading bay, conveyance, sliding rail, transhipment rack, transferring box, fruits transport platform,
Fruit cull board, fruit pickout apparatus, control cabinet, turnover box transportation platform, loading bay are fixed on the right side of transhipment rack, and sliding rail is fixed on
Frame top is transported, conveyance is mounted on transhipment frame top, and is slided along sliding rail, for will be equipped with fruit on loading bay
Turnover box be transported at transferring box, and fruit is poured into transferring box, empty turnover box is then placed into turnover box transportation platform
On, transferring box is connected on the left of transhipment rack, and fruits transport platform is connected between fruit cull board and transferring box, is used for transfer
Fruits transport in case to fruit cull board, make somebody a mere figurehead on fruit cull board by fruit pickout apparatus, for selecting fruit, turnover box fortune
Defeated is mounted below transhipment rack, is transferred to turnover box lay down location for carrying out vacant turnover box, control cabinet is mounted on
Turnover box equipped with fruit is transplanted on transhipment rack by the outer surface of transferring box for controlling loading bay；Controlling conveyance will be all
After fruit in turnning box pours into transferring box, vacant turnover box is put on turnover box transportation platform and transports turnover box lay down location,
Control fruits transport platform, fruit cull board will be selected under fruits transport to fruit pickout apparatus；Fruit cull board is controlled by water
Fruit is transported to fruit pickout apparatus, and control fruit pickout apparatus to the outer surface of fruit, inside and inside sugar, acidity into
Row on-line checking and classification.
The loading bay of the present invention is by charging stand, loading bay conveyer belt, the first loading bay roller, loading bay motor, charging
Platform motor gear, the first loading bay drum gear, the second loading bay roller composition, the first loading bay roller and the rolling of the second loading bay
Cylinder is separately fixed at charging stand both ends, and loading bay conveyer belt is laid on the first loading bay roller and the second loading bay roller,
For transport be equipped with fruit turnover box, loading bay motor be mounted on charging stand right end, loading bay motor gear be fixed on into
In the rotary shaft for expecting platform motor, the first loading bay drum gear is fixed on the first loading bay roller, is driven by loading bay motor
Loading bay motor gear rotates, and is driven for the first loading bay drum gear, and the first loading bay drum gear drives the first loading bay
Roller rotate, and then drive loading bay conveyer belt rotation, the second loading bay roller for assist the first loading bay roller move into
Expect platform conveyer belt, Spur Gear Driving mode is used between loading bay motor gear and the first loading bay drum gear, convenient for charging
Platform motor transmits the force to the first loading bay roller, and then preferably drives turnover of the loading bay conveyer belt transport equipped with fruit
Case.
The conveyance of the present invention is by metallic aluminium box, the first telescope motor, the first stepper motor, driving wheel, wheel shaft, axle tooth
Wheel, the first stepping motor gear, sliding slot, supporting roller, the second telescope motor, the first high-definition camera, third telescope motor, second
Gripper, third gripper, the second high-definition camera, the 5th gripper, the 4th gripper, third high-definition camera, the 5th stretch
Contracting motor, the 4th telescope motor, steel plate composition, metallic aluminium cassette bottom portion outputs sliding slot, when conveyance moves on sliding rail, metal
The sliding slot in aluminium cassette bottom portion is just stuck on sliding rail, and driving wheel and supporting roller are embedded in sliding slot, and the first telescope motor is mounted on gold
Belong in aluminium box, for changing the height of steel plate, the first stepper motor is mounted in metallic aluminium box, and the first stepping motor gear is fixed
In the rotary shaft of the first stepper motor, wheel shaft passes through wheel axle gear to connect driving wheel, the first stepping motor gear and axle tooth
The helical bevel gear kind of drive is used between wheel, and the rotation of the first stepping motor gear is driven by the first stepper motor, is axle tooth
Wheel transmission, and then driving wheel is driven to move on the slide rail, supporting roller drives conveyance movement, steel plate welding for auxiliary drive wheels
On the telescopic rod of the first telescope motor, the second telescope motor, third telescope motor, the 5th telescope motor, the 4th telescope motor
It is separately mounted on four angles of steel plate, the second telescope motor, third telescope motor, the 5th telescope motor, the 4th telescope motor
Telescopic rod connect respectively with the second gripper, third gripper, the 5th gripper, the 4th gripper, for control the second machine
Machinery claw, third gripper, the 5th gripper, the 4th gripper lift or put down turnover box, and the first high-definition camera is mounted on steel
On the left of plate, the second high-definition camera is mounted on steel plate bottom, and third high-definition camera is mounted on the right side of steel plate, is taken the photograph by the first high definition
As head, the second high-definition camera, third high-definition camera assist the second gripper, third gripper, the 5th gripper, the 4th machine
Machinery claw transports the turnover box equipped with fruit from loading bay to transferring box, while vacant turnover box is put into turnover box transportation
Platform.
The second gripper, third gripper, the 5th gripper, the 4th gripper of the present invention uses identical gripper,
It is made of adjustable shelf, the 7th telescope motor, crowfoot, claw, metal aluminum sheet, adjustable shelf and metal aluminum sheet are mounted in crowfoot, gold
Belong to aluminium sheet to connect with adjustable shelf, adjustable shelf is connect with claw, and the 7th telescope motor is mounted on the top of crowfoot, and the 7th flexible electricity
The telescopic rod of machine welds together with metal aluminum sheet, drives metal aluminum sheet to move up and down by the 7th telescope motor, and then drive and live
Moving frame moves, and realizes the folding of claw, achievees the effect that gripper catches turnover box.
The driving wheel and supporting roller of the present invention is all made of metal heavy type universal wheel, is conducive to carrying conveyance, is not easy to be damaged.
The transferring box of the present invention is made of transferring box slot, slide plate, fruit exit, and opening is used as fruit on the left of transferring box slot
Outlet, stretches into transferring box slot for fruit Transport Desk and takes away fruit, and slide plate is arranged in transferring box slot, and the right is higher than the left side,
It is slided at fruit exit convenient for fruit.
The present invention fruits transport platform, fruit cull board by fruits transport rack, fruit conveyer belt, fruit select rack,
First fruit cull board roller, the second fruit cull board roller, fruits transport platform motor, fruits transport platform motor gear, fruit
Transport Desk drum gear, fruits transport platform roller composition, fruits transport rack select rack with fruit and link together, the first water
Fruit cull board roller, the second fruit cull board roller are separately mounted to the left and right side that fruit selects rack, fruit conveyer belt
It being laid on fruits transport rack to select on rack with fruit, be chosen for being transported fruit to fruit pickout apparatus from transferring box
Choosing, fruits transport platform motor are mounted on the right end face of fruits transport rack, and fruits transport platform motor gear is fixed on fruit fortune
In the rotary shaft of defeated motor, fruits transport platform roller is mounted in fruits transport rack right side, fruits transport platform drum gear
It is fixed on fruits transport platform roller, the rotation of fruits transport platform motor gear is driven by fruits transport platform motor, is fruits transport
Platform drum gear is driven, and then drives fruits transport platform drum movement, and the movement of fruit conveyer belt is driven by fruits transport platform roller,
First fruit cull board roller, the second fruit cull board roller drive fruit conveyer belt fortune for assisting in fruit Transport Desk roller
It is dynamic so that fruit conveyer belt smooth can be selected fruits transport to fruit pickout apparatus.
It is uniformly arranged square groove on the fruit conveyer belt of the present invention, a fruit can be placed in each slot, it can be according to not
The fruit of same type switches the fruit conveyer belt of different size, and sky is provided in slot, convenient for penetrating water across the near infrared light of fruit
Fruit conveyer belt.
The fruit pickout apparatus of the present invention is by fiber spectrometer, mechanical arm, the 4th high-definition camera, fibre-optical probe, Fresnel
Lens, the 5th high-definition camera, convex lens, halogen lamp, fruit select rack composition, and fiber spectrometer is mounted on fruit pickout apparatus
The top of frame, for analyzing the information that fibre-optical probe detects, mechanical arm selects rack inner tip mounted on fruit,
For pressing from both sides away fruit inferior, the 4th high-definition camera, the 5th high-definition camera select the centre in rack mounted on fruit
Both sides carry impaired, deformation, rotten fruit for acquiring impaired, deformation, rotten fruit image, while auxiliary mechanical arm
Take out, row's fibre-optical probe be set below fruit conveyer belt, and the position of fibre-optical probe just on fruit conveyer belt
Any one round is on same straight line, the visible infrared for receiving fruit, and Fresnel Lenses is mounted on fibre-optical probe
Side, for converging the visible infrared of fruit to fibre-optical probe, row's halogen lamp is installed in top in fruit selects rack, uses
In irradiating fruit to be measured, the light into fruit reflects, and convex lens is mounted on immediately below halogen lamp, is used for halogen lamp
Light is parallel to be injected in fruit to be checked, and fibre-optical probe, Fresnel Lenses, convex lens, the hole on fruit conveyer belt, at halogen lamp
In on same straight line.The present invention the fruit pickout apparatus course of work be：Fruit is driven by control cabinet control fruits transport platform motor
Conveyer belt selects fruit feeding fruit under rack, and enters fruit per the draining fruit on secondary control fruit conveyer belt and select
Under rack, control cabinet controls the 4th high-definition camera at this time, the 5th high-definition camera carries out image recognition to the appearance of fruit, when
When having recognized impaired, deformation, rotten fruit, control cabinet control machinery arm extracts the fruit；Meanwhile halogen lamp will
Illumination is mapped on fruit to be measured, into fruit light reflect after enter fibre-optical probe, fibre-optical probe passes the information
It is sent to fiber spectrometer to be analyzed, the result that fiber spectrometer analyzes is transferred to control cabinet, is obtained in fruit by control cabinet
Sugar, acidity, while detecting whether fruit internal rots, when detecting that fruit internal occurs to rot, control cabinet control machine
Tool arm extracts the fruit so that the quality by the fruit of fruit pickout apparatus is optimal.
The present invention mechanical arm by mechanical arm pedestal, mechanical arm electric rotating machine, forearm telescope motor, large arm telescope motor,
Large arm, forearm, mechanical arm pawl telescope motor, mechanical arm pawl adjustable shelf, mechanical arm pawl composition, mechanical arm electric rotating machine are mounted on machine
On tool arm pedestal, for providing steering power for large arm, large arm is fixed in the rotary shaft of mechanical arm electric rotating machine, forearm connection
Between large arm and mechanical arm pawl telescope motor, forearm telescope motor, large arm telescope motor are mounted on large arm lower end, and forearm is flexible
Motor controls the flexible of forearm, and large arm telescope motor controls the flexible of large arm, and mechanical arm pawl adjustable shelf has connected mechanical arm pawl and stretched
The telescopic rod and mechanical arm pawl of contracting motor, by the folding of mechanical arm pawl telescope motor control machinery arm pawl so that mechanical arm pawl energy
It picks up well and needs select fruit.
The turnover box transportation platform of the present invention is by turnover box transportation rack, the first chain, the second chain, the first turnover box transportation
Platform roller, turnover box transportation platform motor gear, turnover box transportation platform motor, the second turnover box Transport Desk drum gear, second week
Turnning box Transport Desk roller forms, and the first turnover box transportation platform roller and the second turnover box Transport Desk roller are fixed on turnover box transportation
Rack both ends, the first chain, the second chain across on the first turnover box transportation platform roller and the second turnover box Transport Desk roller,
For transporting vacant turnover box, turnover box transportation platform motor is mounted on the outer surface on the right side of turnover box transportation rack, turnover box
Transport Desk motor gear is fixed in the rotary shaft of turnover box transportation platform motor, and the second turnover box Transport Desk drum gear is fixed on
On second turnover box Transport Desk roller, the rotation of turnover box transportation platform motor gear is driven by turnover box transportation platform motor, is second
Turnover box transportation platform drum gear is driven, and the second turnover box Transport Desk drum gear drives the second turnover box Transport Desk roller to turn
It is dynamic, and then drive the first chain and the second chain movement.
The present invention is combined and divides fruit using mechanotronics, Theory of Automatic Control, near infrared spectrum science
The structure of choosing, so as to obtain following advantageous effect：
1. the present invention utilizes conveyance by the turnover box transportation equipped with fruit stored on loading bay to transferring box, by fruit
Transport Desk selects the fruits transport in transferring box to fruit cull board, and choosing for fruit can be realized without manually participating in
Choosing, reduces cost of labor, improves work efficiency.
2. the present invention is using fruit pickout apparatus by image recognition and transmission of near infra red light technology to the appearance of fruit and interior
Portion carry out complete detection, while to the sugar of fruit internal, acidity carry out on-line checking with classification, can effectively pick out it is impaired,
Deformation is rotted and i.e. by rotten fruit.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the installation of intelligent fruit sorter of the present invention；
Fig. 2 is a kind of loading bay structural schematic diagram of intelligent fruit sorter of the present invention；
Fig. 3 is a kind of conveyance structural schematic diagram of intelligent fruit sorter of the present invention；
Fig. 4 is a kind of gripper structural schematic diagram of intelligent fruit sorter of the present invention；
Fig. 5 is a kind of transferring box structural schematic diagram of intelligent fruit sorter of the present invention；
Fig. 6 is the present invention a kind of fruits transport platform, the fruit cull board structural schematic diagram of intelligent fruit sorter；Fig. 7 is
A kind of fruit conveyer structure schematic diagram of intelligent fruit sorter of the present invention；
Fig. 8 is a kind of fruit pickout apparatus structural schematic diagram of intelligent fruit sorter of the present invention；
Fig. 9 is a kind of mechanical arm structural schematic diagram of intelligent fruit sorter of the present invention；
Figure 10 is a kind of turnover box transportation platform structural schematic diagram of intelligent fruit sorter of the present invention.
Main element symbol description.
Specific implementation mode
With reference to embodiment and compares attached drawing invention is further described in detail.
It please refers to Fig.1 to 10, a kind of intelligent fruit sorter showing in first embodiment of the invention, including loading bay
1, conveyance 2, sliding rail 3, transhipment rack 4, transferring box 5, fruits transport platform 6, fruit cull board 7, fruit pickout apparatus 8, control cabinet
9, turnover box transportation platform 10.
As shown in Figure 1, the loading bay 1 is fixed on 4 right side of transhipment rack, sliding rail 3 is fixed on 4 top of transhipment rack,
Conveyance 2 is mounted on 4 top of transhipment rack, and is slided along sliding rail 3, is used for the turnover box equipped with fruit on loading bay 1
It is transported at transferring box 5, and fruit is poured into transferring box 5, then empty turnover box is placed on turnover box transportation platform 10, in
Turnning box 5 is connected to 4 left side of transhipment rack, and fruits transport platform 6 is connected between fruit cull board 7 and transferring box 5, is used for transfer
Fruits transport in case 5 to fruit cull board 7, make somebody a mere figurehead on fruit cull board 7 by fruit pickout apparatus 8, for selecting fruit, has enough to meet the need
Case Transport Desk 10 is mounted on 4 lower section of transhipment rack, and turnover box lay down location, control cabinet are transferred to for carrying out vacant turnover box
9 are mounted on the outer surface of transferring box 5, and the turnover box equipped with fruit is transplanted on transhipment rack 4 for controlling loading bay 1；Control
After fruit in turnover box is poured into transferring box 5 by conveyance 2, vacant turnover box is put on turnover box transportation platform 10 and is transported
Turnover box lay down location, control fruits transport platform 6, fruit cull board 7 will be selected under fruits transport to fruit pickout apparatus 8；Control
Fruit cull board 7 processed by under fruits transport to fruit pickout apparatus 8, and control fruit pickout apparatus 8 to the outer surface of fruit, inside,
And internal sugar, acidity progress on-line checking and classification.
As shown in Fig. 2, the loading bay 1 by charging stand 11, loading bay conveyer belt 12, the first loading bay roller 13,
Loading bay motor 14, loading bay motor gear 15, the first loading bay drum gear 16, the second loading bay roller 17 composition, first
Loading bay roller 13 and the second loading bay roller 17 are separately fixed at 11 both ends of charging stand, and loading bay conveyer belt 12 is laid on
On one loading bay roller 13 and the second loading bay roller 17, for transporting the turnover box equipped with fruit, loading bay motor 14 is installed
In 11 right end of charging stand, loading bay motor gear 15 is fixed in the rotary shaft of loading bay motor 14, the first loading bay roller
Gear 16 is fixed on the first loading bay roller 13, drives loading bay motor gear 15 to rotate by loading bay motor 14, is first
Loading bay drum gear 16 be driven, the first loading bay drum gear 16 drive the first loading bay roller 13 rotation, and then drive into
Expect that platform conveyer belt 12 rotates, the second loading bay roller 17 moves loading bay conveyer belt 12 for the first loading bay roller 13 of auxiliary,
Spur Gear Driving mode is used between loading bay motor gear 15 and the first loading bay drum gear 16, is convenient for loading bay motor 14
The first loading bay roller 16 is transmitted the force to, and then preferably drives turnover box of the transport of loading bay conveyer belt 12 equipped with fruit.
As shown in figure 3, the conveyance 2 is by metallic aluminium box 18, the first telescope motor 19, the first stepper motor 20, drive
Driving wheel 21, wheel shaft 22, wheel axle gear 23, the first stepping motor gear 24, sliding slot 25, supporting roller 26, the second telescope motor 27,
One high-definition camera 28, third telescope motor 29, the second gripper 30, third gripper 31, the second high-definition camera the 32, the 5th
Gripper 33, the 4th gripper 34, third high-definition camera 35, the 5th telescope motor 36, the 4th telescope motor 37,38 groups of steel plate
At sliding slot 25 is outputed in 18 bottom of metallic aluminium box, and when conveyance 2 moves on sliding rail 3, the sliding slot 25 of 18 bottom of metallic aluminium box is rigid
It is stuck in well on sliding rail 3, driving wheel 21 and supporting roller 26 are embedded in sliding slot 25, and the first telescope motor 19 is mounted on metallic aluminium box 18
Interior, for changing the height of steel plate 38, the first stepper motor 20 is mounted in metallic aluminium box 18, and the first stepping motor gear 24 is solid
It is scheduled in the rotary shaft of the first stepper motor 20, wheel shaft 22 passes through wheel axle gear 23 to connect driving wheel 21, the first stepper motor tooth
The helical bevel gear kind of drive is used between wheel 24 and wheel axle gear 23, and the first stepper motor tooth is driven by the first stepper motor 20
24 rotation of wheel, is driven, and then driving wheel 21 is driven to be moved on sliding rail 3, supporting roller 26 is used for auxiliary drive for wheel axle gear 23
Wheel 21 drives conveyance 2 to move, and steel plate 38 is welded on the telescopic rod of the first telescope motor 19, the second telescope motor 27, third
Telescope motor 29, the 5th telescope motor 36, the 4th telescope motor 37 are separately mounted on four angles of steel plate 38, the second flexible electricity
Machine 27, third telescope motor 29, the 5th telescope motor 36, the 4th telescope motor 37 telescopic rod respectively with the second gripper 30,
Third gripper 31, the 5th gripper 33, the 4th gripper 34 connection, for control the second gripper 30, third gripper 31,
5th gripper 33, the 4th gripper 34 lift or put down turnover box, and the first high-definition camera 28 is mounted on 38 left side of steel plate, the
Two high-definition cameras 32 are mounted on 38 bottom of steel plate, and third high-definition camera 35 is mounted on 38 right side of steel plate, is taken the photograph by the first high definition
As head 28, the second high-definition camera 32, third high-definition camera 35 assist the second gripper 30, third gripper 31, the 5th machine
Machinery claw 33, the 4th gripper 34 transport the turnover box equipped with fruit from loading bay 1 to transferring box 5, while by vacant week
Turnning box is put into turnover box transportation platform 10, when third high-definition camera 35 collect on loading bay 1 have the turnover box equipped with fruit into
When entering into transhipment rack 4, control cabinet 9 is transmitted information to, controlling the first stepper motor 20 by control cabinet 9 drives driving wheel 21
Conveyance 2 is transferred at the top of turnover box, while controlling the first telescope motor 19, the second telescope motor 27, third telescope motor
29, the 5th telescope motor 36, the 4th telescope motor 37 respectively by the second gripper 30, third gripper 31, the 5th gripper 33,
4th gripper 34 reaches turnover box edge, and the second high-definition camera 32 is communicated with control cabinet 9, the second gripper 30 of guiding,
Third gripper 31, the 5th gripper 33, the 4th gripper 34 lift turnover box, and the first high-definition camera 28 acquires transferring box 5
Position, with control cabinet 9 communicate, guiding conveyance 2 turnover box equipped with fruit is transported at transferring box 5, at this point, control cabinet
9 the 4th telescope motors 37 of control, the 5th telescope motor 36 up lift the 4th gripper 34, the 5th gripper 33, will be equipped with
The rear end of the turnover box of fruit lifts so that fruit enters in transferring box 5, when the second high-definition camera 32 collects in turnover box
Fruit all pour into transferring box 5 after, control cabinet 9 controls the second gripper 30, third gripper 31, the 5th gripper 33, the
Vacant turnover box is put into turnover box transportation platform 10 by four grippers 34.
As shown in figure 4, second gripper 30, third gripper 31, the 5th gripper 33, the 4th gripper 34 are adopted
With identical gripper, it is made of adjustable shelf 39, the 7th telescope motor 40, crowfoot 41, claw 42, metal aluminum sheet 43, adjustable shelf
39 and metal aluminum sheet 43 be mounted in crowfoot 41, metal aluminum sheet 43 is connect with adjustable shelf 39, and adjustable shelf 39 is connect with claw 42, the
Seven telescope motors 40 are mounted on the top of crowfoot 41, and the telescopic rod of the 7th telescope motor 40 is welded on one with metal aluminum sheet 43
It rises, drives metal aluminum sheet 43 to move up and down by the 7th telescope motor 40, and then adjustable shelf 39 is driven to move, realize opening for claw 41
It closes, achievees the effect that gripper catches turnover box.
The driving wheel 21 and supporting roller 26 is all made of metal heavy type universal wheel, is conducive to carrying conveyance 2, is not easy to be damaged
It is bad.
As shown in figure 5, the transferring box 5 is made of transferring box slot 44, slide plate 45, fruit exit 46, in transferring box slot
44 left side openings 46 are used as fruit exit, are stretched into transferring box slot 44 for fruit Transport Desk 6 and take away fruit, slide plate 45 is arranged in
In turnning box slot 44, and the right is higher than the left side, is slided at fruit exit 46 convenient for fruit.
As shown in fig. 6, the fruits transport platform 6, fruit cull board 7 by fruits transport rack 47, fruit conveyer belt 48,
Fruit selects rack 49, the first fruit cull board roller 50, the second fruit cull board roller 51, fruits transport platform motor 52, water
Fruit Transport Desk motor gear 53, fruits transport platform drum gear 54, fruits transport platform roller 55 form, fruits transport rack 47 with
Fruit selects rack 48 and links together, and the first fruit cull board roller 50, the second fruit cull board roller 51 are separately mounted to
Fruit selects the left and right side of rack 48, and fruit conveyer belt 48 is laid on fruits transport rack 47 and selects rack 49 with fruit
On, it is selected for being transported fruit to fruit pickout apparatus 8 from transferring box 5, fruits transport platform motor 52 is transported mounted on fruit
The right end face of defeated rack 47, fruits transport platform motor gear 53 are fixed in the rotary shaft of fruits transport platform motor 52, fruit
Transport Desk roller 55 is mounted in 47 right side of fruits transport rack, and fruits transport platform drum gear 54 is fixed on the rolling of fruits transport platform
It on cylinder 55, drives fruits transport platform motor gear 53 to rotate by fruits transport platform motor 52, is fruits transport platform drum gear 54
Transmission, and then fruits transport platform roller 55 is driven to move, the movement of fruit conveyer belt, the first water are driven by fruits transport platform roller 55
Fruit cull board roller 50, the second fruit cull board roller 51 drive fruit conveyer belt 48 to transport for assisting in fruit Transport Desk roller 53
It is dynamic so that fruit conveyer belt 48 smooth can be selected fruits transport to fruit pickout apparatus 8.
As shown in fig. 7, being uniformly arranged square groove on the fruit conveyer belt 48, a water can be placed in each slot
Fruit can switch the fruit conveyer belt of different size according to different types of fruit, sky is provided in slot, convenient for across the close red of fruit
Outer light penetrates fruit conveyer belt 48.
As shown in figure 8, the fruit pickout apparatus 8 includes fiber spectrometer 56, mechanical arm 57, the 4th high-definition camera
58, fibre-optical probe 59, Fresnel Lenses 60, the 5th high-definition camera 61, convex lens 62, halogen lamp 63, fruit select rack 64,
Fiber spectrometer 56 is mounted on the top that fruit selects rack 64, and the information for being detected to fibre-optical probe 59 is analyzed,
Mechanical arm 57 selects 64 inner tip of rack mounted on fruit, for fruit inferior to be pressed from both sides away, the 4th high-definition camera 58,
Five high-definition cameras 61 select the intermediate both sides in rack 64 mounted on fruit, for acquiring impaired, deformation, rotten fruit figure
Picture, while auxiliary mechanical arm 57 extracts impaired, deformation, rotten fruit, and a row is arranged below fruit conveyer belt 48
Fibre-optical probe 59, and the position of fibre-optical probe 59 is just in any one round on fruit conveyer belt 48 on same straight line,
Visible infrared for receiving fruit, Fresnel Lenses 60 is mounted on 59 top of fibre-optical probe, for converging the visible of fruit
On infrared light to fibre-optical probe 59, row's halogen lamp 63 is installed in top in fruit selects rack 64, for irradiating fruit to be measured,
Light into fruit reflects, and convex lens 62 is mounted on immediately below halogen lamp 63, for the light of halogen lamp 63 is parallel
It injects in fruit to be checked, and fibre-optical probe 59, Fresnel Lenses 60, convex lens 62, the hole on fruit conveyer belt 48, halogen lamp 63
On same straight line.
8 course of work of fruit pickout apparatus is：Fruits transport platform motor 52 is controlled by control cabinet 9 and drives fruit transmission
Band 48 selects fruit feeding fruit under rack 49, and enters fruit per the draining fruit on secondary control fruit conveyer belt 48 and choose
It selects under rack 64, control cabinet 9 controls the 4th high-definition camera 58 at this time, the 5th high-definition camera 61 carries out figure to the appearance of fruit
As identification, pass through image recognition technology, when having recognized impaired, deformation, rotten fruit, 9 control machinery arm 57 of control cabinet
The fruit is extracted；Meanwhile halogen lamp 63 light shines on fruit to be measured, the light generation refraction into fruit is laggard
Enter to fibre-optical probe 59, fibre-optical probe 59 transmits this information to fiber spectrometer 56 and analyzed, and fiber spectrometer 56 is analyzed
The result gone out is transferred to control cabinet 9, sugar in fruit, acidity is obtained by control cabinet 9, while whether detect fruit internal rotten
Rotten, when detecting that fruit internal occurs to rot, 9 control machinery arm 57 of control cabinet extracts the fruit so that passes through water
The quality of the fruit of fruit pickout apparatus 8 is optimal.
As shown in figure 9, the mechanical arm 57 is by mechanical arm pedestal 65, mechanical arm electric rotating machine 66, forearm telescope motor
67, large arm telescope motor 68, large arm 69, forearm 70, mechanical arm pawl telescope motor 71, mechanical arm pawl adjustable shelf 72, mechanical arm pawl
73 compositions, mechanical arm electric rotating machine 66 are mounted on mechanical arm pedestal 65, and for providing steering power for large arm 69, large arm 69 is solid
It is scheduled in the rotary shaft of mechanical arm electric rotating machine 66, forearm 70 is connected between large arm 69 and mechanical arm pawl telescope motor 71, small
Arm telescope motor 67, large arm telescope motor 68 are mounted on 69 lower end of large arm, and forearm telescope motor 67 controls the flexible of forearm 70, greatly
Arm telescope motor 68 controls the flexible of large arm 69, and mechanical arm pawl adjustable shelf 72 has connected the telescopic rod of mechanical arm pawl telescope motor 71
With mechanical arm pawl 73, by the folding of 71 control machinery arm pawl 73 of mechanical arm pawl telescope motor so that mechanical arm pawl 73 can be well
It picks up and needs select fruit.
As shown in Figure 10, the turnover box transportation platform 10 is by turnover box transportation rack 74, the first chain 75, the second chain
76, the first turnover box transportation platform roller 77, turnover box transportation platform motor gear 78, turnover box transportation platform motor 79, second have enough to meet the need
Case Transport Desk drum gear 80, the second turnover box Transport Desk roller 81 composition, the first turnover box transportation platform roller 77 and second week
Turnning box Transport Desk roller 81 is fixed on 74 both ends of turnover box transportation rack, and the first chain 75, the second chain 76 are across at first week
On turnning box Transport Desk roller 77 and the second turnover box Transport Desk roller 81, for transporting vacant turnover box, turnover box transportation platform
Motor 79 is mounted on the outer surface on 74 right side of turnover box transportation rack, and turnover box transportation platform motor gear 78 is fixed on turnover box fortune
In the rotary shaft of defeated motor 79, the second turnover box Transport Desk drum gear 80 is fixed on the second turnover box Transport Desk roller 81
On, it drives turnover box transportation platform motor gear 78 to rotate by turnover box transportation platform motor 79, is the second turnover box Transport Desk roller
Gear 80 is driven, and the second turnover box Transport Desk drum gear 80 drives the rotation of the second turnover box Transport Desk roller 81, and then drives
First chain 75 and the movement of the second chain 76.
The working principle and working process of the present invention is as follows：
There is the turnover box equipped with fruit to enter in transhipment rack 4 when third high-definition camera 35 collects on loading bay 1
When, control cabinet 9 is transmitted information to, controlling the first stepper motor 20 by control cabinet 9 drives driving wheel 21 to be transferred to conveyance 2
At the top of turnover box, while controlling the first telescope motor 19, the second telescope motor 27, third telescope motor 29, the 5th telescope motor
36, the 4th telescope motor 37 respectively stretches the second gripper 30, third gripper 31, the 5th gripper 33, the 4th gripper 34
To turnover box edge, the second high-definition camera 32 is communicated with control cabinet 9, the second gripper 30 of guiding, third gripper 31, the
Five grippers 33, the 4th gripper 34 lift turnover box, and the first high-definition camera 28 acquires the position of transferring box 5, with control cabinet 9
Turnover box equipped with fruit is transported at transferring box 5 by communication, guiding conveyance 2, at this point, the 4th flexible electricity of the control of control cabinet 9
Machine 37, the 5th telescope motor 36 up lift the 4th gripper 34, the 5th gripper 33, after the turnover box equipped with fruit
End lifts so that fruit enters in transferring box 5, when the second high-definition camera 32 collects during the fruit in turnover box all pours into
After turnning box 5, control cabinet 9 controls the second gripper 30, third gripper 31, the 5th gripper 33, the 4th gripper 34 will be vacant
Turnover box be put into turnover box transportation platform 10.Control cabinet 9 controls turnover box transportation platform motor 79 and drives the first chain 75, the at this time
Two chains 76 rotate, by turnover box transportation to turnover box lay down location；Control cabinet 9 controls fruits transport platform motor 52 and fruit is driven to pass
Band 48 is sent to select fruit feeding fruit under rack 49, control cabinet 9 controls the 4th high-definition camera 58, the 5th high-definition camera at this time
The appearance of first 61 pairs of fruit carries out image recognition, when having recognized impaired, deformation, rotten fruit, 9 control machinery of control cabinet
Arm 57 extracts the fruit；Meanwhile halogen lamp 63 light shines on fruit to be measured, the light into fruit reflects
After enter fibre-optical probe 59, fibre-optical probe 59 transmits this information to fiber spectrometer 56 and is analyzed, fiber spectrometer 56
The result analyzed is transferred to control cabinet 9, sugar in fruit, acidity is obtained by control cabinet 9, while whether detecting fruit internal
It rots, when detecting that fruit internal occurs to rot, 9 control machinery arm 57 of control cabinet extracts the fruit so that pass through
The quality of the fruit of fruit pickout apparatus 8 is optimal.
The invention also includes the following contents：
A1. a kind of intelligent fruit sorter, it is characterised in that：Including loading bay, conveyance, sliding rail, transhipment rack, transfer
Case, fruits transport platform, fruit cull board, fruit pickout apparatus, control cabinet, turnover box transportation platform, the conveyance are mounted on described
Frame top is transported, and is slided along the sliding rail, for the turnover box equipped with fruit on loading bay to be transported to transferring box
Place, and fruit is poured into the transferring box, then empty turnover box is placed on the turnover box transportation platform, the fruit fortune
Defeated is connected between the fruit cull board and the transferring box, is used for the fruits transport in the transferring box to the water
Fruit cull board, the fruit pickout apparatus are maked somebody a mere figurehead on fruit cull board, and for selecting fruit, the turnover box transportation platform is used for will
Vacant turnover box carries out being transferred to the turnover box lay down location, and the control cabinet will be equipped with fruit for controlling the loading bay
Turnover box be transplanted on the transhipment rack, for controlling after the fruit in turnover box pours into transferring box by the conveyance, will
Vacant turnover box be put on the turnover box transportation platform transport turnover box lay down location, for control the fruits transport platform,
The fruit cull board will be selected under fruits transport to the fruit pickout apparatus, for controlling the fruit cull board by water
Outer surface, inside and inside under fruit is transported to the fruit pickout apparatus and for controlling the fruit pickout apparatus to fruit
Sugar, acidity carry out on-line checking with classification.
A2. the intelligent fruit sorter according to A1, it is characterised in that：The loading bay is fixed on the transhipment rack
Right side, the sliding rail is fixed on the transhipment frame top, and the transferring box is connected on the left of transhipment rack, the turnover box
Transport Desk is mounted below the transhipment rack, and the control cabinet is mounted on the outer surface of the transferring box.
A3. a kind of intelligent fruit sorter according to A1, it is characterised in that：The conveyance include metallic aluminium box,
First telescope motor, the first stepper motor, driving wheel, wheel shaft, wheel axle gear, the first stepping motor gear, sliding slot, supporting roller,
Second telescope motor, the first high-definition camera, third telescope motor, the second gripper, third gripper, the second high-definition camera
Head, the 5th gripper, the 4th gripper, third high-definition camera, the 5th telescope motor, the 4th telescope motor, steel plate, metallic aluminium
Cassette bottom portion outputs sliding slot, and when conveyance moves on sliding rail, the sliding slot in metallic aluminium cassette bottom portion is just stuck on sliding rail, driving wheel
It is embedded in sliding slot with supporting roller, the first telescope motor is mounted in metallic aluminium box, for changing the height of steel plate, the first stepping
Motor is mounted in metallic aluminium box, and the first stepping motor gear is fixed in the rotary shaft of the first stepper motor, and wheel shaft passes through wheel
Shaft gear connects driving wheel, the helical bevel gear kind of drive is used between the first stepping motor gear and wheel axle gear, by first
Stepper motor drives the rotation of the first stepping motor gear, is driven for wheel axle gear, and then driving wheel is driven to move on the slide rail, with
Driving wheel drives conveyance movement, steel plate to be welded on the telescopic rod of the first telescope motor for auxiliary drive wheels, the second flexible electricity
Machine, third telescope motor, the 5th telescope motor, the 4th telescope motor are separately mounted on four angles of steel plate, the second flexible electricity
Machine, third telescope motor, the 5th telescope motor, the 4th telescope motor telescopic rod respectively with the second gripper, third gripper,
5th gripper, the connection of the 4th gripper, for controlling the second gripper, third gripper, the 5th gripper, the 4th gripper
Lifting or put down turnover box, the first high-definition camera is mounted on the left of steel plate, and the second high-definition camera is mounted on steel plate bottom, the
Three high-definition cameras are mounted on the right side of steel plate, are assisted by the first high-definition camera, the second high-definition camera, third high-definition camera
Second gripper, third gripper, the 5th gripper, the 4th gripper by the turnover box equipped with fruit transported from loading bay to
Transferring box, while vacant turnover box is put into turnover box transportation platform.
A4. the intelligent fruit sorter according to A3, it is characterised in that：Second gripper, third gripper,
Five grippers, the 4th gripper use identical gripper, by adjustable shelf, the 7th telescope motor, crowfoot, claw, metal aluminum sheet
Composition, adjustable shelf and metal aluminum sheet are mounted in crowfoot, and metal aluminum sheet is connect with adjustable shelf, and adjustable shelf is connect with claw, and the 7th
Telescope motor is mounted on the top of crowfoot, and the telescopic rod of the 7th telescope motor welds together with metal aluminum sheet, is stretched by the 7th
Contracting motor drives metal aluminum sheet to move up and down, and then drives adjustable shelf movement, realizes the folding of claw, reaches gripper and catch week
The effect of turnning box.
A5. the intelligent fruit sorter according to A1, it is characterised in that：The transferring box include transferring box slot, slide plate,
Fruit exit, opening is used as fruit exit on the left of transferring box slot, is stretched into transferring box slot for fruit Transport Desk and takes away fruit, sliding
Plate is arranged in transferring box slot, and the right is higher than the left side, is slided at fruit exit convenient for fruit.
A6. the intelligent fruit sorter according to A1, it is characterised in that：It is uniformly arranged pros on the fruit conveyer belt
Shape slot can place a fruit in each slot, can switch the fruit conveyer belt of different size according to different types of fruit, in slot
It is provided with sky, convenient for penetrating fruit conveyer belt across the near infrared light of fruit.
A7. the intelligent fruit sorter according to A1, it is characterised in that：The fruit pickout apparatus includes fiber spectrum
Instrument, mechanical arm, the 4th high-definition camera, fibre-optical probe, Fresnel Lenses, the 5th high-definition camera, convex lens, halogen lamp, water
Fruit selects rack, and fiber spectrometer is mounted on the top that fruit selects rack, and the information for being detected to fibre-optical probe carries out
Analysis, mechanical arm selects rack inner tip mounted on fruit, for fruit inferior to be pressed from both sides away, the 4th high-definition camera, the
Five high-definition cameras select the intermediate both sides in rack mounted on fruit, for acquiring impaired, deformation, rotten fruit image,
Auxiliary mechanical arm extracts impaired, deformation, rotten fruit simultaneously, and row's optical fiber spy is arranged below fruit conveyer belt
Head, and the position of fibre-optical probe is just in any one round on fruit conveyer belt on same straight line, for receiving fruit
Visible infrared, Fresnel Lenses is mounted on above fibre-optical probe, for converging the visible infrared of fruit to fibre-optical probe
On, row's halogen lamp is installed in top in fruit selects rack, and for irradiating fruit to be measured, the light into fruit is rolled over
It penetrates, convex lens is mounted on immediately below halogen lamp, for injecting the light of halogen lamp is parallel in fruit to be checked, and fibre-optical probe,
Fresnel Lenses, convex lens, the hole on fruit conveyer belt, halogen lamp are on same straight line.
A8. the intelligent fruit sorter according to A7, it is characterised in that：The fruit pickout apparatus course of work is：By
Control cabinet control fruits transport platform motor drives fruit conveyer belt to select fruit feeding fruit under rack, and per secondary control fruit
A draining fruit on conveyer belt enters fruit and selects under rack, and control cabinet controls the 4th high-definition camera, the 5th high definition at this time
Camera carries out image recognition to the appearance of fruit, when having recognized impaired, deformation, rotten fruit, control cabinet control machine
Tool arm extracts the fruit；Meanwhile halogen lamp light shines on fruit to be measured, into fruit light reflect after
Fibre-optical probe is entered, fibre-optical probe transmits this information to fiber spectrometer and analyzed, the knot that fiber spectrometer analyzes
Fruit is transferred to control cabinet, sugar in fruit, acidity is obtained by control cabinet, while detecting whether fruit internal rots, works as detection
When occurring to rot to fruit internal, control cabinet control machinery arm extracts the fruit so that passes through the water of fruit pickout apparatus
The quality of fruit is optimal.
Claims (8)
1. a kind of intelligence fruit sorter, it is characterised in that：Including loading bay, conveyance, sliding rail, transhipment rack, transferring box, water
Fruit Transport Desk, fruit cull board, fruit pickout apparatus, control cabinet, turnover box transportation platform, the conveyance are mounted on the conveyance
Top of the trellis, and slided along the sliding rail, for the turnover box equipped with fruit on loading bay to be transported at transferring box, and will
Fruit pours into the transferring box, and then empty turnover box is placed on the turnover box transportation platform, and the fruits transport platform connects
It is connected between the fruit cull board and the transferring box, for selecting the fruits transport in the transferring box to the fruit
Platform, the fruit pickout apparatus are maked somebody a mere figurehead on fruit cull board, and for selecting fruit, the turnover box transportation platform is used for will be vacant
Turnover box carries out being transferred to the turnover box lay down location, and the control cabinet is for controlling the loading bay by the turnover equipped with fruit
Case is transplanted on the transhipment rack, for controlling after the fruit in turnover box pours into transferring box by the conveyance, will be vacant
Turnover box, which is put on the turnover box transportation platform, transports turnover box lay down location, for controlling the fruits transport platform, the water
Fruit cull board will be selected under fruits transport to the fruit pickout apparatus, for controlling the fruit cull board by fruits transport
To under the fruit pickout apparatus and for control the fruit pickout apparatus to the sugar of the outer surface of fruit, inside and inside,
Acidity carries out on-line checking and classification.
2. intelligence fruit sorter according to claim 1, it is characterised in that：The loading bay is fixed on the conveyance
The right side of frame, the sliding rail are fixed on the transhipment frame top, and the transferring box is connected on the left of transhipment rack, the turnover
Case Transport Desk is mounted below the transhipment rack, and the control cabinet is mounted on the outer surface of the transferring box.
3. a kind of intelligent fruit sorter according to claim 1, it is characterised in that：The conveyance includes metallic aluminium
Box, the first stepper motor, driving wheel, wheel shaft, wheel axle gear, the first stepping motor gear, sliding slot, is servo-actuated the first telescope motor
Wheel, the second telescope motor, the first high-definition camera, third telescope motor, the second gripper, third gripper, the second high definition are taken the photograph
As head, the 5th gripper, the 4th gripper, third high-definition camera, the 5th telescope motor, the 4th telescope motor, steel plate, metal
Aluminium cassette bottom portion outputs sliding slot, and when conveyance moves on sliding rail, the sliding slot in metallic aluminium cassette bottom portion is just stuck on sliding rail, driving
Wheel and supporting roller are embedded in sliding slot, and the first telescope motor is mounted in metallic aluminium box, for changing the height of steel plate, the first step
Stepper motor is mounted in metallic aluminium box, and the first stepping motor gear is fixed in the rotary shaft of the first stepper motor, and wheel shaft passes through
Wheel axle gear connects driving wheel, and the helical bevel gear kind of drive is used between the first stepping motor gear and wheel axle gear, by the
One stepper motor drives the rotation of the first stepping motor gear, is driven for wheel axle gear, and then driving wheel is driven to move on the slide rail,
Supporting roller drives conveyance movement, steel plate to be welded on the telescopic rod of the first telescope motor for auxiliary drive wheels, and second is flexible
Motor, third telescope motor, the 5th telescope motor, the 4th telescope motor are separately mounted on four angles of steel plate, and second is flexible
Motor, third telescope motor, the 5th telescope motor, the telescopic rod of the 4th telescope motor are mechanical with the second gripper, third respectively
Pawl, the 5th gripper, the connection of the 4th gripper, for controlling the second gripper, third gripper, the 5th gripper, the 4th machine
Machinery claw lifts or puts down turnover box, and the first high-definition camera is mounted on the left of steel plate, and the second high-definition camera is mounted on steel plate bottom
Portion, third high-definition camera is mounted on the right side of steel plate, by the first high-definition camera, the second high-definition camera, third high-definition camera
The second gripper of head auxiliary, third gripper, the 5th gripper, the 4th gripper are by the turnover box equipped with fruit from loading bay
Transferring box is transported, while vacant turnover box is put into turnover box transportation platform.
4. intelligence fruit sorter according to claim 3, it is characterised in that：Second gripper, third gripper,
5th gripper, the 4th gripper use identical gripper, by adjustable shelf, the 7th telescope motor, crowfoot, claw, metallic aluminium
Board group is mounted at, adjustable shelf and metal aluminum sheet in crowfoot, and metal aluminum sheet is connect with adjustable shelf, and adjustable shelf is connect with claw, the
Seven telescope motors are mounted on the top of crowfoot, and the telescopic rod of the 7th telescope motor welds together with metal aluminum sheet, by the 7th
Telescope motor drives metal aluminum sheet to move up and down, and then drives adjustable shelf movement, realizes the folding of claw, reaches gripper and catch
The effect of turnover box.
5. intelligence fruit sorter according to claim 1, it is characterised in that：The transferring box includes transferring box slot, cunning
Plate, fruit exit, opening is used as fruit exit on the left of transferring box slot, stretches into band in transferring box slot for fruit Transport Desk and leakes water
Fruit, slide plate are arranged in transferring box slot, and the right is higher than the left side, is slided at fruit exit convenient for fruit.
6. intelligence fruit sorter according to claim 1, it is characterised in that：It is uniformly arranged just on the fruit conveyer belt
Square groove can place a fruit in each slot, can switch the fruit conveyer belt of different size, slot according to different types of fruit
In be provided with sky, convenient for across fruit near infrared light penetrate fruit conveyer belt.
7. intelligence fruit sorter according to claim 1, it is characterised in that：The fruit pickout apparatus includes fiber spectrum
Instrument, mechanical arm, the 4th high-definition camera, fibre-optical probe, Fresnel Lenses, the 5th high-definition camera, convex lens, halogen lamp, water
Fruit selects rack, and fiber spectrometer is mounted on the top that fruit selects rack, and the information for being detected to fibre-optical probe carries out
Analysis, mechanical arm selects rack inner tip mounted on fruit, for fruit inferior to be pressed from both sides away, the 4th high-definition camera, the
Five high-definition cameras select the intermediate both sides in rack mounted on fruit, for acquiring impaired, deformation, rotten fruit image,
Auxiliary mechanical arm extracts impaired, deformation, rotten fruit simultaneously, and row's optical fiber spy is arranged below fruit conveyer belt
Head, and the position of fibre-optical probe is just in any one round on fruit conveyer belt on same straight line, for receiving fruit
Visible infrared, Fresnel Lenses is mounted on above fibre-optical probe, for converging the visible infrared of fruit to fibre-optical probe
On, row's halogen lamp is installed in top in fruit selects rack, and for irradiating fruit to be measured, the light into fruit is rolled over
It penetrates, convex lens is mounted on immediately below halogen lamp, for injecting the light of halogen lamp is parallel in fruit to be checked, and fibre-optical probe,
Fresnel Lenses, convex lens, the hole on fruit conveyer belt, halogen lamp are on same straight line.
8. intelligence fruit sorter according to claim 7, it is characterised in that：The fruit pickout apparatus course of work is：
Fruit conveyer belt is driven to select fruit feeding fruit under rack by control cabinet control fruits transport platform motor, and per secondary control water
A draining fruit on fruit conveyer belt enters fruit and selects under rack, and control cabinet controls the 4th high-definition camera, the 5th high at this time
Clear camera carries out image recognition to the appearance of fruit, when having recognized impaired, deformation, rotten fruit, control cabinet control
Mechanical arm extracts the fruit；Meanwhile halogen lamp light shines on fruit to be measured, the light into fruit reflects
After enter fibre-optical probe, fibre-optical probe transmits this information to fiber spectrometer and is analyzed, what fiber spectrometer analyzed
As a result it is transferred to control cabinet, sugar in fruit, acidity is obtained by control cabinet, while detecting whether fruit internal rots, works as inspection
When measuring fruit internal and occurring to rot, control cabinet control machinery arm extracts the fruit so that by fruit pickout apparatus
The quality of fruit is optimal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711454683.8A CN108273764A (en) | 2017-12-28 | 2017-12-28 | A kind of intelligence fruit sorter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711454683.8A CN108273764A (en) | 2017-12-28 | 2017-12-28 | A kind of intelligence fruit sorter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108273764A true CN108273764A (en) | 2018-07-13 |
Family
ID=62802496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711454683.8A Pending CN108273764A (en) | 2017-12-28 | 2017-12-28 | A kind of intelligence fruit sorter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108273764A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109201501A (en) * | 2018-09-11 | 2019-01-15 | 广东宏穗晶科技服务有限公司 | A kind of fine work lemon sorting machine people |
| CN109315803A (en) * | 2018-12-17 | 2019-02-12 | 华东交通大学 | A kind of intelligent feeder based on floatage-type |
| CN109351655A (en) * | 2018-12-12 | 2019-02-19 | 华东交通大学 | A kind of improvement device of jujube pickout apparatus |
| CN110976327A (en) * | 2019-12-30 | 2020-04-10 | 华东交通大学 | Fruit sorting and boxing machine |
| CN111299186A (en) * | 2020-02-21 | 2020-06-19 | 杨伟 | Fruit grading method, device and equipment |
| CN112890236A (en) * | 2021-01-21 | 2021-06-04 | 蒋阳洋 | Intelligence transmission device for food processing |
| CN113390834A (en) * | 2021-06-23 | 2021-09-14 | 长江师范学院 | Crisp plum maturity detection method based on visual identification |
| CN113390833A (en) * | 2021-06-23 | 2021-09-14 | 长江师范学院 | Crisp plum maturity judging method based on multiple detection modes |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09286411A (en) * | 1996-04-19 | 1997-11-04 | Mitsubishi Heavy Ind Ltd | Fruit selecting equipment |
| CN1837788A (en) * | 2006-03-24 | 2006-09-27 | 浙江大学 | Method and apparatus for non-destructive testing of fruit internal quality based on optical properties |
| CN101308086A (en) * | 2008-06-24 | 2008-11-19 | 江苏大学 | Fruit internal quality on-line checking method and apparatus based on near infrared spectra technology |
| JP2010115654A (en) * | 2010-01-20 | 2010-05-27 | Nippon Kyodo Kikaku Kk | Device for automatically sorting fruit and vegetable |
| CN203922055U (en) * | 2014-06-19 | 2014-11-05 | 昆山英博尔电子科技有限公司 | LED automatic feeding material collecting device |
| CN204173418U (en) * | 2014-08-20 | 2015-02-25 | 国家电网公司 | Electric energy metering device warehouse management system and mechanical arm thereof |
| CN205552514U (en) * | 2016-05-09 | 2016-09-07 | 徐州工程学院 | A robotic arm that is used for industry automatic clamp to get material |
-
2017
- 2017-12-28 CN CN201711454683.8A patent/CN108273764A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09286411A (en) * | 1996-04-19 | 1997-11-04 | Mitsubishi Heavy Ind Ltd | Fruit selecting equipment |
| CN1837788A (en) * | 2006-03-24 | 2006-09-27 | 浙江大学 | Method and apparatus for non-destructive testing of fruit internal quality based on optical properties |
| CN101308086A (en) * | 2008-06-24 | 2008-11-19 | 江苏大学 | Fruit internal quality on-line checking method and apparatus based on near infrared spectra technology |
| JP2010115654A (en) * | 2010-01-20 | 2010-05-27 | Nippon Kyodo Kikaku Kk | Device for automatically sorting fruit and vegetable |
| CN203922055U (en) * | 2014-06-19 | 2014-11-05 | 昆山英博尔电子科技有限公司 | LED automatic feeding material collecting device |
| CN204173418U (en) * | 2014-08-20 | 2015-02-25 | 国家电网公司 | Electric energy metering device warehouse management system and mechanical arm thereof |
| CN205552514U (en) * | 2016-05-09 | 2016-09-07 | 徐州工程学院 | A robotic arm that is used for industry automatic clamp to get material |
Non-Patent Citations (1)
| Title |
|---|
| 方祖成 等 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109201501A (en) * | 2018-09-11 | 2019-01-15 | 广东宏穗晶科技服务有限公司 | A kind of fine work lemon sorting machine people |
| CN109351655A (en) * | 2018-12-12 | 2019-02-19 | 华东交通大学 | A kind of improvement device of jujube pickout apparatus |
| CN109351655B (en) * | 2018-12-12 | 2024-05-17 | 华东交通大学 | Red date sorting unit |
| CN109315803A (en) * | 2018-12-17 | 2019-02-12 | 华东交通大学 | A kind of intelligent feeder based on floatage-type |
| CN109315803B (en) * | 2018-12-17 | 2024-06-04 | 华东交通大学 | Intelligent feeding machine based on buoyancy |
| CN110976327A (en) * | 2019-12-30 | 2020-04-10 | 华东交通大学 | Fruit sorting and boxing machine |
| CN110976327B (en) * | 2019-12-30 | 2024-08-16 | 华东交通大学 | Fruit sorting and boxing machine |
| CN111299186A (en) * | 2020-02-21 | 2020-06-19 | 杨伟 | Fruit grading method, device and equipment |
| CN112890236A (en) * | 2021-01-21 | 2021-06-04 | 蒋阳洋 | Intelligence transmission device for food processing |
| CN113390834A (en) * | 2021-06-23 | 2021-09-14 | 长江师范学院 | Crisp plum maturity detection method based on visual identification |
| CN113390833A (en) * | 2021-06-23 | 2021-09-14 | 长江师范学院 | Crisp plum maturity judging method based on multiple detection modes |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108273764A (en) | A kind of intelligence fruit sorter | |
| CN101574693B (en) | Small-scale movable computer vision automatic navel orange separator | |
| CN106124520B (en) | A kind of device of full-automatic loading and unloading and vision-based detection | |
| CN105214961B (en) | A kind of food processing streamline quality testing and the fully-automatic equipment of weight grading | |
| CN102941189B (en) | Controllable rotary angle insection tray device of fruit sorter | |
| CN109772721A (en) | Engine commutator open defect automatic online vision inspection apparatus and detection method | |
| CN207254776U (en) | A kind of automatic barcode scanning sorting machine | |
| CN201618694U (en) | Fruit grading and detecting device | |
| CN106442553A (en) | Detection and recognition device and method for sprayed codes on cylindrical surfaces of copper rings | |
| CN109158336A (en) | A kind of apple primary election classifying equipoment | |
| CN107694967A (en) | Automobile lithium battery voltage internal resistance automatic detection screening installation | |
| CN107340294A (en) | A kind of engine commutator automatic visual detecting system | |
| CN2923067Y (en) | Multi-path fruit vision grading picture collector | |
| CN109351655A (en) | A kind of improvement device of jujube pickout apparatus | |
| CN211185838U (en) | Tobacco leaf rapid detection grading plant based on image and spectral characteristics | |
| CN209271938U (en) | A kind of improvement device of jujube pickout apparatus | |
| CN110721923B (en) | Bearing ring quality detection system | |
| CN108889634A (en) | A kind of drinks impurity detection device and method | |
| CN209565257U (en) | Engine commutator open defect automatic online vision inspection apparatus | |
| WO2024178865A1 (en) | Goods sorting system | |
| CN208288485U (en) | A kind of rod bar transfer device and the Surface of Rod Bar defect detecting device comprising it | |
| CN100365411C (en) | Detection method suited on surface of spherical fruit triggered to collect images based on need and equipment | |
| CN115350934B (en) | Automatic flower sorting equipment with flower branches | |
| CN206882197U (en) | A kind of fruit detects hierarchy system | |
| CN206849813U (en) | A kind of photovoltaic cell device for classifying defects |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180713 |
|
| RJ01 | Rejection of invention patent application after publication |