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CN110967346A - Fruit vegetables apparent detection and sorting vanning device - Google Patents

Fruit vegetables apparent detection and sorting vanning device Download PDF

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Publication number
CN110967346A
CN110967346A CN201911390685.4A CN201911390685A CN110967346A CN 110967346 A CN110967346 A CN 110967346A CN 201911390685 A CN201911390685 A CN 201911390685A CN 110967346 A CN110967346 A CN 110967346A
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China
Prior art keywords
axis
fruit
vegetable
guide rail
block
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Granted
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CN201911390685.4A
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Chinese (zh)
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CN110967346B (en
Inventor
李洪斌
迟伟
杨升
夏朋超
刘春宝
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Yantai Towin Intelligent Technology Co ltd
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Yantai Towin Intelligent Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • 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
    • 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
    • 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
    • B07C5/38—Collecting or arranging articles in groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N2021/0106—General arrangement of respective parts
    • G01N2021/0112—Apparatus in one mechanical, optical or electronic block
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N2021/845—Objects on a conveyor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8854—Grading and classifying of flaws
    • G01N2021/8867—Grading and classifying of flaws using sequentially two or more inspection runs, e.g. coarse and fine, or detecting then analysing
    • G01N2021/887—Grading and classifying of flaws using sequentially two or more inspection runs, e.g. coarse and fine, or detecting then analysing the measurements made in two or more directions, angles, positions

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Sorting Of Articles (AREA)

Abstract

The invention relates to a fruit and vegetable appearance detection, sorting and boxing device, and belongs to the technical field of fruit and vegetable appearance detection, sorting and boxing device structures. The fruit and vegetable sorting and arranging device is located at the output end of the fruit and vegetable appearance detection equipment, and the XY-axis equidistant telescopic grabbing device is installed on the mechanical arm. The automatic device is ingenious in structural design and fully automatic, can greatly reduce the manual demand and simultaneously avoid secondary pollution, and greatly reduces the production cost of enterprises.

Description

Fruit vegetables apparent detection and sorting vanning device
Technical Field
The invention relates to a fruit and vegetable appearance detection, sorting and boxing device, and belongs to the technical field of fruit and vegetable appearance detection, sorting and boxing device structures.
Background
Along with the development of economy in China, the living standard of people is continuously improved, the requirement of people on eating is higher and higher, and the delivery inspection, sorting and boxing of fruits and vegetables are more and more automated. The existing appearance inspection, sorting and boxing are mostly carried out manually, the automation degree is low, secondary pollution is easily introduced in the detection and boxing process, the quality is influenced, and the production efficiency is limited by the number and the quality of workers.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the fruit and vegetable appearance detecting, sorting and boxing device which is ingenious in structural design, fully automatic, capable of greatly reducing the manual requirements and avoiding secondary pollution, and capable of greatly reducing the production cost of enterprises.
A fruit and vegetable appearance detection and sorting boxing device is characterized by comprising a fruit and vegetable appearance detection device 10-3, a fruit and vegetable sorting and arranging device 10-1, a mechanical arm 10-2 and an XY-axis equidistant telescopic grabbing device 10-4, wherein the fruit and vegetable sorting and arranging device 10-1 is positioned at the output end of the fruit and vegetable appearance detection device 10-3, and the XY-axis equidistant telescopic grabbing device 10-4 is arranged on the mechanical arm 10-2;
the fruit and vegetable appearance detection device 10-3 comprises an upper appearance detection mechanism 5-1 for detecting the upper part of the fruit and vegetable and a lower appearance detection mechanism 5-2 for detecting the lower part of the fruit and vegetable, wherein the upper appearance detection mechanism 5-1 comprises an upper conveying belt 5-3 and an upper detection camera assembly 5-4 arranged above the upper conveying belt 5-3, and the lower appearance detection mechanism 5-2 comprises a fruit and vegetable conveying mechanism, a lifting mechanism 7-12, a fruit and vegetable grabbing mechanism, a fruit and vegetable bottom shooting mechanism 7-19 and a driving mechanism 7-11;
the upper detection camera assembly 5-4 comprises an upper detection frame 5-6, the top of the upper detection frame 5-6 is provided with an upper detection camera assembly 5-8 which vertically irradiates the upper conveying belt 5-3 downwards, two opposite sides of the upper detection frame 5-6 are provided with upper detection light sources 5-7, the inlet of the upper detection frame 5-6 is provided with two first guide blocks 5-5, two opposite first trigger switches 5-9 are arranged below the upper detection camera assembly 5-8, and the two first trigger switches 5-9 are positioned on two sides of the upper conveying belt 5-3 in the width direction;
the upper detection camera assembly 5-8 comprises an upper fixed connecting plate 5-11 arranged on an upper detection frame 5-6, a plurality of upper detection camera fixing plates 5-10 extending vertically downwards are arranged on the lower surface of the upper fixed connecting plate 5-11, an upper detection camera 5-12 is arranged on each upper detection camera fixing plate 5-10, one upper detection camera 5-12 irradiates vertically downwards, and the rest upper detection cameras 5-12 irradiate fruits and vegetables on the upper conveying belt 5-3;
the fruit and vegetable conveying mechanism is used for conveying fruits and vegetables, the fruit and vegetable grabbing mechanism is located above the fruit and vegetable conveying mechanism and mounted on the lifting mechanism 7-12, the fruit and vegetable bottom shooting mechanism 7-19 is mounted on the driving mechanism 7-11, the driving mechanism 7-11 is used for driving the fruit and vegetable bottom shooting mechanism 7-19 to move, and the fruit and vegetable bottom shooting mechanism 7-19 is moved to the position below the fruit and vegetable grabbing mechanism to shoot the bottoms of the fruits and vegetables;
the driving mechanism 7-11 comprises a transverse driving mechanism 7-20 and a longitudinal driving mechanism 21, the fruit and vegetable bottom shooting mechanism 7-19 is installed on the transverse driving mechanism 7-20 and can move left and right along the length direction of the transverse driving mechanism 7-20, the transverse driving mechanism 7-20 is installed on the longitudinal driving mechanism 7-21 and can move front and back along the length direction of the longitudinal driving mechanism 7-21, and the longitudinal driving mechanism 7-21 and the conveying mechanism are arranged in the same direction;
the fruit and vegetable conveying mechanism comprises two conveying belts 7-10 which are arranged in parallel, the longitudinal driving mechanism is arranged between the two conveying belts 7-10, the feeding end of the fruit and vegetable conveying mechanism is provided with a grouping mechanism 7-5 which is used for distributing the fruits and vegetables onto the two conveying belts 7-10, and the discharging end of the fruit and vegetable conveying mechanism is provided with an output mechanism 7-1;
the grouping mechanism 7-5 comprises a grouping belt 7-6, a swing cylinder 7-8, a swing rod 7-7 and a herringbone guide plate 7-9 are arranged on the grouping belt 7-6, and the output mechanism 7-1 comprises an output belt 7-2 and a splayed guide plate 7-3;
the lifting mechanism 12 comprises lifting supports 7-14, linear guide rails 7-16 are mounted on the lifting supports 7-14 in the height direction, sucker supports 7-15 are mounted on the linear guide rails 7-16 and can move up and down along the linear guide rails 7-16, driving cylinders 7-18 capable of driving the sucker supports 7-15 to move up and down are mounted on the lifting supports 7-14, a row of first sucker components 7-17 are mounted on the sucker supports 7-15, and the row of first sucker components 7-17 form a fruit and vegetable grabbing mechanism;
the fruit and vegetable bottom shooting mechanism comprises a camera frame 7-28, the middle of which is provided with a fruit and vegetable grabbing mechanism through opening, two sides of the fruit and vegetable grabbing mechanism through opening are respectively provided with a trigger switch 7-33 which is communicated with an industrial personal computer and can trigger a bottom camera 7-29 to shoot, the bottom of the camera frame 7-28, which is opposite to the fruit and vegetable grabbing mechanism through opening, is provided with a support plate 7-31, three camera supports 7-30 which are equally spaced are arranged along the periphery of the support plate 7-31, and each camera support 7-30 is provided with a bottom camera 7-29 which irradiates the fruit and vegetable grabbing mechanism;
two light supplement lamps 7-27 irradiating towards the fruit and vegetable grabbing mechanism are arranged on the camera frame 7-28;
the transverse driving mechanism comprises transverse linear rails 7-24 and transverse racks 7-25 which are arranged on the transverse bases 7-26 in the length direction, transverse gears 7-23 which can transversely move along the length direction of the transverse racks 7-25 are arranged on the transverse racks 7-25, the transverse gears 7-23 are connected and driven through transverse motors and speed reducers 7-22, and the motors and the speed reducers 7-22 are arranged on camera frames 7-28;
the longitudinal driving mechanism comprises a longitudinal linear rail and a longitudinal rack which are arranged on the longitudinal base in the length direction, a longitudinal gear which can longitudinally move along the length direction of the longitudinal rack is arranged on the longitudinal rack, the longitudinal gear is connected and driven by a longitudinal motor and a speed reducer, and the longitudinal motor and the speed reducer are arranged on the transverse driving mechanism;
the fruit and vegetable sorting and arranging device 10-1 comprises a fruit and vegetable conveying belt 9-9 for conveying fruits and vegetables, a swing mechanism for shifting the fruits and vegetables to change the running track of the fruits and vegetables is installed on the fruit and vegetable conveying belt 9-9, two side push fixing frames 9-7 crossing the width direction of the conveying belt 9-9 are installed behind the swing mechanism, a side push mechanism capable of moving back and forth along the width direction of the fruit and vegetable conveying belt 9-9 is installed between the two side push fixing frames 9-7, a plurality of T-shaped angle aluminum 9-12 arranged in parallel are installed on the side surface of the fruit and vegetable belt 9-9, a fruit and vegetable arranging conveying belt 9-13 is arranged below the T-shaped angle aluminum 9-12, and a liftable fruit and vegetable baffle 9-11 is installed on one side, close to the fruit and vegetable arranging conveying belt 9;
the swinging mechanism comprises a swinging frame 9-3 arranged on a fruit and vegetable conveying belt 9-9, an L-shaped swinging rod 9-2 is arranged on the swinging frame 9-3 through a bearing 9-4, a connecting rod 9-19 is arranged in the height direction of the L-shaped swinging rod 9-2, and the connecting rod 9-19 is connected with a swinging cylinder 9-1;
the side pushing mechanism comprises a side pushing moving frame 9-6 arranged between two side pushing fixing frames 9-7, the side pushing moving frame 9-6 is connected with the side pushing fixing frames 9-7 in a sliding mode through side pushing line rails 9-8, and the side pushing moving frame 9-6 is driven by a side pushing cylinder 9-5;
the fruit and vegetable baffle plate 9-11 is arranged on the blocking support frame 9-18, the blocking support frame 9-18 is arranged on the fruit and vegetable conveying belt 9-9, the fruit and vegetable baffle plate 9-11 and the blocking support frame 9-17 are connected in a vertical sliding mode through a blocking linear rail 9-15, and the blocking support frame 9-17 is provided with a blocking cylinder 9-16 for driving the fruit and vegetable baffle plate 9-11 to move up and down;
a stop block 9-10 for stopping the fruits and vegetables from going forward is arranged on the side pushing moving frame 9-6;
the XY-axis equidistant telescopic grabbing device 10-4 comprises two Y-axis automatic telescopic modules 2-1 which are arranged in parallel, a plurality of X-axis automatic telescopic modules 2-2 are installed at intervals along the length direction of the bottom of the Y-axis automatic telescopic module 2-1, a plurality of X-axis limiting blocks which can be mutually unfolded or mutually folded are installed at the bottom of each X-axis automatic telescopic module 2-2, a sucker assembly 1-2 is installed at the bottom of each X-axis limiting block, the X-axis limiting blocks are positioned on the same straight line and connected through an X-axis synchronous belt 1-7, a fixed point is arranged at the bottom of each X-axis limiting block by the X-axis synchronous belt 1-7, a plurality of Y-axis connecting blocks which can be mutually unfolded or mutually folded are installed at the bottom of the Y-axis automatic telescopic module 2-1, and one X-axis automatic telescopic module 2-2 is connected at the bottom of each, the X-axis automatic telescopic modules 2-2 are connected through Y-axis synchronous belts 2-7, and the Y-axis synchronous belts 2-7 are provided with a fixed point at the top of each X-axis automatic telescopic module 2-2;
the X-axis automatic telescopic modules 2-2 are in a group and respectively comprise an X-axis middle guide rail sliding block assembly 1-3 arranged at the middle position of an X-axis fixed beam 1-23, X-axis end guide rail sliding block assemblies 1-4 are respectively arranged at the left end and the right end of the X-axis fixed beam 1-23, an X-axis executing mechanism is respectively arranged at the front side and the rear side of the X-axis fixed beam 1-23 of the middle X-axis automatic telescopic module 2-2 in each group, and the two X-axis executing mechanisms drive the X-axis end guide rail sliding block assemblies 1-4 of the three X-axis automatic telescopic modules 2-2 to simultaneously extend or retract;
the X-axis middle guide rail sliding block assembly 1-3 comprises an X-axis middle linear guide rail 1-10 and a plurality of X-axis middle sliding blocks 1-11, an X-axis middle limiting block 1-13 is arranged below each X-axis middle sliding block 1-11, a sucker assembly 1-2 is arranged at the bottom of each X-axis middle limiting block 1-13, an X-axis end guide rail sliding block assembly 1-4 comprises an X-axis upper sliding block 1-14 the top of which is arranged on an X-axis fixed beam 1-23, the bottom of each X-axis upper sliding block 1-14 is arranged on an X-axis upper guide rail 1-15 in a sliding manner, an X-axis lower guide rail 1-17 is arranged at the bottom of each X-axis upper guide rail 1-15, a plurality of X-axis lower sliding blocks 1-19 are arranged on each X-axis lower sliding block 1-19, an X-axis end limiting block 1-18 is, the bottom of each X-axis end limiting block 1-18 is provided with a sucker assembly 1-2, the X-axis middle limiting block 1-13 and the X-axis end limiting block 1-18 belong to X-axis limiting blocks, the X-axis middle limiting block 1-13 and the X-axis end limiting block 1-18 are positioned on the same straight line and connected through an X-axis synchronous belt 1-7, the X-axis synchronous belt 1-7 is provided with a fixed point at the bottom of each limiting block, and the synchronous belts between each two adjacent limiting blocks are the same in length;
the sucker assembly 1-2 comprises a middle limiting block 1-13 arranged on the X axis, a U-shaped sucker connecting piece 1-8 arranged at the bottom of the limiting block 1-18 at the end part of the X axis and a sucker 1-9 arranged on the sucker connecting piece 1-8;
the X-axis upper guide rail 1-15 and the X-axis lower guide rail 1-17 are integrally installed through an X-axis middle fixing plate 1-16, the upper surface of one end, far away from the X-axis middle linear guide rail 1-10, of the X-axis middle fixing plate 1-16 is provided with an X-axis cylinder connecting block 1-22 and an X-axis hydraulic buffer top block 1-21, the lower surface of the X-axis middle fixing plate 1-16 is provided with an X-axis end fixing block 1-20, a linkage rod 1-27 is inserted into the X-axis end fixing block 1-20, and the linkage rod 1-27 is connected with the adjacent X-axis end fixing block 1-20, so that three X-axis automatic telescopic modules 2-;
the front, the back, the left and the right of the X-axis middle limiting block 1-13 are respectively provided with middle contact arms 1-25 with equal length, and one end of the X-axis end limiting block 1-18 close to the X-axis middle limiting block 1-13 is provided with end contact arms 1-26 with equal length to the middle contact arms 1-25;
the two Y-axis automatic telescopic modules 2-1 are respectively provided with a Y-axis actuating mechanism, the driving directions of the two Y-axis actuating mechanisms are opposite, the Y-axis automatic telescopic modules 2-1 comprise Y-axis middle guide rail sliding block assemblies 2-4 arranged at the middle positions of Y-axis fixed beams 2-14, the left and right ends of the Y-axis fixed beams 2-14 are respectively provided with a Y-axis end guide rail sliding block assembly 2-5, and the Y-axis actuating mechanisms drive the Y-axis end guide rail sliding block assemblies 2-5 to extend or retract;
the Y-axis middle guide rail sliding block assembly 2-4 comprises a Y-axis middle linear guide rail 2-9 and a Y-axis middle fixing block 2-15 arranged at the middle position of the Y-axis middle linear guide rail 2-9, the left side and the right side of the Y-axis middle fixing block 2-15 are provided with an equal number of Y-axis middle sliding blocks 2-10, Y-axis middle connecting blocks 2-12 are arranged below each Y-axis middle sliding block 2-10 and each Y-axis middle fixing block 2-15, and the bottom of each Y-axis middle connecting block 2-12 is connected with an X-axis automatic telescopic module 2-2;
the Y-axis end guide rail sliding block assembly 2-5 comprises a Y-axis upper sliding block 2-16, the top of which is arranged on a Y-axis fixed beam 2-14, the bottom of the Y-axis upper sliding block 2-16 is slidably arranged on a Y-axis upper guide rail 2-17, the Y-axis upper guide rail 2-17 is provided with a Y-axis lower guide rail 2-19 through a Y-axis middle fixed plate 2-18, a plurality of Y-axis lower sliding blocks 2-20 are arranged on the Y-axis lower guide rail 2-19, the bottom of each Y-axis lower sliding block 2-20 is provided with a Y-axis end connecting block 2-21, each Y-axis end connecting block 2-21 is connected with an X-axis automatic telescopic module 2-2, the end of each Y-axis lower guide rail 2-19 is provided with a Y-axis end connecting block 2-22, the bottom of each Y-axis end connecting, a Y-axis cylinder connecting block 2-24 and a Y-axis hydraulic buffer top block 2-23 are arranged on the upper surface of one Y-axis end connecting block 2-22 of the Y-axis end guide rail sliding block assembly 2-5;
the X-axis actuating mechanism comprises an X-axis cylinder assembly 1-1 arranged on an X-axis fixed beam 1-23, the end part of an X-axis cylinder push rod 1-24 in the X-axis cylinder assembly 1-1 is fixed on an X-axis cylinder connecting block 1-22, the Y-axis actuating mechanism comprises a Y-axis cylinder assembly 2-3 arranged on a Y-axis fixed beam 2-14, and the end part of a Y-axis cylinder push rod 2-13 in the Y-axis cylinder assembly 2-3 is fixed on a Y-axis cylinder connecting block 2-24;
the X-axis middle limiting block 1-13 is connected with an X-axis middle sliding block 1-11 through an X-axis limiting block vertical plate 1-12, and the Y-axis middle sliding block 2-10 is connected with a Y-axis middle connecting block 2-12 through a Y-axis limiting block vertical plate 2-11;
the X-axis fixed beam 1-23 and the Y-axis fixed beam 2-14 are provided with an X-axis hydraulic buffer component 1-5 and a Y-axis hydraulic buffer component 2-6 which are matched with the X-axis hydraulic buffer top block 1-21 and the Y-axis hydraulic buffer top block 1-23;
the X-axis synchronous belt 1-7 is arranged at the bottoms of the X-axis middle limiting block 1-13 and the X-axis end limiting block 1-18 through an X-axis synchronous belt pressing block 1-6 to form the fixed point, and the Y-axis synchronous belt 2-7 is arranged on the X-axis automatic telescopic module 2-2 through a Y-axis synchronous belt pressing block 2-8 to form the fixed point.
The fruit and vegetable appearance detecting, sorting and boxing device is ingenious in structural design and has the following beneficial effects:
1. the fruits and vegetables are detected by the upper appearance detection mechanism 5-1 and then enter the lower detection mechanism 5-2 to detect the appearance of the lower part, and finally the purpose of overall appearance detection is realized;
2. the fruit and vegetable sorting and arranging device 10-1 can automatically sort and arrange materials, reduce the using amount of workers, increase the production efficiency and the automation degree and have extremely high practical value;
3. when the fruits and vegetables need to be grabbed, the Y-axis automatic telescopic modules 2-1 drive the X-axis automatic telescopic modules 2-2 to be opened, in particular to push the Y-axis end guide rail sliding block assemblies 2-5 to extend outwards through the Y-axis air cylinder assemblies 2-3 so as to enable the Y-axis connecting blocks to be opened mutually, thereby driving the X-axis automatic telescopic modules 2-2 to be opened, tensioning the Y-axis synchronous belts 2-7, simultaneously respectively driving the two X-axis end guide rail sliding block assemblies 1-4 to move horizontally in opposite directions through the X-axis executing mechanism, enabling the X-axis upper guide rails 1-15 and the X-axis lower guide rails 1-7 to extend outwards synchronously, thereby enabling the X-axis end limiting blocks 1-18 to move outwards, and because the X-axis end limiting blocks 1-18 and the X-axis middle limiting blocks 1-13 are connected through the X, therefore, the outward moving X-axis end limiting blocks 1-18 pull the X-axis middle limiting blocks 1-13 to be unfolded, the distance between the adjacent limiting blocks is the same after the adjacent limiting blocks are completely unfolded due to the same length of the synchronous belt between each two adjacent limiting blocks, when fruits and vegetables are grabbed through the sucker assemblies 1-2 and boxing is needed, the Y-axis executing mechanism drives the Y-axis end guide rail sliding block assemblies 2-5 to be folded, so that the adjacent Y-axis connecting blocks are contacted with each other, the X-axis executing mechanism drives the X-axis end guide rail sliding block assemblies 1-4 to be folded, so that the adjacent limiting blocks 1-13 are contacted with each other, as the front end, the rear end, the left end and the right end of the X-axis middle limiting block 1-13 are respectively provided with middle contact arms 1-25 with equal length, one end part of the X-axis end limiting block 1-, therefore, the equal-interval boxing and placement among the fruits and the vegetables can be realized.
In conclusion, the fruit and vegetable detection, sorting and boxing method is ingenious in design, high in automation degree and capable of greatly improving production efficiency and dependence on manpower.
Drawings
FIG. 1: the structure schematic diagram of the fruit and vegetable appearance detection, sorting and boxing device is provided;
FIG. 2: the structure schematic diagram of the fruit and vegetable appearance detection device;
FIG. 3: a schematic structural view of the lower appearance detection mechanism;
FIG. 4: the structure schematic diagram of the grouping mechanism;
FIG. 5: the structure schematic diagram of the fruit and vegetable conveying mechanism;
FIG. 6: the structure schematic diagram of the lifting mechanism;
FIG. 7: the driving mechanism and the fruit and vegetable bottom shooting mechanism are structurally schematic;
FIG. 8: a frame diagram of the driving mechanism and the fruit and vegetable bottom shooting mechanism;
FIG. 9: a schematic structural diagram of a camera frame;
FIG. 10: a layout of the camera on the camera mount;
FIG. 11: the structure schematic diagram of the grouping mechanism;
FIG. 12: the structure schematic diagram of the output mechanism;
FIG. 13: a schematic structural view of the upper appearance detection mechanism;
FIG. 14: a frame diagram of an upper appearance detection mechanism;
FIG. 15: an upper inspection camera layout diagram;
FIG. 16: the structure schematic diagram of the fruit and vegetable sorting and arranging device;
FIG. 17: the structure schematic diagram of the swing mechanism;
FIG. 18: the structure schematic diagram of the fruit and vegetable baffle;
FIG. 19: a schematic structural diagram of the XY-axis telescopic gripping device during folding;
FIG. 20: the structure schematic diagram of the expanded XY-axis telescopic grabbing device is shown;
FIG. 21: the structural schematic diagram of the X-axis automatic telescopic module;
FIG. 22: the structure schematic diagram of the state 1 when the X-axis synchronous belt of the X-axis automatic telescopic module is bent and sagged;
FIG. 23: the structure schematic diagram of the state 2 when the X-axis synchronous belt of the X-axis automatic telescopic module is bent and sagged;
FIG. 24: the structural schematic diagram of the sucker component;
FIG. 25: the structure schematic diagram of the X-axis middle guide rail sliding block component;
FIG. 26: the structure schematic diagram of the X-axis end guide rail sliding block component;
FIG. 27 is a schematic view showing: the structure schematic diagram of the Y-axis middle guide rail sliding block component;
FIG. 28: the structure schematic diagram of the Y-axis end guide rail sliding block component;
FIG. 29: a folding state diagram of the Y-axis automatic telescopic module;
FIG. 30: an opening state diagram of the Y-axis automatic telescopic module;
FIG. 31: a Y-axis synchronous belt mounting position diagram of the Y-axis automatic telescopic module;
FIG. 32: and the structural schematic diagram of a group of X-axis automatic telescopic modules.
In the figure: 1-1, an X-axis cylinder assembly; 1-2, a sucker component; 1-3, an X-axis middle guide rail sliding block component; 1-4, an X-axis end guide rail sliding block component; 1-5, an X-axis hydraulic buffer assembly; 1-6, pressing a X-axis synchronous belt; 1-7, an X-axis synchronous belt; 1-8, a sucker connecting piece; 1-9, a sucker; 1-10, X-axis middle linear guide rail; 1-11, an X-axis middle slide block; 1-12, an X-axis limiting block vertical plate; 1-13, an X-axis middle limiting block; 1-14, an X-axis upper slide block; 1-15, an X-axis upper guide rail; 1-16, X-axis middle fixing plate; 1-17, an X-axis lower guide rail; 1-18, limiting blocks at two ends of the X shaft; 1-19, X-axis lower slide block; 1-20, fixing blocks at the end parts of the X axis; 1-21, X-axis oil buffer top block; 1-22, an X-axis cylinder connecting block; 1-23, an X-axis fixed beam; 1-24, an X-axis cylinder push rod; 1-25, intermediate contact arms; 1-26, end contact arms; 1-27, a linkage rod;
2-1, a Y-axis automatic telescopic module; 2-2, an X-axis automatic telescopic module; 2-3, a Y-axis cylinder assembly; 2-4, a Y-axis middle guide rail sliding block component; 2-5, Y-axis end guide rail sliding block components; 2-6, a Y-axis hydraulic buffer assembly; 2-7, a Y-axis synchronous belt; 2-8, pressing a Y-axis synchronous belt; 2-9, Y-axis middle linear guide rail; 2-10, Y-axis middle slide block; 2-11, Y-axis limiting block vertical plates; 2-12, Y-axis middle connecting block; 2-13, Y-axis cylinder push rod; 2-14, Y-axis fixed beam; 2-15, fixing block in the middle of Y axis; 2-16, Y-axis upper slide block; 2-17, an upper Y-axis guide rail; 2-18, Y-axis middle fixing plate; 2-19, a Y-axis lower guide rail; 2-20, Y-axis lower slide block; 2-21, Y-axis end connecting block; 2-22, a Y-axis end connecting block; 2-23, a Y-axis hydraulic buffer top block; 2-24, Y-axis cylinder connecting block;
5-1, an upper appearance detection mechanism, 5-2, a lower appearance detection mechanism, 5-3, an upper conveying belt, 5-4, an upper detection camera assembly, 5-5, a first guide block, 5-6, an upper detection frame, 5-7, an upper detection light source, 5-8, an upper detection camera assembly, 5-9, a first trigger switch, 5-10, an upper detection camera fixing plate, 5-11, an upper detection side camera fixing connecting plate, 5-12, an upper detection camera, 7-1, an output mechanism, 7-2, an output belt, 7-3, a splayed guide plate, 7-5 grouping mechanisms, 7-6, a grouping belt, 7-7, a swing rod, 7-8, a swing cylinder, 7-9 and a herringbone guide plate, 7-10 parts of conveyor belt, 7-11 parts of driving mechanism, 7-12 parts of lifting mechanism, 7-13 parts of vacuum generating device, 7-14 parts of lifting support, 7-15 parts of sucker support, 7-16 parts of linear guide rail, 7-17 parts of first sucker component, 7-18 parts of driving cylinder, 7-19 parts of fruit and vegetable bottom shooting mechanism, 7-20 parts of transverse driving mechanism, 7-21 parts of longitudinal driving mechanism, 7-22 parts of driving motor and speed reducer, 7-23 parts of transverse gear, 7-24 parts of transverse linear rail, 7-25 parts of transverse rack, 7-26 parts of transverse base, 7-27 parts of light supplementing lamp, 7-28 parts of camera frame, 7-29 parts of bottom camera, 7-30 parts of camera support, 7-31 parts of support plate, 7-32 parts of support plate, A blocking cylinder 7-33, a trigger switch;
9-1, a swing cylinder; 9-2, an L-shaped swing rod; 9-3, swinging the frame; 9-4, a bearing; 9-5, laterally pushing the cylinder; 9-6, laterally pushing the movable frame; 9-7, laterally pushing the fixing frame; 9-8, laterally pushing the linear rail; 9-9, a fruit and vegetable conveying belt; 9-10 parts of a stop block; 9-11 parts of fruit and vegetable baffle plates; 9-12, T-shaped angle aluminum; 9-13 fruit and vegetable arrangement conveying belts; 9-15, blocking the linear rail; 9-16 block cylinders; 9-17 and a blocking support frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The fruit and vegetable appearance detection, sorting and boxing device of the embodiment, please refer to fig. 1-32, comprises a fruit and vegetable appearance detection device 10-3, a fruit and vegetable sorting and arranging device 10-1, a mechanical arm 10-2, and an XY-axis equidistant telescopic gripping device 10-4, wherein the fruit and vegetable sorting and arranging device 10-1 is located at the output end of the fruit and vegetable appearance detection device 10-3, and the XY-axis equidistant telescopic gripping device 10-4 is installed on the mechanical arm 10-2;
the fruit and vegetable appearance detection equipment comprises an upper appearance detection mechanism 5-1 for detecting the upper part of the fruit and vegetable and a lower appearance detection mechanism 5-2 for detecting the lower part of the fruit and vegetable, wherein the upper appearance detection mechanism 5-1 comprises an upper conveying belt 5-3 and an upper detection camera assembly 5-4 arranged above the upper conveying belt 5-3, and the lower appearance detection mechanism 5-2 comprises a fruit and vegetable conveying mechanism, a lifting mechanism 7-12, a fruit and vegetable grabbing mechanism, a fruit and vegetable bottom shooting mechanism 7-19 and a driving mechanism 7-11;
the upper detection camera assembly 5-4 comprises an upper detection frame 5-6, the top of the upper detection frame 5-6 is provided with an upper detection camera assembly 5-8 which vertically irradiates the upper conveying belt 5-3 downwards, two opposite sides of the upper detection frame 5-6 are provided with upper detection light sources 5-7, the inlet of the upper detection frame 5-6 is provided with two first guide blocks 5-5, two opposite first trigger switches 5-9 are arranged below the upper detection camera assembly 5-8, and the two first trigger switches 5-9 are positioned on two sides of the upper conveying belt 5-3 in the width direction;
the upper detection camera assembly 5-8 comprises an upper fixed connecting plate 5-11 arranged on an upper detection frame 5-6, a plurality of upper detection camera fixing plates 5-10 extending vertically downwards are arranged on the lower surface of the upper fixed connecting plate 5-11, each upper detection camera fixing plate 5-10 is provided with an upper detection camera 5-12, one upper detection camera 5-12 irradiates vertically downwards, and the rest upper detection cameras 5-12 irradiate fruits and vegetables on the upper conveying belt 5-3; when fruits and vegetables to be detected pass through the first guide block 5-5 under the drive of the upper conveying belt 5-3, the first trigger switch 5-9 is triggered, and the upper surfaces of the fruits and vegetables are photographed and analyzed through the upper detection camera 5-12 which is fixed on the upper detection side camera fixing connecting plate 5-11 through the upper detection camera fixing plate 5-10.
The fruit and vegetable conveying mechanism is used for conveying fruits and vegetables, the fruit and vegetable grabbing mechanism is located above the fruit and vegetable conveying mechanism and mounted on the lifting mechanism 7-12, the fruit and vegetable bottom shooting mechanism 7-19 is mounted on the driving mechanism 7-11, the driving mechanism 7-11 drives the fruit and vegetable bottom shooting mechanism 7-19 to move, and the fruit and vegetable bottom shooting mechanism 7-19 moves below the fruit and vegetable grabbing mechanism to shoot the bottoms of the fruits and vegetables;
the driving mechanism 7-11 comprises a transverse driving mechanism 7-20 and a longitudinal driving mechanism 21, the fruit and vegetable bottom shooting mechanism 7-19 is installed on the transverse driving mechanism 7-20 and can move left and right along the length direction of the transverse driving mechanism 7-20, the transverse driving mechanism 7-20 is installed on the longitudinal driving mechanism 7-21 and can move front and back along the length direction of the longitudinal driving mechanism 7-21, and the longitudinal driving mechanism 7-21 and the conveying mechanism are arranged in the same direction; the transverse driving mechanism comprises transverse linear rails 7-24 and transverse racks 7-25 which are arranged on the transverse bases 7-26 in the length direction, transverse gears 7-23 which can transversely move along the length direction of the transverse racks 7-25 are arranged on the transverse racks 7-25, the transverse gears 7-23 are connected and driven through transverse motors and speed reducers 7-22, and the motors and the speed reducers 7-22 are arranged on camera frames 7-28; the longitudinal driving mechanism comprises a longitudinal linear rail and a longitudinal rack which are arranged on the longitudinal base in the length direction, a longitudinal gear which can longitudinally move along the length direction of the longitudinal rack is arranged on the longitudinal rack, the longitudinal gear is connected and driven through a longitudinal motor and a speed reducer, and the longitudinal motor and the speed reducer are arranged on the transverse driving mechanism.
The fruit and vegetable conveying mechanism comprises two conveying belts 7-10 which are arranged in parallel, the longitudinal driving mechanism is arranged between the two conveying belts 7-10, the feeding end of the fruit and vegetable conveying mechanism is provided with a grouping mechanism 7-5 which is used for distributing the fruits and vegetables to the two conveying belts 7-10, and the discharging end of the fruit and vegetable conveying mechanism is provided with an output mechanism 7-1;
the grouping mechanism 7-5 comprises a grouping belt 7-6, a swing cylinder 7-8, a swing rod 7-7 and a herringbone guide plate 7-9 are arranged on the grouping belt 7-6, the output mechanism 7-1 comprises an output belt 7-2 and a splayed guide plate 7-3, the output belt 7-1 mainly comprises a conveying belt 7-2 and a guide plate 7-3 fixed on a frame of the conveying belt 7-2, and fruits and vegetables sent out by the conveying belt 7-10 are guided by the splayed guide plate 7-3 and then are output to the next part through the middle position of the output belt 7-2;
the fruit and vegetable bottom shooting mechanism comprises a camera frame 7-28, the middle of which is provided with a fruit and vegetable grabbing mechanism through port, two sides of the fruit and vegetable grabbing mechanism through port are respectively provided with a trigger switch 7-33 which is communicated with an industrial personal computer and can trigger a bottom camera 7-29 to shoot, the bottom of the camera frame 7-28, which is opposite to the fruit and vegetable grabbing mechanism through port, is provided with a support plate 7-31, three camera supports 7-30 which are equally spaced are arranged along the periphery of the support plate 7-31, each camera support 7-30 is provided with a bottom camera 7-29 which irradiates the fruit and vegetable grabbing mechanism, and the camera frame 7-28 is provided with two light supplementing lamps 7-27 which irradiate the direction of the fruit and vegetable grabbing mechanism;
the lifting mechanism 12 comprises lifting supports 7-14, linear guide rails 7-16 are mounted on the lifting supports 7-14 in the height direction, sucker supports 7-15 are mounted on the linear guide rails 7-16 and can move up and down along the linear guide rails 7-16, driving cylinders 7-18 capable of driving the sucker supports 7-15 to move up and down are mounted on the lifting supports 7-14, a row of first sucker components 7-17 are mounted on the sucker supports 7-15, the first sucker components 7-17 are connected with vacuum generation devices 7-13, and the row of first sucker components 7-17 form a fruit and vegetable grabbing mechanism; after the fruits and vegetables respectively enter the conveyor belts 7-10, the blocking cylinders 7-32 can extend out, and prevents the fruits and vegetables from being conveyed away by the belt, after a certain number of fruits and vegetables are reached, the sucker support 7-15 of the lifting mechanism 7-12 is driven by the driving cylinder 7-18 to move downwards to the position of the fruits and vegetables along the linear guide rail 7-16 on the lifting support 7-14, at the moment, the vacuum generating device 7-13 starts to work, the first sucker component 7-17 on the sucker support 7-15 is in contact with the fruits and vegetables and establishes vacuum pressure to lift the fruits and vegetables, when the fruit and vegetable bottom shooting mechanism is lifted to the proper position, the longitudinal driving mechanism 7-21 drives the fruit and vegetable bottom shooting mechanism 7-19 and the transverse driving mechanism 7-20 to move longitudinally, and 3 groups of cameras 7-29 positioned in the fruit and vegetable bottom shooting mechanism 7-19 respectively shoot and analyze bottom photos of each group of fruits and vegetables while moving.
The XY-axis telescopic grabbing device comprises two Y-axis automatic telescopic modules 2-1 which are arranged in parallel, a plurality of X-axis automatic telescopic modules 2-2 are installed at intervals along the length direction of the bottom of the Y-axis automatic telescopic module 2-1, a plurality of X-axis limiting blocks which can be mutually unfolded or folded are installed at the bottom of each X-axis automatic telescopic module 2-2, a sucker assembly 1-2 is installed at the bottom of each X-axis limiting block, the X-axis limiting blocks are positioned on the same straight line and connected through an X-axis synchronous belt 1-7, a fixed point is arranged at the bottom of each X-axis limiting block by the X-axis synchronous belt 1-7, a plurality of Y-axis connecting blocks which can be mutually unfolded or folded are installed at the bottom of the Y-axis automatic telescopic module 2-1, and one X-axis automatic telescopic module 2-2 is connected at the bottom of each Y, the X-axis automatic telescopic modules 2-2 are connected through Y-axis synchronous belts 2-7, and the Y-axis synchronous belts 2-7 are provided with a fixed point at the top of each X-axis automatic telescopic module 2-2;
the X-axis automatic telescopic modules 2-2 are in a group and respectively comprise an X-axis middle guide rail sliding block assembly 1-3 arranged at the middle position of an X-axis fixed beam 1-23, X-axis end guide rail sliding block assemblies 1-4 are arranged at the left end and the right end of the X-axis fixed beam 1-23, an X-axis executing mechanism is respectively arranged at the front side and the rear side of the X-axis fixed beam 1-23 of the middle X-axis automatic telescopic module 2-2 in each group, and the two X-axis executing mechanisms drive the X-axis end guide rail sliding block assemblies 1-4 of the three X-axis automatic telescopic modules 2-2 to simultaneously extend or retract;
the X-axis middle guide rail sliding block component 1-3 comprises an X-axis middle linear guide rail 1-10 and a plurality of X-axis middle sliding blocks 1-11, an X-axis middle limiting block 1-13 is arranged below each X-axis middle sliding block 1-11, a sucker component 1-2 is arranged at the bottom of each X-axis middle limiting block 1-13, an X-axis end guide rail sliding block component 1-4 comprises an X-axis upper sliding block 1-14 the top of which is arranged on an X-axis fixed beam 1-23, the bottom of each X-axis upper sliding block 1-14 is arranged on an X-axis upper guide rail 1-15 in a sliding manner, an X-axis lower guide rail 1-15 is arranged at the bottom of each X-axis upper guide rail 1-15, a plurality of X-axis lower sliding blocks 1-19 are arranged on the X-axis lower guide rail 1-17, and an X-axis end limiting block 1-, the bottom of each X-axis end limiting block 1-18 is provided with a sucker assembly 1-2, the X-axis middle limiting block 1-13 and the X-axis end limiting block 1-18 belong to X-axis limiting blocks, the X-axis middle limiting block 1-13 and the X-axis end limiting block 1-18 are positioned on the same straight line and connected through an X-axis synchronous belt 1-7, the X-axis synchronous belt 1-7 is provided with a fixed point at the bottom of each limiting block, and the synchronous belts between each two adjacent limiting blocks are the same in length;
the sucker component 1-2 comprises a U-shaped sucker connecting piece 1-8 arranged at the bottom of a middle limiting block 1-13 of the X-axis, a limiting block 1-18 at the end part of the X-axis and a sucker 1-9 arranged on the sucker connecting piece 1-8;
the X-axis upper guide rail 1-15 and the X-axis lower guide rail 1-17 are integrally installed through an X-axis middle fixing plate 1-16, the upper surface of one end, far away from the X-axis middle linear guide rail 1-10, of the X-axis middle fixing plate 1-16 is provided with an X-axis cylinder connecting block 1-22 and an X-axis hydraulic buffer top block 1-21, the lower surface of the X-axis middle fixing plate 1-16 is provided with an X-axis end fixing block 1-20, a linkage rod 1-27 is inserted into the X-axis end fixing block 1-20, and the linkage rod 1-27 is connected with the adjacent X-axis end fixing block 1-20, so that three X-axis automatic telescopic modules 2;
the front, the back, the left and the right of the X-axis middle limiting block 1-13 are respectively provided with middle contact arms 1-25 with equal length, and one end of the X-axis end limiting block 1-18 close to the X-axis middle limiting block 1-13 is provided with end contact arms 1-26 with equal length to the middle contact arms 1-25;
the two Y-axis automatic telescopic modules 2-1 are respectively provided with a Y-axis actuating mechanism, the driving directions of the two Y-axis actuating mechanisms are opposite, the Y-axis automatic telescopic modules 2-1 comprise Y-axis middle guide rail sliding block assemblies 2-4 arranged at the middle positions of Y-axis fixed beams 2-14, the left and right ends of the Y-axis fixed beams 2-14 are respectively provided with a Y-axis end guide rail sliding block assembly 2-5, and the Y-axis actuating mechanisms drive the Y-axis end guide rail sliding block assemblies 2-5 to extend or retract;
the Y-axis middle guide rail sliding block assembly 2-4 comprises a Y-axis middle linear guide rail 2-9 and a Y-axis middle fixing block 2-15 arranged at the middle position of the Y-axis middle linear guide rail 2-9, the left side and the right side of the Y-axis middle fixing block 2-15 are provided with an equal number of Y-axis middle sliding blocks 2-10, Y-axis middle connecting blocks 2-12 are arranged below each Y-axis middle sliding block 2-10 and each Y-axis middle fixing block 2-15, and the bottom of each Y-axis middle connecting block 2-12 is connected with an X-axis automatic telescopic module 2-2;
the Y-axis end guide rail sliding block assembly 2-5 comprises a Y-axis upper sliding block 2-16, the top of which is arranged on a Y-axis fixed beam 2-14, the bottom of the Y-axis upper sliding block 2-16 is slidably arranged on a Y-axis upper guide rail 2-17, the Y-axis upper guide rail 2-17 is provided with a Y-axis lower guide rail 2-19 through a Y-axis middle fixed plate 2-18, a plurality of Y-axis lower sliding blocks 2-20 are arranged on the Y-axis lower guide rail 2-19, the bottom of each Y-axis lower sliding block 2-20 is provided with a Y-axis end connecting block 2-21, each Y-axis end connecting block 2-21 is connected with an X-axis automatic telescopic module 2-2, the end of each Y-axis lower guide rail 2-19 is provided with a Y-axis end connecting block 2-22, the bottom of each Y-axis end, a Y-axis cylinder connecting block 2-24 and a Y-axis hydraulic buffer top block 2-23 are arranged on the upper surface of one Y-axis end connecting block 2-22 of the Y-axis end guide rail sliding block assembly 2-5;
the X-axis actuating mechanism comprises an X-axis cylinder assembly 1-1 arranged on an X-axis fixed beam 1-23, the end part of an X-axis cylinder push rod 1-24 in the X-axis cylinder assembly 1-1 is fixed on an X-axis cylinder connecting block 1-22, the Y-axis actuating mechanism comprises a Y-axis cylinder assembly 2-3 arranged on a Y-axis fixed beam 2-14, and the end part of a Y-axis cylinder push rod 2-13 in the Y-axis cylinder assembly 2-3 is fixed on a Y-axis cylinder connecting block 2-24;
the X-axis middle limiting block 1-13 is connected with an X-axis middle sliding block 1-11 through an X-axis limiting block vertical plate 1-12, and the Y-axis middle sliding block 2-10 is connected with a Y-axis middle connecting block 2-12 through a Y-axis limiting block vertical plate 2-11;
x-axis hydraulic buffer assemblies 1-5 and Y-axis hydraulic buffer assemblies 2-6 which are matched with X-axis hydraulic buffer jacking blocks 1-21 and Y-axis hydraulic buffer jacking blocks 1-23 are arranged on the X-axis fixed beams 1-23 and the Y-axis fixed beams 2-14;
the X-axis synchronous belt 1-7 is arranged at the bottoms of the X-axis middle limiting block 1-13 and the X-axis end limiting block 1-18 through an X-axis synchronous belt pressing block 1-6 to form the fixed point, and the Y-axis synchronous belt 2-7 is arranged on the X-axis automatic telescopic module 2-2 through a Y-axis synchronous belt pressing block 2-8 to form the fixed point.
The working principle is as follows: when the fruits and vegetables need to be grabbed, the Y-axis automatic telescopic modules 2-1 drive the X-axis automatic telescopic modules 2-2 to be opened, in particular to push the Y-axis end guide rail sliding block assemblies 2-5 to extend outwards through the Y-axis air cylinder assemblies 2-3 so as to enable the Y-axis connecting blocks to be opened mutually, thereby driving the X-axis automatic telescopic modules 2-2 to be opened, tensioning the Y-axis synchronous belts 2-7, simultaneously respectively driving the two X-axis end guide rail sliding block assemblies 1-4 to move horizontally in opposite directions through the X-axis executing mechanism, enabling the X-axis upper guide rails 1-15 and the X-axis lower guide rails 1-7 to extend outwards synchronously, thereby enabling the X-axis end limiting blocks 1-18 to move outwards, and because the X-axis end limiting blocks 1-18 and the X-axis middle limiting blocks 1-13 are connected through the X, therefore, the outward moving X-axis end limiting blocks 1-18 pull the X-axis middle limiting blocks 1-13 to be unfolded, the distance between the adjacent limiting blocks is the same after the adjacent limiting blocks are completely unfolded due to the same length of the synchronous belt between each two adjacent limiting blocks, when fruits and vegetables are grabbed through the sucker assemblies 1-2 and boxing is needed, the Y-axis executing mechanism drives the Y-axis end guide rail sliding block assemblies 2-5 to be folded, so that the adjacent Y-axis connecting blocks are contacted with each other, the X-axis executing mechanism drives the X-axis end guide rail sliding block assemblies 1-4 to be folded, so that the adjacent limiting blocks 1-13 are contacted with each other, as the front end, the rear end, the left end and the right end of the X-axis middle limiting block 1-13 are respectively provided with middle contact arms 1-25 with equal length, one end part of the X-axis end limiting block 1-, therefore, the equal-interval boxing and placement among the fruits and the vegetables can be realized.
The fruit and vegetable sorting and arranging device comprises a fruit and vegetable conveying belt 9-9 for conveying fruits and vegetables, a swing mechanism for shifting the fruits and vegetables to change the running track of the fruits and vegetables is installed on the fruit and vegetable conveying belt 9-9, two side push fixing frames 9-7 crossing the width direction of the conveying belt 9-9 are installed behind the swing mechanism, a side push mechanism capable of moving back and forth along the width direction of the fruit and vegetable conveying belt 9-9 is installed between the two side push fixing frames 9-7, a plurality of T-shaped angle aluminum 9-12 arranged in parallel are installed on the side surface of the fruit and vegetable belt 9-9, a fruit and vegetable arranging conveying belt 9-13 is installed below the T-shaped angle aluminum 9-12, and a liftable fruit and vegetable baffle 9-11 is installed on one side of the fruit and vegetable conveying belt 9-9;
the swinging mechanism comprises a swinging frame 9-3 arranged on a fruit and vegetable conveying belt 9-9, an L-shaped swinging rod 9-2 is arranged on the swinging frame 9-3 through a bearing 9-4, a connecting rod 9-19 is arranged in the height direction of the L-shaped swinging rod 9-2, the connecting rod 9-19 is connected with a swinging cylinder 9-1, when the action is required, the swinging cylinder 9-1 extends out, and the L-shaped swinging rod 9-2 rotates out through the bearing to take materials in;
the side pushing mechanism comprises a side pushing moving frame 9-6 arranged between two side pushing fixing frames 9-7, the side pushing moving frame 9-6 is in sliding connection with the side pushing fixing frames 9-7 through side pushing linear rails 9-8, the side pushing moving frame 9-6 is driven by a side pushing cylinder 9-5, a stop block 9-10 used for stopping the fruits and vegetables from continuing to move forwards is arranged on the side pushing moving frame 9-6, when the quantity of materials held by the swinging mechanism meets the requirement, the side pushing cylinder 9-5 pushes the side pushing moving frame 9-6 to move along the direction of the side pushing linear rails 9-8, meanwhile, a fruit and vegetable baffle 9-11 descends, and the materials are pushed into T-shaped angle aluminum 9-12 on a fruit and vegetable arrangement conveying belt 9-13;
the fruit and vegetable baffle plate 9-11 is arranged on the blocking support frame 9-18, the blocking support frame 9-18 is arranged on the fruit and vegetable conveying belt 9-9, the fruit and vegetable baffle plate 9-11 is connected with the blocking support frame 9-17 in a vertical sliding mode through a blocking linear rail 9-15, and the blocking support frame 9-17 is provided with a blocking cylinder 9-16 for driving the fruit and vegetable baffle plate 9-11 to move up and down; when the blocking cylinder 9-16 retracts, the fruit and vegetable blocking plate 9-11 moves along the direction of the blocking linear rail 9-15, so that the materials are released;
when the fruit and vegetable sorting machine works, fruits and vegetables move along the fruit and vegetable conveying belt 9-9, materials are pushed into an area formed by the side pushing moving frame 9-6, the stop blocks 9-10 and the fruit and vegetable baffle plates 9-11 through the swinging of the L-shaped swing rod 9-2, when the fruits and vegetables reach a certain quantity, the side pushing moving frame 9-6 pushes the fruits and vegetables onto the fruit and vegetable arranging conveying belt 9-13, and meanwhile, the T-shaped angle aluminum 9-12 separates and arranges the materials.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (13)

1. The utility model provides a fruit vegetables apparent detection and sorting vanning device, its characterized in that includes fruit vegetables apparent detection device, fruit vegetables letter sorting and collating unit, arm, the flexible grabbing device of XY axle equidistant, wherein fruit vegetables letter sorting and collating unit is located fruit vegetables apparent detection equipment output, and the flexible grabbing device of XY axle equidistant is installed on the arm.
2. The fruit and vegetable appearance detecting, sorting and boxing device as claimed in claim 1, wherein the fruit and vegetable appearance detecting device comprises an upper appearance detecting mechanism for detecting the upper part of the fruit and vegetable and a lower appearance detecting mechanism for detecting the lower part of the fruit and vegetable, the upper appearance detecting mechanism comprises an upper conveying belt and an upper detection camera assembly arranged above the upper conveying belt, and the lower appearance detecting mechanism comprises a fruit and vegetable conveying mechanism, a lifting mechanism, a fruit and vegetable grabbing mechanism, a fruit and vegetable bottom shooting mechanism and a driving mechanism.
3. The fruit and vegetable appearance detecting, sorting and boxing device as claimed in claim 2, wherein the upper detection camera assembly comprises an upper detection frame, the upper detection camera assembly is mounted at the top of the upper detection frame and vertically irradiates the upper conveying belt downwards, upper detection light sources are mounted on two opposite sides of the upper detection frame, two first guide blocks are mounted at an inlet of the upper detection frame, two opposite first trigger switches are arranged below the upper detection camera assembly, and the two first trigger switches are located on two sides of the upper conveying belt in the width direction.
4. The fruit and vegetable appearance detecting, sorting and boxing device as claimed in claim 2, wherein the fruit and vegetable conveying mechanism is used for conveying fruits and vegetables, the fruit and vegetable grabbing mechanism is located above the fruit and vegetable conveying mechanism and mounted on the lifting mechanism, the fruit and vegetable bottom shooting mechanism is mounted on the driving mechanism, and the driving mechanism drives the fruit and vegetable bottom shooting mechanism to move, so that the fruit and vegetable bottom shooting mechanism moves below the fruit and vegetable grabbing mechanism to shoot the bottoms of the fruits and vegetables;
the lifting mechanism comprises a lifting support, a linear guide rail is installed in the height direction of the lifting support, the sucker support is installed on the linear guide rail and can move up and down along the linear guide rail, a driving cylinder capable of driving the sucker support to move up and down is installed on the lifting support, a row of first sucker components are installed on the sucker support, and the first sucker components constitute a fruit and vegetable grabbing mechanism.
5. The fruit and vegetable appearance detecting, sorting and boxing device according to claim 1, wherein the fruit and vegetable sorting and arranging device comprises a fruit and vegetable conveying belt for conveying fruits and vegetables, a swing mechanism for shifting the fruits and vegetables so as to change the running track of the fruits and vegetables is installed on the fruit and vegetable conveying belt, two side-push fixing frames crossing the width direction of the conveying belt are installed behind the swing mechanism, a side-push mechanism capable of moving back and forth along the width direction of the fruit and vegetable conveying belt is installed between the two side-push fixing frames, a plurality of T-shaped angle aluminum arranged in parallel are installed on the side surface of the fruit and vegetable belt, a fruit and vegetable arrangement conveying belt is arranged below the T-shaped angle aluminum, and a liftable fruit and vegetable baffle is installed on one side of the.
6. The fruit and vegetable appearance detecting, sorting and boxing device as claimed in claim 5, wherein the swing mechanism comprises a swing frame mounted on a fruit and vegetable conveying belt, an L-shaped swing rod is mounted on the swing frame through a bearing, a connecting rod is arranged in the height direction of the L-shaped swing rod, and the connecting rod is connected with a swing cylinder;
the side pushing mechanism comprises a side pushing moving frame arranged between two side pushing fixing frames, the side pushing moving frame is connected with the side pushing fixing frames in a sliding mode through side pushing line rails, and the side pushing moving frame is driven through a side pushing cylinder;
the fruit and vegetable baffle is installed on the blocking support frame, the blocking support frame is installed on the fruit and vegetable conveying belt, the fruit and vegetable baffle is connected with the blocking support frame in a vertical sliding mode through the blocking line rail, and the blocking cylinder used for driving the fruit and vegetable baffle to move up and down is installed on the blocking support frame.
7. The fruit and vegetable appearance detecting, sorting and boxing device as claimed in claim 1, wherein the XY-axis equidistant telescopic gripping device comprises two Y-axis automatic telescopic modules arranged in parallel, a plurality of X-axis automatic telescopic modules are installed at intervals along the length direction of the bottom of the Y-axis automatic telescopic modules, the bottom of each X-axis automatic telescopic module is provided with a plurality of X-axis limiting blocks capable of being unfolded or folded, the bottom of each X-axis limiting block is provided with a sucker assembly, the X-axis limiting blocks are arranged on the same straight line and connected through an X-axis synchronous belt, the X-axis synchronous belt is provided with a fixing point at the bottom of each X-axis limiting block, the bottom of each Y-axis automatic telescopic module is provided with a plurality of Y-axis connecting blocks capable of being unfolded or folded, and the bottom of each Y-axis connecting block is connected with one X-axis automatic telescopic module, a plurality of X-axis automatic telescopic modules are connected through Y-axis synchronous belts, and the Y-axis synchronous belts are provided with a fixed point at the top of each X-axis automatic telescopic module.
8. The fruit and vegetable appearance detecting, sorting and boxing device as claimed in claim 7, wherein the plurality of X-axis automatic telescopic modules are in a group of three and comprise X-axis middle guide rail sliding block assemblies arranged at the middle positions of X-axis fixed beams, X-axis end guide rail sliding block assemblies are arranged at the left and right ends of the X-axis fixed beams, in each group, X-axis actuators are respectively arranged at the front and rear sides of the X-axis fixed beam of the middle X-axis automatic telescopic module, and the two X-axis actuators drive the X-axis end guide rail sliding block assemblies of the three X-axis automatic telescopic modules to simultaneously extend or retract.
9. The fruit and vegetable appearance detecting, sorting and boxing device according to claim 8, wherein the X-axis middle guide rail sliding block assembly comprises an X-axis middle linear guide rail and a plurality of X-axis middle sliding blocks, an X-axis middle limiting block is arranged below each X-axis middle sliding block, a sucker assembly is arranged at the bottom of each X-axis middle limiting block, an X-axis end guide rail sliding block assembly comprises an X-axis upper sliding block the top of which is arranged on an X-axis fixed beam, the bottom of the X-axis upper sliding block is slidably arranged on the X-axis upper guide rail, an X-axis lower guide rail is arranged at the bottom of the X-axis upper guide rail, a plurality of X-axis lower sliding blocks are arranged on the X-axis lower guide rail, an X-axis end limiting block is arranged at the bottom of each X-axis lower sliding block, a sucker assembly is arranged at the bottom of each X-axis end limiting block, the X-axis middle limiting block and the X-axis end limiting block are located on the same straight line and connected through an X-axis synchronous belt, the X-axis synchronous belt is provided with a fixed point at the bottom of each limiting block, and the length of the synchronous belt between every two adjacent limiting blocks is the same.
10. The fruit and vegetable appearance detecting, sorting and boxing device as claimed in claim 8, wherein the X-axis upper guide rail and the X-axis lower guide rail are integrally installed through an X-axis middle fixing plate, an X-axis cylinder connecting block and an X-axis hydraulic buffer top block are installed on the upper surface of one end of the X-axis middle fixing plate, which is far away from the X-axis middle linear guide rail, an X-axis end fixing block is installed on the lower surface of the X-axis middle fixing plate, and a linkage rod is inserted into the X-axis end fixing block and connected with the adjacent X-axis end fixing blocks through the linkage rod, so that the X-axis automatic telescopic modules are linked in a.
11. The fruit and vegetable appearance detecting, sorting and boxing device as claimed in claim 7, wherein each of the two Y-axis automatic telescopic modules is provided with a Y-axis actuator, the driving directions of the two Y-axis actuators are opposite, each Y-axis automatic telescopic module comprises a Y-axis middle guide rail sliding block assembly arranged at the middle position of a Y-axis fixed beam, the left end and the right end of the Y-axis fixed beam are provided with Y-axis end guide rail sliding block assemblies, and the Y-axis actuators drive the Y-axis end guide rail sliding block assemblies to extend or retract.
12. The fruit and vegetable appearance detecting, sorting and boxing device as claimed in claim 11, wherein the Y-axis intermediate guide rail sliding block assembly comprises a Y-axis intermediate linear guide rail and a Y-axis intermediate fixed block mounted at the middle position of the Y-axis intermediate linear guide rail, an equal number of Y-axis intermediate sliding blocks are arranged on the left and right sides of the Y-axis intermediate fixed block, a Y-axis intermediate connecting block is mounted below each Y-axis intermediate sliding block and the Y-axis intermediate fixed block, and an X-axis automatic telescopic module is connected to the bottom of each Y-axis intermediate connecting block.
13. The fruit and vegetable appearance detecting, sorting and boxing apparatus according to claim 11, wherein the Y-axis end guide rail sliding block assembly comprises a Y-axis upper sliding block mounted at the top on a Y-axis fixed beam, the bottom of the Y-axis upper sliding block is slidably mounted on the Y-axis upper guide rail, the Y-axis upper guide rail is provided with a Y-axis lower guide rail through a Y-axis intermediate fixed plate, the Y-axis lower guide rail is provided with a plurality of Y-axis lower sliding blocks, the bottom of each Y-axis lower sliding block is provided with a Y-axis end connecting block, each Y-axis end connecting block is connected with an X-axis automatic telescopic module, the end of the Y-axis lower guide rail is provided with a Y-axis end connecting block, the bottom of the Y-axis end connecting block is connected with an X-axis automatic telescopic module, and the upper surface of one of the, y axle hydraulic buffer kicking block.
CN201911390685.4A 2019-12-30 2019-12-30 Fruit and vegetable apparent detection and sorting boxing device Active CN110967346B (en)

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