CN112452784B - Fruit sorting and boxing production line, system and method - Google Patents
Fruit sorting and boxing production line, system and method Download PDFInfo
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- CN112452784B CN112452784B CN202011385318.8A CN202011385318A CN112452784B CN 112452784 B CN112452784 B CN 112452784B CN 202011385318 A CN202011385318 A CN 202011385318A CN 112452784 B CN112452784 B CN 112452784B
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 298
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 238000005303 weighing Methods 0.000 claims abstract description 18
- 238000001228 spectrum Methods 0.000 claims abstract description 12
- 230000007704 transition Effects 0.000 claims abstract description 8
- 230000002093 peripheral effect Effects 0.000 claims description 11
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims 5
- 238000009826 distribution Methods 0.000 description 6
- 238000007689 inspection Methods 0.000 description 5
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 235000014443 Pyrus communis Nutrition 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 241000220225 Malus Species 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 240000000560 Citrus x paradisi Species 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002615 epidermis Anatomy 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000002329 infrared spectrum Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000021039 pomes Nutrition 0.000 description 1
- 238000005057 refrigeration Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000009517 secondary packaging Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- 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
-
- 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
- B07C5/16—Sorting according to weight
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- 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
-
- 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 belongs to the technical field of intelligent fruit sorting, and particularly relates to a fruit sorting and boxing production line, a system and a method, wherein the production line comprises a tray, a first tray conveying channel, a first appearance detection device, a fruit detection channel, a sorting transition channel, a plurality of sorting channels, a fruit releasing channel and a plurality of layering boxing channels; the fruit detection channel is provided with a top photographing device, a spectrum analyzer and a weighing device; the first appearance detection device comprises a detection box, a first conveying chain and a second conveying chain, wherein the first conveying chain and the second conveying chain are arranged on two sides of the detection box and are parallel to each other, and a second tray conveying channel is connected between the first conveying chain and the second conveying chain. According to the invention, the tray is automatically recycled through the first tray conveying channel, 360-degree photographing detection of the appearance of the fruit can be realized, unqualified fruits are removed from the aspects of appearance quality, internal quality and quality of the fruit, automatic sorting and automatic boxing are completed in the whole process, and sorting and boxing efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of intelligent fruit sorting, and particularly relates to a fruit sorting and boxing production line, system and method.
Background
After the fruits are ripe, fruit farmers transport picked fruits to a purchasing station, the packaging bags are peeled off and sheared by manpower, then pear handles are visually judged, appearance is judged, secondary packaging is carried out, the fruits are packaged, weight is balanced, and the like, and finally the fruits after box sealing are transported to a refrigeration house for storage. Under the existing conditions, surface defects are identified by adopting human eyes, and then the products are packaged one by one, so that the efficiency is low, the appearance defect evaluation standards are not uniform due to subjective factors of people, and larger deviation exists during packaging, so that the sales price of the products and the satisfaction degree of customers are influenced. The traditional intelligent sorting equipment can greatly improve the sorting efficiency, but the machine sorting is generally relatively violent, can be used in fruits with relatively high collision resistance in the appearance of apples, oranges and the like, but is not applicable to fruits with relatively delicate and brittle outer appearance such as pomes and the like.
The traditional fruit sorting machine can only separate products into different grades according to the quality of the products, but fruits at the same grade still have certain quality difference, the automatic sorting machine can only distribute and load the same amount of fruits into each box, reasonable distribution and boxing cannot be carried out according to the weight of the fruits, a plurality of fruits at the same grade and in the same amount are loaded into different boxes, and the weight difference of the fruits in each box is very large.
The fruit sorting machine in the current market can only photograph the top and the periphery of the fruit to detect the appearance of the fruit, but generally cannot photograph the bottom of the fruit well, and cannot realize 360-degree appearance detection.
Disclosure of Invention
The invention aims at solving the defect that the manual sorting efficiency of the fruits with delicate and fragile appearance is low, and provides an automatic fruit sorting and boxing production line, system and method capable of automatically sorting fruits, grading the boxed fruits and reasonably distributing the quality.
The technical scheme adopted for solving the technical problems is as follows:
fruit letter sorting vanning production line, its characterized in that: the fruit sorting and boxing device comprises a plurality of trays for conveying fruits, a first tray conveying channel, a first appearance detection device, a fruit detection channel, a sorting transition channel, a plurality of sorting channels, a fruit release channel and a plurality of layering boxing channels, wherein the first appearance detection device is arranged at the end part of the first tray conveying channel and used for photographing and detecting the bottom and the periphery of the fruits; the fruit detection channel is provided with top photographing equipment for photographing and detecting the top of the fruit, a spectrum analyzer for detecting the internal quality of the fruit and weighing equipment for weighing the fruit; the first appearance detection device comprises a detection box, a first conveying chain and a second conveying chain, wherein the first conveying chain and the second conveying chain are arranged on two sides of the detection box and are parallel to each other, and a second tray conveying channel is connected between the first conveying chain and the second conveying chain.
Further, a tray limiting assembly is overlapped between the first tray conveying channel and the first conveying chain, a tray limiting assembly is overlapped between the second tray conveying channel and the second conveying chain, the tray limiting assembly is two guide plates which are oppositely arranged, one ends of the two guide plates are outwards opened, the other ends of the two guide plates are inwards closed, the tray enters the tray limiting assembly from one end which is outwards opened, and enters the first conveying chain or the second conveying chain after exiting from one end which is inwards closed; the guide plate is made of spring steel.
Further, the first conveying chain and the second conveying chain are uniformly provided with positioning blocks, and the tray on the limiting assembly is sequentially brought onto the conveying chain by the positioning blocks rotating at the end parts of the first conveying chain or the second conveying chain.
Further, the plurality of sorting channels are divided into a class a channel, a class B channel, a class C channel, a class D channel and a reject channel; the upper computer divides the fruits into different grades according to the appearance, the internal quality and the quality of the detected fruits and then respectively conveys the fruits to different sorting channels.
Further, the release channel is also docked with a manual channel.
Further, the layered boxing channel comprises a lower layer boxing channel, a middle layer boxing channel and an upper layer boxing channel.
The invention also discloses a fruit sorting and boxing system, which is characterized in that: comprising the following steps:
an upper computer;
a bar code attached to the tray;
the code reader is arranged at each station on the production line and is used for reading the bar codes on the tray;
four peripheral photographing devices are used for photographing the periphery of the fruit and sending the peripheral photographs of the fruit to an upper computer;
the bottom photographing equipment is used for photographing the bottom of the appearance of the fruit and sending the bottom photo of the fruit to the upper computer;
the top photographing equipment is used for photographing the top of the fruit and sending the photograph of the top of the fruit to the upper computer;
the spectrum analyzer is used for detecting the internal quality of the fruits and sending the detection result to the upper computer;
the weighing equipment is used for weighing the fruits;
the upper computer stacks and splices the peripheral photos, the bottom photos and the top photos of the fruits to analyze the appearance quality of the fruits, divides the fruits into a plurality of grades according to the quality of the fruits, and sends commands to the sorting cylinders at the sorting channels according to the grades, the appearance quality and the internal quality of the fruits to dial the fruits into the sorting channels at different grades.
The invention also discloses a fruit sorting and boxing method which is characterized by comprising the following steps of: the method comprises the following steps:
s1, placing fruits on a tray on a first tray conveying channel; the tray photographs the periphery and the bottom of the fruits through a first appearance detection device on the production line;
s2, the fruits are subjected to top photographing through top photographing equipment on a production line;
s3, monitoring the internal quality of the fruits through a spectrum analyzer on a production line;
s4, the fruits pass through weighing equipment on a production line to weigh the fruits;
s5, sorting out qualified fruits and unqualified fruits by an upper computer; internal quality qualified fruits and internal quality unqualified fruits; dividing the fruits into a plurality of grades and unqualified fruits according to the quality of the fruits;
s6, the upper computer sends commands to sorting cylinders of the sorting channels; pulling unqualified fruits with appearance, unqualified fruits with internal quality and unqualified fruits with quality into a removing channel; respectively poking fruits of different grades into sorting channels of corresponding grades;
s7, the upper computer calculates the weight of the fruits in each grade channel, and after the set boxing weight is reached, a release mechanism at the bottom of the corresponding sorting channel is opened to release the fruits in one sorting channel to the fruit release channel;
s8, conveying fruits to a boxing channel by the fruit release channel; the boxing channels divide the fruits into three channels and convey the fruits to three different boxing platforms for layered boxing.
Further, at least two sorting channels are arranged on the fruits of the same grade, and the quality tolerance of the fruits of each grade is 100g; the upper computer comprehensively distributes fruits of the same grade to different sorting channels according to the set boxing quality so as to ensure that the quality of each box of fruits is uniform.
Further, the fruits released by the rejecting channel onto the fruit releasing channel are transported out of the production line through the manual channel.
The fruit sorting and boxing production line, system and method have the beneficial effects that:
1. fruit can be effectively protected through putting fruit on the tray that the epidermis is more fragile, the tray realizes automatic cycle through first tray conveying channel and uses, and can realize detecting of shooing 360 to the fruit outward appearance, reject unqualified fruit in the aspect of outward appearance quality, internal quality and the quality of fruit to the product is divided into different grades, can accomplish the fruit vanning quality difference of same grade very little as far as possible.
2. The invention completes automatic sorting and automatic boxing in the whole course, has high detection and boxing efficiency and less human interference, and greatly improves sorting and boxing efficiency.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
Fig. 1 is an overall structure diagram of an automatic fruit sorting and boxing production line in an embodiment of the invention;
fig. 2 is a perspective view of a first appearance inspection device according to an embodiment of the present invention;
fig. 3 is a front view of a first appearance detecting device according to an embodiment of the present invention;
FIG. 4 is a top view of a first appearance inspection device according to an embodiment of the present invention;
FIG. 5 is an enlarged view of portion A of FIG. 1;
FIG. 6 is an enlarged view of portion B of FIG. 2;
FIG. 7 is a partial construction view of a first appearance inspection device according to an embodiment of the present invention;
FIG. 8 is a block diagram of a test box according to an embodiment of the present invention;
fig. 9 is a block diagram of an automatic fruit sorting and boxing system in accordance with an embodiment of the present invention.
In the figure: 1, a frame, 2, a first conveying chain, 3, a second conveying chain, 4, a first appearance detecting device, 5, an upper sprocket, 6, a lower sprocket, 7, an upper chain, 8, a lower chain, 9, a horizontal track, 10, a curved slideway, 11, a mounting plate, 12, a guide rod, 13, a first slide block, 14, a pneumatic suction head, 15, a driving motor, 16, a first sprocket, 17, a second sprocket, 18, a tray, 19, a vertical slide rail, 20, a second slide block, 21, a tray limiting assembly, 211, a guide plate, 22, a detecting box, 221, a channel, 23, a four-side photographing device, 24, a bottom photographing device, 25, fruits, 26, a gas distribution system, 27, a third sprocket, 28, drive bevel gear, 29, first driven bevel gear, 30, second driven bevel gear, 31, positioning block, 32, first tray conveying channel, 33, fruit detection channel, 34, sorting transition channel, 35, sorting channel, 351, class a channel, 352, class B channel, 353, class C channel, 354, class D channel, 355, reject channel, 36, fruit release channel, 37, layered boxing channel, 38, boxing platform, 39, spectrum analyzer, 40, weighing device, 41, second tray conveying channel, 42, manual channel, 43, upper computer, 44, bar code, 45, code reader, 46, top photographing device, 47, sorting cylinder.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
In this embodiment, the fruit 25 is conveyed on the second conveyor chain 3 toward the detection box 22, and then conveyed on the first conveyor chain 2 away from the detection box 22 after detection, so-called "front", "rear", "left" and "right" are just for convenience of understanding the technical scheme, and the technical scheme that the direction of each component is changed to achieve the technical effect of the present application should be within the scope of the present invention.
In this embodiment, pear is taken as an example, and the technical scheme of the application is also applicable to pear, apple, orange, pomelo, orange and the like.
The embodiment of the fruit sorting and boxing line of the present invention shown in fig. 1-9 comprises a plurality of trays 18 for conveying fruits, a first tray conveying channel 32, a first appearance detecting device 4 arranged at the end part of the first tray conveying channel 32 and used for photographing and detecting the bottoms and the periphery of the fruits, a fruit detecting channel 33 butted with the first appearance detecting device 4, a sorting transition channel 34 butted with the fruit detecting channel 33, a plurality of sorting channels 35 with one end butted with the sorting transition channel 34, a fruit releasing channel 36 butted with the other end of the sorting channels 35 and a plurality of layering boxing channels 37 butted with the fruit releasing channel 36; the fruit detection channel 33 is provided with a top photographing device 46 for photographing and detecting the top of the fruit, a spectrum analyzer 39 for detecting the internal quality of the fruit and a weighing device 40 for weighing the fruit; the first appearance detecting device 4 includes a detecting box 22, a first conveying chain 2 and a second conveying chain 3 which are arranged on two sides of the detecting box and are parallel to each other, and a second tray conveying channel 41 is connected between the first conveying chain 2 and the second conveying chain 3.
The lanes used to transport the trays 18 in this embodiment are conveyor chains or belts.
The layered boxing lane 37 comprises a lower layer boxing lane, a middle layer boxing lane and an upper layer boxing lane, wherein the layered boxing lane 37 conveys the trays 18 to the three boxing flats 38, and a manipulator beside the boxing flats 38 loads the fruits 25 on the three boxing flats 38 into fruit boxes in three layers.
Referring to fig. 1, the end of the boxing platform 38 is butted to one end of the first pallet conveyor channel 32, and the other end of the first pallet conveyor channel 32 is extended to be butted to the second conveyor chain 3. The trays 18 left after fruit boxing are conveyed to the first appearance detection device 4 through the first tray conveying channel 32, fruits are placed on the empty trays 18 on the first tray conveying channel 32, bar codes 44 are attached to each tray 18, and a code reader 45 is arranged at each detection or sorting station.
Fig. 2 to 8 show a first appearance detecting device 4 according to an embodiment of the present invention, where the first appearance detecting device 4 includes a frame 1, a fruit grabbing mechanism mounted on the frame 1, a first conveying chain 2 and a second conveying chain 3 respectively disposed on the left and right sides of the fruit grabbing mechanism, and a detecting box 22 mounted at the front end of the fruit grabbing mechanism; the fruit grabbing mechanism comprises four chain wheel assemblies which are arranged in a square shape, wherein each chain wheel assembly comprises an upper chain wheel 5 and a lower chain wheel 6 which are coaxially arranged, the four upper chain wheels 5 are connected through an upper chain 7, the four lower chain wheels 6 are connected through a lower chain 8, a horizontal track 9 is arranged between the upper chain 7 and the lower chain 8, and a curve slideway 10 which is consistent with the trend of the horizontal track 9 is arranged above or below the horizontal track 9; a plurality of gripper assemblies are slidably mounted on the curvilinear slide way 10, the gripper assemblies comprising: the fruit picking machine comprises a mounting plate 11, a guide rod 12, a first sliding block 13 and a pneumatic suction head 14, wherein the two ends of the mounting plate 11 are respectively fixed on an upper chain 7 and a lower chain 8, the guide rod 12 is connected to the mounting plate 11 in a sliding manner in the vertical direction, the first sliding block 13 is fixedly connected to the guide rod 12 and is in sliding connection with a curve slideway 10, and the pneumatic suction head 14 is arranged at the lower end of the guide rod 12 and is used for sucking fruits 25; the mounting plate 11 is connected on the horizontal rail 9 in a sliding manner; the curve slideway 10 is a closed loop slideway with low left and right sides and high front and rear sides and continuously transiting; the pneumatic suction head 14 is positioned right above the first conveying chain 2 and the second conveying chain 3, and the pneumatic suction head 14 sucks up the fruits 25 and then sends the fruits to the detection box 22 to detect the appearance quality of the fruits.
Referring to fig. 2, 3, 4, 6 and 7, the first conveying chain 2, the second conveying chain 3 and the fruit grabbing mechanism are all driven by the same driving motor 15, the driving motor 15 is installed at the rear end of the frame 1 through a bracket, a first chain wheel 16 and a driving bevel gear 28 are coaxially installed on an output shaft of the driving motor 15, and a lower chain wheel 6 of two chain wheel assemblies positioned at the rear end of the frame 1 is coaxially connected with a second chain wheel 17 through a rotating shaft; a third sprocket 27 for guiding the chain is arranged between the first sprocket 16 and the second sprocket 17, the first sprocket 16 is respectively connected with the second sprockets 17 on two sides through the chain, and the third sprocket 27 is connected on the chain between the first sprocket 16 and the second sprockets 17.
A first driven bevel gear 29 and a second driven bevel gear 30 are respectively meshed with the left side and the right side of the driving bevel gear 28, and the first driven bevel gear 29 is coaxially connected with a driving sprocket of the first conveying chain 2; the second driven bevel gear 30 is coaxially connected with the driving sprocket of the second conveying chain 3, and the first driven bevel gear 29 and the second driven bevel gear 30 are reversely rotated, so that the first conveying chain 2 conveys fruits 25 from front to back, and the second conveying chain 3 conveys fruits 25 from back to front and synchronously.
Referring to fig. 1 and 5, a tray limiting assembly 21 is lapped between the first tray conveying channel 32 and the first conveying chain 2, a tray limiting assembly 21 is lapped between the second tray conveying channel 41 and the second conveying chain 3, the tray limiting assembly 21 is two guide plates 211 which are oppositely arranged, one ends of the two guide plates 211 are outwards opened, the other ends of the two guide plates are inwards closed, and a tray 18 enters the tray limiting assembly 21 from one end which is outwards opened, and enters the first conveying chain 2 or the second conveying chain 3 after being driven out from one end which is inwards closed; the guide plate 211 is made of spring steel.
The tray 18 with the fruits placed thereon naturally falls onto the positioning blocks 31 on the conveying chain wound on the chain wheel at the front end of the second conveying chain 3 through the tray limiting assembly 21 and is then transported forward. A plurality of uniformly distributed positioning blocks 31 for positioning the tray 18 for containing the fruits 25 are arranged on the first conveying chain 2 and the second conveying chain 3. When the tray 18 enters the second conveying chain 3, the positioning block 31 naturally clamps the tray 18 on the tray limiting assembly 21 along with upward rotation of the positioning block 31 on the conveying chain wound on the driving chain wheel of the second conveying chain 3, and the tray 18 is driven to the horizontal backward conveying section of the conveying chain along with continuous upward rotation of the positioning block 31. The tray 18 on the tray limiting assembly 21 is sequentially brought onto the conveyor chain by a positioning block 31 rotating at the end of the first conveyor chain 2 or the second conveyor chain 3.
Referring to fig. 6, two ends of the mounting plate 11 are fixedly connected to the upper chain 7 and the lower chain 8, a vertical sliding rail 19 is fixed to the mounting plate 11, a second sliding block 20 is slidably connected to the vertical sliding rail 19, a guide rod 12 is fixedly connected to the second sliding block 20, the upper end of the guide rod 12 is fixedly connected to the first sliding block 13, the first sliding block 13 is slidably connected to the curve slideway 10 through two V-shaped nylon guide wheels, the second sliding block 20 is slidably connected to the horizontal track 9 through two V-shaped nylon guide wheels, the curve slideway 10 on the left side and the right side are parallel to the first conveying chain 2 and the second conveying chain 3, in order to achieve sucking up and putting down of fruits on the conveying chain, the left side section and the right side section of the curve slideway 10 are lower, the front side section and the rear side section are higher, and the curve slideway 10 on the higher section and the curve slideway 10 on the lower section are in natural arc transition.
Referring to fig. 8, four photographing apparatuses 23 for photographing the front, rear, left and right sides of the fruit 25 and a bottom photographing apparatus 24 for photographing the lower portion of the fruit 25 are provided in the inspection box 22, and a passage 221 for passing the pneumatic suction head or guide bar 12 is provided in the upper plate surface of the inspection box 22. Four corner positions of the detection box 22 in the embodiment are respectively provided with a peripheral photographing device 2323, and the bottom of the detection box 22 is provided with an upward photographing bottom photographing device 24, so that the omnidirectional image acquisition of fruits in five directions can be realized.
The air distribution system 26 is arranged at the top of the frame 1, the air distribution system 26 adopts 28 paths of integrated air distribution slip rings, the air distribution slip rings exactly correspond to 28 sets of pneumatic suction heads 14, and the detection of the appearance of 6 fruits can be realized every second.
The first appearance detecting device 4 of the present invention operates as follows:
the tray 18 with the fruits placed is conveyed to the tray limiting assembly 21, the positioning blocks 31 bring the trays 18 onto the second conveying chain 3 one by one, as the pneumatic suction heads 14 descend along the curve slide ways 10, the pneumatic suction heads 14 suck the fruits 25 and then continue to move forwards, the pneumatic suction heads 14 with the fruits 25 sucked are conveyed to the detection boxes 22 at the front ends of the racks 1 and ascend along the curve slide ways 10, the guide rods 12 pass through the channels 221 in the middle of the detection boxes 22, at the moment, the peripheral photographing equipment 23 and the bottom photographing equipment 24 photograph the fruits 25 and send acquired images to the upper computer 43, the pneumatic suction heads 14 descend gradually after moving to the upper part of the first conveying chain 2 along the curve slide ways 10, the pneumatic suction heads 14 descend to a certain height, the fruits 25 are loosened, the fruits 25 naturally fall onto the tray 18 positioned on the first conveying chain 2, and the fruits 25 after detection are conveyed to the fruit detection channels 33 through the first conveying chain 2.
In the embodiment, the driving motor 15 drives the second conveying chain 3 moving forwards and the first conveying chain 2 conveying backwards after detection is finished, and the driving motor 15 drives the chain wheel assembly to move simultaneously, so that the pneumatic suction heads 14 corresponding to the upper parts of the trays 18 are ensured to be in one-to-one correspondence with the trays 18 all the time, and the phenomenon that the pneumatic suction heads 14 cannot attract fruits 25 downwards and cannot put the fruits 25 on the trays 18 when putting down the fruits 25 can not occur. Fruit 25 is always placed on tray 18 before entering the check out test set of this application, and entering second conveyor chain 3 makes also natural fall on locating piece 31, through the rotation forward operation of conveyor chain, and all detection processes do not have hard spare part contact fruit 25, can not cause the damage to fruit 25.
Referring to fig. 1, the plurality of sorting channels 35 are divided into a class a channel 351, a class B channel 352, a class C channel 353, a class D channel 354, and a reject channel 355; the upper computer 43 classifies the fruits into different grades according to the appearance, internal quality and quality of the detected fruits and then respectively conveys the fruits to different sorting channels 35.
The discharge channel 36 also interfaces with a manual channel 42 for manually transporting fruit from the production line that may or may not need to be knocked out.
The layered boxing tunnel 37 comprises a lower layer boxing tunnel, a middle layer boxing tunnel and an upper layer boxing tunnel, and the ends of the layered boxing tunnel 37 are butted with boxing flats 38.
The spectrum analyzer 39 for detecting the internal quality of fruits according to the present embodiment is an infrared spectrum analyzer.
In order to adapt to the higher sorting speed of the fruits, the fruits are weighed quickly, and under the condition of comprehensively considering the cost, the tray bearing the fruits is divided into two paths, and the fruits are weighed by the two weighing devices 40.
Referring to fig. 9, a fruit sorting and boxing system, comprising:
an upper computer 43;
a bar code 44 affixed to the tray 18;
the code reader 45 is arranged at each station on the production line and is used for reading the bar codes 44 on the tray 18;
four peripheral photographing devices 23 for photographing the periphery of the fruit and transmitting the peripheral photographs of the fruit to the upper computer 43;
the bottom photographing device 24 is used for photographing the bottom of the appearance of the fruit and sending the bottom photo of the fruit to the upper computer 43;
a top photographing device 46 for photographing the top of the fruit and transmitting the photograph of the top of the fruit to the upper computer 43;
the spectrum analyzer 39 is used for detecting the internal quality of the fruit and sending the detection result to the upper computer 43;
a weighing device 40 for weighing the fruit;
the upper computer 43 superimposes and splices the peripheral photos, the bottom photos and the top photos of the fruits to analyze the appearance quality of the fruits, classifies the fruits into a plurality of grades according to the quality of the fruits, and sends commands to the sorting cylinders 47 at the sorting channels 35 according to the grades, the appearance quality and the internal quality of the fruits to dial the fruits into the sorting channels 35 of different grades.
The fruit sorting and boxing method provided by the embodiment of the invention comprises the following steps of:
s1, placing fruits on a tray 18 on a first tray conveying channel 32; the tray 18 photographs the periphery and the bottom of the fruits through the first appearance detection device 4 on the production line;
s2, the fruits are subjected to top photographing through top photographing equipment 46 on the production line;
s3, monitoring the internal quality of the fruits through a spectrum analyzer 39 on the production line;
s4, the fruits pass through a weighing device 40 on the production line to weigh the fruits;
s5, the upper computer 43 sorts out qualified fruits and unqualified fruits; internal quality qualified fruits and internal quality unqualified fruits; dividing the fruits into a plurality of grades and unqualified fruits according to the quality of the fruits;
s6, the upper computer 43 sends commands to the sorting cylinders 47 of the sorting channels 35; pulling unqualified appearance fruit, unqualified internal quality fruit, and unqualified quality fruit into culling channel 355; the fruits with different grades are respectively poked into the sorting channels 35 with corresponding grades;
s7, the upper computer 43 calculates the weight of the fruits in each grade channel, and after the set boxing weight is reached, a release mechanism at the bottom of the corresponding sorting channel 35 is opened to release the fruits in one sorting channel 35 to the release channel 36;
s8, conveying fruits to a boxing channel through a release channel 36; the boxing lane divides the fruit into three lanes for transport to three different boxing stations 38 for layered boxing.
At least two sorting channels 35 are arranged on the fruits of the same grade, and the quality tolerance of the fruits of each grade is 100g; the upper computer 43 distributes the same grade fruit to different sorting channels 35 according to the set boxing quality, so as to ensure the quality uniformity of each fruit box. Specifically, in this embodiment, the fruits are classified into a class a, a class B, a class C and a class D according to weight, and the fruits with too light weight are judged as unqualified fruits and are rejected through the reject channel 355; the unqualified appearance fruits and the unqualified internal quality products are directly rejected through the reject channel 355, and the unqualified appearance fruits and the unqualified internal quality fruits are assigned grades according to weight.
When the tray passes through each detection station, the code is scanned and recorded by the code scanner, and then the bar code and the detection result are bound and sent to the upper computer 43; because at least two sorting channels 35 are arranged on each grade of fruits, for example, three grade A channels 351 are allocated to grade A fruits, 46-48 fruits are required to be layered in each box, the total weight is about 25kg, each grade A fruit is 0.5-0.6kg, if 46 fruits are already in one grade A channel 351, and the total mass of 46 fruits is 24.5kg, the upper computer 43 sends an instruction to the sorting cylinder 47 at the sorting channel 35, allocates 0.5kg of fruits to the grade A channel 351, and allocates other qualities of fruits to the grade A channel 351 which is temporarily less than 25 kg; when the quality of the A-level channel 351 meets 25kg, a blocking cylinder at the lower end of the A-level channel 351 is opened to enable fruits to be conveyed to the fruit conveying channel 36, the fruit conveying channel 36 distributes 47 fruits to three layered boxing channels 37, 16 fruits are distributed on the lower layer boxing channel and the middle layer boxing channel respectively, 15 fruits are distributed on the upper layer boxing channel, the fruits are conveyed to the boxing platform 38, layered boxing is completed through a manipulator near the boxing platform 38, and after boxing is completed, all empty trays 18 are conveyed to the first tray conveying channel 32 and conveyed back to the second conveying chain 3.
According to the invention, fruits with relatively fragile surfaces can be effectively protected by placing the fruits on the tray 18, the tray 18 can be automatically recycled through the first tray conveying channel 32, 360-degree photographing detection of the appearance of the fruits can be realized, unqualified fruits are removed from the aspects of appearance quality, internal quality and quality of the fruits, products are classified into different grades, and the quality difference of boxing of the fruits at the same grade can be as small as possible. The automatic sorting and automatic boxing are completed in the whole process, the detection and boxing efficiency is high, the human interference is small, and the sorting and boxing efficiency is greatly improved.
It should be understood that the above-described specific embodiments are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications which extend from the spirit of the present invention are within the scope of the present invention.
Claims (9)
1. Fruit letter sorting vanning production line, its characterized in that: the fruit sorting device comprises a plurality of trays (18) for conveying fruits, a first tray conveying channel (32), a first appearance detection device (4) arranged at the end part of the first tray conveying channel (32) and used for photographing and detecting the bottoms and the periphery of the fruits, a fruit detection channel (33) in butt joint with the first appearance detection device (4), a sorting transition channel (34) in butt joint with the fruit detection channel (33), a plurality of sorting channels (35) in butt joint with the sorting transition channel (34) at one end, a fruit release channel (36) in butt joint with the other end of the sorting channel (35) and a plurality of layered boxing channels (37) in butt joint with the fruit release channel (36); the fruit detection channel (33) is provided with a top photographing device (46) for photographing and detecting the top of the fruit, a spectrum analyzer (39) for detecting the internal quality of the fruit and a weighing device (40) for weighing the fruit; the first appearance detection device (4) comprises a detection box (22), a first conveying chain (2) and a second conveying chain (3) which are arranged on two sides of the detection box (22) and are parallel to each other, and a second tray conveying channel (41) is connected between the first conveying chain (2) and the second conveying chain (3);
a tray limiting assembly (21) is lapped between the first tray conveying channel (32) and the first conveying chain (2), a tray limiting assembly (21) is lapped between the second tray conveying channel (41) and the second conveying chain (3), the tray limiting assembly (21) is two oppositely arranged guide plates (211), one ends of the two guide plates (211) are outwards opened, the other ends of the two guide plates are inwards closed, a tray (18) enters the tray limiting assembly (21) from one end which is outwards opened, and enters the first conveying chain (2) or the second conveying chain (3) after exiting from one end which is inwards closed; the guide plate (211) is made of spring steel.
2. The fruit sorting and boxing line according to claim 1, wherein: the first conveying chain (2) and the second conveying chain (3) are uniformly provided with positioning blocks (31), and the trays on the limiting assembly are sequentially brought onto the conveying chains by the positioning blocks (31) rotating at the ends of the first conveying chain (2) or the second conveying chain (3).
3. The fruit sorting and boxing line according to claim 1, wherein: the plurality of sorting channels (35) are divided into a class A channel (351), a class B channel (352), a class C channel (353), a class D channel (354) and a reject channel (355); the upper computer (43) divides the fruits into different grades according to the appearance, the internal quality and the quality of the detected fruits and then respectively conveys the fruits to different sorting channels (35).
4. The fruit sorting and boxing line according to claim 1, wherein: the fruit release channel (36) is also docked with a manual channel (42).
5. The fruit sorting and boxing line according to claim 1, wherein: the layered boxing channel (37) comprises a lower layer boxing channel, a middle layer boxing channel and an upper layer boxing channel.
6. A fruit sorting and boxing system for use in the fruit sorting and boxing line of claim 1, wherein: the system comprises:
an upper computer (43);
a bar code (44) affixed to the tray;
the code reader (45) is arranged at each station on the production line and is used for reading the bar codes (44) on the tray (18);
four peripheral photographing devices (23) for photographing the periphery of the fruit and transmitting the peripheral photographs of the fruit to the upper computer (43);
a bottom photographing device (24) for photographing the bottom of the appearance of the fruit and transmitting the bottom photograph of the fruit to the upper computer (43);
a top photographing device (46) for photographing the top of the fruit and transmitting the photograph of the top of the fruit to the upper computer (43);
the spectrum analyzer (39) is used for detecting the internal quality of the fruits and sending the detection result to the upper computer (43);
-a weighing device (40) for weighing the fruit;
the upper computer (43) stacks and splices the peripheral photos, the bottom photos and the top photos of the fruits to analyze the appearance quality of the fruits, divides the fruits into a plurality of grades according to the quality of the fruits, and sends commands to the sorting cylinders (47) at the sorting channels (35) according to the grades, the appearance quality and the internal quality of the fruits to dial the fruits into the sorting channels (35) of different grades.
7. A fruit sorting and boxing method which adopts the fruit sorting and boxing production line as claimed in claim 1, and is characterized in that: the method comprises the following steps:
s1, placing fruits on a tray (18) on a first tray conveying channel (32); the tray (18) photographs the periphery and the bottom of the fruits through a first appearance detection device (4) on the production line;
s2, the fruits are subjected to top photographing through top photographing equipment (46) on the production line;
s3, monitoring the internal quality of the fruits through a spectrum analyzer (39) on a production line;
s4, the fruits pass through weighing equipment (40) on the production line to weigh the fruits;
s5, sorting out qualified fruits and unqualified fruits by an upper computer (43); internal quality qualified fruits and internal quality unqualified fruits; dividing the fruits into a plurality of grades and unqualified fruits according to the quality of the fruits;
s6, the upper computer (43) sends commands to sorting cylinders (47) of the sorting channels (35); pulling unqualified appearance fruits, unqualified internal quality fruits, and unqualified quality fruits into a culling channel (355); respectively poking fruits of different grades into sorting channels (35) of corresponding grades;
s7, the upper computer (43) calculates the weight of the fruits in each grade channel, and after the set boxing weight is reached, a release mechanism at the bottom of the corresponding sorting channel (35) is opened to release the fruits in one sorting channel (35) to a fruit release channel (36);
s8, conveying fruits to a layered boxing channel (37) through a fruit release channel (36); the layered boxing tunnel (37) divides the fruit into three tunnels for transport to three different boxing decks (38) for layered boxing.
8. The fruit sorting and boxing method in accordance with claim 7, wherein: at least two sorting channels (35) are arranged on the fruits of the same grade, and the upper computer (43) comprehensively distributes the fruits of the same grade to different sorting channels (35) according to the set boxing quality so as to ensure that the quality of each box of fruits is uniform.
9. The fruit sorting and boxing method in accordance with claim 7, wherein: fruit released by the reject path (355) onto the fruit release path (36) is carried out of the production line by the manual path (42).
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| CN107804507A (en) * | 2017-11-24 | 2018-03-16 | 桂林电子科技大学 | Automate fruit classification recrater |
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| CN213727879U (en) * | 2020-12-01 | 2021-07-20 | 智昌科技集团股份有限公司 | Fruit sorting and boxing production line and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7205147B2 (en) * | 2018-10-03 | 2023-01-17 | コニカミノルタ株式会社 | Loading device and image forming system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107804507A (en) * | 2017-11-24 | 2018-03-16 | 桂林电子科技大学 | Automate fruit classification recrater |
| CN108855974A (en) * | 2018-09-06 | 2018-11-23 | 阜阳职业技术学院 | Fruit based on PLC control sorts transfer line system |
| CN109772736A (en) * | 2019-03-18 | 2019-05-21 | 浙江德菲洛智能机械制造有限公司 | A kind of modularization fruit-vegetable separating device |
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