CN213943989U

CN213943989U - Fruit intellectual detection system equipment

Info

Publication number: CN213943989U
Application number: CN202022843185.6U
Authority: CN
Inventors: 李文瑜; 张�尘; 刘庄成
Original assignee: Zhichang Technology Group Co ltd
Current assignee: Zhichang Technology Group Co ltd
Priority date: 2020-12-01
Filing date: 2020-12-01
Publication date: 2021-08-13
Anticipated expiration: 2030-12-01

Abstract

The utility model belongs to the technical field of intelligent fruit detection and sorting, in particular to an intelligent fruit detection device, which comprises a frame, a pear fruit grabbing mechanism, a first conveying chain, a second conveying chain and a detection mechanism; the pear grabbing mechanism comprises four chain wheel assemblies, four upper chain wheels are connected through upper chains, four lower chain wheels are connected through lower chains, a horizontal rail is arranged between the upper chains and the lower chains, and a curve slideway with the same direction as the horizontal rail is arranged above or below the horizontal rail; a plurality of gripper assemblies are slidably mounted on the curved slideway, and the curved slideway is a continuously-transitional closed-loop slideway with the left side low and the right side high and the front side high and the rear side high; the pneumatic suction head is located right above the first conveying chain and the second conveying chain, sucks pears and then conveys the pears to the detection mechanism to detect the appearance quality of the pears. The utility model discloses detection standard is unified, can realize 360 degrees continuous detections of all-round, and detection efficiency is high.

Description

Fruit intellectual detection system equipment

Technical Field

The utility model belongs to the technical field of fruit intellectual detection system selects separately, concretely relates to fruit intellectual detection system equipment.

Background

After the pomes are ripe, a fruit grower conveys the picked pomes to a purchasing station, peels off the packaging bags manually, cuts off the pome bundles, judges the appearance by naked eyes to remove defective products, performs secondary packaging, performs boxing, weight balancing and other selection operations, and finally conveys the boxed pomes to a refrigeration house for storage. The manual operation mode has the following problems: 1. the method completely depends on manual experience, responsibility, action frequency and the like, and the appearance defect evaluation standard is not uniform due to human subjectivity factors, so that large deviation exists during packaging, and the sale price of the product and the satisfaction degree of customers are influenced. 2. The sorting and boxing process needs fruit growers, operators, appraisers and the like to participate, a large amount of labor cost and time cost are consumed, and the overall efficiency is low.

Some current intelligent sorting facilities can improve the sorting efficiency of fruit greatly, but the general relative violence of machine letter sorting can be used in the fruit of the appearance relatively more resistant bumping such as apple and oranges and tangerines, but is less suitable for the more crisp pear fruit of appearance.

The appearance quality inefficiency and the detection standard of artifical measuring pear differ, put fruit among the prior art for example to the detection of apple and oranges and tangerines etc. and carry out the plane with fruit and shoot on transfer chain or tray usually, through the defect condition of photo analysis fruit, but can not carry out 360 degrees all-round shootings to fruit, for example hardly shoot the bottom of fruit, realize that intelligent outward appearance detects still to have the inaccurate problem of detection through shooing.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a can be in succession 360 all-round detection pome outward appearances, and fruit intellectual detection system that detection efficiency is high to the defect that artifical sorting efficiency is low of the crisp pome of outward appearance.

The utility model provides a technical scheme that its technical problem adopted is:

the utility model provides a fruit intellectual detection system equipment which characterized in that: the device comprises a rack, a pear grabbing mechanism arranged on the rack, a first conveying chain and a second conveying chain which are respectively arranged on the left side and the right side of the pear grabbing mechanism, and a detection mechanism arranged at the front end of the pear grabbing mechanism; the pear grabbing mechanism comprises four chain wheel assemblies which are arranged in a square shape, each chain wheel assembly comprises an upper chain wheel and a lower chain wheel which are coaxially arranged, the four upper chain wheels are connected through an upper chain, the four lower chain wheels are connected through a lower chain, a horizontal track is arranged between the upper chain and the lower chain, and a curve slide way which is consistent with the direction of the horizontal track is arranged above or below the horizontal track; slidable mounting has a plurality of tongs subassemblies on the curve slide, the tongs subassembly includes: the pneumatic suction head is fixedly connected to the guide rod and is connected with the curved slideway in a sliding manner; the mounting plate is connected to the horizontal rail in a sliding mode; the curve slideway is a continuously transitional closed loop slideway with the left side low and the right side high and the front side high; pneumatic suction head is located directly over first conveying chain and the second conveying chain, pneumatic suction head sends to after sucking up the pome detection mechanism department detects the pome appearance quality.

The chain wheel device further comprises a driving motor arranged at the rear end of the rack and a first chain wheel connected to an output shaft of the driving motor; the lower chain wheels of the two chain wheel assemblies positioned at the rear end of the rack are coaxially connected with a second chain wheel through a rotating shaft; the first chain wheel is respectively connected with the second chain wheels of the two chain wheel assemblies positioned at the rear end of the rack through chains.

Further, a third chain wheel is connected between the first chain wheel and the second chain wheel through a chain.

Furthermore, an output shaft of the driving motor is connected with a driving bevel gear, the left side and the right side of the driving bevel gear are respectively meshed with a first driven bevel gear and a second driven bevel gear, the first driven bevel gear drives the first conveying chain, and the second driven bevel gear drives the second conveying chain.

Furthermore, a plurality of uniformly distributed positioning blocks used for positioning the tray for containing the pomes are arranged on the first conveying chain and the second conveying chain.

Further, detection mechanism includes the detection case, has four equipment of shooing all around that detect and one bottom equipment of shooing that detects the lower part of pome all around the front and back of pome all around in the detection case.

Furthermore, the upper plate surface of the detection box is provided with a channel for the suction head or the guide rod to pass through.

Furthermore, a vertical sliding rail is fixed on the mounting plate, a second sliding block is connected to the vertical sliding rail in a sliding mode, and the guide rod is fixedly connected with the second sliding block.

Furthermore, the rear end of the second conveying chain is provided with a tray conveying device, and a tray on which pomes are placed naturally falls onto a positioning block on the conveying chain of the second conveying chain wound on the chain wheel through the tray conveying device and then is transferred forwards.

Still further, the tray conveyor is provided with a top photographing device for monitoring the top of the pome.

The utility model discloses a fruit intellectual detection system equipment's beneficial effect is:

1. the gripper assembly is forced to ascend and descend along the curved slide way, the pneumatic suction head descends to be close to the pome to suck the pome, the suction head which sucks the pome ascends to enter the detection mechanism to photograph the upper periphery and the lower part of the pome, photographing in five directions of the pome is completed, photographed images are generated to the control system, images of photographing the top of the pome before the pome enters the detection equipment are combined, the appearance of the pome is comprehensively judged and analyzed, and defective products are sorted out. The detection standard is unified, the continuous detection of 360 degrees in all directions can be realized, and the detection efficiency is high.

2. The second conveying chain which moves forwards is driven by one driving motor simultaneously, the first conveying chain which is conveyed backwards after the detection is finished is detected, the driving motor drives the chain wheel assembly to move simultaneously, the pneumatic suction head corresponding to each tray is guaranteed to be arranged above each tray, the pneumatic suction head and the trays always keep one-to-one correspondence, and the phenomenon that the pneumatic suction head cannot suck pomes and cannot be placed on the trays when the pomes are placed down due to downward movement of the pneumatic suction head is avoided.

3. The pome is put on the tray before getting into the check out test set of this application always, gets into the second conveying chain and makes also the tray natural fall to the locating piece on, through the rotation of conveying chain operation forward, all testing processes do not have hard spare part contact pome, can not cause the damage to the pome.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a perspective view of the embodiment of the present invention;

FIG. 2 is a front view of an embodiment of the present invention;

fig. 3 is a top view of an embodiment of the present invention;

FIG. 4 is an enlarged view of portion A of FIG. 1;

FIG. 5 is an enlarged view of portion B of FIG. 1;

FIG. 6 is a partial structure diagram of the embodiment of the present invention;

fig. 7 is a driving schematic diagram of the embodiment of the present invention;

fig. 8 is a structure diagram of the detection box of the embodiment of the present invention.

In the figure, the device comprises a machine frame 1, a machine frame 2, a first conveying chain 3, a second conveying chain 4, a detection mechanism 5, an upper chain wheel 6, a lower chain wheel 7, an upper chain 8, a lower chain wheel 9, a horizontal rail 10, a curved slideway 11, a mounting plate 12, a guide rod 13, a first sliding block 14, a pneumatic suction head 15, a driving motor 16, a first chain wheel 17, a second chain wheel 18, a tray 19, a vertical sliding rail 20, a second sliding block 21, a tray conveying device 22, a detection box 221, a channel 23, peripheral photographing equipment 24, bottom photographing equipment 25, pomes 26, a gas distribution system 27, a third chain wheel 28, a driving bevel gear 29, a first driven bevel gear 30, a second driven bevel gear 31 and a positioning block.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.

As shown in fig. 1-8 the utility model discloses a fruit intellectual detection system's concrete example, in this embodiment, use pome 25 to transport to detection mechanism 4 direction on second conveying chain 3 as before, put after the detection is accomplished and transport for the back keeping away from detection mechanism 4 direction on first conveying chain 2, so-called "preceding", "back", "left", "right" only are for the convenience of understanding technical scheme, each spare part exchanges the technical scheme that the direction can realize this application technological effect and should the utility model discloses a protection within range.

Use pome 25 as an example in this embodiment, the technical scheme of this application is applicable to the fruit that pneumatic suction head 14 such as apple, tangerine, shaddock, orange similar with the pome outward appearance can be inhaled equally. The scheme of this application is applied to other fruit detection except that the pome still is suitable for.

Referring to fig. 1-8, the intelligent fruit detection device comprises a rack 1, a pear grabbing mechanism mounted on the rack 1, a first conveying chain 2 and a second conveying chain 3 respectively arranged on the left side and the right side of the pear grabbing mechanism, and a detection mechanism 4 mounted at the front end of the pear grabbing mechanism; the pear grabbing mechanism comprises four chain wheel assemblies which are arranged in a square shape, 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 rail 9 is arranged between the upper chain 7 and the lower chain 8, and a curved slide way 10 which is consistent with the direction of the horizontal rail 9 is arranged above or below the horizontal rail 9; slidable mounting has a plurality of tongs subassemblies on curve slide 10, and the tongs subassembly includes: the device comprises a mounting plate 11, a guide rod 12, a first slide block 13 and a pneumatic suction head 14, wherein 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 vertically and slidably connected onto the mounting plate 11, the first slide block 13 is fixedly connected onto the guide rod 12 and is slidably connected with a curved slide way 10, and the pneumatic suction head 14 is mounted at the lower end of the guide rod 12 and is used for sucking pears 25; the mounting plate 11 is connected on the horizontal rail 9 in a sliding way; the curved slideway 10 is a continuous transition closed loop slideway with the left and right sides low and the front and rear sides high; pneumatic suction head 14 is located first conveying chain 2 and second conveying chain 3 directly over, and pneumatic suction head 14 sends to detection mechanism 4 department after sucking up pome 25 and detects pome 25 appearance quality.

Referring to fig. 1, 2, 3, 6 and 7, the first conveying chain 2, the second conveying chain 3 and the pear grabbing mechanism are all driven by the same driving motor 15, the driving motor 15 is installed at the rear end of the rack 1 through a bracket, a first chain wheel 16 and a drive bevel gear 28 are coaxially installed on an output shaft of the driving motor 15, and the lower chain wheels 6 of two chain wheel assemblies located at the rear end of the rack 1 are coaxially connected with a second chain wheel 17 through a rotating shaft; a third chain wheel 27 for guiding the chain is arranged between the first chain wheel 16 and the second chain wheel 17, the first chain wheel 16 is respectively connected with the second chain wheels 17 at two sides through the chain, and the third chain wheel 27 is connected on the chain between the first chain wheel 16 and the second chain wheels 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 chain wheel 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 rotation directions of the first driven bevel gear 29 and the second driven bevel gear 30 are opposite, so that the first conveying chain 2 is conveyed from front to back, and the second conveying chain 3 is conveyed from back to front and synchronously conveyed.

Referring to fig. 4, the rear end of the second conveying chain 3 is provided with a tray conveying device 21, and the tray 18 with the pomes 25 is naturally dropped onto a positioning block 31 of the conveying chain with the front end of the second conveying chain 3 wound on the chain wheel through the tray conveying device 21 and then is transferred forwards. A plurality of evenly distributed positioning blocks 31 for positioning the tray 18 for containing the pears 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 blocks 31 rotate upwards along with the conveying chain on the driving chain wheel of the second conveying chain 3, the positioning blocks 31 naturally clamp the tray 18 on the tray conveying device 21, and the tray 18 is driven to the horizontal backward conveying section of the conveying chain along with the continuous upward rotation of the positioning blocks 31. The inspection apparatus is automatically connected to other previous processes by the tray conveyor 21.

Referring to fig. 5, two ends of a mounting plate 11 are fixedly connected to an upper chain 7 and a lower chain 8, a vertical slide rail 19 is fixed on the mounting plate 11, a second slide block 20 is connected to the vertical slide rail 19 in a sliding manner, a guide rod 12 is fixedly connected to the second slide block 20, the upper end of the guide rod 12 is fixedly connected to a first slide block 13, the first slide block 13 is connected to a curved slide way 10 in a sliding manner through two V-shaped nylon guide wheels, the second slide block 20 is connected to a horizontal rail 9 in a sliding manner through two V-shaped nylon guide wheels, the curved slide ways 10 on the left side and the right side are parallel to a first conveying chain 2 and a second conveying chain 3, in order to suck up and put down fruits on the conveying chains, the left side section and the right side section of the curved slide way 10 are lower, the front side section and the rear side section are higher, and the curved slide way 10 on the higher section is in natural arc transition with the curved slide way 10 on the lower section.

Referring to fig. 8, the detection mechanism 4 is a detection box 22 arranged at the front end of the frame 1, four peripheral photographing devices 23 for detecting the front, back, left and right peripheries of the pome 25 and a bottom photographing device 24 for detecting the lower part of the pome 25 are arranged in the detection box 22, and a channel 221 for allowing the suction head or the guide rod 12 to pass through is arranged on the upper plate surface of the detection box 22. In this embodiment, four corner positions of the detection box 22 are respectively provided with a peripheral photographing device 23, and the bottom of the detection box 22 is provided with a bottom photographing device 24 for photographing upwards, so that all-around image acquisition in five directions of fruits can be realized; the collected fruit appearance images in six directions are sent to a controller, the images are overlapped and compared and analyzed through the controller, and the fruit with the defective appearance is found. A top photographing device that monitors the top of the pears 25 may be provided on the tray conveyor 21.

The air distribution system 26 is arranged at the top of the rack 1, the air distribution system 26 adopts a 28-path integrated air distribution slip ring and just corresponds to 28 sets of pneumatic suction heads 14, and the appearance detection of 6 pears can be realized every second.

The utility model discloses a concrete working process does:

the tray 18 with the pears 25 is conveyed to the tray conveying device 21, the positioning blocks 31 lift the trays 18 to the second conveying chain 3, the pneumatic suction heads 14 descend along the curved slide ways 10, the pneumatic suction heads 14 suck the pears 25 and then move forwards continuously, the pneumatic suction heads 14 sucking the pears 25 are conveyed to the detection boxes 22 at the front ends of the racks 1 and ascend along the curved slide ways 10, the guide rods 12 pass through the slide ways in the middle of the detection boxes 22, the peripheral photographing devices 23 and the bottom photographing devices 24 photograph the pears 25 and send collected images to the controller, the pneumatic suction heads 14 gradually descend after moving to the upper portion of the first conveying chain 2 along the curved slide ways 10, and the pneumatic suction heads 14 descend to a certain height, loosen pome 25, on pome 25 drops naturally to tray 18 that is located on first conveying chain 2, will detect the one course next process of carrying of the pome 25 that accomplishes through first conveying chain 2.

In the embodiment, the driving motor 15 is used for simultaneously driving the second conveying chain 3 which moves forwards and the first conveying chain 2 which is conveyed backwards after detection is finished, and the driving motor 15 is used for simultaneously driving the chain wheel assembly to move, so that a pneumatic suction head 14 is arranged above each tray 18 correspondingly, the pneumatic suction heads 14 and the trays 18 are always in one-to-one correspondence, and the phenomenon that the pneumatic suction heads 14 cannot suck pears 25 when moving downwards and cannot be placed on the trays 18 when the pears 25 are placed down is avoided. The pome 25 is put on tray 18 before getting into the check out test set of this application always, gets into second conveying chain 3 and makes also that natural falls to locating piece 31 on, through the rotation of conveying chain operation forward, all testing processes do not have hard spare part contact pome 25, can not cause the damage to pome 25.

The embodiment of the utility model provides a through image contrast analysis and detection, detection standard is unified, can realize 360 degrees all-round continuous detection, and detection efficiency is high.

It should be understood that the above description of the specific embodiments is only for the purpose of explanation and not for the purpose of limitation. Obvious changes or variations caused by the spirit of the present invention are within the scope of the present invention.

Claims

1. The utility model provides a fruit intellectual detection system equipment which characterized in that: the pear grabbing mechanism comprises a rack (1), a pear grabbing mechanism arranged on the rack (1), a first conveying chain (2) and a second conveying chain (3) which are respectively arranged on the left side and the right side of the pear grabbing mechanism, and a detection mechanism (4) arranged at the front end of the pear grabbing mechanism; the pear grabbing mechanism comprises four chain wheel assemblies which are arranged in a square shape, 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 upper chains (7), the four lower chain wheels (6) are connected through lower chains (8), a horizontal track (9) is arranged between the upper chains (7) and the lower chains (8), and a curve slide way (10) which is consistent with the trend of the horizontal track (9) is arranged above or below the horizontal track (9); curve slide (10) go up slidable mounting has a plurality of tongs subassemblies, the tongs subassembly includes: the device comprises a mounting plate (11) with two ends respectively fixed on the upper chain (7) and the lower chain (8), a guide rod (12) vertically connected to the mounting plate (11) in a sliding manner, a first slide block (13) fixedly connected to the guide rod (12) and connected with the curved slideway (10) in a sliding manner, and a pneumatic suction head (14) arranged at the lower end of the guide rod (12) and used for sucking pears (25); the mounting plate (11) is connected to the horizontal rail (9) in a sliding manner; the curve slideway (10) is a continuously transitional closed loop slideway with the left side low and the right side high and the front side high; pneumatic suction head (14) are located directly over first conveying chain (2) and second conveying chain (3), pneumatic suction head (14) are sent to behind having absorbed pome (25) detection mechanism (4) department detects pome (25) appearance quality.

2. The intelligent fruit detection device according to claim 1, wherein: the chain wheel transmission mechanism further comprises a driving motor (15) arranged at the rear end of the rack (1) and a first chain wheel (16) connected to an output shaft of the driving motor (15); the lower chain wheels (6) of the two chain wheel assemblies positioned at the rear end of the rack (1) are coaxially connected with a second chain wheel (17) through a rotating shaft; the first chain wheel (16) is respectively connected with two second chain wheels (17) positioned at the rear end of the rack (1) through chains.

3. The intelligent fruit detection device according to claim 2, wherein: a third chain wheel (27) is connected between the first chain wheel (16) and the second chain wheel (17) through a chain.

4. The intelligent fruit detection device according to claim 2 or 3, wherein: the output shaft of the driving motor (15) is connected with a driving bevel gear (28), the left side and the right side of the driving bevel gear (28) are respectively meshed with a first driven bevel gear (29) and a second driven bevel gear (30), the first driven bevel gear (29) drives the first conveying chain (2), and the second driven bevel gear (30) drives the second conveying chain (3).

5. The intelligent fruit detection device according to claim 1, wherein: the first conveying chain (2) and the second conveying chain (3) are provided with a plurality of uniformly distributed positioning blocks (31) for positioning trays (18) containing pomes (25).

6. The intelligent fruit detection device according to claim 1, wherein: detection mechanism (4) are including detection case (22), have four equipment (23) of shooing all around that detect and one bottom equipment (24) of shooing that detects the lower part of pome (25) all around the pome (25) all around in detection case (22).

7. The intelligent fruit detection device according to claim 6, wherein: the upper plate surface of the detection box (22) is provided with a channel (221) for the pneumatic suction head (14) or the guide rod (12) to pass through.

8. The intelligent fruit detection device according to claim 1, wherein: be fixed with vertical slide rail (19) on mounting panel (11), sliding connection has second slider (20) on vertical slide rail (19), guide bar (12) with second slider (20) fixed connection.

9. The intelligent fruit detection device according to claim 1, wherein: the rear end of the second conveying chain (3) is provided with a tray conveying device (21), and a tray (18) with pears (25) naturally falls onto a positioning block (31) on the second conveying chain (3) wound on a chain wheel through the tray conveying device (21) and is then transferred forwards.

10. The intelligent fruit detection device according to claim 9, wherein: the tray conveying device (21) is provided with a top photographing device for monitoring the top of the pome (25).