阅读说明：本技术 多用途水果大小分拣机 (Multipurpose fruit size sorting machine ) 是由 万宏强 张雯欣 刘智豪 张瑞东 汪庆华 杨斌 阴雨雷 于 2020-06-30 设计创作，主要内容包括：本发明涉及食品设备技术领域,具体涉及一种多用途水果大小分拣机。其可实现自动化分拣。本发明的技术方案包括供料单元、视觉分拣单元、分料单元、下料单元；供料单元和分料单元设置于机架上,视觉分拣单元设置于供料单元的上部,下料单元通过皮带通道与分料单元连接；供料单元和分料单元由左侧缓震棉和右侧缓震棉和底板构成分拣机的供料、分料通道；分料通道上垂直连接有3个皮带通道,3个皮带通道的另一端与下料单元连接；视觉分拣单元包括颜色传感器和视觉检测传感器,分别设置于供料通道上部,视觉检测传感器还包括工业相机；下料单元包括3个收集箱,三个收集箱的上部分别设置有3个真空吸盘机械手。(The invention relates to the technical field of food equipment, in particular to a multipurpose fruit size sorting machine. It can realize automatic letter sorting. The technical scheme of the invention comprises a feeding unit, a visual sorting unit, a material distributing unit and a blanking unit; the feeding unit and the distributing unit are arranged on the rack, the visual sorting unit is arranged on the upper part of the feeding unit, and the blanking unit is connected with the distributing unit through a belt channel; the feeding unit and the distributing unit form a feeding channel and a distributing channel of the sorting machine by left-side cushioning cotton, right-side cushioning cotton and a bottom plate; the material distribution channel is vertically connected with 3 belt channels, and the other ends of the 3 belt channels are connected with a blanking unit; the visual sorting unit comprises a color sensor and a visual detection sensor which are respectively arranged at the upper part of the feeding channel, and the visual detection sensor also comprises an industrial camera; the unloading unit includes 3 collecting boxes, and the upper portion of three collecting boxes is provided with 3 vacuum chuck manipulators respectively.)

1. Multipurpose fruit size sorting machine, its characterized in that: comprises a feeding unit, a visual sorting unit, a material distributing unit and a blanking unit; the feeding unit and the distributing unit are arranged on the rack, the visual sorting unit is arranged on the upper part of the feeding unit, and the blanking unit is connected with the distributing unit through a belt channel;

the feeding unit and the distributing unit form a feeding and distributing channel of the sorting machine by left-side cushioning cotton (3-5), right-side cushioning cotton (3-6) and a bottom plate;

the material distribution channel is vertically connected with a first belt channel (4-1), a second belt channel (4-2) and a third belt channel (4-3), and the other ends of the 3 belt channels are connected with a blanking unit;

the visual sorting unit comprises a color sensor (2-2) and a visual detection sensor (2-1) which are respectively arranged at the upper part of the feeding channel, and the visual detection sensor (2-1) also comprises an industrial camera;

the blanking unit comprises a first collecting box (4-3), a second collecting box (4-4) and a third collecting box (4-5), wherein the upper parts of the three collecting boxes are respectively and movably provided with a first vacuum sucker manipulator (4-14), a second vacuum sucker manipulator (4-15) and a third vacuum sucker manipulator (4-16).

2. The multi-purpose fruit sizing machine according to claim 1, wherein: and the two sides of the first belt channel (4-1), the second belt channel (4-2) and the third belt channel (4-3) are respectively and vertically provided with a cushioning cotton baffle.

3. The multi-purpose fruit sizer of claim 1 or 2, wherein: the industrial camera is arranged right above the feeding channel.

4. The multi-purpose fruit sizer of claim 3, wherein: the feeding unit also comprises a feeding belt conveyor (1-2) and is arranged on one side of the feeding channel.

5. The multi-purpose fruit sizing machine according to claim 4, wherein: the blanking unit also comprises a blanking belt conveyor (4-13) and is arranged on one side of the belt channel.

6. The multi-purpose fruit sizer of claim 5, wherein: the material distributing channel is also provided with a first piston pushing handle (3-1), a second piston pushing handle (3-2) and a third piston pushing handle (3-2), and the 3 piston pushing handles are respectively arranged opposite to the first belt channel (4-1), the second belt channel (4-2) and the third belt channel (4-3).

7. The multi-purpose fruit sizing machine according to claim 6, wherein: the top ends of the 3 piston pushing hands are respectively provided with a semicircular rubber cushion block.

Technical Field

The invention relates to the technical field of food equipment, in particular to a multipurpose fruit size sorting machine.

Background

At present, the fruit detection and sorting technology in China is relatively laggard, so that the fruits with international quality are not really sorted. The high-quality fruits can be sold only at the price of the three-stream fruits, so that the added value of the fruit products is not well guaranteed. Therefore, the key point for improving the postnatal treatment capacity of fruits in China is to change the method into the method for improving the fruit sorting technology.

Compared with foreign fruit sorting technology products, domestic products fall behind a lot, and most of the products are limited to a mechanical grading stage and are mainly used for sorting the size and the weight of the fruits. Such as: a drum sieve-hole type fruit size sorting machine and a roller belt type fruit size sorting machine. A6 GF-1.0 type fruit size grader belongs to a roller belt type fruit size sorting machine or a gap type fruit sorting machine.

Disclosure of Invention

In view of this, the present invention provides a multi-purpose fruit sorter, which automatically sorts a plurality of fruits by feeding the fruits through a servo belt and sorting the fruits at multiple angles.

In order to solve the problems in the prior art, the technical scheme of the invention is as follows: multipurpose fruit size sorting machine, its characterized in that: comprises a feeding unit, a visual sorting unit, a material distributing unit and a blanking unit; the feeding unit and the distributing unit are arranged on the rack, the visual sorting unit is arranged on the upper part of the feeding unit, and the blanking unit is connected with the distributing unit through a belt channel;

the feeding unit and the distributing unit form a feeding channel and a distributing channel of the sorting machine by left-side cushioning cotton, right-side cushioning cotton and a bottom plate;

the material distribution channel is vertically connected with a first belt channel, a second belt channel and a third belt channel, and the other ends of the 3 belt channels are connected with a blanking unit;

the visual sorting unit comprises a color sensor and a visual detection sensor which are respectively arranged at the upper part of the feeding channel, and the visual detection sensor also comprises an industrial camera;

the blanking unit comprises a first collecting box, a second collecting box and a third collecting box, wherein the upper parts of the three collecting boxes are respectively and movably provided with a first vacuum sucker manipulator, a second vacuum sucker manipulator and a third vacuum sucker manipulator.

Furthermore, the two sides of the first belt channel, the second belt channel and the third belt channel are respectively and vertically provided with a cushioning cotton baffle.

Further, the industrial camera is arranged right above the feeding channel.

Furthermore, the feeding unit also comprises a feeding belt conveyor and is arranged on one side of the feeding channel.

Further, the blanking unit also comprises a blanking belt conveyor and is arranged on one side of the belt channel.

Furthermore, still be provided with first piston pushing hands, second piston pushing hands and third piston pushing hands on dividing the material passageway, 3 piston pushing hands set up with belt passageway, No. two belt passageways and No. three belt passageways respectively relatively.

Furthermore, the top ends of the 3 piston pushing hands are respectively provided with a semicircular rubber cushion block.

Compared with the prior art, the invention has the following advantages:

1. the fruit passes through the sorting mechanism by the conveying belt, the sorting mechanism screens the size, the weight and the chromaticity of the fruit and sorts the fruit with different grades, and the execution mechanism executes corresponding actions according to different information and places the fruits with different types into corresponding processing boxes;

2. the structure of the invention can realize automatic sorting and liberate labor force.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a second schematic diagram of the overall structure of the present invention;

FIG. 3 is a schematic view of a material distributing piston pusher of the present invention;

FIG. 4 is a material extraction robot of the present invention;

FIG. 5 is a visual inspection sensor of the present invention;

FIG. 6 illustrates a reclaiming vacuum chuck of the present invention;

description of the labeling: 1-1 part of feeding channel, 1-2 parts of feeding belt conveyor, 2-1 part of visual detection sensor, 2-2 parts of color sensor, 2-3 parts of detection channel, 2-4 parts of weight sensor, 3-1 part of first piston pusher, 3-2 parts of second piston pusher, 3-3 parts of third piston pusher, 3-4 parts of material distribution channel, 3-5 parts of left-side cushioning cotton, 3-6 parts of right-side cushioning cotton, 3-7 parts of piston pusher top end semicircular rubber cushion block, 4-1 part of first belt channel, 4-2 parts of second belt channel, 4-3 parts of third belt channel, 4-4 parts of first collecting box, 4-5 parts of second collecting box, 4-6 parts of third collecting box, 4-7 parts of first cushioning cotton, 4-8 parts of first damping cotton, The device comprises two types of cushioning cotton, 4-9 types of cushioning cotton, 4-10 types of cushioning cotton, 4-11 types of vertical cushioning cotton baffles on two sides of a first belt channel, 4-11 types of vertical cushioning cotton baffles on two sides of a second belt channel, 4-12 types of vertical cushioning cotton baffles on two sides of a third belt channel, 4-13 types of blanking belt conveyors, 4-14 types of vacuum chuck manipulators, 4-15 types of vacuum chuck manipulators, 4-16 types of vacuum chuck manipulators.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

The invention provides a multipurpose fruit size sorting machine, which comprises a feeding unit, a visual sorting unit, a material distribution unit and a blanking unit, wherein the feeding unit is arranged on a rack and provides fruits; the visual sorting unit is arranged at the tail end of the feeding unit, the head end of the distributing unit is connected with the tail ends of the weight sensors 2-4 of the sorting unit, and the channels for distributing the fruits provided by the sorting unit to different blanking units according to grades are classified and boxed;

the feeding unit 1 comprises a feeding channel 1-1 and a feeding belt conveyor 1-2, the feeding belt conveyor 1-2 is arranged on a support column, left-side cushioning cotton 3-5 and right-side cushioning cotton 3-6 are vertically arranged on two sides of a conveying belt of the feeding belt conveyor 1-2 along the conveying direction, the left-side cushioning cotton 3-5 and the right-side cushioning cotton 3-6 are fixed on a frame of the feeding belt conveyor 1-2, and the feeding channel 1-1 is arranged on the frame of the feeding belt conveyor 1-2;

the visual sorting unit comprises a visual detection sensor 2-1 and a color sensor 2-2, the visual detection sensor 2-1 further comprises an industrial camera, the visual detection sensor 2-1 and the color sensor 2-2 are sequentially arranged to complete inspection, and a long strip-shaped detection channel 2-3 for a fruit to pass through is formed by left side cushioning cotton 3-5, right side cushioning cotton 3-6 and a belt.

After the apples enter the size detection mechanism, the apples are shot by a CCD industrial camera, then the images are transmitted to an image processing system, the image processing system extracts data parameters after receiving the images, and the data are aligned to perform image processing and grade judgment and fed back to the PLC. The size grading is transmitted to the color sensor 2-2, and the wavelength of light reflected by the apples when the apples are irradiated by certain light is different due to the difference of external colors of the apples, which is the basis for sorting the external quality of the apples by a photoelectric color and luster method. According to the principle that the green apple has higher reflected light intensity than the red apple due to the difference of the reflected light intensities of the green and red apples. The color sensor carries out color detection and comparison, sets identification colors according to programs and feeds back the identification colors to the PLC. After the apples enter the weight detection mechanism, the weight of the apples is sensed by the weight sensor 2-4, and the weight of the apples is detected and fed back to the PLC. Perpendicular bradyseism cotton baffle of arranging in whole letter sorting unit passageway both sides prevents unrestrained and the transmission in order.

The material distribution unit is controlled by a push handle controlled by a PLC (programmable logic controller) and pushes apples of different grades to different channels, the material distribution unit comprises a first piston push handle 3-1, a second piston push handle 3-2 and a third piston push handle 3-3, fruits of different grades are pushed to different blanking channels through data obtained by the sorting unit, and rubber cushion blocks are arranged at the end parts of piston rods of the first piston push handle, the second piston push handle and the third piston push handle and are designed to be wrapped in a semicircular mode. The arrangement of the rubber cushion block prevents fruits from being bruised.

The blanking channel comprises a belt channel, the belt channel is arranged on the guide rail support, the head end of the first belt channel 4-1 corresponds to the first piston pushing handle 3-1 of the material distribution unit, cushioning cotton is vertically arranged on the two sides of a conveyor belt of the belt channel along the conveying direction and fixed on a rack of the belt channel, and the cushioning cotton on the two sides of the conveyor belt for fixing the material distribution belt channel 3-4 is left side cushioning cotton 3-5 and right side cushioning cotton 3-6 respectively.

The first piston push handle 3-1, the second piston push handle 3-2 and the third piston push handle 3-3 are vertically arranged on the outer side surface of the material distribution channel at intervals;

piston rods of the first piston pushing hand 3-1, the second piston pushing hand 3-2 and the third piston pushing hand 3-3 penetrate through the right-side cushioning cotton 3-6 and extend into the inner side of the left-side cushioning cotton 3-5;

the first belt channel 4-1 is arranged on the rack on the side where the left-side cushioning cotton 3-5 is located, the right end of the first belt channel 4-1 is communicated with a conveying surface of the belt channel, a belt channel opening at the right end of the first belt channel 4-1 is over against a piston rod of the first piston pushing hand 3-1, the first belt channel 4-1 is supported on the ground through an upright post, the first collecting box 4-4 is arranged on the ground and is located at the left end of the first belt channel 4-1, and the first collecting box is used for collecting fruits picked up and sorted by the first vacuum chuck manipulator 4-14 outside the first belt channel 4-1;

a second belt channel 4-2 is arranged on the rack on the side where the left-side cushioning cotton 3-5 is located, the right end of the second belt channel 4-2 is communicated with a conveying surface of the belt channel, a belt channel opening at the right end of the second belt channel 4-2 is over against a piston rod of a second piston pushing hand 3-2, the second belt channel 4-2 is supported on the ground through an upright post, a second collecting box 4-5 is arranged on the ground and is located at the left end of the second belt channel 3-2, and the second collecting box is used for collecting fruits picked up and sorted by a second vacuum sucker manipulator 4-15 outside the second belt channel 3-2;

the third belt channel 4-3 is arranged on the rack on the side where the left cushioning cotton 3-5 is located, the right end of the third belt channel 4-3 is communicated with a conveying surface of the belt channel, a belt channel opening at the right end of the third belt channel 4-3 is over against a piston rod of a third piston pushing hand 3-3, the third belt channel 4-3 is supported on the ground through an upright post, and the third collecting box 4-6 is arranged on the ground and is located at the left end of the third belt channel 4-3 and is used for collecting fruits picked up and picked up by a third vacuum chuck manipulator 4-16 outside the third belt channel 4-3.

The fruit is sucked into the container through the vacuum chuck mechanical arm, and the XY-direction transportation is realized.

The sorting machine further comprises a control unit, a feeding belt conveyor 1-2 servo motor, a belt channel servo motor, an industrial camera controller, a color sensor 2-2, a weight sensor 2-4, a first piston push handle 3-1 controller, a second piston push handle 3-2 controller and a third piston push handle 3-3 controller, wherein the servo motor of the feeding belt 1-2 is electrically connected with the PLC, the belt channel servo motor is electrically connected with the PLC, the industrial camera 2-1 controller is electrically connected with the PLC, the color sensor 2-2 is electrically connected with the PLC, the first piston push handle 3-1 controller is electrically connected with the PLC, the second piston push handle 3-2 controller is electrically connected with the PLC, and the third piston push handle 3-3 controller is electrically connected with the PLC; the measuring probe of the photoelectric sensor 2-2 is arranged on an up-and-down moving guide rod, the measuring probe of the photoelectric sensor 2-2 is positioned at the tail end of the detection channel 2-3, and the weight sensor 2-4 is tiled at the detection tail end.

A first cushioning cotton 4-7 is arranged at a channel opening at the right end of the first belt channel 4-1, a second cushioning cotton 4-8 is arranged at a belt channel opening at the right end of the second belt channel 4-2, and a third cushioning cotton 4-9 is arranged at a belt channel opening at the right end of the third belt channel 4-3.

Two sides of the first belt channel 4-1 are provided with vertical slots for inserting the vertical cushioning cotton baffles 4-10, two sides of the second belt channel 4-2 are provided with vertical slots for inserting the vertical cushioning cotton baffles 4-11, and two sides of the third belt channel 4-3 are provided with vertical slots for inserting the vertical cushioning cotton baffles 4-12.

The feeding belt conveyor 1-2 and the blanking belt conveyor 4-13 are belt conveyors.

The sorting unit mainly functions in feeding by a servo belt, visually sorting and detecting weight, and automatically sorts the fruits with round sizes.

The feeding channel 1-1 can adjust the working modes of adapting to different types of fruits by adjusting the size of the feeding port.

The ends of the piston rods of the first piston pushing hand 3-1, the second piston pushing hand 3-2 and the third piston pushing hand 3-3 are all provided with semicircular shock-resistant cotton 3-7 to push fruits.

The industrial cameras and the mechanical arms of the color sensors 2-2 distributed in the detection channels 2-3 move three-dimensionally through the movable guide rods to perform multi-angle visual recognition, and the head ends of the detection channels are I-shaped. The visual detection structure formed by the rotatable probe moving the sliding rod up and down has the function of picking up information from multiple angles of the round fruits of the feeding unit, the I-shaped channel is used for arranging the fruits in sequence to wait for visual detection, and the linear type of the detection channel guides the fruits to enter the detection channel one by one.

The PLC module manufactured and sold by Mitsubishi and having the model number of FX3U-16MT is selected as the PLC of the invention.

The feeding belt conveyor, the vacuum chuck manipulator and the belt conveyor are purchased parts.

Working process of the invention

Firstly, pouring an apple to be detected on a feeding channel 1-1;

the feeding belt conveyor 1-2 drives the belt to feed the apples forwards through the servo motor.

When the apples of the feeding belt conveyor 1-2 enter the head end of the sorting unit, the apples at the front end are arranged in a line and enter the detection channel 2-3 under the action of the two left and right limiting plates:

when the apple passes through the assembly line, the in-place sensor feeds back signals to the industrial camera for photographing and identification. And feeding back the discrimination result to the PLC for statistics and identification, and continuing to operate forwards.

The assembly line body is provided with an inductor frame, an inductor and an adjustable bracket, and when the apples pass through the assembly line, the in-place inductor feeds signals back to the color sensor for identification. And feeding back the discrimination result to the PLC for statistics and identification.

The weight detection is carried out forwards, when the apple passes by, the weight of the apple detected by the metering carrier roller on the belt conveyor acts on the weighing sensor through a lever, and a voltage signal proportional to the belt load is generated. A weighing sensor is arranged on a belt scale and is arranged on a weighing bridge, when the belt scale works, the weight of the apple detected on a belt is sent to a weighing instrument, meanwhile, a speed signal of a speed sensor belt conveyor is also sent to the weighing instrument, and the instrument carries out integration processing on the speed signal and the weighing signal to obtain instantaneous flow and accumulated quantity. The speed sensor is directly connected to the large diameter tacho drum and provides a series of pulses, each pulse representing a belt movement unit, the frequency of the pulses being proportional to the belt speed. The weighing instrument receives signals from the weighing sensor and the speed sensor, and the in-place sensor is obtained through integral operation to feed the signals back to the PLC for statistics and identification.

All apple detection programs finish the distribution of the apples, and the screened apples are pushed to a distribution line body by adopting an air cylinder. The assembly line body is provided with an inductor frame, and when the apples pass through the assembly line, the in-place inductor feeds back signals to the material distribution mechanism. Then the air cylinder pushes out the apples to a sorting branch line.

When the apple reaches the induction position, the material receiving manipulator grabs the apple through the sucking disc, and the apple is put into the fruit box. The XY platform motor adopts a servo motor, and the precision and the speed are controllable. The sucking disc adopts vacuum chuck, and sucking disc material rubber does not have the injury to the apple. The apple is guaranteed to be intact after being carried.

Repeating the above operations to complete the apple classification.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included in the scope of the present invention.