CN113019974B - Potato is picked up in grades and is got device - Google Patents
Potato is picked up in grades and is got device Download PDFInfo
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- CN113019974B CN113019974B CN202110317662.1A CN202110317662A CN113019974B CN 113019974 B CN113019974 B CN 113019974B CN 202110317662 A CN202110317662 A CN 202110317662A CN 113019974 B CN113019974 B CN 113019974B
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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
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
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Abstract
A potato grading picking device belongs to the technical field of potato grading picking equipment. The method is characterized in that: including automobile body (1) and install manipulator (2) on automobile body (1), collection module and controlling means, collection module sets up the front side at manipulator (2), collection module's signal output part links to each other with controlling means's signal input part, controlling means's signal output part links to each other with manipulator (2), manipulator (2) are connected with and drive its drive arrangement along being on a parallel with automobile body (1) direction of travel reciprocating motion, be provided with a plurality of portions that hold that are used for holding the potato on automobile body (1). This device is picked up in grades to potato has avoided the collision between the potato and between potato and the screen cloth, leads to the problem of potato outward appearance damage, and is hierarchical more accurate moreover, and classification efficiency is high, and drive arrangement promotes manipulator reciprocating motion, makes the manipulator keep relative static with ground when snatching the potato, guarantees to snatch more accurate, stable to the potato.
Description
Technical Field
A potato grading picking device belongs to the technical field of potato grading picking equipment.
Background
The automatic operation of potato production in planting, excavation, warehouse entry links in China has basically been realized, but the mechanized level of potato harvesting link is lower, and present harvesting apparatus mainly collects or picks up with the formula of sieving, and the formula of sieving collection device causes the potato surface to collide with easily when collecting, and can not be fine with the potato classification, and the manual picking intensity of labour is big, and is efficient, and the running cost is high.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: overcomes the defects of the prior art, and provides a potato grading picking device which can pick and classify potatoes, can not damage the potatoes and has low operation cost.
The technical scheme adopted by the invention for solving the technical problems is as follows: this device is picked up in grades to potato, its characterized in that: including the automobile body and install manipulator, collection module and the controlling means on the automobile body, collection module sets up the front side at the manipulator, and collection module's signal output part links to each other with controlling means's signal input part, and controlling means's signal output part links to each other with the manipulator, and the manipulator is connected with and drives its drive arrangement along being on a parallel with automobile body advancing direction reciprocating motion, is provided with a plurality of portions that hold that are used for holding the potato on the automobile body.
Preferably, the driving device comprises a driving linear module, the driving linear module is mounted on the vehicle body, and the driving linear module is connected with the manipulator. The driving linear module is connected with the manipulator and drives the manipulator to move, so that the moving speed of the manipulator is conveniently controlled, and the position of the manipulator is conveniently and accurately controlled.
Preferably, the manipulator comprises a position adjusting device, a lifting device and a gripper, the position adjusting device is slidably mounted on the vehicle body, the lifting device is mounted on the position adjusting device, the gripper is mounted on the lifting device, and the driving device is connected with the position adjusting device. The position adjusting device can adjust the position of the hand grip to enable the hand grip to be aligned with the potatoes to be grabbed, and the lifting device drives the hand grip to lift so as to grab the potatoes.
Preferably, the position adjusting device comprises an adjusting motor, a first power rod, a second power rod, a first connecting rod and a second connecting rod, the end parts of the first power rod and the second power rod are connected with the adjusting motor which drives the first power rod and the second power rod to swing, one end of the first connecting rod is hinged to the free end of the first power rod, the other end of the first connecting rod is hinged to the lifting device, one end of the second connecting rod is hinged to the free end of the second power rod, and the other end of the second connecting rod is hinged to the lifting device. The adjusting motor swings through driving the first power rod and the second power rod to adjust the position of the gripper, the adjusting mechanism is convenient to adjust, simple in structure and low in cost, the requirement for grabbing potatoes can be met, and later maintenance and replacement are more convenient.
Preferably, the lifting device comprises a lifting linear module or a lifting cylinder, the lifting linear module or the lifting cylinder is vertically arranged, and the gripper is arranged on the lifting linear module or the lifting cylinder. The lifting linear module or the lifting cylinder drives the gripper to lift, and the control is convenient.
Preferably, the handle is a flexible handle. The handle is a flexible handle, so that the outer surface of the potato can be prevented from being damaged.
Preferably, the device also comprises a leading-in groove and a conveying belt, wherein the leading-in groove and the conveying belt are in one-to-one correspondence with the containing parts, the output end of the leading-in groove is connected with the input end of the conveying belt, the output end of the conveying belt is arranged on the upper side of the corresponding containing part, and the leading-in groove is inclined gradually downwards along the direction close to the conveying belt. The potato on the manipulator can be accepted to the lead-in groove, and the lead-in groove slope sets up, makes the potato roll to on the conveyor belt to carry to the portion that holds that corresponds through conveyor belt, realized the hierarchical transport of potato, reduced the requirement to the manipulator.
Preferably, the leading-in groove comprises a movable leading-in groove and a fixed leading-in groove, the fixed leading-in groove is arranged between the movable leading-in groove and the conveying belt, the fixed leading-in groove is installed on the vehicle body, the movable leading-in groove is connected with the driving device and moves synchronously with the driving device, and the movable leading-in groove is connected with the fixed leading-in groove in a sliding mode. The movable lead-in groove is connected with the fixed lead-in groove in a sliding mode and moves synchronously with the driving device, so that the mechanical arm can accurately place the potatoes into the movable lead-in groove, and the mechanical arm is simple to act.
Preferably, the fixed lead-in groove is provided with an opening, two sides of the movable lead-in groove are respectively arranged outside the fixed lead-in groove, and the bottom of the movable lead-in groove can slidably extend into the opening. The movable leading-in groove can slidably extend into the opening, so that the conveying of the potatoes can be prevented from being hindered.
Preferably, a connecting piece is arranged between the driving device and the movable lead-in groove, the connecting piece is connected with the manipulator, a vertical sliding groove is formed in the connecting piece, and a pin shaft which can be slidably arranged in the sliding groove is arranged on the movable lead-in groove. Because the fixed lead-in groove and the movable lead-in groove are both obliquely arranged, and the chute and the pin shaft are arranged, the connecting piece and the movable lead-in groove can move relatively in the vertical direction, and the movable lead-in groove and the fixed lead-in groove are prevented from being interfered with each other.
Compared with the prior art, the invention has the beneficial effects that:
this device is picked up in grades to potato acquisition module can gather the size and the appearance information of potato, and the signal transmission who will gather gives controlling means, controlling means control manipulator snatchs the potato and places in the portion that holds that corresponds, compare with the mode that adopts the screening, collision between having avoided between the potato and between potato and the screen cloth, the problem that leads to the damage of potato outward appearance, and it is more accurate to grade, and classification efficiency is high, it is fast to grade, the grading cost greatly reduced of potato, drive arrangement promotes manipulator reciprocating motion, make the manipulator keep relative stillness with ground when snatching the potato, guarantee to snatch more accurate of potato, it is stable.
Drawings
Fig. 1 is a perspective view of a potato grading picking device.
Fig. 2 is a partially enlarged view of a portion a in fig. 1.
Fig. 3 is a partially enlarged view of B in fig. 1.
Fig. 4 is a partially enlarged view of C in fig. 1.
In the figure: 1. the device comprises a vehicle body 2, a manipulator 3, a movable lead-in groove 4, a fixed lead-in groove 401, a guide groove 402, an opening 5, a conveying belt 6, a woven bag 7, a guide rail 8, a translation frame 9, an adjusting motor 10, a first power rod 11, a second power rod 12, a first connecting rod 13, a second connecting rod 14, a swing frame 15, a flexible hand grip 1501, a clamping finger 16, a connecting piece 1601, a sliding groove 17, a lifting motor 18, a lifting screw 19 and a lifting frame.
Detailed Description
Fig. 1 to 4 are preferred embodiments of the present invention, and the present invention will be further described with reference to fig. 1 to 4.
The utility model provides a device is picked up in grades to potato, include automobile body 1 and install manipulator 2 on automobile body 1, collection module and controlling means, collection module sets up in the front side of manipulator 2, collection module's signal output part links to each other with controlling means's signal input part, controlling means's signal output part links to each other with manipulator 2, manipulator 2 is connected with and drives its drive arrangement along being on a parallel with 1 advancing direction reciprocating motion of automobile body, be provided with a plurality of portions that hold that are used for holding the potato on the automobile body 1. This device is picked up in grades to potato acquisition module can gather the size and the appearance information of potato, and the signal transmission who will gather gives controlling means, controlling means control 2 manipulators snatch the potato and place in the portion that holds that corresponds, compare with the mode that adopts the screening, collision between having avoided between the potato and between potato and the screen cloth, lead to the problem of potato outward appearance damage, and it is hierarchical more accurate, and classification efficiency is high, it is fast to grade, the grading cost greatly reduced of potato, drive arrangement promotes 2 reciprocating motion of manipulator, make 2 manipulators keep relative stillness with ground when snatching the potato, guarantee to snatch more accurately of potato, it is stable.
The present invention is further described with reference to the following detailed description, however, it should be understood by those skilled in the art that the detailed description given herein with respect to the accompanying drawings is for better explanation and that the present invention is not necessarily limited to the specific embodiments, but rather, for equivalent alternatives or common approaches, may be omitted from the detailed description, while still remaining within the scope of the present application.
Specifically, the method comprises the following steps: as shown in FIGS. 1-4: the potato grading picking device also comprises a leading-in groove and a conveying belt 5. The front side of automobile body 1 is provided with the driver's seat, and manipulator 2 sets up at the middle part of automobile body 1, and the rear side of automobile body 1 is provided with a plurality of braided bags 6 along the width direction of automobile body 1 side by side, forms and holds the portion, and in this embodiment, braided bag 6 is provided with four side by side at the interval to can fall into four types with the potato.
The collection module is installed on automobile body 1, and the collection module sets up in the front side of manipulator 2, and in this embodiment, the collection module is the industry camera, and the signal output part of industry camera links to each other with controlling means to the information that will gather is uploaded and is given controlling means. The signal output end of the control device is connected with the signal input end of the manipulator 2, the manipulator 2 is provided with a plurality of manipulators side by side along the width direction of the vehicle body 1, and in the embodiment, the manipulator 2 is provided with two manipulators side by side along the width direction of the vehicle body 1.
Leading-in groove and conveyor belt 5 all set up between manipulator 2 and braided bag 6, leading-in groove and conveyor belt 5 all with braided bag 6 one-to-one. The import groove sets up at conveyor belt 5's input, and conveyor belt 5's input links to each other with the output of import groove, and conveyor belt 5's output sets up the upside at the braided bag 6 that corresponds. The leading-in groove is along being close to the decurrent slope form of 5 orientation gradually to guarantee that the potato can roll to conveyor 5 under the action of gravity on, conveyor 5 is for along the ascending slope form of 6 orientation gradually of braided bag, is provided with a plurality of bosss on conveyor 5, avoids the potato to move with conveyor 5 relative motion under the action of gravity, guarantees that the transport of potato is more stable.
A horizontal guide rail 7 is arranged on the vehicle body 1, the guide rail 7 is arranged in parallel to the advancing direction of the vehicle body 1, a translation frame 8 is arranged on the guide rail 7 in a sliding mode, a driving device is connected with the translation frame 8 and drives the translation frame to reciprocate in parallel to the advancing direction of the vehicle body 1, and the manipulator 2 is arranged on the translation frame 8. The manipulator 2 corresponds to the translation frame 8 one by one, and each translation frame 8 is connected with a driving device.
The driving device comprises a driving linear module which is arranged on the vehicle body 1 and connected with the translation frame 8 and drives the translation frame to move.
The manipulator 2 comprises a position adjusting device, a lifting device and a gripper, in the embodiment, the gripper is a flexible gripper 15 and can avoid damaging potatoes, the position adjusting device is installed on the corresponding translation frame 8, the lifting device is installed on the position adjusting device, the flexible gripper 15 is installed on the lifting device, the position adjusting device can drive the flexible gripper 15 to move and adjust the position of the flexible gripper 15, the flexible gripper 15 is made to move right above the potatoes to be grabbed, and the lifting device drives the flexible gripper 15 to lift and lower so as to grab the potatoes to be grabbed.
The flexible hand grip 15 comprises a hand grip main body and clamping fingers 1501, the clamping fingers 1501 are arranged on the lower side of the hand grip main body, the tops of the clamping fingers 1501 can be slidably arranged at the bottom of the hand grip main body, the clamping fingers 1501 are uniformly distributed around the hand grip main body at intervals, and in the embodiment, the clamping fingers 1501 are uniformly distributed around the hand grip main body at intervals. Each clamping finger 1501 is connected with a clamping cylinder which drives the clamping finger 1501 to move, the clamping cylinders drive the corresponding clamping fingers 1501 to move, and the clamping fingers 1501 are matched to realize clamping of potatoes. Press from both sides and get finger 1501 and be the rubber material, can avoid causing the damage to the potato.
The clamping fingers 1501 can also be air bags, the clamping fingers 1501 are fixedly mounted on the gripper body, each clamping finger 1501 is connected with compressed air, and the clamping and loosening of the potatoes are realized through the expansion and contraction of the clamping fingers 1501.
The position adjusting device comprises a swing frame 14, two adjusting motors 9, a first power rod 10, a second power rod 11, a first connecting rod 12 and a second connecting rod 13, wherein the two adjusting motors 9 are arranged side by side along the advancing direction of the vehicle body 1 at intervals, the end parts of the first power rod 10 and the second power rod 11 are respectively connected with output shafts of the two adjusting motors 9 and synchronously swing along with the output shafts, one end of the first connecting rod 12 is hinged with the free end of the first power rod 10, the other end of the first connecting rod is hinged with the swing frame 14, one end of the second connecting rod 13 is hinged with the free end of the second power rod 11, and the other end of the second connecting rod is hinged with the swing frame 14, so that a plane five-bar mechanism is formed. The swing angles of the first power rod 10 and the second power rod 11 can be respectively adjusted through the two adjusting motors 9, and then the position adjustment of the flexible hand grip 15 is realized.
The lifting device is a lifting linear module or a lifting cylinder, the lifting linear module or the lifting cylinder is connected with the flexible gripper 15 and drives the flexible gripper to lift, so that the flexible gripper 15 can grab the potatoes and place the potatoes into the corresponding lead-in grooves.
In this embodiment, elevating gear includes lift motor 17, lifting screw 18 and crane 19, and lifting screw 18 is vertical to be set up, and lifting screw 18 is rotatable installs on swing span 14, and crane 19 slidable installs on swing span 14, and crane 19 and lifting screw 18 threaded connection, and lifting motor 17 links to each other with lifting screw 18 to drive its rotation, thereby realized crane 19's lift, and flexible tongs 15 is installed in crane 19's bottom, and goes up and down along with its synchronization.
The leading-in groove comprises a movable leading-in groove 3 and a fixed leading-in groove 4, the fixed leading-in groove 4 is arranged between the movable leading-in groove 3 and the conveying belt 5, the fixed leading-in groove 4 and the movable leading-in groove 3 are both inclined gradually downwards in the direction close to the conveying belt 5, the output end of the movable leading-in groove 3 is in butt joint with the input end of the fixed leading-in groove 4, and the output end of the fixed leading-in groove 4 is in butt joint with the input end of the conveying belt 5.
The fixed leading-in groove 4 is a groove shape with two sides bent upwards, the middle parts of the two sides of the fixed leading-in groove 4 are both provided with a guide groove 401, the guide groove 401 is a trapezoidal groove, the bottom of the fixed leading-in groove 4 is provided with an opening 402 facing the movable leading-in groove 3, and the opening 402 is arranged in parallel to the guide groove 401.
The movable lead-in groove 3 is also a groove with two sides bent upwards, the width of the movable lead-in groove 3 is larger than that of the fixed lead-in groove 4, the two sides of the movable lead-in groove 3 are arranged outside the fixed lead-in groove 4, the bottom of the movable lead-in groove 3 can slidably extend into the groove 402, a guide part is arranged on the side part of the movable lead-in groove 3, and the guide part can be slidably arranged in the guide groove 401 on the corresponding side, so that the movable lead-in groove 3 can smoothly slide relative to the fixed lead-in groove 4.
The translation frame 8 is connected with the movable lead-in groove 3 through a connecting piece 16, so that the movable lead-in groove 3 and the translation frame 8 move synchronously, and the mechanical arm 2 can place the potatoes in the movable lead-in groove 3 conveniently. The connecting piece 16 is L-shaped, the horizontal part of the connecting piece 16 is connected with the translation frame 8 and moves synchronously with the translation frame 8, the vertical part of the connecting piece 16 is provided with a vertical chute 1601, the movable lead-in groove 3 is provided with a pin shaft, and the pin shaft is arranged in the chute 1601 in a sliding way, so that the movable lead-in groove 3 can move synchronously with the translation frame 8, and the movable lead-in groove 3 and the translation frame 8 can be prevented from being interfered with each other.
When the manipulator 2 corresponds to the movable lead-in groove 3, the movable lead-in groove 3 is connected with the corresponding translation frame 8. When the number of the manipulators 2 is larger or smaller than that of the movable lead-in grooves 3, the movable lead-in grooves 3 can be connected into a whole and pushed by a single linear module or an air cylinder.
The working process of the potato grading picking device is as follows: when the vehicle body 1 is uniformly driven to be positioned above potatoes, an industrial camera collects the whole-circumference images of the potatoes under the irradiation of a light source, and after image processing, the shape parameters and the position information of the potatoes are obtained, and the potatoes are divided into four grades according to the shape characteristics of the potatoes.
After the industrial camera finishes image acquisition, the whole manipulator 2 moves at a constant speed in a direction opposite to the advancing direction of the vehicle body 1, so that the manipulator 2 and the ground keep relatively static, the control device controls the manipulator 2 to be reasonably matched to be divided into four grades according to the characteristics of potatoes, and the potatoes with different grades on the ground are picked up to corresponding positions of the conveying device.
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.
Claims (8)
1. The utility model provides a potato is picked up in grades and is got device which characterized in that: the potato picking device comprises a vehicle body (1), a manipulator (2) mounted on the vehicle body (1), an acquisition module and a control device, wherein the acquisition module is arranged on the front side of the manipulator (2), the signal output end of the acquisition module is connected with the signal input end of the control device, the signal output end of the control device is connected with the manipulator (2), the manipulator (2) is connected with a driving device for driving the manipulator (2) to reciprocate along the direction parallel to the advancing direction of the vehicle body (1), and a plurality of containing parts for containing potatoes are arranged on the vehicle body (1);
the automatic feeding device is characterized by further comprising a leading-in groove and a conveying belt (5), wherein the leading-in groove and the conveying belt (5) correspond to the containing parts one to one, the output end of the leading-in groove is connected with the input end of the conveying belt (5), the output end of the conveying belt (5) is arranged on the upper side of the corresponding containing part, and the leading-in groove is gradually inclined downwards along the direction close to the conveying belt (5); the guiding grooves comprise movable guiding grooves (3) and fixed guiding grooves (4), the fixed guiding grooves (4) are arranged between the movable guiding grooves (3) and the conveying belt (5), the fixed guiding grooves (4) are installed on the vehicle body (1), the movable guiding grooves (3) are connected with the driving device and move synchronously with the driving device, and the movable guiding grooves (3) are connected with the fixed guiding grooves (4) in a sliding mode.
2. The potato grading pickup device of claim 1, wherein: the driving device comprises a driving linear module, the driving linear module is installed on the vehicle body (1), and the driving linear module is connected with the mechanical arm (2).
3. The potato grading pickup device according to claim 1 or 2, wherein: the manipulator (2) comprises a position adjusting device, a lifting device and a gripper, the position adjusting device is slidably mounted on the vehicle body (1), the lifting device is mounted on the position adjusting device, the gripper is mounted on the lifting device, and the driving device is connected with the position adjusting device.
4. The device of claim 3, wherein: the position adjusting device comprises an adjusting motor (9), a first power rod (10), a second power rod (11), a first connecting rod (12) and a second connecting rod (13), the end parts of the first power rod (10) and the second power rod (11) are connected with the adjusting motor (9) which drives the first power rod (10) to swing, one end of the first connecting rod (12) is hinged to the free end of the first power rod (10), the other end of the first connecting rod is hinged to the lifting device, one end of the second connecting rod (13) is hinged to the free end of the second power rod (11), and the other end of the second connecting rod is hinged to the lifting device.
5. The device of claim 4, wherein: the lifting device comprises a lifting linear module or a lifting cylinder, the lifting linear module or the lifting cylinder is vertically arranged, and the gripper is arranged on the lifting linear module or the lifting cylinder.
6. The device of claim 3, wherein: the hand grip is a flexible hand grip (15).
7. The potato grading pickup device of claim 1, wherein: an opening (402) is formed in the fixed lead-in groove (4), two sides of the movable lead-in groove (3) are respectively arranged outside the fixed lead-in groove (4), and the bottom of the movable lead-in groove (3) can slidably extend into the opening (402).
8. The potato grade picker according to claim 1 wherein: the mechanical arm is characterized in that a connecting piece (16) is arranged between the driving device and the movable lead-in groove (3), the connecting piece (16) is connected with the mechanical arm (2), a vertical sliding groove (1601) is arranged on the connecting piece (16), and a pin shaft which can be arranged in the sliding groove (1601) in a sliding mode is arranged on the movable lead-in groove (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110317662.1A CN113019974B (en) | 2021-03-25 | 2021-03-25 | Potato is picked up in grades and is got device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110317662.1A CN113019974B (en) | 2021-03-25 | 2021-03-25 | Potato is picked up in grades and is got device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113019974A CN113019974A (en) | 2021-06-25 |
| CN113019974B true CN113019974B (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110317662.1A Active CN113019974B (en) | 2021-03-25 | 2021-03-25 | Potato is picked up in grades and is got device |
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| CN (1) | CN113019974B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113877832A (en) * | 2021-09-27 | 2022-01-04 | 江苏电子信息职业学院 | Garbage humidity screening and classifying device and using method thereof |
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|---|---|---|---|---|
| CN101066546A (en) * | 2007-04-10 | 2007-11-07 | 谢开云 | Miniature potato grader |
| CN103056111A (en) * | 2012-12-21 | 2013-04-24 | 浙江大学 | Prawns quality detecting and classifying device based on machine vision technology |
| CN103119423A (en) * | 2010-07-27 | 2013-05-22 | Evkdi克施哈格有限责任公司 | Method, sensor unit and machine for detecting 'sugar top ' defects in potatoes |
| CN205570825U (en) * | 2016-04-14 | 2016-09-14 | 河南科技大学 | Online automatic letter sorting system that defines level of tobacco leaf |
| CN106141663A (en) * | 2016-07-20 | 2016-11-23 | 梁启明 | A kind of transfusion device assembly technology |
| CN109277318A (en) * | 2018-06-29 | 2019-01-29 | 烟台大学 | A kind of fruit quality vision detection and classification device and detection stage division |
| CN112158435A (en) * | 2020-10-28 | 2021-01-01 | 广东奇创智能科技有限公司 | Dress pastes equipment based on manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4348277A (en) * | 1979-11-06 | 1982-09-07 | Lockwood Graders (Uk) Limited | Article sorting apparatus and method |
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2021
- 2021-03-25 CN CN202110317662.1A patent/CN113019974B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066546A (en) * | 2007-04-10 | 2007-11-07 | 谢开云 | Miniature potato grader |
| CN103119423A (en) * | 2010-07-27 | 2013-05-22 | Evkdi克施哈格有限责任公司 | Method, sensor unit and machine for detecting 'sugar top ' defects in potatoes |
| CN103056111A (en) * | 2012-12-21 | 2013-04-24 | 浙江大学 | Prawns quality detecting and classifying device based on machine vision technology |
| CN205570825U (en) * | 2016-04-14 | 2016-09-14 | 河南科技大学 | Online automatic letter sorting system that defines level of tobacco leaf |
| CN106141663A (en) * | 2016-07-20 | 2016-11-23 | 梁启明 | A kind of transfusion device assembly technology |
| CN109277318A (en) * | 2018-06-29 | 2019-01-29 | 烟台大学 | A kind of fruit quality vision detection and classification device and detection stage division |
| CN112158435A (en) * | 2020-10-28 | 2021-01-01 | 广东奇创智能科技有限公司 | Dress pastes equipment based on manipulator |
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| CN113019974A (en) | 2021-06-25 |
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