CN101024220A - Fruit delivering sorting integrated apparatus - Google Patents

Abstract

This invention discloses one kind of fruit transportation choose integration equipment, includes the circulation transportation chain system, this circulation transportation chain system including enter area (1), the picture gathering area (2)and the graduation unloading area (3), the drive sprocket (4), the driven sprocket (6) and the circulation transportation chain link (7), on (7) was equipped with the fruit supporting roller module (8) and the fruit chooses the release lever module (9), which is located in the two sides of circulation transportation chain link (7), this invention structure compact, the area small also divides chooses the efficiency high to be able to complete the fruit to be steady enter, transportation and the automatic graduation unloading, and can cause the fruit at the picture gathering area even turn over by the basic same angular speed.

Description

Fruit delivering sorting integrated apparatus

Technical field

The present invention relates to a kind of fruit delivering sorting integrated apparatus.

Background technology

China is fruit big producing country, and since 1993, the fruit total output just leaps to the No. 1 in the world, and of a great variety, and was wide in variety.But because detection and sorting means fall behind, just directly currency listing of the not classified processing of most fruits, mixed level are mixed and are sold, and have had a strong impact on the market value of fruit.Though it is feasible that fruit quality detection and classification are manually carried out in utilization, labour intensity is big, inefficiency, and because the influence of factors such as individual eyesight difference, color taste height, mood, fatigue and light power, the accuracy of classification is relatively poor.In recent years, develop rapidly along with electronic technology, computer technology, image processing techniques and mode identification technology, utilize computer vision technique to carry out automatic grading of fruits and obtained broad research, all developed fruit machine vision automatic fraction collector both at home and abroad based on computer vision technique.And two key foundation parts of this series products are exactly fruit conveying device and fruit sorting unloader.For the image capturing system of guaranteeing computer vision system can collect the image information of detected fruit all surface, the fruit conveying device must guarantee fruit become single row on the pipeline automatically and carrying in evenly overturn; For the fruit of guaranteeing to have class information can break away from pipeline automatically and is brought in the different gathering-devices by rank, fruit sorting unloader must be finished the classification discharging of fruit apace automatically under the control of fruit sorter master control system.And in material loading, conveying and classification discharge process, also must reduce machinery and collsion damage, otherwise that whole sorting work will become will be meaningless to fruit as far as possible.

Existing fruit conveying device mostly adopts roller type fruit conveyor structure to realize the conveying and the upset of fruit.Whole fruit conveying device is driven by the circulating conveyor chain of sealing, and some Roller Shaft equally spaced laterally are installed on the carrier chain in parallel to each other, and move with carrier chain.Roller then is installed on the Roller Shaft, and can freely rotate around Roller Shaft.Roller is the bipyramid spill, forms a space that holds fruit between two adjacent rollers, and fruit just is bearing between two adjacent rollers.Below the roller in a certain zone, also be provided with friction surfaces such as friction plate or friction band.When circulating conveyor chain drives Roller Shaft and roller and travels forward together, under the rubbing action of friction surface, roller just rolls on friction surface around Roller Shaft, and and then drive supporting fruit upset in the above and roll, thereby before all surface of fruit all successively is presented on the camera lens of image capturing system.But there are following two obvious defects in existing roller type fruit conveyor structure: the one, and overturn on the roller angular speed of rolling of the fruit of different sizes is different, big fruit overturns slowly, it is fast that fruitlet is overturn, cause the angle difference that different big or small fruit turn in the time interval of image capturing system continuous acquisition two width of cloth images bigger, cause the leakage collection or the repeated acquisition of part fruit surface easily, handling for the fusion of follow-up fruit image and image has increased great difficulty, and and then final sharpness of separation caused very big influence; The 2nd, be between Roller Shaft and the carrier chain chain and be rigidly connected, Roller Shaft can't freely be rotated in the transverse plane perpendicular to carrier chain chain direction of advance, because the manufacturing and the alignment error of friction surface, roller, Roller Shaft, the intrinsic uncertain error of carrier chain self particularly, contact condition between roller and the friction surface is difficult to guarantee, thereby cause the rate of roll of each roller on friction surface inconsistent, this has just further increased the weight of the heterogeneity of the flip angle speed of fruit on roller.

Existing fruit sorting unloader mostly is to aim at large-scale fruit automatic sorting streamline and design, generally all adopt split-type structural, fruit conveying, turning device and fruit sorting unloader are separately positioned on the separate workbench, on transport platform, finish the single row of automatic one-tenth and the conveying, turning and the IMAQ of fruit, on the fruit discharging platform, finish the continuation of fruit and carry and classification discharging automatically.Owing to adopt split-type structural, use this class fruit to carry and need three carrier chain chains, two kinds of fruit conveying devices at least with two fruit delivering sorting lines of sorting unit structure, and also need to take some special designs from the impact injury of transport platform when discharging platform transmits in order to reduce fruit, cause the length of whole fruit automatic sorting line long, the overall structure more complicated, manufacturing cost is higher.

If sorting unloader can be directly installed on the roller type fruit conveyor structure, and be integrated with the roller type fruit-conveying turning mechanism, thereby on a workbench, finish conveying, upset and the classification discharging automatically of fruit simultaneously, then the length of fruit automatic sorting line will shorten greatly, and overall structure also will be simplified.The fruit sorting unloader that can realize this function has two kinds of support-board type and air-flowing types now.But existing support-board type sorting unloader is mainly used in minitype fruits such as jujube class, and in the classification discharge process fruit is had greater impact, is not suitable for large-scale fresh fruit uses such as apple.Existing airflow classification device for discharging directly blows off fruit by air-flow from conveying mechanism, also not too suitable to the sorting of size and the weight large-scale fresh fruits such as apple that all difference is bigger.

In addition, most existing fruit delivering sorting device does not all take into full account the material loading link, can't realize the single row of one-tenth of fruit automatically.Though have some conveying devices to take certain measure, because the restriction of its roller structure and conveying device arrangement form, also can only when carrying the close fruit of size, could guarantee the single row of automatic one-tenth of fruit.

Summary of the invention

The invention provides a kind of compact conformation, floor space is little and the efficiency of separation is high fruit delivering sorting integrated apparatus.

The present invention adopts following technical scheme:

A kind of fruit delivering sorting integrated apparatus, comprise the circulating conveyor chain system, this circulating conveyor chain system comprises feeding area, image acquisition areas and classification discharge zone, drive sprocket, driven sprocket and circulating conveyor chain chain, wherein the circulating conveyor chain chain is located on drive sprocket and the driven sprocket, on the circulating conveyor chain chain, be provided with fruit supporting roller assembly and sorted fruits lever assembly, fruit supporting roller assembly and sorted fruits lever assembly all are located at the both sides of circulating conveyor chain chain, and fruit supporting roller assembly and the arrangement of sorted fruits lever assembly space.

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

1, compact conformation of the present invention, floor space is little and the efficiency of separation is high.The present invention has curved ear annex on the carrier bar of circulating conveyor chain chain both sides, some cover fruit supporting rollers and sorted fruits lever all are installed on the curved ear annex of each side of chain spaced reciprocally side by side, thereby formed the delivering sorting form of " carrier chain drives two delivering sorting lines simultaneously ", use the delivering sorting integrated apparatus of this form, can be with the material loading of fruit, carry, upset and classification discharging are integrated on the workbench to be finished, thereby shorten the length of sorted fruits streamline greatly, simplify the overall structure of sorted fruits system, also improved operational efficiency of the present invention simultaneously.

2, the present invention can make fruit evenly overturn with essentially identical angular speed in image acquisition areas.Owing to connect for activity between Roller Shaft and the carrier chain chain among the present invention, the fruit supporting roller can freely rotate with respect to the carrier chain chain in perpendicular to the transverse plane of chain movement direction around its vertical equity axle with Roller Shaft, so in image acquisition areas, the fruit supporting roller has been pressed in above the rubbing device under the effect of self gravitation naturally, therefore just guaranteed that the fruit supporting roller well contacts with rubbing device, thereby guarantee that the fruit supporting roller evenly rolls with essentially identical angular speed on rubbing device, simultaneously because fruit supporting roller of the present invention is the integrally-built bipyramid spill roller that has passed through particular design, it rolls the body bus equation and is $y=\sqrt{{1.2x}^2+841},$ Wherein x represents that roller rolls point on the body bus to the horizontal range of roller central authorities symmetrical cross-sections, y represents that then roller rolls point on the body bus to the vertical range of roller axis, when the fruit that varies in size of diameter within 50mm～100mm is bearing on the roller of this shape, the supporting-point height of big fruit, the supporting-point of fruitlet is low, though the diameter difference of fruit, but the ratio between the actual rolling radius of fruit and the radius of roller at supporting-point place is a definite value, so can guarantee that the fruit that varies in size can both reliable delivery on roller, and evenly overturn with approximately uniform angular speed, concrete proof procedure is as follows:

If the rate of roll of roller on friction surface all is approximately ω ₀, the upset rate of roll of fruit on roller is ω, after fruit was bearing on the roller, the radius of roller at contact point A place was r ₁, the actual rolling radius of fruit is R ₁Torispherical fruit is approximately a homogeneous spheroid, and no relative slip between hypothesis fruit and the roller, then have:

ω ₀r ₁＝ωR ₁

Axis with roller is the x axle, is that the y axle is set up coordinate system with the straight line by the fruit barycenter in the roller central authorities symmetrical cross-sections.Because at the contact point A place of fruit and roller, fruit surface and roller to roll the body bus tangent, the abscissa of establishing point of contact A is x ₁So, have:

$R_1=\frac{x_1}{\mathrm{tg\α}}$

Wherein α is the angle that the line of fruit barycenter and contact point A is become with the y axle.And tg α just in time rolls the slope of body bus at A point place for roller.Because the body bus equation that rolls of roller is $y=\sqrt{{1.2x}^2+841},$ So have:

$\mathrm{tg\α}=y^{\′}\left(x_1\right)=\frac{{1.2x}_1}{\sqrt{{1.2x}_1^2+841}}$

Again because $r_1=y\left(x_1\right)=\sqrt{{1.2x}_1^2+841},$ So have:

$\frac{\mathrm{\ω}}{{\mathrm{\ω}}_0}=\frac{r_1}{R_1}=\frac{r_1}{x_1}\mathrm{tg\α}=\frac{\sqrt{{1.2x}_1^2+841}}{x_1}\·\frac{{1.2x}_1}{\sqrt{{1.2x}_1^2+841}}=1.2$

Because roller rolls the curvature equation of body bus be again:

$K\left(x\right)=\frac{1009.2}{{({2.64x}^2+841)}^{3/2}}$

So when x=0, promptly at the central symmetrical cross-sections place of roller, just roller rolls the minimum point place of body bus, rolls the curvature maximum of body bus, and the curvature of this moment is:

$K\left(0\right)=\frac{1009.2}{{841}^{3/2}}=\frac{1009.2}{24389}\≈0.0414$

So when 24.15 millimeters of the radius R=1/K (0) of fruit ≈, fruit just just in time is bearing in the least radius place of roller, and this moment $\frac{\mathrm{\ω}}{{\mathrm{\ω}}_0}=\frac{r_1}{R_1}=\frac{r_0}{R}\text{y}\left(0\right)\·K\left(0\right)=\sqrt{{1.2\×0}^2+841}\×\frac{1009.2}{24389}=1.2.$ But when radius R＜24.15 of fruit millimeter, because along with the increase of x, curvature K (x) reduces gradually, so fruit also will directly be bearing in the least radius place of roller, but this moment $\frac{\mathrm{\ω}}{{\mathrm{\ω}}_0}=\frac{r_1}{R_1}=\frac{r_0}{R}>1.2.$

So as long as radius R 〉=24.15 of fruit, then the upset rate of roll ω of fruit on roller is just irrelevant with the radius R of fruit, but only depends on the rate of roll ω of roller on friction surface ₀As long as ω ₀Necessarily, then ω is a constant just.Again because the just approximate sphere of torispherical fruit satisfies above the derivation so can only be similar to.So diameter can both be approx with 1.2 ω after the torispherical fruit of 50mm～100mm is bearing on the roller ₀Angular speed on roller evenly the upset.

3, the present invention can realize the steady discharging of fruit.Because the sorting arm of the sorted fruits lever among the present invention is " it " font, in the classification discharge process, second from the bottom section skew lines of sorting arm contacted with fruit before this, and then finish sorting by the final stage skew lines of sorting arm, suitably select the length of each section skew lines in " it " word and the installation site of lower limit pin, between the fruit not of uniform size that can guarantee to be in the sorting lever of stable state and to be in feed status a little and essentially identical gap is arranged all.So in the fruit course of conveying, the sorting lever does not influence the conveying and the upset of fruit.Suitably select the length of each section skew lines in " it " word and the installation site of upper arresting pin, can guarantee when the sorting lever turns to its upper limit position, still keep 10 °～15 ° inclination angle between the final stage skew lines of its sorting arm and the horizontal plane.So when the sorted fruits lever begins to rotate under the effect of classification executing agency, because the gap between sorting lever and the fruit is less, and what at first contact with fruit is second from the bottom section skew lines part of sorting arm, between it and the horizontal plane 55 °～65 ° angle is arranged, so what begin to act on fruit mainly is a little tangential force, its main effect trend to fruit is to make the fruit rotation, rather than throws, so can not produce big impact to fruit.Along with being rotated further of sorting lever, the fruit one side is with the lifting of sorting arm, one side is being rotated to outer rolling along the inclined-plane of sorting arm, and finally roll from pipeline, thereby finish the classification discharging of fruit, especially when the final stage skew lines of sorted fruits lever sorting arm and the angle of horizontal plane be 35 °～45 °, the better effects if the when angle of second from the bottom section skew lines and horizontal plane is 60 °.In addition owing to the curvilinear equation to sorting cam work surface has carried out special optimal design, can guarantee to enter the whole classification discharge process of sorting cam work surface beginning from the pressure arm of sorted fruits lever, any sudden change does not take place in the angle of rotation acceleration of sorted fruits lever, thereby guarantees that fruit can not be subjected to any impact of sorting lever sorting arm in whole classification discharge process.

Concrete proof procedure is as follows:

When sorting cam 171 is in " sorting " position, in the vertical plane at sorting cam 171 places, be initial point with the starting point on sorting cam work surface, be the x axle with the horizontal line, set up coordinate system with the vertical curve for the y axle.Then in this coordinate system, the curvilinear equation of first section curve on sorting cam work surface is:

$y_1=s\&CenterDot;\mathrm{tg}(-\frac{A}{{2v}_0}x-\frac{A(x_1-x_0)}{{2\mathrm{\&pi;v}}_0}\cos (\frac{\mathrm{\&pi;}}{x_1-x_0}(x-x_0)+\frac{\mathrm{\&pi;}}{2})+\frac{{\mathrm{<figure-callout\; id="0"\; label="Ax"\; filenames="A20071002114000221.png,A20071002114000261.png"\; state="\{\{state\}\}">Ax</figure-callout>}}_0}{{2v}_0})$ (x ₀≤x≤x ₁)

The curvilinear equation of second section curve on sorting cam work surface is:

$y_2=s\&CenterDot;\mathrm{tg}(-\frac{A(x_2-x_1)}{{\mathrm{\&pi;v}}_0}\cos (\frac{\mathrm{\&pi;}}{x_2-x_1}(x-x_1)-\frac{\mathrm{\&pi;}}{2})-\frac{A(x_1-x_0)}{{2v}_0})$ (x ₁≤x≤x ₂)

The curvilinear equation of the 3rd section curve on sorting cam work surface is:

$y_3=s\&CenterDot;\mathrm{tg}(\frac{A}{{2v}_0}x-\frac{A(x_3-x_2)}{{2\mathrm{\&pi;v}}_0}\cos (\frac{\mathrm{\&pi;}}{x_3-x_2}(x-x_2)+\frac{\mathrm{\&pi;}}{2})-\frac{A(x_2+x_1-x_0)}{{2v}_0})$ (x ₂≤x≤x ₃)

And seamlessly transit between each section curve, and about the mid point left-right symmetry of second section curve, and:

x ₁-x ₀＝x ₃-x ₂

Wherein, x ₀It is the abscissa of the starting point of first section curve; x ₁It is the terminal point abscissa of the starting point of second section curve just of first section curve; x ₂It is the terminal point abscissa of the starting point of the 3rd section curve just of second section curve; x ₃It is the abscissa of the terminal point of the 3rd section curve; S is the horizontal range of the axis of sorting lever vertical equity axle 92 to sorting cam 171 place vertical planes, the i.e. acting force arm of 171 pairs of sorting levers of sorting cam pressure arm 911; v ₀Pipeline speed for carrier chain chain 7; A then is the design constant that the hard-over  by sorted fruits lever 91 is determined:

Because the pass between the lift y of sorting cam 171 and the rotational angle theta of sorted fruits lever 91 is:

y＝s·tgθ

So, when the pressure arm 911 of sorted fruits lever 91 under the drive of carrier chain chain 7, when the working surface of the sorting cam 171 that is in " sorting " position slipped over, the equations of rotating angle of sorted fruits lever 91 was:

$\mathrm{\&theta;}=\left\{\begin{array}{cc}-\frac{A}{{2v}_0}x-\frac{A(x_1-x_0)}{{2\mathrm{\&pi;v}}_0}\cos (\frac{\mathrm{\&pi;}}{x_1-x_0}(x-x_0)+\frac{\mathrm{\&pi;}}{2})+\frac{{\mathrm{<figure-callout\; id="0"\; label="Ax"\; filenames="A20071002114000221.png,A20071002114000261.png"\; state="\{\{state\}\}">Ax</figure-callout>}}_0}{{2v}_0}& (x_0\&le;x\&le;x_1)\\ -\frac{A(x_2-x_1)}{{\mathrm{\&pi;v}}_0}\cos (\frac{\mathrm{\&pi;}}{x_2-x_1}(x-x_1)-\frac{\mathrm{\&pi;}}{2}-\frac{A(x_1-x_0)}{{2v}_0})& (x_1\&le;x\&le;x_2)\\ \frac{A}{{2v}_0}x-\frac{A(x_3-x_2)}{{2\mathrm{\&pi;v}}_0}\cos (\frac{\mathrm{\&pi;}}{x_3-x_2}(x-x_2)+\frac{\mathrm{\&pi;}}{2}-\frac{A(x_2+x_1-x_0)}{{2v}_0})& (x_2\&le;x\&le;x_3)\end{array}\right.$

Because the pipeline speed of carrier chain chain 7 is v ₀, pick up counting from the origin of coordinates, then have:

x＝v ₀t

So the rotational angular velocity equation of sorted fruits lever 91 is:

$\mathrm{\&omega;}=\left\{\begin{array}{ccc}-\frac{A}{2}+\frac{A}{2}\sin (\frac{\mathrm{\&pi;}}{x_1-x_0}(v_{0}t-x_0)+\frac{\mathrm{\&pi;}}{2})& (\frac{x_0}{v_0}\&le;t\&le;\frac{x_1}{v_0})& \\ A\sin (\frac{\mathrm{\&pi;}}{x_2-x_1}(v_{0}t-x_1)-\frac{\mathrm{\&pi;}}{2})& (\frac{x_1}{v_0}\&le;t\&le;\frac{x_2}{v_0})& \\ \frac{A}{2}+\frac{A}{2}\sin (\frac{\mathrm{\&pi;}}{x_3-x_2}(v_{0}t-x_2)+\frac{\mathrm{\&pi;}}{2})& (\frac{x_2}{v_0}\&le;t\&le;\frac{x_3}{v_0})& \end{array}\right.$

So the rotation angular acceleration equation of sorted fruits lever 91 is:

$\mathrm{\&alpha;}=\left\{\begin{array}{cc}\frac{A{\mathrm{\&pi;v}}_0}{2(x_1-x_0)}\cos (\frac{\mathrm{\&pi;}}{x_1-x_0}(v_{0}t-x_0)+\frac{\mathrm{\&pi;}}{2})& (\frac{x_0}{v_0}\&le;t\&le;\frac{x_1}{v_0})\\ \frac{A{\mathrm{\&pi;v}}_0}{x_2-x_1}\cos (\frac{\mathrm{\&pi;}}{x_2-x_1}(v_{0}t-x_1)-\frac{\mathrm{\&pi;}}{2})& (\frac{x_1}{v_0}\&le;t\&le;\frac{x_2}{v_0})\\ \frac{A{\mathrm{\&pi;v}}_0}{2(x_3-x_2)}\cos (\frac{\mathrm{\&pi;}}{x_3-x_2}(v_{0}t-x_2)+\frac{\mathrm{\&pi;}}{2})& (\frac{x_2}{v_0}\&le;t\&le;\frac{x_3}{v_0})\end{array}\right.$

So can get, work as x=x ₀, i.e. t=x ₀/ v ₀The time:

α ₀＝α(t＝x ₀/v ₀)＝0

Work as x=x ₁, i.e. t=x ₁/ v ₀The time:

α ₁＝α(t＝x ₁/v ₀)＝0

Work as x=x ₂, promptly=x ₂/ v ₀The time:

α ₂＝α(t＝x ₂/v ₀)＝0

Work as x=x ₃, i.e. t=x ₃/ v ₀The time:

α ₃＝α(t＝x ₃/v ₀)＝0

So in whole classification discharge process, the angle of rotation acceleration alpha of sorted fruits lever 91 by sinusoidal rule smooth change, any sudden change do not occur all the time, so the sorting arm of sorted fruits lever does not just have any impact to fruit yet.

4, the present invention can realize that fruit does not have the steady material loading in the ground of impact and becomes single row automatically at feeding area.Because at feeding area, angle between fruit material loading chute and the carrier chain chain has reached about 150 °, also be provided with the friction band of adjustable-speed below the roller, and when roller rolls under the rubbing action of friction band, rotating direction when roller rolls from fruit material loading chute with fruit to the induced effect of fruit is identical, by to the length of fruit material loading chute and the control at inclination angle, can be so that near rate of roll and the fruit of fruit when being rolled into the roller from the material loading chute be roughly the same with the angular speed that roller rolls after stable support on the roller, so do not have tangible collision when fruit contacts with roller, fruit is just taken advantage of a situation to be bearing in reposefully between two rollers and with roller and is fed forward, and has not finished steady material loading thereby have with impacting; The present invention is arranged to downward-sloping form with the carrier chain chain of material loading section, between two delivering sorting lines, be provided with the center rectangle baffle plate, both sides are provided with side board, before selecting, material loading is provided with the fruit material loading chute of inclination, also between material loading section and IMAQ section, be provided with the side board discontinuity area, by the control to fruit feeder (not shown) material loading speed, fruit can become single row basically naturally between roller; In case flock together situation between two adjacent rollers of a plurality of fruit takes place, because the inclination of feeding area pipeline, the unnecessary fruit material loading point of also can rolling back automatically; Even still having fruit pricking heap continues to roll forward to carry, because the side of center rectangle baffle plate is vertical, unnecessary fruit can only be bearing between roller and the side board, when the side board discontinuity area between their arrival feeding areas and the image acquisition areas, owing to there has not been the aiding support of side board, unnecessary fruit just tumbles from pipeline under the effect of self gravitation automatically, and carry the backwater fruit feeder material loading that circulates again again, thereby guaranteed that fruit becomes single row automatically between roller through the retracting device (not shown).

Description of drawings

Fig. 1 is an overall structure schematic diagram of the present invention.

Fig. 2 is the partial top view of Fig. 1.

Fig. 3 is the structural representation of the used carrier chain chain of the present invention.

Fig. 4 is the left view of Fig. 3.

Fig. 5 is the structure and the assembling schematic diagram of the used trunnion axis mounting bracket of the present invention.

Fig. 6 is the left view of Fig. 5.

Fig. 7 is the structure and the assembling schematic diagram of fruit supporting roller assembly of the present invention.

Fig. 8 is the rolling radius schematic diagram of fruit on roller.

The structure of Fig. 9 sorted fruits lever assembly of the present invention and assembling schematic diagram.

Figure 10 be the fruit of different sizes in course of conveying with the relative position schematic diagram of sorting lever.

Figure 11 is the D-D cutaway view of Fig. 1.

Figure 12 is the material loading process schematic diagram of fruit.

Figure 13 is the A--A cutaway view of Fig. 1.

Figure 14 is the rolling condition schematic diagram of IMAQ section fruit.

Figure 15 is the B-B cutaway view of Fig. 1.

Figure 16 is the shape schematic diagram of sorting cam of the present invention.

Figure 17 is the structural representation of classification of the present invention executing agency.

Figure 18 is the left view of Figure 17.

Figure 19 is the C-C cutaway view of Fig. 1.

Figure 20 is the schematic diagram that concerns between cam lift and the sorted fruits lever corner.

Among the figure: 1, fruit feeding area; 2, image acquisition areas; 3, classification discharge zone; 4, drive sprocket; 5, tightener sprocket; 6, driven sprocket; 7, carrier chain chain; 71, chain inner plate; 72, chain outer plate; 73, curved ear annex; 74, chain roller; 8, fruit supporting roller assembly; 81, fruit supporting roller; 82, Roller Shaft; 83, Roller Shaft bent plate support; 84, Roller Shaft vertical equity axle; 85, upper arresting pin; 86, Roller Shaft bearing sleeve; 87, lower limit pin; 9, sorted fruits lever assembly; 91, sorted fruits lever; 91 ', be in the sorted fruits lever of classification status; 92, sorting lever vertical equity axle; 93, sorting lever upper arresting pin; 94, sorting lever lower limit pin; 10, friction band; 11, friction plate; 12, feeding area Roller Shaft support rails; 13, classification discharge zone Roller Shaft support rails; 14, feeding area side board; 15, image acquisition areas side board; 16, side board discontinuity area; 17, classification executing agency; 171, be in the sorting cam of " sorting " position; 171 ', be in " by " the sorting cam of position; 172, sorting cam fixed bar; 173, output shaft axle sleeve; 174, electromagnetism spinner member; 175, electromagnetism spinner member output shaft; 18, surplus fruit is collected cam; 19, fruit collecting box; 20, central trapezoidal baffle plate; 21, central baffle plate mounting bracket; 22, carrier chain chain roller support rails; 23, fruit discharging buffering chute; 24, torispherical fruit; 24 ', be in the fruit of classification status; 25, the trunnion axis mounting bracket is installed backing plate; 26, U type trunnion axis mounting bracket; 261, trunnion axis installing hole; 262, upper arresting pin installing hole; 263, lower limit pin installing hole; 27, fruit material loading chute; 28, center rectangle baffle plate.

The specific embodiment

A kind of fruit delivering sorting integrated apparatus, (seeing figures.1.and.2) comprises the circulating conveyor chain system, this circulating conveyor chain system comprises feeding area 1, image acquisition areas 2 and classification discharge zone 3, drive sprocket 4, driven sprocket 6 and circulating conveyor chain chain 7, wherein circulating conveyor chain chain 7 is located on drive sprocket 4 and the driven sprocket 6, on circulating conveyor chain chain 7, be provided with fruit supporting roller assembly 8 and sorted fruits lever assembly 9, fruit supporting roller assembly 8 and sorted fruits lever assembly 9 all are located at the both sides of circulating conveyor chain chain 7, and arrange fruit supporting roller assembly 8 and sorted fruits lever assembly 9 spaces, (with reference to Fig. 7) fruit supporting roller assembly 8 comprises Roller Shaft 82, be arranged with fruit supporting roller 81 on Roller Shaft 82, the body bus equation that rolls of (with reference to Fig. 8) fruit supporting roller 81 is $y=\sqrt{{1.2x}^2+841},$ Wherein x represents that roller rolls point on the body bus to the horizontal range of roller central authorities symmetrical cross-sections, y represents that then roller rolls point on the body bus to the vertical range of roller axis, in image acquisition areas 2, (with reference to Fig. 1) is provided with rubbing device 11 below fruit supporting roller 81, and the upper surface of rubbing device 11 contacts with fruit supporting roller 81, rubbing device 11 can be friction band or friction plate, (with reference to Fig. 1 and Fig. 9) sorted fruits lever assembly 9 comprises sorted fruits lever 91, this sorted fruits lever 91 is made up of pressure arm 911 and sorting arm 912, and its sorting arm 912 is " it " font, sorted fruits lever 91 is rotatably connected on the carrier chain chain 7, the final stage skew lines of " it " word of sorting arm 912 and the angle of horizontal plane are 35 °～45 °, the second from the bottom section skew lines of " it " word and the angle of horizontal plane are 55 °～65 °, in the present embodiment, the final stage skew lines of " it " word and the angle of horizontal plane can be got 35 °, 36 °, 38 °, 40 °, 41 °, 42 °, 43 °, 45 °, the second from the bottom section skew lines of " it " word and the angle of horizontal plane are 55 °, 56 °, 58 °, 59 °, 60 °, 61 °, 62 °, 63 °, 64 °, 65 °, fruit supporting roller assembly 8 and sorted fruits lever assembly 9 all are rotationally connected with circulating conveyor chain chain 7, it is rotationally connected and can realizes in the following manner: (with reference to Fig. 3, Fig. 4, Fig. 5 and Fig. 6) on the chain inner plate 71 of circulating conveyor chain chain 7 both sides and chain outer plate 72, be equipped with curved ear annex 73, on the curved ear annex 73 of each chain link both sides, be provided with the trunnion axis mounting bracket backing plate 25 is installed, thereby the curved ear annex 73 of both sides is fixed together, avoid influencing the rotation of chain roller 74 because of curved ear annex 73 stressed inclinations, at the two ends of trunnion axis mounting bracket installation backing plate 25 two U type trunnion axis mounting brackets 26 are installed respectively again, on two upright arms of this U type trunnion axis mounting bracket 26, be respectively equipped with trunnion axis installing hole 261, upper arresting pin installing hole 262 and lower limit pin installing hole 263, and the axis in these holes is all parallel with the direction of motion of circulating conveyor chain chain, end in Roller Shaft 82 is provided with Roller Shaft bearing sleeve 86, the other end of Roller Shaft 82 is provided with Roller Shaft bent plate support 83, on Roller Shaft bent plate support 83, be arranged with Roller Shaft vertical equity axle 84, the Roller Shaft vertical equity axle 84 of fruit supporting roller assembly 8 is located in the trunnion axis installing hole 261, in upper arresting pin installing hole 262, be provided with upper arresting pin 85, in lower limit pin installing hole 263, be provided with lower limit pin 87, (with reference to Fig. 2) is in image acquisition areas, below this zone fruit supporting roller 81, be provided with rubbing device 11, at feeding area, the other end of Roller Shaft 82 is located on the feeding area support rails 12, at the classification discharge zone, the other end of Roller Shaft 82 is located on the classification discharge zone support rails 13, (with reference to Figure 17, Figure 18 and Figure 19) top of pressure arm 911 of sorted fruits lever assembly 91 is provided with classification executing agency 17, classification executing agency 17 comprises electromagnetism spinner member 174, on the output shaft of electromagnetism spinner member 174, be provided with output shaft axle sleeve 173, on output shaft axle sleeve 173, be provided with sorting cam fixed bar 172, on sorting cam fixed bar 172, be provided with sorting cam 171, (with reference to Figure 15, Figure 16 and Figure 20) and the working surface of sorting cam 171 constitute by three sections end to end curves, the curvilinear equation of first section curve is:

$y_1=s\&CenterDot;\mathrm{tg}(-\frac{A}{{2v}_0}x-\frac{A(x_1-x_0)}{{2\mathrm{\&pi;<figure-callout\; id="0"\; label="v"\; filenames="A20071002114000221.png,A20071002114000261.png"\; state="\{\{state\}\}">v</figure-callout>}}_0}\cos (\frac{\mathrm{\&pi;}}{x_1-x_0}(x-x_0)+\frac{\mathrm{\&pi;}}{2})+\frac{{\mathrm{<figure-callout\; id="0"\; label="Ax"\; filenames="A20071002114000221.png,A20071002114000261.png"\; state="\{\{state\}\}">Ax</figure-callout>}}_0}{{2v}_0}),$ X wherein ₀≤ x≤x ₁,

The curvilinear equation of second section curve is:

$y_2=s\&CenterDot;\mathrm{tg}(-\frac{A(x_2-x_1)}{{\mathrm{\&pi;<figure-callout\; id="0"\; label="v"\; filenames="A20071002114000221.png,A20071002114000261.png"\; state="\{\{state\}\}">v</figure-callout>}}_0}\cos (\frac{\mathrm{\&pi;}}{x_2-x_1}(x-x_1)-\frac{\mathrm{\&pi;}}{2})-\frac{A(x_1-x_0)}{{2v}_0}),$ X wherein ₁≤ x≤x ₂,

The curvilinear equation of the 3rd section curve is:

$y_3=s\&CenterDot;\mathrm{tg}(\frac{A}{{2v}_0}x-\frac{A(x_3-x_2)}{{2\mathrm{\&pi;<figure-callout\; id="0"\; label="v"\; filenames="A20071002114000221.png,A20071002114000261.png"\; state="\{\{state\}\}">v</figure-callout>}}_0}\cos (\frac{\mathrm{\&pi;}}{x_3-x_2}(x-x_2)+\frac{\mathrm{\&pi;}}{2})-\frac{A(x_2+x_1-x_0)}{{2v}_0}),$

X wherein ₂≤ x≤x ₃,

And seamlessly transit between each section curve, and about the mid point left-right symmetry of second section curve, and:

x ₁-x ₀＝x ₃-x ₂

Wherein, x ₀It is the abscissa of the starting point of first section curve; x ₁It is the terminal point abscissa of the starting point of second section curve just of first section curve; x ₂It is the terminal point abscissa of the starting point of the 3rd section curve just of second section curve; x ₃It is the abscissa of the terminal point of the 3rd section curve; S is the horizontal range of the axis of sorting lever vertical equity axle 92 to sorting cam 171 place vertical planes, the i.e. acting force arm of 171 pairs of sorting levers of sorting cam pressure arm 911; v ₀Pipeline speed for carrier chain chain 7; A then is the design constant that the hard-over  by sorted fruits lever 91 is determined:

And the two ends of sorting cam 171 are skew lines, in the present embodiment, the complete figure that the working surface of sorting cam 171 can be made up of above-mentioned curve, also can be half of above-mentioned curve, in use, sorting cam 171 has two operating positions, be in " by " during the position, the upper surface of the pressure arm 911 of the minimum point of sorting cam 171 and sorted fruits lever 91 has the gap of 5 millimeter; When being in " sorting " position, the upper surface flush of the pressure arm 911 of the starting point L of the working surface of sorting cam 171 and sorted fruits lever 91.Under the control of fruit sorter master control system, electromagnetism spinner member 174 can drive sorting cam 171 two " by " and " sorting " two operating positions between switch back and forth, 171 ' for being in the sorting cam by the position, (with reference to Fig. 1) is provided with regulating wheel 5 between drive sprocket 4 and driven sprocket 6, between regulating wheel 5 and driven sprocket 6, form downward-sloping feeding area, (with reference to Fig. 1 and Figure 13) is provided with material loading tip chute 27 above the material loading point of feeding area, be respectively equipped with friction below the fruit supporting roller 81 in two delivering sorting lines in this zone and be with 10, (with reference to Fig. 2) is provided with feeding area side board 14 in the outside of two delivering sorting lines in this zone, and in the middle of two delivering sorting lines in this zone, be provided with central baffle plate 28, in the present embodiment, central authorities' baffle plate 28 is a rectangle, (seeing figures.1.and.2) and be provided with image acquisition areas side board 15 in the outside of two delivering sorting lines of image acquisition areas, and between the image acquisition areas side board 15 of homonymy and the feeding area side board 14 discontinuity area is arranged, in the middle of two delivering sorting lines of image acquisition areas, be provided with central trapezoidal baffle plate 20.

In the present embodiment, end at the classification discharge zone can be provided with the surplus cam 18 of really collecting, the curve shape of its working surface is identical with sorting cam 171, simultaneously be provided with fruit discharging buffering chute 23 in each exit in this zone, the fruit that sub-elects according to rank just enters in the corresponding fruit collecting box 19.

Claims (10)

1, a kind of fruit delivering sorting integrated apparatus, comprise the circulating conveyor chain system, this circulating conveyor chain system comprises feeding area (1), image acquisition areas (2) and classification discharge zone (3), drive sprocket (4), driven sprocket (6) and circulating conveyor chain chain (7), wherein circulating conveyor chain chain (7) is located on drive sprocket (4) and the driven sprocket (6), on circulating conveyor chain chain (7), be provided with fruit supporting roller assembly (8) and sorted fruits lever assembly (9), it is characterized in that fruit supporting roller assembly (8) and sorted fruits lever assembly (9) all are located at the both sides of circulating conveyor chain chain (7), and fruit supporting roller assembly (8) and the arrangement of sorted fruits lever assembly (9) space.

2, fruit delivering sorting integrated apparatus according to claim 1, it is characterized in that described fruit supporting roller assembly (8) comprises Roller Shaft (82), be arranged with fruit supporting roller (81) on Roller Shaft (82), the body bus equation that rolls of fruit supporting roller (81) is $y=\sqrt{1.2x^2+841}.$

3, fruit delivering sorting integrated apparatus according to claim 1, it is characterized in that in image acquisition areas (2), below fruit supporting roller (81), be provided with rubbing device (11), and the upper surface of rubbing device (11) contacts with fruit supporting roller (81).

4, fruit delivering sorting integrated apparatus according to claim 1, it is characterized in that sorted fruits lever assembly (9) comprises sorted fruits lever (91), this sorted fruits lever (91) is made up of pressure arm (911) and sorting arm (912), sorting arm (912) is " it " font, the final stage skew lines of " it " word and the angle of horizontal plane are 35 °～45 °, and the second from the bottom section skew lines of " it " word and the angle of horizontal plane are 55 °～65 °.

5, fruit delivering sorting integrated apparatus according to claim 1 is characterized in that fruit supporting roller assembly (8) and sorted fruits lever assembly (9) all are rotationally connected with circulating conveyor chain chain (7).

6, fruit delivering sorting integrated apparatus according to claim 5, it is characterized in that on the chain inner plate (71) of circulating conveyor chain chain (7) and chain outer plate (72), being equipped with curved ear annex (73), on curved ear annex (73), be provided with U type trunnion axis mounting bracket (26), on two upright arms of this U type trunnion axis mounting bracket (26), be respectively equipped with trunnion axis installing hole (261), upper arresting pin installing hole (262) and lower limit pin installing hole (263), and the axis in these holes is all parallel with the direction of motion of circulating conveyor chain chain, end in Roller Shaft (82) is provided with Roller Shaft bearing sleeve (86), the other end of Roller Shaft (82) is provided with Roller Shaft bent plate support (83), on Roller Shaft bent plate support (83), be arranged with Roller Shaft vertical equity axle (84), the Roller Shaft vertical equity axle (84) of fruit supporting roller assembly (8) is located in the trunnion axis installing hole (261), in upper arresting pin installing hole (262), be provided with upper arresting pin (85), in lower limit pin installing hole (263), be provided with lower limit pin (87), in image acquisition areas, below this zone fruit supporting roller (81), be provided with rubbing device (11), at feeding area, the other end of Roller Shaft (82) is located on the feeding area support rails (12), at the classification discharge zone, the other end of Roller Shaft (82) is located on the classification discharge zone support rails (13).

7, fruit delivering sorting integrated apparatus according to claim 1, it is characterized in that being provided with classification executing agency (17) in the top of the pressure arm (911) of described sorted fruits lever (91), classification executing agency (17) comprises electromagnetism spinner member (174), on the output shaft of electromagnetism spinner member (174), be provided with output shaft axle sleeve (173), on output shaft axle sleeve (173), be provided with sorting cam fixed bar (172), on sorting lever fixed bar (172), be provided with sorting cam (171), and the working surface of sorting cam (171) is made of three sections end to end curves, and the curvilinear equation of first section curve is

$y_1=s\&CenterDot;\mathrm{tg}(-\frac{A}{{2v}_0}x-\frac{A(x_1-x_0)}{2\mathrm{\&pi;}{v}_0}\cos (\frac{\mathrm{\&pi;}}{x_1-x_0}(x-x_0)+\frac{\mathrm{\&pi;}}{2})+\frac{A{x}_0}{2v_0}),$ X wherein ₀≤ x≤x ₁,

The curvilinear equation of second section curve is

$y_2=s\&CenterDot;\mathrm{tg}(-\frac{A(x_2-x_1)}{\mathrm{\&pi;}{v}_0}\cos (\frac{\mathrm{\&pi;}}{x_2-x_1}(x-x_1)-\frac{\mathrm{\&pi;}}{2})-\frac{A(x_1-x_0)}{2v_0}),$ X wherein ₁≤ x≤x ₂,

The curvilinear equation of the 3rd section curve is

$y_3=s\&CenterDot;\mathrm{tg}(\frac{A}{{2v}_0}x-\frac{A(x_3-x_2)}{2\mathrm{\&pi;}{v}_0}\cos (\frac{\mathrm{\&pi;}}{x_3-x_2}(x-x_2)+\frac{\mathrm{\&pi;}}{2})-\frac{A(x_2+x_1-x_0)}{2v_0}),$

X wherein ₂≤ x≤x ₃,

Seamlessly transit between each section curve, and about the mid point left-right symmetry of second section curve, and the two ends of sorting cam (171) are skew lines.

8, fruit delivering sorting integrated apparatus according to claim 1, it is characterized in that between drive sprocket (4) and driven sprocket (6), being provided with regulating wheel (5), between regulating wheel (5) and driven sprocket (6), form downward-sloping feeding area, above the material loading point of feeding area, be provided with material loading tip chute (27), be respectively equipped with friction band (10) below the fruit supporting roller (81) in two delivering sorting lines in this zone, the outside at two delivering sorting lines in this zone is respectively equipped with feeding area side board (14), and is provided with central baffle plate (28) in the middle of two delivering sorting lines in this zone.

9, fruit delivering sorting integrated apparatus according to claim 8 is characterized in that described central baffle plate (28) is a rectangle.

10, fruit delivering sorting integrated apparatus according to claim 8, it is characterized in that being provided with image acquisition areas side board (15) in the outside of two delivering sorting lines of image acquisition areas, and between the image acquisition areas side board (15) of homonymy and the feeding area side board (14) discontinuity area is arranged, in the middle of two delivering sorting lines of image acquisition areas, be provided with central trapezoidal baffle plate (20).

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