CN105195440B - A kind of fruit conveying grading plant and system - Google Patents
A kind of fruit conveying grading plant and system Download PDFInfo
- Publication number
- CN105195440B CN105195440B CN201510650571.4A CN201510650571A CN105195440B CN 105195440 B CN105195440 B CN 105195440B CN 201510650571 A CN201510650571 A CN 201510650571A CN 105195440 B CN105195440 B CN 105195440B
- Authority
- CN
- China
- Prior art keywords
- fruit
- cantilever
- grading plant
- roller
- claw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Sorting Of Articles (AREA)
Abstract
The present invention relates to agricultural mechanical field, more particularly to a kind of fruit conveying grading plant and system, including multiple fruit cup units being successively set on chain, the roller bearing of fruit cup unit roller body passes through roller piece, and in the long slot bore that can be through on fruit cup biside plate up and downly；The side of roller body sets claw spiral arm, and fall within the top of the biside plate, and with the movable connection of wherein side plate, and the movable junction is additionally provided with the restricted joint angle auxiliary member for adjusting angle, there is blade tooth on claw spiral arm, pass through between the roller body adjacent rollers piece for the blade tooth；Fruit cup rotation supporting guide is provided with below the roller body, fruit cup rotation supporting guide is placed in the corresponding position of vision-based detection functional section, and fruit cup supporting guide is arranged on below fruit cup.Instant invention overcomes function existing for existing fruit cup device the defects of single, complicated and solve the problems, such as fruit automation hierarchical detection the easy collsion damage of each functional section.
Description
Technical field
The present invention relates to agricultural mechanical field, more particularly to a kind of fruit conveying grading plant and system, particularly class ball
Shape fruit quality is classified claw formula transmitting device and system.
Background technology
Fruit is a kind of important agricultural product, is one of element of human diet structure, is to maintain the mankind to be good for
Vegetable basket food and nourishment food necessary to health life.China is the first in the world Production of fruit big country, from 1993 so far, I
State's fruits output is sure to occupy the first in the world, and with the increase of yield, domestic fruit consumes rapid growth, consumer and fruit process factory
Family is increasingly paid close attention to the quality of fruit, but due to detect with most of the backwardness, the fruit in usual China of sorting means without
Processing is crossed with regard to direct list marketing, lacks the market competitiveness.Only a small amount of fruit carries out commercialized treatment after adopting, and it mainly passes through
Manual type is carried out, and efficiency is low, and accuracy is poor, and cost of labor has and increases trend, so as to which there is an urgent need to automate fruit matter
Measure classifying equipoment.
In recent years, developing rapidly with advanced technologies such as computer vision technique, image processing techniques, control technologies,
These technologies have begun to be applied to the research and development of fruit quality classification equipment, and the fruit grading line of some commercializations is also
Come into operation, wherein fruit transmission device is the key foundation part of fruit machine vision automatic fraction collector.Domestic and foreign scholars are first
After have developed that roller type, bottomless fruit be cup type and fruit automatic-positioning type transmission mechanism etc. (for example, should justice it is refined etc., quasi- ball can be realized
Shape fruit is automatically into the single-row device for conveying and uniformly overturning, Chinese invention patent, application number：02136379.X；Wei Xinhua, make
The roller type fruit conveyor structure that different size fruit is overturn according to same angular velocity, Chinese invention patent, application number：
200610070599.1；Mao Huaxian etc., for fruit grading conveying, turning and unload fruit device, Chinese invention patent, application number：
200910096966.9；Wei Xinhua etc., fruit sorting unloader, Chinese invention patent, application number：201110358063.0；
Zhu Yi, fruit conveying cup, Chinese invention patent, application number：201010175018.7；Nationality is kept tie, duplicate rows wasp waist shape roller type
Fruit conveying device, Chinese invention patent, application number：200310117253.9；Cui Di etc., elliposoidal fruit conveying rotating dress
Put, Chinese invention patent, application number：201410653496.2).
A kind of advanced transmitting device should be able to meet the single fruit conveying in fruit conveying function section simultaneously, be examined in vision
The fruit upset detection of brake section, fruit is unloaded unloading the automatic of fruit functional section, that is, integrates conveying, turn over fruit and unloads fruit, so as to
Detection efficiency is improved, avoids the fruit bruising caused by each functional section fruit transition.The foregoing existing fruit transmission of comprehensive analysis
Device, for fruit disk-shaped structure, it is merely capable of realizing that fruit single fruit conveys, fruit quality detection functional section to conveying function section
Transition easily cause the damage of fruit, and fruit easily rocks in fruit tray when conveying, at present using less.With disc type fruit cup phase
Than roller type device is most ripe at present, and practical application is most extensive.Analyze its design feature, on the one hand, the existing roller type water in part
Fruit hierarchical transmission mechanism can not collect conveying, overturn, unload fruit as all over the body, this kind of usual structure of fruit cup is relatively simple, in course of conveying
Middle fruit relies solely on a pair of roller supportings, if running into jerk in fruit conveying, the hundreds of fruit on roller exists
It is very easy to tumble in the presence of inertia force.On the other hand, although some transmitting devices can realize the conveying of fruit, upset,
Fruit is unloaded, but the structure of generally this kind of transmitting device is complex, and the parts being related to are more, and fit precision requirement is strict, processing
Difficulty, manufacturing cost is higher, is easily caused the increase of whole piece fruit extension line cost, it is big to promote difficulty.Simultaneously as transmitting device
Installation by chain fixed knot away from being limited, current nearly all transmitting device be merely able to carry out when mounted unidirectional installation so as to
Discharging is carried out in the same side, this kind of deficiency oneself independent is unloaded when fruit multichannel detects side by side because each passage must have
Fruit space is so that the manufacturing cost of fruit extension line will be greatly improved.
Therefore, the deficiency for more than, it is desirable to provide a kind of novel fruits transmission grading plant and system.
The content of the invention
(1) technical problems to be solved
It is an object of the invention to provide a kind of fruit conveying grading plant and system, to overcome existing fruit cup device to deposit
Function it is single, complicated the defects of and solve fruit and asked in each functional section easy collsion damage of automation hierarchical detection
Topic, spherical fruit transmission is realized, overturns, unload the transmission that fruit is integrated, while the present invention can meet to pass in multi-path fruit
Installed forward or backwards on defeated chain, realize that adjacent two passage of conveying hierarchy system can carry out unloading fruit towards not homonymy, so as to drop
The manufacturing cost of low fruit grading system.
(2) technical scheme
In order to solve the above-mentioned technical problem, one aspect of the present invention provides a kind of fruit conveying grading plant, including multiple
The fruit cup unit being successively set on conveyor chain, the fruit cup unit include fruit cup, claw spiral arm and roller body, the rolling
Wheel body includes several roller pieces and roller bearing, and the roller bearing passes through the roller piece, and the roller bearing of the roller body can up and downly
It is through in the long slot bore on the side plate of fruit cup first and the second side plate；The side of the roller body sets the claw spiral arm,
The claw spiral arm includes claw, the first cantilever and the second cantilever, and first cantilever and second cantilever pass through the support
Pawl connects, and first cantilever falls within the top of first side plate, and second cantilever falls within the top of second side plate,
With the movable connection of the second side plate, and the movable junction is additionally provided with restricted joint angle auxiliary member, outstanding for adjusting second
There is blade tooth the rotational angle of arm, the claw both sides, passed through between the roller body adjacent rollers piece for the blade tooth；The rolling
Fruit cup rotation supporting guide is provided with below wheel body, the fruit cup rotation supporting guide is placed in the corresponding position of vision-based detection functional section
Put, fruit cup supporting guide is arranged on below fruit cup, the fruit cup supporting guide and the transmission being disposed thereon
Chain interoperation realizes the operation of fruit cup unit.
Wherein, the several roller piece diameters are different, and the diameter of several roller pieces along the roller bearing center to both sides by
It is small to be arranged to big.
Wherein, the roller bearing is provided with roller bearing teeth groove, and the roller bearing bearing pin at roller bearing both ends is placed in the long slot bore, roller piece
The shape of center mounting hole is engaged with the roller bearing teeth groove.
Wherein, the roller piece is made up of flexible abuse resistant material, and the roller bearing is made up of enhancing nylon or rigid plastics.
Wherein, the claw is hemispherical, and the blade tooth gradually shortens from centre to both sides, has at the top of each blade tooth outwards
Projection.
Wherein, second cantilevered distal end is provided with spike boss, and two lugs, the nail are provided with the outside of second side plate
Shape boss is placed in the axis hole of lug, makes claw spiral arm to be used to unload fruit around spike boss axis oscillating.
Wherein, first side plate and the relative position of first cantilever are provided with open slot, second side plate and institute
State the relative position of the second cantilever and be provided with open slot, magnet mounting hole is provided with the open slot of second side plate, for pacifying
The first magnetic patch is filled, the bottom position corresponding with the magnet mounting hole of second cantilever is provided with the second magnetic patch.
Wherein, the restricted joint angle auxiliary member is placed on the lug, the restricted joint angle auxiliary member include mounting blocks and
Screw, the middle part of the mounting blocks are provided with screw, and the screw is located above the second cantilever between two lugs, to adjust
Save claw spiral arm swing angle.
Wherein, in the middle part of the mounting blocks at screw, and half slot is provided with the second cantilever opposite side.
Wherein, the bottom of the fruit cup is provided with aerofoil profile supporting plate.
Wherein, first cantilever end is connected with rectangular slab.
On the other hand, the invention provides a kind of fruit to convey hierarchy system, and it includes controller, visual detector, divided
Select magnetic valve, solenoid actuated mechanism and above-mentioned two pairs of fruit conveying grading plants；The each pair fruit conveys grading plant
Be arranged side by side, and each pair fruit conveying grading plant in fruit cup unit the first cantilever it is mutually close；Visual detector, sorting electromagnetism
Valve is connected with controller respectively；Sorting magnetic valve is connected with solenoid actuated mechanism, and solenoid actuated mechanism is engaged with driving lever,
First cantilever is promoted by the driving lever, rotates claw spiral arm；Visual detector is arranged on by vision-based detection functional section
The top of claw spiral arm, sorting magnetic valve, which is arranged at, unloads fruit functional section.
Wherein, the conveyor chain is annular delivery chain, and the reverse supporting bracket rail of fruit cup is arranged at the annular delivery chain
Bottom, to support aerofoil profile supporting plate, make fruit cup unit be inverted operation when, the fruit cup is articulated in the annular delivery chain
On.
(3) beneficial effect
The above-mentioned technical proposal of the present invention has the following advantages that：Fruit provided by the invention conveys grading plant, roller body
Roller bearing pass through roller piece, the roller bearing can be through the long slot bore on the side plate of fruit cup first and the second side plate up and downly
In；The side of the roller body sets claw spiral arm, and the claw spiral arm falls within the top of first side plate and second side plate
Portion, and the movable connection of the second side plate, and the movable junction is additionally provided with restricted joint angle auxiliary member, for adjusting claw
The rotational angle of spiral arm, there is blade tooth on claw spiral arm, pass through between the roller body adjacent rollers piece for the blade tooth.
Fruit conveying grading plant passes through vision-based detection functional section under the drive of conveyor chain, and roller body is arranged at this
The fruit cup rotation supporting guide of detection function section lifts, and now, the roller body of two neighboring fruit conveying grading plant is by claw
In fruit hold up, the spin friction drive fruit that supporting guide is rotated with roller body and fruit cup is at the uniform velocity overturn, and realizes fruit
Full Surface testing, when fruit conveying grading plant leaves detection function section with conveyor chain, fruit conveying grading plant will
Fruit cup rotation supporting guide is left simultaneously, and now the fruit on roller body steadily will be slowly fallen into hemispherical claw again, is recovered
Feed status, so as to complete the smooth transition of detection function section and conveying function section.Fruit is transported to when unloading fruit functional section, electricity
Magnet valve driving lever will stir claw spiral arm, and claw spiral arm will rotate to an angle around spike boss axis, complete fruit unloaded fruit, this
Sample, the Non-Destructive Testing of fruit, convey, unload fruit by the present invention fruit convey grading plant can realize that each functional section is put down
Steady transition, damaged fruit, of the invention rational in infrastructure not simple, easy to install, easy to maintain.
Meanwhile in real work, grading plants are conveyed by arranging two pairs of fruit for being arranged side by side, and by each pair fruit
The first cantilever of two fruit cup units in grading plant is conveyed mutually close to installation, fruit conveying grading plant is realized
Classification equips adjacent two passage and carries out unloading fruit towards not homonymy, and this will substantially reduce the machining cost of overall classification line, classification
Line will be compacter, take less space, and corresponding vision-based detection cost can also greatly reduce therewith.
Brief description of the drawings
Fig. 1 is transmitting device stereogram of the embodiment of the present invention；
Fig. 2 is fruit cup seat structure stereogram；
Fig. 3 is fruit cup stereogram；
Fig. 4 is the restricted joint angle auxiliary member stereogram of claw spiral arm；
Fig. 5 is claw spiral arm stereogram；
Fig. 6 is claw spiral arm upward view；
Fig. 7 is roller body stereogram；
Fig. 8 is roller body class toothed rollers stereogram；
Fig. 9 is roller body roller piece stereogram；
Figure 10 is the relative position state signal at transmitting device each position in fruit course of conveying of the embodiment of the present invention
Figure, wherein, A, B and C represent adjacent single transmitting device, fruit, A and B are housed for control transmitting device on C transmitting devices；
Figure 11 is the transmitting device of the embodiment of the present invention in entering vision-based detection region and carrying out fruit upset detection process
The relative position view at each position, wherein, A, B and C represent adjacent single transmitting device, are equipped with C transmitting devices
Fruit, A and B are control transmitting device；
Figure 12 is the relative position view at transmitting device each position during fruit is unloaded of the embodiment of the present invention, A,
B and C represents adjacent single transmitting device, fruit, A and B is housed for control transmitting device on C transmitting devices；
Figure 13 is the chain drive structure schematic diagram of the embodiment of the present invention；
Figure 14 is three-dimensional structure diagram when transmitting device is in inversion shape in Figure 13 ring-shaped conveying chains；
Figure 15 is transmitting device different channel layout examples in actual applications；
Figure 16 is any group of adjacent three sets of transmitting device zoomed-in views in tri- groups of passages of A, B, C in Figure 15；
Figure 17 is to arrange transmitting device exemplary plot according to current conventional in layout mode.
In figure, 1, fruit cup；2nd, roller body；3rd, claw spiral arm；4th, long slot bore；5th, open slot；6th, rectangle lug；7th, axle
Hole；8th, mounting groove；9th, chain installation guide groove；10th, airfoil supporting plate；11st, chain mounting hole；12nd, restricted joint angle auxiliary member；
13rd, corner locating screw；14th, trip bolt；15th, fruit cup magnet mounting hole；16th, lug screwed hole；17th, restricted joint angle aids in
Part fixing screwed hole；18th, corner locating screw thread hole；19th, hemispherical claw；20th, the first cantilever；21st, the second cantilever；22、
Spike boss；23rd, blade tooth；24th, rectangular slab；25th, claw spiral arm magnet mounting hole；26th, class toothed rollers；27th, roller piece；28、
Roller bearing bearing pin；29th, roller bearing teeth groove；30th, roller piece mounting hole；31st, fruit；32nd, pitch is 31.75mm carrier chain；33rd, aluminium closes
Golden guide rail；34th, magnetic valve；35th, magnetic valve driving lever；36th, sprocket wheel；37th, tensioning wheel；38th, the reverse supporting bracket rail of fruit cup.
Embodiment
The embodiment of the present invention is described in further detail with reference to the accompanying drawings and examples.Following examples
For illustrating the present invention, but it is not limited to the scope of the present invention.
In the description of the invention, it is necessary to which explanation, term " on ", " under ", " interior ", " outer ", " top ", " bottom " etc. indicate
Orientation or position relationship be based on orientation shown in the drawings or position relationship, be for only for ease of the description present invention and simplification retouched
State, rather than instruction or imply signified device or element there must be specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.In addition, term " first ", " second " are only used for describing purpose, without being understood that
To indicate or implying relative importance." at least two " refer to two and two or more.
In the description of the invention, it is necessary to which explanation, unless otherwise clearly defined and limited, term " being provided with ", " puts
In ", " connected ", " connection ", " opening up ", " falling within ", " installation " etc. should be interpreted broadly, for example, it may be being fixedly connected, also may be used
To be to be detachably connected, or it is integrally connected；Can be mechanical connection or electrical connection；Can be joined directly together, also may be used
Can be the connection of two element internals to be indirectly connected by intermediary.For the ordinary skill in the art,
The concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As shown in figure 1, a kind of fruit conveying grading plant, including multiple fruit cup units being successively set on chain, institute
Stating fruit cup unit includes fruit cup 1, claw spiral arm 3 and roller body 2, and the roller body 2 includes several roller pieces 27 and roller bearing 28,
The roller bearing 28 passes through the roller piece 27, the roller bearing of the roller body 2 can be through up and downly the side plate of fruit cup first and
In long slot bore 4 on second side plate；The side of the roller body sets the claw spiral arm 3, and the claw spiral arm includes support
Pawl 19, the first cantilever 20 and the second cantilever 21, first cantilever 20 and second cantilever 21 are connected by the claw 19,
First cantilever 20 falls within the top of first side plate, and second cantilever 21 falls within the top of second side plate, with
The movable connection of second side plate, and the movable junction is additionally provided with restricted joint angle auxiliary member 12, it is outstanding for adjusting second
There is blade tooth 23 arm rotational angle, the claw both sides, passed through between the adjacent rollers piece of roller body 2 for the blade tooth；It is described
Fruit cup rotation supporting guide is provided with below roller body, fruit cup rotation supporting guide is placed in the corresponding position of vision-based detection functional section
Put, fruit cup supporting guide is arranged on below fruit cup.
When fruit conveying grading plant passes through vision-based detection functional section under the drive of conveyor chain, roller body is set
Lifted in the fruit cup rotation supporting guide of the detection function section, now, the roller body of two neighboring fruit conveying grading plant will
Fruit in claw is held up, and as the spin friction of roller body and fruit cup rotation supporting guide drives fruit at the uniform velocity to overturn, is realized
The full Surface testing of fruit, when fruit conveying grading plant leaves detection function section with conveyor chain, fruit conveying classification dress
Fruit cup rotation supporting guide will be left simultaneously by putting, and now the fruit on roller body steadily will be slowly fallen into hemispherical claw again,
Recover feed status, so as to complete the smooth transition of detection function section and conveying function section.Fruit function is unloaded when fruit is transported to
Duan Shi, magnetic valve driving lever will stir claw spiral arm, and claw spiral arm will rotate to an angle around spike boss axis, complete fruit unloaded
Fruit, so, the Non-Destructive Testing of fruit, convey, unload fruit by the present invention fruit convey grading plant can realize, each function
Section smooth transition, damaged fruit, of the invention rational in infrastructure not simple, easy to install, overall fruit conveying classification after installation
Device chain structure is compact, easy to maintain.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Figure 13 and Figure 14, fruit cup is divided into two parts, two parts up and down and passes through reinforcement
Muscle is connected.Wherein, the fruit cup upper part includes the first side plate and the second side plate.Wherein, first side plate and described
The relative position of first cantilever 20 is provided with open slot 5, and second side plate and the relative position of second cantilever 21 are provided with and opened
Mouthful groove 5, magnet mounting hole is provided with the open slot of second side plate, for installing the first magnetic patch, second cantilever
Bottom position corresponding with the magnet mounting hole is provided with the second magnetic patch, and both sides respectively have a rectangle convex on the outside of the open slot
One lug screwed hole 16 is respectively arranged at ear 6, the top of two rectangle lug 6, and the bottom of two rectangle lug 6 is provided with and followed closely with claw spiral arm 3
The axis hole 7 that shape boss 22 is engaged, the side of axis hole 7 are provided with the mounting groove 8 of spike boss 22, and the mounting groove 8 connects with axis hole 7.
Wherein, as illustrated, respectively having two chain mounting holes on the two side of fruit cup bottom installation conveyor chain
11, two pitchs of holes are 31.75mm, are engaged with the chain that pitch is 31.75mm, each below on the inside of each chain mounting hole to set
There are a chain installation guide groove 9, guiding when being installed for fruit conveying grading plant at chain link plate, chain mounting hole
Outer lower portion is provided with airfoil supporting plate 10, when fruit cup unit is run to inversion state with ring-shaped conveying chain, airfoil
The phase of supporting bracket rail 38 mounting reverse with fruit cup of supporting plate 10.
Further, coordinate at the fruit cup rectangle lug 6 and a claw spiral arm restricted joint angle auxiliary member 12 is installed, should
Restricted joint angle auxiliary member 12 includes mounting blocks and screw, and a middle side part of mounting blocks is provided with half slot and left, center, right respectively have one
Individual screwed hole, wherein the screwed hole of the left and right sides is restricted joint angle auxiliary member fixing screwed hole 17, middle screwed hole is corner
Stop screw screwed hole 18, restricted joint angle auxiliary member fixing screwed hole 17 coordinate for claw to be revolved with rectangle lug screw 16
Arm restricted joint angle auxiliary member 12 is fixedly connected with fruit cup holder portion by trip bolt 14, middle corner locating screw thread hole 18
Installing angle stop screw 13 is used to constrain the anglec of rotation of claw spiral arm 3, by turning corner locating screw 13, adjustment corner limit
The length that position screw 13 stretches out mounting blocks adjusts the rotational angle of claw spiral arm 3.
As shown in Fig. 5, Fig. 6 and Figure 12, the claw spiral arm 3 is by the hemispherical claw 19 in middle part, the first cantilever 20 and second
Cantilever 21 is formed, and hemispherical claw 19 designs the spherical equation x for meeting that radius is R2+y2+z2=R2, the hemispherical both sides of claw 19
Band blade tooth 23, blade tooth 23 gradually shorten from centre to both sides, there is outside projection at the top of each blade tooth, and the first cantilever 20 and second hangs
Arm 21 and blade tooth vertical distribution, the cantilever beam bottom of the second cantilever 21 have a claw spiral arm magnet mounting hole 25 to be used to install magnetic
Block, it unloads the fast of claw spiral arm 3 after fruit with the magnetic patch in fruit cup magnet mounting hole 15 with the use of common supply unit of completing
Fast return, the left and right sides of the end of the second cantilever 21 have symmetrical spike boss 22, and the middle part of spike boss 22 is provided with flat recess, by this
Spike boss 22 smoothly can be pressed into the axis hole 7 of lug 6 by flat recess by mounting groove 8, complete claw spiral arm 3 and fruit cup
The be hinged installation of seat, claw spiral arm 3 now can be around the axis oscillating of spike boss 22, and further, rectangle is arranged at the bottom of the first cantilever 20
Plate 24, used for coordinating magnetic valve driving lever 35 to unload fruit.
As shown in Fig. 1, Fig. 7, Fig. 8 and Fig. 9, the roller body 2 includes roller bearing 26 and some certain thickness roller pieces 27,
Roller piece is equidistantly installed on toothed rollers, and wherein there is roller bearing bearing pin 28 at the both ends of roller bearing 26, and whole roller body 2 passes through roller bearing 26
Both sides roller bearing bearing pin 28 can slide up and down in fruit cup biside plate long slot bore 4, the center of roller piece 27 be provided with roller bearing 26
The dentation hole 30 that roller bearing teeth groove 29 is engaged, roller bearing 26 and roller piece 27 coordinate installation, can between the adjacent rollers piece of roller body two
Pass through for the blade tooth of the claw.Here, the separated design of roller bearing 26 and roller piece 27, is to meet that roller body 3 actually makes
Used time roller bearing 26 and roller piece 27 are different materials, and roller piece 27 is made up of flexible abuse resistant material is more beneficial for the anti-of fruit
Wound, roller bearing 26 are made up of enhancing nylon or other rigid plastics.
Further, effect of the grading plant in real work is conveyed to fruit of the present invention by Figure 10-Figure 14 to retouch
State, in real work, chain drive system include pitch be 31.75mm conveyor chain, chain support aluminum alloy guide rail, sprocket wheel,
The reverse supporting bracket rail of sprocket shaft, Chain conveyer control system, fruit cup, fruit cup rotation supporting guide, classification magnetic valve and magnetic valve drive
Dynamic device, sorting magnetic valve are connected with electromagnetic valve driver, and chain transmission system is connected with Chain conveyer control system, fruit cup rotation branch
Support guide rail is located at fruit vision Quality Detection detection function section, and classification magnetic valve is arranged at chain drive system and unloads fruit functional section.Institute
It is annular delivery chain to state conveyor chain, and the reverse supporting bracket rail of fruit cup is arranged at the bottom of annular delivery chain.
As shown in Figure 10, Figure 11, Figure 12, Figure 13 and Figure 14, during work, fruit conveying grading plant order is installed on transmission
On chain 32, conveyor chain is placed on aluminum alloy guide rail 33, and conveyor chain drives fruit conveying classification under motor power effect
Device moves together, and as shown in Figure 10, fruit 31 is in normal feed status, claw rotation in fruit conveying grading plant C
Arm 3 is in horizontality, and fruit is located in the hemispherical claw 19 of claw spiral arm 3, blade tooth 23 and the roller body 2 of hemispherical claw 19
Contactless, now fruit is steadily held by hemispherical claw 19 and is fed forward with conveyor chain completely, the roller bearing 28 of roller body 2
Positioned at the bottom of long slot bore 4, roller body is not subject to any pressure of fruit, such as control the supply unit A and B in Figure 10.
As shown in figure 11, when fruit enters vision-based detection functional section, roller body 2 is installed at vision-based detection functional section
Fruit cup rotation supporting guide slowly lift, when lifting to peak, the roller bearing 28 of roller body 2 is located at the top of long slot bore 4, this
When claw spiral arm 3 still in horizontality, but the fruit in the hemispherical claw 19 is in the supporting role of adjacent front and rear rolling wheel
Lower to hold up (roller body that B and C fruit conveys grading plant in Figure 11) by slow, fruit is not bearing the branch of hemispherical claw 19
Support force, the blade tooth 23 of hemispherical claw 19 are embedded in the adjacent rollers piece of roller body 2 and with roller body frictionless contact (in Figure 11
A and B control roller body), roller body 2 with fruit cup rotate supporting guide frictional force in the presence of at the uniform velocity overturn with fruit and with
Chain is fed forward, and realizes the full Surface testing in detection function section fruit quality.
When fruit is by detection function section, fruit continues to be fed forward, while roller body 2 will rotate branch from fruit cup successively
Normal transmission state is transitioned on support guide rail, now it is most lower by slowly to drop to it from the top of long slot bore 4 for roller body 2
Face, the fruit that two neighboring roller body is supported convey the hemispherical claw 19 of grading plant by corresponding fruit is smoothly put into
In, return to such as the transmission state in Figure 10.
When the fruit that chain-driving fruit is conveyed in grading plant reaches suitable sorting outlet, single-chip microcomputer receives vision
Detection function section computer disposal consequential signal, and selection control subprogram is called, after program finishes execution, to corresponding sorting
Switch sends control signal, makes magnetic valve 34 drive driving lever 35 to act, and stirs corresponding fruit conveying grading plant rectangular slab 24, phase
The water in fruit conveying grading plant will be made around the axis oscillating of spike boss 22 by answering the claw spiral arm 3 of fruit conveying grading plant
Fruit falls into sorting mouth accordingly, realizes sorting, and after sorting, magnetic valve 34 recovers off-position, while claw spiral arm 3 is certainly
In body gravity and fruit cup magnet mounting hole 15 in magnet and claw spiral arm magnet mounting hole 25 in the presence of magnet magnetic attraction
It is rapid to reset, fruit is unloaded so as to not influence the classification of fruit in adjacent fruit conveying grading plant, action process is as shown in figure 12.
In addition, as shown in Figure 13 and Figure 14, the reverse supporting bracket rail of fruit cup is provided with the bottom chain of annular delivery chain
38, when fruit cup unit is run to inversion state, the phase of supporting bracket rail 38 mounting reverse with fruit cup of airfoil supporting plate 12, so as to mitigate
The load capacity of chain itself simultaneously play the guiding role, and reaches smoothness run.The conveying of a fruit is now completed, rotates, unload fruit
Circulation, wait circulate next time, and whole process is steady, lossless and fruit conveying grading plant is active in one's movements, is easy to operate, nothing
Any environmental pollution.
Further, in order to which superiority of the fruit conveying grading plant of the present invention in similar mechanism is better described, with
Classification is equipped exemplified by parallel 6 passage, and Figure 15 and Figure 17 sets forth fruit conveying grading plant of the present invention in actual applications
Mounting means and fruit conveying grading plant according at present it is common classification line mounting means, Figure 16 be Figure 15 in A, B, C tri-
Arrow in any group of adjacent three sets of fruit conveying grading plant zoomed-in view in group passage, Figure 15 and Figure 16 to the right represents this
The positive installation of device, arrow to the left represent that the present apparatus is reversely installed, and arrow up and down represents to unload fruit direction.Due to
The special structure design of fruit conveying grading plant of the present invention, the roller body 2 and claw spiral arm 3 of adjacent fruit conveying grading plant
To be fitted close installation successively on whole piece carrier chain, overall structure is closely, it is most important that fruit conveys grading plant
Between the either positive installation of cooperation installation or reversely installation can form a complete supply unit chain, while energy
Enough the fruit of same lateral position fruit conveying grading plant is maintained at same center between guarantee supply unit chain difference passage
On line, such as the dotted line in Figure 15 and Figure 16, this point is the condition that multi-path fruit detection must is fulfilled for.Because this is superior
Property so that fruit conveying grading plant of the present invention location layout on multichannel classification line is as shown in figure 15, it is assumed that according to routine
It is 300mm to unload fruit room, and fruit cup width of the present invention is 105mm, then presses positive and negative installation using fruit of the present invention conveying grading plant
Mode arranges that fruit conveys grading plant, and 6 passages classification lineation thinks that overall width is 1.83m, and if traditional cloth according to Figure 17
Office's mode arranges that fruit conveys grading plant, and the arrow in Figure 17 to the right represents to unload the positive installation of fruit device, upward arrow table
Show and unload fruit direction, i.e., traditional approach is merely able to carry out unloading fruit towards side, then 6 passages classification lineation thinks that overall width is 2.73m, very bright
Show as can be seen that fruit of the present invention conveying grading plant can substantially reduce the machining cost of overall classification line, occupancy is more
Few space, and corresponding vision-based detection cost can also greatly reduce, and more how this advantage of port number can be more obvious, this
One superiority is more conducive to the popularization of final products, application.
In summary, when fruit conveying grading plant passes through vision-based detection functional section under the drive of conveyor chain, roller
The fruit cup rotation supporting guide that body is arranged at the detection function section lifts, now, two neighboring fruit conveying grading plant
Roller body holds up the fruit in claw, as the spin friction of roller body and fruit cup rotation supporting guide drives fruit at the uniform velocity to turn over
Turn, realize the full Surface testing of fruit, when fruit conveying grading plant leaves detection function section with conveyor chain, fruit conveying
Grading plant will leave fruit cup rotation supporting guide simultaneously, and now the fruit on roller body steadily will slowly fall into hemispherical support again
In pawl, recover feed status, so as to complete the smooth transition of detection function section and conveying function section, be transported to and unload fruit functional section,
Magnetic valve driving lever will stir claw spiral arm, and claw spiral arm will rotate to an angle around spike boss axis, complete fruit unloaded fruit, this
Sample, the Non-Destructive Testing of fruit, convey, unload fruit by the present invention fruit convey grading plant can realize that each functional section is put down
Steady transition, damaged fruit, of the invention rational in infrastructure not simple, easy to install, easy to maintain.Meanwhile in real work,
By arranging that two pairs of fruit being arranged side by side convey grading plant, and each pair fruit is conveyed into two fruit cup lists in grading plant
First cantilever of member mutually close to installation, enables fruit conveying grading plant to realize that classification equips adjacent two passage towards not homonymy
Carry out unloading fruit, this will substantially reduce the machining cost of overall classification line, and classification line will be compacter, take less sky
Between, and corresponding vision-based detection cost can also greatly reduce therewith.
Present invention is especially suited for the minitype fruits such as multimass index comprehensive such as tangerine orange, jujube, cumquat, small tomato automation point
Level detection, it is of course also apply to the grouping system of other larger fruit.Described above is only the preferred embodiment of the present invention,
It should be pointed out that for those skilled in the art, without departing from the technical principles of the invention, may be used also
To make some improvement and modification, these improvement and modification also should be regarded as protection scope of the present invention.
Claims (12)
1. a kind of fruit conveys grading plant, including multiple fruit cup units being successively set on conveyor chain, it is characterised in that：
The fruit cup unit includes fruit cup, claw spiral arm and roller body, and the roller body includes several roller pieces and roller bearing, the rolling
Axle passes through the roller piece, and the roller bearing of the roller body can be through on the side plate of fruit cup first and the second side plate up and downly
Long slot bore in；
The side of the roller body sets the claw spiral arm, and the claw spiral arm includes claw, the first cantilever and the second cantilever,
First cantilever is connected with second cantilever by the claw, and first cantilever falls within the top of first side plate
Portion, second cantilever fall within the top of second side plate, and the movable connection of the second side plate, and the movable connection
Place is additionally provided with restricted joint angle auxiliary member, and the restricted joint angle auxiliary member includes mounting blocks and corner locating screw, second side
Lug is provided with the outside of plate, the mounting blocks are fixed on the lug, and a middle side part of the mounting blocks is provided with and the corner
The screwed hole that stop screw coordinates, the length of the mounting blocks is stretched out by adjusting the corner locating screw, realize regulation the
There is blade tooth the rotational angle of two cantilevers, the claw both sides, passed through between the roller body adjacent rollers piece for the blade tooth；
Fruit cup rotation supporting guide is provided with below the roller body, the fruit cup rotation supporting guide is placed in vision-based detection function
The corresponding position of section, fruit cup supporting guide are arranged on below fruit cup, and the fruit cup supporting guide is with being disposed thereon
The conveyor chain coordinate and realize the operation of fruit cup unit.
2. fruit according to claim 1 conveys grading plant, it is characterised in that：Several roller piece diameters are different,
And the diameter of several roller pieces is along the ascending arrangement in the roller bearing center to both sides.
3. fruit according to claim 1 conveys grading plant, it is characterised in that：The roller bearing is provided with roller bearing teeth groove,
The roller bearing bearing pin at roller bearing both ends is placed in the long slot bore, and the shape of roller piece center mounting hole matches with the roller bearing teeth groove
Close.
4. grading plant is conveyed according to any described fruit of claim 1-3, it is characterised in that：The claw to be hemispherical,
And the blade tooth gradually shortens from centre to both sides, there is outside projection at the top of each blade tooth.
5. grading plant is conveyed according to any described fruit of claim 1-3, it is characterised in that：Second cantilevered distal end is set
There is spike boss, be provided with two lugs on the outside of second side plate, the spike boss is placed in the axis hole of lug, revolves claw
Arm can be used to unload fruit around spike boss axis oscillating.
6. fruit according to claim 5 conveys grading plant, it is characterised in that：First side plate and described first hangs
The relative position of arm is provided with open slot, and second side plate and the relative position of second cantilever are provided with open slot, and described
Magnet mounting hole is provided with the open slot of two side plates, for installing the first magnetic patch, bottom and the magnetic of second cantilever
The corresponding position of body mounting hole is provided with the second magnetic patch.
7. fruit according to claim 5 conveys grading plant, it is characterised in that：The restricted joint angle auxiliary member is placed in institute
State on lug, the restricted joint angle auxiliary member includes mounting blocks and screw, and the middle part of the mounting blocks is provided with screw, the screw
Between two lugs, and above the second cantilever, to adjust claw spiral arm swing angle.
8. fruit according to claim 7 conveys grading plant, it is characterised in that：In the middle part of the mounting blocks at screw, and
Half slot is provided with the second cantilever opposite side.
9. grading plant is conveyed according to any described fruit of claim 1-3, it is characterised in that：The bottom of the fruit cup is set
There is aerofoil profile supporting plate.
10. grading plant is conveyed according to any described fruit of claim 1-3, it is characterised in that：First cantilever end
It is connected with rectangular slab.
11. a kind of fruit conveys hierarchy system, it is characterised in that：Including controller, visual detector, sorting magnetic valve, electromagnetism
Fruit conveying grading plant described in iron drive mechanism and two pairs of claim any one of 1-10；The each pair fruit conveying classification
Device is arranged side by side, and each pair fruit conveying grading plant in fruit cup unit the first cantilever it is mutually close；Visual detector, sorting
Magnetic valve is connected with controller respectively；Sorting magnetic valve is connected with solenoid actuated mechanism, solenoid actuated mechanism and driving lever phase
Coordinate, the first cantilever is promoted by the driving lever, rotates claw spiral arm；Visual detector is arranged on by vision-based detection function
The top of the claw spiral arm of section, sorting magnetic valve, which is arranged at, unloads fruit functional section.
12. fruit according to claim 11 conveys hierarchy system, it is characterised in that：The conveyor chain is annular delivery
Chain, the reverse supporting bracket rail of fruit cup is arranged at the bottom of the annular delivery chain, to support aerofoil profile supporting plate, is inverted fruit cup unit
During operation, the fruit cup is articulated on the annular delivery chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650571.4A CN105195440B (en) | 2015-10-09 | 2015-10-09 | A kind of fruit conveying grading plant and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650571.4A CN105195440B (en) | 2015-10-09 | 2015-10-09 | A kind of fruit conveying grading plant and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105195440A CN105195440A (en) | 2015-12-30 |
| CN105195440B true CN105195440B (en) | 2017-11-17 |
Family
ID=54943586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510650571.4A Active CN105195440B (en) | 2015-10-09 | 2015-10-09 | A kind of fruit conveying grading plant and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105195440B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108325865B (en) * | 2018-03-12 | 2024-03-19 | 浙江大学 | Single-chain double-support fruit cup device for sorting fruits and vegetables |
| CN109047034B (en) * | 2018-07-17 | 2023-12-29 | 中国农业大学 | Raisin color size double-standard automatic multi-stage sorting device |
| CN109248866B (en) * | 2018-08-10 | 2020-05-22 | 北京农业智能装备技术研究中心 | Automatic weighing and internal quality detection tray type grading device for large-size fruits |
| CN109759359B (en) * | 2019-02-13 | 2021-01-05 | 陈皓 | Novel multifunctional fruit detection and classification device and use method thereof |
| CN109927974A (en) * | 2019-03-13 | 2019-06-25 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of circle fruit arranges and unloads the vending machine of fruit device and its composition |
| CN110340029A (en) * | 2019-07-17 | 2019-10-18 | 朱二 | Big fruit grading supply unit |
| CN110406897A (en) * | 2019-08-29 | 2019-11-05 | 合肥泰禾光电科技股份有限公司 | A kind of sorting fruit cup and sorting transportation system |
| CN112934734A (en) * | 2021-01-27 | 2021-06-11 | 重庆檬泰生物科技有限公司 | Fruit sorting equipment |
| CN113479567B (en) * | 2021-07-14 | 2022-05-20 | 浙江大学 | Roller type conveying device for fruit and vegetable sorting |
| CN115350959B (en) * | 2022-10-19 | 2023-01-03 | 电子科技大学成都学院 | Intelligent mechanical arm for screening containers |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6179129B1 (en) * | 1999-01-22 | 2001-01-30 | Powell Machinery, Inc. | Color sorter assembly and method |
| AUPS319602A0 (en) * | 2002-06-26 | 2002-07-18 | Colour Vision Systems Pty Ltd | Fruit handling equipment |
| US7395914B2 (en) * | 2003-10-09 | 2008-07-08 | Fps Food Processing Systems B.V. | Carrier for sorting apparatus |
| CN201313096Y (en) * | 2008-09-11 | 2009-09-23 | 杭州行地集团有限公司 | Fruit conveying and turning device of fruit grader |
| CN101658843B (en) * | 2009-03-26 | 2013-06-19 | 杭州行地集团有限公司 | Conveying, turning and unloading device used for fruit grading |
| CN104014488B (en) * | 2014-04-15 | 2016-06-08 | 北京农业智能装备技术研究中心 | Fruit cup mechanism and fruit for fruit Non-Destructive Testing and discharging of weighing process system |
| CN205074248U (en) * | 2015-10-09 | 2016-03-09 | 北京农业智能装备技术研究中心 | Grading plant and system are carried to fruit |
-
2015
- 2015-10-09 CN CN201510650571.4A patent/CN105195440B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105195440A (en) | 2015-12-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105195440B (en) | A kind of fruit conveying grading plant and system | |
| CN1712142A (en) | Intelligent fruits grading device | |
| CN104084384A (en) | Fruit detection classifier | |
| CN207785875U (en) | A kind of automatic collect of billiard ball puts system | |
| CN204148151U (en) | A kind of fruits and vegetables with horizontal fruit cup are weighed turning device | |
| CN106362964A (en) | Solar cell testing and separating device | |
| CN205074248U (en) | Grading plant and system are carried to fruit | |
| CN105251703B (en) | A kind of fruit is driven classifying equipoment | |
| CN108838098A (en) | A kind of small-sized fruits and vegetables weighing sorting device | |
| CN101288870A (en) | Conveyer device of apple grade and method for grading apple using the conveyer device | |
| CN209647018U (en) | Agricultural sorter | |
| CN101273869A (en) | Chopsticks collating unit | |
| CN115808145B (en) | Multi-point measuring device and method for wafer thickness | |
| CN109759356A (en) | A kind of rotating disc type fruit quality grading sorting unit | |
| CN202114018U (en) | Machine vision system for grain real-time detection and grading | |
| CN207030413U (en) | A kind of battery core for battery automatic disc filling captures rotating mechanism | |
| CN105080850A (en) | Full-automatic volute spiral spring pre-twisting and screening separation machine | |
| CN107279253A (en) | A kind of fish three-level sorting equipment and method of work based on weight | |
| CN203337566U (en) | Quill roller detection device based on machine vision | |
| CN110091010A (en) | Tapping machine overturns discharging device with medical thermostat short axle automatic charging | |
| CN201446091U (en) | Semiconductor wafer classification system with ferris wheel type pivoting and transfer device | |
| CN106144908B (en) | The gantry of installation weighing device for discharging | |
| CN115302487A (en) | Photovoltaic silicon chip get piece material loading manipulator | |
| CN205588071U (en) | Can polish intelligent magnetic force burnishing machine of precision by automatic control | |
| CN210022889U (en) | Electric power intelligence fortune is examined thing of sending of robot and is weighed recognition mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |