CN106314859A - Fruit and vegetable classifying and boxing robot and method - Google Patents
Fruit and vegetable classifying and boxing robot and method Download PDFInfo
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- CN106314859A CN106314859A CN201610723638.7A CN201610723638A CN106314859A CN 106314859 A CN106314859 A CN 106314859A CN 201610723638 A CN201610723638 A CN 201610723638A CN 106314859 A CN106314859 A CN 106314859A
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- fruit
- vegerable
- conveyer belt
- classification
- carrier
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
- B65B25/046—Packaging fruit or vegetables in crates or boxes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/12—Apparatus having only parallel elements
- B07B1/14—Roller screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/24—Feeding, e.g. conveying, single articles by endless belts or chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Agronomy & Crop Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Combined Means For Separation Of Solids (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention discloses a fruit and vegetable classifying and boxing robot system. The fruit and vegetable classifying and boxing robot system comprises a feeding mechanism, a classifying mechanism, a fruit and vegetable conveying belt, a double-arm mechanical hand, a box body conveying belt, a lifting type conveying belt, a boxing conveying belt and a fruit and vegetable carrier conveying belt, and spherical fruit and vegetable classifying and double-arm robot boxing processes are mainly completed. According to the classifying mechanism, a pitch limiting screw rod is used for distinguishing a low-level fruit and vegetable treatment area, a middle-level fruit and vegetable treatment area and a high-level fruit and vegetable treatment area through a variable-pitch guiding groove structure. The double-arm mechanical hand comprises an end picker, a motor, a steering device, a horizontal lead screw, a vertical lead screw, a polished rod, a connecting plate, a synchronous belt wheel assembly, a suction cup and the like and is installed on two work stations of a moving seat to achieve automatic layering boxing of fruits and vegetables. According to the fruit and vegetable classifying and boxing robot system, multiple processes of spherical fruit and vegetable feeding, classifying, layering boxing and the like are organically combined, full-automatic production of the fruits and the vegetables is achieved, the production efficiency of the fruit and vegetable sorting and boxing operation is effectively improved, and the labor intensity of manual production is lowered.
Description
Technical field
The present invention relates to the fruit and vegerable classification of a kind of agricultural, packing production chain equipment and method, especially relate to based on spherical fruit
The agriculture fruit and vegerable sorting production line of vegetables automatic classification, robot vanning and method.
Background technology
Agricultural spheral fruit is divided into different grades owing to it varies in size, including rudimentary fruit and vegerable, middle rank fruit and vegerable and senior
Fruit and vegerable, in order to meet market demand, it is achieved the classification of different size fruit and vegerable and vanning.At present, most of fruit and vegerable are by manually carrying out
Classification and vanning, production efficiency is low, labor intensity is big, and many production firms develop many fruit and vegerable sortings, boxing apparatus, as specially
Profit number: ZL201410158585.X " a kind of fruit automatic classifier ", ZL201410158591.5 " a kind of fruit and vegerable automatic sortings system
System ", ZL201510417720.2 " a kind of fruit automatic boxing machine and fruit packing method " etc., although above-mentioned patent ratio is traditional
Manual fruit and vegerable sorting is high with boxing efficiency, but generally by multiple operations such as the feeding of fruit and vegerable, classification and vannings separately, it is difficult to realize
It is full-automatic that fruit and vegerable produce.
Summary of the invention
The technical problem to be solved is to overcome automaticity present in the above-mentioned spheral fruit course of processing
The highest problem, it is provided that a kind of based on spheral fruit fully automatic feeding, classification, the fruit and vegerable classification vanning robot system of layering vanning
System.
For solving above-mentioned technical problem, the present invention provides a kind of fruit and vegerable classification vanning robot system, including:
Feed mechanism 1, described feed mechanism 1 for being transported to classification mechanism 2 by fruit and vegerable；
Classification mechanism 2, described classification mechanism 2 includes that C fruit and vegerable treatment region, D fruit and vegerable treatment region, E fruit and vegerable treatment region form, is used for
Diameter according to fruit and vegerable carries out automatic classification: rudimentary fruit and vegerable, middle rank fruit and vegerable and superfine fruit and vegerable；
Fruit and vegerable conveyer belt 3, described fruit and vegerable conveyer belt 3 is for being transported to fruit and vegerable carrier 59 by middle rank fruit and vegerable；
Dual-arm robot 4, described dual-arm robot 4 is for capturing the fruit and vegerable on fruit and vegerable carrier 59 and being sequentially placed into left and right
In the casing of both sides；
Casing conveyer belt 5, described casing conveyer belt 5 is for carrying the casing containing fruit and vegerable；
Lift conveyer belt 6, described lift conveyer belt 6 is for passing between vanning conveyer belt 7 and fruit and vegerable carrier conveyer belt 8
Send fruit and vegerable carrier 59；
Vanning conveyer belt 7, described vanning conveyer belt 7 is paved on the fruit and vegerable of fruit and vegerable carrier 59 to dual-arm robot 4 for transmitting
Working area；
Fruit and vegerable carrier conveyer belt 8, described fruit and vegerable carrier conveyer belt 8 is used for fruit and vegerable carrier 59 from dual-arm robot 4 working area
Send back vanning conveyer belt 7；
It is characterized in that: classification rolling bar 21 is divided into C fruit and vegerable treatment region, D fruit and vegerable by range line screw rod 28 by described classification mechanism 2
Treatment region, E fruit and vegerable treatment region；Described casing conveyer belt 5 is arranged in vanning conveyer belt 7 and fruit and vegerable carrier conveyer belt 8 both sides；Institute
The dual-arm robot 4 stated is installed on above casing conveyer belt 5 and lift conveyer belt 6, and by horizontal screw lead 42, down-feed screw
45, the intermediate fruit and vegerable that vanning conveyer belt 7 transports are loaded in fruit and vegetable box 52 by feed rod 46 and terminal-collecting machine 36；Described fruit and vegerable conveyer belt
3 one end are installed on below the D fruit and vegerable treatment region of classification mechanism 2, are provided with vanning conveyer belt 7 He being parallel to each other below the other end
Fruit and vegerable carrier conveyer belt 8；Described lift conveyer belt 6 is installed on vanning conveyer belt 7 and fruit and vegerable carrier conveyer belt 8 two ends.
Described feed mechanism 1 includes elevating hopper 10, feed frame 11, feeding rolling bar 12, paves brush 13, keyset 14 groups
Become.
Described classification mechanism 2 includes rudimentary fruit and vegerable treatment region 20, classification rolling bar 21, senior fruit and vegerable treatment region 22, classification
Drive motor 1, grader frame 24, extension set chain kit 25, bearing block 26, gripper shoe 27, range line screw rod 28, classification
Motor 2 29, chain 30, power transmission shaft 31, shaft coupling 32, electric machine support 33 is driven to form；Described classification rolling bar 21 passes through chain
The side plate fluting of 30 is installed in the gathering sill of range line screw rod 28；Described range line screw rod 28 uses varying pitch guide groove structure also
It is connected to classification by shaft coupling 32 and drives motor 2 29；Described range line screw rod 28 is symmetrically arranged on classification rolling bar 21 both sides.
Described dual-arm robot 4 includes terminal-collecting machine 36, motor 38, steering gear 39, guide rail 41, horizontal screw lead 42, moves
Seat 43, down-feed screw 45, polished rod 46, connecting plate 47, synchronous pulley component 48, motor 49, sucker 50 form；Described Mobile base
43 are arranged on guide rail 41 and are connected to horizontal screw lead 42 by connecting plate 47；Described horizontal screw lead 42 is symmetrically arranged on movement
Seat 43 both sides are also connected to motor 38 by steering gear 39；Described Mobile base 43 has two stations, and each station is installed
By the handling machinery comprising terminal-collecting machine 36, down-feed screw 45, polished rod 46, synchronous pulley component 48, motor 49, sucker 50 form
Hands.
Described lift conveyer belt 6 include lifting platform support 60, cylinder 61, support seat 62, strut 63, upper mounting plate 64,
Carrier conveyer belt 65 forms.
Described feed mechanism 1 includes elevating hopper 10, feed frame 11, feeding rolling bar 12, paves brush 13, keyset 14 groups
Become.
Described fruit and vegerable classification packing method, comprises the steps:
Ball-type fruit and vegerable are promoted to classification mechanism 2 top by feeding rolling bar 12 by feed mechanism 1, and are put down by fruit and vegerable by paving brush 13
It is layered in keyset 14 and classification rolling bar 21；
Classification rolling bar 21 is under classification chain transmission component 25 and range line screw rod 28 drive, in the diverse location shape of range line screw rod 28
Become different C, D, E fruit and vegerable treatment region；
The rudimentary fruit and vegerable that overall dimensions is less enter rudimentary fruit and vegerable treatment region 20 at C fruit and vegerable treatment region；
The senior fruit and vegerable that overall dimensions is bigger enter senior fruit and vegerable treatment region 22 at E fruit and vegerable treatment region；
Middle rank fruit and vegerable by fruit and vegerable conveyer belt 3 and enter the fruit and vegerable carrier on vanning conveyer belt 7 at D fruit and vegerable treatment region after paving
59；
Fruit and vegerable and fruit and vegerable carrier 59 are transported to the lift conveyer belt 6 below dual-arm robot 4 through vanning conveyer belt 7；
In dual-arm robot 4 working area, terminal-collecting machine 36 passes through sucker 50 by fruit and vegerable under motor 49 and down-feed screw 45 drive
Mention, and the fruit and vegerable vanning of two stations about realization under motor 38 and horizontal lead screw 42 drive；Dual-arm robot 4 is by two
Mechanical hand forms, and while a mechanical hand captures fruit and vegerable, fruit and vegerable are cased, by motor 38 and level silk by another mechanical hand
Bar 42 controls the operating position of two mechanical hands and crawl and vanning operation；
Take the fruit and vegerable carrier 59 after fruit and vegerable away decline under lift conveyer belt 6 drives and be transported to fruit and vegerable carrier conveyer belt 8；
Fruit and vegerable carrier 59 enters the lift conveyer belt 6 below fruit and vegerable conveyer belt 3 by fruit and vegerable carrier conveyer belt 8, and through lifting
Formula conveyer belt 6 promotes and is transported to conveyer belt 7 of casing；
Fruit and vegetable box 52 transports out through casing conveyer belt 5 after filling.
Beneficial effect: multiple operations such as spheral fruit feeding, classification, layering vanning are combined by the present invention, real
It is full-automatic that existing fruit and vegerable produce, and is effectively increased the production efficiency of fruit and vegerable sorting incasement operation, reduces the work of artificial production
Intensity；Meanwhile, dual-arm robot is incorporated into fruit and vegerable production and processing field, uses vacuum cup to capture fruit and vegerable, effectively prevent
Mutually wounding of fruit and vegerable.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is that the fruit of the present invention dredges treatment region subregion schematic diagram；
Fig. 3 is the classification mechanism structural representation of the present invention；
Fig. 4 is the classification mechanism structure partial enlarged drawing of the present invention；
Fig. 5 is the dual-arm robot structural representation of the present invention；
Fig. 6 is the dual-arm robot structure partial enlarged drawing of the present invention
Fig. 7 is the lift conveyer structure schematic diagram of the present invention；
Fig. 8 is fruit and vegerable carrier and the conveyer belt structure schematic diagram thereof of the present invention.
In figure: 1 feed mechanism, 2 classification mechanisms, 3 fruit and vegerable conveyer belts, 4 dual-arm robots, 5 casing conveyer belts, 6 lifts
Conveyer belt, 7 vanning conveyer belts, 8 fruit and vegerable carrier conveyer belts, 10 elevating hoppers, 11 feed frames, 12 feeding rolling bar, 13 pave brush, 14
Keyset, 20 rudimentary fruit and vegerable treatment regions, 21 classification rolling bar, 22 senior fruit and vegerable treatment regions, 23 classifications drive motor one, 24 grader
Frame, 25 hierarchical chain transmission components, 26 bearing blocks, 27 gripper shoes, 28 range line screw rods, 29 classifications drive motor two, 30 chains, 31
Power transmission shaft, 32 shaft couplings, 33 electric machine supports, 35 manipulator supports, 36 terminal-collecting machines, 37 gripper shoes, 38 motors, 39 steering gears, 40
Leading screw bearing, 41 guide rails, 42 horizontal screw leads, 43 Mobile bases, 44 fairleads, 45 down-feed screws, 46 feed rods, 47 connecting plates, 48 with
Step pulley assemblies, 49 motors, 50 suckers, 51 columns, 52 fruit and vegetable box, 53 conveyer belts, 54 proximity switches, 59 fruit and vegerable carriers, 60 liters
Fall platform support, 61 cylinders, 62 support seat, 63 struts, 64 upper mounting plates, 65 carrier conveyer belts.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the present invention is specifically described by embodiment.
The present invention is a kind of spheral fruit classification vanning robot system.
Fig. 1 show the overall structure schematic front view of the present invention.
The present invention includes feed mechanism 1, classification mechanism 2, fruit and vegerable conveyer belt 3, dual-arm robot 4, casing conveyer belt 5, rises
Fall formula conveyer belt 6, vanning conveyer belt 7, fruit and vegerable carrier conveyer belt 8 form；It is right that described feed mechanism 1 is installed on classification mechanism 2
Side, described fruit and vegerable conveyer belt 3 is installed on below classification mechanism 2 centre, and described vanning conveyer belt 7 is installed on fruit and vegerable conveyer belt
Below 3 front ends, described lift conveyer belt 6 is symmetrically arranged on vanning conveyer belt 7 two ends, described vanning conveyer belt 7 front end
Lift conveyer belt 6 left and right sides installed is disposed with casing conveyer belt 5, and described dual-arm robot 4 is installed on vanning conveying
Carry above 7 front ends, lift conveyer belt 6 and casing conveyer belt 5, the fruit that lift conveyer belt 6 transmits can be grabbed two
In casing on the casing conveyer belt 5 of side.
Fig. 2 is the fruit and vegerable treatment region subregion schematic diagram of the present invention.
Described classification mechanism 2 forms different fruit and vegerable treatment region by the different spacing of classification rolling bar 21, at C fruit and vegerable
Reason district, D fruit and vegerable treatment region, E fruit and vegerable treatment region composition, for carrying out automatic classification according to the diameter of fruit and vegerable: rudimentary fruit and vegerable,
Middle rank fruit and vegerable and superfine fruit and vegerable.
Fig. 3 and Fig. 4 is respectively classification mechanism structural representation and the classification mechanism structure partial enlarged drawing of the present invention.
Described classification mechanism 2 includes that classification rolling bar 21, classification drive motor 1, grader frame 24, extension set chain to pass
Dynamic assembly 25, bearing block 26, gripper shoe 27, range line screw rod 28, classification drive motor 2 29, chain 30, power transmission shaft 31 to form；Institute
The classification rolling bar 21 stated is installed in the gathering sill of range line screw rod 28 by the side plate fluting of chain 30；Described range line screw rod 28
Use varying pitch guide groove structure and be connected to classification driving motor 2 29 by shaft coupling 32；Described range line screw rod 28 is symmetrical
It is installed on classification rolling bar 21 both sides.
Fig. 5 and Fig. 6 show the dual-arm robot structural representation of the present invention.
Described dual-arm robot 4 includes terminal-collecting machine 36, motor 38, steering gear 39, guide rail 41, horizontal screw lead 42, moves
Seat 43, down-feed screw 45, polished rod 46, connecting plate 47, synchronous pulley component 48, motor 49, sucker 50 form；Described Mobile base
43 are arranged on guide rail 41 and are connected to horizontal screw lead 42 by connecting plate 47；Described horizontal screw lead 42 is symmetrically arranged on movement
Seat 43 both sides are also connected to motor 38 by steering gear 39；Described Mobile base 43 has two stations, and each station is installed
By the handling machinery comprising terminal-collecting machine 36, down-feed screw 45, polished rod 46, synchronous pulley component 48, motor 49, sucker 50 form
Hands.
Fig. 7 show the lift conveyer structure schematic diagram of the present invention.
Described lift conveyer belt 6 include lifting platform support 60, cylinder 61, support seat 62, strut 63, upper mounting plate 64,
Carrier conveyer belt 65 forms.
Fig. 8 show fruit and vegerable carrier and the conveyer belt structure schematic diagram thereof of the present invention.
Described vanning conveyer belt 7 and fruit and vegerable carrier conveyer belt 8 are parallelly mounted to below fruit and vegerable conveyer belt 3 front end, described
Lift conveyer belt 6 the fruit and vegerable carrier 59 that fruit and vegerable carrier conveyer belt 8 transmits is risen to vanning conveyer belt 7, maybe will vanning
Fruit and vegerable carrier 59 on conveyer belt 7 sends fruit and vegerable carrier conveyer belt 8 after dual-arm robot 4 captures fruit and vegerable to, forms fruit and vegerable and carries
The recycling of tool 59.
Embodiments of the invention are fruit and vegerable classification vanning robot system based on the vanning of middle rank fruit and vegerable robot, the present invention
Can be arranged as required to based on rudimentary fruit and vegerable robot vanning, senior fruit and vegerable robot vanning fruit and vegerable classification vanning robot
System.
The embodiment above of the present invention, is merely illustrative, and is not only, all within the scope of the present invention or equivalent this
Change in the range of invention is all surrounded by the present invention.
Claims (4)
1. a fruit and vegerable classification vanning robot system, including:
Feed mechanism 1, described feed mechanism 1 for being transported to classification mechanism 2 by fruit and vegerable；
Classification mechanism 2, described classification mechanism 2 includes that C fruit and vegerable treatment region, D fruit and vegerable treatment region, E fruit and vegerable treatment region form, is used for
Diameter according to fruit and vegerable carries out automatic classification: rudimentary fruit and vegerable, middle rank fruit and vegerable and superfine fruit and vegerable；
Fruit and vegerable conveyer belt 3, described fruit and vegerable conveyer belt 3 is for being transported to fruit and vegerable carrier 59 by middle rank fruit and vegerable；
Dual-arm robot 4, described dual-arm robot 4 is for capturing the fruit and vegerable on fruit and vegerable carrier 59 and being sequentially placed into left and right
In the casing of both sides；
Casing conveyer belt 5, described casing conveyer belt 5 is for carrying the casing containing fruit and vegerable；
Lift conveyer belt 6, described lift conveyer belt 6 is for passing between vanning conveyer belt 7 and fruit and vegerable carrier conveyer belt 8
Send fruit and vegerable carrier 59；
Vanning conveyer belt 7, described vanning conveyer belt 7 is paved on the fruit and vegerable of fruit and vegerable carrier 59 to dual-arm robot 4 for transmitting
Working area；
Fruit and vegerable carrier conveyer belt 8, described fruit and vegerable carrier conveyer belt 8 is used for fruit and vegerable carrier 59 from dual-arm robot 4 working area
Send back vanning conveyer belt 7；
It is characterized in that: classification rolling bar 21 is divided into C fruit and vegerable treatment region, D fruit and vegerable by range line screw rod 28 by described classification mechanism 2
Treatment region, E fruit and vegerable treatment region；Described casing conveyer belt 5 is arranged in vanning conveyer belt 7 and fruit and vegerable carrier conveyer belt 8 both sides；Institute
The dual-arm robot 4 stated is installed on above casing conveyer belt 5 and lift conveyer belt 6, and by horizontal screw lead 42, down-feed screw
45, the intermediate fruit and vegerable that vanning conveyer belt 7 transports are loaded in fruit and vegetable box 52 by feed rod 46 and terminal-collecting machine 36；Described fruit and vegerable conveyer belt
3 one end are installed on below the D fruit and vegerable treatment region of classification mechanism 2, are provided with vanning conveyer belt 7 He being parallel to each other below the other end
Fruit and vegerable carrier conveyer belt 8；Described lift conveyer belt 6 is installed on vanning conveyer belt 7 and fruit and vegerable carrier conveyer belt 8 two ends.
Fruit and vegerable classification the most according to claim 1 vanning robot system, it is characterised in that: described classification mechanism 2 wraps
Include rudimentary vegetables treatment region 20, classification rolling bar 21, senior fruit and vegerable treatment region 22, classification driving motor 1, grader frame 24, divide
Chain transmission component 25, bearing block 26, gripper shoe 27, range line screw rod 28, classification drive motor 2 29, chain 30, power transmission shaft 31,
Shaft coupling 32, electric machine support 33 form；Described classification rolling bar 21 is installed on range line screw rod 28 by the side plate fluting of chain 30
Gathering sill in；Described range line screw rod 28 uses varying pitch guide groove structure and is connected to classification driving electricity by shaft coupling 32
Machine 2 29；Described range line screw rod 28 is symmetrically arranged on classification rolling bar 21 both sides.
Fruit and vegerable classification the most according to claim 1 vanning robot system, it is characterised in that: described dual-arm robot 4
Including terminal-collecting machine 36, motor 38, steering gear 39, guide rail 41, horizontal screw lead 42, Mobile base 43, down-feed screw 45, polished rod 46, connect
Fishplate bar 47, synchronous pulley component 48, motor 49, sucker 50 form；Described Mobile base 43 is arranged on guide rail 41 and by even
Fishplate bar 47 is connected to horizontal screw lead 42；Described horizontal screw lead 42 is symmetrically arranged on Mobile base 43 both sides and is connected by steering gear 39
Receive motor 38；Described Mobile base 43 has two stations, each station is provided with and comprises terminal-collecting machine 36, down-feed screw
45, polished rod 46, synchronous pulley component 48, motor 49, the conveying robot of sucker 50 composition.
4. a fruit and vegerable classification packing method, comprises the steps:
Ball-type fruit and vegerable are promoted to classification mechanism 2 top by feeding rolling bar 12 by feed mechanism 1, and are put down by fruit and vegerable by paving brush 13
It is layered in keyset 14 and classification rolling bar 21；
Classification rolling bar 21 is under classification chain transmission component 25 drives, and the diverse location at range line screw rod 28 forms different C, D, E
Fruit and vegerable treatment region；
The rudimentary fruit and vegerable that overall dimensions is less enter rudimentary fruit and vegerable treatment region 20 at C fruit and vegerable treatment region；
The senior fruit and vegerable that overall dimensions is bigger enter senior fruit and vegerable treatment region 22 at E fruit and vegerable treatment region；
Middle rank fruit and vegerable by fruit and vegerable conveyer belt 3 and enter the fruit and vegerable carrier on vanning conveyer belt 7 at D fruit and vegerable treatment region after paving
59；
Fruit and vegerable and fruit and vegerable carrier 59 are transported to the lift conveyer belt 6 below dual-arm robot 4 through vanning conveyer belt 7；
In dual-arm robot 4 working area, terminal-collecting machine 36 passes through sucker 50 by fruit and vegerable under motor 49 and down-feed screw 45 drive
Mention, and the fruit and vegerable vanning of two stations about realization under motor 38 and horizontal lead screw 42 drive；Dual-arm robot 4 is by two
Mechanical hand forms, and while a mechanical hand captures fruit and vegerable, fruit and vegerable are cased, by motor 38 and level silk by another mechanical hand
Bar 42 controls the operating position of two mechanical hands and crawl and vanning operation；
Take the fruit and vegerable carrier 59 after fruit and vegerable away decline under lift conveyer belt 6 drives and be transported to fruit and vegerable carrier conveyer belt 8；
Fruit and vegerable carrier 59 enters the lift conveyer belt 6 below fruit and vegerable conveyer belt 3 by fruit and vegerable carrier conveyer belt 8, and through lifting
Formula conveyer belt 6 promotes and is transported to conveyer belt 7 of casing；
Fruit and vegetable box 52 transports out through casing conveyer belt 5 after filling.
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| CN201610723638.7A CN106314859B (en) | 2016-08-26 | 2016-08-26 | Fruits and vegetables classification vanning robot and method |
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|---|---|---|---|
| CN201610723638.7A CN106314859B (en) | 2016-08-26 | 2016-08-26 | Fruits and vegetables classification vanning robot and method |
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| CN111776293A (en) * | 2020-07-29 | 2020-10-16 | 中科微至智能制造科技江苏股份有限公司 | Fruit conveying, sucking and boxing equipment |
| CN112024372A (en) * | 2020-08-20 | 2020-12-04 | 方家铺子食品有限公司 | Many functions are dry goods sieving mechanism with multistage screen cloth |
| WO2023168558A1 (en) * | 2022-03-07 | 2023-09-14 | 华山科技股份有限公司 | Feeding device for crayfish sorting machine |
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| CN107128545A (en) * | 2017-06-21 | 2017-09-05 | 浙江亿诺自动化有限公司 | The dedusting of material conveying, sorting, vanning transition system |
| CN107350168A (en) * | 2017-08-28 | 2017-11-17 | 宁夏大学 | A kind of potato Fast nondestructive evaluation self-grading device and method |
| CN107694960A (en) * | 2017-10-10 | 2018-02-16 | 昆明理工大学 | A kind of fully-automatic intelligent fruits and vegetables sorting vanning robot |
| CN107694960B (en) * | 2017-10-10 | 2024-03-29 | 昆明理工大学 | Full-automatic intelligent fruit and vegetable sorting and boxing robot |
| CN108401654A (en) * | 2018-03-13 | 2018-08-17 | 河北师范大学 | A kind of fruit picker |
| CN109092656B (en) * | 2018-07-09 | 2020-10-13 | 金寨县益农农业科技开发有限公司 | Water chestnut screening device and method |
| CN109092656A (en) * | 2018-07-09 | 2018-12-28 | 安徽省雷氏农业科技有限公司 | A kind of water chestnut screening plant and its method |
| CN109335077A (en) * | 2018-12-06 | 2019-02-15 | 唐山学院 | A kind of classification of multi-grade fruit and packaging system |
| CN109335077B (en) * | 2018-12-06 | 2024-01-12 | 唐山学院 | Multi-grade fruit classification and boxing system |
| CN109956078A (en) * | 2019-04-22 | 2019-07-02 | 重庆城市管理职业学院 | Fruit grading coating system |
| CN110052412B (en) * | 2019-05-24 | 2021-11-26 | 甘肃生平永泰食品有限公司 | Sorting table with circulating sorting structure |
| CN110052412A (en) * | 2019-05-24 | 2019-07-26 | 甘肃生平永泰食品有限公司 | A kind of sorting table sorting structure with circulation |
| CN110155617A (en) * | 2019-06-24 | 2019-08-23 | 镇江合力汽车紧固件有限公司 | A kind of automatic blanking discharging device |
| CN110967346A (en) * | 2019-12-30 | 2020-04-07 | 烟台拓伟智能科技股份有限公司 | Fruit vegetables apparent detection and sorting vanning device |
| CN110967346B (en) * | 2019-12-30 | 2024-06-07 | 烟台拓伟智能科技股份有限公司 | Fruit and vegetable apparent detection and sorting boxing device |
| CN111268192A (en) * | 2020-03-13 | 2020-06-12 | 青岛农业大学 | Automatic seedling boxing device and control method |
| CN111776293A (en) * | 2020-07-29 | 2020-10-16 | 中科微至智能制造科技江苏股份有限公司 | Fruit conveying, sucking and boxing equipment |
| CN111776293B (en) * | 2020-07-29 | 2024-03-19 | 中科微至科技股份有限公司 | Fruit conveying, sucking and boxing equipment |
| CN112024372A (en) * | 2020-08-20 | 2020-12-04 | 方家铺子食品有限公司 | Many functions are dry goods sieving mechanism with multistage screen cloth |
| CN112024372B (en) * | 2020-08-20 | 2021-08-31 | 方家铺子食品有限公司 | Many functions are dry goods sieving mechanism with multistage screen cloth |
| WO2023168558A1 (en) * | 2022-03-07 | 2023-09-14 | 华山科技股份有限公司 | Feeding device for crayfish sorting machine |
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