CN106314859B - Fruits and vegetables classification vanning robot and method - Google Patents
Fruits and vegetables classification vanning robot and method Download PDFInfo
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- CN106314859B CN106314859B CN201610723638.7A CN201610723638A CN106314859B CN 106314859 B CN106314859 B CN 106314859B CN 201610723638 A CN201610723638 A CN 201610723638A CN 106314859 B CN106314859 B CN 106314859B
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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
A kind of fruits and vegetables classification vanning robot system, it is main to complete spheral fruit classification and tow-armed robot vanning process including feed mechanism, classification mechanism, fruits and vegetables conveyer belt, dual-arm robot, babinet conveyer belt, lift conveyer belt, vanning conveyer belt, fruits and vegetables carrier conveyer belt composition；The classification mechanism realizes rudimentary, intermediate and advanced fruits and vegetables treatment region subregion by range line screw rod by varying pitch guide groove structure；The dual-arm robot includes the composition such as terminal-collecting machine, motor, steering gear, horizontal screw lead, down-feed screw, polished rod, connecting plate, synchronous pulley component, sucker, on two stations of Mobile base, realizes the AUTOMATIC ZONING vanning of fruits and vegetables；The present invention combines multiple processes such as spheral fruit feeding, classification, layering vanning, realizes the full-automatic of fruits and vegetables production, effectively increases the production efficiency of fruits and vegetables sorting incasement operation, reduces the labor intensity manually produced.
Description
Technical field
The present invention relates to a kind of agriculture fruits and vegetables classification, packing production chain apparatus and method, more particularly, to based on spherical fruit
Vegetable automatic classification, the agriculture fruits and vegetables sorting production line of robot vanning and method.
Background technology
Agriculture spheral fruit is divided into different grades since its is of different sizes, including rudimentary fruits and vegetables, intermediate fruits and vegetables and advanced
Fruits and vegetables, in order to meet market needs, realize the classification and vanning of different size fruits and vegetables.At present, most of fruits and vegetables are by manually carrying out
Classification and vanning, low production efficiency, labor intensity are big, and many production firms develop many fruits and vegetables sortings, boxing apparatus, such as specially
Profit number：ZL201410158585.X " a kind of fruit automatic classifier ", a kind of ZL201410158591.5 " fruits and vegetables automatic sorting systems
System ", ZL201510417720.2 " a kind of fruit automatic boxing machine and fruit packing method " etc., although above-mentioned patent is than traditional
Manual fruits and vegetables sorting and boxing efficiency are high, but usually separate multiple processes such as the feeding of fruits and vegetables, classification and vanning, it is difficult to realize
Fruits and vegetables produce full-automatic.
The content of the invention
The technical problems to be solved by the invention are to overcome the degree of automation present in above-mentioned spheral fruit process
Not high problem, there is provided a kind of fruits and vegetables based on spheral fruit fully automatic feeding, classification, layering vanning are classified system of vanning robot
System.
In order to solve the above technical problems, the present invention provides a kind of fruits and vegetables classification vanning robot system, including：
Feed mechanism（1）, the feed mechanism（1）For fruits and vegetables to be transported to classification mechanism（2）；
Classification mechanism（2）, the classification mechanism（2）Including C fruits and vegetables treatment region, D fruits and vegetables treatment region, E fruits and vegetables treatment regions
Composition, for carrying out automatic classification according to the diameter of fruits and vegetables：Rudimentary fruits and vegetables, intermediate fruits and vegetables and superfine fruits and vegetables；
Fruits and vegetables conveyer belt（3）, the fruits and vegetables conveyer belt（3）For intermediate fruits and vegetables to be transported to fruits and vegetables carrier（59）；
Dual-arm robot（4）, the dual-arm robot（4）For by fruits and vegetables carrier（59）On fruits and vegetables crawl and successively
It is put into the babinet of the left and right sides；
Babinet conveyer belt（5）, the babinet conveyer belt（5）The babinet of fruits and vegetables is contained for conveying；
Lift conveyer belt（6）, the lift conveyer belt（6）For in vanning conveyer belt（7）It is defeated with fruits and vegetables carrier
Send band（8）Between transmit fruits and vegetables carrier（59）；
Vanning conveyer belt（7）, the vanning conveyer belt（7）Fruits and vegetables carrier is paved on for transmitting（59）Fruits and vegetables to double
Arm manipulator（4）Workspace；
Fruits and vegetables carrier conveyer belt（8）, the fruits and vegetables carrier conveyer belt（8）For by fruits and vegetables carrier（59）From bell machines
Hand（4）Workspace sends back vanning conveyer belt（7）；
It is characterized in that：The classification mechanism（2）Pass through range line screw rod（28）Rolling bar will be classified（21）It is divided at C fruits and vegetables
Manage area, D fruits and vegetables treatment region, E fruits and vegetables treatment regions；The babinet conveyer belt（5）It is arranged in vanning conveyer belt（7）With fruits and vegetables carrier
Conveyer belt（8）Both sides；The dual-arm robot（4）It is installed on babinet conveyer belt（5）With lift conveyer belt（6）Top, and
Pass through horizontal screw lead（42）, down-feed screw（45）, feed rod（46）And terminal-collecting machine（36）To be cased conveyer belt（7）The intermediate fruit of transport
Vegetable loads fruit and vegetable box（52）It is interior；The fruits and vegetables conveyer belt（3）One end is installed on classification mechanism（2）D fruits and vegetables treatment region below,
The vanning conveyer belt being parallel to each other is installed below the other end（7）With fruits and vegetables carrier conveyer belt（8）；The lift conveyer belt
（6）It is installed on vanning conveyer belt（7）With fruits and vegetables carrier conveyer belt（8）Both ends.
The feed mechanism（1）Including elevating hopper（10）, feed frame（11）, feeding rolling bar（12）, pave brush（13）、
Pinboard（14）Composition.
The classification mechanism（2）Including rudimentary fruits and vegetables treatment region（20）, classification rolling bar（21）, advanced fruits and vegetables treatment region
（22）, classification driving motor one（23）, grader rack（24）, extension set chain kit（25）, bearing block（26）, support plate
（27）, range line screw rod（28）, classification driving motor two（29）, chain（30）, transmission shaft（31）, shaft coupling（32）, electric machine support
（33）Composition；The classification rolling bar（21）Pass through chain（30）Side plate fluting be installed on range line screw rod（28）Guide groove
It is interior；The range line screw rod（28）Using varying pitch guide groove structure and pass through shaft coupling（32）It is connected to classification driving motor two
（29）；The range line screw rod（28）It is symmetrically arranged on classification rolling bar（21）Both sides.
The dual-arm robot（4）Including terminal-collecting machine（36）, motor（38）, steering gear（39）, guide rail（41）, horizontal silk
Thick stick（42）, Mobile base（43）, down-feed screw（45）, polished rod（46）, connecting plate（47）, synchronous pulley component（48）, motor（49）、
Sucker（50）Composition；The Mobile base（43）Installed in guide rail（41）Go up and pass through connecting plate（47）It is connected to horizontal screw lead
（42）；The horizontal screw lead（42）It is symmetrically arranged on Mobile base（43）Both sides simultaneously pass through steering gear（39）It is connected to motor
（38）；The Mobile base（43）With two stations, it is provided with each station comprising terminal-collecting machine（36）, down-feed screw
（45）, polished rod（46）, synchronous pulley component（48）, motor（49）, sucker（50）The conveying robot of composition.
The lift conveyer belt（6）Including lifting platform stent（60）, cylinder（61）, support base（62）, strut（63）、
Upper mounting plate（64）, carrier conveyer belt（65）Composition.
The feed mechanism（1）Including elevating hopper（10）, feed frame（11）, feeding rolling bar（12）, pave brush（13）、
Pinboard（14）Composition.
The fruits and vegetables classification packing method, includes the following steps：
Feed mechanism（1）Pass through feeding rolling bar（12）Ball-type fruits and vegetables are promoted to classification mechanism（2）Top, and by paving brush
（13）Fruits and vegetables are laid in pinboard（14）With classification rolling bar（21）On；
It is classified rolling bar（21）In classification chain transmission component（25）With range line screw rod（28）Under driving, in range line screw rod（28）
Diverse location form different C, D, E fruits and vegetables treatment regions；
The less rudimentary fruits and vegetables of appearance and size enter rudimentary fruits and vegetables treatment region in C fruits and vegetables treatment region（20）；
The larger advanced fruits and vegetables of appearance and size enter advanced fruits and vegetables treatment region in E fruits and vegetables treatment region（22）；
Intermediate fruits and vegetables pass through fruits and vegetables conveyer belt in D fruits and vegetables treatment region（3）And enter vanning conveyer belt after paving（7）On
Fruits and vegetables carrier（59）；
Fruits and vegetables and fruits and vegetables carrier（59）Through conveyer belt of casing（7）It is transported to dual-arm robot（4）The lift conveying of lower section
Band（6）；
In dual-arm robot（4）In workspace, terminal-collecting machine（36）In motor（49）And down-feed screw（45）Pass through under driving
Sucker（50）Fruits and vegetables are lifted, and in motor（38）And horizontal lead screw（42）The lower fruits and vegetables dress for realizing the station of left and right two of driving
Case；Dual-arm robot（4）It is made of two manipulators, another manipulator fills fruits and vegetables while a manipulator captures fruits and vegetables
Case, passes through motor（38）And horizontal lead screw（42）The operating position of two manipulators of control and crawl and vanning process；
Take the fruits and vegetables carrier after fruits and vegetables away（59）In lift conveyer belt（6）Decline under driving and to be transported to fruits and vegetables carrier defeated
Send band（8）；
Fruits and vegetables carrier（59）Pass through fruits and vegetables carrier conveyer belt（8）Into fruits and vegetables conveyer belt（3）The lift conveyer belt of lower section
（6）, and through lift conveyer belt（6）Lift and be transported to vanning conveyer belt（7）；
Fruit and vegetable box（52）Through babinet conveyer belt after filling（5）Transport out.
Beneficial effect：The present invention combines multiple processes such as spheral fruit feeding, classification, layering vanning, real
What now fruits and vegetables produced is full-automatic, effectively increases the production efficiency of fruits and vegetables sorting incasement operation, reduces the work manually produced
Intensity；Meanwhile dual-arm robot is incorporated into fruits and vegetables production and processing field, fruits and vegetables are captured using vacuum cup, effectively prevent
Fruits and vegetables are mutually wounded.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
The fruit that Fig. 2 is the present invention dredges treatment region subregion schematic diagram；
Fig. 3 is the classification mechanism structure diagram 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 structure diagram 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 the fruits and vegetables carrier and its conveyer belt structure schematic diagram of the present invention.
In figure：1 feed mechanism, 2 classification mechanisms, 3 fruits and vegetables conveyer belts, 4 dual-arm robots, 5 babinet conveyer belts, 6 lifts
Brush, 14 are paved in conveyer belt, 7 vanning conveyer belts, 8 fruits and vegetables carrier conveyer belts, 10 elevating hoppers, 11 feed frames, 12 feeding rolling bars, 13
Pinboard, 20 rudimentary fruits and vegetables treatment regions, 21 classification rolling bars, 22 advanced fruits and vegetables treatment regions, 23 classification driving motors one, 24 graders
Rack, 25 classification chain kits, 26 bearing blocks, 27 support plates, 28 range line screw rods, 29 classification driving motors two, 30 chains, 31
Transmission shaft, 32 shaft couplings, 33 electric machine supports, 35 manipulator supports, 36 terminal-collecting machines, 37 support plates, 38 motors, 39 steering gears, 40
It is leading screw bearing, 41 guide rails, 42 horizontal screw leads, 43 Mobile bases, 44 guide sleeves, 45 down-feed screws, 46 feed rods, 47 connecting plates, 48 same
Walk pulley assemblies, 49 motors, 50 suckers, 51 columns, 52 fruit and vegetable box, 53 conveyer belts, 54 close to switches, 59 fruits and vegetables carriers, 60 liters
Platform stent, 61 cylinders, 62 support bases, 63 struts, 64 upper mounting plates, 65 carrier conveyer belts drop.
Embodiment
The present invention is specifically described with reference to the accompanying drawings and embodiments.
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）, fruits and vegetables conveyer belt（3）, dual-arm robot（4）, babinet pass
Send band（5）, lift conveyer belt（6）, vanning conveyer belt（7）, fruits and vegetables carrier conveyer belt（8）Composition；The feed mechanism（1）
It is installed on classification mechanism（2）Right side, the fruits and vegetables conveyer belt（3）It is installed on classification mechanism（2）Middle lower section, the vanning
Conveyer belt（7）It is installed on fruits and vegetables conveyer belt（3）Below front end, the lift conveyer belt（6）It is symmetrically arranged on vanning conveying
Band（7）Both ends, the vanning conveyer belt（7）The lift conveyer belt of front end installation（6）The left and right sides is disposed with babinet transmission
Band（5）, the dual-arm robot（4）It is installed on vanning conveyer belt（7）Front end, lift conveyer belt（6）And babinet conveyer belt
（5）Top, can be by lift conveyer belt（6）The fruit of transmission grabs the babinet conveyer belt of both sides（5）On babinet in.
Fig. 2 is the fruits and vegetables treatment region subregion schematic diagram of the present invention.
The classification mechanism（2）By being classified rolling bar（21）Different spacing form different fruits and vegetables treatment regions, including C fruits
Vegetable treatment region, D fruits and vegetables treatment region, E fruits and vegetables treatment region composition, for carrying out automatic classification according to the diameter of fruits and vegetables：It is rudimentary
Fruits and vegetables, intermediate fruits and vegetables and superfine fruits and vegetables.
Fig. 3 and Fig. 4 is respectively the classification mechanism structure diagram and classification mechanism structure partial enlarged drawing of the present invention.
The classification mechanism（2）Including being classified rolling bar（21）, classification driving motor one（23）, grader rack（24）、
Extension set chain kit（25）, bearing block（26）, support plate（27）, range line screw rod（28）, classification driving motor two（29）, chain
（30）, transmission shaft（31）Composition；The classification rolling bar（21）Pass through chain（30）Side plate fluting be installed on range line screw rod
（28）Guide groove in；The range line screw rod（28）Using varying pitch guide groove structure and pass through shaft coupling（32）It is connected to point
Level driving motor two（29）；The range line screw rod（28）It is symmetrically arranged on classification rolling bar（21）Both sides.
Fig. 5 and Fig. 6 show the dual-arm robot structure diagram of the present invention.
The dual-arm robot（4）Including terminal-collecting machine（36）, motor（38）, steering gear（39）, guide rail（41）, horizontal silk
Thick stick（42）, Mobile base（43）, down-feed screw（45）, polished rod（46）, connecting plate（47）, synchronous pulley component（48）, motor（49）、
Sucker（50）Composition；The Mobile base（43）Installed in guide rail（41）Go up and pass through connecting plate（47）It is connected to horizontal screw lead
（42）；The horizontal screw lead（42）It is symmetrically arranged on Mobile base（43）Both sides simultaneously pass through steering gear（39）It is connected to motor
（38）；The Mobile base（43）With two stations, it is provided with each station comprising terminal-collecting machine（36）, down-feed screw
（45）, polished rod（46）, synchronous pulley component（48）, motor（49）, sucker（50）The conveying robot of composition.
Fig. 7 show the lift conveyer structure schematic diagram of the present invention.
The lift conveyer belt（6）Including lifting platform stent（60）, cylinder（61）, support base（62）, strut（63）、
Upper mounting plate（64）, carrier conveyer belt（65）Composition.
Fig. 8 show the fruits and vegetables carrier and its conveyer belt structure schematic diagram of the present invention.
The vanning conveyer belt（7）With fruits and vegetables carrier conveyer belt（8）It is parallelly mounted to fruits and vegetables conveyer belt（3）Under front end
Side, the lift conveyer belt（6）By fruits and vegetables carrier conveyer belt（8）The fruits and vegetables carrier that transmission comes（59）Lift vanning conveying
Band（7）, or the conveyer belt that will case（7）On fruits and vegetables carrier（59）Treat dual-arm robot（4）Send fruits and vegetables load after crawl fruits and vegetables to
Has conveyer belt（8）, form fruits and vegetables carrier（59）Recycling.
The embodiment of the present invention is the fruits and vegetables classification vanning robot system based on the vanning of intermediate fruits and vegetables robot, of the invention
It can be arranged as required to the fruits and vegetables classification vanning robot based on the vanning of rudimentary fruits and vegetables robot, the vanning of advanced fruits and vegetables robot
System.
The embodiment above of the present invention, is merely illustrative, be not it is only, it is all within the scope of the present invention or it is equivalent this
Change in the range of invention is surrounded by the present invention.
Claims (4)
1. a kind of fruits and vegetables classification vanning robot system, including：
Feed mechanism（1）, the feed mechanism（1）For fruits and vegetables to be transported to classification mechanism（2）；
Classification mechanism（2）, the classification mechanism（2）Formed including C fruits and vegetables treatment region, D fruits and vegetables treatment region, E fruits and vegetables treatment region,
For carrying out automatic classification according to the diameter of fruits and vegetables：Rudimentary fruits and vegetables, intermediate fruits and vegetables and superfine fruits and vegetables；
Fruits and vegetables conveyer belt（3）, the fruits and vegetables conveyer belt（3）For intermediate fruits and vegetables to be transported to fruits and vegetables carrier（59）；
Dual-arm robot（4）, the dual-arm robot（4）For by fruits and vegetables carrier（59）On fruits and vegetables capture and be sequentially placed into
Into the babinet of the left and right sides；
Babinet conveyer belt（5）, the babinet conveyer belt（5）The babinet of fruits and vegetables is contained for conveying；
Lift conveyer belt（6）, the lift conveyer belt（6）For in vanning conveyer belt（7）With fruits and vegetables carrier conveyer belt
（8）Between transmit fruits and vegetables carrier（59）；
Vanning conveyer belt（7）, the vanning conveyer belt（7）Fruits and vegetables carrier is paved on for transmitting（59）Fruits and vegetables to both arms machine
Tool hand（4）Workspace；
Fruits and vegetables carrier conveyer belt（8）, the fruits and vegetables carrier conveyer belt（8）For by fruits and vegetables carrier（59）From dual-arm robot
（4）Workspace sends back vanning conveyer belt（7）；
It is characterized in that：The classification mechanism（2）Pass through range line screw rod（28）Rolling bar will be classified（21）It is divided into the processing of C fruits and vegetables
Area, D fruits and vegetables treatment region, E fruits and vegetables treatment regions；The babinet conveyer belt（5）It is arranged in vanning conveyer belt（7）It is defeated with fruits and vegetables carrier
Send band（8）Both sides；The dual-arm robot（4）It is installed on babinet conveyer belt（5）With lift conveyer belt（6）Top, and lead to
Cross horizontal screw lead（42）, down-feed screw（45）, feed rod（46）And terminal-collecting machine（36）To be cased conveyer belt（7）The intermediate fruits and vegetables of transport
Load fruit and vegetable box（52）It is interior；The fruits and vegetables conveyer belt（3）One end is installed on classification mechanism（2）D fruits and vegetables treatment region below, separately
The vanning conveyer belt being parallel to each other is installed below one end（7）With fruits and vegetables carrier conveyer belt（8）；The lift conveyer belt
（6）It is installed on vanning conveyer belt（7）With fruits and vegetables carrier conveyer belt（8）Both ends.
2. according to claim（1）The fruits and vegetables classification vanning robot system, it is characterised in that：The classification mechanism
（2）Including rudimentary vegetable treatment region（20）, classification rolling bar（21）, advanced fruits and vegetables treatment region（22）, classification driving motor one（23）, point
Level machine rack（24）, extension set chain kit（25）, bearing block（26）, support plate（27）, range line screw rod（28）, classification driving electricity
Machine two（29）, chain（30）, transmission shaft（31）, shaft coupling（32）, electric machine support（33）Composition；The classification rolling bar（21）It is logical
Cross chain（30）Side plate fluting be installed on range line screw rod（28）Guide groove in；The range line screw rod（28）Using varying pitch
Guide groove structure simultaneously passes through shaft coupling（32）It is connected to classification driving motor two（29）；The range line screw rod（28）It is symmetrically installed
In classification rolling bar（21）Both sides.
3. according to claim（1）The fruits and vegetables classification vanning robot system, it is characterised in that：The dual-arm robot
（4）Including terminal-collecting machine（36）, motor（38）, steering gear（39）, guide rail（41）, horizontal screw lead（42）, Mobile base（43）, vertical silk
Thick stick（45）, polished rod（46）, connecting plate（47）, synchronous pulley component（48）, motor（49）, sucker（50）Composition；The movement
Seat（43）Installed in guide rail（41）Go up and pass through connecting plate（47）It is connected to horizontal screw lead（42）；The horizontal screw lead（42）It is right
Title is installed on Mobile base（43）Both sides simultaneously pass through steering gear（39）It is connected to motor（38）；The Mobile base（43）With two
Station, is provided with comprising terminal-collecting machine on each station（36）, down-feed screw（45）, polished rod（46）, synchronous pulley component（48）, electricity
Machine（49）, sucker（50）The conveying robot of composition.
4. a kind of fruits and vegetables are classified packing method, include the following steps：
Feed mechanism（1）Pass through feeding rolling bar（12）Ball-type fruits and vegetables are promoted to classification mechanism（2）Top, and by paving brush（13）
Fruits and vegetables are laid in pinboard（14）With classification rolling bar（21）On；
It is classified rolling bar（21）In classification chain transmission component（25）Under driving, in range line screw rod（28）Diverse location form difference
C, D, E fruits and vegetables treatment region；
The less rudimentary fruits and vegetables of appearance and size enter rudimentary fruits and vegetables treatment region in C fruits and vegetables treatment region（20）；
The larger advanced fruits and vegetables of appearance and size enter advanced fruits and vegetables treatment region in E fruits and vegetables treatment region（22）；
Intermediate fruits and vegetables pass through fruits and vegetables conveyer belt in D fruits and vegetables treatment region（3）And enter vanning conveyer belt after paving（7）On fruits and vegetables
Carrier（59）；
Fruits and vegetables and fruits and vegetables carrier（59）Through conveyer belt of casing（7）It is transported to dual-arm robot（4）The lift conveyer belt of lower section
（6）；
In dual-arm robot（4）In workspace, terminal-collecting machine（36）In motor（49）And down-feed screw（45）Pass through sucker under driving
（50）Fruits and vegetables are lifted, and in motor（38）And horizontal lead screw（42）The lower fruits and vegetables vanning for realizing the station of left and right two of driving；It is double
Arm manipulator（4）It is made of two manipulators, another manipulator cases fruits and vegetables while a manipulator captures fruits and vegetables, leads to
Cross motor（38）And horizontal lead screw（42）The operating position of two manipulators of control and crawl and vanning process；
Take the fruits and vegetables carrier after fruits and vegetables away（59）In lift conveyer belt（6）Decline under driving and be transported to fruits and vegetables carrier conveyer belt
（8）；
Fruits and vegetables carrier（59）Pass through fruits and vegetables carrier conveyer belt（8）Into fruits and vegetables conveyer belt（3）The lift conveyer belt of lower section（6）,
And through lift conveyer belt（6）Lift and be transported to vanning conveyer belt（7）；
Fruit and vegetable box（52）Through babinet conveyer belt after filling（5）Transport out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610723638.7A CN106314859B (en) | 2016-08-26 | 2016-08-26 | Fruits and vegetables classification vanning robot and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610723638.7A CN106314859B (en) | 2016-08-26 | 2016-08-26 | Fruits and vegetables classification vanning robot and method |
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| Publication Number | Publication Date |
|---|---|
| CN106314859A CN106314859A (en) | 2017-01-11 |
| CN106314859B true CN106314859B (en) | 2018-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610723638.7A Expired - Fee Related CN106314859B (en) | 2016-08-26 | 2016-08-26 | Fruits and vegetables classification vanning robot and method |
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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 |
| 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 |
| 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 |
| 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 |
| CN111268192A (en) * | 2020-03-13 | 2020-06-12 | 青岛农业大学 | Automatic seedling boxing device and control method |
| 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 |
| 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 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6401434B1 (en) * | 1999-12-02 | 2002-06-11 | Michelsen Packaging Company | Method and apparatus for loading filled fruit packing trays |
| FR2858597B1 (en) * | 2003-08-05 | 2005-10-21 | Materiel Arboriculture | AUTOMATIC PACKAGING DEVICE FOR FILLING CONTAINERS USING SUPERIMPOSED LAYERS OF PRODUCTS, IN PARTICULAR FRUITS SUCH AS ORANGES |
| CN201329972Y (en) * | 2008-11-24 | 2009-10-21 | 张国兴 | Fruit automatic basket-filling device |
| CN102424141B (en) * | 2011-08-14 | 2013-09-11 | 云南安化有限责任公司 | Arranging and boxing device |
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2016
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