CN109794438B - Automatic blueberry grading method and device - Google Patents
Automatic blueberry grading method and device Download PDFInfo
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- CN109794438B CN109794438B CN201910254499.1A CN201910254499A CN109794438B CN 109794438 B CN109794438 B CN 109794438B CN 201910254499 A CN201910254499 A CN 201910254499A CN 109794438 B CN109794438 B CN 109794438B
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Abstract
The blueberry automatic grading method and device enable automatic grading of blueberries in a free rolling mode, basically have no damage to the blueberries, and are high in space utilization rate. The device comprises a conveying belt, wherein at least one pair of splitter plates are arranged on the conveying belt, and the front end of each moving channel is butted with one grading track; the height of the equal track is gradually reduced; the bisection track is provided with a first side, a second side, a third side and a fourth side which form a quadrangle; except the fourth side where the outlet of the grading track is located, grading notches are formed in the other three sides; the width of the grading notch at the lower position is larger than that of the grading notch at the higher position; collecting devices are respectively arranged below four edges of the grading track, and blueberries falling from grading notches on the parallel edges fall into the collecting devices below the edges; the blueberries falling from the outlets of the equal tracks fall into the collecting device below the fourth edge.
Description
Technical Field
The patent relates to the technical field of forest fruit sorting, in particular to an automatic blueberry sorting method and device in forest fruit sorting.
Background
With the rapid development of national economy, the requirements of people on living quality are higher and higher, the demand on fruits is higher and higher, the blueberries are delicious in taste, and the medical health care effect on eyes is better when the blueberries are eaten. The blueberry is used as a small berry, the blueberry trees are large in fruit quantity and the fruits are easy to damage, the quality guarantee period is short, a large amount of manpower and financial resources are consumed for manual sorting, the fruit powder which inevitably contacts the skins in the sorting process plays an important role in blueberry preservation, and therefore the requirements for rapid automatic blueberry sorting are very urgent.
Content of patent
The purpose of this patent is in order to solve the shortcoming that exists among the prior art, and the automatic device such as branch of blueberry that proposes, it adopts the mode that lets the blueberry freely roll to realize automatic branch etc. does not have the not damaged basically to the blueberry, divides the track to divide with the quadrangle etc. in addition and divides, and area is little, and space utilization is high.
In order to achieve the purpose, the following technical scheme is adopted in the patent:
the automatic blueberry equal-dividing device comprises a conveying belt for conveying blueberries forwards, wherein at least one pair of splitter plates are arranged above the conveying belt in front, and the distance between each pair of splitter plates is slightly larger than the maximum diameter of the blueberries, so that the blueberries can only move forwards in sequence in a blueberry moving channel formed between each pair of guide plates;
the front end of each moving channel is in butt joint with one grading track, the cross section of each grading track is arc-shaped, and the heights of the grading tracks are gradually reduced from the inlets to the outlets of the grading tracks, so that blueberries entering from the inlets of the grading tracks can roll along the grading tracks; the bisection track is provided with a first side, a second side, a third side and a fourth side which form a quadrangle; the first, second, third and fourth sides of each equal track are respectively parallel; except the fourth side where the outlet of the grading track is located, grading notches are formed in the other three sides; the widths of the grading notches on the sides parallel to each other are equal, and the width of the grading notch at the lower position is larger than that of the grading notch at the higher position; collecting devices are respectively arranged below four edges of the grading track, and blueberries falling from grading notches on the parallel edges fall into the collecting devices below the edges; the blueberries falling from the outlets of the equal tracks fall into the collecting device below the fourth edge.
Foretell blueberry is automatic to be divided etc. device, collection device set up can drive collection device and remove on the conveyer belt of hierarchical notch below.
The blueberry automatic grading device is provided with the buffer film at the periphery of the grading notch.
The blueberry automatic equal-dividing device further comprises a translation track, wherein two ends of the translation track are respectively butted with the moving channel and the equal-dividing track inlet, a camera for photographing the blueberries is arranged above the translation track, a push-out spray head communicated with a compressed gas pipeline and used for blowing a certain blueberry on the translation track away from the translation track is arranged on the side portion of the translation track, an electromagnetic valve is arranged on the compressed gas pipeline, the output of the camera is connected with a controller, and the output of the controller is connected with a control end of the electromagnetic valve for controlling the electromagnetic valve to open and close.
According to the automatic blueberry grading device, the inferior-quality product collecting device used for receiving the blueberries which are pushed out of the translation rail and blown off from the translation rail by the spray head and fall is arranged below the translation rail.
Above-mentioned blueberry is automatic divides device such as, substandard product collection device sets up on can driving substandard product collection device to remove the substandard product conveyer belt of translation track below.
This patent provides simultaneously one kind and realizes dividing etc. automatically with blueberry free rolling's mode, does not have the not damaged basically to the blueberry, and blueberry that space utilization is high divides etc. method automatically moreover.
The automatic blueberry grading method enables blueberries to roll along the grading tracks with the height gradually reduced; the bisection track is provided with a first side, a second side, a third side and a fourth side which form a quadrangle; except the fourth side where the outlet of the grading track is located, grading notches are formed in the other three sides, and the width of the grading notch at the lower position is larger than that of the grading notch at the higher position; the blueberries rolling on the grading rails fall into a collecting device below the edge from the grading notches on the edges; the blueberries falling from the grading track outlet fall into the collecting device below the fourth edge.
According to the automatic blueberry grading method, the blueberries move on the translation rail before entering the grading rail; the camera shoots the blueberries moving on the translation track, the controller processes and analyzes the pictures, and after immature or damaged flawed blueberries are identified, the controller controls the push-out nozzles at the side parts of the translation track to blow out high-pressure gas to blow the flawed blueberries away from the translation track.
The beneficial effect of this patent: during the use, the branch tracks are divided in the conveying of conveyer belt, the water conservancy diversion of flow distribution plate again, and the track is divided in the entering one by one, freely rolls on dividing the track, when each hierarchical notch of process, just fall into the collection device below from this hierarchical notch when the blueberry is less than the hierarchical notch's of its process width. Because the width of each grading notch from high to low is increased, so that smaller blueberries fall from the grading notches with higher positions, larger blueberries fall from the grading notches with lower positions, and the largest blueberries fall from the outlet ends of the grading rails, so that the grading of the blueberries is realized.
The first, second, third and fourth sides of each equal track are respectively parallel; the lower part of the grading notches on the sides parallel to each other is provided with a shared collecting device, so that the space is saved, and meanwhile, a plurality of grading tracks are graded simultaneously, so that the operation efficiency is improved.
The conveying belt is improved to move the collecting device, and the automation degree is further improved.
The blueberries that drop from the grading notch enter the buffer film, so that the falling speed of the blueberries is reduced, and the completeness and the damage of the blueberries are further guaranteed.
The blueberry condition on the translation track is captured in real time through the camera and transmitted to the controller for processing, the controller identifies immature or damaged flawed blueberries according to information such as colors and gray values of the blueberries, when the flawed blueberries move to the translation at the push-out nozzle, the controller controls the action of the electromagnetic valve, the push-out nozzle blows high-pressure gas to the flawed blueberries, and the flawed blueberries are blown out for translation. The blueberries are photographed through a camera, the images are analyzed and processed, and immature or damaged flawed blueberries are identified, so that the method belongs to the prior art.
The substandard product blueberry falls into substandard product collection device, and substandard product collection device passes through the conveying of substandard product conveyer belt, has saved the manpower, raises the efficiency.
Drawings
FIG. 1 is a perspective view of an automatic blueberry grading device;
FIG. 2 is a perspective view of the camera, collection device, conveyor belt, etc. in relative relationship;
FIG. 3 is a schematic diagram of the relative relationship of a primary conveyor, a secondary conveyor, a tertiary conveyor, a quaternary conveyor, etc.;
FIG. 4 is a schematic diagram showing the relative relationship of the primary collection device, the tertiary collection device, the secondary conveyor belt, the quaternary conveyor belt, etc.;
FIG. 5 is a schematic illustration of a translation track, a grading track;
fig. 6 is a perspective view of the translation rail, the graduation rail.
In the figure: the device comprises a conveying belt 1, two pairs of splitter plates 2, a camera 3, a translation track 4, a pushing nozzle 5, a defective product collecting device 6, a defective product conveying belt 7, a grading track 8, a first edge 81, a second edge 82, a third edge 83, a fourth edge 84, a first-level grading notch 85, a second-level grading notch 86, a third-level grading notch 87, a first-level collecting device 91, a second-level collecting device 92, a third-level collecting device 93, a fourth-level collecting device 94, a first-level conveying belt 101, a second-level conveying belt 102, a third-level conveying belt 103, a fourth-level conveying belt 104 and a buffer film 11.
Detailed Description
The technical solution in the embodiments of the present patent will be clearly and completely described below with reference to the drawings in the embodiments of the present patent.
Referring to fig. 1, the automatic blueberry equal-dividing device comprises a conveying belt 1, two pairs of dividing plates 2, a camera 3, two substantially parallel translation rails 4, two pushing nozzles 5, a defective product collecting device 6, a defective product conveying belt 7, an equal-dividing rail 8, a collecting device (comprising a first-stage collecting device 91, a second-stage collecting device 92, a third-stage collecting device 93 and a fourth-stage collecting device 94), a conveying belt (comprising a first-stage conveying belt 101, a second-stage conveying belt 102, a third-stage conveying belt 103 and a fourth-stage conveying belt 104) and a buffer film 11.
Referring to fig. 2, the mechanically harvested blueberries which are well-done and well-mixed are conveyed by a conveying belt 1, two pairs of splitter plates 2 are arranged at the tail part of the conveying belt 1 to divide the mixed blueberries of the conveying belt 1 into two parts, and two horizontal translation rails 4 are respectively arranged at the outlets of the two pairs of splitter plates 2 to enable the outlets and the inlets to be in butt joint. The camera 3 is arranged above the translation track 4 and used for acquiring blueberry photo information on the translation track, the controller obtains the blueberry position with abnormal color and the blueberry position with abnormal gray value by processing the blueberry photo information, when the abnormal flawed blueberries move to the position near the push-out nozzle 5, the controller controls the corresponding electromagnetic valve to act, so that the push-out nozzle 5 arranged at the side part of the translation track blows high-pressure gas out of the translation track, the abnormal blueberries are blown out of the translation track and fall onto a defective product collecting device 6 below the translation track, after the defective product collecting device 6 is fully collected, the defective product is conveyed away by a defective product conveying belt 7, and a new defective product collecting device 6 is conveyed to fill up vacant positions. The rest blueberries enter the grading track 8, and the grading track 8 is provided with four sides 81, 82, 83 and 84 forming a quadrilateral; wherein, the first, second and third edges are respectively provided with primary, secondary and tertiary notches 85, 86 and 87 with the widths of 12mm, 16mm and 20 mm.
Referring to fig. 3-6, first, second and third grade collecting devices 91, 92 and 93 are respectively arranged below the first, second and third grade grading notches 85, 86 and 87, and a fourth grade collecting device 94 is arranged below the outlet of the grading track 8. The first-stage, second-stage, third-stage and fourth- stage collecting devices 91, 92, 93 and 94 are all arranged on corresponding first-stage, second-stage, third-stage and fourth- stage conveyor belts 101, 102, 103 and 104, and the first-stage, second-stage, third-stage and fourth- stage conveyor belts 101, 102, 103 and 104 can respectively drive the first-stage, second-stage, third-stage and fourth- stage collecting devices 91, 92, 93 and 94 to move, which belongs to the prior art and is not described again. In order to prevent the first-stage, second-stage, third-stage, and fourth- stage conveyor belts 101, 102, 103, 104 from spatially interfering, the first-stage, third- stage conveyor belts 101, 103 are arranged above the second-stage, fourth- stage conveyor belts 102, 104. Because the outlets of the four levels of the grading tracks are respectively positioned in different spatial directions, the conveyor belts are arranged in a three-dimensional manner, the three-dimensional space below the grading tracks is fully utilized, and the production line is compact. Through installing the roller between two conveyer belts, carry empty collection device from a conveyer belt on another conveyer belt, the collection device who fills with the blueberry leaves through the conveyer belt is carried, and the conveyer belt carries the blueberry with the collection device on the roller and collects the position simultaneously, and this process realizes that the degree of difficulty is low for automation, and the automated process is comparatively reliable.
When the blueberries pass through the first-grade grading notches, the blueberries with the diameters smaller than 12mm are screened out (fall from the first-grade grading notches), and the rest of the blueberries continue to roll; screening the blueberries with the diameter smaller than 16mm through the secondary equal-dividing notches (dropping from the secondary equal-dividing notches), and continuously rolling the rest blueberries; the blueberries with the diameter smaller than 20mm are screened out through the three-level grading notches, and the rest of the blueberries continue to roll and are graded out of the outlets at the tail parts of the tracks to serve as fourth-level blueberries. Every grade of constant notch is connected with the buffering film, and the blueberry falls into corresponding collection device gently along the buffering of film through the buffering film, guarantees that the blueberry can not be because of dropping fast and damaged.
The dividing track 4 is provided with a certain oblique angle (high inlet and low outlet) in space, blueberries are driven to roll by gravity, the outlets of the blueberries are arranged at 4 positions in space and are not interfered with each other, and space three-dimensional conveying belts (comprising rollers) and other transportation and collection devices are adopted.
The automatic blueberry grading device can be used on a production line and also can be directly installed on a vehicle-mounted system, the size of the automatic blueberry grading device is flexible, and the size can be updated according to the actual situation.
The production line of the automatic blueberry grading device is compact, easy to integrate into a large-scale automatic processing production line, high in space utilization rate and low in construction cost.
The grading track can change the inclination to change the rolling speed of the blueberries so as to control the sorting speed and quality.
The graduated track can change the track shape into other regular polygons according to the actual situation so as to increase the number of the graduated steps.
The grade rail material is food packaging safety grade, utilizes gravity as blueberry driving force, does not pollute blueberries and is relatively green.
The machine vision is combined to remove the defective products and perform automatic mechanical classification, so that the accuracy rate is high, the efficiency is high, the reliability is good, and a large amount of manpower and financial resources can be saved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and its patent idea within the scope of the present invention.
Claims (6)
1. The automatic blueberry grading device comprises a conveying belt for conveying blueberries forwards, wherein at least one pair of splitter plates are arranged above the conveying belt in front, and the distance between each pair of splitter plates is slightly larger than the maximum diameter of the blueberries, so that the blueberries can only move forwards one by one in a moving channel formed between each pair of guide plates; the method is characterized in that:
the front end of each moving channel is in butt joint with one grading track, the cross section of each grading track is arc-shaped, and the heights of the grading tracks are gradually reduced from the inlets to the outlets of the grading tracks, so that blueberries entering from the inlets of the grading tracks can roll along the grading tracks; the bisection track is provided with a first side, a second side, a third side and a fourth side which form a quadrangle; the first, second, third and fourth sides of each equal track are respectively parallel; except the fourth side where the outlet of the grading track is positioned, grading notches are formed in the other three sides; the widths of the grading notches on the sides parallel to each other are equal, and the width of the grading notch at the lower position is larger than that of the grading notch at the higher position; collecting devices are respectively arranged below four edges of the grading track, and blueberries falling from grading notches on the parallel edges fall into the collecting devices below the edges; the blueberries falling from the outlets of the equal tracks fall into the collecting device below the fourth edge.
2. The automatic blueberry dividing device as claimed in claim 1, wherein: the collecting device is arranged on a conveyor belt which can drive the collecting device to move to the lower part of the grading notch.
3. The automatic blueberry dividing device as claimed in claim 1, wherein: and a buffer film is arranged on the periphery of the grading notch.
4. The automatic blueberry dividing device as claimed in claim 1, wherein: the blueberry cleaning device is characterized by further comprising a translation track, two ends of the translation track are respectively in butt joint with inlets of the moving channel and the grading track, a camera for photographing blueberries is arranged above the translation track, a push-out spray head which is communicated with a compressed gas pipeline and used for blowing a certain blueberry on the translation track away from the translation track is arranged on the side portion of the translation track, an electromagnetic valve is arranged on the compressed gas pipeline, the output of the camera is connected with a controller, and the output of the controller is connected with a control end of the electromagnetic valve for controlling the on-off action of the electromagnetic.
5. The automatic blueberry dividing device as claimed in claim 4, wherein: and a defective product collecting device for receiving the blueberries which are pushed out of the translation rail by the spray head and fall off after being blown off from the translation rail is arranged below the translation rail.
6. The automatic blueberry dividing device as claimed in claim 5, wherein: the defective product collecting device is arranged on a defective product conveyor belt which can drive the defective product collecting device to move and is positioned below the translation track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910254499.1A CN109794438B (en) | 2019-03-31 | 2019-03-31 | Automatic blueberry grading method and device |
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| CN201910254499.1A CN109794438B (en) | 2019-03-31 | 2019-03-31 | Automatic blueberry grading method and device |
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| CN109794438A CN109794438A (en) | 2019-05-24 |
| CN109794438B true CN109794438B (en) | 2021-03-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104624514B (en) * | 2015-03-02 | 2019-03-15 | 青岛大谷农业信息有限公司 | A kind of novel selected grading production line of carrot machine vision |
| CN206046498U (en) * | 2016-08-18 | 2017-03-29 | 江西绿萌分选设备有限公司 | A kind of sorted fruits size sorting unit |
| CN206373083U (en) * | 2016-11-09 | 2017-08-04 | 北京石油化工学院 | The automatic inspection-classification machine of ball for health |
| JP6867006B2 (en) * | 2016-12-07 | 2021-04-28 | 日本協同企画株式会社 | Fruit vegetable automatic sorting method and fruit vegetable automatic sorting device |
| CN206425250U (en) * | 2017-01-05 | 2017-08-22 | 深圳市源兴果品股份有限公司 | A kind of first screen device of fruit |
| CN206969075U (en) * | 2017-06-26 | 2018-02-06 | 福建兴发机械有限公司 | A kind of shaddock fruit processing unit |
| CN208516373U (en) * | 2018-06-14 | 2019-02-19 | 上海上药华宇药业有限公司 | A kind of automatic sorting device of Chinese medicine original fruit |
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