CN110125043A - Multi-platform detection method for sorting for detection of rotting inside navel orange - Google Patents
Multi-platform detection method for sorting for detection of rotting inside navel orange Download PDFInfo
- Publication number
- CN110125043A CN110125043A CN201910399945.8A CN201910399945A CN110125043A CN 110125043 A CN110125043 A CN 110125043A CN 201910399945 A CN201910399945 A CN 201910399945A CN 110125043 A CN110125043 A CN 110125043A
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- Prior art keywords
- navel orange
- mechanical arm
- detection
- platform
- arc shaped
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
Abstract
A kind of multi-platform detection method for sorting for detection of rotting inside navel orange, comprising steps of 1) preparing: the working space of setting detection sorting reaches darkroom requirement；The grabbing device of navel orange is set in working space, which is that multiple mechanical arm monomers are installed on a liftable rotating platform；2) under original state: in the rotation direction of rotating platform, if navel orange feed tray, detection station, unqualified navel orange discharge port, qualified navel orange discharge port；3) for general robot arm arm monomer, when navel orange enters working space from feed inlet, crawl navel orange is sequentially sent to each detection station；The image in a face is acquired, and is judged；Rejected product is put into unqualified navel orange discharge port, and qualified product is sent into qualified navel orange discharge port.This mechanical arm can be applied to assembly line, replaces artificial crawl fruit, and be sent to detection station, improves production efficiency.
Description
Technical field
The technical program is a kind of for the on-line monitoring method that rots inside navel orange, belongs to fruit technical field of nondestructive testing
Supplementary structure design.
Background technique
The quality problem of fruit is always the emphasis of consumer's concern, can be because of different reasons in storage transportational process
Lead to breakage of rotting, if handling not in time in sort process, will cause very big loss.
The industrialization Production line efficiency of fruit sorting also needs very big promotion, and shortening fruit non-destructive testing to time can
To start in terms of two, first is that the speed for detecting process itself is improved, the other is shortening the delivery time in detection process.
First problem, having had preferable detection algorithm now, (such as publication number 108872085A's " is based on blue wave band transmission image
The rotten heart lossless detection method of the navel orange of detection "), detection speed can be greatly improved in appliance computer operation.Second Problem, mesh
It is preceding many times fruit on-line checking also relatively to be mostly used, manually tested fruit is placed on monitor station, it carries out image and adopts
Collection and detection are difficult to accomplish " online " detection, inefficient.Especially, accuracy is detected in order to improve, need to navel orange
The Image Acquisition of multi-panel is carried out, which further improves on-line checkings to difficulty.
Summary of the invention
In order to solve the above-mentioned technical problem, the technical program proposes a kind of for multi-platform detection side of rotting inside navel orange
Method, this method use robotic device, testing process are reasonably arranged, and improve the service efficiency of mechanical equipment, reduce computer
Detect the time that program waits mechanical action.Specifically:
A kind of multi-platform detection method for sorting for detection of rotting inside navel orange, includes the following steps:
1) prepare:
The working space that detection sorting is arranged reaches darkroom requirement；
The grabbing device of navel orange is set in working space, the device be installed on a liftable rotating platform it is multiple
Mechanical arm monomer, each mechanical arm monomer surround the axisymmetrical of rotating platform；Each mechanical arm monomer is for grabbing
Tested navel orange；All parts surfaces of grabbing device all coat black light-absorbing material；
2) under original state:
In the rotation direction of rotating platform, set below the navel orange crawl position of the 1st mechanical arm monomer navel orange into
Material torr disk；
The underface of 2~n-1 mechanical arm monomer sets detection station respectively, and each detection station is being crawled navel orange
The underface in path；
In 2~n mechanical arm monomer, the centre bit between adjacent machine arm monomer installs unqualified navel orange discharging
Mouthful, the position of discharge port is in mechanical arm monomer rotation process, the underface in path where being crawled navel orange；
Qualified navel orange discharge port is set immediately below the n-th mechanical arm monomer；Qualified navel orange discharge port is being crawled navel orange
The underface in place path；
3) it for general robot arm arm monomer, when navel orange enters working space from feed inlet, falls on navel orange feed tray,
Rotating platform falls, and mechanical arm monomer is driven to fall, and grabs navel orange, starts step 4):
4) rotating platform rises and rotates, and is sent into first detection station top position；Then, rotating platform declines, navel
Orange is placed to the 1st detection station, and mechanical arm monomer leaves navel orange, avoids influencing image collection effect；
In the 1st detection station, the image in a face is acquired, after the completion, mechanical arm monomer grabs the navel orange, rotary flat
Platform rises, and continues to rotate；Simultaneously, respective image is analyzed in first detection station, the image based on this face
Obtain navel orange whether He Ge conclusion；Step 5) is then carried out, is entered step 6) if unqualified；
5) rotating platform rotates, and mechanical arm monomer is sent to next detection station, repeats the testing process；Turning
During dynamic, mechanical arm monomer rotates the navel orange that it is grabbed, and changes the face of being detected；
6) rotating platform rotates, and mechanical arm monomer is sent to first unqualified navel orange discharge port, navel orange is decontroled, makes not
Qualified navel orange falls into discharge port, and collects；
7) detection Jing Guo all detection stations, and be all judged as qualified, then the in qualified navel orange discharge port position,
Navel orange is decontroled.
The grabbing device includes: pedestal, cylinder, rotating platform, platform rotary electric machine, robot base and n machine
Tool arm monomer, n are natural number；
The cylinder is connected on pedestal, and the telescopic direction of cylinder rod is perpendicular to ground；The rotating platform is parallel to bottom
Face, and rotating platform is connected to cylinder rod；Rotating platform is driven by platform rotary electric machine to be rotated；Mechanical arm monomer passes through machinery
Arm pedestal is connected on rotating platform；If n >=2, each mechanical arm monomer surrounds the pivot center pair of rotating platform
Claim；
The mechanical arm monomer includes arm support, support plate, rack rod and two pairs of handgrips；
Any handgrip includes: first rotating shaft, air pressure telescopic rod, the second shaft, end support and fruit angle adjusting mechanism；
The end of air pressure telescopic rod is connected to the side of arm support by first rotating shaft, and the head end of air pressure telescopic link passes through
Second shaft is connected to the back side of end support；The end of end support is rotatablely connected on the supporting plate by connecting rod of support,
Support plate is connected on arm support；The first rotating shaft, the second shaft and rack rod and the shaft of support are parallel to each other,
And all perpendicular to ground；The fruit angle adjusting mechanism is connected in the front of end support；
In two pairs of handgrips: for two handgrips about arm support at axial symmetry, the front of two end supports is opposite
's；
Fruit angle adjusting mechanism includes first motor, arc shaped slider, cambered way, the second motor and chuck；Chuck
Back center position connects the top of the second motor output shaft, the table of the pivot center of the second motor output shaft perpendicular to chuck
Face；The main body of second motor is connected on arc shaped slider；Arc shaped slider and cambered way are cooperatively connected；Cambered way is connected to end
Hold the front of bracket；The main body of first motor is connected on end support, and arc shaped slider and the output shaft of first motor pass through
Linkage mechanism connection, and with first motor the rotation of output shaft, are moved on cambered way；The mobile arc of arc shaped slider
Plane where path is perpendicular to ground, and the curved path of the arc shaped slider on two end supports is in the same plane；Two ends
Hold the center of circle of the curved path of the arc shaped slider on bracket between two end supports.
Further, the chuck surface has flexible material film, connects pressure-responsive between chuck and the second motor
Device.The voltage sensitive sensor can also be connected to the main body in the second motor and be connected thereto between column.
Angular wheel is connected on the output shaft of the first motor；
The main body of the arc shaped slider is a part of cylinder；The arc of indent is provided in the arcuate surface of arc shaped slider
Slot, the center of circle of slot is where arc shaped slider on the axis of cylinder；The one side wall of slot is equipped with the tooth being engaged with angular wheel
Item, angular wheel is in slot；
The cambered way has pairs of two, their the first from left right sides are located at the two sides of arc shaped slider, in cambered way
Inside is equipped with sliding slot, and two cambered ways surround the region where arc shaped slider, and the two sidewalls of arc shaped slider are respectively in two arcs
In the sliding slot of slideway；Angular wheel is between cambered way；
The main body of second motor is connect by connecting column with arc shaped slider, and link position is in the inner concave of arc shaped slider.
The main body that the voltage sensitive sensor can also be connected to the second motor is connected thereto between column.
It waits in actual use, chuck itself is spherical cap shape, connects flexible material film in the medial surface of chuck, flexible
Material film can be the elastic sheet rubber etc. of black.Under normal conditions, the edge of flexible material film and chuck connects, and flexible
The female parts of material film and chuck are not connected to.
Further, the center of the rotation platform bottom surface is connected with bearing, and the top of the cylinder rod is connected to this
Bearing；Cylinder rod is cased with ring gear, and the main body of the platform rotary electric machine is connected to rotation platform bottom surface, platform rotary electric machine it is defeated
Gear is connected on shaft, gear is engaged with ring gear.
This mechanical arm can be applied to assembly line, replaces artificial crawl fruit, and be sent to detection station, improves production
Efficiency.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of a mechanical arm monomer；
Fig. 3 is the structural schematic diagram of first motor, arc shaped slider and cambered way part；
Fig. 4 is the schematic diagram at another visual angle of Fig. 3 structure；
Fig. 5 is the structural schematic diagram of the rotational structure of rotating platform；
In figure: pedestal 1, cylinder 2, cylinder rod 3, platform rotary electric machine 4 (stepper motor), rotating platform 5, mechanical arm bottom
Seat the 6, first mechanical arm monomer 7, the second mechanical arm monomer 8, third mechanical arm monomer 9, the 4th mechanical arm list 10,
5th mechanical arm list 11, the 6th mechanical arm list 12, bearing 13, ring gear 14, gear 15, arm support 701, first rotating shaft
702, air pressure telescopic rod 703, the second shaft 704, first motor 705, arc shaped slider 706, cambered way 707, the second motor
708, the chuck 709 of force sensor, flexible material film 710, end support 711, support plate 712, rack rod 713,
Angular wheel 714, slot 715, rack gear 716, sliding slot 717, the second motor main body and arc shaped slider between connecting column 718.
Specific embodiment
A kind of multi-platform detection method for sorting for detection of rotting inside navel orange, comprising steps of 1) preparing: setting detection
The working space of sorting reaches darkroom requirement；The grabbing device of navel orange is set in working space, which is in a liftable
Rotating platform on multiple mechanical arm monomers are installed；2) under original state: in the rotation direction of rotating platform, if navel orange into
Material torr disk, detection station, unqualified navel orange discharge port, qualified navel orange discharge port；3) for general robot arm arm monomer, work as navel orange
Enter working space from feed inlet, grabs navel orange, be sequentially sent to each detection station；The image in a face is acquired, and is judged；No
Qualified product is put into unqualified navel orange discharge port, and qualified product is sent into qualified navel orange discharge port.This mechanical arm can be applied to flowing water
Line replaces artificial crawl fruit, and is sent to detection station, improves production efficiency.
This example combines specifically used process, and the present invention is further described as follows:
As shown in the picture, grabbing device used in this example includes: pedestal, cylinder, rotating platform, platform rotary electric machine, machine
Tool arm pedestal and n mechanical arm monomer, n are natural number；In this example, n 6.
The cylinder is connected on pedestal, and the telescopic direction of cylinder rod is perpendicular to ground；The rotating platform is parallel to bottom
Face, and rotating platform is connected to cylinder rod；Rotating platform is driven by platform rotary electric machine to be rotated；Mechanical arm monomer passes through machinery
Arm pedestal is connected on rotating platform；If n >=2, each mechanical arm monomer surrounds the pivot center pair of rotating platform
Claim；
The mechanical arm monomer includes arm support, support plate, rack rod and two pairs of handgrips；
Any handgrip includes: first rotating shaft, air pressure telescopic rod, the second shaft, end support and fruit angle adjusting mechanism；
The end of air pressure telescopic rod is connected to the side of arm support by first rotating shaft, and the head end of air pressure telescopic link passes through
Second shaft is connected to the back side of end support；The end of end support is rotatablely connected on the supporting plate by connecting rod of support,
Support plate is connected on arm support；The first rotating shaft, the second shaft and rack rod and the shaft of support are parallel to each other,
And all perpendicular to ground；The fruit angle adjusting mechanism is connected in the front of end support；
In two pairs of handgrips: for two handgrips about arm support at axial symmetry, the front of two end supports is opposite
's；
Fruit angle adjusting mechanism includes first motor, arc shaped slider, cambered way, the second motor and chuck；Chuck
Back center position connects the top of the second motor output shaft, the table of the pivot center of the second motor output shaft perpendicular to chuck
Face；The main body of second motor is connected on arc shaped slider；Arc shaped slider and cambered way are cooperatively connected；Cambered way is connected to end
Hold the front of bracket；The main body of first motor is connected on end support, and arc shaped slider and the output shaft of first motor pass through
Linkage mechanism connection, and with first motor the rotation of output shaft, are moved on cambered way；The mobile arc of arc shaped slider
Plane where path is perpendicular to ground, and the curved path of the arc shaped slider on two end supports is in the same plane；Two ends
Hold the center of circle of the curved path of the arc shaped slider on bracket between two end supports.
Further, the chuck surface has flexible material film, and voltage sensitive sensor is connected on chuck.
It waits in actual use, chuck itself is spherical cap shape, connects flexible material film in the medial surface of chuck, flexible
Material film can be the elastic sheet rubber etc. of black.Under normal conditions, the edge of flexible material film and chuck connects, and flexible
The female parts of material film and chuck are not connected to.
In this example, angular wheel is connected on the output shaft of the first motor；
The main body of the arc shaped slider is a part of cylinder；The arc of indent is provided in the arcuate surface of arc shaped slider
Slot, the center of circle of slot is where arc shaped slider on the axis of cylinder；The one side wall of slot is equipped with the tooth being engaged with angular wheel
Item, angular wheel is in slot；
The cambered way has pairs of two, their the first from left right sides are located at the two sides of arc shaped slider, in cambered way
Inside is equipped with sliding slot, and two cambered ways surround the region where arc shaped slider, and the two sidewalls of arc shaped slider are respectively in two arcs
In the sliding slot of slideway；Angular wheel is between cambered way；
The main body of second motor is connect by connecting column with arc shaped slider, and link position is in the inner concave of arc shaped slider..
The main body that the voltage sensitive sensor can also be connected to the second motor is connected thereto between column.
In this example, the rotating mechanism of rotating platform are as follows: the center of the rotation platform bottom surface is connected with bearing, described
Top connection and bearing of cylinder rod；Cylinder rod is cased with ring gear, and the main body of the platform rotary electric machine is connected to rotating platform
Bottom surface is connected with gear on the output shaft of platform rotary electric machine, and gear is engaged with ring gear.The adoptable mode of the rotating mechanism compared with
More, this example is one of which.
In actual use: all piece surfaces of the present apparatus are coated with black light-absorbing material (such as black paint)；
Under application environment, the space of non-destructive testing sorting is dark confined space, and internal material is the black of extinction
Color material；
In the following, with the application in rotting inside more detection platforms detection navel orange, to the working principle of this full wind-up into
Row explanation:
Original state:
First mechanical arm monomer 7 corresponds to feed inlet；
Second mechanical arm monomer 8, third mechanical arm monomer 9, the 4th mechanical arm list 10, the 5th mechanical arm list 11
Under correspond to the first~tetra- detection station；
6th mechanical arm list 12 corresponds to internal (qualification) the navel orange discharge port that do not rot；
Second mechanical arm monomer 8, third mechanical arm monomer 9, the 4th mechanical arm list 10, the 5th mechanical arm list
11, the two neighboring angle middle position of the 6th mechanical arm list 12 corresponds to internal rotten (unqualified) navel orange discharge port；
Movement one: feed inlet drives cylinder rod 3 to move down into orange, cylinder 2；
Air pressure telescopic rod 703 on first mechanical arm monomer 7 pushes end support 711 to grab navel orange, the strong sensing of band
The chuck 709 of device is contacted with navel orange, the deformation according to the shape of navel orange when flexible material 710 stress of film on chuck, covering
In the clamping stress surface of navel orange, when chuck stress reaches certain value, force snesor outgoing signal, and then air pressure telescopic link 703
Stop pushing, keeps current clamp position；
Cylinder 2 drives cylinder rod 3 to move up；
Movement two: rotating platform 5 drives the first mechanical arm monomer 7 to be rotated clockwise to first detection station (second
The corresponding position of 8 initial position of mechanical arm monomer)；
Cylinder 2 drives cylinder rod 3 to move down, and air pressure telescopic rod 703 drives end support 711, places its opening by navel orange
In detection workbench, the first face of navel orange image, detection of going forward side by side are acquired.
Acquisition finishes, and air pressure telescopic rod 703 pushes end support 711 to grab navel orange, and cylinder 2 drives cylinder rod 3 to move up；
Movement three: rotating platform 5 drives the rotation of the first mechanical arm monomer 7, if first station inspection result has corruption
Rotten, the first mechanical arm monomer 7 rotation to the first and second station angle middle position, the opening of end support 711 falls navel orange；
If testing result is normal, first motor 705 drives arc shaped slider 706 to be moved on cambered way 707,
Second motor 708 drives force sensor chuck 709 to rotate, and navel orange is rotated a certain angle by the drive of chuck 709, to second
After a station, navel orange is placed on detection workbench, the second face of navel orange image is acquired；Acquisition finishes, air pressure telescopic rod 703
End support 711 is pushed to grab navel orange, cylinder 2 drives cylinder rod 3 to move up；This movement is repeated, next detection is continued to rotate to
Station abandons navel orange；
It repeats the above process, is completed until the image in all faces all detects.If navel orange is qualified product, navel orange is sent
To the navel orange discharge port that do not rot.
The movement of other each mechanical arm monomers is kept strokes with above-mentioned.
Beneficial effect and principle:
1) the flexible material film on chuck is that a kind of black can extinction, inflatable material (such as the black elasticity shunk
Sheet rubber), secondary extrusion will not be caused to damage navel orange.
This programme, when clamping navel orange, is being kept navel orange center constant and not influenced by a mechanical arm monomer
Under image shooting cases of the navel orange on station, navel orange can spatially be rotated, specifically the face parallel with chuck face in navel orange
It can rotate 360 °, the navel orange face vertical with the rotating platform surfaces of revolution and chuck face can carry out 0~± 30 ° of rotation (rotation
Angle also can be finer).
2) this programme visually requires to change the size of rotating platform and the number of mechanical arm monomer, and navel orange is enable to obtain
The image of different sides number is taken, to reach the detection required in various degree.
Flexible material film layer on this chuck be a kind of black can extinction, the inflatable material shunk, navel orange will not be made
It is damaged at secondary extrusion.
The present invention, when clamping navel orange, is being kept navel orange center constant and is not being influenced navel orange by a mechanical arm
Under image shooting cases on station, navel orange can spatially be rotated, it specifically can be into the navel orange face parallel with chuck face
360 ° of row rotations, the navel orange face vertical with the rotating platform surfaces of revolution and chuck face can carry out 0~± 30 ° of rotation.The present invention can
According to the specific requirement for detection of rotting inside navel orange, changes the size of rotating platform and the number of mechanical arm, enable navel orange
The image of different sides number is obtained, enough to reach the detection required in various degree.Operation of the present invention is simple and convenient, and sorting efficiency is high,
Manual intelligent is higher.
Claims (5)
1. a kind of multi-platform detection method for sorting for detection of rotting inside navel orange, it is characterized in that including the following steps:
1) prepare:
The working space that detection sorting is arranged reaches darkroom requirement；
The grabbing device of navel orange is set in working space, which is to install multiple machinery on a liftable rotating platform
Arm monomer, each mechanical arm monomer surround the axisymmetrical of rotating platform；Each mechanical arm monomer is tested for grabbing
Navel orange；All parts surfaces of grabbing device all coat black light-absorbing material；
2) under original state:
In the rotation direction of rotating platform, navel orange charging support is set below the navel orange crawl position of the 1st mechanical arm monomer
Disk；
The underface of 2~n-1 mechanical arm monomer sets detection station respectively, and each detection station is being crawled navel orange path
Underface；
In 2~n mechanical arm monomer, the centre bit between adjacent machine arm monomer installs unqualified navel orange discharge port,
The position of discharge port is in mechanical arm monomer rotation process, the underface in path where being crawled navel orange；
Qualified navel orange discharge port is set immediately below the n-th mechanical arm monomer；Qualified navel orange discharge port is where being crawled navel orange
The underface in path；
3) it for general robot arm arm monomer, when navel orange enters working space from feed inlet, falls on navel orange feed tray, rotates
Platform falls, and mechanical arm monomer is driven to fall, and grabs navel orange, starts step 4):
4) rotating platform rises and rotates, and is sent into first detection station top position；Then, rotating platform declines, navel orange quilt
It is put into the 1st detection station, mechanical arm monomer leaves navel orange, avoids influencing image collection effect；
In the 1st detection station, the image in a face is acquired, after the completion, mechanical arm monomer grabs the navel orange, on rotating platform
It rises, continues to rotate；Simultaneously, respective image is analyzed in first detection station, the image based on this face obtains
Navel orange whether He Ge conclusion；Step 5) is then carried out, is entered step 6) if unqualified；
5) rotating platform rotates, and mechanical arm monomer is sent to next detection station, repeats the testing process；It was rotating
Cheng Zhong, mechanical arm monomer rotate the navel orange that it is grabbed, and change the face of being detected；
6) rotating platform rotates, and mechanical arm monomer is sent to first unqualified navel orange discharge port, navel orange is decontroled, makes unqualified
Navel orange fall into discharge port, and collect；
7) detection Jing Guo all detection stations, and be all judged as qualified, then the in qualified navel orange discharge port position, navel orange
It decontrols.
2. the multi-platform detection method for sorting according to claim 1 for detection of rotting inside navel orange, it is characterized in that institute
Stating grabbing device includes: pedestal, cylinder, rotating platform, platform rotary electric machine, robot base and n mechanical arm monomer,
N is natural number；
The cylinder is connected on pedestal, and the telescopic direction of cylinder rod is perpendicular to ground；The rotating platform is parallel to bottom surface, and
Rotating platform is connected to cylinder rod；Rotating platform is driven by platform rotary electric machine to be rotated；Mechanical arm monomer passes through mechanical arm
Pedestal is connected on rotating platform；If n >=2, each mechanical arm monomer is symmetrical around the pivot center of rotating platform；
The mechanical arm monomer includes arm support, support plate, rack rod and two pairs of handgrips；
Any handgrip includes: first rotating shaft, air pressure telescopic rod, the second shaft, end support and fruit angle adjusting mechanism；
The end of air pressure telescopic rod is connected to the side of arm support by first rotating shaft, and the head end of air pressure telescopic link passes through second
Shaft is connected to the back side of end support；The end of end support is rotatablely connected support on the supporting plate by connecting rod of support
Plate is connected on arm support；The first rotating shaft, the second shaft and rack rod and the shaft of support are parallel to each other, and all
Perpendicular to ground；The fruit angle adjusting mechanism is connected in the front of end support；
In two pairs of handgrips: for two handgrips about arm support at axial symmetry, the front of two end supports is opposite；
Fruit angle adjusting mechanism includes first motor, arc shaped slider, cambered way, the second motor and chuck；The back side of chuck
Center connects the top of the second motor output shaft, the surface of the pivot center of the second motor output shaft perpendicular to chuck；The
The main body of two motors is connected on arc shaped slider；Arc shaped slider and cambered way are cooperatively connected；Cambered way is connected to end branch
The front of frame；The main body of first motor is connected on end support, and arc shaped slider and the output shaft of first motor pass through linkage
Mechanism connection, and with first motor the rotation of output shaft, are moved on cambered way；The mobile curved path of arc shaped slider
The plane at place is perpendicular to ground, and the curved path of the arc shaped slider on two end supports is in the same plane；Two end branch
The center of circle of the curved path of arc shaped slider on frame is between two end supports.
3. the multi-platform detection method for sorting according to claim 1 for detection of rotting inside navel orange, it is characterized in that institute
Chuck surface is stated with flexible material film, connects voltage sensitive sensor between chuck and the second motor.
4. the multi-platform detection method for sorting according to claim 1 for detection of rotting inside navel orange, it is characterized in that institute
It states and is connected with angular wheel on the output shaft of first motor；
The main body of the arc shaped slider is a part of cylinder；The slot of the arc of indent, slot are provided in the arcuate surface of arc shaped slider
The center of circle where arc shaped slider on the axis of cylinder；The one side wall of slot is equipped with the rack gear being engaged with angular wheel, cone
Shape gear is in slot；
The cambered way has pairs of two, their the first from left right sides are located at the two sides of arc shaped slider, in the inside of cambered way
Equipped with sliding slot, two cambered ways surround the region where arc shaped slider, and the two sidewalls of arc shaped slider are respectively in two cambered ways
Sliding slot in；Angular wheel is between cambered way；
The main body of second motor is connect by connecting column with arc shaped slider, and link position is in the inner concave of arc shaped slider.
5. the multi-platform detection method for sorting according to claim 1 for detection of rotting inside navel orange, it is characterized in that institute
The center for stating rotation platform bottom surface is connected with bearing, and the top of the cylinder rod is connected to the bearing；Cylinder rod set is with teeth
Ring, the main body of the platform rotary electric machine are connected to rotation platform bottom surface, are connected with gear on the output shaft of platform rotary electric machine,
Gear is engaged with ring gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910399945.8A CN110125043B (en) | 2019-05-14 | 2019-05-14 | Multi-platform detection sorting method for navel orange internal rot detection |
Applications Claiming Priority (1)
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| CN113211463A (en) * | 2021-05-19 | 2021-08-06 | 王佳豪 | High efficiency fruit processing is with multistage letter sorting manipulator and fruit letter sorting system |
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| CN110125043B (en) | 2021-04-16 |
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