CN110967346B - Fruit and vegetable apparent detection and sorting boxing device - Google Patents

Fruit and vegetable apparent detection and sorting boxing device Download PDF

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Publication number
CN110967346B
CN110967346B CN201911390685.4A CN201911390685A CN110967346B CN 110967346 B CN110967346 B CN 110967346B CN 201911390685 A CN201911390685 A CN 201911390685A CN 110967346 B CN110967346 B CN 110967346B
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axis
fruit
vegetable
guide rail
block
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CN110967346A (en
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李洪斌
迟伟
杨升
夏朋超
刘春宝
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Yantai Towin Intelligent Technology Co ltd
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Yantai Towin Intelligent Technology Co ltd
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    • 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
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • 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
    • 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
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • 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
    • 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
    • G01N21/8806—Specially adapted optical and illumination features
    • 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
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/009—Sorting of fruit
    • 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
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N2021/0106—General arrangement of respective parts
    • G01N2021/0112—Apparatus in one mechanical, optical or electronic block
    • 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
    • G01N2021/845—Objects on a conveyor
    • 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
    • G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
    • 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
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8854—Grading and classifying of flaws
    • G01N2021/8867—Grading and classifying of flaws using sequentially two or more inspection runs, e.g. coarse and fine, or detecting then analysing
    • G01N2021/887—Grading and classifying of flaws using sequentially two or more inspection runs, e.g. coarse and fine, or detecting then analysing the measurements made in two or more directions, angles, positions

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  • Chemical & Material Sciences (AREA)
  • Biochemistry (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Immunology (AREA)
  • Analytical Chemistry (AREA)
  • General Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Sorting Of Articles (AREA)

Abstract

The invention relates to a fruit and vegetable apparent detection and sorting and boxing device, and belongs to the technical field of fruit and vegetable apparent detection and sorting and boxing device structures. The device comprises a fruit and vegetable appearance detection device, a fruit and vegetable sorting and arranging device, a mechanical arm and an XY axis equidistant telescopic grabbing device, wherein the fruit and vegetable sorting and arranging device is positioned at the output end of fruit and vegetable appearance detection equipment, and the XY axis equidistant telescopic grabbing device is arranged on the mechanical arm. The invention has smart structural design and full automation, can greatly reduce the manual demand and simultaneously avoid the secondary pollution of the automatic equipment, and greatly reduces the production cost of enterprises.

Description

Fruit and vegetable apparent detection and sorting boxing device
Technical Field
The invention relates to a fruit and vegetable apparent detection and sorting and boxing device, and belongs to the technical field of fruit and vegetable apparent detection and sorting and boxing device structures.
Background
Along with the development of the economy in China, the living standard of people is continuously improved, the requirements of people on eating are higher and higher, and the inspection, sorting and boxing of fruits and vegetables in factory delivery are more and more automated. Most of the existing appearance inspection and sorting boxing are performed manually, the degree of automation is low, secondary pollution is easily introduced in the process of detecting and boxing, the quality is affected, and the production efficiency is limited by the number of workers and the quality.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an automatic device which has ingenious structural design and is fully automatic, the manual demand can be greatly reduced, the secondary pollution is avoided, and the production cost of enterprises is greatly reduced.
The fruit and vegetable appearance detection and sorting boxing device is characterized by comprising a fruit and vegetable appearance detection device 10-3, a fruit and vegetable sorting and arranging device 10-1, a mechanical arm 10-2 and an XY axis equidistant telescopic grabbing device 10-4, wherein the fruit and vegetable sorting and arranging device 10-1 is positioned at the output end of fruit and vegetable appearance detection equipment 10-3, and the XY axis equidistant telescopic grabbing device 10-4 is arranged on the mechanical arm 10-2;
The fruit and vegetable apparent detection device 10-3 comprises an upper apparent detection mechanism 5-1 for detecting the upper part of fruits and vegetables and a lower apparent detection mechanism 5-2 for detecting the lower part of fruits and vegetables, wherein the upper apparent detection mechanism 5-1 comprises an upper conveying belt 5-3 and an upper detection camera assembly 5-4 arranged above the upper conveying belt 5-3, and the lower apparent detection mechanism 5-2 comprises a fruit and vegetable conveying mechanism, a lifting mechanism 7-12, a fruit and vegetable grabbing mechanism, a fruit and vegetable bottom shooting mechanism 7-19 and a driving mechanism 7-11;
The upper detection camera assembly 5-4 comprises an upper detection frame 5-6, an upper detection camera assembly 5-8 which vertically irradiates an upper conveying belt 5-3 downwards is arranged at the top of the upper detection frame 5-6, upper detection light sources 5-7 are arranged on two opposite sides of the upper detection frame 5-6, two first guide blocks 5-5 are arranged at the inlet of the upper detection frame 5-6, two opposite first trigger switches 5-9 are arranged below the upper detection camera assembly 5-8, and the two first trigger switches 5-9 are positioned on two sides of the width direction of the upper conveying belt 5-3;
the upper detection camera assembly 5-8 comprises an upper fixed connecting plate 5-11 arranged on an upper detection frame 5-6, a plurality of upper detection camera fixing plates 5-10 extending vertically downwards are arranged on the lower surface of the upper fixed connecting plate 5-11, an upper detection camera 5-12 is arranged on each upper detection camera fixing plate 5-10, one upper detection camera 5-12 irradiates vertically downwards, and the rest upper detection cameras 5-12 irradiate fruits and vegetables on an upper conveying belt 5-3;
The fruit and vegetable conveying mechanism is used for conveying fruits and vegetables, the fruit and vegetable grabbing mechanism is arranged above the fruit and vegetable conveying mechanism and is arranged on the lifting mechanism 7-12, the fruit and vegetable bottom shooting mechanism 7-19 is arranged on the driving mechanism 7-11, and the driving mechanism 7-11 drives the fruit and vegetable bottom shooting mechanism 7-19 to move, so that the fruit and vegetable bottom shooting mechanism 7-19 moves to the position below the fruit and vegetable grabbing mechanism to shoot the bottom of the fruits and vegetables;
the driving mechanism 7-11 comprises a transverse driving mechanism 7-20 and a longitudinal driving mechanism 21, the fruit and vegetable bottom shooting mechanism 7-19 is arranged on the transverse driving mechanism 7-20 and can move left and right along the length direction of the transverse driving mechanism 7-20, the transverse driving mechanism 7-20 is arranged on the longitudinal driving mechanism 7-21 and can move back and forth along the length direction of the longitudinal driving mechanism 7-21, and the longitudinal driving mechanism 7-21 and the conveying mechanism are arranged in the same direction;
The fruit and vegetable conveying mechanism comprises two conveying belts 7-10 which are arranged in parallel, a longitudinal driving mechanism is arranged between the two conveying belts 7-10, a grouping mechanism 7-5 for distributing fruits and vegetables onto the two conveying belts 7-10 is arranged at the feeding end of the fruit and vegetable conveying mechanism, and an output mechanism 7-1 is arranged at the discharging end of the fruit and vegetable conveying mechanism;
the grouping mechanism 7-5 comprises a grouping belt 7-6, a swinging cylinder 7-8, a swinging rod 7-7 and a herringbone guide plate 7-9 are arranged on the grouping belt 7-6, and the output mechanism 7-1 comprises an output belt 7-2 and a splayed guide plate 7-3;
The lifting mechanism 12 comprises a lifting support 7-14, a linear guide rail 7-16 is arranged on the lifting support 7-14 in the height direction, a sucker support 7-15 is arranged on the linear guide rail 7-16 and can move up and down along the linear guide rail 7-16, a driving cylinder 7-18 capable of driving the sucker support 7-15 to move up and down is arranged on the lifting support 7-14, a row of first sucker assemblies 7-17 are arranged on the sucker support 7-15, and the row of first sucker assemblies 7-17 form a fruit and vegetable grabbing mechanism;
the fruit and vegetable bottom shooting mechanism comprises a camera frame 7-28, wherein a fruit and vegetable grabbing mechanism passing opening is formed in the middle of the camera frame, trigger switches 7-33 which are communicated with an industrial personal computer and can trigger bottom cameras 7-29 to shoot are respectively arranged on two sides of the fruit and vegetable grabbing mechanism passing opening, a support plate 7-31 is arranged at the position, opposite to the fruit and vegetable grabbing mechanism passing opening, of the bottom of the camera frame 7-28, three equally-spaced camera supports 7-30 are arranged along the periphery of the support plate 7-31, and bottom cameras 7-29 which irradiate the fruit and vegetable grabbing mechanism are arranged on each camera support 7-30;
two light supplementing lamps 7-27 which irradiate towards the direction of the fruit and vegetable grabbing mechanism are arranged on the camera frame 7-28;
the transverse driving mechanism comprises a transverse linear rail 7-24 and a transverse rack 7-25 which are arranged on the length direction of a transverse base 7-26, a transverse gear 7-23 which can transversely move along the length direction of the transverse rack 7-25 is arranged on the transverse rack 7-25, the transverse gear 7-23 is driven by being connected with a transverse motor and a speed reducer 7-22, and the motor and the speed reducer 7-22 are arranged on a camera frame 7-28;
the longitudinal driving mechanism comprises a longitudinal linear rail and a longitudinal rack which are arranged in the length direction of the longitudinal base, a longitudinal gear which can longitudinally move along the length direction of the longitudinal rack is arranged on the longitudinal rack, the longitudinal gear is driven by connection of a longitudinal motor and a speed reducer, and the longitudinal motor and the speed reducer are arranged on the transverse driving mechanism;
The fruit and vegetable sorting and arranging device 10-1 comprises a fruit and vegetable conveying belt 9-9 for conveying fruits and vegetables, wherein a swinging mechanism for stirring fruits and vegetables to change the running track of the fruits and vegetables is arranged on the fruit and vegetable conveying belt 9-9, two side pushing fixing frames 9-7 which span the width direction of the conveying belt 9-9 are arranged at the rear of the swinging mechanism, a side pushing mechanism capable of moving back and forth along the width direction of the fruit and vegetable conveying belt 9-9 is arranged between the two side pushing fixing frames 9-7, a plurality of T-shaped angular aluminum 9-12 which are arranged in parallel are arranged on the side surface of the fruit and vegetable conveying belt 9-9, a fruit and vegetable arranging conveying belt 9-13 is arranged below the T-shaped angular aluminum 9-12, and a liftable fruit and vegetable baffle 9-11 is arranged on one side, close to the fruit and vegetable arranging conveying belt 9-13, of the fruit and vegetable baffle 9-11 is arranged on the side surface of the fruit and vegetable conveying belt;
the swinging mechanism comprises a swinging frame 9-3 arranged on a fruit and vegetable conveying belt 9-9, an L-shaped swinging rod 9-2 is arranged on the swinging frame 9-3 through a bearing 9-4, a connecting rod 9-19 is arranged in the height direction of the L-shaped swinging rod 9-2, and the connecting rod 9-19 is connected with a swinging cylinder 9-1;
The side pushing mechanism comprises a side pushing moving frame 9-6 arranged between two side pushing fixing frames 9-7, the side pushing moving frame 9-6 is in sliding connection with the side pushing fixing frames 9-7 through side pushing linear rails 9-8, and the side pushing moving frame 9-6 is driven by side pushing cylinders 9-5;
the fruit and vegetable baffle 9-11 is arranged on the blocking support frame 9-18, the blocking support frame 9-18 is arranged on the fruit and vegetable conveying belt 9-9, the fruit and vegetable baffle 9-11 is connected with the blocking support frame 9-17 in an up-down sliding way through a blocking line rail 9-15, and a blocking cylinder 9-16 for driving the fruit and vegetable baffle 9-11 to move up and down is arranged on the blocking support frame 9-17;
the side pushing moving frame 9-6 is provided with a stop block 9-10 for stopping fruits and vegetables from going forward continuously;
The XY axis equidistant telescopic grabbing device 10-4 comprises two Y axis automatic telescopic modules 2-1 which are arranged in parallel, a plurality of X axis automatic telescopic modules 2-2 are installed at intervals along the length direction of the bottom of each Y axis automatic telescopic module 2-1, a plurality of X axis limiting blocks which can be mutually unfolded or mutually folded are installed at the bottom of each X axis automatic telescopic module 2-2, a sucking disc assembly 1-2 is installed at the bottom of each X axis limiting block, the plurality of X axis limiting blocks are positioned on the same straight line and are connected through an X axis synchronous belt 1-7, a fixed point is arranged at the bottom of each X axis limiting block by the X axis synchronous belt 1-7, a plurality of Y axis connecting blocks which can be mutually unfolded or mutually folded are installed at the bottom of each Y axis automatic telescopic module 2-1, the bottom of each Y axis connecting block is connected with one X axis automatic telescopic module 2-2, and the plurality of X axis automatic telescopic modules 2-2 are connected through the Y axis synchronous belt 2-7, and one fixed point is arranged at the top of each X axis automatic telescopic module 2-2;
the X-axis automatic telescopic modules 2-2 are in a group, each group comprises an X-axis middle guide rail slide block assembly 1-3 arranged at the middle position of the X-axis fixed beam 1-23, the left end and the right end of the X-axis fixed beam 1-23 are respectively provided with an X-axis end guide rail slide block assembly 1-4, in each group, the front side and the rear side of the X-axis fixed beam 1-23 of the X-axis automatic telescopic module 2-2 positioned in the middle are respectively provided with an X-axis executing mechanism, and the two X executing mechanisms drive the X-axis end guide rail slide block assemblies 1-4 of the three X-axis automatic telescopic modules 2-2 to stretch or retract simultaneously;
The X-axis middle guide rail slide block assembly 1-3 comprises an X-axis middle linear guide rail 1-10 and a plurality of X-axis middle slide blocks 1-11, wherein X-axis middle limit blocks 1-13 are arranged below each X-axis middle slide block 1-11, a sucking disc assembly 1-2 is arranged at the bottom of each X-axis middle limit block 1-13, each X-axis end guide rail slide block assembly 1-4 comprises an X-axis upper slide block 1-14, the top of each X-axis upper slide block 1-14 is arranged on an X-axis upper guide rail 1-15 in a sliding manner, an X-axis lower guide rail 1-17 is arranged at the bottom of each X-axis upper guide rail 1-15, a plurality of X-axis lower limit blocks 1-19 are arranged on each X-axis lower guide rail 1-17, each X-axis lower limit block 1-19 is provided with an X-axis end 1-18, each X-axis end limit block 1-18 is provided with a sucking disc assembly 1-2, each X-axis middle limit block 1-13 and each X-axis end limit block 1-18 belong to X-axis limit blocks 1-13, each X-axis end limit block 1-18 is provided with a synchronous belt of the same length as each X-axis limit block, and each X-axis limit block 1-13 is connected with each X-axis lower limit block in the same linear guide rail 1-13;
The sucking disc assembly 1-2 comprises a U-shaped sucking disc connecting piece 1-8 arranged at the bottom of the X-axis middle limiting block 1-13 and the X-axis end limiting block 1-18 and a sucking disc 1-9 arranged on the sucking disc connecting piece 1-8;
the X-axis upper guide rail 1-15 and the X-axis lower guide rail 1-17 are integrally installed through an X-axis middle fixing plate 1-16, an X-axis cylinder connecting block 1-22 and an X-axis oil pressure buffer top block 1-21 are installed on the upper surface of one end, far away from the X-axis middle linear guide rail 1-10, of the X-axis middle fixing plate 1-16, an X-axis end fixing block 1-20 is installed on the lower surface of the X-axis middle fixing plate, a linkage rod 1-27 is inserted into the X-axis end fixing block 1-20, and the adjacent X-axis end fixing blocks 1-20 are connected through the linkage rod 1-27, so that three X-axis automatic telescopic modules 2-2 are in linkage;
the front, back, left and right of the X-axis middle limiting block 1-13 are respectively provided with a middle contact arm 1-25 with equal length, and one end of the X-axis end limiting block 1-18, which is close to the X-axis middle limiting block 1-13, is provided with an end contact arm 1-26 with equal length with the middle contact arm 1-25;
The two Y-axis automatic telescopic modules 2-1 are respectively provided with a Y-axis executing mechanism, the driving directions of the two Y-axis executing mechanisms are opposite, the Y-axis automatic telescopic module 2-1 comprises a Y-axis middle guide rail slide block assembly 2-4 arranged at the middle position of a Y-axis fixed beam 2-14, the left end and the right end of the Y-axis fixed beam 2-14 are respectively provided with a Y-axis end guide rail slide block assembly 2-5, and the Y-axis executing mechanisms drive the Y-axis end guide rail slide block assemblies 2-5 to stretch or retract;
The Y-axis middle guide rail slide block assembly 2-4 comprises a Y-axis middle linear guide rail 2-9 and Y-axis middle fixed blocks 2-15 arranged at the middle position of the Y-axis middle linear guide rail 2-9, the left side and the right side of each Y-axis middle fixed block 2-15 are provided with an equal number of Y-axis middle slide blocks 2-10, each Y-axis middle slide block 2-10 and Y-axis middle fixed block 2-15 are provided with Y-axis middle connecting blocks 2-12 below, and the bottom of each Y-axis middle connecting block 2-12 is connected with an X-axis automatic telescopic module 2-2;
The Y-axis end guide rail slide block assembly 2-5 comprises Y-axis upper slide blocks 2-16 with the top mounted on the Y-axis fixed beams 2-14, the bottoms of the Y-axis upper slide blocks 2-16 are slidably mounted on the Y-axis upper guide rails 2-17, the Y-axis upper guide rails 2-17 are provided with Y-axis lower guide rails 2-19 through Y-axis middle fixed plates 2-18, the Y-axis lower guide rails 2-19 are provided with a plurality of Y-axis lower slide blocks 2-20, the bottoms of the Y-axis lower slide blocks 2-20 are respectively provided with a Y-axis end connecting block 2-21, each Y-axis end connecting block 2-21 is connected with an X-axis automatic telescopic module 2-2, the bottoms of the Y-axis end connecting blocks 2-22 are connected with an X-axis automatic telescopic module 2-2, and one Y-axis end connecting block 2-22 of the Y-axis end guide rail slide block assembly 2-5 is provided with a Y-axis cylinder connecting block 2-24 and a Y-axis oil pressure buffer top block 2-23;
The X-axis actuating mechanism comprises an X-axis cylinder assembly 1-1 arranged on an X-axis fixed beam 1-23, the end part of an X-axis cylinder push rod 1-24 in the X-axis cylinder assembly 1-1 is fixed on an X-axis cylinder connecting block 1-22, the Y-axis actuating mechanism comprises a Y-axis cylinder assembly 2-3 arranged on a Y-axis fixed beam 2-14, and the end part of a Y-axis cylinder push rod 2-13 in the Y-axis cylinder assembly 2-3 is fixed on a Y-axis cylinder connecting block 2-24;
the X-axis middle limiting block 1-13 is connected with the X-axis middle sliding block 1-11 through an X-axis limiting block vertical plate 1-12, and the Y-axis middle sliding block 2-10 is connected with the Y-axis middle connecting block 2-12 through a Y-axis limiting block vertical plate 2-11;
The X-axis fixed beam 1-23 and the Y-axis fixed beam 2-14 are provided with an X-axis hydraulic buffer component 1-5 and a Y-axis hydraulic buffer component 2-6 which are matched with the X-axis hydraulic buffer top block 1-21 and the Y-axis hydraulic buffer top block 1-23;
the X-axis synchronous belt 1-7 is arranged at the bottoms of the X-axis middle limiting block 1-13 and the X-axis end limiting block 1-18 through an X-axis synchronous belt pressing block 1-6 to form the fixed point, and the Y-axis synchronous belt 2-7 is arranged on the X-axis automatic telescopic module 2-2 through a Y-axis synchronous belt pressing block 2-8 to form the fixed point.
The fruit and vegetable appearance detection and sorting and boxing device disclosed by the invention is ingenious in structural design and has the following beneficial effects:
1. the fruits and vegetables enter the lower detection mechanism 5-2 to detect the lower appearance after the upper appearance is detected by the upper appearance detection mechanism 5-1, the purpose of overall appearance detection is finally realized, the specified number of fruits and vegetables are respectively input into the conveyor belt through the grouping mechanism, the fruits and vegetables are detected by the shooting mechanism at the bottom of the fruits and vegetables after being lifted by the lifting mechanism and are output from the output mechanism, the full automation of the appearance detection of the fruits and vegetables is realized, and secondary pollution caused by manual participation and dependence on manual work are avoided;
2. the fruit and vegetable sorting and arranging device 10-1 can complete automatic sorting and arranging of materials, reduce the use amount of workers, increase the production efficiency and the automation degree, and has extremely high practical value;
3. When the fruits and vegetables need to be grabbed, a plurality of X-axis automatic telescopic modules 2-2 are driven to be opened through the Y-axis automatic telescopic modules 2-1, in particular, Y-axis end guide rail slide block assemblies 2-5 are pushed to be outwards extended through Y-axis cylinder assemblies 2-3, so that Y-axis connecting blocks are mutually opened, the X-axis automatic telescopic modules 2-2 are driven to be opened, Y-axis synchronous belts 2-7 are tensioned, meanwhile, two X-axis end guide rail slide block assemblies 1-4 are respectively driven to horizontally move reversely through X-axis actuating mechanisms, so that X-axis upper guide rails 1-15 and lower guide rails 1-7 synchronously extend outwards, and X-axis end limiting blocks 1-18 are outwards moved, and because the X-axis end limiting blocks 1-18 and X-axis middle limiting blocks 1-13 are connected through the X-axis synchronous belts 1-7, so that the X-axis end limiting blocks 1-18 which move outwards pull the X-axis middle limiting blocks 1-13 to be unfolded, the synchronous belts between every two adjacent limiting blocks have the same length, so that the distances between the adjacent limiting blocks are the same after the adjacent limiting blocks are completely unfolded, fruits and vegetables are grabbed by the sucker assemblies 1-2, when the box is needed, the Y-axis actuating mechanism drives the Y-axis end guide rail sliding block assemblies 2-5 to be folded to enable adjacent Y-axis connecting blocks to be contacted with each other, the X-axis actuating mechanism drives the X-axis end guide rail sliding block assemblies 1-4 to be folded to enable the adjacent limiting blocks 1-13 to be contacted with each other, and as the front end, the rear end, the left end and the right end of the X-axis middle limiting blocks 1-13 are provided with middle contact arms 1-25 with the same length, the end contact arms 1-26 which are equal in length with the middle contact arms 1-25 are arranged at one end of the X-axis end limiting block 1-18, which is close to the X-axis middle limiting block 1-13, so that equal-interval boxing and placement of fruits and vegetables can be realized.
In conclusion, the fruit and vegetable detection, sorting and boxing method disclosed by the invention is ingenious in design and high in automation degree, and can greatly improve the production efficiency and rely on manpower.
Drawings
Fig. 1: the invention relates to a structural schematic diagram of a fruit and vegetable appearance detection, sorting and boxing device;
Fig. 2: a structural schematic diagram of the fruit and vegetable appearance detection device;
fig. 3: a schematic structural diagram of the lower appearance detection mechanism;
fig. 4: a structural schematic diagram of the grouping mechanism;
Fig. 5: the structure schematic diagram of the fruit and vegetable conveying mechanism;
fig. 6: a structural schematic diagram of the lifting mechanism;
Fig. 7: the driving mechanism and the fruit and vegetable bottom shooting mechanism are structurally schematic;
fig. 8: a frame diagram of the driving mechanism and the fruit and vegetable bottom shooting mechanism;
Fig. 9: a structural schematic diagram of the camera frame;
Fig. 10: a layout of the camera on the camera mount;
fig. 11: a structural schematic diagram of the grouping mechanism;
Fig. 12: a structural schematic diagram of the output mechanism;
fig. 13: a schematic structural diagram of the upper appearance detection mechanism;
fig. 14: a frame diagram of the upper appearance detection mechanism;
fig. 15: an upper inspection camera layout schematic;
fig. 16: a structural schematic diagram of a fruit and vegetable sorting and arranging device;
fig. 17: a structural schematic diagram of the swinging mechanism;
Fig. 18: the structure of the fruit and vegetable baffle is schematically shown;
Fig. 19: a structural schematic diagram of the XY axis telescopic grabbing device when the XY axis telescopic grabbing device is folded;
Fig. 20: a structural schematic diagram of the XY axis telescopic grabbing device after being opened;
Fig. 21: a structural schematic diagram of the X-axis automatic telescopic module;
fig. 22: a structural schematic diagram of an X-axis synchronous belt of the X-axis automatic telescopic module in a state 1 when being bent;
fig. 23: a structural schematic diagram of an X-axis synchronous belt of the X-axis automatic telescopic module in a state 2 when being bent;
fig. 24: a structural schematic diagram of the sucker assembly;
fig. 25: a structural schematic diagram of the X-axis middle guide rail sliding block assembly;
fig. 26: a structural schematic diagram of the X-axis end guide rail slide block assembly;
fig. 27: a structural schematic diagram of the Y-axis middle guide rail sliding block assembly;
fig. 28: a structural schematic diagram of the Y-axis end guide rail slide block assembly;
Fig. 29: a Y-axis automatic telescopic module furling state diagram;
Fig. 30: an opening state diagram of the Y-axis automatic expansion module;
Fig. 31: a Y-axis synchronous belt installation position diagram of the Y-axis automatic telescopic module;
fig. 32: a group of X-axis automatic telescopic modules are structurally schematic.
In the figure: 1-1, an X-axis cylinder assembly; 1-2, a sucker assembly; 1-3, an X-axis middle guide rail sliding block assembly; 1-4, an X shaft end guide rail slide block assembly; 1-5, an X-axis oil pressure buffer assembly; 1-6, pressing an X-axis synchronous belt; 1-7, an X-axis synchronous belt; 1-8, sucking disc connecting piece; 1-9, sucking discs; 1-10, X-axis middle linear guide rail; 1-11, X-axis middle slide block; 1-12, an X-axis limiting block vertical plate; 1-13, an X-axis middle limiting block; 1-14, X-axis upper slide block; 1-15, an X-axis upper guide rail; 1-16, X-axis middle fixing plate; 1-17, X-axis lower guide rail; 1-18, limiting blocks at two ends of an X axis; 1-19, X axis lower slide block; 1-20, X shaft end fixing blocks; 1-21, an X-axis oil pressure buffer ejector block; 1-22, X-axis cylinder connecting blocks; 1-23, X-axis fixed beams; 1-24, X-axis cylinder push rod; 1-25, an intermediate contact arm; 1-26, end contact arms; 1-27, a linkage rod;
2-1, Y-axis automatic expansion module; 2-2, an X-axis automatic expansion module; 2-3, Y-axis cylinder assembly; 2-4, a Y-axis middle guide rail sliding block assembly; 2-5, a Y shaft end part guide rail slide block assembly; 2-6, Y-axis hydraulic buffer components; 2-7, Y-axis synchronous belt; 2-8, pressing a Y-axis synchronous belt; 2-9, a Y-axis middle linear guide rail; 2-10, Y-axis middle sliding blocks; 2-11, a Y-axis limiting block vertical plate; 2-12, Y-axis middle connecting blocks; 2-13, Y-axis cylinder push rod; 2-14, Y-axis fixed beams; 2-15, Y-axis middle fixing blocks; 2-16, upper slide block of Y axis; 2-17, Y-axis upper guide rail; 2-18, Y-axis middle fixing plate; 2-19, Y-axis lower guide rail; 2-20, a Y-axis lower sliding block; 2-21, a Y shaft end connecting block; 2-22, a Y shaft end connecting block; 2-23, Y-axis oil pressure buffer top blocks; 2-24, a Y-axis cylinder connecting block;
5-1, an upper apparent detection mechanism, 5-2, a lower apparent detection mechanism, 5-3, an upper conveying belt, 5-4, an upper detection camera assembly, 5-5, a first guide block, 5-6, an upper detection frame, 5-7, an upper detection light source, 5-8, an upper detection camera assembly, 5-9, a first trigger switch, 5-10, an upper detection camera fixing plate, 5-11, an upper detection side camera fixing connecting plate, 5-12, an upper detection camera, 7-1, an output mechanism, 7-2, an output belt, 7-3, a splayed guide plate, a 7-5 grouping mechanism, 7-6, a grouping belt, 7-7, a swing lever, 7-8, a swing cylinder, 7-9, a herringbone guide plate, 7-10, a conveyor belt, 7-11, a driving mechanism, 7-12, a lifting mechanism, 7-13, a vacuum generating device, 7-14, a lifting bracket, 7-15, a sucker bracket, 7-16, a linear guide rail, 7-17, a first sucker assembly, 7-18, a driving cylinder, 7-19, a fruit and vegetable bottom shooting mechanism, 7-20, a transverse driving mechanism, 7-21, a longitudinal driving mechanism, 7-22, a driving motor and a speed reducer, 7-23, a transverse gear, 7-24, a transverse wire rail, 7-25, a transverse rack, 7-26, a transverse base, 7-27, a light supplementing lamp, 7-28, a camera frame, 7-29, a bottom camera, 7-30, a camera support, 7-31, the device comprises a support plate, 7-32, a blocking cylinder, 7-33 and a trigger switch;
9-1, a swing cylinder; 9-2, an L-shaped swing rod; 9-3, swinging the frame; 9-4, a bearing; 9-5, laterally pushing the cylinder; 9-6, laterally pushing the movable frame; 9-7, laterally pushing the fixing frame; 9-8, laterally pushing the wire rail; 9-9, a fruit and vegetable conveying belt; 9-10, a stop block; 9-11, fruit and vegetable baffles; 9-12, T-shaped angle aluminum; 9-13 fruit and vegetable arrangement conveying belts; 9-15, blocking the wire rail; 9-16 blocking cylinders; 9-17, a blocking support frame.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1-32, the fruit and vegetable appearance detecting and sorting and boxing device of the embodiment comprises a fruit and vegetable appearance detecting device 10-3, a fruit and vegetable sorting and arranging device 10-1, a mechanical arm 10-2 and an XY axis equidistant telescopic grabbing device 10-4, wherein the fruit and vegetable sorting and arranging device 10-1 is positioned at the output end of fruit and vegetable appearance detecting equipment 10-3, and the XY axis equidistant telescopic grabbing device 10-4 is arranged on the mechanical arm 10-2;
The fruit and vegetable apparent detection equipment comprises an upper apparent detection mechanism 5-1 for detecting the upper part of fruits and vegetables and a lower apparent detection mechanism 5-2 for detecting the lower part of fruits and vegetables, wherein the upper apparent detection mechanism 5-1 comprises an upper conveying belt 5-3 and an upper detection camera assembly 5-4 arranged above the upper conveying belt 5-3, and the lower apparent detection mechanism 5-2 comprises a fruit and vegetable conveying mechanism, a lifting mechanism 7-12, a fruit and vegetable grabbing mechanism, a fruit and vegetable bottom shooting mechanism 7-19 and a driving mechanism 7-11;
The upper detection camera assembly 5-4 comprises an upper detection frame 5-6, an upper detection camera assembly 5-8 which vertically irradiates the upper conveying belt 5-3 downwards is arranged at the top of the upper detection frame 5-6, upper detection light sources 5-7 are arranged on two opposite sides of the upper detection frame 5-6, two first guide blocks 5-5 are arranged at the inlet of the upper detection frame 5-6, two opposite first trigger switches 5-9 are arranged below the upper detection camera assembly 5-8, and the two first trigger switches 5-9 are positioned on two sides of the width direction of the upper conveying belt 5-3;
The upper detecting camera assembly 5-8 comprises an upper fixed connecting plate 5-11 arranged on the upper detecting frame 5-6, a plurality of upper detecting camera fixing plates 5-10 extending vertically downwards are arranged on the lower surface of the upper fixed connecting plate 5-11, an upper detecting camera 5-12 is arranged on each upper detecting camera fixing plate 5-10, one upper detecting camera 5-12 irradiates vertically downwards, and the rest upper detecting cameras 5-12 irradiate fruits and vegetables on the upper conveying belt 5-3; when fruits and vegetables to be detected pass through the first guide block 5-5 under the drive of the upper conveying belt 5-3, the first trigger switch 5-9 is triggered, and the upper detection cameras 5-12 fixed on the upper detection side camera fixing connecting plate 5-11 through the upper detection camera fixing plate 5-10 are used for photographing and analyzing the upper surfaces of the fruits and vegetables.
The fruit and vegetable conveying mechanism is used for conveying fruits and vegetables, the fruit and vegetable grabbing mechanism is arranged above the fruit and vegetable conveying mechanism and is arranged on the lifting mechanism 7-12, the fruit and vegetable bottom shooting mechanism 7-19 is arranged on the driving mechanism 7-11, and the driving mechanism 7-11 drives the fruit and vegetable bottom shooting mechanism 7-19 to move, so that the fruit and vegetable bottom shooting mechanism 7-19 moves to the position below the fruit and vegetable grabbing mechanism to shoot the bottom of the fruits and vegetables;
The driving mechanism 7-11 comprises a transverse driving mechanism 7-20 and a longitudinal driving mechanism 21, the fruit and vegetable bottom shooting mechanism 7-19 is arranged on the transverse driving mechanism 7-20 and can move left and right along the length direction of the transverse driving mechanism 7-20, the transverse driving mechanism 7-20 is arranged on the longitudinal driving mechanism 7-21 and can move back and forth along the length direction of the longitudinal driving mechanism 7-21, and the longitudinal driving mechanism 7-21 and the conveying mechanism are arranged in the same direction; the transverse driving mechanism comprises a transverse linear rail 7-24 and a transverse rack 7-25 which are arranged on the length direction of a transverse base 7-26, a transverse gear 7-23 which can transversely move along the length direction of the transverse rack 7-25 is arranged on the transverse rack 7-25, the transverse gear 7-23 is driven by being connected with a transverse motor and a speed reducer 7-22, and the motor and the speed reducer 7-22 are arranged on a camera frame 7-28; the longitudinal driving mechanism comprises a longitudinal linear rail and a longitudinal rack which are arranged on the longitudinal base in the length direction, a longitudinal gear which can longitudinally move along the longitudinal direction of the longitudinal rack is arranged on the longitudinal rack, the longitudinal gear is driven by connection of a longitudinal motor and a speed reducer, and the longitudinal motor and the speed reducer are arranged on the transverse driving mechanism.
The fruit and vegetable conveying mechanism comprises two conveying belts 7-10 which are arranged in parallel, a longitudinal driving mechanism is arranged between the two conveying belts 7-10, a grouping mechanism 7-5 for distributing fruits and vegetables onto the two conveying belts 7-10 is arranged at the feeding end of the fruit and vegetable conveying mechanism, and an output mechanism 7-1 is arranged at the discharging end of the fruit and vegetable conveying mechanism;
the grouping mechanism 7-5 comprises a grouping belt 7-6, a swinging cylinder 7-8, a swinging rod 7-7 and a herringbone guide plate 7-9 are arranged on the grouping belt 7-6, the output mechanism 7-1 comprises an output belt 7-2 and a splayed guide plate 7-3, the output belt 7-1 mainly comprises a conveying belt 7-2 and the guide plate 7-3 fixed on a frame of the conveying belt 7-2, fruits and vegetables sent out by the conveying belt 7-10 are guided by the splayed guide plate 7-3 and then output to the next part through the middle position of the output belt 7-2;
The fruit and vegetable bottom shooting mechanism comprises a camera frame 7-28, wherein a fruit and vegetable grabbing mechanism passing hole is formed in the middle of the camera frame, trigger switches 7-33 which are communicated with an industrial personal computer and can trigger bottom cameras 7-29 to shoot are respectively arranged on two sides of the fruit and vegetable grabbing mechanism passing hole, support plates 7-31 are arranged at positions, opposite to the fruit and vegetable grabbing mechanism passing hole, of the bottoms of the camera frames 7-28, three equally-spaced camera supports 7-30 are arranged along the peripheries of the support plates 7-31, bottom cameras 7-29 which irradiate towards the fruit and vegetable grabbing mechanism are arranged on each camera support 7-30, and two light supplementing lamps 7-27 which irradiate towards the fruit and vegetable grabbing mechanism are arranged on the camera frame 7-28;
The lifting mechanism 12 comprises a lifting support 7-14, a linear guide rail 7-16 is arranged on the lifting support 7-14 in the height direction, a sucker support 7-15 is arranged on the linear guide rail 7-16 and can move up and down along the linear guide rail 7-16, a driving cylinder 7-18 capable of driving the sucker support 7-15 to move up and down is arranged on the lifting support 7-14, a row of first sucker assemblies 7-17 are arranged on the sucker support 7-15, the first sucker assemblies 7-17 are connected with a vacuum generating device 7-13, and the row of first sucker assemblies 7-17 form a fruit and vegetable grabbing mechanism; when fruits and vegetables enter the conveyor belt 7-10 respectively, the blocking air cylinder 7-32 stretches out and blocks the fruits and vegetables from being conveyed away by the belt, the sucker support 7-15 of the lifting mechanism 7-12 is driven by the driving air cylinder 7-18 to move downwards to the positions of the fruits and vegetables along the linear guide rail 7-16 positioned on the lifting support 7-14, at the moment, the vacuum generating device 7-13 starts to work, the first sucker assembly 7-17 positioned on the sucker support 7-15 is in contact with the fruits and vegetables and builds vacuum pressure to lift the fruits and vegetables, and after the fruits and vegetables are lifted in place, the longitudinal driving mechanism 7-21 drives the bottom shooting mechanism 7-19 of the fruits and vegetables and the transverse driving mechanism 7-20 to move longitudinally, and 3 groups of cameras 7-29 positioned in the bottom shooting mechanism 7-19 of the fruits and vegetables respectively shoot bottom photos of each group of the fruits and vegetables and are analyzed at the same time of moving.
The X-axis telescopic grabbing device comprises two Y-axis automatic telescopic modules 2-1 which are arranged in parallel, a plurality of X-axis automatic telescopic modules 2-2 are installed at intervals along the length direction of the bottom of each Y-axis automatic telescopic module 2-1, a plurality of X-axis limiting blocks which can be mutually unfolded or mutually folded are installed at the bottom of each X-axis automatic telescopic module 2-2, a sucker assembly 1-2 is installed at the bottom of each X-axis limiting block, the plurality of X-axis limiting blocks are positioned on the same straight line and are connected through X-axis synchronous belts 1-7, a fixed point is arranged at the bottom of each X-axis limiting block in the X-axis synchronous belts 1-7, a plurality of Y-axis connecting blocks which can be mutually unfolded or mutually folded are installed at the bottom of each Y-axis automatic telescopic module 2-2 are connected at the bottom of each Y-axis connecting block, and a fixed point is arranged at the top of each X-axis automatic telescopic module 2-2 in the Y-axis synchronous belt 2-7;
The X-axis automatic telescopic modules 2-2 are in a group, each group comprises an X-axis middle guide rail slide block assembly 1-3 arranged at the middle position of the X-axis fixed beam 1-23, the left end and the right end of the X-axis fixed beam 1-23 are respectively provided with an X-axis end guide rail slide block assembly 1-4, in each group, the front side and the rear side of the X-axis fixed beam 1-23 of the X-axis automatic telescopic module 2-2 positioned in the middle are respectively provided with an X-axis executing mechanism, and the two X executing mechanisms drive the X-axis end guide rail slide block assemblies 1-4 of the three X-axis automatic telescopic modules 2-2 to stretch or retract simultaneously;
The X-axis middle guide rail slide block assembly 1-3 comprises an X-axis middle linear guide rail 1-10 and a plurality of X-axis middle slide blocks 1-11, an X-axis middle limiting block 1-13 is arranged below each X-axis middle slide block 1-11, a sucking disc assembly 1-2 is arranged at the bottom of each X-axis middle limiting block 1-13, the X-axis end guide rail slide block assembly 1-4 comprises an X-axis upper slide block 1-14, the top of which is arranged on an X-axis fixed beam 1-23, the bottom of the X-axis upper slide block 1-14 is slidably arranged on an X-axis upper guide rail 1-15, an X-axis lower guide rail 1-17 is arranged at the bottom of the X-axis upper guide rail 1-15, a plurality of X-axis lower slide blocks 1-19 are arranged on the X-axis lower guide rail 1-17, an X-axis end limiting block 1-18 is arranged at the bottom of each X-axis lower slide block 1-19, a sucking disc assembly 1-2 is arranged at the bottom of each X-axis end limiting block 1-18, the X-axis middle limiting block 1-13 and the X-axis end limiting blocks 1-18 belong to X-axis middle limiting blocks 1-13, the X-axis limiting blocks 1-13 and the X-axis middle limiting blocks 1-13 are connected with each X-axis middle limiting block 1-13 and the X-axis middle limiting blocks and the X-1-13 are in the same length and the same in a synchronous belt;
The sucking disc assembly 1-2 comprises a U-shaped sucking disc connecting piece 1-8 arranged at the bottom of the X-axis middle limiting block 1-13 and the X-axis end limiting block 1-18 and a sucking disc 1-9 arranged on the sucking disc connecting piece 1-8;
The X-axis upper guide rail 1-15 and the X-axis lower guide rail 1-17 are integrally installed through an X-axis middle fixing plate 1-16, an X-axis cylinder connecting block 1-22 and an X-axis oil pressure buffer top block 1-21 are installed on the upper surface of one end, far away from the X-axis middle linear guide rail 1-10, of the X-axis middle fixing plate 1-16, an X-axis end fixing block 1-20 is installed on the lower surface of the X-axis middle fixing plate, a linkage rod 1-27 is inserted into the X-axis end fixing block 1-20, and the adjacent X-axis end fixing blocks 1-20 are connected through the linkage rod 1-27, so that three X-axis automatic expansion modules 2-2 are in linkage;
The front, back, left and right of the X-axis middle limiting block 1-13 are respectively provided with a middle contact arm 1-25 with equal length, and one end of the X-axis end limiting block 1-18, which is close to the X-axis middle limiting block 1-13, is provided with an end contact arm 1-26 with equal length with the middle contact arm 1-25;
The two Y-axis automatic telescopic modules 2-1 are respectively provided with a Y-axis executing mechanism, the driving directions of the two Y-axis executing mechanisms are opposite, the Y-axis automatic telescopic module 2-1 comprises a Y-axis middle guide rail slide block assembly 2-4 arranged at the middle position of a Y-axis fixed beam 2-14, the left end and the right end of the Y-axis fixed beam 2-14 are respectively provided with a Y-axis end guide rail slide block assembly 2-5, and the Y-axis executing mechanisms drive the Y-axis end guide rail slide block assemblies 2-5 to stretch or retract;
The Y-axis middle guide rail slide block assembly 2-4 comprises a Y-axis middle linear guide rail 2-9 and Y-axis middle fixed blocks 2-15 arranged at the middle position of the Y-axis middle linear guide rail 2-9, wherein the left side and the right side of each Y-axis middle fixed block 2-15 are provided with an equal number of Y-axis middle slide blocks 2-10, each Y-axis middle slide block 2-10 and Y-axis middle fixed block 2-15 are provided with Y-axis middle connecting blocks 2-12 below, and the bottom of each Y-axis middle connecting block 2-12 is connected with an X-axis automatic telescopic module 2-2;
The Y-axis end guide rail slide block assembly 2-5 comprises Y-axis upper slide blocks 2-16 with the top mounted on the Y-axis fixed beams 2-14, the bottoms of the Y-axis upper slide blocks 2-16 are slidably mounted on the Y-axis upper guide rails 2-17, the Y-axis upper guide rails 2-17 are provided with Y-axis lower guide rails 2-19 through Y-axis middle fixed plates 2-18, the Y-axis lower guide rails 2-19 are provided with a plurality of Y-axis lower slide blocks 2-20, the bottoms of the Y-axis lower slide blocks 2-20 are respectively provided with a Y-axis end connecting block 2-21, each Y-axis end connecting block 2-21 is connected with an X-axis automatic telescopic module 2-2, the bottoms of the Y-axis end connecting blocks 2-22 are connected with an X-axis automatic telescopic module 2-2, and the upper surface of one Y-axis end connecting block 2-22 of the Y-axis end guide rail slide block assembly 2-5 is provided with a Y-axis cylinder connecting block 2-24 and a Y-axis oil pressure buffer top block 2-23;
The X-axis actuating mechanism comprises an X-axis cylinder assembly 1-1 arranged on an X-axis fixed beam 1-23, the end part of an X-axis cylinder push rod 1-24 in the X-axis cylinder assembly 1-1 is fixed on an X-axis cylinder connecting block 1-22, the Y-axis actuating mechanism comprises a Y-axis cylinder assembly 2-3 arranged on a Y-axis fixed beam 2-14, and the end part of a Y-axis cylinder push rod 2-13 in the Y-axis cylinder assembly 2-3 is fixed on a Y-axis cylinder connecting block 2-24;
The X-axis middle limiting block 1-13 is connected with the X-axis middle sliding block 1-11 through an X-axis limiting block vertical plate 1-12, and the Y-axis middle sliding block 2-10 is connected with the Y-axis middle connecting block 2-12 through a Y-axis limiting block vertical plate 2-11;
The X-axis fixed beam 1-23 and the Y-axis fixed beam 2-14 are provided with an X-axis oil pressure buffer component 1-5 and a Y-axis oil pressure buffer component 2-6 which are matched with the X-axis oil pressure buffer top block 1-21 and the Y-axis oil pressure buffer top block 1-23;
The X-axis synchronous belt 1-7 is arranged at the bottoms of the X-axis middle limiting block 1-13 and the X-axis end limiting block 1-18 through an X-axis synchronous belt pressing block 1-6 to form the fixed point, and the Y-axis synchronous belt 2-7 is arranged on the X-axis automatic telescopic module 2-2 through a Y-axis synchronous belt pressing block 2-8 to form the fixed point.
Working principle: when the fruits and vegetables need to be grabbed, a plurality of X-axis automatic telescopic modules 2-2 are driven to be opened through the Y-axis automatic telescopic modules 2-1, in particular, Y-axis end guide rail slide block assemblies 2-5 are pushed to be outwards extended through Y-axis cylinder assemblies 2-3, so that Y-axis connecting blocks are mutually opened, the X-axis automatic telescopic modules 2-2 are driven to be opened, Y-axis synchronous belts 2-7 are tensioned, meanwhile, two X-axis end guide rail slide block assemblies 1-4 are respectively driven to horizontally move reversely through X-axis actuating mechanisms, so that X-axis upper guide rails 1-15 and lower guide rails 1-7 synchronously extend outwards, and X-axis end limiting blocks 1-18 are outwards moved, and because the X-axis end limiting blocks 1-18 and X-axis middle limiting blocks 1-13 are connected through the X-axis synchronous belts 1-7, so that the X-axis end limiting blocks 1-18 which move outwards pull the X-axis middle limiting blocks 1-13 to be unfolded, the synchronous belts between every two adjacent limiting blocks have the same length, so that the distances between the adjacent limiting blocks are the same after the adjacent limiting blocks are completely unfolded, fruits and vegetables are grabbed by the sucker assemblies 1-2, when the box is needed, the Y-axis actuating mechanism drives the Y-axis end guide rail sliding block assemblies 2-5 to be folded to enable adjacent Y-axis connecting blocks to be contacted with each other, the X-axis actuating mechanism drives the X-axis end guide rail sliding block assemblies 1-4 to be folded to enable the adjacent limiting blocks 1-13 to be contacted with each other, and as the front end, the rear end, the left end and the right end of the X-axis middle limiting blocks 1-13 are provided with middle contact arms 1-25 with the same length, the end contact arms 1-26 which are equal in length with the middle contact arms 1-25 are arranged at one end of the X-axis end limiting block 1-18, which is close to the X-axis middle limiting block 1-13, so that equal-interval boxing and placement of fruits and vegetables can be realized.
The fruit and vegetable sorting and arranging device comprises a fruit and vegetable conveying belt 9-9 for conveying fruits and vegetables, wherein a swinging mechanism for stirring fruits and vegetables to change the running track of the fruits and vegetables is arranged on the fruit and vegetable conveying belt 9-9, two side pushing fixing frames 9-7 which span the width direction of the conveying belt 9-9 are arranged at the rear of the swinging mechanism, a side pushing mechanism capable of moving back and forth along the width direction of the fruit and vegetable conveying belt 9-9 is arranged between the two side pushing fixing frames 9-7, a plurality of T-shaped angular aluminum 9-12 which are arranged in parallel are arranged on the side face of the fruit and vegetable conveying belt 9-9, a fruit and vegetable arranging conveying belt 9-13 is arranged below the T-shaped angular aluminum 9-12, and a liftable fruit and vegetable baffle plate 9-11 is arranged on one side, close to the fruit and vegetable arranging conveying belt 9-13, of the fruit and vegetable arranging and arranging conveying belt is arranged on the side face of the fruit and vegetable conveying belt;
The swinging mechanism comprises a swinging frame 9-3 arranged on a fruit and vegetable conveying belt 9-9, an L-shaped swinging rod 9-2 is arranged on the swinging frame 9-3 through a bearing 9-4, a connecting rod 9-19 is arranged in the height direction of the L-shaped swinging rod 9-2, the connecting rod 9-19 is connected with a swinging cylinder 9-1, when the swinging cylinder 9-1 needs to act, the swinging cylinder 9-1 stretches out, and the L-shaped swinging rod 9-2 rotates through the bearing and then rotates out to take materials in;
The side pushing mechanism comprises a side pushing moving frame 9-6 arranged between two side pushing fixing frames 9-7, the side pushing moving frame 9-6 is connected with the side pushing fixing frames 9-7 in a sliding way through side pushing line rails 9-8, the side pushing moving frame 9-6 is driven by side pushing cylinders 9-5, stop blocks 9-10 for stopping fruits and vegetables from going forward are arranged on the side pushing moving frame 9-6, when the quantity of materials caught by the swinging mechanism reaches the requirement, the side pushing cylinders 9-5 push the side pushing moving frame 9-6 to move along the side pushing line rails 9-8, meanwhile, fruit and vegetable baffles 9-11 are lowered, and the materials are pushed into T-shaped angle aluminum 9-12 on a fruit and vegetable arrangement conveying belt 9-13;
The fruit and vegetable baffle 9-11 is arranged on the blocking support frame 9-18, the blocking support frame 9-18 is arranged on the fruit and vegetable conveying belt 9-9, the fruit and vegetable baffle 9-11 is connected with the blocking support frame 9-17 in an up-down sliding way through a blocking linear rail 9-15, and a blocking cylinder 9-16 for driving the fruit and vegetable baffle 9-11 to move up and down is arranged on the blocking support frame 9-17; when the blocking cylinder 9-16 is retracted, the fruit and vegetable baffle 9-11 moves along the blocking linear rail 9-15 so as to release the materials;
When the device works, fruits and vegetables move along the fruit and vegetable conveying belt 9-9, materials are pushed into an area formed by the side pushing moving frame 9-6, the stop blocks 9-10 and the fruit and vegetable baffle plates 9-11 through the swinging of the L-shaped swinging rod 9-2, after the fruits and vegetables reach a certain quantity, the side pushing moving frame 9-6 pushes the fruits and vegetables onto the fruit and vegetable arrangement conveying belt 9-13, and meanwhile, the T-shaped angle aluminum 9-12 separates and aligns the materials.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (4)

1. The fruit and vegetable appearance detection and sorting boxing device is characterized by comprising a fruit and vegetable appearance detection device, a fruit and vegetable sorting and arranging device, a mechanical arm and an XY axis equidistant telescopic grabbing device, wherein the fruit and vegetable sorting and arranging device is positioned at the output end of fruit and vegetable appearance detection equipment, and the XY axis equidistant telescopic grabbing device is arranged on the mechanical arm;
The fruit and vegetable apparent detection device comprises an upper apparent detection mechanism for detecting the upper part of fruits and vegetables and a lower apparent detection mechanism for detecting the lower part of fruits and vegetables, wherein the upper apparent detection mechanism comprises an upper conveying belt and an upper detection camera assembly arranged above the upper conveying belt, and the lower apparent detection mechanism comprises a fruit and vegetable conveying mechanism, a lifting mechanism, a fruit and vegetable grabbing mechanism, a fruit and vegetable bottom shooting mechanism and a driving mechanism;
The fruit and vegetable conveying mechanism is used for conveying fruits and vegetables, the fruit and vegetable grabbing mechanism is arranged above the fruit and vegetable conveying mechanism and is arranged on the lifting mechanism, the fruit and vegetable bottom shooting mechanism is arranged on the driving mechanism, and the driving mechanism drives the fruit and vegetable bottom shooting mechanism to move, so that the fruit and vegetable bottom shooting mechanism moves to the position below the fruit and vegetable grabbing mechanism to shoot the bottom of the fruits and vegetables;
The lifting mechanism comprises a lifting support, a linear guide rail is arranged in the height direction of the lifting support, a sucker support is arranged on the linear guide rail and can move up and down along the linear guide rail, a driving cylinder capable of driving the sucker support to move up and down is arranged on the lifting support, a row of first sucker assemblies are arranged on the sucker support, and the row of first sucker assemblies form a fruit and vegetable grabbing mechanism;
The fruit and vegetable sorting and arranging device comprises a fruit and vegetable conveying belt used for conveying fruits and vegetables, wherein a swinging mechanism used for stirring fruits and vegetables to change the movement track of the fruits and vegetables is arranged on the fruit and vegetable conveying belt, two side pushing fixing frames crossing the width direction of the conveying belt are arranged at the rear of the swinging mechanism, a side pushing mechanism capable of moving forwards and backwards along the width direction of the fruit and vegetable conveying belt is arranged between the two side pushing fixing frames, a plurality of T-shaped angle aluminum which are arranged in parallel are arranged on the side surface of the fruit and vegetable conveying belt, a fruit and vegetable arranging conveying belt is arranged below the T-shaped angle aluminum, and a liftable fruit and vegetable baffle is arranged on one side, close to the fruit and vegetable arranging conveying belt, of the fruit and vegetable conveying belt;
The X-axis equidistant telescopic grabbing device comprises two Y-axis automatic telescopic modules which are arranged in parallel, a plurality of X-axis automatic telescopic modules are installed at intervals along the length direction of the bottom of each Y-axis automatic telescopic module, a plurality of X-axis limiting blocks which can be mutually unfolded or mutually folded are installed at the bottom of each X-axis automatic telescopic module, sucking disc assemblies are installed at the bottom of each X-axis limiting block, the plurality of X-axis limiting blocks are positioned on the same straight line and are connected through X-axis synchronous belts, a fixed point is arranged at the bottom of each X-axis limiting block through the X-axis synchronous belts, a plurality of Y-axis connecting blocks which can be mutually unfolded or mutually folded are installed at the bottom of each Y-axis automatic telescopic module, each Y-axis connecting block is connected with an X-axis automatic telescopic module, and a fixed point is arranged at the top of each X-axis automatic telescopic module through the Y-axis synchronous belts;
The X-axis automatic telescopic modules are arranged in a group, each group comprises an X-axis middle guide rail slide block assembly arranged at the middle position of an X-axis fixed beam, the left end and the right end of the X-axis fixed beam are respectively provided with an X-axis end guide rail slide block assembly, in each group, the front side and the rear side of the X-axis fixed beam of the X-axis automatic telescopic module positioned in the middle are respectively provided with an X-axis executing mechanism, and the two X-axis executing mechanisms drive the X-axis end guide rail slide block assemblies of the three X-axis automatic telescopic modules to extend or retract simultaneously;
the X-axis middle guide rail slide block component comprises an X-axis middle linear guide rail and a plurality of X-axis middle slide blocks, X-axis middle limiting blocks are arranged below each X-axis middle slide block, a sucking disc component is arranged at the bottom of each X-axis middle limiting block, the X-axis end guide rail slide block component comprises an X-axis upper slide block, the top of the X-axis upper slide block is arranged on an X-axis upper guide rail in a sliding manner, an X-axis lower guide rail is arranged at the bottom of the X-axis upper guide rail, a plurality of X-axis lower slide blocks are arranged on the X-axis lower guide rail, an X-axis end limiting block is arranged at the bottom of each X-axis lower slide block, a sucking disc component is arranged at the bottom of each X-axis end limiting block, the X-axis middle limiting block and the X-axis end limiting block are all in the same straight line and are connected through an X-axis synchronous belt, the X-axis synchronous belt is provided with a fixed point at the bottom of each limiting block, and the length of the synchronous belt between every two adjacent limiting blocks is the same;
the Y-axis automatic telescopic modules are respectively provided with a Y-axis executing mechanism, the driving directions of the two Y-axis executing mechanisms are opposite, each Y-axis automatic telescopic module comprises a Y-axis middle guide rail sliding block assembly arranged at the middle position of a Y-axis fixed beam, both the left end and the right end of each Y-axis fixed beam are respectively provided with a Y-axis end guide rail sliding block assembly, and the Y-axis executing mechanisms drive the Y-axis end guide rail sliding block assemblies to stretch or retract;
The Y-axis middle guide rail slide block assembly comprises a Y-axis middle linear guide rail and Y-axis middle fixing blocks arranged at the middle positions of the Y-axis middle linear guide rail, the left side and the right side of each Y-axis middle fixing block are provided with equal numbers of Y-axis middle slide blocks, Y-axis middle connecting blocks are arranged below each Y-axis middle slide block and each Y-axis middle fixing block, and the bottom of each Y-axis middle connecting block is connected with an X-axis automatic telescopic module;
The Y shaft end guide rail slide block assembly comprises a Y shaft upper slide block, the top of which is arranged on a Y shaft fixing beam, the bottom of the Y shaft upper slide block is slidably arranged on a Y shaft upper guide rail, the Y shaft upper guide rail is provided with a Y shaft lower guide rail through a Y shaft middle fixing plate, the Y shaft lower guide rail is provided with a plurality of Y shaft lower slide blocks, the bottom of each Y shaft lower slide block is provided with a Y shaft end connecting block, each Y shaft end connecting block is connected with an X shaft automatic telescopic module, the end of each Y shaft lower guide rail is provided with a Y shaft end connecting block, the bottom of each Y shaft end connecting block is connected with an X shaft automatic telescopic module, and the upper surface of one Y shaft end connecting block of the Y shaft end guide rail slide block assembly is provided with a Y shaft cylinder connecting block and a Y shaft oil pressure buffer top block.
2. The fruit and vegetable apparent detection and sorting and boxing device according to claim 1, wherein the upper detection camera assembly comprises an upper detection frame, the top of the upper detection frame is provided with an upper detection camera assembly which irradiates an upper conveying belt vertically downwards, two opposite sides of the upper detection frame are provided with upper detection light sources, an inlet of the upper detection frame is provided with two first guide blocks, two opposite first trigger switches are arranged below the upper detection camera assembly, and the two first trigger switches are positioned on two sides of the width direction of the upper conveying belt.
3. The fruit and vegetable appearance detection and sorting and boxing device according to claim 1, wherein the swinging mechanism comprises a swinging frame arranged on a fruit and vegetable conveying belt, an L-shaped swinging rod is arranged on the swinging frame through a bearing, and a connecting rod is arranged in the height direction of the L-shaped swinging rod and connected with a swinging cylinder;
The side pushing mechanism comprises a side pushing moving frame arranged between two side pushing fixing frames, the side pushing moving frame is in sliding connection with the side pushing fixing frames through side pushing linear rails, and the side pushing moving frame is driven by side pushing cylinders;
The fruit and vegetable baffle is arranged on the blocking support frame, the blocking support frame is arranged on the fruit and vegetable conveying belt, the fruit and vegetable baffle and the blocking support frame are connected in a sliding mode up and down through the blocking linear rail, and the blocking support frame is provided with a blocking cylinder for driving the fruit and vegetable baffle to move up and down.
4. The fruit and vegetable appearance detection and sorting and boxing device according to claim 1, wherein the upper X-axis guide rail and the lower X-axis guide rail are integrally arranged through an intermediate X-axis fixing plate, an X-axis cylinder connecting block and an X-axis oil pressure buffer top block are arranged on the upper surface of one end of the intermediate X-axis fixing plate, which is far away from the intermediate X-axis linear guide rail, an X-axis end fixing block is arranged on the lower surface of the intermediate X-axis fixing plate, a linkage rod is inserted into the X-axis end fixing block, and the adjacent X-axis end fixing blocks are connected through the linkage rod, so that three X-axis automatic expansion modules are linked in a group.
CN201911390685.4A 2019-12-30 2019-12-30 Fruit and vegetable apparent detection and sorting boxing device Active CN110967346B (en)

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CN115041421B (en) * 2022-06-15 2024-03-19 青岛兴仪电子设备有限责任公司 Fruit and vegetable sorting working device and working method

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