CN111300521A - Intelligent cutting device based on identification of head and tail of strip column-shaped fruit and vegetable - Google Patents

Intelligent cutting device based on identification of head and tail of strip column-shaped fruit and vegetable Download PDF

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Publication number
CN111300521A
CN111300521A CN201911085225.0A CN201911085225A CN111300521A CN 111300521 A CN111300521 A CN 111300521A CN 201911085225 A CN201911085225 A CN 201911085225A CN 111300521 A CN111300521 A CN 111300521A
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China
Prior art keywords
baffle
vegetables
fruits
cutting
connecting piece
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CN201911085225.0A
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Chinese (zh)
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CN111300521B (en
Inventor
杨德勇
姜雨
谢为俊
刘艳
魏硕
杨光照
王凤贺
丁鑫
范奔
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China Agricultural University
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China Agricultural University
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Publication of CN111300521B publication Critical patent/CN111300521B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/20—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
    • B26D1/0006—Cutting members therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/01—Means for holding or positioning work
    • B26D7/02—Means for holding or positioning work with clamping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
    • B26D7/0641—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form using chutes, hoppers, magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/27—Means for performing other operations combined with cutting
    • B26D7/28—Means for performing other operations combined with cutting for counting the number of cuts or measuring cut lenghts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
    • B26D1/0006—Cutting members therefor
    • B26D2001/006—Cutting members therefor the cutting blade having a special shape, e.g. a special outline, serrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D2210/00—Machines or methods used for cutting special materials
    • B26D2210/02—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers

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  • Life Sciences & Earth Sciences (AREA)
  • Forests & Forestry (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)

Abstract

The invention provides an intelligent cutting device based on end-to-end identification of strip-column-shaped fruits and vegetables, which comprises a rack, a feeding device, an intermediate blanking device, an adjusting device, an image identification device, a first cutting device and a second cutting device, wherein the feeding device, the intermediate blanking device and the adjusting device are fixed on the rack, the image identification device is fixed on the feeding device, the first cutting device is positioned below the feeding device, the second cutting device is positioned below the intermediate blanking device, and the intermediate blanking device is positioned below the first cutting device. The image recognition device collects the images of the fruits and the vegetables when the fruits and the vegetables enter the feeding device and fall to obtain the shape parameters of the fruits and the vegetables, and the adjusting device is adjusted in real time according to the shape parameters of the fruits and the vegetables, so that the heads and the tails of the fruits and the vegetables are cut in different lengths. According to the invention, the image processing technology is combined with the cutting machine, the head and the tail of the strip-shaped fruit and vegetable can be adjusted in real time and accurately cut in different lengths, the blank of the accurate head and tail cutting mechanism of the strip-shaped fruit and vegetable is made up, the working efficiency is effectively improved, the manual labor intensity is reduced, and the fruit and vegetable loss is reduced.

Description

Intelligent cutting device based on identification of head and tail of strip column-shaped fruit and vegetable
Technical Field
The invention relates to agricultural product processing machinery, in particular to an intelligent cutting device based on columnar fruit and vegetable head and tail recognition
Background
China is a large country for fruit and vegetable production, and the fruit and vegetable have high nutritional values and have no alternative position in agricultural production in China. The variety of the columnar fruits and vegetables is quite large, such as carrots, cucumbers, asparagus lettuce, yams and the like, which are indispensable food materials in daily life, so that the further processing of the fruits and vegetables is indispensable.
At present, the processing of the columnar fruits and vegetables mainly comprises slicing, shredding and slicing, the head and the tail of the fruits and vegetables have stalks or other parts which are not suitable for eating and need to be cut off, but an automatic cutting device capable of realizing accurate cutting is lacked. The traditional manual cutting mode has the advantages of high labor intensity, low efficiency and certain danger, and can not meet the industrial processing and production requirements of the columnar agricultural products.
The Chinese patent with publication number CN108406887A in the prior art discloses a strip-shaped fruit and vegetable processing device and a processing method based on an image vision technology, the device is composed of a rack, and a transmission module, an upper computer, an image acquisition module, a pressing module and a mechanical cutting execution module which are fixed on the rack, the image acquisition module acquires fruit and vegetable images in the fruit and vegetable transportation process, the upper computer performs image processing to extract the shape information of the fruit and vegetable, the direction of a cutter set is adjusted in real time according to the shape information, the fruit and vegetable is cut into strips, the size of grid holes of the cutter set is adjustable, and the strip-shaped fruit and vegetable with different thicknesses can be cut.
However, the invention adjusts the strip-shaped fruits and vegetables in real time and precisely shreds or cuts the strips based on the image vision technology, and does not precisely cut the heads and the tails of the strip-shaped fruits and vegetables.
Chinese patent No. CN107319602A in the prior art discloses an automatic carrot stem removing mechanism based on photoelectric sensing, which includes a base, a V-shaped storage tank, a liftable portal frame, a first stem cutting assembly and a second stem cutting assembly. The V-shaped object placing groove is fixed on the base through the stand column, the left baffle and the right baffle are symmetrically arranged on two sides of the V-shaped object placing groove, the first cutting stem assembly and the second cutting stem assembly are respectively arranged at the head end and the tail end of the V-shaped object placing groove, and the lifting portal frame is hung above the V-shaped object placing groove. The first stalk cutting assembly comprises a sliding table, a push plate, an electric push rod and a cutter, the push plate, the electric push rod and the cutter are arranged on the sliding table, the second stalk cutting assembly comprises a photoelectric door and a rotary blade, and the rotary blade is arranged between the photoelectric door and the tail end of the V-shaped storage groove.
The automatic stem cutting machine can realize automatic stem cutting of carrots, but only cuts the heads of the carrots in a fixed length, and cannot adjust the left baffle and the right baffle in real time to cut the heads and the tails of the carrots in different lengths.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent cutting device based on the identification of the head and the tail of a columnar fruit and vegetable.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the utility model provides an intelligence cutting device based on end to end discernment of cylindric fruit vegetables, includes: the automatic blanking machine comprises a frame 32, a feeding device, an intermediate blanking device and an adjusting device which are fixed on the frame 32, an image recognition device fixed on the feeding device, a first cutting device positioned below the feeding device, a second cutting device positioned below the intermediate blanking device, and the intermediate blanking device positioned at the lower right side of the first cutting device;
the feeding device comprises: a triangular groove slideway 31, an upper baffle 2, a left baffle 1, a right baffle 40 and a feeding device rack connecting piece 30; the triangular groove slideway 31 is connected with the frame 32 through a feeding device frame connecting piece 30, the left baffle plate 1 and the right baffle plate 40 are respectively fixed on two sides of the triangular groove slideway 31, the upper baffle plate 2 is fixed on the left baffle plate 1 and the right baffle plate 40, and the whole feeding device is obliquely fixed; the fruits and vegetables fall into the triangular groove slideway 31 through dead weight and inclination, and the left baffle 1, the right baffle 40 and the upper baffle 2 are used for limiting the falling direction and the falling angle of the fruits and vegetables, so that the fruits and vegetables can accurately fall into the first cutting device;
the image recognition apparatus includes: a computer, a CCD camera 4, a camera frame 3 and a photoelectric sensor 38; the CCD camera 4 and the photoelectric sensor 38 are connected with a computer through a data line, the CCD camera 4 is fixed on the upper baffle 2 through a camera frame 3, the photoelectric sensors 38 are symmetrically arranged at the inner sides of the left baffle 1 and the right baffle 40,
the first cutting device includes: the fruit and vegetable cutting machine comprises a V-shaped groove rotator I8, a rotating shaft I55, an arc-shaped cutter I7, a cutter connecting piece I6, a rotator baffle plate I39, a baffle plate connecting piece I35, a fruit and vegetable cutting pressing plate I5, an infrared sensor I46, an inductor connecting piece I45, a coupler I53, a servo motor I51, a bearing seat I56 and a bearing seat rack connecting piece I11; the bearing seat I56 is fixed on the rack 32 through a bearing seat rack connecting piece I11, the rotating shaft I55 is fixed on the bearing seat I56, the rotating shaft I55 is connected with a servo motor I51 through a coupler I53, a V-shaped groove rotator I8 and the rotating shaft I55 are circumferentially fixed through a flat key and a pin shaft, an arc-shaped cutter I7 is fixed on the rack 32 through a cutter connecting piece I6, a sensor connecting piece I45 is fixed on the upper baffle 2, an infrared sensor I46 is fixed on the upper baffle 2 through a sensor connecting piece I45, the infrared sensor I46 is connected with a computer, the computer is connected with the servo motor I51, a groove for inserting the arc-shaped cutter I7 is arranged at a certain distance from the lower end face of the V-shaped groove rotator I8, a rotator baffle I39 is fixed on the rack 32 through a baffle connecting piece I35, a fruit and vegetable cutting pressure plate I5 is, the V-shaped groove rotator I8 is positioned below the feeding device;
the fruit and vegetable cutting device comprises an infrared sensor I46, a computer, a servo motor I51, a V-shaped groove rotator I8, a fruit and vegetable cutting pressing plate I5, a V-shaped groove on the V-shaped groove rotator I8 and an arc-shaped cutter I7, wherein the infrared sensor I46 is used for sensing signals that fruits and vegetables pass through and sending the signals to the computer, the computer is used for receiving the signals that the fruits and vegetables pass through and starting the servo motor I51, the servo motor I51 is used for driving the V-shaped groove rotator I8 to rotate 180 degrees, the V-shaped groove rotator I8 is used for driving the fruits and vegetables to rotate, the fruits and vegetables are extruded together by;
the middle blanking device comprises: the middle blanking device frame connecting piece 28, the left triangular baffle plate 36, the right triangular baffle plate 27, the middle rectangular baffle plate 37 and the triangular baffle plate connecting piece 29; the right triangular baffle 27 is fixed on the frame 32 through a middle blanking device frame connecting piece 28, the middle rectangular baffle 37 is fixed on the right triangular baffle 27 through a triangular baffle connecting piece 29, the left triangular baffle 36 is fixed on the middle rectangular baffle 37 through a triangular baffle connecting piece 29, and the middle blanking device is positioned below the V-shaped groove rotator I8; after the fruits and vegetables fall from the first cutting device, the middle blanking device is used for limiting the falling direction and the falling angle of the fruits and vegetables, so that the fruits and vegetables can be fed into the second cutting device;
the right side of second cutting device is equipped with export silo 14, and export silo 14 is fixed in on the frame 32, and second cutting device includes: the device comprises a V-shaped groove rotator II 42, a rotating shaft II21, an arc-shaped cutter II 43, a cutter connecting piece II 24, a rotator baffle plate II 13, a fruit and vegetable crop baffle plate 12, a baffle plate connecting piece II 52, a fruit and vegetable cutting pressing plate II 41, an infrared sensor II 25, an inductor connecting piece II 26, a coupler II 54, a servo motor II 10, a bearing seat II 22 and a bearing seat rack connecting piece II 44; the bearing seat II 22 is fixed on the frame 32 through a bearing seat frame connecting piece II 44, the rotating shaft II21 is fixed on the bearing seat II 22, the rotating shaft II21 is connected with a servo motor II 10 through a coupler II 54, the V-shaped groove rotator II 42 and the rotating shaft II21 are circumferentially fixed through a flat key and a pin shaft, the arc-shaped cutter II 43 is fixed on the frame 32 through a cutter connecting piece II 24, the rotator baffle plate II 13 is fixed on the frame 32 through a baffle plate connecting piece II 52, the sensor connecting piece II 26 is fixed on the middle rectangular baffle plate 37, the infrared sensor II 25 is fixed on the middle rectangular baffle plate 37 through a sensor connecting piece II 26, the infrared sensor II 25 is connected with a computer, the computer is connected with the servo motor II 10, the fruit and vegetable cutting press plate II 41 is fixed on the right triangular baffle plate 27, the fruit and vegetable crop end cutting baffle plate 12, the V-shaped groove rotator II 42 is positioned below the middle blanking device;
the fruits and vegetables fall into the second cutting device from the first cutting device through the middle blanking device, the infrared sensor II 25 is used for sensing signals that the fruits and vegetables pass through and sending the signals that the fruits and vegetables pass through to the computer, the computer is used for receiving the signals that the fruits and vegetables pass through and starting the servo motor II 10, the servo motor II 10 is used for controlling the V-shaped groove rotator II 42 to rotate, the V-shaped groove rotator II 42 is used for driving the fruits and vegetables to rotate, the fruits and vegetables are extruded together by the V-shaped groove rotator II 42 and the arc-shaped cutter II 43 to be cut in the rotating process, the outlet trough 14 is used for discharging the fruits and vegetables, and therefore the cutting of the two ends of the fruits and vegetables is,
the adjusting device comprises a first cutting adjusting device and a second cutting adjusting device which are used for adjusting the head and tail cutting length of the fruits and vegetables,
the first cutting adjustment device is located on the left side of the first cutting device, and the device includes: the device comprises a lead screw I48, a coupler III49, an L-shaped bearing seat I47, an adjusting baffle I9, a stepping motor I50, an adjusting baffle connecting piece I34 and an L-shaped bearing seat supporting frame I33; the fruit and vegetable automatic adjusting device comprises an L-shaped bearing seat I47, a lead screw I48, an adjusting baffle I9, a connecting piece I34 of the adjusting baffle, a coupler III49, a stepping motor I50, a stepping motor I50, a stepping motor I50, a lead screw I48, a lead screw I48, an adjusting baffle I9 and a computer, wherein the L-shaped bearing seat I47 is fixed on a rack 32 through an L-shaped bearing seat supporting frame I33;
the second cutting adjustment device is located the second cutting device below, and the device includes: the device comprises a lead screw II19, a coupler IV17, an L-shaped bearing seat II 20, an adjusting baffle II23, a stepping motor II 15, an adjusting baffle connecting piece II 18 and an L-shaped bearing seat support frame II 16; l type bearing frame II 20 is fixed in on the frame 32 through L type bearing frame II 16, lead screw II19 is fixed in on L type bearing frame II 20, adjusting baffle II23 is connected with lead screw II19 through adjusting baffle connecting piece II 18, lead screw II19 passes through shaft coupling IV17 and is connected with step motor II 15, step motor II 15 is connected with the computer, step motor II 15 is used for driving lead screw II19 and rotates, lead screw II19 is used for driving adjusting baffle II23 and removes, thereby reach the regulation effect, adjusting baffle II23 is used for restricting the extension length of fruit vegetables.
On the basis of the scheme, the computer is provided with image processing software.
On the basis of the scheme, the photoelectric sensor 38 is used for transmitting fruit and vegetable signals to a computer, the computer is used for controlling the CCD camera 4 to acquire images of fruits and vegetables, then shape parameters in the images of the fruits and vegetables are extracted by using image processing software, and the stepping motor I50 and the stepping motor II 15 are controlled to rotate according to the shape parameters of the fruits and vegetables, the stepping motor I50 and the stepping motor II 15 respectively drive the lead screw I48 and the lead screw II19 to rotate, the lead screw I48 and the lead screw II19 respectively drive the adjusting baffle I9 and the adjusting baffle II23 to move to the length required by cutting, and the adjustment of the cutting length is realized.
On the basis of the scheme, the length of one end of the cut fruits and vegetables is the distance between the arc-shaped cutter I7 and the lower end face of the V-shaped groove rotator I8, and the extension length of the fruits and vegetables is limited by the adjusting baffle I9.
On the basis of the scheme, the length of the other end of the cut fruits and vegetables is the distance between the arc-shaped cutter II 43 and the lower end face of the V-shaped groove rotator II 42, and the extension length of the fruits and vegetables is limited by the adjusting baffle II 23.
Drawings
The invention has the following drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a right side view of the present invention;
FIG. 4 is a feed apparatus of the present invention;
FIG. 5 is an intermediate blanking device of the present invention;
FIG. 6 is a first cutting adjustment of the present invention;
FIG. 7 is a second cutting adjustment of the present invention;
FIG. 8 is a first cutting device of the present invention;
fig. 9 is a second cutting device of the present invention.
In the figure: 1. a left baffle; 2. an upper baffle plate; 3. a camera housing; 4. a CCD camera; 5. a fruit and vegetable cutting pressing plate I; 6. a cutter connecting piece I; 7. an arc-shaped cutter I; 8. a V-shaped groove rotator I; 9. adjusting a baffle I; 10. a servo motor II; 11. a bearing seat frame connecting piece I; 12. fruit and vegetable crop baffle; 13. a rotator baffle plate II; 14. an outlet trough; 15. a step motor II; 16. an L-shaped bearing support frame II; 17. a coupler IV; 18. adjusting a baffle connecting piece II; 19. a screw II; 20. an L-shaped bearing seat II; 21. a rotating shaft II; 22. a bearing seat II; 23. adjusting a baffle II; 24. a cutter connecting piece II; 25. an infrared sensor II; 26. an inductor connecting piece II; 27. a right triangular baffle; 28. a middle blanking device frame connecting piece; 29. a triangular baffle plate connecting piece; 30. a feeding device frame connecting piece; 31. a triangular groove slideway; 32. a frame; 33. an L-shaped bearing support frame I; 34. adjusting a baffle connecting piece I; 35. a baffle plate connecting piece I; 36. a left triangular baffle; 37. a middle rectangular baffle; 38. a photoelectric sensor; 39. a rotator shielding plate I; 40. a right baffle; 41. a fruit and vegetable cutting pressing plate II; 42. a V-shaped groove rotator II; 43. an arc-shaped cutter II; 44. a bearing seat frame connecting piece II; 45. an inductor connecting piece I; 46. an infrared sensor I; 47. an L-shaped bearing seat I; 48. a screw I; 49. a coupler III; 50. a stepping motor I; 51. a servo motor I; 52. a baffle plate connecting piece II; 53. a coupler I; 54. a coupler II; 55. a rotating shaft I; 56. bearing frame I.
Detailed Description
The present invention is described in further detail below with reference to figures 1-9.
The invention provides an intelligent cutting device based on end-to-end recognition of strip-column-shaped fruits and vegetables, which comprises a rack 32, a feeding device, an intermediate blanking device and an adjusting device, wherein the feeding device, the intermediate blanking device and the adjusting device are fixed on the rack 32, the image recognition device is fixed on the feeding device, the first cutting device is positioned below the feeding device, the second cutting device is positioned below the intermediate blanking device, and the intermediate blanking device is positioned at the lower right side of the first cutting device.
Referring to fig. 4, the feeding device comprises a triangular groove slideway 31, an upper baffle 2, a left baffle 1, a right baffle 40 and a feeding device frame connecting piece 30; the triangular groove slideway 31 is connected with the frame 32 through a feeding device frame connecting piece 30, the left baffle plate 1 and the right baffle plate 40 are respectively fixed on two sides of the triangular groove slideway 31, the upper baffle plate 2 is fixed on the left baffle plate 1 and the right baffle plate 40, and the whole feeding device is obliquely fixed. Because the triangular groove slide way 31 is obliquely arranged, the fruits and vegetables can accurately enter the first cutting device due to the dead weight, the falling direction and the falling angle of the fruits and vegetables limited by the upper baffle 2, the left baffle 1 and the right baffle 40.
Referring to fig. 8, the first cutting device is located below the feeding device and comprises a V-shaped groove rotator i 8, a rotating shaft i55, an arc-shaped cutter i 7, a cutter connecting piece i 6, a rotator shielding plate i 39, a shielding plate connecting piece i 35, a fruit and vegetable cutting pressing plate i5, an infrared sensor i 46, an inductor connecting piece i45, a coupler i53, a servo motor i 51, a bearing seat i 56 and a bearing seat frame connecting piece i 11; bearing frame I56 is fixed in on the frame 32 through bearing frame connecting piece I11, rotation axis I55 is fixed in on bearing frame I56, V type groove circulator I8 carries out circumference with rotation axis I55 and fixes through parallel key and round pin axle, arc cutter I7 is fixed in on the frame 32 through cutter connecting piece I6, inductor connecting piece I45 is fixed in on the overhead gage 2, infrared sensor I46 is fixed in on overhead gage 2 through inductor connecting piece I45, circulator shielding plate I39 is fixed in on the frame 32 through shielding plate connecting piece I35, fruit vegetables cutting clamp plate I5 is fixed in on left baffle 1. After the fruits and vegetables fall into the V-shaped groove rotator I8 from the feeding device, the infrared sensor I46 senses that the carrots enter a region to be cut, the servo motor I51 is controlled by the computer to rotate the V-shaped groove rotator I8 for 180 degrees, the V-shaped groove rotator I8 is provided with a groove for inserting the arc-shaped cutter I7 at a certain distance from the lower end surface, the V-shaped groove rotator I8 drives the fruits and vegetables to rotate, during the rotation process, the fruits and the vegetables are extruded and cut by the V-shaped groove rotator I8 and the fixed arc-shaped cutter I7, and because the arc-shaped cutter I7 is arranged at a certain distance from the lower end surface of the V-shaped groove rotator I8, therefore, when the fruits and vegetables are cut, the two sides of the cutting surface of the fruits and vegetables are supported by the V-shaped grooves, and the fruit and vegetable cutting pressing plate I5 can prevent the carrots from being stuck up due to cutting stress in the cutting process, so that the cutting stability of the fruits and vegetables is ensured, and the smoothness of the section is ensured.
Referring to fig. 6, the first cutting adjusting device comprises a screw rod I48, a coupler III49, an L-shaped bearing seat I47, an adjusting baffle I9, a stepping motor I50, an adjusting baffle connecting piece I34 and an L-shaped bearing seat supporting frame I33; l type bearing frame I47 is fixed in on frame 32 through L type bearing frame I33, and lead screw I48 is fixed in on L type bearing frame I47, and adjusting baffle I9 links to each other with lead screw I48 through adjusting baffle connecting piece I34, and lead screw I48 passes through shaft coupling III49 and is connected with step motor I50. Fruit vegetables fall into first cutting device, by adjusting baffle I9 restriction fruit vegetables extension length, adjusting baffle I9 adjusts fruit vegetables extension length through the drive of lead screw I48, and fruit vegetables cutting length is arc cutter I7 apart from the distance of terminal surface under the V type groove circulator I8 plus the extension length that adjusting baffle I9 restricted the fruit vegetables.
Referring to fig. 5, the intermediate blanking device includes an intermediate blanking device frame connector 28, a left triangular baffle 36, a right triangular baffle 27, an intermediate rectangular baffle 37, and a triangular baffle connector 29; the right triangular baffle 27 is fixed on the frame through a middle blanking device frame connecting piece 28, the middle rectangular baffle 37 is fixed on the right triangular baffle 27 through a triangular baffle connecting piece 29, and the left triangular baffle 36 is fixed on the middle rectangular baffle 37 through the triangular baffle connecting piece 29. The fruit and vegetable can generate centrifugal force due to the rotation of the V-shaped groove rotator I8, after the fruit and vegetable is cut for the first time, the fruit and vegetable can be thrown out, the right triangular baffle 27 can block the fruit and vegetable to prevent the fruit and vegetable from being thrown away, the left triangular baffle 36 and the middle rectangular baffle 37 can limit the falling direction and the falling angle of the fruit and vegetable, so that the fruit and vegetable can accurately fall into the V-shaped groove rotator II 42 of the second cutting device, and the fruit and vegetable can slide into a region to be cut again due to the inclination.
Referring to fig. 9, the second cutting device comprises a V-shaped groove rotator ii 42, a rotating shaft ii21, an arc-shaped cutter ii 43, a cutter connecting piece ii 24, a rotator shielding plate ii 13, a shielding plate connecting piece ii 52, a fruit and vegetable crop baffle 12, a fruit and vegetable cutting pressing plate ii 41, an infrared sensor ii 25, an inductor connecting piece ii 26, a coupler ii 54, a servo motor ii 10, a bearing seat ii 22 and a bearing seat frame connecting piece ii 44; the second cutting device is basically similar to the first cutting device in principle and fixing mode, a bearing seat II 22 is fixed on a rack 32 through a bearing seat rack connecting piece II 44, a rotating shaft II21 is fixed on the bearing seat II 22, a V-shaped groove rotator II 42 and the rotating shaft II21 are circumferentially fixed through a flat key and a pin shaft, an arc-shaped cutter II 43 is fixed on the rack 32 through a cutter connecting piece II 24, a rotator baffle plate II 13 is fixed on the rack 32 through a baffle plate connecting piece II 52, an inductor connecting piece II 26 is fixed on a middle rectangular baffle plate 37, an infrared sensor II 25 is fixed on the middle rectangular baffle plate 37 through an inductor connecting piece II 26, a fruit and vegetable cutting pressing plate II 41 is fixed on a right triangular baffle plate 27, and fruit vegetables crop baffle 12 is fixed on circulator shielding plate II 13, prevents that the fruit vegetables waste material that first cutting device cut from falling into second cutting device. The fruit vegetables fall into second cutting device through middle doffer from first cutting device, and infrared sensor II 25 response fruit vegetables pass through the back, thereby the computer starts II 10 control V type groove rotators of servo motor and II 42 rotations are cut the fruit vegetables, and the fruit vegetables are outside through 14 dischargers of export silo to accomplish the excision at fruit vegetables both ends.
Referring to fig. 7, the second cutting adjusting device comprises a screw rod ii19, a coupler iv17, an L-shaped bearing seat ii 20, an adjusting baffle ii23, a stepping motor ii 15, an adjusting baffle connecting piece ii 18, and an L-shaped bearing seat support frame ii 16; the fixing and adjusting head and tail cutting length modes of the two adjusting devices are the same: l type bearing frame II 20 is fixed in on the frame 32 through L type bearing frame II 16, and lead screw II19 is fixed in on L type bearing frame II 20, and adjusting baffle II23 links to each other with lead screw II19 through adjusting baffle connecting piece II 18, and lead screw II19 is connected with step motor II 15 through shaft coupling IV 17. Fruit vegetables fall into second cutting device, by II23 restriction fruit vegetables stretching length of adjusting plate, fruit vegetables stretching length is adjusted through the drive of II19 of lead screw to II23 of adjusting plate, and fruit vegetables cutting length is II 43 distances apart from II 42 lower terminal surfaces of V type groove circulator of arc cutter the distance of II23 restriction fruit vegetables's of adjusting plate stretching length.
Referring to fig. 4, the image recognition apparatus includes a computer, a CCD camera 4, a camera frame 3, a photoelectric sensor 38; the CCD camera 4 and the photoelectric sensor 38 are connected with a computer through a data line, the CCD camera 4 is fixed on the upper baffle plate 2 of the feeding device through the camera frame 3, the photoelectric sensors 38 are symmetrically arranged on the inner sides of the left baffle plate 1 and the right baffle plate 40 of the feeding device, and the computer is connected with the stepping motor I50 and the stepping motor II 15; when fruits and vegetables pass through the photoelectric sensor 38, the photoelectric sensor 38 transmits signals to a computer, the computer controls a CCD camera 4 to collect images of the fruits and vegetables, shape parameters in the images of the fruits and vegetables are extracted by using image processing software, a stepping motor I50 and a stepping motor II 15 are controlled according to the shape parameters of the fruits and vegetables, if the lengths of the fruits and vegetables are larger than a set length, a screw I48 and a screw II19 are required to rotate to drive an adjusting baffle I9 and an adjusting baffle II23, the fruits and vegetables extend out of a cutting length determined according to image recognition, and if the lengths of the fruits and vegetables are smaller than or equal to the set length, the screw I58 and the screw II19 do not.
The present invention is embodied in cutting carrots.
The carrot enters the obliquely placed feeding device, due to the fact that the triangular groove slide rail 31, the left baffle 10, the right baffle 40 and the upper baffle 2 are limited, the carrot enters the V-shaped groove rotator I8 of the first cutting device, the photoelectric sensor 38 senses the entrance of the carrot in the falling process, signals are sent to a computer, the computer controls the CCD camera 4 to take pictures, the shape parameters of the carrot are extracted, the stepping motor I50 and the stepping motor II 15 are controlled to rotate the lead screw I48 and the lead screw II19 according to the shape parameters, and the adjusting baffle I9 and the adjusting baffle II23 are moved accordingly. If the carrot length is larger than the set length, the screw I48 and the screw II19 are required to rotate to drive the adjusting baffle I9 and the adjusting baffle II23, so that the fruits and vegetables extend out of the required cutting length determined according to image recognition. Fruit vegetables length less than or equal to sets for length, need not rotate lead screw I48 and lead screw II19, the carrot head and the tail are according to the distance of I7 apart from V type groove circulator I8 of arc cutter and II 43 apart from the lower terminal surface of V type groove circulator II 42 of arc cutter respectively for cutting length. When the carrot continues to fall to adjusting damper I9, adjusting damper I9 restriction carrot continues the process of falling, and the extension length of restriction carrot, when the position is called as when waiting to cut the district, wait to cut the entering of infrared sensor I46 sensing carrot of district top, signals give servo motor I51, servo motor I51 control rotation axis I55 drives V type groove circulator I8, the carrot that is located V type groove circulator I8 at this moment, cut with the arc cutter I7 that inserts in the recess, fruit vegetables cutting clamp plate I5 carries out the compaction to the carrot and prevents the carrot to move or stick up simultaneously. And falls into an intermediate blanking device.
After the carrot is cut for the first time, the carrot flies out due to certain inertia generated by rotation, and rebounds to a normal track after colliding with the right triangular baffle 27, and can accurately fall into the V-shaped groove rotator II 42 in the second cutting device due to the fact that the falling direction and the falling angle of the carrot are limited by the left triangular baffle 36 and the middle rectangular baffle 37.
The carrot continues to fall to adjusting damper II23, adjusting damper II23 restriction carrot continues to fall, and the extension length of restriction carrot, treat the entering of infrared sensor II 25 induction carrot of cutting district top, signals gives servo motor II 10, servo motor II 10 control rotation axis II21 drives V type groove circulator II 42, the carrot that is located V type groove circulator II 42 at this moment, cut with arc cutter II 43 who inserts in the recess, fruit vegetables cutting clamp plate II 41 carries out the compaction to the carrot simultaneously and prevents that the carrot from removing or stick up, accomplish the cutting of second time. The cut carrots are transported out of the machine through an outlet chute 14.
The foregoing is only a specific embodiment of the present invention, and various changes and modifications, all equivalent technical solutions, which are made without departing from the spirit and scope of the present invention, also belong to the scope of the present invention.
Those not described in detail in this specification are within the skill of the art.

Claims (7)

1. The utility model provides an intelligence cutting device based on end to end discernment of cylindric fruit vegetables which characterized in that includes: the automatic blanking machine comprises a rack (32), a feeding device, an intermediate blanking device and an adjusting device which are fixed on the rack (32), an image recognition device fixed on the feeding device, a first cutting device positioned below the feeding device, a second cutting device positioned below the intermediate blanking device, and the intermediate blanking device positioned at the lower right side of the first cutting device;
the feeding device comprises: a triangular groove slideway (31), an upper baffle (2), a left baffle (1), a right baffle (40) and a feeding device rack connecting piece (30); the triangular groove slideway (31) is connected with the frame (32) through a feeding device frame connecting piece (30), the left baffle (1) and the right baffle (40) are respectively fixed on two sides of the triangular groove slideway (31), the upper baffle (2) is fixed on the left baffle (1) and the right baffle (40), and the whole feeding device is obliquely fixed; the fruits and vegetables fall into the triangular groove slideway (31) through dead weight and inclination, and the left baffle (1), the right baffle (40) and the upper baffle (2) are used for limiting the falling direction and the falling angle of the fruits and vegetables, so that the fruits and vegetables can accurately fall into the first cutting device;
the image recognition apparatus includes: the device comprises a computer, a CCD camera (4), a camera frame (3) and a photoelectric sensor (38); the CCD camera (4) and the photoelectric sensor (38) are connected with a computer through a data line, the CCD camera (4) is fixed on the upper baffle (2) through a camera rack (3), and the photoelectric sensors (38) are symmetrically arranged on the inner sides of the left baffle (1) and the right baffle (40);
the first cutting device includes: the device comprises a V-shaped groove rotator I (8), a rotating shaft I (55), an arc-shaped cutter I (7), a cutter connecting piece I (6), a rotator baffle plate I (39), a baffle plate connecting piece I (35), a fruit and vegetable cutting pressing plate I (5), an infrared sensor I (46), an inductor connecting piece I (45), a coupler I (53), a servo motor I (51), a bearing seat I (56) and a bearing seat rack connecting piece I (11); a bearing seat I (56) is fixed on a rack (32) through a bearing seat rack connecting piece I (11), a rotating shaft I (55) is fixed on the bearing seat I (56), the rotating shaft I (55) is connected with a servo motor I (51) through a coupler I (53), a V-shaped groove rotator I (8) and the rotating shaft I (55) are circumferentially fixed through a flat key and a pin shaft, an arc-shaped cutter I (7) is fixed on the rack (32) through a cutter connecting piece I (6), a sensor connecting piece I (45) is fixed on an upper baffle plate (2), an infrared sensor I (46) is fixed on the upper baffle plate (2) through a sensor connecting piece I (45), an infrared sensor I (46) is connected with a computer, the computer is connected with the servo motor I (51), a groove for inserting the arc-shaped cutter I (7) is formed in the position of the V-shaped groove rotator I (8) at a certain distance from the lower end face of the V-, the rotator baffle plate I (39) is fixed on the rack (32) through a baffle plate connecting piece I (35), the fruit and vegetable cutting pressing plate I (5) is fixed on the left baffle plate (1), and the V-shaped groove rotator I (8) is positioned below the feeding device;
the middle blanking device comprises: the blanking device comprises a middle blanking device rack connecting piece (28), a left triangular baffle (36), a right triangular baffle (27), a middle rectangular baffle (37) and a triangular baffle connecting piece (29); the right triangular baffle (27) is fixed on a rack (32) through a middle blanking device rack connecting piece (28), a middle rectangular baffle (37) is fixed on the right triangular baffle (27) through a triangular baffle connecting piece (29), a left triangular baffle (36) is fixed on the middle rectangular baffle (37) through the triangular baffle connecting piece (29), and a middle blanking device is positioned below the V-shaped groove rotator I (8); after the fruits and vegetables fall from the first cutting device, the middle blanking device is used for limiting the falling direction and the falling angle of the fruits and vegetables, so that the fruits and vegetables can be fed into the second cutting device;
second cutting device's right side is equipped with export silo (14), and on export silo (14) were fixed in frame (32), second cutting device included: the device comprises a V-shaped groove rotator II (42), a rotating shaft II (21), an arc-shaped cutter II (43), a cutter connecting piece II (24), a rotator baffle plate II (13), a fruit and vegetable crop baffle plate (12), a baffle plate connecting piece II (52), a fruit and vegetable cutting pressing plate II (41), an infrared sensor II (25), an inductor connecting piece II (26), a coupler II (54), a servo motor II (10), a bearing seat II (22) and a bearing seat rack connecting piece II (44); the bearing seat II (22) is fixed on the rack (32) through a bearing seat rack connecting piece II (44), the rotating shaft II (21) is fixed on the bearing seat II (22), the rotating shaft II (21) is connected with the servo motor II (10) through a coupler II (54), a V-shaped groove rotator II (42) and the rotating shaft II (21) are circumferentially fixed through a flat key and a pin shaft, an arc-shaped cutter II (43) is fixed on the rack (32) through a cutter connecting piece II (24), a rotator baffle plate II (13) is fixed on the rack (32) through a baffle plate connecting piece II (52), an inductor connecting piece II (26) is fixed on a middle rectangular baffle plate (37), an infrared sensor II (25) is fixed on the middle rectangular baffle plate (37) through an inductor connecting piece II (26), the infrared sensor II (25) is connected with a computer, the computer is connected with the servo motor II (10), a fruit and vegetable cutting pressing plate II (41) is fixed on the right triangular baffle (27), a fruit and vegetable head cutting baffle (12) is fixed on the rotator baffle plate II (13) and used for preventing fruit and vegetable waste materials cut by the first cutting device from falling into the second cutting device, and a V-shaped groove rotator II (42) is positioned below the middle blanking device;
the adjusting device comprises a first cutting adjusting device and a second cutting adjusting device which are used for adjusting the head and tail cutting length of the fruits and vegetables,
the first cutting adjustment device is located on the left side of the first cutting device, and the device includes: the device comprises a lead screw I (48), a coupler III (49), an L-shaped bearing pedestal I (47), an adjusting baffle I (9), a stepping motor I (50), an adjusting baffle connecting piece I (34) and an L-shaped bearing pedestal support frame I (33); the fruit and vegetable adjusting device comprises an L-shaped bearing seat I (47), a lead screw I (48), an adjusting baffle I (9), an adjusting baffle connecting piece I (34), a lead screw I (48), a coupler III (49), a stepping motor I (50), the stepping motor I (50) and a computer, wherein the L-shaped bearing seat I (47) is fixed on a rack (32) through an L-shaped bearing seat support frame I (33);
the second cutting adjustment device is located the second cutting device below, and the device includes: the device comprises a lead screw II (19), a coupler IV (17), an L-shaped bearing seat II (20), an adjusting baffle II (23), a stepping motor II (15), an adjusting baffle connecting piece II (18) and an L-shaped bearing seat support frame II (16); l type bearing frame II (20) are fixed in on frame (32) through L type bearing frame II (16), lead screw II (19) are fixed in on L type bearing frame II (20), adjusting baffle II (23) are connected with lead screw II (19) through adjusting baffle connecting piece II (18), lead screw II (19) are connected with step motor II (15) through shaft coupling IV (17), step motor II (15) are connected with the computer, step motor II (15) are used for driving lead screw II (19) to rotate, lead screw II (19) are used for driving adjusting baffle II (23) to remove, thereby reach the regulation effect, adjusting baffle II (23) are used for restricting the length that stretches out of fruit vegetables.
2. The intelligent cutting device based on the identification of the head and the tail of the stripped fruit and vegetable is characterized in that an infrared sensor I (46) is used for sensing a signal that the fruit and vegetable pass through and sending the signal to a computer, the computer is used for receiving the signal that the fruit and vegetable pass through and starting a servo motor I (51), the servo motor I (51) is used for driving a V-shaped groove rotator I (8) to rotate 180 degrees, the V-shaped groove rotator I (8) is used for driving the fruit and vegetable to rotate, the fruit and vegetable are extruded together by the V-shaped groove rotator I (8) and an arc-shaped cutter I (7) in the rotating process to be cut, a fruit and vegetable cutting pressing plate I (5) is used for preventing the fruit and vegetable from being stuck due to cutting in the cutting process, and a V-shaped groove on the V-shaped groove rotator I (8) is used for guaranteeing the flatness of the cutting section.
3. The intelligent cutting device based on the head and tail identification of the stripped fruits and vegetables as claimed in claim 1, wherein the fruits and vegetables fall into the second cutting device from the first cutting device through the intermediate blanking device, the infrared sensor II (25) is used for sensing a signal that the fruits and vegetables pass through and sending the signal that the fruits and vegetables pass through to the computer, the computer is used for receiving the signal that the fruits and vegetables pass through and starting the servo motor II (10), the servo motor II (10) is used for controlling the V-shaped groove rotator II (42) to rotate, the V-shaped groove rotator II (42) is used for driving the fruits and vegetables to rotate, the fruits and vegetables are extruded together by the V-shaped groove rotator II (42) and the arc-shaped cutter II (43) during rotation to be cut, and the outlet trough (14) is used for discharging the fruits and vegetables, so that the two ends of the fruits and vegetables are.
4. The intelligent cutting device based on the head and tail identification of the cylindrical fruits and vegetables as claimed in claim 1, wherein image processing software is installed on the computer.
5. The intelligent cutting device based on the head and tail identification of the cylindrical fruits and vegetables according to claim 4, wherein the photoelectric sensor (38) is used for transmitting fruit and vegetable signals to a computer, the computer is used for controlling the CCD camera (4) to collect images of the fruits and vegetables, then shape parameters in the images of the fruits and vegetables are extracted by using image processing software, and the stepping motor I (50) and the stepping motor II (15) are controlled to rotate according to the shape parameters of the fruits and vegetables, the stepping motor I (50) and the stepping motor II (15) respectively drive the lead screw I (48) and the lead screw II (19) to rotate, the lead screw I (48) and the lead screw II (19) respectively drive the adjusting baffle I (9) and the adjusting baffle II (23) to move to the length required for cutting, and the adjustment of the cutting length is realized.
6. The intelligent cutting device based on the head and tail identification of the cylindrical fruits and vegetables as claimed in claim 1, wherein the length of one end for cutting the fruits and vegetables is the distance between the arc-shaped cutter I (7) and the lower end face of the V-shaped groove rotator I (8) plus the extension length of the fruits and vegetables limited by the adjusting baffle I (9).
7. The intelligent cutting device based on the head and tail identification of the cylindrical fruits and vegetables as claimed in claim 1, wherein the length of the other end for cutting the fruits and vegetables is the distance between the arc-shaped cutter II (43) and the lower end face of the V-shaped groove rotator II (42) plus the limit of the protruding length of the fruits and vegetables by the adjusting baffle II (23).
CN201911085225.0A 2019-11-08 2019-11-08 Intelligent cutting device based on recognition of head and tail of strip-shaped columnar fruits and vegetables Active CN111300521B (en)

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KR20150003998A (en) * 2013-07-02 2015-01-12 주식회사 한국인삼공사 Cutter for slice of red ginseng
CN106998710A (en) * 2014-09-23 2017-08-01 马瑞尔股份有限公司 Method and apparatus for meat products such as sirloin to be automatically cut into part
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