CN113170912A - Passion fruit pulp taking method and device - Google Patents
Passion fruit pulp taking method and device Download PDFInfo
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- CN113170912A CN113170912A CN202110630003.3A CN202110630003A CN113170912A CN 113170912 A CN113170912 A CN 113170912A CN 202110630003 A CN202110630003 A CN 202110630003A CN 113170912 A CN113170912 A CN 113170912A
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- passion fruit
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- taking
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- 235000000370 Passiflora edulis Nutrition 0.000 title claims abstract description 84
- 244000288157 Passiflora edulis Species 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 40
- 210000000078 claw Anatomy 0.000 claims description 18
- 235000013372 meat Nutrition 0.000 claims description 10
- 238000000605 extraction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 230000000087 stabilizing effect Effects 0.000 description 6
- 239000003990 capacitor Substances 0.000 description 5
- 239000013078 crystal Substances 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 235000013361 beverage Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 235000014101 wine Nutrition 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
Abstract
The invention discloses a method for taking pulp from passion fruit, relates to the technical field of fruit processing, and solves the technical problem of high labor intensity of the existing method for taking pulp from passion fruit, and the method comprises the following steps: dividing passion fruit into two parts; clamping the two parts by a clamping mechanism; cutting the two parts apart and separating to a set interval; acquiring images of the two parts of pulp, and judging the quality of the passion fruit according to the images; if the passion fruit is good, taking out the pulp of the two parts of the passion fruit to a pulp collection position through a pulp taking mechanism, and conveying the shells of the two parts of the passion fruit to a shell collection position; otherwise, the two parts of the passion fruit are conveyed to a shell collecting position. The invention also discloses a passion fruit pulp taking device. According to the invention, the two parts of the passion fruit are clamped by the clamping mechanism and cut into two parts, the quality is judged by the image, if the two parts are good, the flesh is taken by the flesh taking mechanism, otherwise, the flesh is directly sent to the shell collecting position, the automatic flesh taking is realized, and the labor intensity of workers can be reduced.
Description
Technical Field
The invention relates to the technical field of fruit processing, in particular to a method and a device for taking pulp of passion fruit.
Background
The pulp of the passion fruit is the pulp, the pulp is in the peel of the passion fruit, and the shell is tough and inedible. The passion fruit pulp can be used for producing passion fruit wine, passion fruit beverage or other foods, and has high economic value.
The existing method for taking the pulp of the passion fruit is to cut the passion fruit manually and then use a tool such as a scraper or a spoon to scrape the pulp out. The technical problems of high labor intensity and low efficiency exist in the mode.
Disclosure of Invention
The technical problem to be solved by the invention is to solve the defects in the prior art, and the invention aims to provide a passion fruit pulp taking method capable of reducing labor intensity.
The invention aims to provide the passion fruit pulp taking device capable of reducing labor intensity.
In order to achieve the first purpose, the invention provides a passion fruit pulp taking method, which comprises the following steps:
dividing passion fruit into two parts;
clamping the two parts from two sides of the passion fruit through a clamping mechanism;
cutting two parts of the passion fruit open and separating to a set interval;
acquiring images of the pulp in the two parts of passion fruits, and judging the quality of the passion fruits according to the images;
if the passion fruit is good, taking out the pulp of the two parts of the passion fruit to a pulp collection position through a pulp taking mechanism, and conveying the shells of the two parts of the passion fruit to a shell collection position; otherwise, conveying the two parts of the passion fruit to a shell collecting position.
As a further improvement, the two longest ends of the passion fruit are divided into two parts.
In order to achieve the second purpose, the invention provides a passion fruit pulp taking device which comprises a fruit receiving table and a control module, wherein two sides of the fruit receiving table are respectively provided with a clamping mechanism and a first driving mechanism, the clamping mechanism is transversely arranged in an opposite mode, the first driving mechanism drives the clamping mechanism to longitudinally reciprocate, two sides of the fruit receiving table are respectively provided with an image acquisition mechanism, one longitudinal side of the fruit receiving table is respectively provided with a pulp collection structure and a shell collection structure, a pulp taking mechanism is arranged above the pulp collection structure, a fruit cutting mechanism is arranged between the fruit receiving table and the pulp collection structure, and the control module is electrically connected with the clamping mechanism, the first driving mechanism, the pulp taking mechanism, the fruit cutting mechanism and the image acquisition mechanism.
As a further improvement, a positioning structure is arranged on the fruit receiving platform between the two clamping mechanisms.
Furthermore, the clamping mechanism comprises a mechanical claw, a second driving mechanism for driving the mechanical claw to open and close, and a sliding seat connected with the mechanical claw, wherein the sliding seat is connected with the first driving mechanism.
Further, the sliding seat is provided with a third driving mechanism for driving the mechanical claw to transversely reciprocate.
Further, the image acquisition mechanism is a camera.
Further, the fruit cutting mechanism comprises a saw blade and a fourth driving mechanism for driving the saw blade to move.
Further, still include feed mechanism, feed mechanism includes the hopper, the export of hopper is equipped with the link up connect the conveyer belt of fruit platform.
Further, the fruit receiving platform is provided with a flow passage aligned with the positioning structure.
Advantageous effects
Compared with the prior art, the invention has the advantages that:
according to the invention, the two parts of the passion fruit are clamped by the clamping mechanism, then the passion fruit is cut open, the quality of the passion fruit is judged by the image, if the passion fruit is good, the flesh is taken by the flesh taking mechanism, otherwise, the flesh is directly sent to the shell collecting position, the automatic flesh taking is realized, and the labor intensity of workers can be reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view taken at A in FIG. 1;
FIG. 3 is an enlarged view at B of FIG. 1;
FIG. 4 is an enlarged view at C of FIG. 1;
FIG. 5 is a schematic structural view of a fruit cutting mechanism according to the present invention;
FIG. 6 is a wiring diagram of the control chip;
FIG. 7 is a wiring diagram of the power supply voltage stabilizing module and the indicating module;
FIG. 8 is a wiring diagram of a BOOT start mode module and a Mico-USB module;
FIG. 9 is a wiring diagram of the stepper motor control module;
FIG. 10 is a wiring diagram of a steering engine module and a camera Uart interface module;
FIG. 11 is a wiring diagram of IO pins of a control chip;
fig. 12 is a wiring diagram of the crystal oscillator circuit.
Wherein: 1-fruit receiving table, 2-first driving mechanism, 3-image acquisition mechanism, 4-pulp collection structure, 5-fruit shell collection structure, 6-positioning structure, 7-mechanical claw, 8-second driving mechanism, 9-sliding seat, 11-saw blade, 12-fourth driving mechanism, 13-hopper, 14-conveying belt, 15-flow channel, 16-linear guide rod, 17-screw rod, 18-first motor, 19-fixed seat, 20-third screw rod, 21-connecting seat, 22-guide groove, 23-driving pulley, 24-driven pulley, 25-guide wheel, 26-U-shaped frame, 27-meat taking knife and 28-meat taking motor.
Detailed Description
The invention will be further described with reference to specific embodiments shown in the drawings.
Referring to fig. 1-5, a method for extracting pulp from passion fruit comprises:
dividing passion fruit into two parts;
clamping the two parts from two sides of the passion fruit through a clamping mechanism;
cutting two parts of the passion fruit, and separating to a set interval;
acquiring images of pulp in the two parts of passion fruits, and judging the quality of the passion fruits according to the images;
if the passion fruit is good, taking out the pulp of the two parts of the passion fruit to a pulp collection position through a pulp taking mechanism, and conveying the shells of the two parts of the passion fruit to a shell collection position; otherwise, the two parts of the passion fruit are conveyed to a shell collecting position.
The method divides the longest two ends of the passion fruit into two parts, so that the two parts can be clamped by the clamping mechanism more conveniently from the two sides of the passion fruit.
A passion fruit pulp taking device comprises a fruit receiving platform 1 and a control module. Connect the both sides of fruit platform 1 to be equipped with the fixture of horizontal opposition respectively, drive fixture longitudinal reciprocating motion's first actuating mechanism 2, connect the both sides of fruit platform 1 still to be equipped with image acquisition mechanism 3 respectively, connect the vertical one side of fruit platform 1 to be equipped with respectively and be equipped with pulp collection structure 4, shell collection structure 5, the top of pulp collection structure 4 is equipped with gets the meat mechanism, connect and be equipped with between fruit platform 1 and the pulp collection structure 4 and cut the fruit mechanism, control module electric connection fixture, first actuating mechanism 2, get the meat mechanism, cut the fruit mechanism, image acquisition mechanism 3.
A positioning structure 6 is arranged on the fruit receiving platform 1 between the two clamping mechanisms and used for positioning the passion fruit, so that the two longest ends of the passion fruit are aligned with the two clamping mechanisms, and the two parts of the passion fruit can be conveniently clamped by the clamping mechanisms from the two sides of the passion fruit. The bottom of the positioning structure 6 is provided with a weighing pressure sensor electrically connected with the control module for detecting whether a fruit exists in the positioning structure 6.
In this embodiment, the positioning structure 6 is a positioning groove.
In other embodiments, the positioning structure 6 may be an open polygonal plate structure or an open annular plate structure.
The clamping mechanism comprises a mechanical claw 7, a second driving mechanism 8 for driving the mechanical claw 7 to open and close, and a sliding seat 9 connected with the mechanical claw 7, wherein the sliding seat 9 is connected with the first driving mechanism 2. The gripper 7 adopts current ripe product, and second actuating mechanism 8 is steering wheel or step motor or servo motor or pneumatic motor, and the steering wheel is preferred single-axis bus steering wheel, and second actuating mechanism 8 passes through rotary motion drive gripper 7 and opens and shuts to it presss from both sides tight passion fruit to realize gripper 7.
In this embodiment, the first driving mechanism 2 includes a linear guide rod 16, a lead screw 17, and a first motor 18, the linear guide rod 16 and the lead screw 17 are installed on a fixed seat 19 and are longitudinally arranged, the linear guide rod 16 passes through the sliding seat 9 and is slidably connected with the sliding seat 9, the lead screws 17 respectively pass through the sliding seat 9 and are threadedly connected with the sliding seat 9, a rotating shaft of the first motor 18 is connected with the lead screw 17 through a coupler, and the first motor 18 drives the lead screw 17 to rotate, so that the sliding seat 9 reciprocates along the linear guide rod 16. The first motor 18 is a stepper motor or a servo motor.
In other embodiments, the first driving mechanism 2 may be a linear motor or an electric push rod or a servo air cylinder or a servo electric cylinder or a rack and pinion mechanism.
Sliding seat 9 is equipped with the third actuating mechanism who drives gripper 7 lateral reciprocating motion, in this embodiment, third actuating mechanism includes third lead screw 20, the third motor is installed inside sliding seat 9, third lead screw 20 passes through the bearing and installs on sliding seat 9, gripper 7's rear end is equipped with connecting seat 21, third lead screw 20 passes through threaded connection with connecting seat 21, the both sides of sliding seat 9 are equipped with the guide way 22 of erection joint seat 2, guide way 22 transverse arrangement, the third motor drives third lead screw 20 rotatory, thereby realize driving gripper 7 lateral reciprocating motion. The third motor is a stepping motor or a servo motor.
In other embodiments, the third drive mechanism may be an electric push rod or air cylinder or a crank-slider mechanism.
The image acquisition mechanism 3 is installed on the sliding seat 9, the image acquisition mechanism 3 is a camera, and preferably, the image acquisition mechanism 3 is a high-definition camera. Of course, the image capturing mechanism 3 may also adopt an existing mature vision detecting module, such as a kenshi vision camera with model number CA-HX500MCA-HX500C + a kenshi vision controller with model number CV-X4 series, and the vision detecting module may directly output the good and bad results of the passion fruit to the control module.
The fruit cutting mechanism comprises a saw blade 11 and a fourth driving mechanism 12 for driving the saw blade 11 to move. In this embodiment, the saw blade 11 is a circular flexible saw blade, the fourth driving mechanism 12 includes a driving pulley 23, a driven pulley 24, two guide wheels 25, and a U-shaped frame 26, the driving pulley 23 is connected with a fourth motor, the U-shaped frame 26 is horizontally disposed, the driving pulley 23 and the driven pulley 24 are horizontally disposed at the bottom of the U-shaped frame 26, the two guide wheels 25 are horizontally disposed at the top of the U-shaped frame 26, the driving pulley 23, the driven pulley 24 and the two guide wheels 25 form a rectangular structure, the first driving mechanism 2 is located between the bottom and the top of the U-shaped frame 26, and one side of the saw blade 11 is located between the first driving mechanisms 2 at two sides. The fourth motor drives the driving pulley 23 to rotate so as to drive the saw blade 11 to rotate circularly around the driving pulley 23, the driven pulley 24 and the two guide wheels 25.
In other embodiments, the saw blade 11 is an elongated saw blade, the saw blade 11 is vertically disposed between the first driving mechanisms 2 on two sides, the fourth driving mechanism 12 is an electric push rod or a cylinder or a slider-crank mechanism, the fourth driving mechanism 12 is installed above the first driving mechanisms 2 on two sides through a gantry, and the fourth driving mechanism 12 drives the saw blade 11 to reciprocate up and down to realize cutting.
The meat taking mechanism comprises two meat taking knives 27 respectively corresponding to the two parts of passion fruits and a meat taking motor 28 for driving the meat taking knives 27 to rotate, and the two meat taking knives 27 are horizontally arranged. The pulp collection structure 4 comprises two pulp collection bins, which are located directly below the two pulp taking knives 27, respectively. The shell collecting structure 5 is a shell collecting box which is arranged on one side of the meat taking knife 27 far away from the fruit receiving table 1.
The device also comprises a feeding mechanism, the feeding mechanism comprises a hopper 13, and a conveying belt 14 connected with the fruit receiving table 1 is arranged at an outlet of the hopper 13. The receiving table 1 is provided with a flow channel 15 aligned with the positioning structure 6, one end of the flow channel 15 being aligned with the conveyor belt 14. The conveyor belt 14 conveys the passion fruit from the hopper 13 to the flow channel 15 one by one, and the passion fruit moves along the flow channel 15 to the positioning structure 6 for positioning.
The control module is a single chip microcomputer module or a PLC or an industrial personal computer.
The single chip microcomputer module is shown in fig. 6-12 and comprises a power supply voltage stabilizing module, an indicating module connected with the power supply voltage stabilizing module, a control chip U4, a BOOT starting mode module, a Micro-USB module, a reset circuit, a stepping motor control module, a direct current motor control module, a steering engine module, a camera Uart interface module and a crystal oscillator circuit. The power supply voltage stabilizing module comprises 220V alternating-current voltage input terminals 1 and 2, a power switch S1, a fuse F1, a transformer T1, a rectifier bridge D1, capacitors C1 and C2 and an electrolytic capacitor EC1, and the power supply voltage stabilizing module plays a role in filtering and finally outputs 12V direct-current voltage. A 12V power supply is input into the voltage conversion chip U2 and is converted into a 5V voltage, a 12V power supply is input into the voltage conversion chip U3 and is converted into a 3.3V voltage, and the capacitors C3, C4, C5 and C6 play a role in filtering; the indicating module comprises a resistor R8 and an indicator light LED1 which are connected in series, wherein one end of the resistor R8 is connected with 12V voltage, and the other end of the indicator light LED is grounded. The model of the control chip U4 is STM32F103C8T6, a reset circuit is connected to one I/O pin of the control chip U4, when 3.3V in the reset circuit is powered on, C7 is charged, voltage appears on a 10K resistor R7 to reset the control chip U4, after a few milliseconds, C7 is full, current drops to 0 on a 10K resistor R7, the voltage is also 0, so that the control chip U4 enters an operating state, during the operating period, K1 is pressed down, C7 is discharged, voltage appears on a 10K resistor R7 to reset the control chip U4, K1 is released, C7 is charged again, after a few milliseconds, the control chip U4 enters the operating state, and the resistor R6 is a current-limiting resistor. In a BOOT mode module, P1 is a BOOT mode selection pin, resistors R3 and R4 are current limiting resistors, the circuit selects BOOT0 being 1 and BOOT1 being 0 by default, the circuit is set to be in an ISP download mode, and a program is downloaded through connection of a terminal J1 and a serial port, so that the system of the control chip U4 can be upgraded quickly. In the Micro-USB module, the module consists of a USB-mrico socket, resistors R2 and R5 and a pull-up resistor R1, and can supply power to a control chip U4 and communicate with a PC terminal. The stepping motor control module comprises a first motor driving chip B1 and a second motor driving chip B2, signal inputs of the driving chips of the two motors are correspondingly connected to an I/O pin of a control chip U4, a control output pin of the first motor driving chip B1 is correspondingly connected with one of the first motors 18, and a control output pin of the second stepping motor driving chip B2 is correspondingly connected with the other first motor 18. The direct current motor control module comprises a first direct current motor driving chip U5, a signal input of a driving chip of the direct current motor is correspondingly connected to an I/O pin of the control chip U4, and a control output pin of the first direct current motor driving chip U5 is correspondingly connected with the direct current motor of the conveyor belt 14 (the conveyor belt 14 is driven by the direct current motor). PWM input signal pins of two single-shaft bus steering engines M4 and M5 of the steering engine module are correspondingly connected to an I/O pin of a control chip U4, and the two steering engines M4 and M5 respectively control the opening and closing of the two mechanical claws 7. In the camera Uart interface module, the pin header P4 is connected to the I/O of the control chip U4, so as to externally connect the camera. The crystal oscillator circuit module comprises two parts, wherein one part forms an external high-speed clock, the other part forms an external low-speed clock, the capacitors C8 and C11 and the crystal oscillator Y2 form an 8MHz external high-speed clock of U4 to provide an accurate system clock, and the other part forms a 32.768KHz external low-speed clock of U4 by the capacitors Tang C9 and C10 and the crystal oscillator Y1 to provide an accurate timing service. The IO pin is composed of pin headers P3 and P2, and signal interaction and setting with the outside are achieved. The fourth motor M8 is a 220V AC motor, and is connected in the power supply voltage stabilizing module circuit.
The working process of the device is as follows:
putting the passion fruit in the hopper 13, switching on a 220V alternating current power supply and pressing a power switch S1 to enable the device to start working;
in operation, the conveyor belt 14 starts to convey the passion fruit to the positioning structure 6 of the fruit receiving platform 1 smoothly, when the weighing pressure sensor under the positioning structure 6 detects that a fruit exists, the third motor drives the third screw rod 20 to make the mechanical claw 7 move to the positioning structure 6 in a straight line, after the mechanical claw moves to the right position, the single-shaft bus steering engine drives the mechanical claw 7 to clamp two ends of the passion fruit, the first driving mechanism 2 drives the mechanical claw 7 to move towards the saw blade 11, after the passion fruit is cut into two parts, the third motor drives the third screw rod 20 to move reversely, so that the two mechanical claws 7 are separated to a set interval, the image acquisition mechanism 3 is used for detecting the quality of the passion fruit pulp, if the flesh is detected to be good, it is moved to the flesh extracting mechanism to extract the flesh and convey the nutshells to the nutshell collecting structure 5, and if the flesh is detected to be bad, the fruit is directly conveyed to the nutshell collecting structure 5.
The above is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that several variations and modifications can be made without departing from the structure of the present invention, which will not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (10)
1. A passion fruit pulp taking method is characterized by comprising the following steps:
dividing passion fruit into two parts;
clamping the two parts from two sides of the passion fruit through a clamping mechanism;
cutting two parts of the passion fruit open and separating to a set interval;
acquiring images of the pulp in the two parts of passion fruits, and judging the quality of the passion fruits according to the images;
if the passion fruit is good, taking out the pulp of the two parts of the passion fruit to a pulp collection position through a pulp taking mechanism, and conveying the shells of the two parts of the passion fruit to a shell collection position; otherwise, conveying the two parts of the passion fruit to a shell collecting position.
2. The method as claimed in claim 1, wherein the longest ends of the passion fruit are divided into two parts.
3. A passion fruit pulp taking device for realizing the method of claim 1 or 2, which is characterized by comprising a fruit receiving platform (1) and a control module, two sides of the fruit receiving table (1) are respectively provided with a clamping mechanism which is transversely arranged oppositely and a first driving mechanism (2) which drives the clamping mechanism to do longitudinal reciprocating motion, the two sides of the fruit receiving platform (1) are respectively provided with an image acquisition mechanism (3), one longitudinal side of the fruit receiving platform (1) is respectively provided with a pulp collecting structure (4) and a shell collecting structure (5), a meat taking mechanism is arranged above the pulp collecting structure (4), a fruit cutting mechanism is arranged between the fruit receiving platform (1) and the pulp collecting structure (4), the control module is electrically connected with the clamping mechanism, the first driving mechanism (2), the meat taking mechanism, the fruit cutting mechanism and the image acquisition mechanism (3).
4. The passion fruit pulp taking device according to claim 3, wherein a positioning structure (6) is arranged on the fruit receiving platform (1) between the two clamping mechanisms.
5. The passion fruit flesh taking device according to claim 3, wherein the clamping mechanism comprises a mechanical claw (7), a second driving mechanism (8) for driving the mechanical claw (7) to open and close, and a sliding seat (9) connected with the mechanical claw (7), and the sliding seat (9) is connected with the first driving mechanism (2).
6. Passion fruit flesh taking device according to claim 5, characterized in that the sliding seat (9) is provided with a third driving mechanism that drives the mechanical claw (7) to reciprocate laterally.
7. The passion fruit pulp taking device according to claim 3, wherein the image acquisition mechanism (3) is a camera.
8. A passion fruit flesh taking device according to claim 3, wherein the fruit cutting mechanism comprises a saw blade (11) and a fourth driving mechanism (12) for driving the saw blade (11) to move.
9. A passion fruit pulp taking device according to claim 3, further comprising a feeding mechanism, wherein the feeding mechanism comprises a hopper (13), and an outlet of the hopper (13) is provided with a conveying belt (14) connected with the fruit receiving platform (1).
10. Passion fruit flesh extraction device according to claim 4, characterized in that the fruit reception table (1) is provided with a flow channel (15) aligned with the positioning structure (6).
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| CN202110630003.3A CN113170912A (en) | 2021-06-07 | 2021-06-07 | Passion fruit pulp taking method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110630003.3A CN113170912A (en) | 2021-06-07 | 2021-06-07 | Passion fruit pulp taking method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113598387A (en) * | 2021-09-02 | 2021-11-05 | 玉林师范学院 | Device for automatically peeling off white film in passion fruit shell |
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