CN115041419B - Spherical fruit azimuth detecting and adjusting device based on image recognition - Google Patents
Spherical fruit azimuth detecting and adjusting device based on image recognition Download PDFInfo
- Publication number
- CN115041419B CN115041419B CN202210660019.3A CN202210660019A CN115041419B CN 115041419 B CN115041419 B CN 115041419B CN 202210660019 A CN202210660019 A CN 202210660019A CN 115041419 B CN115041419 B CN 115041419B
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- fruit
- fixedly connected
- rack
- spring
- sliding sleeve
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 97
- 238000005096 rolling process Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 8
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 12
- 235000017491 Bambusa tulda Nutrition 0.000 description 12
- 241001330002 Bambuseae Species 0.000 description 12
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 12
- 239000011425 bamboo Substances 0.000 description 12
- 238000013459 approach Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 240000001008 Dimocarpus longan Species 0.000 description 1
- 235000000235 Euphoria longan Nutrition 0.000 description 1
- 244000183278 Nephelium litchi Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 235000011869 dried fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- 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
- A23N4/00—Machines for stoning fruit or removing seed-containing sections from fruit, characterised by their stoning or removing device
- A23N4/02—Machines for stoning fruit or removing seed-containing sections from fruit, characterised by their stoning or removing device for stoning fruit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
-
- 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
Abstract
The invention discloses a device for detecting and adjusting the azimuth of spherical fruits based on image recognition, which comprises a top frame erected above a fruit conveying chain and a camera for detecting the azimuth and damage of the fruits.
Description
Technical Field
The invention belongs to the technical field related to the stoning processing of spherical fruits, and particularly relates to a device for detecting and adjusting the azimuth of spherical fruits based on image recognition.
Background
Spherical fruits such as longan, litchi, etc. are often used to make dried fruit. In the fruit processing process, peeling and pit digging links are the most time-consuming and the most labor-consuming of factories. Therefore, the prior art has applied the device for detecting and adjusting the azimuth to the factory processing.
The existing azimuth detection and adjustment device technology has the following problems: the device of current position detection and adjustment needs to carry out a lot of adjustment to fruit, and work efficiency reduces, influences the stoning processing production progress of fruit, can't discern bad fruit, and can't reject bad fruit and detect, influences the quality of product, adds the dynamics of holding in addition and is difficult to accuse, and the clamping force is too big easily causes the damage to the fruit body.
Disclosure of Invention
The invention aims to provide a device for detecting and adjusting the azimuth of spherical fruits based on image recognition, which solves the problems that the efficiency of multiple adjustment is reduced, bad fruits cannot be identified and removed, and damage is easily caused to the fruits due to overlarge clamping force in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a globular fruit position detects and device of adjustment based on image recognition, includes the roof-rack of setting up in fruit conveying chain top to and carry out the position and damage the camera that detects fruit, the top fixed mounting of roof-rack has the motor, the output fixedly connected with screw rod of motor, the bottom of screw rod runs through the roof-rack and rotates with the roof-rack and be connected, the below of roof-rack is provided with two sets of holders, and is provided with the expansion piece that is used for driving two sets of holders synchronous inboard shrink under the order of motor between two sets of holders, two sets of the bottom of holder is provided with a pair of elasticity rolling element that is used for transversely and vertically adjusting fruit position respectively, the bottom of screw rod is provided with the elasticity plug connector that is used for detecting bad fruit with rising screw rod block fixed when the camera, the below of elasticity plug connector is provided with and is used for the anti-decline to the conveying height of fruit and cooperates the rotation of screw rod to reject bad fruit.
Preferably, the clamping piece comprises a side plate, the side plate is in an E-shaped structure, and the top of the side plate abuts against the bottom surface of the top frame.
Preferably, the telescopic member comprises a sliding sleeve, the sliding sleeve is sleeved on the outer side of the screw rod and is in threaded connection with the screw rod, guide rods are fixedly connected to the two sides of the top of the sliding sleeve and are in sliding connection with the top frame, two connecting rods are hinged to the middle position of the side plate, the two connecting rods are parallel to each other and have the same length, the two connecting rods are hinged to the side wall of the sliding sleeve, and the camera is fixed on the outer side of the sliding sleeve.
Preferably, the elastic rolling piece comprises a clamping plate, the top and the middle part of the clamping plate are fixedly connected with telescopic rods towards one side face of the side plate, the telescopic rods are in sliding connection with the side plate, a first spring is sleeved on the outer side of the telescopic rods, one end of the first spring is fixedly connected with the side plate, the other end of the first spring is fixedly connected with the clamping plate, and an electric roller is arranged at the bottom of the clamping plate and towards one side face of the side plate.
Preferably, one group of the electric rollers on the elastic rolling elements is longitudinally arranged, and the other group of the electric rollers on the elastic rolling elements is transversely arranged.
Preferably, the elastic plug connector comprises a first alignment cylinder and a second alignment cylinder, the bottom of the sliding sleeve is fixedly connected with a fixed support, the bottom of the fixed support is rotationally connected with a steering wheel, the first alignment cylinder is fixed at the bottom of the screw rod, the outer side of the first alignment cylinder is rotationally connected with a first electromagnetic ring, the second alignment cylinder is rotationally connected with the fixed support and a second electromagnetic ring in a sliding manner, the outer side of the second alignment cylinder is rotationally connected with a second electromagnetic ring, the outer sides of the first alignment cylinder and the second alignment cylinder are sleeved with a second spring, one end of the second spring is fixedly connected with the first electromagnetic ring, and the other end of the second spring is fixedly connected with the second electromagnetic ring.
Preferably, the removing member comprises a deflector rod, a first rack is fixedly connected to one side of the deflector rod, a sliding rail is slidably connected to the outer side of the first rack, the sliding rail is fixed to the bottom of the steering wheel, a support is fixedly connected to the bottom of the steering wheel, a gear is rotatably connected to the bottom of the support, the gear is meshed with the sliding rail, a second rack is fixedly connected to one side wall of the second alignment barrel, which is close to the support, and the second rack is meshed with the gear.
Compared with the prior art of the device for detecting and adjusting the azimuth, the invention provides a device for detecting and adjusting the azimuth of spherical fruits based on image recognition, which has the following beneficial effects:
1. according to the invention, a single spherical fruit conveyed by a conveying chain is detected through a camera to judge whether azimuth errors occur, after errors occur in the azimuth of the fruit and the target azimuth, a motor can be started to work, two connecting rods at two sides of a screw rod and side plates form a parallelogram structure, so that four side plates can synchronously approach to the direction of the screw rod, a clamping plate at the bottom can be driven by the side plates to approach the fruit, an electric roller on the clamping plate is tightly attached to the surface of the fruit, a pair of electric rollers longitudinally arranged can rotate at the same speed in the same direction to drive the fruit to perform primary rotation, a pair of electric rollers transversely arranged can rotate at the same speed in the same direction to drive the fruit to perform secondary rotation, the fruit can be quickly adjusted to the target azimuth, the cutting action of subsequent stoning equipment is facilitated, the waste of pulp is reduced, and the stoning integrity is kept;
2. when the camera detects single spherical fruits conveyed by the conveying chain and judges that the fruits are damaged, the controller can electrify the first electromagnetic ring and the second electromagnetic ring to enable the second alignment cylinder to ascend and be in butt joint with the first alignment cylinder, the second rack on one side is driven to synchronously ascend in the ascending process of the second alignment cylinder, the first rack can reversely and vertically move downwards through the meshing of the second rack and the gear and the meshing of the gear and the first rack, the deflector rod is further pushed to be consistent with the height of the fruits on the conveying chain, the motor drives the screw rod to reversely rotate, the second alignment cylinder is driven to rotate by the screw rod, the steering wheel is driven to rotate by the second alignment cylinder, and the deflector rod is driven to rotate, so that the damaged fruits are pulled down from the conveying chain by the deflector rod, and the damaged fruits are removed;
3. according to the invention, through the arrangement of the first spring, when the fruit is clamped, the four electric rollers can be attached according to the shape of the fruit, and meanwhile, the elastic contact is added, so that the damage to the fruit body caused by overlarge clamping force is avoided, and the fruit is protected.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate and together with the embodiments of the invention and do not constitute a limitation to the invention, and in which:
fig. 1 is a schematic diagram of a device for detecting and adjusting the orientation of spherical fruits based on image recognition;
FIG. 2 is a schematic view of a side plate according to the present invention;
FIG. 3 is an enlarged schematic view of the structure of FIG. 1A according to the present invention;
FIG. 4 is an enlarged schematic view of the structure of FIG. 1B according to the present invention;
FIG. 5 is a schematic view of the placement positions of the electric rollers and the conveyor chain according to the present invention;
FIG. 6 is an initial schematic view of the fruit according to the present invention when it is tilted;
fig. 7 is a schematic diagram of the fruit according to the present invention after first rotation and positioning;
fig. 8 is a schematic diagram of the fruit according to the present invention after the second rotation and positioning;
in the figure: 1. a top frame; 2. a motor; 3. a sliding sleeve; 4. a screw; 5. a guide rod; 6. a side plate; 7. a connecting rod; 8. a camera; 9. a fixed bracket; 10. a clamping plate; 11. a first spring; 12. a telescopic rod; 13. an electric roller; 14. a first electromagnetic ring; 15. a first alignment barrel; 16. a second electromagnetic ring; 17. a second alignment barrel; 18. a second spring; 19. a steering wheel; 20. a slide rail; 21. a first rack; 22. a deflector rod; 23. a second rack; 24. a support; 25. a gear.
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.
Referring to fig. 1-8, the present invention provides a technical solution: the utility model provides a globular fruit position detects and device of adjustment based on image recognition, including setting up the roof-rack 1 in fruit conveying chain top, and carry out position and damage detection's camera 8 to fruit, fruit conveying chain is single chain transport, the below that is single fruit was carried to this device in the conveying mode is accomplished the detection, camera 8 is among the prior art DDC camera, the top fixed mounting of roof-rack 1 has motor 2, in addition this device still includes with DDC camera, motor 2, electric roller 13 and electromagnetic ring electric connection's controller, carry out position detection and bad fruit quality detection to fruit that comes from by the DDC camera, and with the information feedback to the controller that obtains of detection, start motor 2 by the controller, electric roller 13 and electromagnetic ring cooperation work, the output fixedly connected with screw rod 4 of motor 2, the bottom of screw rod 4 runs through roof-rack 1 and rotates with roof-rack 1 to be connected, the below of roof-rack 1 is provided with two sets of holders, the holder includes curb plate 6, curb plate 6 is E font structure, the top of curb plate 6 supports the bottom surface at roof-rack 1.
The telescopic part used for driving the two groups of clamping parts to synchronously shrink inwards under the driving of the motor 2 is arranged between the two groups of clamping parts, the telescopic part comprises a sliding sleeve 3, the sliding sleeve 3 is sleeved on the outer side of a screw 4 and is in threaded connection with the screw 4, guide rods 5 are fixedly connected to the two sides of the top of the sliding sleeve 3, the guide rods 5 are in sliding connection with a top frame 1, two connecting rods 7 are hinged to the middle positions of side plates 6, the two connecting rods 7 are parallel to each other and have the same length, the two connecting rods 7 are hinged to the side walls of the sliding sleeve 3, a camera 8 is fixed on the outer side of the sliding sleeve 3, the screw 4 is driven to rotate by the motor 2, the sliding sleeve 3 can vertically move upwards along the screw 4 under the sliding limit of the guide rods 5 and the top frame 1, the tops of the side plates 6 are propped against the bottom surface of the top frame 1, and the four side plates 6 are synchronously close to the screw 4.
It should be noted that, the bottom of two sets of holders is provided with the elasticity rolling element that is used for transversely and vertically adjusting fruit position respectively, elasticity rolling element includes splint 10, the top and the equal fixedly connected with telescopic link 12 of a middle part orientation curb plate 6 side of splint 10, telescopic link 12 and curb plate 6 sliding connection, telescopic link 12's outside cover is equipped with first spring 11, first spring 11's one end and curb plate 6 fixed connection, first spring 11's the other end and splint 10 fixed connection, splint 10's bottom and a side towards curb plate 6 are provided with electric gyro wheel 13, electric gyro wheel 13 on a set of elasticity rolling element vertically sets up, electric gyro wheel 13 on another set of elasticity rolling element transversely sets up, four curb plate 6 are close to the screw 4 direction, and then can drive splint 10 of bottom to be close to fruit by curb plate 10, and by electric gyro wheel 13 on the splint 10, can make four electric gyro wheels 13 laminate according to the shape of fruit, increase elastic contact simultaneously, avoid holding the dynamics to cause the damage to the fruit body, can play the effect of protecting fruit through the first rotation of electric gyro wheel 13 with the same speed, can rotate to the fruit through setting up the electronic core, can rotate with the same speed to the fruit, and can rotate with the same speed to the fruit, and then the fruit can rotate to the fruit is adjusted completely and can be adjusted to the same direction as the fruit, and can be rotated, and the fruit is convenient for the first rotation, and can rotate the fruit is rotated to the fruit is completely, and the fruit is rotated.
It is worth mentioning that the bottom of screw rod 4 is provided with the elasticity plug connector that is used for with rising screw rod 4 block fixed when camera 8 detects bad fruit, elasticity plug connector includes first counterpoint section of thick bamboo 15 and second counterpoint section of thick bamboo 17, the bottom fixedly connected with fixed bolster 9 of sliding sleeve 3, the bottom of fixed bolster 9 rotates and is connected with steering wheel 19, first counterpoint section of thick bamboo 15 is fixed in the bottom of screw rod 4, the outside rotation of first counterpoint section of thick bamboo 15 is connected with first electromagnetic ring 14, second counterpoint section of thick bamboo 17 and fixed bolster 9, second electromagnetic ring 16 sliding connection, the outside rotation of second counterpoint section of thick bamboo 17 is connected with second electromagnetic ring 16, the outside cover of first counterpoint section of thick bamboo 15 and second counterpoint section of thick bamboo 17 is equipped with a second spring 18, the one end and the first electromagnetic ring 14 fixed connection of second spring 18, the other end and the second electromagnetic ring 16 fixed connection of second spring 18, when being the circular telegram of first electromagnetic ring 14 and second electromagnetic ring 16, can make the magnetic force that both produced be greater than the elasticity of second spring 18 and be close to each other, make second counterpoint section of thick bamboo 17 and second counterpoint section of thick bamboo 17 rotate when turning to the second counterpoint section of thick bamboo 17, and second counterpoint section of thick bamboo 17 rotate simultaneously when turning to rotate 19.
It should be noted that the lower part of the elastic plug connector is provided with a removing part for reversely lowering to the conveying height of fruits and pulling out bad fruits by matching with the rotation of the screw 4, the removing part comprises a deflector rod 22, one side of the deflector rod 22 is fixedly connected with a first rack 21, the outer side of the first rack 21 is slidably connected with a slide rail 20, the slide rail 20 is fixed at the bottom of the steering wheel 19, the bottom of the steering wheel 19 is fixedly connected with a support 24, the bottom of the support 24 is rotationally connected with a gear 25, the gear 25 is meshed with the slide rail 20, a side wall of the second contraposition barrel 17 close to the support 24 is fixedly connected with a second rack 23, the second rack 23 is meshed with the gear 25, the second rack 23 on one side can be synchronously lifted in the process of ascending the second contraposition barrel 17, the first rack 21 can reversely and vertically move downwards by the meshing of the gear 25 with the first rack 21 through the meshing of the second rack 23 and simultaneously under the sliding limit of the slide rail 20 to the first rack 21, the motor 2 is further pushed to be consistent with the height of the fruits on a conveying chain, the second contraposition barrel 17 is driven by the motor 2, the second contraposition barrel 17 is driven by the second contraposition barrel 17 to rotate, and the bad fruits are driven by the second contraposition barrel 17 to rotate by the screw 17.
The working principle and the using flow of the invention are as follows: the conveying chain passes through the lower part of the top frame 1, single spherical fruits conveyed by the conveying chain are detected through the camera 8, whether azimuth errors occur is judged, after the azimuth errors occur to the fruit and the target azimuth errors, the motor 2 can be started to work, the screw rod 4 is driven to rotate by the motor 2, the sliding sleeve 3 can vertically move upwards along the screw rod 4 through the threaded relation between the screw rod 4 and the sliding sleeve 3, under the sliding limit of the guide rod 5 and the top frame 1, the parallelogram structure is formed by the two connecting rods 7 at the two sides of the screw rod 4 and the side plates 6, the top of the side plates 6 is propped against the bottom surface of the top frame 1, the four side plates 6 are enabled to synchronously approach to the screw rod 4, the clamping plates 10 at the bottom can be driven by the side plates 6 to approach the fruit, and the electric rollers 13 on the clamping plates 10 are tightly attached to the fruit surface;
assuming that the fruit direction deflection mode is shown in fig. 6, the black point at P in the figure represents the pit-removing cutting position of the position in the vertical state, and the fruit is driven to the position shown in fig. 7 in advance by a pair of longitudinally arranged electric rollers 13 in the same direction and at the same speed, namely, the fruit P is positioned in the middle vertical plane of the other pair of transversely arranged electric rollers 13, and then the fruit is driven to the position shown in fig. 8 by the transversely arranged electric rollers 13 in the same direction and at the same speed until the black point at P in the fruit direction is just in the vertical state;
when the camera 8 detects a single spherical fruit conveyed by the conveying chain, and judges that a bad fruit appears, the first electromagnetic ring 14 and the second electromagnetic ring 16 are electrified (when the bad fruit does not appear, the first electromagnetic ring 14 and the second electromagnetic ring 16 are always in a power-off state), so that the magnetic force generated by the first electromagnetic ring 14 and the second electromagnetic ring is larger than the elastic force of the second spring 18 and are close to each other, the second alignment barrel 17 rises to be matched with the first alignment barrel 15, the second rack 23 on one side is driven to synchronously lift in the rising process of the second alignment barrel 17, the meshing of the second rack 23 and the gear 25 is realized, the first rack 21 is reversely and vertically moved under the sliding limit of the sliding rail 20 on the first rack 21, the deflector rod 22 is further pushed to be consistent with the height of the fruit on the conveying chain, meanwhile, the motor 2 is started, the screw rod 4 is driven to reversely rotate, the second alignment barrel 17 is driven to rotate by the screw rod 4 (at the moment, the sliding sleeve 3 is kept in a smooth section of the screw rod 4, the sliding sleeve 3 is not moved, the side plates 6 on two sides are not moved), the second alignment barrel 17 is driven by the second alignment barrel 17, and the bad fruit is further driven to rotate by the deflector rod 22, and the bad fruit is removed from the conveying chain is realized.
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 (3)
1. The utility model provides a globular fruit position detects and device of adjustment based on image recognition, includes roof-rack (1) of setting up in fruit conveying chain top to and carry out position and damage detection's camera (8), its characterized in that to fruit: the fruit picking machine is characterized in that a motor (2) is fixedly arranged at the top of the top frame (1), a screw (4) is fixedly connected to the output end of the motor (2), the bottom end of the screw (4) penetrates through the top frame (1) and is rotationally connected with the top frame (1), two groups of clamping pieces are arranged below the top frame (1), telescopic pieces for driving the two groups of clamping pieces to synchronously shrink inwards under the driving of the motor (2) are arranged between the two groups of clamping pieces, a pair of elastic rolling pieces for transversely and longitudinally adjusting the fruit direction are respectively arranged at the bottoms of the two groups of clamping pieces, an elastic plug piece for being clamped and fixed with the lifting screw (4) when a camera (8) detects a bad fruit is arranged at the bottom of the screw (4), and a removing piece for reversely descending to the conveying height of the fruit and pulling the bad fruit out by matching with the rotation of the screw (4) is arranged below the elastic plug piece;
the clamping piece comprises a side plate (6), wherein the side plate (6) is of an E-shaped structure, and the top of the side plate (6) is propped against the bottom surface of the top frame (1); the telescopic part comprises a sliding sleeve (3), the sliding sleeve (3) is sleeved on the outer side of a screw rod (4) and is in threaded connection with the screw rod (4), guide rods (5) are fixedly connected to the two sides of the top of the sliding sleeve (3), the guide rods (5) are in sliding connection with a top frame (1), two connecting rods (7) are hinged to the middle positions of side plates (6), the two connecting rods (7) are parallel to each other and have the same length, the two connecting rods (7) are hinged to the side wall of the sliding sleeve (3), and a camera (8) is fixed on the outer side of the sliding sleeve (3);
the elastic plug connector comprises a first alignment cylinder (15) and a second alignment cylinder (17), the bottom of the sliding sleeve (3) is fixedly connected with a fixed bracket (9), the bottom of the fixed bracket (9) is rotationally connected with a steering wheel (19), the first alignment cylinder (15) is fixed at the bottom of the screw rod (4), the outer side of the first alignment cylinder (15) is rotationally connected with a first electromagnetic ring (14), the second alignment cylinder (17) is rotationally connected with the fixed bracket (9) and a second electromagnetic ring (16) in a sliding manner, the outer side of the second alignment cylinder (17) is rotationally connected with a second electromagnetic ring (16), a second spring (18) is sleeved on the outer sides of the first alignment cylinder (15) and the second alignment cylinder (17), one end of the second spring (18) is fixedly connected with the first electromagnetic ring (14), and the other end of the second spring (18) is fixedly connected with the second electromagnetic ring (16);
the removing member comprises a deflector rod (22), a first rack (21) is fixedly connected to one side of the deflector rod (22), a sliding rail (20) is slidably connected to the outer side of the first rack (21), the sliding rail (20) is fixed to the bottom of a steering wheel (19), a support (24) is fixedly connected to the bottom of the steering wheel (19), a gear (25) is rotatably connected to the bottom of the support (24), the gear (25) is meshed with the sliding rail (20), a second rack (23) is fixedly connected to one side wall of a second alignment barrel (17) close to the support (24), and the second rack (23) is meshed with the gear (25).
2. The device for detecting and adjusting the orientation of spherical fruits based on image recognition according to claim 1, wherein: the elastic rolling piece comprises a clamping plate (10), the top and the middle of the clamping plate (10) are fixedly connected with a telescopic rod (12) towards one side surface of a side plate (6), the telescopic rod (12) is in sliding connection with the side plate (6), a first spring (11) is sleeved on the outer side of the telescopic rod (12), one end of the first spring (11) is fixedly connected with the side plate (6), the other end of the first spring (11) is fixedly connected with the clamping plate (10), and an electric roller (13) is arranged at the bottom of the clamping plate (10) and towards one side surface of the side plate (6).
3. The device for detecting and adjusting the orientation of spherical fruits based on image recognition according to claim 2, wherein: one group of the electric rollers (13) on the elastic rolling elements are longitudinally arranged, and the other group of the electric rollers (13) on the elastic rolling elements are transversely arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210660019.3A CN115041419B (en) | 2022-06-13 | 2022-06-13 | Spherical fruit azimuth detecting and adjusting device based on image recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210660019.3A CN115041419B (en) | 2022-06-13 | 2022-06-13 | Spherical fruit azimuth detecting and adjusting device based on image recognition |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115041419A CN115041419A (en) | 2022-09-13 |
| CN115041419B true CN115041419B (en) | 2024-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210660019.3A Active CN115041419B (en) | 2022-06-13 | 2022-06-13 | Spherical fruit azimuth detecting and adjusting device based on image recognition |
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| CN (1) | CN115041419B (en) |
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| KR20020080841A (en) * | 2001-04-18 | 2002-10-26 | 주식회사 포스코 | a strip carrying conveyor which is able to use a both surface |
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