CN207057047U - A kind of Chinese chestnut automatic sorting device - Google Patents
A kind of Chinese chestnut automatic sorting device Download PDFInfo
- Publication number
- CN207057047U CN207057047U CN201720977819.2U CN201720977819U CN207057047U CN 207057047 U CN207057047 U CN 207057047U CN 201720977819 U CN201720977819 U CN 201720977819U CN 207057047 U CN207057047 U CN 207057047U
- Authority
- CN
- China
- Prior art keywords
- chinese chestnut
- candies
- cylinder
- compartmentalized box
- assorted fruits
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
A kind of Chinese chestnut automatic sorting device and method for sorting, including door frame, conveyer, telescoping cylinder, deposit compartmentalized box for holding assorted fruits and candies, suction means, robot control system(RCS)；Conveyer is arranged in door frame, and cylinder is arranged on door frame, and suction means is connected with flexible cylinder piston rod, and robot control system(RCS) is used to control telescoping cylinder and suction means to act；Suction means is used to the Chinese chestnut on conveyer being sent to deposit in compartmentalized box for holding assorted fruits and candies, and it includes the steering wheel being connected on flexible cylinder piston rod and the multiple vacuum cups being connected in steering wheel turning end；Robot control system(RCS) includes multiple cameras, computer, PLC and electromagnetic valve component, camera will photograph image transmitting to computer, computer transmits a signal to PLC, and PLC controls telescoping cylinder, steering wheel and vacuum cup to act by electromagnetic valve component.
Description
Technical field
The utility model patent is related to intelligent place of production preliminary working agricultural equipment, and machine vision skill is applied more particularly to one kind
Art, the Chinese chestnut automatic sorting device that different qualities can be sorted.
Background technology
At present, in the market is only screened using screen cloth or this is manually screened to the quality of Chinese chestnut.Using screen cloth only
Energy limitation and the classification to size, can not be screened to factors such as qualities.And during artificial screening, because personnel easily regard
Fatigue is felt, so inefficient.With the continuous rising of labor cost, artificial screening is increasingly not suitable for large batch of farm
Product preliminary working, bring unnecessary economic loss.
The content of the invention
To overcome disadvantages mentioned above, the purpose of the utility model patent is to provide a kind of Chinese chestnut automatic sorting device, application
Field is screened in Chinese chestnut preliminary working, it is intended to solves the problems such as low manual sorting's Chinese chestnut efficiency, standard disunity.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：
A kind of Chinese chestnut automatic sorting device, including door frame, conveyer, telescoping cylinder, deposit compartmentalized box for holding assorted fruits and candies, suction means, robot control system(RCS)；
Conveyer is arranged in door frame, and cylinder is arranged on door frame, and suction means is connected with flexible cylinder piston rod, automatic control system
Unite for controlling telescoping cylinder and suction means to act；
Suction means is used to the Chinese chestnut on conveyer being sent to deposit in compartmentalized box for holding assorted fruits and candies, and it includes being connected on flexible cylinder piston rod
Steering wheel and multiple vacuum cups for being connected in steering wheel turning end；
Robot control system(RCS) includes multiple cameras, computer, PLC and electromagnetic valve component, and camera will photograph image
Be transferred to computer, computer transmits a signal to PLC, PLC by electromagnetic valve component control telescoping cylinder, steering wheel and
Vacuum cup acts.
It is cambered surface to deposit compartmentalized box for holding assorted fruits and candies bottom surface, and helical axis is provided with compartmentalized box for holding assorted fruits and candies depositing, and two discharge nozzles are communicated with depositing compartmentalized box for holding assorted fruits and candies bottom, its
In a discharge nozzle positioned at depositing in the middle part of compartmentalized box for holding assorted fruits and candies, a discharge nozzle is positioned at depositing compartmentalized box for holding assorted fruits and candies close to helical axis outlet side one end in addition.
Horizontal sliding mechanism is provided with door frame, the cylinder is arranged in horizontal sliding mechanism, in cylinder both sides door frame
On be respectively equipped with one and be used for monitoring the distance measuring sensor of cylinder shift position, two distance measuring sensors pass the signal detected
Computer is defeated by, computer is acted by PLC controlled level slipping mechanism.
The beneficial effects of the utility model are：
1st, the utility model be can be applicable in Chinese chestnut machining production line, and Chinese chestnut grade separation and sorting work are carried out instead of artificial
Make, raise labour efficiency, reduce labour cost.
2nd, due to being captured by the way of vacuum cup, comparing using for manipulator, crawl is softer,
Chinese chestnut crust can be avoided to be pressed from both sides bad.
3rd, the utility model is to deposit compartmentalized box for holding assorted fruits and candies and helical axis using one different types of Chinese chestnut is respectively delivered into two
Discharged in expects pipe, employ the classification that a relatively simple structure can be realized as Chinese chestnut, effectively avoid Chinese chestnut accumulation.
Brief description of the drawings
The utility model is described further below in conjunction with the accompanying drawings：
Fig. 1 is the dimensional structure diagram at the one of visual angle of the utility model,
Fig. 2 is the dimensional structure diagram at another visual angle of the utility model,
Fig. 3 is dimensional structure diagram of the utility model on suction means,
Fig. 4 is dimensional structure diagram of the utility model on depositing compartmentalized box for holding assorted fruits and candies,
Fig. 5 is dimensional structure diagram of the present utility model, and conveyer is not shown in figure,
Fig. 6 is dimensional structure diagram of the present utility model, and conveyer is not shown in figure,
Fig. 7 is Technology Roadmap of the present utility model,
Fig. 8 is leaf stomatal resistance schematic diagram of the present utility model.
In figure：Conveyer 1, door frame 2, horizontal sliding mechanism 3, telescoping cylinder 4, deposit compartmentalized box for holding assorted fruits and candies 5, suction means 6, camera 7, survey
Discharged away from sensor 8, servomotor 31, horizontal guide rail 32, belt 33, sliding block 34, driven pulley 35, helical axis 51, first
Pipe 52, the second discharge nozzle 53, vacuum cup 61, steering wheel 62.
Embodiment
As shown in Fig. 1 to 7, a kind of Chinese chestnut automatic sorting device, including door frame 2, conveyer 1, telescoping cylinder 4, deposit compartmentalized box for holding assorted fruits and candies 5,
Suction means 6, robot control system(RCS)；
Conveyer 1 is arranged in door frame 2, and cylinder is arranged on door frame 2, and suction means 6 is connected with the piston rod of telescoping cylinder 4,
Robot control system(RCS) is used to control telescoping cylinder 4 and suction means 6 to act；Chinese chestnut is put successively to be come on belt conveyor 1, when by door frame
When 2, unqualified or high-quality Chinese chestnut is transported to by suction means 6 and deposited in compartmentalized box for holding assorted fruits and candies 5；
Suction means 6 includes the steering wheel 62 being connected on the piston rod of telescoping cylinder 4 and is connected to more in the turning end of steering wheel 62
Individual vacuum cup 61；Steering wheel 62 can be 90 degree of swing clamp cylinders, and after vacuum cup 61 holds Chinese chestnut, swing clamp cylinder is to depositing compartmentalized box for holding assorted fruits and candies
5 directions rotate 90 degree, and then vacuum cup 61 unclamps Chinese chestnut, and Chinese chestnut is put into and deposited in compartmentalized box for holding assorted fruits and candies 5；
Robot control system(RCS) includes multiple camera 7, computer, PLC and electromagnetic valve components, and camera 7 will photograph figure
As being transferred to computer, computer transmits a signal to PLC, and PLC controls telescoping cylinder 4, rudder by electromagnetic valve component
Machine 62 and vacuum cup 61 act.Electromagnetic valve component is made up of three magnetic valves, three magnetic valves control respectively telescoping cylinder 4,
Steering wheel 62 and vacuum cup 61.
It is cambered surface to deposit the bottom surface of compartmentalized box for holding assorted fruits and candies 5, is provided with helical axis 51 depositing in compartmentalized box for holding assorted fruits and candies 5, two dischargings are communicated with depositing the bottom of compartmentalized box for holding assorted fruits and candies 5
Pipe, a discharge nozzle therein is positioned at the middle part of compartmentalized box for holding assorted fruits and candies 5 is deposited, and a discharge nozzle is exported close to helical axis 51 positioned at depositing compartmentalized box for holding assorted fruits and candies 5 in addition
Side one end.
Horizontal sliding mechanism 3 is provided with door frame 2, the cylinder is arranged in horizontal sliding mechanism 3, in the side door of cylinder two
One is respectively equipped with frame 2 it is used for monitoring the distance measuring sensor 8 of cylinder shift position, two distance measuring sensors 8 will detects
Signal is transferred to computer, and computer is acted by PLC controlled level slipping mechanism 3.
Horizontal sliding mechanism 3 includes horizontal guide rail 32, the sliding block 34 on horizontal guide rail 32, installed in horizontal guide rail
Driven pulley 35 on 32 one end door frames 2, the drive pulley installed in the other end of horizontal guide rail 32, it is overlapped on drive pulley
The servomotor 31 of belt and driving drive pulley rotation on wheel and driven pulley 35, the cylinder are arranged on sliding block 34
On, slid by belt drive cylinder on horizontal guide rail 32, the PLC control start and stop of servomotor 31；
A kind of method sorted using Chinese chestnut automatic sorting device to Chinese chestnut, first camera 7 are by the Chinese chestnut of shooting
Photo is transferred to computer, and the photo that computer again transmits camera 7 compared with pre-set image, judge not conforming to by analysis
Lattice or high-quality the Chinese chestnut coordinate on conveyer 1, and by coordinates feedback to PLC；
Judge by computer, for the Chinese chestnut for high-quality Chinese chestnut, it is necessary to when being selected, horizontal sliding mechanism 3 and telescoping cylinder 4 are dynamic
Make, vacuum cup 61 is moved to above high-quality Chinese chestnut, then holds high-quality Chinese chestnut, subsequent horizontal sliding using vacuum cup 61
Mechanism 3 and telescoping cylinder 4 are acted and acted again, by Chinese chestnut to the conveying of the left end of compartmentalized box for holding assorted fruits and candies 5 is deposited, when the distance measuring sensor 8 of left end monitors
When telescoping cylinder 4 is moved to specified location, then signal feedback to the computer, computer are controlled into steering wheel 62 by vacuum by PLC
Sucker 61 rotates to the direction of compartmentalized box for holding assorted fruits and candies 5 is deposited, and subsequent vacuum cup 61 discharges Chinese chestnut, falls on and is deposited in compartmentalized box for holding assorted fruits and candies 5 under Chinese chestnut, and helical axis 51 will
Chinese chestnut is transported to the first discharge nozzle 52 and discharged；
Judge by computer, the Chinese chestnut be unqualified Chinese chestnut, it is necessary to when being selected, horizontal sliding mechanism 3 and telescoping cylinder 4
Action, vacuum cup 61 is moved to above unqualified Chinese chestnut, then holds unqualified Chinese chestnut, subsequent water using vacuum cup 61
Flat slipping mechanism 3 and telescoping cylinder 4 are acted and acted again, and unqualified Chinese chestnut is transported to and deposits the right-hand member of compartmentalized box for holding assorted fruits and candies 5, and steering wheel 62 drives vacuum
Sucker 61 rotates to the direction of compartmentalized box for holding assorted fruits and candies 5 is deposited, and subsequent vacuum cup 61 discharges Chinese chestnut, falls on and is deposited in compartmentalized box for holding assorted fruits and candies 5 under Chinese chestnut, and helical axis 51 will
Chinese chestnut is transported to the second discharge nozzle 53 and discharged.
Computer for analysis and judge that the method for high-quality Chinese chestnut and unqualified Chinese chestnut is that computer receives camera 7 and transmitted
Photo after, computer sets the frequency and call function that camera 7 shoots according to the average diameter of Chinese chestnut and the speed of conveyer 1
Extraction single frames picture is handled, and realizes that movement vision is handled, and handling process is；
1st, rgb space blue channel is separated first with channel separation in terms of image preprocessing, to the figure after processing
Carried out smoothly as carrying out gaussian filtering, then carry out thresholding processing and carry out background segment and remove color Chinese chestnut not up to standard, adopted
Found with contour extraction method and store the outline of Chinese chestnut, using the line or figure of known physical length or size, by pixel
Area is converted into real area, and its size is screened；
2nd, it is dark-brown Chinese chestnut that the method separated by blue channel, which screens color,；
3rd, detect whether above-mentioned dark-brown Chinese chestnut surface has breakage by the method for second edge contour detecting；
If Chinese chestnut diameter, color and surface fracture meet preset standard, computer judges the Chinese chestnut to be high-quality
Chinese chestnut；If Chinese chestnut diameter, color and surface fracture one of which do not meet preset standard, computer judges that the Chinese chestnut is
Unqualified Chinese chestnut.
Image progress Hough loop truss after computer is handled unqualified and high-quality Chinese chestnut obtains the two dimension of Chinese chestnut central point
Image coordinate, the mechanical coordinate to have converted is fed back into PLC, controlled level slides after PLC has handled signal
Mechanism 3 and electromagnetic valve component action, are drawn with realizing to Chinese chestnut on specified coordinate.
The utility model also add serial communication, realize that computer manipulates, UART asynchronous communication meanses, camera is to conveying
Chinese chestnut feature is recorded on machine 1, after extracting single-frame images, is sent on computer, is judged according to pixel size area, is selected symbol
Conjunction requires Chinese chestnut, output signal 1；According to contrastive colours blueness, using blue channel separation method, the Chinese chestnut that meets the requirements is selected,
Output signal is 1；According to edge contour monitoring method, monitor whether the second profile occur, if nothing, be judged as the plate that meets the requirements
It chestnut, output signal 1, will determine that result is stored in TXT files, by serial communication, after opening corresponding file, signal passed
Enter PLC.
Claims (3)
- A kind of 1. Chinese chestnut automatic sorting device, it is characterised in that：Including door frame（2）, conveyer（1）, telescoping cylinder（4）, deposit compartmentalized box for holding assorted fruits and candies （5）, suction means（6）, robot control system(RCS)；Conveyer（1）It is arranged on door frame（2）Interior, cylinder is arranged on door frame（2）On, suction means（6）With telescoping cylinder（4）Piston rod Connection, robot control system(RCS) are used to control telescoping cylinder（4）And suction means（6）Action；Suction means（6）For by conveyer（1）On Chinese chestnut be sent to and deposit compartmentalized box for holding assorted fruits and candies（5）Interior, it includes being connected to telescoping cylinder（4） Steering wheel on piston rod（62）Be connected to steering wheel（62）Multiple vacuum cups in turning end（61）；Robot control system(RCS) includes multiple cameras（7）, computer, PLC and electromagnetic valve component, camera（7）Figure will be photographed As being transferred to computer, computer transmits a signal to PLC, and PLC controls telescoping cylinder by electromagnetic valve component（4）、 Steering wheel（62）And vacuum cup（61）Action.
- A kind of 2. Chinese chestnut automatic sorting device according to claim 1, it is characterised in that：Deposit compartmentalized box for holding assorted fruits and candies（5）Bottom surface is cambered surface, Depositing compartmentalized box for holding assorted fruits and candies（5）It is interior to be provided with helical axis（51）, depositing compartmentalized box for holding assorted fruits and candies（5）Bottom is communicated with two discharge nozzles, a discharge nozzle therein Positioned at depositing compartmentalized box for holding assorted fruits and candies（5）Middle part, a discharge nozzle, which is located at, in addition deposits compartmentalized box for holding assorted fruits and candies（5）Close to helical axis（51）Outlet side one end.
- A kind of 3. Chinese chestnut automatic sorting device according to claim 1 or 2, it is characterised in that：In door frame（2）It is provided with water Flat slipping mechanism（3）, the cylinder is arranged on horizontal sliding mechanism（3）On, in cylinder both sides door frame（2）On be respectively equipped with one For monitoring the distance measuring sensor of cylinder shift position（8）, two distance measuring sensors（8）The signal detected is transferred to electricity Brain, computer pass through PLC controlled level slipping mechanism（3）Action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720977819.2U CN207057047U (en) | 2017-08-07 | 2017-08-07 | A kind of Chinese chestnut automatic sorting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720977819.2U CN207057047U (en) | 2017-08-07 | 2017-08-07 | A kind of Chinese chestnut automatic sorting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207057047U true CN207057047U (en) | 2018-03-02 |
Family
ID=61518915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720977819.2U Expired - Fee Related CN207057047U (en) | 2017-08-07 | 2017-08-07 | A kind of Chinese chestnut automatic sorting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207057047U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107350173A (en) * | 2017-08-07 | 2017-11-17 | 华中农业大学 | A kind of Chinese chestnut automatic sorting device and method for sorting |
| CN109883958A (en) * | 2018-11-06 | 2019-06-14 | 太原工业学院 | A kind of agricultural and animal products lossless detection method and device |
| CN115382776A (en) * | 2022-10-28 | 2022-11-25 | 海南联新科技有限公司 | Vision-based agricultural seed sorting device and method |
-
2017
- 2017-08-07 CN CN201720977819.2U patent/CN207057047U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107350173A (en) * | 2017-08-07 | 2017-11-17 | 华中农业大学 | A kind of Chinese chestnut automatic sorting device and method for sorting |
| CN107350173B (en) * | 2017-08-07 | 2023-03-24 | 华中农业大学 | Automatic Chinese chestnut sorting method |
| CN109883958A (en) * | 2018-11-06 | 2019-06-14 | 太原工业学院 | A kind of agricultural and animal products lossless detection method and device |
| CN115382776A (en) * | 2022-10-28 | 2022-11-25 | 海南联新科技有限公司 | Vision-based agricultural seed sorting device and method |
| CN115382776B (en) * | 2022-10-28 | 2022-12-27 | 海南联新科技有限公司 | Sorting method of agricultural seed sorting device based on vision |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180302 Termination date: 20180807 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |