CN207057048U - A kind of Chinese chestnut sorting unit - Google Patents
A kind of Chinese chestnut sorting unit Download PDFInfo
- Publication number
- CN207057048U CN207057048U CN201720978228.7U CN201720978228U CN207057048U CN 207057048 U CN207057048 U CN 207057048U CN 201720978228 U CN201720978228 U CN 201720978228U CN 207057048 U CN207057048 U CN 207057048U
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- CN
- China
- Prior art keywords
- camera
- conveyer
- frame
- sliding block
- movable platform
- 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 sorting unit, including frame, support frame, conveyer, movable platform, draw frame machine, three groups of drive mechanisms, the first camera, second camera, PLC and computer；Conveyer is located in frame, and support frame is fixed in frame, and support frame as described above includes three vertical rods, and three groups of drive mechanisms are separately mounted in three vertical rods, and movable platform is located in the support frame above conveyer, and discharge nozzle is provided with conveyer side；The connecting rod and the distance measuring sensor installed in guide rail upper end that the drive mechanism is hinged with sliding block and movable platform respectively including the servomotor for being fixed on vertical rod upper end, the guide rail being fixedly mounted in vertical rod, the sliding block on guide rail, both ends, servomotor drives sliding block to be moved up and down along guide rail by belt, and distance measuring sensor is used to monitor sliding block displacement.
Description
Technical field
Reading intelligent agriculture equipment is the utility model is related to, more particularly to a kind of Chinese chestnut sorting unit.
Background technology
At present, in the market is only screened using circle roller with holes or manually Chinese chestnut is classified.Rolled using circle
Cylinder is confined to the classification to Chinese chestnut size, and the appearance ratings such as its surface fracture degree can not be classified, and once only
The screening of single-grade can be carried out, after adjusting hole size, next stage screening, complex operation could be carried out；And artificial screening, consumption
When more efficiency it is low, precision is unstable, with the continuous rising of labor cost, the development of intelligent agricultural machinery and using gradually instead of
Artificial work, substantially improves effectiveness of classification and Saving in time costs.
The content of the invention
Main purpose of the present utility model is, overcomes the problem of now existing Chinese chestnut is classified, there is provided a kind of Chinese chestnut sorting
Device, field is classified applied to the preliminary working of the Chinese chestnut place of production, Chinese chestnut classification efficiency is low, classification step is cumbersome, regards to solve at this stage
Feel handles the problem of not thorough and standard is single.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：A kind of Chinese chestnut sorting unit, including machine
Frame, support frame, conveyer, movable platform, draw frame machine, three groups of drive mechanisms, the first camera, second camera, PLC controls
Device and computer；
Conveyer is located in frame, and support frame is fixed in frame, and support frame as described above includes three vertical rods, three groups of driving machines
Structure is separately mounted in three vertical rods, and movable platform is located in the support frame above conveyer, and discharging is provided with conveyer side
Pipe；
The drive mechanism includes the servomotor, the guide rail being fixedly mounted in vertical rod, installation for being fixed on vertical rod upper end
The connecting rod that sliding block, both ends on guide rail are hinged with sliding block and movable platform respectively and the ranging installed in guide rail upper end sense
Device, servomotor drive sliding block to be moved up and down along guide rail by belt, and distance measuring sensor is used to monitor sliding block displacement；
Draw frame machine includes being fixed on the steering wheel on movable platform lower surface and installs the vacuum cup on steering wheel；
First camera is arranged on the input of conveyer, and second camera is arranged on movable platform side；
First camera, second camera and distance measuring sensor transmit a signal to computer, the control of computer control PLC
Device, PLC control steering wheel and the action of each servomotor.
The beneficial effects of the utility model are：
1st, before the utility model can be applicable to Chinese chestnut production line for preliminary processing, Intelligent Recognition is carried out to Chinese chestnut based on machine vision
Processing, is classified from size, color, surface fracture degree tripartite in face of Chinese chestnut, increases grade scale, optimizes grading effect；
It can replace manually carrying out classification work, reduce labor cost, improve classification efficiency, be more convenient integrated such as production line, realize complete
Automated production.
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, after the utility model carries out shooting analysis primary election using the first camera in Chinese chestnut upper surface, moreover it is possible to utilize steering wheel
Chinese chestnut is overturn with sucker, so that second camera carries out shooting analysis to the bottom surface of the qualified Chinese chestnut of primary election, realizes plate
Chestnut omnidirectional shooting is analyzed, and improves sorting quality.
Brief description of the drawings
The utility model is described further below in conjunction with the accompanying drawings：
Fig. 1 is dimensional structure diagram of the present utility model,
Fig. 2 is dimensional structure diagram of the present utility model,
Fig. 3 is main structure diagram of the present utility model,
Connection relationship diagrams of the Fig. 4 between each electrical part of the utility model,
Fig. 5 is the Technology Roadmap of picture processing of the present utility model.
In figure：Conveyer 1, frame 2, support frame 3, drive mechanism 4, movable platform 5, the first camera 6, second camera
7th, draw frame machine 8, connecting rod 9, discharge nozzle 10, vertical rod 31, servomotor 41, guide rail 42, sliding block 43, belt 44, distance measuring sensor
45th, vacuum cup 81, steering wheel 82.
Embodiment
A kind of Chinese chestnut sorting unit, including 8, three groups of frame 2, support frame 3, conveyer 1, movable platform 5, draw frame machine drives
Motivation structure 4, the first camera 6, second camera 7, PLC and computer；
Conveyer 1 is located in frame 2, and support frame 3 is fixed in frame 2, and support frame as described above 3 includes three vertical rods 31, and three
Group drive mechanism 4 is separately mounted in three vertical rods 31, and movable platform 5 is located in the support frame 3 of the top of conveyer 1, is conveying
The side of machine 1 is provided with discharge nozzle 10；
The drive mechanism 4 includes being fixed on the servomotor 41 of the upper end of vertical rod 31, is fixedly mounted on leading in vertical rod 31
Rail 42, the sliding block 43 on guide rail 42, the both ends connecting rod 9 be hinged with sliding block 43 and movable platform 5 and installed in leading respectively
The distance measuring sensor 45 of the upper end of rail 42, servomotor 41 drive sliding block 43 to be moved up and down along guide rail 42 by belt 44, ranging
Sensor 45 is used to monitor the displacement of sliding block 43, and the distance information transmission of detection is passed to computer, computer according to each ranging
The information reached, judge that each sliding block 43 goes out height, by the position adjustment of movable platform 5 to required place；
Draw frame machine 8 includes being fixed on the steering wheel 82 on the lower surface of movable platform 5 and installs the vacuum cup on steering wheel 82
81, steering wheel 82 can be 90 degree of swing clamp cylinders, steering wheel 82 and vacuum cup 81 respectively by a solenoid valve control, each magnetic valve by
PLC controls；
First camera 6 is arranged on the input of conveyer 1, and second camera 7 is arranged on the side of movable platform 5；
First camera 6, second camera 7 and distance measuring sensor 45 transmit a signal to computer, computer control PLC control
Device processed, PLC control steering wheel 82 and each servomotor 41 act.
A kind of Chinese chestnut method for separating, comprises the following steps：
When on conveyer 1 by the first camera 6, the first camera 6 is to each Chinese chestnut upper table for the first step, each Chinese chestnut
Shot, and the picture transfer photographed is analyzed picture by computer to computer, after computer for analysis, if
Chinese chestnut upper surface meets default excellent Chinese chestnut standard, then PLC control vacuum cup 81 and each servomotor 41 act,
To be drawn using vacuum cup 81 to excellent Chinese chestnut, and enter in next step；If Chinese chestnut upper surface does not meet excellent Chinese chestnut
Standard, then Chinese chestnut is kept persistently to be conveyed on conveyer 1；
Excellent Chinese chestnut on vacuum cup 81 is moved to by second step, PLC by controlling each servomotor 41
Near second shooting, subsequent steering wheel 82 is rotated to second camera 7, and Chinese chestnut bottom surface is shot by second camera 7, and will
The picture transfer photographed is to computer, and after computer for analysis, if Chinese chestnut bottom surface meets default excellent standard, vacuum is inhaled
Chinese chestnut is moved to discharge nozzle 10 and discharged by disk 81, if not meeting default excellent Chinese chestnut standard, vacuum cup 81 puts Chinese chestnut
Persistently conveyed on to conveyer 1.
After the photo that computer receives that the first camera 6 and second camera 7 transmit, computer is according to conveyer 1
The speed frequency coordination function extraction single frames picture that sets the first camera 6 and second camera 7 to shoot handled, realize
Movement vision processing, handling process are：
1st, it is to separate rgb space blue channel first with channel separation in terms of picture processing, 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 Chinese chestnut 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.
After the photo that computer has handled that the first camera 6 transmits, photo progress Hough loop truss is obtained high-quality
The two dimensional image coordinate of Chinese chestnut central point, by the Chinese chestnut coordinates feedback to have converted to PLC, then according to the speed of conveyer 1
Degree determines the moving coordinate of vacuum cup 81 and draws opportunity, to be drawn to high-quality Chinese chestnut.
Claims (1)
- A kind of 1. Chinese chestnut sorting unit, it is characterised in that：Including frame（2）, support frame（3）, conveyer（1）, movable platform （5）, draw frame machine（8）, three groups of drive mechanisms（4）, the first camera（6）, second camera（7）, PLC and computer；Conveyer（1）Positioned at frame（2）It is interior, support frame（3）It is fixed on frame（2）On, support frame as described above（3）Including three vertical rods （31）, three groups of drive mechanisms（4）It is separately mounted to three vertical rods（31）On, movable platform（5）Positioned at conveyer（1）The branch of top Support（3）It is interior, in conveyer（1）Side is provided with discharge nozzle（10）；The drive mechanism（4）Including being fixed on vertical rod（31）The servomotor of upper end（41）, be fixedly mounted on vertical rod（31）On Guide rail（42）, installed in guide rail（42）On sliding block（43）, both ends respectively with sliding block（43）And movable platform（5）Be hinged company Bar（9）With installed in guide rail（42）The distance measuring sensor of upper end（45）, servomotor（41）Pass through belt（44）Drive sliding block （43）Along guide rail（42）Move up and down, distance measuring sensor（45）For monitoring sliding block（43）Displacement；Draw frame machine（8）Including being fixed on movable platform（5）Steering wheel on lower surface（82）With installation steering wheel（82）On vacuum Sucker（81）；First camera（6）Installed in conveyer（1）Input, second camera（7）It is arranged on movable platform（5）One Side；First camera（6）, second camera（7）And distance measuring sensor（45）Transmit a signal to computer, computer control PLC Controller, PLC control steering wheel（82）With each servomotor（41）Action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720978228.7U CN207057048U (en) | 2017-08-07 | 2017-08-07 | A kind of Chinese chestnut sorting unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720978228.7U CN207057048U (en) | 2017-08-07 | 2017-08-07 | A kind of Chinese chestnut sorting unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207057048U true CN207057048U (en) | 2018-03-02 |
Family
ID=61520015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720978228.7U Expired - Fee Related CN207057048U (en) | 2017-08-07 | 2017-08-07 | A kind of Chinese chestnut sorting unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207057048U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107497706A (en) * | 2017-08-07 | 2017-12-22 | 华中农业大学 | A kind of Chinese chestnut sorting unit and method |
-
2017
- 2017-08-07 CN CN201720978228.7U patent/CN207057048U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107497706A (en) * | 2017-08-07 | 2017-12-22 | 华中农业大学 | A kind of Chinese chestnut sorting unit and method |
| CN107497706B (en) * | 2017-08-07 | 2023-11-07 | 华中农业大学 | Chinese chestnut sorting device and method |
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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 |