CN210137802U - Full-automatic differential fruit cleaning machine - Google Patents

Abstract

The utility model provides a full-automatic differential fruit cleaning machine in the technical field of fruit cleaning equipment, which comprises a conveying mechanism for conveying fruits, wherein one end of the conveying mechanism for outputting the fruits is provided with a cleaning mechanism, the cleaning mechanism comprises a cleaning box, the cleaning box is connected with a plurality of rolling brushes which are arranged side by side and can rotate, a second rotatable rolling brush is connected on the cleaning box between every two rolling brushes, a connecting frame which extends upwards is connected on the cleaning box which is arranged relative to the conveying mechanism, an image collector is connected on the connecting frame, and a lens of the image collector is arranged downwards; the utility model discloses a cleaning performance is good.

Description

Full-automatic differential fruit cleaning machine

Technical Field

The utility model belongs to the technical field of fruit cleaning equipment, in particular to full-automatic differential fruit cleaning machine.

Background

In recent years, with the development of adjustment and mechanization of rural industrial structures, the fruit tree planting is scaled and industrialized. For picked fruits, the first step is to clean the fruits, and because the fruits are easy to accumulate a lot of dust, bacteria and pesticide residues on the surfaces in the growing process, whether the fruits can be cleaned or not is very important for improving the edible safety of the fruits and the appearance of the fruits. Most of existing fruit cleaning machines adopt a rolling brush scrubbing cleaning mode, the rotating speeds of all rolling brushes are the same, the rolling brushes scrub fruits, impurities attached to the fruits cannot be cleaned, and cleaning is not clean.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model discloses an aim at solves among the prior art and washs unclean technical problem, the utility model provides a full-automatic differential fruit cleaning machine, the utility model discloses it is clean to wash fruit.

The purpose of the utility model is realized like this: the utility model provides a full-automatic differential fruit cleaning machine, is including the conveying mechanism who is used for transporting fruit, the one end of conveying mechanism output fruit is provided with wiper mechanism, wiper mechanism is including wasing the case, be connected with a plurality of rolling brushes that set up and rotatable side by side on the washing case, be connected with rotatable rolling brush two on the washing case between per two rolling brushes one, be connected with the link that upwards stretches out on the washing case that relative conveying mechanism set up, be connected with image collector on the link, image collector's camera lens sets up down.

The utility model provides a cleaning machine, conveying mechanism carry fruit in the washing case earlier, round brush one and round brush two rotate, and round brush one and round brush two give the forward thrust of fruit, through the regulation of round brush one and round brush two rotational speeds, the rotational speed of round brush one and round brush two is different, increases the frictional force between fruit and round brush one, round brush two, makes the fruit abluent cleaner, simultaneously, fruit rotates and moves forward under the effect of round brush one and round brush two, realizes the washing of fruit, need not artificial intervention, reduces the human cost, raises the efficiency; can be used for cleaning spherical fruits such as orange and apple.

In order to improve the cleaning effect of fruit, a plurality of water pipes are arranged on the cleaning box, a plurality of nozzles are connected to the water pipes, water inlets of the nozzles are communicated with inner cavities of the water pipes, water outlets of the nozzles are arranged downwards, and the nozzles are arranged above the first rolling brushes.

As a further improvement, the cleaning box is provided with a protective cover at both ends in the front and back direction, and both ends of the first rolling brush and the second rolling brush are rotatably connected in the protective cover.

In order to further realize the rotation of round brush one and round brush two, the outside of wasing the case is connected with motor one and motor two, the transmission is connected with drive sprocket one on the motor one, the transmission is connected with drive sprocket two on the motor two, stretches into and is connected with rotatable driven sprocket one on the round brush one of safety cover, stretches into and is connected with rotatable driven sprocket two on the round brush two of safety cover, and drive sprocket is through chain one with driven sprocket drive connection, and drive sprocket two is connected with driven sprocket two transmissions through chain two.

In order to realize the discernment of fruit in order to improve the cleaning performance of fruit, the outside of wasing the case still is connected with the controller, the signal transmission that image collector will gather gives the controller, and the controller goes out the fruit kind according to the signal analysis that image collector gathered, and the controller is according to the action of the fruit kind control motor one that the analysis goes out and motor two.

In order to realize the conveying of fruit, conveying mechanism includes the mount, rotationally is connected with the action wheel on the mount and follows the driving wheel, be connected with motor three on the mount, motor three is connected with the action wheel transmission, and the action wheel is connected with following driving wheel transmission through the conveyer belt, and the fruit of following the conveyer belt output just falls on the round brush one.

In order to realize the recovery of waste water, a water flowing plate is arranged on the cleaning box below the first rolling brush and the second rolling brush, a water filtering box is arranged below the cleaning box, filter holes are formed in the water flowing plate, and water filtered from the filter holes flows into the water filtering box.

The method for cleaning the fruits by using the cleaning machine comprises the following cleaning steps: (1) placing fruit on a conveyor belt; (2) controlling the motor III to move to enable the conveying belt to move towards the direction of the cleaning box, opening the nozzle when fruits are conveyed to the position below the image collector, collecting images on the conveying belt in real time by the image collector, judging the types of the fruits according to the received images by the controller, and controlling the first motor and the second motor to move according to the identified types of the fruits by the controller; if the image collector cannot collect new fruits within a set time, the nozzle is closed, and the first motor, the second motor and the third motor are closed; wherein, assuming that the time for conveying the fruit from one end of the cleaning box to the other end of the cleaning box is t1, the set time is k x t1, k is a set coefficient threshold value, and k is a natural number greater than 10; in the step (2), the method for identifying the fruit type specifically comprises the following steps: (201) drawing a plurality of cross sections which are parallel to each other on the image; (202) obtaining RGB component distribution of each section line, if one component value in the RGB component distribution on one section line is in downward mutation (the section line is named as section line I), the lowest point of the mutation position is smaller than a set lowest threshold value, and the component values before mutation and after mutation are smaller than a set fruit threshold value, the position of the mutation position corresponds to the fruit stem of the fruit, the controller judges the fruit type is grapefruit or pear for the first time according to the characteristic, the section line parallel to the section line is drawn upwards or downwards along the section line, if the component distribution values of a plurality of section lines in the downward direction are not in mutation, and all the component values are between the fruit threshold value and the lowest threshold value, the section line closest to the section line I in the downward direction is selected as a section line I, meanwhile, the section line in the direction is taken as a reference, if the component distribution value of one section line (section line II) in the upward section line has two mutations, and the component values of the sudden change positions are between the lowest threshold value and the fruit threshold value, and the component values outside the sudden change are larger than the fruit threshold value, the positions of the two sudden change positions are determined, the center points 01 and O2 of the positions of the two sudden change positions are taken, a first vertical line perpendicular to a second section line is made to pass through the center point 01, a second vertical line perpendicular to the second section line is made to pass through the center point O2, the first vertical line and the second vertical line are respectively a second section line and a third section line, in the section lines in the two directions of the section lines, when the component values on the section lines are not sudden change and the component values are both between the minimum threshold value and the fruit threshold value, the section line (third) closest to the second section line is selected, the third section line is taken as a fourth section line, the background of the regions outside the first section line, the second section line, the third section line and the fourth section line is eliminated, judging whether the pear or the grapefruit is the pear or the grapefruit according to the size of the final identification image; otherwise, if one of the section lines (section line four) has three sudden changes, wherein the component value of one sudden change is smaller than the lowest threshold value, and the component values of the other two sudden changes are between the lowest threshold value and the fruit threshold value, the controller preliminarily judges that the fruit is apple or orange, the section line four is provided with two sudden change positions of which the component values are between the lowest threshold value and the fruit threshold value, the center points 03 and O4 of the two sudden change positions are taken, the center point O3 is used as a vertical line three perpendicular to the section line four, the center point P4 is used as a vertical line four perpendicular to the section line four, the vertical line three and the vertical line four are respectively a dividing line five and a dividing line six, the two ends of the section line four are respectively on the outward section lines, if the component values on the section lines have no sudden change, and the component values are both between the lowest threshold value and the fruit threshold value, the section, and the section line five and the section line six are used as a partition line seven and a partition line eight, the area surrounded by the partition line five, the partition line six, the partition line seven and the partition line eight is used as a final identification image, and whether the fruit is a citrus fruit or an apple fruit is judged according to the shape of the image.

Drawings

Fig. 1 is a first perspective view of the present invention.

Fig. 2 is a second perspective view of the present invention.

Fig. 3 is a partially enlarged view of a portion a in fig. 2.

Fig. 4 is a three-dimensional structure diagram of the present invention.

Fig. 5 is a schematic structural view of the first and second driving rolling brushes of the present invention.

Fig. 6 is a schematic structural view of the middle driving belt of the present invention.

Fig. 7 is a schematic diagram of an image of the oval fruit during recognition.

Fig. 8 is a schematic diagram of an image of the present invention when identifying spherical fruits.

In the figure: the automatic cleaning device comprises a fixing frame 1, a first motor 2, a first cleaning box 3, a 301 protective cover, a 302 flow plate, 4 nozzles, 5 water pipes, a 6 image recognizer, a 7 connecting frame, a 8 conveying belt, a 9 water filtering box, a 10 filtering hole, a third motor 11, a first rolling brush 12, a second rolling brush 13, a second motor 14, a first driving sprocket 15, a first driven sprocket 16, a first chain 17, a second chain 18, a second driven sprocket 19, a second driving sprocket 20, a driving wheel 21, a driven wheel 22, a rotating sprocket 23, a driving sprocket 24, a driving sprocket 25 and a third chain 26.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The full-automatic differential fruit cleaning machine comprises a conveying mechanism for conveying fruits, wherein a cleaning mechanism is arranged at one end of the conveying mechanism for outputting the fruits, the cleaning mechanism comprises a cleaning box 3, a plurality of rolling brushes 12 which are arranged side by side and can rotate are connected to the cleaning box 3, a second rotatable rolling brush 13 is connected to the cleaning box 3 between every two rolling brushes 12, and the upper sides of the first rolling brush 12 and the second rolling brush 13 are flush; the two ends of the cleaning box 3 in the front and back direction are provided with protective covers 301, and the two ends of the first rolling brush 12 and the second rolling brush 13 are rotatably connected in the protective covers 301; the cleaning box 3 arranged opposite to the conveying mechanism is connected with a connecting frame 7 extending upwards, the connecting frame 7 is connected with an image collector, and a lens of the image collector is arranged downwards; the structure for realizing the rotation of the first rolling brush 12 and the second rolling brush 13 is specifically that a first motor 2 and a second motor 14 are connected to the outer side of the cleaning box 3, a first driving chain wheel 15 is connected to the first motor 2 in a transmission manner, a second driving chain wheel 20 is connected to the second motor 14 in a transmission manner, a first rotatable driven chain wheel 16 is connected to the first rolling brush 12 extending into the protective cover 301, a second rotatable driven chain wheel 19 is connected to the second rolling brush 13 extending into the protective cover 301, the first driving chain wheel 15 is connected with the first driven chain wheel 16 in a transmission manner, the first driven chain wheels 16 are connected together through a first chain 17, the second driving chain wheel 20 is connected with the second driven chain wheel 19 in a transmission manner, and the second driven chain wheels 19 are connected; the structure for conveying the fruits to the cleaning box 3 is that the conveying mechanism comprises a fixing frame 1, a driving wheel 21 and a driven wheel 22 are rotatably connected to the fixing frame 1, a motor III 11 is connected to the fixing frame 1, the motor III 11 is in transmission connection with the driving wheel 21, the driving wheel 21 is in transmission connection with the driven wheel 22 through a conveying belt 8, and the driving wheel 21 and the driven wheel 22 are driven to rotate; a plurality of water pipes 5 are distributed on the cleaning box 3, a plurality of nozzles 4 are connected to the water pipes 5, water inlets of the nozzles 4 are communicated with inner cavities of the water pipes 5, water outlets of the nozzles 4 are arranged downwards, and the nozzles 4 are arranged above the rolling brushes one 12; in order to realize the recovery of the waste water, a water flowing plate 302 integrated with the cleaning tank 3 is arranged on the cleaning tank 3 below the first rolling brush 12 and the second rolling brush 13, a water filtering tank 9 is arranged below the cleaning tank 3, a filtering hole 10 is formed in the water flowing plate 302, and water filtered from the filtering hole 10 flows into the water filtering tank 9.

In order to realize the discernment of fruit in order to improve the cleaning performance of fruit, the outside of wasing case 3 still is connected with the controller, and the signal transmission that image collector will gather gives the controller, and the controller is according to the signal analysis that image collector gathered out the fruit kind, and the controller is according to the action of the fruit kind control motor 2 that the analysis goes out and motor two 14. The method for cleaning the fruits by using the cleaning machine comprises the following cleaning steps: (1) placing the fruits on the conveyer belt 8 in order; (2) controlling the motor III 11 to act to enable the conveying belt 8 to move towards the direction of the cleaning box 3, when fruits are conveyed to the lower part of the image collector, the image collector collects images on the conveying belt 8 in real time, the controller judges the types of the fruits according to the received images, and the controller controls the action of the motor I2 and the action of the motor II 14 according to the identified types of the fruits; in the step (2), the method for identifying the fruit type specifically comprises the following steps: (201) drawing a plurality of cross sections which are parallel to each other on the image; (202) obtaining RGB component distribution of each section line, if one component value in the RGB component distribution on one section line is suddenly changed downwards, the lowest point of the sudden change position is smaller than a set lowest threshold value, and the component values before and after the sudden change are smaller than a set fruit threshold value (randomly selecting any section line meeting the above conditions, which is named as section line I1 for convenience of description, as shown in figure 7), the position of the sudden change position corresponds to the fruit stem of the fruit, the controller judges the fruit type to be the section line or the pomelo for the first time according to the characteristic, the section line parallel to the section line is drawn upwards or downwards along the section line, if the component distribution value on at least one section line in the downwards section lines has no sudden change, the distance between the section line I and the section line I does not exceed the set distance threshold value, and all the component values are between the fruit threshold value and the lowest threshold value (condition one), selecting a section line which meets the condition one and is closest to the section line one as a dividing line one l5, and selecting a section line in the same orientation as a fruit reference area, if a component distribution value of a section line (a section line two l 2) in an upward section line has two sudden changes, a component value of the sudden change is between a lowest threshold and a fruit threshold, and a component value outside the sudden change is larger than the fruit threshold, determining the positions of the two sudden changes, taking a central point 01 and an O2 of the positions of the two sudden changes, taking a vertical line I vertical to the section line two through the central point 01, taking a vertical line II vertical to the section line two through the central point O2, wherein the vertical line I and the vertical line II are respectively a dividing line two l4 and a dividing line three l3, and selecting a section line (three) closest to the section line when the component value on the section line has no sudden change and the component value is between the lowest threshold and the fruit threshold, taking the section line three as a division line four l6, eliminating the background of the area outside the division line one l5, the division line two l4, the division line three l3 and the division line four l6, reserving the area surrounded by the division line one l5, the division line two l4, the division line three l3 and the division line four l6 as a final identification image, and judging whether the pear or the grapefruit is the pomelo according to the size of the final identification image (as shown in fig. 7); otherwise, if one of the section lines (section line four l 7) has three mutations, wherein the component value of one mutation is smaller than the lowest threshold value, and the component values of the other two mutations are between the lowest threshold value and the fruit threshold value, the controller preliminarily judges that the fruit is apple or orange, the section line four is provided with two mutation positions with component values between the lowest threshold value and the fruit threshold value, the center points 03 and O4 of the two mutation positions are taken, the center point O3 is used as a third vertical line perpendicular to the section line four, the center point P4 is used as a fourth vertical line perpendicular to the section line four, the third vertical line and the fourth vertical line are respectively a fifth section line 8 and a sixth section line 9, the two ends of the section line four are respectively on the outward section lines, if the component values on the section line have no mutation, and the component values are both between the lowest threshold value and the fruit threshold value, the fifth section line and the sixth section line nearest to the section, the hatching line five and the hatching line six are the dividing line sevent l10 and the dividing line eight l11, the region surrounded by the dividing line five l8, the dividing line six l9, the dividing line sevent l10 and the dividing line eight l11 is used as the final identification image (as shown in fig. 8), and whether the fruit is a citrus fruit or an apple fruit is judged according to the shape of the image.

In the step (2), after the controller is analyzed, if the fruits are judged to be apples, the controller controls the output rotating speed of a motor I2 for driving the odd rows of rolling brushes I12 to rotate to be 100r/min, the rotating speeds of a driving chain wheel I15 and a driven chain wheel I16 are both 100r/min, the controller controls the output rotating speed of a motor II 14 to be 150r/min, and the rotating speeds of a driving chain wheel II 20 and a driven chain wheel II 19 are both 150 r/min; if the fruit is judged to be the orange, the controller controls the output rotating speed of the first motor 2 to be 70 r/min and controls the output rotating speed of the second motor 14 to be 130 r/min; if the fruit is judged to be the grapefruit, the controller controls the output rotating speed of the first motor 2 to be 80 r/min, and controls the output rotating speed of the second motor 14 to be 140 r/min; if the fruit is judged to be the pear, the controller controls the output rotating speed of the first motor 2 to be 90 r/min, and the controller controls the output rotating speed of the second motor 14 to be 140 r/min.

Before the utility model is used for cleaning fruits, tests are firstly carried out, when a plurality of fruits of the same kind are orderly placed on the conveyer belt 8, when the conveyer belt 8 conveys the fruits to the lower part of the image recognizer 6, the image recognizer 6 can shoot a plurality of fruits at one time, proper moving speed of the conveyer belt 8 and shooting frequency of the image recognizer 6 are selected, in the fruits in the same row, the image recognizer 6 can only shoot three fruits at each time, the middle fruits are full-view, the other two fruits are part of the fruits, the number of the arranged section lines is enough to pass the fruits and the fruit stalks, the pears and the grapefruit are elliptical, when the pears and the grapefruit are placed on the conveyer belt 8, the fruit stalks face to the side parts, the placement in the best uniform direction is carried out, the fruit stalks of the fruits are darker, the collected component values are small, the colors of the fruits are bright, the collected component values are large, the color difference of the fruits, the fruit stalks and the, the RGB components of the conveying belt 8 are positioned between the fruits and the fruit stalks, the areas where the fruits, the fruit stalks and the background are located are judged according to the change conditions of the RGB components on the same section line, and the areas where the complete fruits are located are divided to serve as identification images, so that the fruits are further conveniently identified, and the identification accuracy is improved; when the apples or the oranges are placed on the conveyer belt 8, the fruit stalks of the apples and the oranges are upward, and the bottom sides of the fruits are contacted with the upper side of the conveyer belt 8; in the cleaning machine of the utility model, the conveying mechanism conveys fruits into the cleaning box 3 firstly, the rolling brush I12 and the rolling brush II 13 rotate, the rolling brush I12 and the rolling brush II 13 supply forward thrust to the fruits, the rotating speeds of the rolling brush I12 and the rolling brush II 13 are different through the adjustment of the rotating speeds of the rolling brush I12 and the rolling brush II 13, the friction force between the fruits and the rolling brush I12 and the friction force between the fruits and the rolling brush II 13 are increased, and the fruits are cleaned more cleanly; different types of fruits are identified through images, the output rotating speeds of the first motor 2 and the second motor 14 are controlled according to the identified fruit modes, the fruit types and the firmness of different fruits are different, the different fruits correspond to corresponding rotating speeds, the skin of the fruits cannot be damaged while the friction force between the fruits and the rolling brush is increased, the cleaning quality is improved, the fruits rotate and move forwards under the action of the first rolling brush 12 and the second rolling brush 13, the cleaning of the fruits is realized, manual intervention is not needed, the labor cost is reduced, and the efficiency is improved; can be used for cleaning fruits, especially for cleaning oranges, apples, grapefruits or pears.

While particular embodiments of the present invention have been described, it is to be understood that the present invention is not limited to the precise embodiments described above, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope of the appended claims. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (7)

1. The utility model provides a full-automatic differential fruit cleaning machine which characterized in that: including the conveying mechanism who is used for transporting fruit, the one end of conveying mechanism output fruit is provided with wiper mechanism, wiper mechanism is including wasing the case, be connected with a plurality of side by side settings and rotatable round brush one on the washing case, be connected with rotatable round brush two on the washing case between per two round brush one, be connected with the link that upwards stretches out on the washing case that relative conveying mechanism set up, be connected with image collector on the link, image collector's camera lens sets up down.

2. The fully automatic differential fruit washing machine according to claim 1, wherein: the cleaning box is characterized in that a plurality of water pipes are distributed on the cleaning box, a plurality of nozzles are connected onto the water pipes, water inlets of the nozzles are communicated with inner cavities of the water pipes, water outlets of the nozzles are arranged downwards, and the nozzles are arranged above the first rolling brushes.

3. The fully automatic differential fruit washing machine according to claim 1, wherein: the cleaning box is provided with a protective cover at two ends in the front-back direction, and two ends of the first rolling brush and the second rolling brush are rotatably connected in the protective cover.

4. The fully automatic differential fruit washing machine according to claim 1, wherein: the outside of wasing the case is connected with motor one and motor two, the transmission connection has drive sprocket one on the motor one, the transmission connection has drive sprocket two on the motor two, stretches into and is connected with rotatable driven sprocket one on the round brush one of safety cover, stretches into and is connected with rotatable driven sprocket two on the round brush two of safety cover, and drive sprocket is through chain one with driven sprocket drive connection, drive sprocket two through chain two with driven sprocket two drive connection.

5. A full-automatic differential fruit washing machine according to any one of claims 1 to 4, characterized in that: the outside of wasing the case still is connected with the controller, the signal transmission that the image collector will gather gives the controller, and the fruit kind is gone out according to the signal analysis that the image collector gathered to the controller, and the action of motor one and motor two is controlled according to the fruit kind that the analysis goes out to the controller.

6. A full-automatic differential fruit washing machine according to any one of claims 1 to 4, characterized in that: conveying mechanism includes the mount, rotationally is connected with the action wheel on the mount and follows the driving wheel, be connected with motor three on the mount, motor three is connected with the action wheel transmission, and the action wheel is connected with following driving wheel transmission through the conveyer belt, and the fruit of following the conveyer belt output just falls on the round brush one.

7. A full-automatic differential fruit washing machine according to any one of claims 1 to 4, characterized in that: the washing tank below the first rolling brush and the second rolling brush is provided with a water flowing plate, the water filtering tank is arranged below the washing tank, the water flowing plate is provided with filtering holes, and water filtered from the filtering holes flows into the water filtering tank.

Images