CN210618577U - Fruit sorting and size grading packaging system based on machine vision and PLC control - Google Patents

Fruit sorting and size grading packaging system based on machine vision and PLC control Download PDF

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Publication number
CN210618577U
CN210618577U CN201921423127.9U CN201921423127U CN210618577U CN 210618577 U CN210618577 U CN 210618577U CN 201921423127 U CN201921423127 U CN 201921423127U CN 210618577 U CN210618577 U CN 210618577U
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China
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packaging
frame
fruit
rolling
unit
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CN201921423127.9U
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陈志武
乔俊杰
兰林兆
周辉
张晨辉
张少杰
任秦岭
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Zhengzhou University of Light Industry
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Zhengzhou University of Light Industry
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Abstract

The utility model discloses a fruit sorting and size grading packaging system based on machine vision and PLC control, including host computer, visual detection unit, next machine, vision screening processing unit, size grading unit and a plurality of packing units, the camera of visual detection unit is connected with the host computer electricity, and the camera cooperatees with the rolling member of visual detection unit; the lower computer is electrically connected with the upper computer and is electrically connected with the execution assembly of the visual screening processing unit, the feeding structure of the visual detection unit and the packaging unit; the front part of the feeding structure is provided with a rolling part, the front part of the rolling part is provided with an execution assembly, and the front part of the execution assembly is provided with a size grading unit; and the storage area of the size grading unit is correspondingly connected with the packaging unit. The utility model discloses change current manual handling mode into full automatic system operation, saved manpower resources, reduced artifical discernment error rate, improved fruit grower economic input and fruit production value benefit.

Description

Fruit sorting and size grading packaging system based on machine vision and PLC control
Technical Field
The utility model belongs to the technical field of agricultural machine, concretely relates to fruit letter sorting and size grading and packaging system based on machine vision and PLC control.
Background
Apples are a very common fruit, and China is the biggest apple producing and consuming country in the world. However, the problems of low price and difficult fruit selling of fruits in China often occur, so that the momentum of rapid development of fruit production is inhibited. The proportion of the apple participating in international market competition is lower, the apple only accounts for 1.29 percent of the total amount of the world, and the price of the apple is lower than that of foreign fruits by 40 to 70 percent. The investigation shows that: a large portion of the selling price of fruit comes from the post-partum commercialization process. The post-production treatment of the apples mainly comprises the steps of cleaning, surface defect classification, size classification, packaging, fresh keeping and the like. At present, the problems of apples in domestic market and international market in China are mainly caused by the lack of automatic equipment in the post-production treatment link. In China, the links of apple surface defect detection, size classification, packaging and the like are mainly finished manually, a large amount of human resources are wasted, and the speed and the precision are low, so that the market demand cannot be met.
With the development of automatic control technology, developed countries such as germany and the united states have made intensive research on the automation of fruit grading and packaging, and have developed various automatic devices matching the production requirements of the country. With the improvement of agricultural production system in China, the development of fruit post-production treatment system has wide market prospect and great social benefit.
SUMMERY OF THE UTILITY MODEL
To the automation equipment disappearance problem of fruit postnatal treatment link, the utility model provides a fruit letter sorting and size grading packaging system based on machine vision and PLC control has made a visual defect detection grading packaging system for the postnatal treatment of the fruit of types such as apple, has realized mechanized fruit defect discernment through PLC, and the hierarchical automatic vanning of streamlined size has optimized the commodity processing flow after childbirth, has promoted the market competition of fruit.
For solving the above technical problem, the utility model discloses the technical scheme who adopts as follows:
the fruit sorting, size grading and packaging system based on machine vision and PLC control comprises an upper computer, a vision detection unit, a lower computer, a vision screening processing unit, a size grading unit and a plurality of packaging units, wherein a camera of the vision detection unit is electrically connected with the upper computer, and the upper computer is responsible for visually analyzing and identifying a graph acquired by the camera and processing the acquired image so as to obtain color, size and defect information of fruits and transmitting the result to the lower computer after outputting the result; the camera is matched with the rolling piece of the visual detection unit, and when the fruit on the rolling piece rolls, the camera can conveniently acquire appearance information of the fruit in multiple directions and upload images to an upper computer; the lower computer is electrically connected with the upper computer and electrically connected with the execution assembly of the visual screening processing unit, and controls the action of the execution assembly according to the output result of the upper computer so as to screen out the fruits with the color and the appearance not meeting the requirements; the lower computer is electrically connected with the feeding structure of the visual detection unit so as to control the opening of the feeding structure; the lower computer is electrically connected with the packaging unit to control the starting of the packaging unit; the front part of the feeding structure is provided with a rolling part, the front part of the rolling part is provided with an execution assembly, the front part of the execution assembly is provided with a size grading unit, the front part of the feeding structure, the rolling part and the rear part of the execution assembly are positioned on the same horizontal plane to ensure the conveying of fruits, and the front part of the execution assembly and the size grading unit are positioned on the same horizontal plane to facilitate the conveying of the fruits; the storage area of size grading unit corresponds with the packing unit and is connected, and size grading unit is responsible for carrying out the size classification to the fruit after the screening, and the packing unit is responsible for packing respectively the fruit after grading, and every storage area is corresponding to a packing unit in order to pack the fruit of equidimension.
The visual detection unit further comprises a rack, a plurality of partition plates, a feeding frame, a photoelectric switch I, a feeding structure and a first motor, wherein the first motor is electrically connected with the lower machine, a rotor of the first motor is fixedly connected with the rolling part, the first motor drives the rolling part to rotate, and fruits on the rolling part rotate along with the rotation of the rolling part; the rolling part is movably arranged at the front part of the feeding frame, the front part of the rolling part is positioned at the rear part of the execution assembly, after the camera shoots the fruit on the rolling part, the rolling part synchronously conveys the fruit to the execution assembly, and the upper part of the rolling part and the rear part of the execution assembly are positioned in the same horizontal plane, so that the fruit conveyed on the rolling part is conveyed to the execution assembly; the feeding structure is arranged at the rear part of the feeding frame and is positioned at the rear part of the rolling part, and the upper part of the rolling part and the front part of the feeding structure are positioned in the same horizontal plane, so that fruits conveyed on the feeding structure can be conveniently conveyed to the rolling part; the feeding frame is fixedly provided with a rack; the machine frame is arranged at the upper part of the rolling part, the lower part of the machine frame is fixedly provided with a partition board at intervals, a fruit conveying channel is formed between every two adjacent partition boards, and a gap is arranged between the lower part of each partition board and the rolling part so as to reduce the friction between the rolling part and the partition board when the rolling part rolls; the camera is fixedly arranged on the rack and corresponds to the transmission channel; the photoelectric switch I is fixedly arranged on the rack, corresponds to the camera and is electrically connected with the lower machine to detect the arrival condition of the fruits in the transmission channel.
The feeding structure comprises a second motor and a conveying belt, the conveying belt is movably connected with the feeding frame through a rotating shaft, and the upper part of the conveying belt corresponds to the rolling part so that fruits on the conveying belt can be conveniently conveyed to the rolling part; the rotating shaft is movably arranged in the feeding frame, is positioned on the inner sides of two ends of the conveying belt and is fixedly connected with a rotor of a second motor, the second motor drives the rotating shaft to rotate, and the rotating shaft rotates to further drive the conveying belt to rotate so as to convey fruits; the second motor is electrically connected with the lower motor; the conveyer belt slope sets up, and the fixed horizontal baffle that is equipped with on the conveyer belt to prevent that fruit from dropping.
The fruit conveying frame is arranged at the front part of the rolling piece and is positioned at the rear part of the size grading unit, the upper part of the rolling piece and the rear part of the fruit conveying frame are positioned in the same horizontal plane, and the front part of the fruit conveying frame and the size grading unit are positioned in the same horizontal plane so as to facilitate fruit conveying between the fruit conveying frame and the size grading unit; the upper part of the fruit conveying frame is an inclined plane, the upper part of the inclined plane is fixedly connected with the feeding frame, the lower part of the inclined plane is fixedly connected with the size grading unit, the fruit conveying frame is fixedly provided with a separation plate, every two adjacent separation plates form a screening channel, and the screening channel is arranged corresponding to the conveying channel; screening holes are uniformly formed in the screening channel; the screening baffle is movably arranged in the screening hole, the size of the screening baffle is consistent with that of the screening hole, and the lower part of the screening baffle is fixedly connected with the movable end of the electromagnetic push rod; the electromagnetic push rod is electrically connected with the lower computer, the lower computer controls the action of the electromagnetic push rod according to the received output result of the upper computer, and when a defect exists, the electromagnetic push rod is opened to push the screening baffle to move, and the defect exists in the screening hole; when the fruits are good, the electromagnetic push rod is not moved, and the fruits move forwards continuously along the fruit conveying frame.
The size grading unit comprises a support frame, at least two groups of grading structures and at least two storage areas, wherein the grading structures are movably arranged on the support frame and are connected with a lower computer; gaps are uniformly arranged in each group of hierarchical structures, the gaps in the same hierarchical structure are the same in size, the gaps among different hierarchical structures are different, and the hierarchical structure with the smaller gap is arranged at the rear part of the hierarchical structure with the larger gap, so that when fruits pass through the hierarchical structure, the small-sized fruits fall into the storage area firstly, and the large-sized fruits fall into the corresponding storage area finally; the storage area is correspondingly arranged at the lower part of the hierarchical structure, and the bottom of the storage area is an inclined plane I.
The hierarchical structure comprises a third motor, a plurality of belts and a plurality of rolling shafts, the rolling shafts are movably arranged on the support frame and are connected with the third motor, the third motor drives the rolling shafts to rotate, and the rolling shafts further drive the belts to rotate around the rolling shafts; the third motor is connected with an external power supply and is electrically connected with the lower motor; the belts are wound on the two adjacent rollers at even intervals, a gap is formed between every two adjacent belts, and the size of the gap between the belts in the same hierarchical structure is the same, so that fruits with the same size fall into the same storage area.
The packaging unit comprises a shunting baffle, a single-hole conveying belt, a push plate, a conveying belt, a photoelectric switch II and a packaging frame, wherein the shunting baffle is symmetrically and obliquely arranged at the rear part of the packaging frame, one side of each shunting baffle is fixedly connected with the packaging frame, and a gap is formed between the other sides of the two symmetrically arranged shunting baffles; the single-hole conveyor belt is arranged on the diversion baffle part and is movably connected with the upper part of the packaging frame; the single-hole conveyor belt is provided with a placing hole, the placing hole is opposite to the gap, and the size of the placing hole is smaller than that of the fruit; the photoelectric switch II is arranged at the tail part of the single-hole conveyor belt and is electrically and mechanically connected with the lower part, and the photoelectric switch II is fixed on the packaging frame; one side of the packaging frame, which is close to the shunt baffle, is connected with a storage area of the large and small grading units, the upper part of the packaging frame is an inclined plane II, and the lower part of the packaging frame is movably provided with a conveying belt; the transmission belt is perpendicular to the single-hole transmission belt, is arranged at the lower part of the single-hole transmission belt, is movably connected with the lower part of the packaging frame through a transmission piece, and is symmetrically provided with push plates at two sides; the transmission pieces are symmetrically arranged on two sides of the conveying belt; the push plate is movably connected with the packaging frame through a driving piece, and the push plate and the transmission belt are matched with the single-hole transmission belt; the movable end of the driving piece is fixedly connected with the push plate, and the fixed end of the driving piece is fixedly connected with the packaging frame; the driving piece is electrically connected with the lower part.
Preferably, the drive member is an electric push rod. The transmission piece comprises a fifth motor and a rotating shaft, and the fifth motor is electrically connected with the lower machine; the rotating shaft and the rotating shaft are movably arranged in the packaging frame, the rotating shaft is located at the lower part of the packaging frame, and the rotating shaft is fixedly connected with a rotor of the fifth motor.
The utility model has the advantages that:
1. the processing mode is automated: because current manual handling speed is slower, and workman's work receives the time limit, leads to work efficiency relatively lower, and uses the utility model discloses because the machine does not limit operating time, and packing speed is very fast, has improved work efficiency.
2. The work efficiency is high: the utility model discloses can carry out pipelined packing to the multirow apple simultaneously, efficiency improves by a wide margin, and a equipment can replace many people to carry out work simultaneously, and can not appear the efficiency step-down and the non-uniform problem of specification that artifical packing leads to along with the time increase.
3. The flexibility is strong: the utility model discloses can extend and use on the multiple fruit with the similar type of apple, for example: pears, oranges and the like have wide application market, higher market value and potential value.
4. The economic benefit is high: the utility model discloses greatly reduced the human resource waste, reduced artifical discernment error rate, improved fruit grower economic input and fruit production value benefit, through improving fruit surface defect detection level and size grading, promoted the market competition of product.
5. Safe and reliable: the whole equipment is simple to operate, only needs the staff to open and stop through touch-sensitive screen control equipment, and equipment automatic statistics packing apple number and vanning number remind when lacking the fruit, and automatic alarm when breaking down to automatic power off or also can press emergency stop button through operating personnel, and the security performance is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flow chart of the present invention.
Fig. 2 is a control schematic block diagram of the present invention.
Fig. 3 is a schematic structural diagram of the present invention.
Fig. 4 is a top view of the present invention.
In the figure, 1 is a feeding frame, 2 is a rolling part, 3 is a conveying belt, 4 is a screening baffle, 5 is a fruit conveying frame, 6 is a screening hole, 7 is a supporting frame, 8 is a storage area, 9 is a belt, 10 is a rolling shaft, 11 is a shunting baffle, 12 is a single-hole conveying belt, 13 is a push plate, 14 is a conveying belt, 15 is a packaging box, 16 is a packaging frame, 17 is a partition plate, and 18 is a frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without any creative effort belong to the protection scope of the present invention.
The fruit sorting and size grading packaging system based on machine vision and PLC control comprises an upper computer, a vision detection unit, a lower computer, a vision screening processing unit, a size grading unit and a plurality of packaging units, wherein a camera of the vision detection unit is electrically connected with the upper computer, the upper computer is responsible for visual analysis, identifies a graph acquired by the camera through an operation algorithm, and then calls a HALCON algorithm to process the obtained image so as to obtain color, size and defect information of the fruit to carry out trauma detection on the fruit, and the obtained result is transmitted to the lower computer after being output; the camera is matched with the rolling part 2 of the visual detection unit, and when the fruits on the rolling part 2 roll, the camera can conveniently acquire appearance information of the fruits in multiple directions and upload images to an upper computer; as shown in fig. 2, the lower computer is electrically connected with the upper computer, and is electrically connected with the execution component of the visual screening processing unit, and the lower computer controls the action of the execution component according to the output result of the upper computer, so as to screen out the fruits with the color and the appearance not meeting the requirements; the lower computer is electrically connected with the feeding structure of the visual detection unit so as to control the opening of the feeding structure; the lower computer is electrically connected with the packaging unit to control the starting of the packaging unit; the front part of the feeding structure is provided with a rolling part 2, the front part of the rolling part 2 is provided with an execution assembly, the front part of the execution assembly is provided with a size grading unit, the front part of the feeding structure, the rolling part 2 and the rear part of the execution assembly are positioned on the same horizontal plane to ensure the conveying of fruits, and the front part of the execution assembly and the size grading unit are positioned on the same horizontal plane to facilitate the conveying of the fruits; storage area 8 and the packing unit of size grading unit correspond and are connected, and size grading unit is responsible for carrying out the size to the fruit after the screening and grades, and the packing unit is responsible for packing respectively the fruit after grading, and every storage area 8 is corresponding to a packing unit in order to pack the fruit of equidimension.
As shown in fig. 3, the visual inspection unit further includes a frame 18, a plurality of partition boards 17, a loading frame 1, a photoelectric switch I, a loading structure, and a first motor, wherein the first motor is electrically connected to the lower computer to control the start of the first motor through the lower computer, and the first motor is connected to an external power supply; a rotor of the first motor is fixedly connected with the rolling part 2, and the first motor drives the rolling part 2 to rotate; the rolling part 2 is movably arranged at the front part of the feeding frame 1, the rolling part 2 is positioned at the rear part of the execution component, after the camera shoots the fruits on the rolling part 2, the rolling part 2 synchronously conveys the fruits to the execution component, and the upper part of the rolling part 2 and the rear part of the execution component are positioned in the same horizontal plane, so that the fruits conveyed on the rolling part 2 are conveyed to the execution component; the feeding structure is arranged at the rear part of the feeding frame 1 and is positioned at the rear part of the rolling part 2, and the upper part of the rolling part 2 and the front part of the feeding structure are positioned in the same horizontal plane, so that fruits conveyed on the feeding structure can be conveyed to the rolling part 2 conveniently; a rack 18 is fixedly arranged on the feeding frame 1; the rack 18 is positioned at the upper part of the rolling part 2, the partition boards 17 are fixedly arranged at the lower part of the rack 18 at intervals, a conveying channel is formed between every two adjacent partition boards 17, each conveying channel only allows one fruit to pass through once, and the distance between the partition boards 17 can be adjusted and arranged according to requirements during specific use so as to divide the fruit; a gap is arranged between the lower part of the partition board 17 and the rolling part 2 so as to reduce the friction between the rolling part 2 and the partition board 17 when the rolling part 2 rolls; the cameras are fixedly arranged on the rack 18 and are arranged corresponding to the transmission channels, so that each camera can photograph the apples in the corresponding transmission channel; the photoelectric switch I is fixedly arranged on the rack 18, the photoelectric switch I is arranged corresponding to the camera, and one transmission channel corresponds to one camera and one photoelectric switch I; the photoelectric switch I is electrically connected with the lower computer to detect the arrival condition of the fruits in the transmission channel, when the photoelectric switch I detects the arrival of the fruits, a signal is sent to the lower computer, and the lower computer sends a signal to start a corresponding camera so as to photograph the fruits in the corresponding transmission channel. In this embodiment, rolling member 2 is the cylinder, and fruit can rotate thereupon when the transmission on the cylinder, makes things convenient for the camera to carry out all-round visual angle and gathers fruit appearance information, makes the output result more accurate. In this embodiment, the number of baffle 17 is 4, and consequently the number of transmission channel is 3, and the quantity of camera is 3 and is used for shooing the fruit in 3 transmission channels respectively.
In order to make the picture shot by the camera clearer, a shadowless lamp is further fixedly arranged on the frame 18 and is electrically connected with a lower computer to control the turning on of the shadowless lamp, and the shadowless lamp is turned on synchronously when the camera starts to take a picture. The shadowless lamp is close to the camera, and the shadowless lamp and the camera are correspondingly arranged.
The feeding structure comprises a second motor and a conveyor belt 3, the conveyor belt 3 is movably connected with the feeding frame 1 through a rotating shaft, and the upper part of the conveyor belt 3 corresponds to the rolling part 2, so that fruits on the conveyor belt 3 can be conveniently conveyed to the rolling part 2; the rotating shaft is movably arranged in the feeding frame 1, is positioned at the inner sides of two ends of the conveying belt 3 and is fixedly connected with a rotor of a second motor, the second motor drives the rotating shaft to rotate, and the rotating shaft rotates to further drive the conveying belt 3 to rotate so as to convey fruits; the second motor is electrically connected with the lower computer to control the starting of the second motor through the lower computer, and the second motor is connected with an external power supply; the conveying belt 3 is obliquely arranged, and a horizontal baffle is fixedly arranged on the conveying belt 3 to prevent fruits from falling down.
The execution assembly comprises a screening baffle 4 and a fruit conveying frame 5, the fruit conveying frame 5 is arranged at the front part of the rolling part 2, the fruit conveying frame 5 is positioned at the rear part of the size grading unit, the upper part of the rolling part 2 and the rear part of the fruit conveying frame 5 are positioned in the same horizontal plane, and the front part of the fruit conveying frame 5 and the size grading unit are positioned in the same horizontal plane so as to facilitate fruit conveying between the fruit conveying frame and the size grading unit; the upper part of the fruit conveying frame 5 is an inclined plane, the inclined plane corresponds to the rolling part 2, so that fruits can automatically roll down when passing through, the upper part of the inclined plane is fixedly connected with the upper material frame 1, the lower part of the inclined plane is fixedly connected with the large and small grading units, the fruit conveying frame 5 is fixedly provided with a separation plate, every two adjacent separation plates form a screening channel, the screening channel and the conveying channel are correspondingly arranged, and only one fruit is allowed to pass through the screening channel once; screening holes 6 are uniformly formed in the screening channel; the screening holes 6 are respectively arranged in each screening channel, so that only one defective fruit falls down when the screening baffle 4 is opened; the screening baffle 4 is movably arranged in the screening hole 6, the size of the screening baffle 4 is consistent with that of the screening hole 6, and the lower part of the screening baffle 4 is fixedly connected with the movable end of the electromagnetic push rod; the electromagnetic push rod is connected with the lower computer, the lower computer controls the action of the electromagnetic push rod according to the received output result of the upper computer, and when a defect exists, the electromagnetic push rod is opened to push the screening baffle 4 to move, and the defect exists in the screening hole 6 and falls down; when the fruit is not defective, the electromagnetic push rod is not moved, and the fruit continuously rolls into the size grading unit along the fruit conveying frame 5. In this embodiment, the quantity of screening hole 6 is 3, and 3 screening holes set up side by side on fruit transmission frame 5, and are equipped with a screening hole 6 in every screening passageway.
The size grading unit comprises a support frame 7, at least two groups of grading structures and at least two storage areas 8, wherein the grading structures are movably arranged on the support frame 7 and are connected with a lower computer; gaps are uniformly arranged in each group of hierarchical structures, the gaps in the same hierarchical structure are the same in size, the gaps among different hierarchical structures are different, and the hierarchical structure with the smaller gap is arranged at the rear part of the hierarchical structure with the larger gap, so that when fruits pass through the hierarchical structure, the small-sized fruits firstly fall into the storage area 8, the large-sized fruits finally fall into the corresponding storage area 8, and the same-sized fruits fall into the same storage area 8; the storage areas 8 are correspondingly arranged at the lower part of the hierarchical structure, so that the fruits can directly fall into the corresponding storage areas 8 when falling from the gaps of the hierarchical structure; the bottom of the storage area 8 is an inclined plane I so that the fruit can automatically slide into the packaging unit when falling from the gap.
The hierarchical structure comprises a third motor, a plurality of belts 9 and a plurality of rollers 10, wherein the rollers 10 are movably arranged on the support frame 7, and the rollers 10 are fixedly connected with a rotor of the third motor; the third motor is connected with an external power supply and the lower computer, the third motor drives the roller 10 to rotate, the roller 10 further drives the belt 9 to rotate around the roller 10, and the third motor receives starting information of the lower computer to start; the belts 9 are wound on the two adjacent rollers 10 at even intervals, a gap is formed between every two adjacent belts, and the gaps between the belts 9 in the same hierarchical structure are the same in size, so that fruits of the same size can fall into the same storage area 8 conveniently. In this embodiment, the number of the hierarchical structures is 3, which are three levels, large, medium, and small. Use specifically the utility model discloses the time, can set up hierarchical structure's quantity according to the demand, can also adjust the size interval that corresponds storage area 8 interior fruit through adjusting the clearance between the belt 9 in the same hierarchical structure.
The hierarchical structure also comprises a frequency converter, and the frequency converter is electrically connected with the third motor to control the running speed of the third motor so as to control the hierarchical speed of the fruits; the frequency converter is also electrically connected with the lower computer, when the lower computer receives a signal that fruits exist on the conveyor belt 3, the rotating speed of the third motor is increased, and if no fruits exist on the conveyor belt 3, the rotating speed of the third motor is reduced.
As shown in fig. 4, the packaging unit includes a diversion baffle 11, a single-hole conveyor belt 12, a push plate 13, a conveyor belt 14, a photoelectric switch II and a packaging frame 16, the diversion baffle 11 is symmetrically and obliquely arranged at the rear part of the packaging frame 16, one side of the diversion baffle 11 is fixedly connected with the packaging frame 16, a gap is arranged between the other sides of the two symmetrically arranged diversion baffles 11, the gap only allows one fruit to pass through, and the diversion baffle 11 plays a role in diverting the fruit again; the single-hole conveyor belt 12 is arranged at the front part of the diversion baffle 11, and the single-hole conveyor belt 12 is movably connected with the upper part of the packaging frame 16 through a rolling shaft; the rolling shaft is movably arranged on the packaging frame 16 and is connected with a fourth motor; the fourth motor is connected with an external power supply and the lower computer and is started after receiving the starting information of the lower computer; the single-hole conveyor belt 12 is provided with a placing hole for placing a single fruit, the placing hole is arranged opposite to the gap, so that the fruit can directly enter the placing hole after being shunted from the shunting baffle 11, and the size of the placing hole is smaller than that of the fruit so as to prevent the fruit from falling from the placing hole; photoelectric switch II sets up the afterbody at haplopore conveyer belt 12, and photoelectric switch II and next electromechanical connection, and photoelectric switch II is used for detecting whether there is fruit of placing at haplopore conveyer belt 12's afterbody to photoelectric switch II received signal and transmission information give the next machine.
One side of the packaging frame 16 close to the diversion baffle 11 is connected with the storage area 8, the upper part of the packaging frame 16 is an inclined plane II, so that fruits can directly enter the diversion baffle 11 for diversion after rolling down from the storage area 8, and a conveying belt 14 is movably arranged at the lower part of the packaging frame 16; the conveying belt 14 is perpendicular to the single-hole conveying belt 12, the conveying belt 14 is arranged at the lower part of the single-hole conveying belt 12, the conveying belt 14 is movably connected with the lower part of the packaging frame 16 through a transmission piece, and push plates 13 are symmetrically arranged on two sides of the conveying belt 14; the transmission pieces are symmetrically arranged on two sides of the conveying belt 14; when the utility model is used, the packing box 15 is placed on the transmission belt 14, the packing box 15 is positioned between the two symmetrically arranged push plates 13, the transmission belt 14 synchronously drives the packing box 15 to move when rotating so as to realize the longitudinal motion of the packing box 15, the pushing direction of the push plates 13 is consistent with the direction of the single-hole conveyor belt 12, the transverse motion of the packing box 15 is realized, the upper part of the packing box 15 is opposite to the tail part of the single-hole conveyor belt 12, and fruits can directly fall into the packing box 15 when falling from the single-hole conveyor belt 12; the push plate 13 is movably connected with the packaging frame 16 through an electric push rod, the movable end of the electric push rod is fixedly connected with the push plate, and the fixed end of the electric push rod is fixedly connected with the packaging frame 16; the electric push rod is electrically connected with the lower computer, the electric push rod pushes the push plate 13 to move after receiving the information of the lower computer, and the push plate 13 pushes the packing box 15 into the tail part of the single-hole conveyor belt 12; the push plate 13 and the transmission belt 14 are matched with the single-hole transmission belt 12, when the lower computer receives a signal of the photoelectric switch II, the electric push rod is started, the electric push rod moves the packing box 15 to the tail part of the single-hole transmission belt 12, fruits on the placing holes fall into corresponding fruit placing positions in the packing box 15, when the photoelectric switch II detects that the next fruit arrives, the photoelectric switch II sends a signal to the lower computer again, the lower computer starts the electric push rod or starts a fourth motor to move the packing box 15 so that the next fruit falls into other fruit placing positions, the steps are repeated, when the photoelectric switch II detects that the fruit arrives in the packing process, the lower computer sends a signal to the lower computer, the lower computer accumulates the triggering times, when the triggering times are consistent with the packing quantity of each box of fruits preset in the lower computer, the packing part stops working, the lower computer sends a signal to the electric push rod so that the push plate 13 pushes the filled packing box 15 to the center of the transmission, then loosen push pedal 13, transmission band 14 shifts out the apple packing area of haplopore conveyer belt 12 below with the apple, and the speech device who is connected with the next machine reports to the police, informs the staff to supply new packing box 15, if not supply the packing box in the settlement time, the utility model discloses stop work prevents that fruit from piling up in storage area 8.
The packaging unit further comprises a limit switch, the limit switch is electrically connected with the lower computer and used for detecting whether the packaging box 15 reaches a specified packaging area, if the packaging box 15 reaches the packaging area, the limit switch sends a signal to the lower computer, the lower computer normally starts other units, and if the packaging box 15 does not reach the packaging area, the lower computer sends a signal to stop the movement of the single-hole conveyor belt 12; the limit switch is arranged at the lower part of the single-hole conveyor belt 12 and is fixed at the lower part of the packaging frame 16.
The transmission piece comprises a fifth motor and a rotating shaft, and the fifth motor is electrically connected with the lower machine; the rotating shaft and the rotating shaft are movably arranged in the packaging frame, the rotating shaft is located at the lower part of the packaging frame, and the rotating shaft is fixedly connected with a rotor of the fifth motor.
The utility model discloses operator with relevant visual processing in HALCON is the core, mainly divide into C #, HALCON, PLC program three, and combine DVP12SE series PLC to realize mechanized fruit defect recognition, the visual detection unit passes through camera and upper computer connection, the image transfer that the camera was shot is handled to the host computer, the host computer is according to the appearance information of image information analysis fruit and with this information transmission to visual screening processing unit, divide the apple that the outward appearance damaged or rotten by visual screening processing unit and sort out and leave the outward appearance intact, hierarchical function distinguishes fruit according to the size according to the setting again.
In this embodiment, the upper computer is a PC, the lower computer is a dada DVP12SE PLC, and the camera is an industrial detection camera.
As shown in figure 1, the utility model discloses upgrading current manual handling mode into system automatic processing, having realized automatic and intelligent high-efficient combination, having reduced the manpower resources waste, having shortened from the time of results to going to the market, according to the price that the market demand falls into fruit different simultaneously, more can satisfy different market demands when improving economic benefits.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. The fruit sorting and size grading packaging system based on machine vision and PLC control is characterized by comprising an upper computer, a vision detection unit, a lower computer, a vision screening processing unit, a size grading unit and a plurality of packaging units, wherein a camera of the vision detection unit is electrically connected with the upper computer and is matched with a rolling piece (2) of the vision detection unit; the lower computer is electrically connected with the upper computer and is electrically connected with the execution assembly of the visual screening processing unit, the feeding structure of the visual detection unit and the packaging unit; the front part of the feeding structure is provided with a rolling part (2), the front part of the rolling part (2) is provided with an execution assembly, and the front part of the execution assembly is provided with a size grading unit; the storage area (8) of the size grading unit is correspondingly connected with the packaging unit.
2. The fruit sorting and sizing packaging system based on machine vision and PLC control as claimed in claim 1, wherein the vision detecting unit further comprises a plurality of partition boards (17), a frame (18), a feeding frame (1), a feeding structure and a first motor, the first motor is electrically connected with the lower frame, and a rotor of the first motor is fixedly connected with the rolling members (2); the rolling piece (2) is movably arranged at the front part of the feeding frame (1), and the rolling piece (2) is positioned at the rear part of the executing assembly; the feeding structure is arranged at the rear part of the feeding frame (1) and is positioned at the rear part of the rolling piece (2); a rack (18) is fixedly arranged on the feeding frame (1); the rack (18) is arranged at the upper part of the rolling part (2), and the lower part of the rack (18) is fixedly provided with a partition plate (17) at intervals; every two adjacent partition plates (17) form a transmission channel; the camera is fixedly arranged on the upper part of the frame (18), and the camera is arranged corresponding to the transmission channel.
3. The fruit sorting and size grading packaging system based on machine vision and PLC control according to claim 2, characterized in that the feeding structure comprises a second motor and a conveyor belt (3), the conveyor belt (3) is movably connected with the feeding frame (1) through a rotating shaft, and the upper part of the conveyor belt (3) corresponds to the rolling member (2); the rotating shaft is movably arranged in the feeding frame (1), is positioned on the inner sides of two ends of the conveying belt (3), and is fixedly connected with a rotor of the second motor; the second motor is electrically connected with the lower motor; and a horizontal baffle is fixedly arranged on the conveyor belt (3).
4. The machine vision and PLC control based fruit sorting and sizing packaging system according to claim 3, wherein the performing assembly comprises a screening fence (4) and a fruit conveying rack (5), the fruit conveying rack (5) is arranged at the front part of the rolling member (2), and the fruit conveying rack (5) is arranged at the rear part of the sizing unit; the upper part of the fruit conveying frame (5) is an inclined plane, the inclined plane corresponds to the rolling part (2), the fruit conveying frame (5) is fixedly provided with a separation plate, every two adjacent separation plates form a screening channel, and the screening channel and the conveying channel are arranged correspondingly; the screening channel is provided with screening holes (6); the screening baffle (4) is movably arranged in the screening hole (6), and the lower part of the screening baffle (4) is fixedly connected with the movable end of the electromagnetic push rod; the electromagnetic push rod is electrically connected with the lower part.
5. Fruit sorting and size grading packaging system based on machine vision and PLC control according to claim 1 or 3 or 4, characterized in that the size grading unit comprises a support frame (7), at least two sets of grading structures and at least two storage areas (8), the grading structures are movably arranged on the support frame (7), and the grading structures are connected with a lower computer; gaps are uniformly arranged in each group of hierarchical structures, the gaps in the same hierarchical structure are the same in size, the gaps among different hierarchical structures are different, and the hierarchical structure with the smaller gap is arranged at the rear part of the hierarchical structure with the larger gap; the storage area (8) is correspondingly arranged at the lower part of the hierarchical structure, and the bottom of the storage area (8) is an inclined plane I.
6. The fruit sorting and size grading packaging system based on machine vision and PLC control according to claim 5, characterized in that the grading structure comprises a third motor, a plurality of belts (9) and a plurality of rollers (10), the rollers (10) are movably arranged on the support frame (7), and the rollers (10) are connected with the third motor; the third motor is connected with the lower computer; the belts (9) are wound on the two adjacent rollers (10) at uniform intervals, and a gap is formed between every two adjacent belts (9).
7. The fruit sorting and size grading packaging system based on machine vision and PLC control as claimed in claim 1 or 6, wherein the packaging unit comprises a diversion baffle plate (11), a single-hole conveyor belt (12), a push plate (13), a conveyor belt (14), a photoelectric switch II and a packaging rack (16), the diversion baffle plate (11) is symmetrically and obliquely arranged at the rear part of the packaging rack (16), one side of the diversion baffle plate (11) is fixedly connected with the packaging rack (16), and a gap is arranged between the other sides of the two symmetrically arranged diversion baffle plates (11); the single-hole conveyor belt (12) is arranged at the front part of the flow dividing baffle (11), and the single-hole conveyor belt (12) is movably connected with the upper part of the packaging frame (16); the single-hole conveyor belt (12) is provided with placing holes, the placing holes are arranged opposite to the gaps, and the size of the placing holes is smaller than that of the fruits; the photoelectric switch II is arranged at the tail part of the single-hole conveyor belt (12) and is electrically connected with the lower part; one side of the packaging frame (16) close to the flow dividing baffle (11) is connected with the storage area (8) of the large and small grading units, the upper part of the packaging frame (16) is an inclined plane II, and the lower part of the packaging frame (16) is movably provided with a conveying belt (14); the conveying belt (14) is perpendicular to the single-hole conveying belt (12), the conveying belt (14) is arranged on the lower portion of the single-hole conveying belt (12), the conveying belt (14) is movably connected with the lower portion of the packaging frame (16) through a transmission piece, and push plates (13) are symmetrically arranged on two sides of the conveying belt (14); the transmission pieces are symmetrically arranged on two sides of the conveying belt (14); the push plate (13) is movably connected with the packaging frame (16) through a driving piece, and the push plate (13) and the transmission belt (14) are matched with the single-hole transmission belt (12); the movable end of the driving piece is fixedly connected with the push plate (13), and the fixed end of the driving piece is fixedly connected with the packaging frame (16); the driving piece is electrically connected with the lower part.
8. The machine vision and PLC controlled based fruit sorting and sizing packaging system of claim 7 wherein the drive is a power push rod.
9. The machine vision and PLC controlled fruit sorting and size grading packaging system according to claim 8, wherein the transmission member comprises a fifth motor and a rotating shaft, the fifth motor being electrically connected to the lower level machine; the rotating shaft and the rotating shaft are movably arranged in the packaging frame (16), the rotating shaft is positioned at the lower part of the packaging frame (16), and the rotating shaft is fixedly connected with a rotor of the fifth motor.
CN201921423127.9U 2019-08-29 2019-08-29 Fruit sorting and size grading packaging system based on machine vision and PLC control Active CN210618577U (en)

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Application Number Priority Date Filing Date Title
CN201921423127.9U CN210618577U (en) 2019-08-29 2019-08-29 Fruit sorting and size grading packaging system based on machine vision and PLC control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921423127.9U CN210618577U (en) 2019-08-29 2019-08-29 Fruit sorting and size grading packaging system based on machine vision and PLC control

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112306017A (en) * 2020-10-23 2021-02-02 泰州市华仕达机械制造有限公司 Automatic control system of streamlined production line

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112306017A (en) * 2020-10-23 2021-02-02 泰州市华仕达机械制造有限公司 Automatic control system of streamlined production line
CN112306017B (en) * 2020-10-23 2021-09-24 江苏华东造纸机械东台有限公司 Automatic control system of streamlined production line

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