CN211678864U - A fruit automatic sorting device based on diffuse reflection and diffuse transmission - Google Patents

Abstract

The utility model discloses a fruit automatic separation device based on diffuse reflection and diffuse transmission, including the conveyer, the landing mouth, first steel ring, the billet, the iron ring, the gear, and a support, the second steel ring, the spout, the carton, first step motor, the sorter, the PLC controller, servo motor, the support frame, adopt diffuse reflection and diffuse transmission to combine to detect fruit, more comprehensive discernment out the spectral information of fruit, and with the leading-in fruit sugar that has established of fruit extinction spectrum, among the acidity prediction model, reach the fruit sugar, acidity content, carry out the classification to fruit according to the size that image identification detected fruit again, only adopt diffuse reflection or diffuse transmission or fruit size to sort fruit for the tradition, the utility model discloses detection to fruit is more comprehensive and perfect.

Description

A fruit automatic sorting device based on diffuse reflection and diffuse transmission

technical field

The utility model relates to the field of fruit sorting, in particular to an automatic fruit sorting device based on diffuse reflection and diffuse transmission.

Background technique

With the development of society, people no longer pay attention to the external quality such as appearance, size, color, etc. when purchasing fruits, but also use the internal quality of the fruit as a reference standard, such as sugar content, acidity, vitamin content and other indicators. Before the fruit is put on the market, the quality of the fruit can be tested to identify the size of the fruit and whether it is rotten. At present, in some developed countries abroad, fruits are sorted according to the internal quality and external quality immediately after picking. Compared with the traditional chemical damage detection method, the near-infrared spectroscopy technology has high cost, complicated operation process, long consumption time and secondary pollution. It has been widely recognized for its advantages such as safety, efficiency, speed and accuracy, low cost and wide application range, and it is also in line with the concept of developing green agriculture. As a new technology that can detect the internal quality of fruit without damaging the fruit, near-infrared spectroscopy non-destructive testing technology has been put into the post-production processing and processing of agricultural products, and related devices have been in the process of research and development and functional upgrading.

In the prior art, the mainly used near-infrared spectroscopy non-destructive testing technology is either based on the principle of diffuse reflection alone or based on diffuse transmission alone, both of which can only obtain the spectral information of most of the fruit, and cannot collect The full spectral information of the fruit results in insufficient information to be identified.

Utility model content

In order to solve the above problems, the purpose of this utility model is to provide an automatic fruit sorting device based on diffuse reflection and diffuse transmission, which adopts the combination of diffuse reflection and diffuse transmission to detect fruits, more comprehensively identifies the spectral information of fruits, and Import the fruit absorption spectrum into the established fruit sugar and acidity prediction model to obtain the fruit sugar and acidity content, and then classify the fruit according to the size of the fruit.

In order to achieve the above purpose, a kind of fruit automatic sorting device based on diffuse reflection and diffuse transmission provided by the present utility model is realized as follows:

An automatic fruit sorting device based on diffuse reflection and diffuse transmission, including a conveyor, a sliding port, a first steel ring, a steel bar, an iron ring, a gear, a bracket, a second steel ring, a chute, a carton, a first step Feeding motor, sorting machine, PLC controller, servo motor, support frame, the right end of the conveyor is provided with a sliding port, the conveyor transports the fruit to be tested to the sliding port, and enters the first steel ring from the sliding port, and the servo motor Installed under the iron ring, the support frame is installed in the iron ring, and the center of the support frame is connected with the rotating shaft of the servo motor. The PLC controller is installed next to the servo motor, and the PLC controller controls the servo motor to rotate, so that the servo motor Drive the support frame to rotate, and then drive the iron ring to rotate. Multiple steel bars are installed on the edge of the iron ring at equal intervals. Each steel bar is installed with a first steel ring, which is used to transfer the fruit at the sliding opening. The right side of the iron ring The sorting machine is installed. The first step motor and the chute are installed on the right side of the separator. The rotating shaft of the first step motor is installed with a gear. The bracket is connected between the second steel ring and the gear. The PLC controller controls the first step. The first step motor rotates, the first step motor drives the gear to rotate, the gear drives the bracket to rotate, and then drives the second steel ring to rotate. A carton is placed under each chute, and the iron ring is driven by the servo motor to rotate, and the first steel ring is rotated. The ring moves to the bottom of the sliding opening, and the sliding opening slides the fruit conveyed by the conveyor onto the first steel ring, and with the rotation of the servo motor, the fruit to be tested is transferred to the sorting machine. The stepping motor drives the second steel ring to the bottom of the first steel ring in the sorting machine, receives the detected fruit in the first steel ring, and then continues to rotate, and transfers the fruit to the top of the chute, and according to the classification type of the chute Place the fruit on the corresponding chute and slide it into the carton on the chute.

The sliding port of the utility model includes a first metal aluminum plate, a metal frame, a hinge, a movable frame, a first telescopic motor, and a first infrared receiver. Two identical first metal aluminum plates are used to install the metal frame, and the first metal aluminum plate The hinge is connected with the metal frame, the two first metal aluminum plates are provided with a movable frame, and the common end of the movable frame is connected to the telescopic rod of the first telescopic motor, and the first telescopic motor is controlled by the PLC controller to pull Extend or compress the movable frame to realize the opening and closing of the first metal aluminum plate, and then control the apple to slide from the sliding opening to the first steel ring. The first infrared receiver is installed on the edge of the metal frame to detect whether the first steel ring is Reach below the slide opening.

The movable frame of the utility model comprises metal aluminum strips and bolts. The four metal aluminum strips are combined into a "V"-shaped structure. The two metal aluminum strips are connected by bolts, and one end of the two metal aluminum strips is connected to the first metal strip. The aluminum plate is connected, and the other two metal aluminum bars are connected with the telescopic rod of the first telescopic motor.

The first steel ring of the utility model includes a first steering gear, a first half gear, a first infrared transmitter, a steel bar, and a second half gear. The first steering gear is mounted on the steel bar, and the first half gear is mounted on the first half gear. On the rotating shaft of the steering gear, the second half-gear is installed next to the first half-gear, and the first half-gear and the second half-gear are engaged, and there are two identical steel bars on the first and second half-gears. The steel bars are set in a concave shape, the first infrared transmitter is installed on the steel bars, and the PLC controller controls the rotation of the first steering gear, which in turn drives the rotation of the first half gear. The first half gear is driven by the second half gear, and the first steering gear is positive. Turn, move the two steel bars to the middle, so that the two steel bars form a circular ring, when the first steel ring rotates to the bottom of the sliding opening, the infrared light emitted by the first infrared transmitter is received by the first infrared receiver. , the PLC controller controls the first telescopic motor to open the first metal aluminum plate, and slides the fruit to be tested onto the first steel ring. When the first steel ring drives the fruit into the sorting machine and the detection is completed, the PLC controller controls the The first servo is reversed, so that the two steel bars are separated, and the fruit is dropped from the two steel bars into the second steel ring.

The sorting machine of the utility model comprises a laser transmitter, a convex lens, a first concave mirror, a first optical fiber probe, a reflector, an optical fiber, an optical fiber spectrometer, a high-definition camera, a second concave mirror, a second optical fiber probe, a beam splitter, and a plano-convex lens. , the first fiber probe, the second fiber probe and the fiber optic spectrometer are connected by optical fibers, the convex lens is installed between the laser transmitter and the plano-convex lens, the beam splitter is installed under the plano-convex lens, and the beam splitter is installed with a reflector in the horizontal direction. A concave mirror and a second concave mirror are installed opposite to each other, the first fiber probe is installed under the first concave mirror, the second fiber probe is installed under the second concave mirror, the high-definition camera is installed diagonally below the reflector, and the high-definition camera is used to detect fruits When the servo motor rotates the fruit on the first steel ring into the sorting machine, the laser beam emitted by the laser transmitter is expanded by the convex lens, and then collimated by the plano-convex lens, and the laser beam is separated by the beam splitter. Divided into two lines of light, one of which is directly irradiated on the fruit to be tested after passing through the spectroscope, and the other light is reflected on the fruit through the reflector, and the two lasers irradiated on the fruit are diffusely reflected and diffused in the fruit. The diffusely reflected light is reflected into the first concave mirror and collected into the first optical fiber probe in the first concave mirror. The first optical fiber probe transmits the received light through the optical fiber to the optical fiber spectrometer for analysis. The received light is reflected into the second concave mirror, and collected into the second fiber probe in the second concave mirror. The second fiber probe transmits the received light through the fiber to the fiber spectrometer for analysis, and the fiber spectrometer will analyze the analyzed light. The results are transmitted to the PC side, and the fruit absorption spectrum is imported into the established fruit sugar and acidity prediction model on the PC side to obtain the fruit sugar and acidity content, and then the image of the fruit collected by the high-definition camera is sent to the PLC controller. It is then transmitted to the PC for image recognition, and the size of the fruit is identified. The PC is divided into fruit grades according to the size, sugar, and acidity of the fruit. The PC feeds back the graded information to the PLC controller, and the PLC controls The controller controls the first step motor to drive the second steel ring to put the sorted fruits into the corresponding chute.

The bracket of the utility model comprises a first metal aluminum strip, a second steering gear, a second metal aluminum strip, a second steel ring, and a second infrared receiver, and the first metal aluminum strip is installed between the second steering gear and the gear, The second metal aluminum strip is installed between the rotating shaft of the second steering gear and the second steel ring, and the second infrared receiver is installed under the second metal aluminum strip. When the PLC controller controls the first stepping motor to rotate the bracket to When corresponding to the top of the grading chute, the PLC controller controls the second steering gear to rotate forward, so that the second metal aluminum strip rotates diagonally downward, and the fruit in the second steel ring is transferred to the grading chute, and slides in the chute to Packing in a carton.

The number of the chutes of the utility model is determined according to the number of grades that the user needs to classify, and each grade is set with a chute, and a second red emitter is arranged on the oblique upper part of each chute, and the second infrared emitter is connected to the PLC. The controller is connected. When the fruit is graded by the PC, the information is fed back to the PLC controller. The PLC controller controls the second red emitter on the corresponding grading chutes to emit infrared light, and the second red emitters on other grading chutes emit infrared light. The transmitter does not emit infrared light, and when the second infrared receiver receives infrared light, it indicates that the fruit should be placed in the chute there.

The conveyor of the utility model is also provided with a feeding machine, which is used to grab the fruit and place it on the conveyor belt of the conveyor, wherein the feeding machine includes a first support plate, a sliding plate, a second telescopic motor, an air suction machine, The second stepper motor, spur gear, second support plate, second metal aluminum plate, metal aluminum tube, rubber ring, the first support plate and the second support plate are installed on the conveyor, and the sliding plate is installed on the first support plate and the second support plate. At the top of the second support plate, the aspirator and the second stepper motor are installed above the sliding plate, the spur gear is installed on the rotating shaft of the second stepper motor, and the second stepper motor is controlled by the PLC controller to rotate, the second step The input motor drives the spur gear to rotate, and the rotation of the spur gear pushes the sliding plate to slide on the first support plate and the second support plate. The bottom of the second telescopic motor is installed under the sliding plate, and the second metal aluminum plate is installed on the telescopic motor. On the rod, the metal aluminum tube is installed under the second metal aluminum plate. There is a rubber ring under each metal aluminum tube to prevent the fruit from being damaged when it is sucked up. When the fruit needs to be grabbed and placed on the conveyor, the PLC controller Control and control the second stepper motor to rotate forward, move the sliding plate to the fruit stacking place outside the conveyor, and then the PLC controller controls the second telescopic motor to extend the telescopic rod, pushing the second metal aluminum plate down, making the rubber ring tight. Paste the fruit, then the PLC controller controls the aspirator to inhale, sucks the fruit on the rubber ring under the action of pressure, and then the PLC controller controls the second telescopic motor to shrink the telescopic rod, lifts the fruit, and then is controlled by the PLC controller The second stepper motor reverses, moves the sliding plate to the top of the conveyor, the PLC controller controls the second telescopic motor to extend the telescopic rod, and extends the speaker to the conveyor, and the PLC controller controls the suction machine to close, so that the suction machine is closed. The air machine is deflated, and the fruit is dropped from the rubber ring to the conveyor, that is, the grasping of the fruit is completed.

The top of the second support plate of the utility model is provided with a rack, the spur gear passes through the sliding plate and engages with the rack, the second stepping motor drives the spur gear to rotate, and the spur gear rolls on the rack, thereby realizing the sliding plate Move over the second support plate.

The top of the first support plate of the present invention is provided with a sliding rail, which is convenient for the sliding plate to move above the first support plate.

One end of the sliding plate of the utility model is provided with a groove, and two sides of the groove are provided with small rollers. When the groove is just on the first support plate, the sliding plate can move more smoothly with the assistance of the small roller, and the other end of the sliding plate can move more smoothly. A through hole is provided, so that the spur gear can pass through the sliding plate and engage with the rack.

The aspirator of the utility model is connected with the metal aluminum pipe by a plastic pipe, and forms a parallel connection, so that the aspirator can absorb the air in the metal aluminum pipe through the plastic pipe, and then suck up the fruit.

Because the utility model adopts the conveyor to transport the fruit to be tested to the sliding opening and slides into the first steel ring, and the iron ring rotates into the sorting machine for grading and sorting, and finally is placed in the corresponding steel ring under the transfer of the second steel ring. In the graded chute, the structure that enters the carton in the chute for packing, so that the following beneficial effects can be obtained:

The utility model adopts the combination of diffuse reflection and diffuse transmission to detect the fruit, more comprehensively identifies the spectral information of the fruit, and imports the fruit absorption spectrum into the established fruit sugar and acidity prediction model to obtain the fruit sugar and acidity content. The fruit is then classified and classified according to the size of the fruit detected by image recognition. Compared with the traditional method of sorting fruits by only using diffuse reflection or diffuse transmission or fruit size, the utility model can detect fruits more comprehensively and perfectly.

Description of drawings

1 is a schematic diagram of the overall structure of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present utility model;

Fig. 2 is the structural representation of the sliding opening of a kind of fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

3 is a schematic structural diagram of a movable rack of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

4 is a schematic structural diagram of a first steel ring of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

5 is a schematic structural diagram of a sorting machine of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

6 is a schematic structural diagram of a support of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

7 is a schematic diagram of the installation structure of the second red emitter of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

8 is a working principle diagram of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

9 is a schematic structural diagram of a feeder of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

10 is a schematic diagram of rack installation of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

11 is a schematic structural diagram of a slide rail of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

12 is a schematic structural diagram of a sliding plate of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention;

Figure 13 is a schematic diagram of the installation of a plastic pipe of a fruit automatic sorting device based on diffuse reflection and diffuse transmission of the present invention.

Description of main component symbols.

Detailed ways

The present utility model will be described in further detail below in conjunction with the embodiments and with reference to the accompanying drawings.

Please refer to FIGS. 1 to 8 , which are a kind of automatic fruit sorting device based on diffuse reflection and diffuse transmission in the present invention, including a conveyor 1, a sliding port 2, a first steel ring 3, a steel bar 4, an iron Ring 5, gear 6, bracket 7, second steel ring 8, chute 9, carton 10, first step motor 11, sorting machine 12, PLC controller 13, servo motor 14, support frame 15.

As shown in Figure 1, the right end of the conveyor 1 is provided with a sliding opening 2, the conveyor 1 transports the fruit to be detected to the sliding opening 2, and enters the first steel ring 3 from the sliding opening 2, and the servo motor 14 is installed Below the iron ring 5 , the support frame 15 is installed in the iron ring 5 , and the center of the support frame 15 is connected with the rotating shaft of the servo motor 14 . The PLC controller 13 is installed next to the servo motor 14 and is controlled by the PLC controller 13 The servo motor 14 rotates, so that the servo motor 14 drives the support frame 15 to rotate, and then drives the iron ring 5 to rotate. A plurality of steel bars 4 are installed on the edge of the iron ring 5 at equal intervals, and a first steel bar is installed on each steel bar 4. Ring 3 is used to transfer the fruit at the sliding opening 2, the sorting machine 12 is installed on the right side of the iron ring 5, the first feeding motor 11 and the chute 9 are installed on the right side of the sorting machine 12, and the rotating shaft of the first feeding motor 11 is installed The gear 6 is installed, the bracket 7 is connected between the second steel ring 8 and the gear 6, the PLC controller 13 controls the first stepping motor 11 to rotate, the first stepping motor 11 drives the gear 6 to rotate, and the gear 6 drives the bracket 7 Rotate, and then drive the second steel ring 8 to rotate, place a carton 10 obliquely below each chute 9, drive the iron ring 5 to rotate by the servo motor 14, move the first steel ring 3 to the bottom of the sliding opening 2, and the sliding opening 2 will The fruit conveyed by the conveyor 1 slides onto the first steel ring 3, and the fruit to be tested is transferred to the sorting machine 12 with the rotation of the servo motor 14. After being graded by the sorting machine 12, it is driven by the first step motor 11. The second steel ring 8 is transferred to the lower part of the first steel ring 3 in the sorting machine 12 to receive the detected fruits in the first steel ring 3, and then continues to rotate to transfer the fruit to the top of the chute 9, and according to the speed of the chute 9 The graded variety places the fruit on the corresponding chutes 9, on which it slides into the carton 10. The PLC controller 13 is respectively connected with the high-definition camera 36 , the conveyor 1 , the servo motor 14 , the first stepping motor 11 , the first telescopic motor 20 , the first steering gear 24 , the second steering gear 42 , and the PC. The support frame 15 It is connected in the iron ring 5 by a "cross" structure, and the middle is concave, which is convenient for the servo motor 14 to drive the support frame 15 to rotate, thereby driving the iron ring 5 to rotate.

The conveyor 1 adopts a conveyor belt transmission method, that is, a conveyor belt is installed above the conveyor 1 to transmit the fruit.

As shown in FIG. 2, the sliding port 2 includes a first metal aluminum plate 16, a metal frame 17, a hinge 18, a movable frame 19, a first telescopic motor 20, and a first infrared receiver 21. The first telescopic motor 20 and The PLC controller 13 is connected, and the first infrared receiver 21 is connected to the PLC controller 13. Two identical first metal aluminum plates 16 are used to install the metal frame 17, and a hinge 18 is used between the first metal aluminum plate 16 and the metal frame 17. The two first metal aluminum plates 16 are provided with a movable frame 19, and the common end of the movable frame 19 is connected to the telescopic rod of the first telescopic motor 20, and the PLC controller 13 controls and controls the first telescopic motor 20 to stretch or Compress the movable frame 19 to realize the opening and closing of the first metal aluminum plate 16, and then control the apple to slide from the sliding opening 2 to the first steel ring 3. The first infrared receiver 21 is installed on the edge of the metal frame 17 for detecting the first infrared receiver 21. Whether a steel ring 3 reaches below the sliding opening 2, when the first infrared receiver 21 receives the infrared light emitted by the first infrared transmitter 26 on the first steel ring 3, it indicates that the first steel ring 3 has reached the sliding opening 2, at this time, the PLC controller 13 controls the first telescopic motor 20 to push the movable frame 19 to open the first metal aluminum plate 16, and the fruit slides onto the first steel ring 3.

As shown in FIG. 3 , the movable frame 19 includes metal aluminum strips 22 and bolts 23. Four metal aluminum strips 22 are combined into a "V"-shaped structure. The two metal aluminum strips 22 are connected by bolts 23, and then The two metal aluminum strips 22 can be connected together by matching the corresponding nuts. One end of the two metal aluminum strips 22 is connected with the first metal aluminum plate 16 , and the other two metal aluminum strips 22 are connected with the first telescopic motor 20 at the joints. telescopic rod connection.

As shown in FIG. 4 , the first steel ring 3 includes a first steering gear 24 , a first half gear 25 , a first infrared transmitter 26 , a steel bar 27 , and a second half gear 28 . The first steering gear 24 is installed on the On the steel bar 4, the first half gear 25 is installed on the rotating shaft of the first steering gear 24, the second half gear 28 is installed next to the first half gear 25, and the first half gear 25 and the second half gear 28 are engaged with each other. , the first half gear 25 and the second half gear 28 are provided with two identical steel bars 27, the steel bars 27 are set as concave, the first infrared transmitter 26 is installed on the steel bars 27, the PLC controller 13 and the first steering gear 24 Connected, the PLC controller 13 controls the rotation of the first steering gear 24, and then drives the first half gear 25 to rotate, the first half gear 25 drives the second half gear 28, the first steering gear 24 rotates forward, and the two steel bars 27 Move to the middle, so that the two steel bars 27 become a circular ring, when the first steel ring 3 rotates to the bottom of the sliding opening 2, the infrared light emitted by the first infrared transmitter 26 is received by the first infrared receiver 21, The PLC controller 13 controls the first telescopic motor 20 to open the first metal aluminum plate 16, and slides the fruit to be tested onto the first steel ring 3. When the first steel ring 3 drives the fruit into the sorting machine 12, the detection is completed. , the PLC controller 13 controls the first steering gear 24 to reverse, so that the two steel bars 27 are separated, and the fruit is dropped from the two steel bars 27 into the second steel ring 8, and the second steel ring 8 moves with the first step. The motor 11 places the detected fruits into the corresponding grading chute 9, and then packs them into boxes.

As shown in FIG. 5, the sorting machine 12 includes a laser transmitter 29, a convex lens 30, a first concave mirror 31, a first fiber probe 32, a reflector 33, an optical fiber 34, an optical fiber spectrometer 35, a high-definition camera 36, a Two concave mirrors 37, a second fiber probe 38, a beam splitter 39, a plano-convex lens 40, the first fiber probe 32, the second fiber probe 38 and the fiber spectrometer 35 are connected by an optical fiber 34, and the convex lens 30 is installed between the laser transmitter 29 and the optical fiber spectrometer 35. Between the plano-convex lenses 40, the beam splitter 39 is installed under the plano-convex lens 40, the beam splitter 39 is installed with a reflector 33 in the horizontal direction, the first concave mirror 31 and the second concave mirror 37 are installed opposite to each other, and the first fiber probe 32 is installed on the first Below a concave mirror 31, a second fiber probe 38 is installed below the second concave mirror 37, a high-definition camera 36 is installed obliquely below the reflector 33, the high-definition camera 36 is connected to the PLC controller 13, and the high-definition camera 36 is used to detect the size of the fruit When the servo motor 14 rotates the fruit on the first steel ring 3 into the sorting machine 12, the laser beam emitted by the laser transmitter 29 is expanded by the convex lens 30, and then collimated by the plano-convex lens 40. The mirror 39 divides the laser beam into two light rays, one of which is directly irradiated on the fruit to be tested after passing through the spectroscope 39, and the other light is reflected on the fruit by the reflector 33, and the two laser beams irradiated on the fruit are in the fruit. Diffuse reflection and diffuse transmission are performed, and the diffusely reflected light is reflected into the first concave mirror 31, and collected into the first fiber probe 32 in the first concave mirror 31, and the first fiber probe 32 passes the received light through the fiber. 34 is transmitted to the fiber optic spectrometer 35 for analysis, the diffusely transmitted light is reflected into the second concave mirror 37, and collected into the second fiber probe 38 in the second concave mirror 37, and the second fiber probe 38 will receive the received light. The light is transmitted through the optical fiber 34 to the optical fiber spectrometer 35 for analysis, and the optical fiber spectrometer 35 transmits the analyzed result to the PC end, and the fruit absorption spectrum is imported into the established fruit sugar and acidity prediction model at the PC end, and water is obtained. The fructose and acidity content, and then send the image of the fruit collected by the high-definition camera 36 to the PLC controller 13, and then transmit it to the PC for image recognition to identify the size of the fruit. The fruit grades are divided into sections, and the PC terminal feeds back the graded information to the PLC controller 13. The PLC controller 13 controls the first step motor 11 to drive the second steel ring 8 to put the sorted fruits into the corresponding slides. slot 9. The wavelength range of the laser beam emitted by the laser transmitter 29 is 350-1150 nm, and the laser beam emitted by the laser transmitter 29 is divided into two laser beams by the beam splitter 39, so that the two laser beams can guarantee the same frequency, which is convenient for the optical fiber spectrometer 35 to receive. The obtained spectrum was analyzed.

As shown in FIG. 6 , the bracket 7 includes a first metal aluminum strip 41 , a second steering gear 42 , a second metal aluminum strip 43 , and a second infrared receiver 44 . The second steering gear 42 is connected to the PLC controller 13 . , the first metal aluminum strip 41 is installed between the second steering gear 42 and the gear 6, the second metal aluminum strip 43 is installed between the rotating shaft of the second steering gear 42 and the second steel ring 8, and the second infrared receiver 44 is installed under the second metal aluminum strip 43. When the PLC controller 13 controls the first step motor 11 to rotate the bracket 7 to the top of the corresponding grading chute 9, the PLC controller 13 controls the second steering gear 42 to rotate forward, so that the The second metal aluminum strip 43 rotates diagonally downward to transfer the fruit in the second steel ring 8 to the grading chute 9, and slides into the carton 10 in the chute 9 for packing, and the second steel ring 8 rotates to the corresponding When the grading chute 9 is above, the second infrared receiver 44 receives the infrared light emitted by the infrared transmitter on the corresponding chute 9. At this time, the PLC controller 13 controls the second steering gear 42 to rotate forward to classify the second steel ring 8. The fruit is put into the chute 9, then the PLC controller 13 controls the second steering gear 42 to reverse, and the second steel ring 8 is retracted to the previous horizontal position, waiting for the next transfer of the fruit, the second steel ring 8 The steel bar 27 is welded into a circular shape, which is convenient for transporting the tested fruits.

As shown in FIG. 7 , the number of the chutes 9 is determined according to the number of levels that the user needs to classify, and each level is set with a chute 9 , and each chute 9 is provided with a second red launcher above it. 45. The second infrared transmitter is connected to the PLC controller 13. After the fruit is graded by the PC, the information is fed back to the PLC controller 13. The PLC controller 13 controls the second red transmitter on the corresponding grading chute 9. 45 emits infrared light, and the second red emitters 45 on other grading chutes 9 do not emit infrared light. When the second infrared receiver 44 receives infrared light, it indicates that the fruit should be placed in the chutes 9 there.

A sponge or a rubber ring is installed on the inner ring of the first steel ring 3 and the second steel ring 8 to buffer the falling fruit and prevent the fruit from being damaged in the first steel ring 3 from the sliding opening 2 , and prevent the damage of the fruit placed in the first steel ring 3 into the second steel ring 8 .

As shown in FIG. 9 , there is also a feeding machine beside the conveyor, which is used to grab the fruit and place it on the conveyor belt of the conveyor, wherein the feeding machine includes a first support plate 46 , a sliding plate 47 , a second Telescopic motor 48, air suction machine 49, second stepper motor 50, spur gear 51, second support plate 52, second metal aluminum plate 53, metal aluminum tube 54, rubber ring 55, first support plate 46 and second support The plate 52 is installed on the conveyor, the sliding plate 47 is installed on the top of the first support plate 46 and the second support plate 52, the aspirator 49 and the second stepper motor 50 are installed above the sliding plate 47, and the spur gear 51 is installed on the first support plate 46. On the rotating shafts of the two stepping motors 50, the PLC controller 13 controls the second stepping motor 50 to rotate, the second stepping motor 50 drives the spur gear 51 to rotate, and the rotation of the spur gear 51 pushes the sliding plate 47 on the first support The plate 46 and the second support plate 52 are slid on, the bottom of the second telescopic motor 48 is installed under the sliding plate 47, the second metal aluminum plate 53 is installed on the telescopic rod of the telescopic motor, and the metal aluminum tube 54 is installed on the second metal aluminum plate 53 Below, each metal aluminum tube 54 is provided with a rubber ring 55 to prevent the fruit from being damaged when it is sucked up. When the fruit needs to be grabbed and placed on the conveyor, the PLC controller 13 controls and controls the second stepper motor 50 to be positive. Turn, move the sliding plate 47 to the fruit stacking place outside the conveyor, and then the PLC controller 13 controls the second telescopic motor 48 to extend the telescopic rod, and pushes the second metal aluminum plate 53 to move down, so that the rubber ring 55 is close to the fruit, Then the PLC controller 13 controls the aspirator 49 to inhale, and sucks the fruit on the rubber ring 55 under the action of pressure, then the PLC controller 13 controls the second telescopic motor 48 to contract the telescopic rod, lifts the fruit, and then is controlled by the PLC The controller 13 controls the second stepper motor 50 to reverse, moves the sliding plate 47 to the top of the conveyor, the PLC controller 13 controls the second telescopic motor 48 to extend the telescopic rod, and then extends it to the conveyor, the PLC controller 13 The aspirator 49 is controlled to be closed, so that the aspirator 49 is deflated, and the fruit is dropped from the rubber ring 55 to the conveyor, that is, the grasping of the fruit is completed.

As shown in FIG. 10 , the top of the second support plate 52 is provided with a rack 56 , the spur gear 51 is engaged with the rack 56 through the sliding plate 47 , and the spur gear 51 is driven by the second stepping motor 50 to rotate, The spur gear 51 rolls on the rack 56 , thereby enabling the sliding plate 47 to move above the second support plate 52 .

As shown in FIG. 11 , the top end of the first support plate 46 is provided with a sliding rail 57 , which facilitates the sliding plate 47 to move above the first support plate 46 .

As shown in FIG. 12 , one end of the sliding plate 47 is provided with a groove 58, and two sides of the groove 58 are provided with small rollers 59. When the groove 58 is just on the first support plate 46, the small rollers 59 can assist To make the sliding plate 47 move more smoothly, the other end of the sliding plate 47 is provided with a through hole 60 , so that the spur gear 51 can pass through the sliding plate 47 to engage with the rack 56 .

As shown in FIG. 13 , the aspirator 49 and the metal aluminum pipe 54 are connected by a plastic pipe 61, and form a parallel connection, so that the aspirator 49 can absorb the air in the metal aluminum pipe 54 through the plastic pipe 61, Then suck up the fruit.

The working principle and working process of the utility model are as follows:

As shown in FIG. 8 , the PLC controller 13 controls and controls the second stepping motor 50 to rotate forward, moves the sliding plate 47 to the fruit stacking place outside the conveyor, and then the PLC controller 13 controls the second telescopic motor 48 to extend and retract. The rod pushes the second metal aluminum plate 53 down, so that the rubber ring 55 is close to the fruit, then the PLC controller 13 controls the aspirator 49 to inhale, and under the action of the pressure, the fruit is sucked on the rubber ring 55, and then the PLC controls The controller 13 controls the second telescopic motor 48 to shrink the telescopic rod, lifts the fruit, and then the PLC controller 13 controls the second stepper motor 50 to reverse, moves the sliding plate 47 to the top of the conveyor, and the PLC controller 13 controls the second stepper motor 50 to reverse. The telescopic motor 48 stretches out the telescopic rod, which will extend to the conveyor. The PLC controller 13 controls the aspirator 49 to close, so that the aspirator 49 is deflated, and the fruit is dropped from the rubber ring 55 to the conveyor. The controller 13 controls the conveyor 1 to transmit the fruit to be tested to the sliding opening 2, and then controls the servo motor 14 to rotate, and rotates the first steel ring 3 to the lower part of the sliding opening 2. When the first infrared receiver 21 receives the first steel ring When the infrared light emitted by the first infrared transmitter 26 on the 3, the collected information is transmitted to the PLC controller 13, indicating that the first steel ring 3 has reached the bottom of the sliding opening 2, and the PLC controller 13 controls the first telescopic The motor 20 pushes the movable frame 19, opens the first metal aluminum plate 16, and makes the fruit slide onto the first steel ring 3. The PLC controller 13 controls the servo motor 14 to continue to rotate, and transfers the fruit to be tested on the first steel ring 3 to the first steel ring 3. In the sorting machine 12, the laser beam emitted by the laser transmitter 29 is expanded by the convex lens 30, and then collimated by the plano-convex lens 40. The beam splitter 39 divides the laser beam into two light rays, one of which passes through the beam splitter 39. After that, it is directly irradiated on the fruit to be tested, and the other light is reflected on the fruit through the reflector 33. The two lasers irradiated on the fruit are diffusely reflected and diffusely transmitted in the fruit, and the diffusely reflected light is reflected to the first concave surface. In the mirror 31, the first concave mirror 31 is collected into the first fiber probe 32, and the first fiber probe 32 transmits the received light through the fiber 34 to the fiber spectrometer 35 for analysis, and the diffusely transmitted light is reflected to the optical fiber spectrometer 35. In the second concave mirror 37, the second concave mirror 37 is collected into the second fiber probe 38, and the second fiber probe 38 transmits the received light through the fiber 34 to the fiber spectrometer 35 for analysis, and the fiber spectrometer 35 analyzes The final result is transmitted to the PC, where the fruit absorption spectrum is imported into the established fruit sugar and acidity prediction model to obtain the fruit sugar and acidity content, and then the image of the fruit captured by the high-definition camera 36 is sent to the PLC The controller 13 then transmits it to the PC side for image recognition to identify the size of the fruit. The PC side divides the fruit grades according to the size, sugar and acidity of the fruit, and the PC side feeds back the graded information to the PLC control. controller 13, the PLC controller 13 controls the first step motor 11 to drive the second steel ring 8 to rotate below the first steel ring 3, P The LC controller 13 controls the first steering gear 24 to reverse, so that the two steel bars 27 are separated, and the fruit is dropped from the two steel bars 27 into the second steel ring 8, and the second steel ring 8 is rotated to the corresponding grading chute 9. When it is above, the second infrared receiver 44 receives the infrared light emitted by the infrared transmitter on the corresponding chute 9. At this time, the PLC controller 13 controls the second steering gear 42 to rotate forward and puts the graded fruit of the second steel ring 8 into the In the chute 9, then the PLC controller 13 controls the second steering gear 42 to reverse, and the second steel ring 8 is retracted to the previous horizontal position, waiting for the next transfer of the fruit, the second steel ring 8 is welded with steel bars 27 In a round shape, it is convenient to transport the tested fruit.

Claims (10)

1. The utility model provides a fruit automatic separation device based on diffuse reflection and diffuse transmission which characterized in that: comprises a conveyor, a sliding opening, a first steel ring, steel bars, an iron ring, a gear, a bracket, a second steel ring, a sliding chute, a carton, a first stepping motor, a sorting machine, a PLC controller, a servo motor and a support frame, wherein the right end of the conveyor is provided with the sliding opening, the conveyor transports fruits to be detected to the sliding opening, the fruits to be detected enter the first steel ring from the sliding opening, the servo motor is arranged below the iron ring, the support frame is arranged in the iron ring, the center of the support frame is connected with the rotating shaft of the servo motor, the PLC controller is arranged beside the servo motor, the servo motor is controlled by the PLC controller to rotate, so that the servo motor drives the support frame to rotate, and further drives the iron ring to rotate, a plurality of steel bars are arranged on the edge of the iron ring at equal intervals, the first steel ring is arranged on each steel bar and used for transferring the fruits at the sliding opening, the sorting machine is arranged on the, the sorting machine comprises a laser emitter, a convex lens, a first concave mirror, a first optical fiber probe, a reflector, an optical fiber spectrometer, a high-definition camera, a second concave mirror, a second optical fiber probe, a spectroscope and a plano-convex lens, wherein the first optical fiber probe, the second optical fiber probe and the optical fiber spectrometer are connected through optical fibers, the convex lens is arranged between the laser emitter and the plano-convex lens, the spectroscope is arranged below the plano-convex lens, the reflector is arranged on the horizontal direction of the spectroscope, the first concave mirror and the second concave mirror are arranged opposite to each other, the first optical fiber probe is arranged below the first concave mirror, the second optical fiber probe is arranged below the second concave mirror, the high-definition camera is arranged below the reflector, and is used for detecting the size of high-definition fruit, when a servo motor rotates fruits on a first steel ring into a sorting machine, a laser beam emitted by a laser emitter is expanded through a convex lens, the expanded laser beam is collimated through a plano-convex lens, the laser beam is divided into two paths of light rays through a spectroscope, one path of light ray directly irradiates the fruits to be detected after passing through the spectroscope, the other path of light ray is reflected to the fruits through a reflector, the two paths of laser irradiating the fruits are subjected to diffuse reflection and diffuse transmission in the fruits, the light rays after diffuse reflection are reflected to a first concave mirror, the light rays after diffuse reflection are converged to a first optical fiber probe in the first concave mirror, the first optical fiber probe transmits the received light to an optical fiber spectrometer through an optical fiber for analysis, the light rays after diffuse transmission are reflected to a second concave mirror and converged to a second optical fiber probe in the second concave mirror, and the second optical fiber probe transmits the received light to the optical fiber spectrometer for analysis through the optical fiber, the optical fiber spectrometer transmits the analyzed result to a PC (personal computer) end, fruit absorption spectra are guided into the established fruit sugar and acidity prediction model at the PC end to obtain the fruit sugar and acidity content, then images of fruits collected by a high-definition camera are transmitted to a PLC (programmable logic controller), and then the images are transmitted to the PC end to be subjected to image recognition, so that the size of the fruits is recognized, the PC end divides the fruit grade according to the size of the fruits, the sugar and the acidity, the PC end feeds the classified information back to the PLC, and the PLC controls a first step motor to drive a second steel ring to place the sorted fruits into corresponding sliding grooves.

2. The fruit automatic sorting device based on diffuse reflection and diffuse transmission according to claim 1, characterized in that: the first stepping motor is controlled by the PLC to rotate, the first stepping motor drives the gear to rotate, the gear drives the support to rotate, the second steel ring is driven to rotate, a carton is placed below each inclined sliding groove, the servo motor drives the iron ring to rotate, the first steel ring is moved to the position below the sliding opening, the sliding opening slides fruits transmitted by the conveyor onto the first steel ring, the fruits to be detected are transferred into the sorting machine along with the rotation of the servo motor, after the sorting machine is classified, the first stepping motor drives the second steel ring to be transferred to the position below the first steel ring in the sorting machine, the detected fruits in the first steel ring are received, the fruits continue to rotate, the fruits are transferred to the positions above the sliding grooves, the fruits are placed on the corresponding sliding grooves according to the classification types of the sliding grooves, and the fruits slide into the carton on the sliding grooves.

3. The fruit automatic sorting device based on diffuse reflection and diffuse transmission according to claim 2, characterized in that: the landing mouth includes first metallic aluminum plate, the metal frame, the hinge, the adjustable shelf, first flexible motor, first infrared receiver, adopt two the same first metallic aluminum plate installation metal frames, adopt hinge connection between first metallic aluminum plate and the metal frame, be equipped with the adjustable shelf on two first metallic aluminum plate, and the common end of adjustable shelf connects on the telescopic link of first flexible motor, realize opening and shutting first metallic aluminum plate by the tensile or compression adjustable shelf of the first flexible motor of PLC controller control, and then control the apple and slide to first steel ring from the landing mouth, first infrared receiver installs on the metal frame edge, whether be used for detecting first steel ring reachs landing mouth below.

4. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 3, wherein: the adjustable shelf comprises metal aluminum and bolts, a V-shaped structure is formed by combining four metal aluminum strips, the two metal aluminum strips are connected through bolts, corresponding nuts are matched again to connect the two metal aluminum strips together, one ends of the two metal aluminum strips are connected with the first metal aluminum plate, and the joint of the other two metal aluminum strips is connected with the telescopic rod of the first telescopic motor.

5. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 4, wherein: the first steel ring comprises a first steering engine, a first half gear, a first infrared emitter, a reinforcing steel bar and a second half gear, the first steering engine is arranged on the steel bar, the first half gear is arranged on a rotating shaft of the first steering engine, the second half gear is arranged beside the first half gear, the first half gear is meshed with the second half gear, two identical reinforcing steel bars are arranged on the first half gear and the second half gear, the reinforcing steel bars are arranged in a concave shape, the first infrared emitter is arranged on the reinforcing steel bars, the PLC controller controls the first steering engine to rotate so as to drive the first half gear to rotate, the first half gear is in transmission with the second half gear, the first steering engine rotates forwards to move the two reinforcing steel bars towards the middle, the two reinforcing steel bars form a circular ring, when the first steel ring rotates to the lower part of the sliding port, infrared light emitted by the first infrared emitter is received by the first infrared receiver, the PLC controller controls the first telescopic motor to open the first metal aluminum plate, the fruit to be measured slides to the first steel ring, and when the first steel ring drives the fruit to enter the sorting machine and is detected to be finished, the PLC controller controls the first steering engine to rotate reversely, so that the two steel bars are separated, and the fruit drops into the second steel ring from the two steel bars.

6. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 5, wherein: the support includes first metal aluminium strip, the second steering wheel, the second metal aluminium strip, the second steel ring, second infrared receiver, first metal aluminium strip is installed between second steering wheel and gear, the second metal aluminium strip is installed between the axis of rotation of second steering wheel and the second steel ring, second infrared receiver installs in second metal aluminium strip below, when PLC controller control first step motor rotated the support to corresponding hierarchical spout top, PLC controller control second steering wheel corotation makes the second metal aluminium strip rotate to the slant, forward the fruit in the second steel ring in the hierarchical spout, slide in the spout and pack in the carton.

7. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 6, wherein: the number of the chutes is determined according to the grading number of the user's needs, a chute is set for each grade, a second red emitter is arranged above each chute in an inclined mode, the second infrared emitter is connected with the PLC, after fruits are graded at the end of the PC, information is fed back to the PLC, the PLC controls the second red emitters on the corresponding grading chutes to emit infrared light, the second red emitters on other grading chutes do not emit infrared light, and when the second infrared receiver receives the infrared light, the fact that the fruits are to be placed in the chutes at the positions is indicated.

8. The fruit automatic sorting device based on diffuse reflection and diffuse transmission according to claim 1, characterized in that: the fruit picking and placing device is characterized in that a feeding machine is further arranged beside the conveyor and used for picking and placing fruits onto a conveyor belt of the conveyor, the feeding machine comprises a first supporting plate, a sliding plate, a second telescopic motor, an air suction machine, a second stepping motor, a straight gear, a second supporting plate, a second metal aluminum plate, a metal aluminum pipe and a rubber ring, the first supporting plate and the second supporting plate are installed on the conveyor, the sliding plate is installed at the top ends of the first supporting plate and the second supporting plate, the air suction machine and the second stepping motor are installed above the sliding plate, the straight gear is installed on a rotating shaft of the second stepping motor, the second stepping motor is controlled by a PLC (programmable logic controller) to rotate, the second stepping motor drives the straight gear to rotate, the sliding plate is pushed to slide on the first supporting plate and the second supporting plate by the rotation of the straight gear, the bottom of the second telescopic motor is installed below the sliding plate, the metal aluminum pipe is arranged below the second metal aluminum plate, and a rubber ring is arranged below each metal aluminum pipe.

9. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 8, wherein: the top end of the second supporting plate is provided with a rack, the straight gear penetrates through the sliding plate to be meshed with the rack, the second stepping motor drives the straight gear to rotate, and the straight gear rolls on the rack, so that the sliding plate can move above the second supporting plate.

10. The fruit automatic sorting device based on diffuse reflection and diffuse transmission according to claim 9, characterized in that: one end of the sliding plate is provided with a groove, small idler wheels are arranged on two sides of the groove, and the other end of the sliding plate is provided with a through hole, so that a straight gear can conveniently penetrate through the sliding plate to be meshed with the rack.

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