CN212697554U - Automatic peeling equipment for dried sweet potato processing based on machine vision - Google Patents
Automatic peeling equipment for dried sweet potato processing based on machine vision Download PDFInfo
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- CN212697554U CN212697554U CN202020920842.XU CN202020920842U CN212697554U CN 212697554 U CN212697554 U CN 212697554U CN 202020920842 U CN202020920842 U CN 202020920842U CN 212697554 U CN212697554 U CN 212697554U
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Abstract
The utility model discloses an automatic peeling apparatus of dried sweet potato processing based on machine vision, its characterized in that includes conveyor I, peeling apparatus and conveyor II, one side of peeling apparatus is provided with conveyor I, and the opposite side is provided with conveyor II. The self-stress induction device is adopted in the transportation process of the sweet potatoes, so that the sweet potatoes in the transportation process are always kept stable and do not roll and fall off accidentally; meanwhile, the mechanical and automatic peeling operation of the sweet potatoes can be realized on one peeling production line, the defects of the peeled sweet potatoes are detected by the vision system, the result is obtained by the analysis of the vision system and is fed back to the multifunctional manipulator for the independent peeling and hole digging operation, the manual secondary inspection is not needed, and the peeling operation efficiency of the sweet potatoes is greatly improved.
Description
Technical Field
The utility model relates to an agricultural product processingequipment especially relates to an automatic peeling apparatus of dried sweet potato processing based on machine vision.
Background
Sweet potatoes are also called sweet potatoes, are rich in nutrition, wide in planting area, difficult to consume huge production amount of sweet potatoes when being eaten fresh, and difficult to store fresh sweet potatoes, so that the sweet potatoes are urgent needs of sweet potato planting households at present. Sweet potato can be processed into various foods, such as potato chips, dried sweet potato, etc. In the process of making the dried sweet potato processed food, the sweet potatoes need to be cleaned, peeled, cut into strips, steamed, blanched, drained, dried, vacuum-packaged and the like, wherein the peeling process of the sweet potatoes is the first process, and the peeling quality directly influences the quality of dried sweet potato products. Because of the individual growth difference of the sweet potatoes and the various appearance characteristics of the sweet potatoes, the sweet potatoes are difficult to peel once, particularly, the pits on the surfaces of the sweet potatoes, which are uneven, are difficult to peel mechanically, most of the prior sweet potatoes rely on manual peeling for the second time, the peeling efficiency is low, and the labor cost investment is high.
The sweet potatoes are easy to oxidize in the air after being peeled, a rotary peeling process is mostly adopted in the market at present, the sweet potatoes which advance forwards in a rotary mode are cut and peeled through a cutter, the cutter cannot peel the sweet potatoes completely according to the appearance of the sweet potatoes, the skins of the sweet potatoes can be removed only by cutting off the relatively deep sweet potatoes through the cutter, the surfaces of the sweet potatoes which are cut and peeled through the cutter are uneven, the depths of the sweet potatoes are different, and the peeling rate is relatively low.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem existing in the above, the utility model discloses a following scheme:
an automatic dried sweet potato peeling device based on machine vision is characterized by comprising a conveying device I, a peeling device and a conveying device II, wherein the conveying device I is arranged on one side of the peeling device, and the conveying device II is arranged on the other side of the peeling device; the conveying device I comprises a horizontal conveying mechanism, an upper slope conveying mechanism and a top conveying mechanism; the peeling device comprises a gripping device, a gripping device end effector, a peeling assembly, a tray device, a vision system and a multifunctional manipulator; and the conveying device II comprises a mechanism to be conveyed, a downward slope conveying mechanism and a receiving mechanism.
The automatic dried sweet potato peeling equipment based on machine vision is characterized in that an upper slope conveying mechanism of the conveying device I is provided with a self-stress induction device, and the stable state of the sweet potatoes in the upward moving and conveying process is kept.
The machine vision-based automatic dried sweet potato peeling equipment is characterized in that the horizontal conveying mechanism, the upper slope conveying mechanism and the top conveying mechanism are provided with driving devices, the driving devices are controlled and operated independently and do not interfere with each other, and a power source of the driving devices is a motor.
The automatic dried sweet potato peeling equipment based on machine vision is characterized in that an end effector of a grabbing device of a peeling device is provided with a self-induction force device, and instantaneous mechanical data of the grabbed sweet potatoes can be fed back in real time.
The automatic peeling equipment for dried sweet potato processing based on machine vision is characterized in that the tray device is provided with a gravity sensing device and an automatic ejector pin device, the gravity sensing device is used for detecting that sweet potatoes are stably placed on the tray device, the automatic ejector pin device abuts against the bottom of the sweet potatoes and then penetrates through retractable ejector pins to fix the sweet potatoes, and the bottom of the tray device is provided with a rotating mechanism.
The automatic peeling equipment for dried sweet potato processing based on machine vision is characterized in that the vision system can perform 360-degree image shooting and data analysis on peeled sweet potatoes on the tray device and transmit the analyzed data information to the multifunctional manipulator.
The machine vision-based automatic dried sweet potato peeling equipment is characterized in that the vision system comprises a camera with a data analysis and processing system and a computer.
The automatic dried sweet potato peeling equipment based on machine vision is characterized in that a self-gravity sensing device is arranged on a downward slope conveying mechanism of the conveying device II so as to keep the sweet potatoes in a stable state all the time.
The machine vision-based automatic dried sweet potato peeling equipment is characterized in that a conveying mechanism to be conveyed and a downward slope conveying mechanism of a conveying device II are provided with driving devices, the driving devices are controlled independently, and a power source of each driving device is a motor;
the storage mechanism is provided with a self-propelled device.
The automatic dried sweet potato peeling equipment based on machine vision is characterized in that the multifunctional manipulator is provided with a double-arm cooperative mechanism, the double-arm cooperative mechanism can be used for controlling the mechanical arms to independently move and cooperatively operate, and the end effectors of the two mechanical arms of the multifunctional manipulator are respectively a grabbing mechanism with a self-stress induction device and a cutter which runs without dead space.
This automatic equipment of skinning of dried sweet potato processing based on machine vision has following beneficial effect:
1. the utility model discloses an automatic peeling apparatus of sweet potato dry processing based on machine vision can realize mechanized, 360 accessible peel, dig operation such as hole alone to irregular sweet potato through visual system, reduces the hand labor input, improves mechanical type sweet potato peeling operation production efficiency greatly.
2. The utility model discloses an automatic peeling apparatus of sweet potato dry processing based on machine vision adopts from stress-induction device, and the sweet potato makes the sweet potato in the transportation process remain throughout steadily, do not take place the unexpected situation that the roll dropped through this from stress-induction device in transportation process.
3. The utility model discloses an automatic peeling apparatus of sweet potato dry processing based on machine vision can realize the sweet potato operation of shelling on a production water line of shelling, detects the defect that the sweet potato after once shelling exists through visual system, reachs the result and feeds back to multi-functional manipulator through visual system analysis and peels alone and dig the hole operation, need not artifical inspection once more.
Drawings
FIG. 1 is a schematic structural diagram of an automatic peeling device for dried sweet potato processing based on machine vision;
fig. 2 is a schematic diagram of the operation of the peeling apparatus.
Description of reference numerals:
1, conveying a device I; 1-01 horizontal conveying mechanism; 1-02 an upper slope conveying mechanism; 1-03 top conveying mechanism; 2, a peeling device; 2-01 a gripping device; 2-02 an end effector of the gripping device; 2-03 vision system; 2-04 multifunctional manipulator; 2-05 pallet means; 2-06 a peeling component; 3, a conveying device II; 3-01 mechanism to be conveyed; 3-02 descending slope conveying mechanism; 3-03, a storage mechanism.
Detailed Description
The following detailed description will be made in conjunction with the accompanying drawings to make the technical solution of the present invention easier to understand and master.
Referring to fig. 1 and 2, an automatic peeling device for dried sweet potato processing based on machine vision comprises a conveying device I1, a peeling device 2 and a conveying device II 3, wherein the conveying device I1 comprises an initial horizontal conveying mechanism 1-01, an upper slope conveying mechanism 1-02 and a top conveying mechanism 1-03; the peeling device 2 comprises a gripping device 2-01, a gripping device end effector 2-02, a peeling component 2-06, a tray device 2-05, a vision system 2-03 and a multifunctional manipulator 2-04; the conveying device II 3 comprises a mechanism to be conveyed 3-01, a down slope conveying mechanism 3-02 and a receiving mechanism 3-03.
The conveying device I1 is used for conveying the cleaned sweet potatoes to be peeled to a peeling station, wherein a roller is arranged on a conveying plane of the initial horizontal conveying mechanism 1-01 and is in a gear shaft shape, two ends of the roller are fixedly arranged on the inner sides of two side plates of the initial horizontal conveying mechanism, brushes are arranged around the roller, the conveying device I1 can rotate through a driving device, the roller cleans the skins of the sweet potatoes through rotation and continuously conveys the sweet potatoes to a joint of the initial horizontal conveying mechanism 1-01 and the upper slope conveying mechanism 1-02; the upper slope conveying mechanism 1-02 is provided with a gravity self-induction device, so that the sweet potatoes are always kept in a stable state in the process of circularly moving upwards, and the situation that the sweet potatoes roll off due to unstable direction or position deviation in the operation process of the upper slope conveying mechanism 1-02 is avoided; the top conveying mechanism 1-03 is the last conveying mechanism of the conveying device I1 and is used for conveying the sweet potatoes conveyed by the upper slope conveying mechanism 1-02 to the next station, namely the station 2 of the device to be peeled, according to a certain speed.
The three mechanisms of the initial horizontal conveying mechanism 1-01, the upper slope conveying mechanism 1-02 and the top conveying mechanism 1-03 of the conveying device I1 can be controlled by different movement speeds according to requirements, can run independently and do not interfere with each other.
The peeling device 2 comprises a grabbing device 2-01, a grabbing device tail end execution device 2-02, a peeling assembly 2-06, a tray device 2-05, a vision system 2-03 and a multifunctional manipulator 2-04; the gripping device 2-01 is used for carrying out fixed speed ration with the sweet potato that conveyor I1 sent and snatchs to waiting to operate the station, and gripping device 2-01's drive arrangement can realize 360 no dead angles of whole device location fixed speed snatchs, realizes accessible snatching the sweet potato in the space, and gripping device end effector 2-02 is equipped with from stress induction system simultaneously, and in the moment of snatching the sweet potato, through the data analysis system that feeds back force data to gripping device from stress induction system, can realize that the sweet potato is not damaged and snatchs. The sweet potato peeling machine comprises a grabbing device 2-01, sweet potatoes are grabbed to a tray device 2-05 in a positioning mode and wait for peeling operation, the tray device 2-05 is provided with a gravity sensing device and an automatic ejector pin device, after the sweet potatoes are grabbed and placed on the tray device 2-05, the tray device detects that the sweet potatoes are stably placed on a station through the gravity sensing device, the automatic ejector pin device is a slender shaft type mechanism with sharp and protruding top ends, the automatic ejector pin device is arranged from top to bottom, firstly abuts against the bottom of the sweet potatoes, then the sweet potatoes are punctured through telescopic ejector pins, after the sweet potatoes are punctured to a certain position, the ejector pins are stopped, the tray device 2-05 is driven by a driving device to rotate at a constant speed, the rotating speed of the tray 2-05 is based on the best peeling effect, the rotating speed is about 1-2 revolutions per second, and the sweet potatoes are also driven to.
At the moment, a power source of the peeling assembly 2-06 is driven, the peeling assembly 2-06 moves close to the tray device 2-05 at a certain speed, the speed is reduced when the peeling assembly approaches the surface of the sweet potato, the peeling assembly slowly approaches, the tail end of the peeling assembly 2-06 is provided with a force feedback device, after the peeling assembly contacts the surface of the sweet potato, the force feedback device can sense peeling operation according to set force data, the peeling assembly is fixed, the tray device 2-05 is driven to rotate and move vertically in space at a constant speed, and the peeling assembly 2-06 can uniformly peel the sweet potato fixed on the tray device 2-05.
After the peeling operation of the sweet potatoes is finished, driving a power source of the peeling assembly, and returning the peeling assembly to the initial position to wait for the next operation; at the moment, a vision system is used for detecting peeled sweet potatoes in 360 degrees without dead angles, image information of peeled sweet potatoes collected by the vision system 2-03 is collected and then is subjected to data processing and analysis, whether incomplete peeling points exist on the surfaces of the sweet potatoes, positions needing to be removed due to growth factors and the like are analyzed, and whether the skins of the sweet potatoes are completely removed is judged through analyzing the images by the data analysis and processing system; the vision system 2-03 feeds back an analysis result to the multifunctional manipulator 2-04 after data analysis, the multifunctional manipulator 2-04 carries out independent peeling and digging operations on incomplete peeling points and positions needing digging due to growth factors, the multifunctional manipulator 2-04 has double-arm functions, one mechanical arm is used for peeling and digging holes to realize targeted auxiliary peeling operation of the sweet potatoes, and the other mechanical arm is used for transferring an operation link from a peeling device to the next process after the peeling operation of the sweet potatoes is completed; the end effector of the mechanical arm for peeling and digging the hole is a cutter which can realize the operation without dead space, the end effector of the mechanical arm for picking the peeled sweet potato is provided with a force feedback device which can carry out the non-destructive picking operation on the peeled sweet potato, and the multifunctional manipulator 2-04 is provided with two multi-joint serial manipulators which can have n degrees of freedom, wherein n is 3,4,5 or 6 … ….
The conveying device II 3 comprises a mechanism to be conveyed 3-01, a downslope conveying mechanism 3-02 and a receiving mechanism 3-03. The finished sweet potatoes which are processed in the sweet potato removing operation process are removed by the peeling device 2, and the sweet potatoes are shifted to the conveying mechanism of the conveying device II 3 one by one through the mechanical arm used for grabbing the sweet potatoes of the multifunctional manipulator to wait for driving the power source of the conveying mechanism, so that the sweet potatoes placed on the conveying mechanism are conveyed. The lower slope conveying mechanism 3-02 of the conveying device II 3 is provided with a self-gravity sensing device, the sweet potatoes which are peeled and conveyed to the lower slope conveying mechanism 3-02 are always kept in a stable state under the action of gravity sensing, and the positions of the sweet potatoes on the lower slope conveying mechanism 3-02 cannot be influenced by the conveying process; the tail end of the downward slope conveying mechanism 3-02 is provided with a receiving mechanism 3-03 which is used for collecting the sweet potatoes which are peeled off, when the capacity of the receiving mechanism 3-03 is full, the receiving mechanism 3-03 is provided with a self-walking device which can be a device with an automatic cruising walking function at the bottom end of the receiving mechanism, after peeling is finished, the receiving mechanism is filled with peeled sweet potatoes, the self-walking device can automatically walk according to a set path, and the sweet potatoes are conveyed to the next station for processing the sweet potatoes through a conveying path to wait for operation.
The self-stress induction device transmits the sweet potato balance data to the control system through the gravity balance sensor, and the induction device keeps the sweet potatoes balanced and stable after obtaining the balance data.
The machine vision-based automatic dried sweet potato peeling method comprises the following steps:
s1, placing the cleaned sweet potatoes to be peeled on a horizontal conveying mechanism of a conveying device I at the room temperature of 10-14 ℃, cleaning the skins of the sweet potatoes through a roller and a brush arranged on the roller, and conveying the sweet potatoes to a peeling device;
s2, grabbing the sweet potatoes cleaned and brushed on the surfaces in the step S1 to a tray device, wherein the tray device is provided with a thimble device for fixing the sweet potatoes;
s3, driving the peeling assembly, enabling the peeling assembly to abut against the surface of the sweet potato, enabling the tray device to rotate, enabling the rotation speed of the tray device to be 1-2r/s generally, and enabling the sweet potato to move up and down at a constant speed through the ejector pin device;
s4, after peeling is finished, resetting the peeling assembly, carrying out data processing analysis after the peeled sweet potato epidermis image information collected by the visual system is collected, analyzing whether incomplete peeling points exist on the surface of the sweet potato, and analyzing whether the part needing to be removed exists due to growth factors, wherein no residue exists on the white cortex of the sweet potato epidermis, namely the peeling is qualified, and feeding information back to the multifunctional manipulator;
s5, the multifunctional manipulator carries out independent peeling and digging operation on the incomplete peeling points and the positions needing to be dug due to growth factors, and then the processed sweet potatoes are conveyed to a conveying device II;
and S6, conveying the peeled sweet potatoes to a storage mechanism of the conveying device II for storage.
The utility model discloses an automatic peeling apparatus of sweet potato dry processing based on machine vision can realize mechanized, 360 accessible peels, digs operation such as hole alone to irregular sweet potato through the vision system, reduces artifical labour's input, improves mechanical type sweet potato peeling operation production efficiency greatly;
the self-stress induction device is adopted, so that the sweet potatoes in the conveying process are always kept stable and do not roll and fall off in the conveying process;
the sweet potato peeling operation can be realized on a peeling production line, the defects of the peeled sweet potatoes are detected by the vision system, the result is obtained by the analysis of the vision system and is fed back to the multifunctional manipulator for the independent peeling and hole digging operation, and manual secondary inspection is not needed.
The examples are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any obvious improvements, substitutions or modifications which can be made by those skilled in the art without departing from the essence of the present invention belong to the protection scope of the present invention.
Claims (10)
1. An automatic sweet potato stem processing peeling device based on machine vision is characterized by comprising a conveying device I (1), a peeling device (2) and a conveying device II (3), wherein the conveying device I (1) is arranged on one side of the peeling device (2), and the conveying device II (3) is arranged on the other side of the peeling device; the conveying device I (1) comprises a horizontal conveying mechanism (1-01), an upper slope conveying mechanism (1-02) and a top conveying mechanism (1-03); the peeling device (2) comprises a grabbing device (2-01), a grabbing device end effector (2-02), a peeling assembly (2-06), a tray device (2-05), a vision system (2-03) and a multifunctional manipulator (2-04); the conveying device II (3) comprises a mechanism to be conveyed (3-01), a downward slope conveying mechanism (3-02) and a receiving mechanism (3-03).
2. The automatic dried sweet potato peeling equipment based on the machine vision is characterized in that an upper slope conveying mechanism of the conveying device I (1) and a lower slope conveying mechanism of the conveying device II (3) are provided with self-stress sensing devices, the stable state of the sweet potatoes in the upward moving conveying process is maintained, the self-stress sensing devices transmit sweet potato balance data to a control system through a gravity balance sensor, and the balance data are maintained to be balanced and stable after the sensing devices obtain the balance data.
3. The machine vision-based automatic dried sweet potato peeling equipment is characterized in that the horizontal conveying mechanism, the upward slope conveying mechanism and the top conveying mechanism are provided with driving devices, the driving devices are controlled and operated independently and do not interfere with each other, and a power source of the driving devices is a motor.
4. The machine vision-based automatic dried sweet potato peeling equipment is characterized in that an end effector (2-02) of a grabbing device of the peeling device (2) is provided with a self-induction force device, so that instantaneous mechanical data of the grabbed sweet potatoes can be fed back in real time.
5. The automatic peeling equipment for dried sweet potatoes based on machine vision is characterized in that the tray device is provided with a gravity sensing device and an automatic ejector pin device, the gravity sensing device is used for detecting that the sweet potatoes are stably placed on the tray device, the automatic ejector pin device is abutted against the bottom of the sweet potatoes and then fixed by puncturing through retractable ejector pins, and the bottom of the tray device is provided with a rotating mechanism.
6. The automatic peeling device for dried sweet potato processing based on machine vision as claimed in claim 1, wherein said vision system (2-03) can take 360 ° image of peeled sweet potato on the tray device and analyze data, and transmit the analyzed data information to said multifunctional manipulator.
7. Machine vision based automatic potato stem processing peeling device as claimed in claim 1 or 6, characterized in that said vision system (2-03) comprises a camera with data analysis processing system and a computer.
8. The machine vision-based automatic dried sweet potato peeling equipment is characterized in that a conveying mechanism to be conveyed and a downward slope conveying mechanism of the conveying device II (3) are provided with driving devices, the driving devices are controlled independently, and a power source of each driving device is a motor;
the bottom of the storage mechanism (3-03) is provided with a self-walking device, the self-walking device comprises an automatic cruising walking device arranged at the bottom end of the storage mechanism (3-03), the storage mechanism is filled with peeled sweet potatoes after peeling is finished, and the self-walking device can automatically walk according to a set walking path.
9. The automatic peeling equipment for dried sweet potato processing based on machine vision as claimed in claim 1 or 6, characterized in that the multifunctional manipulator (2-04) is provided with a double-arm cooperative mechanism, the double-arm cooperative mechanism is two multi-joint serial manipulators, and can have n degrees of freedom, and n is more than or equal to 3.
10. The machine vision-based automatic dried sweet potato peeling equipment is characterized in that the double-arm cooperative mechanism is used for controlling the mechanical arms to independently move and can cooperate to jointly meet the operation requirement; the end effectors of the two mechanical arms of the multifunctional manipulator (2-04) are respectively provided with a grabbing mechanism and a cutter, the grabbing mechanism is provided with a self-stress induction device, and the cutters can run in space without dead angles.
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| CN202020920842.XU CN212697554U (en) | 2020-05-27 | 2020-05-27 | Automatic peeling equipment for dried sweet potato processing based on machine vision |
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| CN202020920842.XU CN212697554U (en) | 2020-05-27 | 2020-05-27 | Automatic peeling equipment for dried sweet potato processing based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111480861A (en) * | 2020-05-27 | 2020-08-04 | 浙江省农业科学院 | Machine vision-based automatic peeling equipment and peeling method for dried sweet potato processing |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111480861A (en) * | 2020-05-27 | 2020-08-04 | 浙江省农业科学院 | Machine vision-based automatic peeling equipment and peeling method for dried sweet potato processing |
| CN111480861B (en) * | 2020-05-27 | 2024-02-23 | 浙江省农业科学院 | Automatic peeling equipment and peeling method for dried sweet potato processing based on machine vision |
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