CN214555458U

CN214555458U - Wai gan automatic grading device based on machine vision

Info

Publication number: CN214555458U
Application number: CN202120619910.3U
Authority: CN
Inventors: 黄磊; 谢晓媛; 韦世集; 卢芳革
Original assignee: Guangxi Safety Engineering College
Current assignee: Guangxi Safety Engineering College
Priority date: 2021-03-26
Filing date: 2021-03-26
Publication date: 2021-11-02
Anticipated expiration: 2031-03-26

Abstract

The utility model discloses a oranges and tangerines automatic grading plant of woing based on machine vision, including CCD camera, collection workbin, frame and conveyer belt, the conveyer belt is installed at the top of frame, and the internally mounted of conveyer belt below frame has servo motor to the internally mounted of servo motor one end frame has the controller, install first assembly substrate in the frame of conveyer belt top. The utility model discloses an install first assembly substrate, the second assembly substrate, reserve the draw runner and reserve the spout, make the device optimize the structure of self, during the use, the user can utilize the sliding connection structure who reserves the draw runner and reserve the spout and constitute, the locking fixed action that cooperation stay and screw constitute, dismantle or assemble first assembly substrate and second assembly substrate and frame, and then make the device realize the advantage of combination formula, convenient to use person carries out dismouting and maintenance with arm structure and CCD camera structure.

Description

Wai gan automatic grading device based on machine vision

Technical Field

The utility model relates to a mandarin orange processing equipment technical field specifically is based on machine vision's automatic grading plant of mandarin orange of woolling orange.

Background

The woolly oranges are popular with consumers due to the advantages of good mouthfeel, high nutritional value and the like, the woolly oranges are often required to be subjected to grading packaging treatment in the actual processing process, and an automatic woolly oranges grading device is required at the moment, but the existing automatic woolly oranges grading device has the following problems in actual use:

1. the common automatic sorting device for the Wo oranges has the defects that the Wo oranges are not easy to intelligently sort by using machine vision and are not easy to automatically sort and collect, so that the using effect of the device is poor;

2. the existing Wo orange automatic grading device on the market also has the defects of single structure and difficult disassembly, assembly and maintenance, which leads to low practicability of the device;

the existing automatic sorting device for the oranges has the problems of poor buffering and protecting performance, no baffle structure and easy slipping of the oranges, and is not favorable for long-term popularization.

Disclosure of Invention

An object of the utility model is to provide a chinese orange automatic classification device based on machine vision to solve the difficult machine vision that provides among the above-mentioned background art and carry out intelligent grading and difficult automation classification collection chinese orange to chinese orange, single structure, difficult dismouting are maintained and buffering protective properties is poor and do not set up the problem of baffle structure, chinese orange easy landing to chinese orange.

In order to achieve the above object, the utility model provides a following technical scheme: wa mandarin orange automatic grading plant wonder based on machine vision, including CCD camera, collection workbin, frame and conveyer belt, the conveyer belt is installed at the top of frame, and the internally mounted of conveyer belt below frame has servo motor to the internally mounted of servo motor one end frame has the controller, install first assembly substrate in the frame of conveyer belt top, and the bottom of first assembly substrate installs the CCD camera, install second assembly substrate in the frame that the conveyer belt one end was kept away from to the CCD camera, and the bottom of second assembly substrate installs driving motor to driving motor's output installs electric telescopic handle, electric telescopic handle's bottom is installed the arm, and the bottom of arm installs electric anchor clamps, and the frame is kept away from the one end of conveyer belt and evenly installs and gathers materials the workbin with electric anchor clamps assorted.

Preferably, the workbin that gathers materials is provided with 3, and the inside wall of gathering materials the workbin all is provided with the sponge inoxidizing coating, and the inside wall of electric fixture is provided with the rubber buffer layer, makes it prevent scraping the effect when having promoted electric fixture centre gripping oranges and tangerines, has alleviateed the harm of device to oranges and tangerines of running.

Preferably, the one end that the case that gathers materials is close to the frame evenly welds has the inserted bar, evenly be fixed with in the frame with inserted bar assorted slot, and gather materials the case and constitute with the frame and dismantle mounting structure, make its convenient to use person with three case that gathers materials dismantle or assemble in the frame.

Preferably, the both ends of frame bottom all evenly weld have spacing stabilizer blade, and the bottom of spacing stabilizer blade is provided with anti-skidding rubber pad to the one end of spacing stabilizer blade bottom evenly is provided with fixing bolt, makes its convenient to use person carry out fixed mounting with the device with ground, thereby has strengthened the stability of device.

Preferably, side baffles are welded on the racks on the two sides of the conveying belt, and the output end of the servo motor is connected with the conveying belt through a belt pulley mechanism, so that the two sides of the conveying belt can be limited, and the orange is prevented from slipping.

Preferably, the two ends of the top of the first assembling substrate and the top of the second assembling substrate are welded with reserved sliding strips, the frame is evenly provided with reserved sliding grooves matched with the reserved sliding strips, one side of each reserved sliding strip is welded with a locking sheet, and the locking sheets are provided with screws connected with the frame, so that the device has the advantages of being combined, and a user can conveniently disassemble and maintain the mechanical arm structure and the CCD camera structure.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the Wo citrus automatic grading device based on machine vision optimizes the performance of the device by installing a controller, a driving motor, a CCD camera, a material collecting box, a mechanical arm and an electric clamp, when the device is used, the controller controls the driving motor to start to drive a conveyor belt to move, so that the transmission of Wo citrus placed on the conveyor belt is realized, when the Wo citrus is transmitted to the position below the CCD camera, the CCD camera can shoot the Wo citrus and send the shot data to an industrial computer, the Wo citrus is graded according to the shape, the size and the color of the Wo citrus through an image comparison processing module in the industrial computer, then the graded data are sent to the controller, the controller clamps the graded Wo citrus by controlling the movement of the mechanical arm and the electric clamp and is matched with the rotation action of the driving motor and the height adjusting action of an electric telescopic rod to sequentially place the graded Wo citrus into the corresponding material collecting box, the three material collecting boxes respectively correspond to three grades of the Wo oranges, corresponding grading labels are pasted on the material collecting boxes, a user can conveniently take materials, meanwhile, the CCD camera enables the device to achieve the effect of identifying and processing by machine vision, compared with the traditional naked eye classification, the accuracy is high, and the working efficiency is improved;

(2) the Wo citrus automatic grading device based on machine vision optimizes the structure of the device by installing the locking sheet, the first assembly base plate, the second assembly base plate, the inserting rod, the inserting groove, the reserved sliding strip and the reserved sliding groove, when in use, on one hand, a user can use the sliding connection structure formed by the reserved sliding strip and the reserved sliding groove to cooperate with the locking and fixing action formed by the locking sheet and the screw to disassemble or assemble the first assembly base plate and the second assembly base plate with the frame, so that the device realizes the combined advantage, the user can conveniently disassemble and maintain the mechanical arm structure and the CCD camera structure, on the other hand, the user can disassemble or assemble the three collecting boxes on the frame by using the inserting connection structure formed by the inserting rod and the inserting groove, and then the user can conveniently take out the graded Wo citrus and replace the new collecting box, the practicability of the device is enhanced;

(3) the Wo citrus automatic grading device based on machine vision is provided with the material collecting box, the electric clamp, the side baffle and the conveyor belt, so that when the device is in actual use, on one hand, the inner side wall of the material collecting box is provided with the sponge protective layer, the softness of the inner wall of the material collecting box is high, the buffering protection effect on Wo citrus falling into the material collecting box is improved, on the other hand, the rubber buffer layer is arranged on the inner side wall of the electric clamp, the scraping prevention effect when the electric clamp clamps the Wo citrus is improved, the damage of the device to the Wo citrus is reduced, on the other hand, the two sides of the conveyor belt are limited by welding the side baffle on the machine frames at the two sides of the conveyor belt, the situation that the Wo citrus is slipped in the conveying process is avoided, and the device can be fixedly installed with the ground by the action of the limiting support legs and the fixing bolts, thereby enhancing the stability of the device.

Drawings

Fig. 1 is a schematic view of the front cross-sectional structure of the present invention;

FIG. 2 is a schematic view of the front view cross-section structure of the CCD camera of the present invention;

FIG. 3 is a schematic view of the front cross-section of the robot arm of the present invention;

fig. 4 is a schematic view of the structure of the conveyor belt according to the present invention.

In the figure: 1. a CCD camera; 2. a mechanical arm; 3. a slot; 4. a material collecting box; 5. inserting a rod; 6. a frame; 7. limiting support legs; 8. a controller; 9. a conveyor belt; 10. a servo motor; 11. reserving a slide bar; 12. a first mounting substrate; 13. a locking piece; 14. reserving a chute; 15. an electric clamp; 16. an electric telescopic rod; 17. a drive motor; 18. a second mounting substrate; 19. side dams.

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 creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides an embodiment: an automatic Wai orange grading device based on machine vision comprises a CCD camera 1, a material collecting box 4, a rack 6 and a conveyor belt 9, wherein the top of the rack 6 is provided with the conveyor belt 9, the inside of the rack 6 below the conveyor belt 9 is provided with a servo motor 10, the inside of the rack 6 at one end of the servo motor 10 is provided with a controller 8, the rack 6 above the conveyor belt 9 is provided with a first assembly substrate 12, the bottom of the first assembly substrate 12 is provided with the CCD camera 1, the rack 6 at the end of the CCD camera 1 far away from the conveyor belt 9 is provided with a second assembly substrate 18, the bottom of the second assembly substrate 18 is provided with a driving motor 17, the output end of the driving motor 17 is provided with an electric telescopic rod 16, the bottom of the electric telescopic rod 16 is provided with a mechanical arm 2, the bottom of the mechanical arm 2 is provided with an electric clamp 15, one end of the rack 6 far away from the conveyor belt 9 is uniformly provided with the material collecting box 4 matched with the

electric clamp

15, 3 material collecting boxes 4 are arranged, the inner side walls of the material collecting boxes 4 are provided with sponge protective layers, and the inner side walls of the electric clamps 15 are provided with rubber buffer layers;

when the device is used, the sponge protective layers are arranged on the inner side walls of the material collecting box 4, so that the inner wall of the material collecting box 4 is high in softness, the buffering and protecting effect on the citrus fruit fallen into the material collecting box is improved, the rubber buffer layers are arranged on the inner side walls of the electric clamps 15, the scraping preventing effect of the electric clamps 15 in the process of clamping the citrus fruit is improved, and the damage of the device on the citrus fruit is reduced;

inserting rods 5 are uniformly welded at one end of the material collecting box 4 close to the rack 6, inserting grooves 3 matched with the inserting rods 5 are uniformly fixed on the rack 6, and the material collecting box 4 and the rack 6 form a detachable mounting structure;

when in use, a user can disassemble or assemble the three material collecting boxes 4 on the rack 6 by using the inserting connection structure formed by the inserting rods 5 and the inserting grooves 3, so that the user can conveniently take out the classified oranges and replace the sorted oranges with new material collecting boxes 4;

limiting support legs 7 are uniformly welded at two ends of the bottom of the rack 6, anti-skid rubber pads are arranged at the bottoms of the limiting support legs 7, and fixing bolts are uniformly arranged at one ends of the bottoms of the limiting support legs 7;

when the device is used, a user can carry the device to a proper operation position, and then the device and the ground are fixedly installed under the action of the limiting support legs 7 and the fixing bolts, so that the stability of the device is enhanced;

side baffles 19 are welded on the machine frame 6 at the two sides of the conveyor belt 9, and the output end of the servo motor 10 is connected with the conveyor belt 9 through a belt pulley mechanism;

when the device is used, the side baffles 19 are welded on the racks 6 on the two sides of the conveyor belt 9, and the two sides of the conveyor belt 9 are limited by the two side baffles 19, so that the situation that the oranges slip off in the transmission process is avoided, and the practicability of the device is enhanced;

reserved sliding strips 11 are welded at two ends of the tops of the first assembling substrate 12 and the second assembling substrate 18, reserved sliding grooves 14 matched with the reserved sliding strips 11 are uniformly formed in the rack 6, a locking sheet 13 is welded on one side of each reserved sliding strip 11, and screws connected with the rack 6 are arranged on the locking sheets 13;

when the device is used, a user can disassemble or assemble the first assembly substrate 12 and the second assembly substrate 18 with the frame 6 by utilizing a sliding connection structure formed by the reserved sliding strip 11 and the reserved sliding groove 14 and matching with a locking fixing function formed by the locking sheet 13 and the screws, so that the device has the combined advantage, and the mechanical arm 2 structure and the CCD camera 1 structure can be conveniently disassembled, assembled and maintained by the user;

the output end of the controller 8 is electrically connected with the input ends of the CCD camera 1, the mechanical arm 2, the servo motor 10, the electric clamp 15, the electric telescopic rod 16 and the driving motor 17 through leads respectively, the model of the driving motor 17 can be 110HS12, the model of the servo motor 10 can be EDSMT-2, the model of the electric telescopic rod 16 can be VT630, the model of the CCD camera 1 can be KE-310B, and the model of the controller 8 can be CP1E-N20 DR-A.

The working principle is as follows: when the device is used, a power supply is externally connected, a user can firstly carry the device to a proper operation position, then the device and the ground are fixedly installed by utilizing the action of the limiting support legs 7 and the fixing bolts, so that the stability of the device is enhanced, then the controller 8 controls the driving motor 17 to be started to drive the conveyor belt 9 to move, the transmission of the Wo oranges placed on the conveyor belt 9 is realized, when the Wo oranges are transmitted to the lower part of the CCD camera 1, the CCD camera 1 can shoot the Wo oranges and sends the shot data to the industrial computer, the Wo oranges are classified according to the shape, size and color of the Wo oranges through the image comparison processing module in the industrial computer, then the classified data are sent to the controller 8, the controller 8 moves through the control mechanical arm 2 and the electric clamp 15 to clamp the classified Wo oranges, and the rotation action of the driving motor 17 and the height adjusting action of the electric telescopic rod 16 are matched, the classified Wo oranges are sequentially placed in the corresponding material collecting boxes 4, the three material collecting boxes 4 respectively correspond to three grades of the Wo oranges, corresponding classification labels are pasted on the material collecting boxes 4, a user can conveniently take materials, meanwhile, the CCD camera 1 enables the device to realize the function of identifying and processing by using machine vision, compared with the traditional naked eye classification, the accuracy is high, and the working efficiency is improved, in addition, when the device is used, on one hand, the user can use a sliding connection structure formed by a reserved sliding strip 11 and a reserved sliding groove 14 to match with the locking fixing function formed by a locking sheet 13 and a screw to disassemble or assemble the first assembly substrate 12 and the second assembly substrate 18 with the frame 6, further the device achieves the combined advantage, the user can conveniently disassemble and maintain the mechanical arm 2 structure and the CCD camera 1 structure, on the other hand, the user can use an inserting connection structure formed by an inserting rod 5 and an inserting groove 3, with three case 4 of gathering materials dismantlement or equipment in frame 6, and then convenient to use person takes out the oranges of woolly good in classification and more change new case 4 of gathering materials, and during the use, both all be provided with the sponge inoxidizing coating through the inside wall at case 4 of gathering materials on the one hand, can make the inner wall compliance of case 4 of gathering materials high, promoted the buffering guard action to the oranges of woolly that falls into wherein, be provided with rubber buffer layer through the inside wall at electronic anchor clamps 15 again, the effect of scraping of preventing when having promoted electronic anchor clamps 15 centre gripping woolly oranges, lightened the harm of device to woolly oranges, on the other hand all welds side shield 19 through frame 6 in conveyer belt 9 both sides, utilize two side shield 19 to carry on the both sides of conveyer belt 9 spacingly, thereby avoided the circumstances of taking place the landing in the woolly oranges conveying process, the practicality of device has been strengthened.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. Wai gan automatic grading plant based on machine vision, including CCD camera (1), material collection box (4), frame (6) and conveyer belt (9), its characterized in that: the automatic assembling and disassembling machine is characterized in that a conveyor belt (9) is installed at the top of the rack (6), a servo motor (10) is installed inside the rack (6) below the conveyor belt (9), a controller (8) is installed inside the rack (6) at one end of the servo motor (10), a first assembling base plate (12) is installed on the rack (6) above the conveyor belt (9), a CCD camera (1) is installed at the bottom of the first assembling base plate (12), a second assembling base plate (18) is installed on the rack (6) at one end, far away from the conveyor belt (9), of the CCD camera (1), a driving motor (17) is installed at the bottom of the second assembling base plate (18), an electric telescopic rod (16) is installed at the output end of the driving motor (17), a mechanical arm (2) is installed at the bottom of the electric telescopic rod (16), and an electric clamp (15) is installed at the bottom of the mechanical arm (2), the end of the frame (6) far away from the conveyor belt (9) is uniformly provided with a material collecting box (4) matched with the electric clamp (15).

2. The machine vision-based woolly orange automatic grading device according to claim 1, characterized in that: the material collecting box (4) is provided with 3 material collecting boxes, the inner side wall of each material collecting box (4) is provided with a sponge protective layer, and the inner side wall of each electric clamp (15) is provided with a rubber buffer layer.

3. The machine vision-based woolly orange automatic grading device according to claim 1, characterized in that: the utility model discloses a material collecting box, including frame (6), material collecting box (4), inserted bar (5) and frame (6), material collecting box (4) are close to the even welding of one end of frame (6) have inserted bar (5), evenly be fixed with on frame (6) with inserted bar (5) assorted slot (3), and material collecting box (4) and frame (6) constitute and dismantle mounting structure.

4. The machine vision-based woolly orange automatic grading device according to claim 1, characterized in that: spacing stabilizer blade (7) have all evenly welded at the both ends of frame (6) bottom, and the bottom of spacing stabilizer blade (7) is provided with anti-skidding rubber pad to the one end of spacing stabilizer blade (7) bottom evenly is provided with fixing bolt.

5. The machine vision-based woolly orange automatic grading device according to claim 1, characterized in that: side baffles (19) are welded on the racks (6) on the two sides of the conveyor belt (9), and the output end of the servo motor (10) is connected with the conveyor belt (9) through a belt pulley mechanism.

6. The machine vision-based woolly orange automatic grading device according to claim 1, characterized in that: the two ends of the top of the first assembling substrate (12) and the top of the second assembling substrate (18) are welded with reserved sliding strips (11), the frame (6) is evenly provided with reserved sliding grooves (14) matched with the reserved sliding strips (11), one side of each reserved sliding strip (11) is welded with a locking sheet (13), and the locking sheets (13) are provided with screws connected with the frame (6).