CN215430319U

CN215430319U - Pleurotus eryngii sorting system based on visual identification

Info

Publication number: CN215430319U
Application number: CN202121302129.XU
Authority: CN
Inventors: 杨定有; 栾尊龙
Original assignee: Zhejiang Zhongqu Electric Co ltd
Current assignee: Zhejiang Zhongqu Electric Co ltd
Priority date: 2021-06-10
Filing date: 2021-06-10
Publication date: 2022-01-07
Anticipated expiration: 2031-06-10

Abstract

The utility model discloses a pleurotus eryngii sorting system based on visual identification, which comprises a rack, a transmission roller arranged on the rack, a transmission motor used for driving the transmission roller to rotate, a sorting device used for sorting pleurotus eryngii and a mechanical arm used for sorting, wherein the sorting device comprises a turnover groove arranged on the inner wall of the rack, a turnover plate arranged in the turnover groove, a turnover shaft arranged on the turnover plate, a turnover motor used for driving the turnover shaft to rotate, a rubber shovel plate arranged on the turnover plate and a correction structure used for correcting the position of the pleurotus eryngii, and the turnover plate is provided with a plurality of arc-shaped surfaces along the conveying direction of the pleurotus eryngii.

Description

Pleurotus eryngii sorting system based on visual identification

Technical Field

The utility model belongs to the technical field of pleurotus eryngii production equipment, and particularly relates to a pleurotus eryngii sorting system based on visual identification.

Background

The pleurotus eryngii is an edible fungus, after the pleurotus eryngii is cultured and grown in a greenhouse and before the pleurotus eryngii is put on the market, the pleurotus eryngii needs to be classified according to the size according to the using requirement, and production enterprises need to process dozens of tons of pleurotus eryngii every day.

However, the pleurotus eryngii is often uneven and randomly stacked during transportation, and errors are easily generated during visual recognition, so that the efficiency is not high during sorting.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model provides the pleurotus eryngii sorting system which is high in sorting efficiency and based on visual identification.

In order to achieve the purpose, the utility model adopts the following technical scheme: a pleurotus eryngii sorting system based on visual identification comprises a rack, a transmission roller arranged on the rack, a transmission motor used for driving the transmission roller to rotate, a sorting device used for sorting pleurotus eryngii and a mechanical arm used for sorting pleurotus eryngii, wherein the sorting device comprises a turnover groove arranged on the inner wall of the rack, a turnover plate arranged in the turnover groove, a turnover shaft arranged on the turnover plate, a turnover motor used for driving the turnover shaft to rotate, a rubber shovel plate arranged on the turnover plate and a correction structure used for correcting the position of pleurotus eryngii, the turnover plate is provided with a plurality of parts in the conveying direction of the pleurotus eryngii, and the surface of the turnover plate is an arc surface; through collating unit's setting, the upset motor drive turn over the board and rotate to the relative a ray of apricot bao mushroom that the extrusion promoted the bottom arranges to shovel and pile up the apricot bao mushroom at high-rise under the direction of arcwall face, backward extrusion apricot bao mushroom guarantees apricot bao mushroom unilateral list and arranges, so that follow-up accurate quick letter sorting.

Preferably, the turning plate is internally provided with a shaft hole and a key groove arranged on the wall of the shaft hole, the width of the key groove of the turning plate is gradually increased along the pleurotus eryngii conveying direction, and the turning shaft is provided with a driving platform positioned in the key groove; through the difference setting of keyway, can make the board that turns over in proper order to push back extrusion with the apricot bao mushroom step by step in proper order, avoid the too much extrusion of apricot bao mushroom to pile up and lead to piling up again.

Preferably, the correcting structure comprises a correcting table arranged on the rack, a correcting block arranged on the correcting table, a hinging table arranged on the correcting block, a hinging shaft arranged on the hinging table, a hinging torsion spring arranged on the hinging shaft, a correcting plate arranged on the hinging shaft, a guide groove arranged on the correcting table, a guide rod arranged in the guide groove, a rotating plate arranged on the rack, a correcting motor used for driving the rotating plate and a connecting rod arranged on the rotating plate; through the setting of correction structure under the drive of correction motor, can drive the rotor plate drives the correction piece is synchronous flexible to make correction board and the contact of apricot bao mushroom, further correct the transport position of apricot bao mushroom, in order to guarantee subsequent letter sorting efficiency.

Preferably, the manipulator comprises a base, a mechanical arm arranged on the base, a clamping jaw arranged on the mechanical arm and a detection element for detecting the position of pleurotus eryngii, wherein the clamping jaw comprises a jaw disc, a rotating wheel arranged on the jaw disc, a driving motor for driving the rotating wheel to rotate, a jaw frame arranged on the rotating wheel, a half jaw arranged on the jaw frame, a plate groove arranged on the half jaw, a plate shaft arranged in the plate groove, a first torsion spring arranged on the plate shaft and a clamping plate arranged on the plate shaft, and the clamping plate is an arc-shaped plate; through the structure setting of clamping jaw, drive when driving motor and rotate the wheel and rotate to when drawing in through the claw frame drive half claw, the first section of splint can be at first contacted with the apricot bao mushroom, and splint can resist the torsional spring under the squeezing action of apricot bao mushroom and take place the upset so that splint lower plate section and apricot bao mushroom lateral wall bottom contact, thereby realize not excessively under the tight prerequisite to the apricot bao mushroom, the position of centre gripping restriction apricot bao mushroom, thereby when guaranteeing the effective centre gripping transportation of apricot bao mushroom, guarantee the processingquality of apricot bao mushroom letter sorting processing.

Preferably, the clamping jaw further comprises a self-adaptive groove arranged on the clamping plate, a self-adaptive block arranged on the plate shaft and a self-adaptive spring arranged in the self-adaptive groove; through the setting of clamping jaw, along with the clamping of clamping jaw to the apricot bao mushroom, the self-adaptation piece can be relative self-adaptation groove takes place the displacement to when producing the pretightning force to the apricot bao mushroom centre gripping, to the diameter production self-adaptation adjustment of apricot bao mushroom, with the diameter difference of adaptation apricot bao mushroom, guarantee the centre gripping transportation effect to the apricot bao mushroom.

Preferably, the clamping plate is provided with a clamping groove, a clamping strip arranged in the clamping groove and a friction plate arranged on the clamping strip; through structure setting on the splint, the dismouting that the friction plate was effectively realized to the complex of accessible card strip and draw-in groove is fixed, and the convenience is cleared up the dismouting of friction plate.

Preferably, the friction plate is provided with a plurality of friction covers, a pressing spring arranged in the friction covers and friction teeth arranged on the friction covers; through structure setting on the friction plate can avoid excessively squeezing the apricot bao mushroom when improving the contact friction between splint and the apricot bao mushroom in order to improve the centre gripping effect, guarantees the quality to the apricot bao mushroom letter sorting.

In conclusion, through the arrangement of the sorting device, the turnover motor drives the turnover plate to rotate so as to extrude and push the pleurotus eryngii at the bottom layer to be arranged in a line relatively, shovel the pleurotus eryngii stacked at the high layer, and extrude the pleurotus eryngii backwards under the guidance of the arc-shaped surface, so that the single-side single-row arrangement of the pleurotus eryngii is ensured, and the subsequent accurate and rapid sorting is facilitated; realizing the sorting of the pleurotus eryngii.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a partially enlarged view of a portion B in fig. 1.

Fig. 3 is a partially enlarged view of fig. 2 at D.

Fig. 4 is a schematic cross-sectional view of a side plate of the rack.

Fig. 5 is a partial enlarged view of fig. 4 at E.

Fig. 6 is a schematic structural view of the robot.

Fig. 7 is a schematic top view of a robot.

Figure 8 is a cross-sectional view of the jaws shown in cross-section at B-B in figure 7.

Fig. 9 is a partial enlarged view of a portion a in fig. 8.

Fig. 10 is a partial cross-sectional view at the base in a cross-sectional state at C-C in fig. 7.

Fig. 11 is a partial enlarged view at C in fig. 10.

Detailed Description

As shown in fig. 1 to 11, the pleurotus eryngii sorting system based on visual identification comprises a rack 61, a plurality of transmission rollers 62, a transmission motor, a sorting device and a manipulator, wherein the transmission rollers 62 are rotatably connected to the rack 61 and are arranged along the length direction of the rack 61.

Specifically, the collating device comprises a turning groove 71, a turning plate 72, a turning shaft 73, a turning motor 74, a rubber shovel plate 75 and a correcting structure, wherein the turning groove 71 is arranged on the side wall of the rack 61; a plurality of turning plates 72 are arranged along the conveying direction of the pleurotus eryngii, and the surfaces of the turning plates are arc-shaped surfaces; the turning plate 72 is provided with a shaft hole 76, the side wall of the shaft is provided with a key groove 77, and the width of the key groove 77 of the turning plate 72 is gradually increased along the pleurotus eryngii conveying direction; the turning shaft 73 is arranged in the shaft hole 76 in a matching and penetrating manner, and a driving table 78 is fixedly connected to the side wall of the turning shaft, and the driving table 78 is positioned in the key groove 77; the turning motor 74 is fixedly connected to the frame 61 and an output shaft thereof is fixedly connected to the turning shaft 73; the rubber shovel plate 75 is fixedly connected to the bottom of the turning plate 72.

Further, the correcting structure comprises a correcting table 81, a correcting block 82, a hinge table 83, a hinge shaft 84, a hinge torsion spring 85, a correcting plate 86, a guide groove 87, a guide rod 88, a rotating plate 89, a correcting motor 891 and a connecting rod 892, wherein two correcting tables 81 are fixedly connected to the frame 61 and symmetrically arranged; the correcting block 82 is arranged in the correcting table 81 in a penetrating manner, the hinge table 83 is fixedly connected to the correcting block, and the hinge shaft 84 is rotatably connected to the hinge table 83; the two ends of the hinge shaft 84 are sleeved with the hinge torsion springs 85, one end of each hinge torsion spring 85 is fixedly connected to the hinge shaft 84, and the other end of each hinge torsion spring 85 is fixedly connected to the hinge table 83; the hinge shaft 84 is fixedly connected with the hinge plate; the guide groove 87 is formed in the top of the correction table 81; the guide rod 88 is fixedly connected to the straightening block and penetrates through the guide groove 87; the rotating plate 89 is fixedly connected to an output shaft of the correcting motor 891, and two ends of the rotating plate are hinged with the connecting rod 892; the link 892 is hinged to the guide rod 88.

Further, the robot arm 9 comprises a base 1, a plurality of mechanical arms 11, clamping jaws 2 and detection elements, wherein the mechanical arms 11 are hinged end to end and driven to rotate by a rotating motor, the mechanical arm 11 at the bottommost part is hinged to the base 1, and the clamping jaws 2 are fixedly connected to the mechanical arm 11 at the topmost part; the detection element may be a camera.

Specifically, the clamping jaw 2 comprises a jaw disc 21, a rotating wheel 22, a driving motor 23, a jaw frame 24, a half jaw 25, a plate groove 26, a plate shaft 27, a first torsion spring, a clamping plate 29, a self-adaptive groove 31, a self-adaptive block 32 and a self-adaptive spring 33, and the jaw disc 21 is fixedly connected to the mechanical arm 11; the rotating wheels 22 are rotationally connected to the claw discs 21 and are symmetrically provided with two claw discs 21, and the claw discs 21 are incomplete gears and are meshed with each other; the driving motor 23 is fixedly connected to the claw disc 21, and an output shaft of the driving motor is fixedly connected to one of the rotating wheels 22; one end of the claw frame 24 is fixedly connected to the rotating wheel 22, and the other end of the claw frame is fixedly connected with the half claw 25; the half claw 25 is provided with the plate groove 26, and the plate shaft 27 is rotatably connected to the plate groove 26; the two ends of the first torsion spring are sleeved with the first torsion spring, one end of the torsion spring is fixedly connected to the plate shaft 27, and the other end of the torsion spring is fixedly connected to the groove wall of the plate groove 26; the clamping plate 29 is provided with a self-adaptive groove 31; the plate shaft 27 is fixedly connected with a self-adaptive block 32, and the self-adaptive block 32 is clamped in the self-adaptive groove 31 in a matching manner; the adaptive spring 33 is located in the adaptive slot 31, and one end of the adaptive spring abuts against the adaptive block 32 and the other end abuts against the slot wall of the adaptive slot 31.

Specifically, be equipped with draw-in groove 34, card strip 35 and friction plate 36 on the splint 29, draw-in groove 34 has been seted up on the splint 29, the rigid coupling has on the friction plate 36 card strip 35, card strip 35 cooperable joint in draw-in groove 34.

Further, a friction cover 37, a pressing spring 38 and friction teeth 39 are arranged on the friction plate 36, and a plurality of friction covers 37 are fixedly connected to the friction plate 36 in parallel; a pressing spring 38 is embedded in the friction cover 37; a plurality of friction teeth 39 are fixed on the outer wall of the friction cover 37.

Further, the clamping jaw 2 further comprises a compression structure, the compression structure comprises a supporting rod 41, a sleeve rod 42, a pressing table 43, a pressing plate 44, a hollow cover 45, a guide roller 46 and a linkage rod 47, and the supporting rod 41 is fixedly connected to the jaw disc 21; the loop bar 42 is sleeved on the support bar 41, and the pressing platform 43 is fixedly connected to the loop bar; the pressing table 43 is fixedly connected with the hollow cover 45, and the pressing plate 44 is fixedly connected to the hollow cover 45; the guide rollers 46 are rotatably connected to both ends of the pressing plate 44; one end of the linkage rod 47 is hinged on the pressing platform 43, and the other end is hinged on the claw frame 24.

Further, a damping structure is arranged on the base 1, and the damping structure comprises a damping seat 51, a movable frustum 52, a movable shaft 53, a movable groove 54, a return spring 55, a damping block 56, a sliding block 57, a sliding groove 58 and a damping spring 59; the shock absorption seat 51 is positioned below the base 1; the top of the movable frustum 52 is fixedly connected to the shock absorption seat 51, and the bottom of the movable frustum is fixedly connected with the movable shaft 53; the movable groove 54 is arranged on the shock absorption seat 51, and the movable shaft 53 is inserted into the movable groove 54; the return spring 55 is sleeved on the movable shaft 53, and one end of the return spring abuts against the movable frustum 52 and the other end of the return spring abuts against the shock absorption seat 51; the shock absorption blocks 56 are positioned on the shock absorption seat 51, a plurality of shock absorption blocks are arranged in the circumferential direction around the movable frustum 52, and one end of each shock absorption block abuts against the movable frustum 52; the sliding block 57 is fixedly connected to the bottom of the damping block 56; the sliding groove 58 is arranged on the shock absorption seat 51, and the sliding block 57 can be matched and slidably connected in the sliding groove 58; the damping spring 59 is located in the sliding groove 58, one end of the damping spring is fixedly connected to the sliding block 57, and the other end of the damping spring is fixedly connected to the side wall of the sliding groove 58.

The specific implementation process of the utility model is as follows: the turnover motor drives the turnover plate to rotate so as to extrude and push the pleurotus eryngii at the bottom layer to be arranged in a line relatively, shovel the pleurotus eryngii stacked at the high layer, and extrude the pleurotus eryngii backwards under the guidance of the arc-shaped surface, so that the single-side single-row arrangement of the pleurotus eryngii is ensured; then, under the driving of the correcting motor, the rotating plate is driven to drive the correcting block to synchronously extend and retract, so that the correcting plate is in contact with the pleurotus eryngii, and the transportation position of the pleurotus eryngii is further corrected; finally, when the position of the pleurotus eryngii is detected through the detection element, the mechanical arm is driven to move, the rotating wheel is driven to rotate around the rear driving motor, when the claw frame drives the half claws to be folded, the upper half section of the clamping plate can be firstly contacted with the pleurotus eryngii, the clamping plate can resist the torsion spring to overturn under the extrusion action of the pleurotus eryngii so as to enable the lower plate section of the clamping plate to be contacted with the bottom of the side wall of the pleurotus eryngii, and therefore on the premise that the pleurotus eryngii is not excessively clamped, the position of the pleurotus eryngii is clamped and limited, and sorting of the pleurotus eryngii is achieved.

Claims

1. The utility model provides a apricot bao mushroom letter sorting system based on visual identification, includes frame (61), locates driving roller (62) in frame (61), be used for the drive driving roller (62) pivoted driving motor, be used for the finishing device of arrangement apricot bao mushroom and be used for the manipulator of letter sorting, its characterized in that: the sorting device comprises a turning groove (71) arranged on the inner wall of the rack (61), a turning plate (72) arranged in the turning groove (71), a turning shaft (73) arranged on the turning plate (72), a turning motor (74) used for driving the turning shaft (73) to rotate, a rubber shovel plate (75) arranged on the turning plate (72) and a correction structure used for correcting the position of pleurotus eryngii, wherein the turning plate (72) is provided with a plurality of arc-shaped surfaces along the conveying direction of the pleurotus eryngii.

2. The pleurotus eryngii sorting system based on visual recognition according to claim 1, wherein: the pleurotus eryngii turning plate is characterized in that a shaft hole (76) and a key groove (77) formed in the wall of the shaft hole (76) are formed in the turning plate (72), the width of the key groove (77) of the turning plate (72) is increased one by one along the pleurotus eryngii conveying direction, and a driving table (78) located in the key groove (77) is arranged on the turning shaft (73).

3. The pleurotus eryngii sorting system based on visual recognition according to claim 1, wherein: the correcting structure comprises a correcting table (81) arranged on the rack (61), a correcting block (82) arranged on the correcting table (81), a hinge table (83) arranged on the correcting block (82), a hinge shaft (84) arranged on the hinge table (83), a hinge torsion spring (85) arranged on the hinge shaft (84), a correcting plate (86) arranged on the hinge shaft (84), a guide groove (87) arranged on the correcting table (81), a guide rod (88) arranged in the guide groove (87), a rotating plate (89) arranged on the rack (61), a correcting motor (891) used for driving the rotating plate (89) and a connecting rod (892) arranged on the rotating plate (89).

4. The pleurotus eryngii sorting system based on visual recognition according to claim 1, wherein: the manipulator includes base (1), locates arm (11) on base (1), locate clamping jaw (2) on arm (11) and be used for detecting the detecting element of apricot bao mushroom position, clamping jaw (2) include claw dish (21), locate rotate wheel (22), be used for the drive on claw dish (21) rotate wheel (22) pivoted driving motor (23) rotate claw frame (24) on wheel (22), locate half claw (25) on claw frame (24), locate board groove (26) on half claw (25), locate board axle (27) in board groove (26), locate first torsional spring on board axle (27) and locate splint (29) on board axle (27), splint (29) are the cambered surface board.

5. The pleurotus eryngii sorting system based on visual recognition according to claim 4, wherein: the clamping jaw (2) further comprises a self-adaptive groove (31) formed in the clamping plate (29), a self-adaptive block (32) arranged on the plate shaft (27) and a self-adaptive spring (33) arranged in the self-adaptive groove (31).

6. The pleurotus eryngii sorting system based on visual recognition according to claim 4, wherein: the clamping plate (29) is provided with a clamping groove (34), a clamping strip (35) arranged in the clamping groove (34) and a friction plate (36) arranged on the clamping strip (35).

7. The pleurotus eryngii sorting system based on visual recognition according to claim 6, wherein: the friction plate (36) is provided with a plurality of friction covers (37), a pressing spring (38) arranged in the friction covers (37) and friction teeth (39) arranged on the friction covers (37).