CN216500799U

CN216500799U - Plum sorting system

Info

Publication number: CN216500799U
Application number: CN202123319876.7U
Authority: CN
Inventors: 曹修全; 李慧; 邓志远; 马耀明; 赵明波
Original assignee: Sichuan Zaowei Technology Co ltd; Sichuan University of Science and Engineering
Current assignee: Sichuan Zaowei Technology Co ltd; Sichuan University of Science and Engineering
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2022-05-13
Anticipated expiration: 2031-12-27

Abstract

The application discloses plum sorting system belongs to fruit sorting technology field, including conveyer, first arm and second arm. The first mechanical arm is used for placing the plums on a conveying belt of the conveying device, a clamping groove used for fixing the plums is formed in the conveying belt, and after the plums move to the area below the plurality of second mechanical arms, each second mechanical arm correspondingly selects one preset plums respectively, so that the classification of the plums is realized. The plum sorting system disclosed by the utility model has the advantages that the first mechanical arm is utilized to place the plums on the conveyor belt, and the second mechanical arm is utilized to sort and screen the plums, so that the plums are classified into different categories to be convenient for subsequent selling. The plum sorting system is simple in structure, manual work is replaced by the first mechanical arm and the second mechanical arm, manual load can be greatly reduced, and better sorting efficiency is achieved.

Description

Plum sorting system

Technical Field

The utility model relates to the technical field of fruit sorting, in particular to a plum sorting system.

Background

The plum generally refers to plum with wide branches, reddish brown and smooth, red leaves from spring to autumn, small flowers, white or pink, and is a good foliage garden plant; sweet and sour in taste, neutral in nature, entering liver and kidney meridians, having the effects of clearing heat and promoting fluid production, and can be used for treating consumptive disease, steaming bone and quenching thirst; as a fruit, plum is also one of important fruit trees in temperate zone.

When the plums are sold, the plums are generally classified according to the size, color, quality and the like of the plums and then sold respectively.

The existing plum sorting is basically carried out manually, and the sorting mode has certain errors and wastes time and labor.

Disclosure of Invention

The present invention discloses a plum sorting system to improve the above-mentioned problems.

The technical scheme adopted by the utility model for solving the technical problems is as follows:

based on the above object, the present invention discloses a plum sorting system, comprising:

the conveying device comprises a conveying belt, a plurality of clamping grooves are formed in the conveying belt, the plurality of clamping grooves are arranged in a plurality of rows along the length direction of the conveying belt, and the plurality of clamping grooves are arranged in a plurality of columns along the width direction of the conveying belt;

the first mechanical arm is used for placing the plums into the clamping grooves; and

the second mechanical arms are arranged at intervals along the length direction of the conveyor belt, and each second mechanical arm is used for grabbing a preset plum.

Optionally: still including shooting the screening module, it includes mounting bracket, camera and treater to shoot the screening module, the mounting bracket is located first arm with between the second arm, the camera with the treater all install in the mounting bracket, just the camera with the second arm all with the treater is connected, the camera is used for transmitting the image of shooing for the treater, the treater basis image control corresponds the second arm is right it snatchs to correspond plum on the conveyer.

Optionally: the transfer device further includes:

the first mechanical arm and the second mechanical arm are both arranged on the frame;

the driving wheel and the driven wheel are both rotationally connected with the rack, and the conveyor belt is wound between the driving wheel and the driven wheel; and

the motor is installed on the rack and is in driving connection with the driving wheel.

Optionally: the first mechanical arm comprises a first transverse sliding seat, a first middle connecting block, a first vertical sliding seat, a first mounting plate and a plurality of first suckers, the first transverse sliding seat is mounted on the machine frame, the first middle connecting block is in sliding connection with the first transverse sliding seat, the first vertical sliding seat is in sliding connection with the first middle connecting block, the first mounting plate is mounted at the bottom of the first vertical sliding seat, and the plurality of first suckers are mounted on one side, facing the conveyor belt, of the first mounting plate;

the second arm includes second horizontal sliding seat, second intermediate junction piece, the vertical sliding seat of second, second mounting panel and a plurality of second sucking disc, the second horizontal sliding seat install in the frame, the second intermediate junction piece with second horizontal sliding seat sliding connection, the vertical sliding seat of second with connecting block sliding connection in the middle of the second, the second mounting panel install in the bottom of the vertical sliding seat of second, it is a plurality of the second sucking disc all install in the second mounting panel orientation one side of conveyer belt.

Optionally: a plurality of the second sucking discs are arranged along the width direction of the conveying belt, and the number of the second sucking discs is equal to the number of the clamping grooves.

Optionally: the number of the first suckers is equal to the number of the lines of the clamping grooves in the width direction of the conveying belt, and the number of the first suckers is equal to the number of the second mechanical arms in the length direction of the conveying belt.

Optionally: the spacing distance between two adjacent second mechanical arms is equal to the spacing distance of the clamping grooves in the length direction of the conveyor belt, or the spacing distance between two adjacent second mechanical arms is an integral multiple of the spacing distance of the clamping grooves in the length direction of the conveyor belt.

Optionally: the clamping groove penetrates through the conveying belt along the thickness direction of the conveying belt.

Optionally: the driving wheel is provided with a protrusion matched with the clamping groove, and the protrusion is in clamping fit with the clamping groove.

Optionally: the receiving structure comprises a weighing device and a receiving box, the receiving box is placed on the weighing device, and an opening of the receiving box is located on a moving path of the second mechanical arm correspondingly.

Compared with the prior art, the utility model has the following beneficial effects:

the plum sorting system disclosed by the utility model has the advantages that the first mechanical arm is utilized to place the plums on the conveyor belt, and the second mechanical arm is utilized to sort and screen the plums, so that the plums are classified into different categories to be convenient for subsequent selling. The plum sorting system is simple in structure, manual work is replaced by the first mechanical arm and the second mechanical arm, manual load can be greatly reduced, and better sorting efficiency is achieved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 shows a schematic diagram of a plum sorting system as disclosed in an embodiment of the present invention;

FIG. 2 is a schematic diagram of a conveyor apparatus disclosed in an embodiment of the utility model;

FIG. 3 shows a schematic view of a tensioning arrangement disclosed in an embodiment of the present invention;

FIG. 4 is a schematic view of a drive wheel disclosed in an embodiment of the present invention;

FIG. 5 is a schematic diagram of a first robot disclosed in an embodiment of the present invention;

FIG. 6 is a schematic view of a second robotic arm as disclosed in embodiments herein.

In the figure:

110-a transmission; 111-a conveyor belt; 1111-card slot; 112-a motor; 113-a running wheel; 1131-bumps; 114-a driven wheel; 115-a tensioning structure; 1151-a tensioner; 116-a frame; 120-a first robot arm; 121-a first transverse sliding seat; 122-a first vertical sliding seat; 123-a first mounting plate; 124-first suction cup; 130-a second mechanical arm; 131-a second transverse sliding seat; 132-a second vertical sliding seat; 133-a second mounting plate; 134-a second suction cup; 140-a shot screening module; 141-a mounting frame; 142-camera.

Detailed Description

The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as disclosed in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Example (b):

referring to fig. 1, the present embodiment discloses a plum sorting system, which includes a conveyor 110, a first robot arm 120, and a second robot arm 130. The first mechanical arm 120 is used for placing the plums on the conveyor belt 111 of the conveyor device 110, a clamping groove 1111 for fixing the plums is arranged on the conveyor belt 111, the plums move to the lower area of the second mechanical arms 130 after moving for a certain distance, and the plums are sorted by the second mechanical arms 130 at the moment. Each second mechanical arm 130 correspondingly selects a predetermined type of plum, and when the plums are conveyed on the conveyor belt 111, the second mechanical arms 130 can respectively select the corresponding plums, so that the classification of the plums is realized.

The plum sorting system disclosed in this embodiment utilizes the first mechanical arm 120 to put the plums on the conveyor belt 111, and then utilizes the second mechanical arm 130 to classify and screen the plums, thereby classifying the plums into different categories to subsequent selling is convenient for carry out. The plum sorting system is simple in structure, manual work is replaced by the first mechanical arm 120 and the second mechanical arm 130, manual load can be greatly reduced, and better sorting efficiency is achieved.

Referring to fig. 2 and 3, the conveyor 110 includes a frame 116, a driving wheel 113, a driven wheel 114, a motor 112, and a conveyor belt 111. The driving wheel 113 and the driven wheel 114 are both rotatably connected with the frame 116, the motor 112 is mounted on the frame 116, the motor 112 is drivingly connected with the driving wheel 113, and the transmission belt 111 is wound between the driving wheel 113 and the driven wheel 114. The motor 112 drives the driving wheel 113 to rotate, and the driving wheel 113 drives the transmission belt 111 and the driven wheel 114 to rotate so as to complete the conveying of the plums.

Be provided with on the conveyer belt 111 and be used for holding the plum and be draw-in groove 1111, draw-in groove 1111 sets up to a plurality ofly to carry a plurality of plums simultaneously, improve separation efficiency.

The plurality of card slots 1111 are disposed in a plurality of rows in a length direction of the conveyor belt 111, and the plurality of card slots 1111 are disposed in a plurality of columns in a width direction of the conveyor belt 111. The clamping grooves 1111 are uniformly distributed, so that the feeding and the sorting are more convenient.

Further, in the present embodiment, the card slot 1111 is made to penetrate the conveyor belt 111 in the thickness direction of the conveyor belt 111. Therefore, when the plums are conveyed, the clamping groove 1111 can better limit the plums, even the plums with small size can be clamped into the clamping groove 1111, and the plums are prevented from rolling in the conveying process.

Referring to fig. 3 and 4, a protrusion 1131 for engaging with the slot 1111 is disposed on the driving wheel 113, and the protrusion 1131 engages with the slot 1111. Therefore, the driving wheel 113 and the conveying belt 111 can be matched more closely, and the conveying belt 111 is prevented from slipping.

In addition, the conveyor 110 further comprises a tensioning structure 115, the tensioning structure 115 comprises three tensioning wheels 1151, the three tensioning wheels 1151 are all mounted on the frame 116, two tensioning wheels 1151 are located inside the conveyor belt 111, the other tensioning wheel 1151 is located outside the conveyor belt 111, and the three tensioning wheels 1151 are all located at the bottom of the conveyor belt 111, so that the top of the conveyor belt 111 is kept flat and the plums are conveyed.

Referring to fig. 1 and 5, the first robot arm 120 is mounted to the frame 116, and the first robot arm 120 includes a first transverse sliding base 121, a first intermediate connecting block, a first vertical sliding base 122, a first mounting plate 123, and a plurality of first suction cups 124. First horizontal sliding seat 121 is installed in frame 116, first middle connecting block and first horizontal sliding seat 121 sliding connection, first vertical sliding seat 122 and first middle connecting block sliding connection, first mounting panel 123 is installed in the bottom of first vertical sliding seat 122, and a plurality of first sucking discs 124 are all installed in one side of first mounting panel 123 towards conveyer belt 111. The first suction cups 124 can be used for placing the plums into the clamping grooves 1111 of the conveyor belt 111, when the plum rack works, the first vertical sliding seats 122 firstly drive the first mounting plates 123 and the first suction cups 124 to descend to suck the plums out of the conveyor belt 111, then the first vertical sliding seats 122 are lifted, then the first vertical sliding seats 121 transversely move along the first transverse sliding seats 121, when the first suction cups 124 are aligned with the corresponding clamping grooves 1111, the first vertical sliding seats 122 slide downwards again to place the plums into the corresponding clamping grooves 1111.

The number of the first suction cups 124 is equal to the number of the clamping grooves 1111 in the width direction of the conveyor belt 111, and the number of the first suction cups 124 is equal to the number of the second mechanical arms 130 in the length direction of the conveyor belt 111. In this way, the first mechanical arm 120 can fill the clamping groove 1111 in the width direction of the conveyor belt 111 after operating once, and the second mechanical arm 130 can operate many times, during which the plums outside the conveyor belt 111 can be sorted conveniently, so that the first mechanical arm 120 can suck the plums outside the conveyor belt 111 quickly.

Referring to fig. 1 and 6, the second mechanical arm 130 is also mounted to the frame 116, the second mechanical arm 130 includes a second transverse sliding seat 131, a second middle connection block, a second vertical sliding seat 132, a second mounting plate 133 and a plurality of second suction cups 134, the second transverse sliding seat 131 is mounted to the frame 116, the second middle connection block is slidably connected to the second transverse sliding seat 131, the second vertical sliding seat 132 is slidably connected to the second middle connection block, the second mounting plate 133 is mounted to the bottom of the second vertical sliding seat 132, and the plurality of second suction cups 134 are mounted to one side of the second mounting plate 133 facing the conveyor belt 111. Utilize second arm 130 can take off the plum on the conveyer belt 111 and put into the receipts workbin that corresponds, during operation, at first the vertical sliding seat 132 of second drives second mounting panel 133 and second sucking disc 134 and descends, inhale the plum on the conveyer belt 111, then the vertical sliding seat 132 of second promotes, later along the horizontal sliding seat 131 lateral shifting of second, when waiting that second sucking disc 134 aligns with the receipts workbin that corresponds, the vertical sliding seat 132 of second slides down once more, put into corresponding receipts workbin with the plum.

The second suction cups 134 are spaced along the width direction of the conveyor belt 111, and the number of the second suction cups 134 is equal to the number of the clamping slots 1111 in number, that is, the number of the second suction cups 134 is equal to the number of the clamping slots 1111 in the width direction of the conveyor belt 111. Thus, when the second mounting plate 133 moves above the conveyor belt 111, one second suction cup 134 is located above each slot 1111, and when the second suction cups 134 located in the same second robot arm 130 work, all plums of the same category in the same row of slots 1111 can be taken out at the same time.

The plum sorting system disclosed in this embodiment further comprises a plurality of material receiving structures, the number of the material receiving structures is equal to the number of the second mechanical arms 130, the plurality of material receiving structures and the plurality of second mechanical arms 130 are in one-to-one correspondence, each material receiving structure comprises a weighing device and a material receiving box, the material receiving boxes are placed on the weighing devices, and openings of the material receiving boxes are located on moving paths of the corresponding second mechanical arms 130. When the second mechanical arm 130 takes down the plums on the conveyor belt 111, the plums are directly put into the receiving boxes corresponding to the second mechanical arm, so that only one type of plums is in each receiving box.

The plum sorting system disclosed in this embodiment further includes a shooting screening module 140, the shooting screening module 140 includes a mounting rack 141, a camera 142 and a processor, the mounting rack 141 is installed on the rack 116, the mounting rack 141 is located between the first mechanical arm 120 and the second mechanical arm 130, the camera 142 and the processor are both installed on the mounting rack 141, the camera 142 and the second mechanical arm 130 are both connected with the processor, the camera 142 is used for transmitting a shot image to the processor, and the processor captures corresponding plums on the conveying device 110 according to the second mechanical arm 130 corresponding to image control.

The plum sorting system disclosed in this embodiment works as follows:

firstly, a system power supply is turned on, plums are uniformly placed below the first mechanical arm 120 by the aid of the plum arrangement structure, so that when the first mechanical arm 120 descends, each first sucker 124 on the first mechanical arm 120 can suck only one plum, then the plums are placed on the conveyor belt 111 by the aid of the first mechanical arm 120 and are placed in the corresponding clamping groove 1111, and in the process that the plums are placed on the conveyor belt 111 by the first mechanical arm 120, the plums are uniformly arranged by the plum arrangement structure again, and accordingly the first mechanical arm 120 can grab next time.

After the first mechanical arm 120 places the plums on the conveyor belt 111 and the first mechanical arm 120 leaves, the camera 142 shoots the plums on the conveyor belt 111 and transmits the shot images to the processor, the processor classifies the plums according to the pictures shot by the camera 142 and sends instructions to the second mechanical arms 130 to enable the second mechanical arms 130 to grab the plums at the corresponding positions.

The motor 112 is intermittently rotated when driving the driving wheel 113 to rotate, so that the conveyor belt 111 intermittently moves, i.e. the conveyor belt 111 stops for a period of time after moving forward for a certain distance, and then moves forward for a certain distance again, and the operation is cycled. When the conveyor belt 111 stops, the first mechanical arm 120 can place the plums on the conveyor belt 111, and meanwhile, the second mechanical arm 130 can take out the plums below the first mechanical arm and place the plums into the corresponding material receiving boxes. When the conveyor belt 111 moves previously, the distance of each movement of the conveyor belt 111 is equal to the distance between two adjacent second mechanical arms 130, so that the second mechanical arms 130 can grab the plums conveniently. Further, the distance between two adjacent second mechanical arms 130 is equal to the distance between the clamping grooves 1111 in the length direction of the conveyor belt 111, or the distance between two adjacent second mechanical arms 130 is an integral multiple of the distance between the clamping grooves 1111 in the length direction of the conveyor belt 111, so that plums on the first mechanical arm 120 can be ensured to just fall into the corresponding clamping grooves 1111 each time the first mechanical arm 120 works.

The following description will be made by taking an example in which the number of the second robot arms 130 is four, the number of the second suction pads 134 is 9, and the conveyor belt 111 is stopped after moving forward for a certain distance for 2 seconds. After the camera 142 transmits the image to the processor, the processor commands each of the second suction cups 134 on the second robotic arm 130.

For example, in 9 plums located in the same row of card slot 1111, the plums with 1 bit and 2 bits are in the first level, the plums with 3 bits and 4 bits are in the second level, the plums with 5 bits and 6 bits are in the third level, and the plums with 7 bits, 8 bits and 9 bits are in the fourth level.

Then the second suction cups 134 at positions 1 and 2 on the first and second robot arms 130 are operated when the conveyor belt 111 is stopped for the first time, and the corresponding plums are taken out.

Then the conveyor belt 111 continues to advance, and when the conveyor belt 111 stops for the second time, the second suction cups 134 at positions 3 and 4 on the second mechanical arm work, and the corresponding plums are taken out.

Then the conveyor belt 111 continues to advance, and when the conveyor belt 111 stops for the third time, the second suction cups 134 at positions 5 and 6 on the third mechanical arm work, and the corresponding plums are taken out.

Then, the conveyor belt 111 continues to advance, and when the conveyor belt 111 stops for the fourth time, the second suction cups 134 at positions 7, 8 and 9 on the fourth mechanical arm work, and the corresponding plums are taken out.

In this process, of course, when the conveyor belt 111 stops for the fourth time, the first second robot 130, the second robot 130 and the third second robot 130 are also operated, and at this time, the three second robots 130 perform corresponding operations according to three instructions sent by the processor later.

After receiving the pictures shot by the camera 142, the processor disclosed in this embodiment sends instructions to the second suction cups 134 on the plurality of second mechanical arms 130 respectively for plums in each row, so that the plurality of second mechanical arms 130 can work simultaneously, thereby improving the sorting efficiency.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A plum sorting system, comprising:

2. The plum sorting system according to claim 1, further comprising a shooting screening module, wherein the shooting screening module comprises a mounting rack, a camera and a processor, the mounting rack is located between the first mechanical arm and the second mechanical arm, the camera and the processor are both mounted on the mounting rack, the camera and the second mechanical arm are both connected with the processor, the camera is used for transmitting a shot image to the processor, and the processor controls the corresponding second mechanical arm to grab a corresponding plum on the conveying device according to the image.

3. The plum sorting system of claim 1, wherein the conveyor further comprises:

4. The plum sorting system of claim 3, wherein the first robotic arm comprises a first lateral slide mount mounted to the frame, a first intermediate connection block slidably connected to the first lateral slide mount, a first vertical slide mount mounted to a bottom of the first vertical slide mount, a first mounting plate mounted to a side of the first mounting plate facing the conveyor belt, and a plurality of first suction cups;

5. The plum sorting system according to claim 4, wherein a plurality of the second suction cups are provided in the width direction of the conveyor belt, and the number of the second suction cups is equal to the number of the rows of the catching grooves.

6. The plum sorting system according to claim 4, wherein the number of the first suction cups is equal to the number of the rows of the catch grooves in the width direction of the conveyor belt, and the number of the first suction cups is equal to the number of the second robot arms in the length direction of the conveyor belt.

7. The plum sorting system according to claim 3, wherein a spacing distance between adjacent two of the second robot arms is equal to a spacing distance between the card slots in a length direction of the conveyor belt, or a spacing distance between adjacent two of the second robot arms is an integral multiple of a spacing distance between the card slots in a length direction of the conveyor belt.

8. The plum sorting system according to claim 3, wherein the slot extends through the conveyor belt in a thickness direction of the conveyor belt.

9. The plum sorting system according to claim 8, wherein the driving wheel is provided with a protrusion for engagement with the slot, and the protrusion is snap-fitted with the slot.

10. The plum sorting system according to claim 1, further comprising a plurality of receiving structures, wherein the number of the receiving structures is equal to the number of the second mechanical arms, the plurality of receiving structures are arranged in one-to-one correspondence with the plurality of second mechanical arms, the receiving structures comprise weighing devices and receiving boxes, the receiving boxes are placed on the weighing devices, and openings of the receiving boxes are located on moving paths of the corresponding second mechanical arms.