KR20120033610A - Selection apparatus for agricultural products - Google Patents

Selection apparatus for agricultural products Download PDF

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Publication number
KR20120033610A
KR20120033610A KR1020100095216A KR20100095216A KR20120033610A KR 20120033610 A KR20120033610 A KR 20120033610A KR 1020100095216 A KR1020100095216 A KR 1020100095216A KR 20100095216 A KR20100095216 A KR 20100095216A KR 20120033610 A KR20120033610 A KR 20120033610A
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KR
South Korea
Prior art keywords
sorting
robot arm
shape
main conveyor
gripper
Prior art date
Application number
KR1020100095216A
Other languages
Korean (ko)
Inventor
김선관
이영우
Original Assignee
주식회사 로보스
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 로보스 filed Critical 주식회사 로보스
Priority to KR1020100095216A priority Critical patent/KR20120033610A/en
Publication of KR20120033610A publication Critical patent/KR20120033610A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0081—Sorting of food items
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/009—Sorting of fruit

Abstract

The present invention relates to a sorting apparatus that can sense the size, shape and color of the object to be sorted, such as fruits or vegetables, to classify the object to be suitable for each grade. The sorting device according to the present invention is a main conveyor for transporting any one of the fruit and vegetable sorting object, a shape recognition unit for recognizing the shape of the sorting object conveyed by the main conveyor provided on one side of the main conveyor, shape recognition unit The robot arm selectively gripping the sorting object according to the shape of the sorting object recognized by the robot, and the robot arm operating so that the gripping range of the robot arm is selectively adjusted according to the shape of the sorting object based on a signal from the shape recognition unit. It characterized in that it comprises a control unit for controlling.

Description

Agricultural product sorting device {SELECTION APPARATUS FOR AGRICULTURAL PRODUCTS}

The present invention relates to a sorting device, and more particularly, to a sorting device for sorting and sorting sorting objects such as fruits or vegetables.

When products of different sizes, such as agricultural products such as fruits or vegetables, are mixed, the screening targets are generally distributed as commodities by classifying the size, and the merchandise value and selling price of the corresponding items vary depending on the class. Sorting them by size is a very important task in terms of increasing the value of the goods.

In addition, since agricultural products such as fruits or vegetables may be distributed as commodities by dividing the grades by their own weight in addition to the size of the selected object, it is also important to sort the selected objects according to their own weight.

In general, the sorting apparatus is an apparatus for automatically classifying a sorting object, and sorts the sorting object by recognizing the size or weight of the sorting object according to the sorting method.

On the other hand, such a conventional sorting apparatus is arranged to rotate the roller at regular intervals to classify the sorting object according to the size of the sorting object to sort the sorting object by size. On the other hand, the conventional sorting apparatus for classifying the sorting object according to the weight of the sorting object provides a weight sensing unit to classify the sorting object having a predetermined weight according to each weight.

However, in the conventional sorting apparatus for classifying the sorting object according to the size of the sorting object, since the rotating rollers rotate in the same direction, the sorting object is eccentric in the vertical direction with respect to the roller rotation axis, which causes a problem of breaking the sorting object. In addition, the conventional sorting apparatus for classifying the sorting object according to the weight of the sorting object has a problem of impairing the continuity of the work because the weight zero of the weight sensing unit must be adjusted after a certain working time.

Accordingly, an object of the present invention is to provide a sorting apparatus capable of classifying a sorting object appropriately for each grade by sensing the size, shape and color of the sorting object such as fruit or vegetable.

Another object of the present invention is to provide a sorting apparatus capable of gripping and transferring a sorting object with a gripping force corresponding to the shape of the sorting object according to the detection of the size, shape and color of the sorting object.

The objects of the present invention are not limited to the above-mentioned objects, and other objects which are not mentioned will be clearly understood by those skilled in the art from the following description.

Means for solving the problems, according to the present invention, the main conveyor for transporting any one of the selection object of the fruit and vegetables, provided on one side of the main conveyor to recognize the shape of the selection object to be conveyed by the main conveyor According to the shape recognition unit, a robot arm for selectively holding the screening object according to the shape of the screening object recognized by the shape recognition unit, and according to the shape of the screening object based on the signal from the shape recognition unit And a control unit for controlling the operation of the robot arm to selectively adjust the gripping range of the robot arm.

Here, preferably, the shape recognition unit may recognize the size and length of the object to be selected by the main conveyor as an image and transmit the recognized information to the controller.

On the other hand, the robot arm, a gripper having a main frame, a pair of grippers disposed on one side of the main frame and holding the sorting object, and the sorting object is held in a predetermined grip range by the gripper. In order to be gripped, it may include a driving unit for providing a driving force to the gripper under the control of the controller.

The sorting apparatus may further include a plurality of sorting conveyors, which are disposed in the transverse direction with respect to the conveying direction of the main conveyor and sorted and conveyed the sorting objects each having a different shape to be conveyed by the robot arm.

The sorting device may further include a sorting transfer unit connected to the robot arm and guiding the sorting object held by the robot arm to each sorting conveyor according to the shape of the sorting object in the main conveyor. Can be.

The sorting conveying unit may be a linear conveying unit linearly transferred to each sorting conveyor along a conveying direction of the main conveyor, and connected between the robot arm and the linear conveying unit and held by the robot arm. It may include a link member for guiding the sorting object from the main conveyor to the sorting conveyor.

Specific details of other embodiments are included in the detailed description and drawings.

Therefore, according to the solution of the above problem, by recognizing the shape of the object to be sorted, such as fruits or vegetables having a variety of shapes to be transferred to the main conveyor can selectively grasp the screening object in the gripping range according to the shape of the screening object, This can improve the sorting accuracy and sorting speed.

In addition, by recognizing the shape of the object to be sorted by applying a gripping range according to the shape of the object to be screened, it is possible to prevent damage of the object to be screened.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a control block diagram of a sorting device for sorting a selection object, such as fruit or vegetables according to an embodiment of the present invention,
Figure 2 is a perspective view of the robot arm of the sorting device according to a preferred embodiment of the present invention,
3 is a first perspective view of a sorting apparatus according to a preferred embodiment of the present invention;
4 is a second perspective view of a sorting apparatus according to a preferred embodiment of the present invention.

Advantages and features of the present invention, and a configuration and method for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, only the embodiments are to make the disclosure of the present invention complete, and common knowledge in the art to which the present invention pertains. It is provided to fully inform the person having the scope of the invention, which is defined only by the scope of the claims. For reference, in describing the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

Prior to the description, the first and second perspective views of the sorting apparatus according to the preferred embodiment of the present invention shown in Figs. 3 and 4 show views in each direction in order to help those skilled in the art to understand. Reveal it.

In addition, the sorting apparatus according to a preferred embodiment of the present invention can be applied to both fruits or vegetables, but will be described in advance below the configuration and operation of the sorting device for the selection of cucumber as a representative example.

1 is a control block diagram of a sorting apparatus for sorting a selection object, such as fruit or vegetables according to a preferred embodiment of the present invention.

As shown in Figure 1, the sorting device 10 according to a preferred embodiment of the present invention is the main conveyor (100: see Figs. 3 and 4), the shape recognition unit 200, robot arm 400, classification conveyor (500: see FIGS. 3 and 4), the classification transfer unit 700, the classification driver 800 and the control unit 900. Here, the sorting device 10 according to the present invention sorts and classifies according to the shape, size and color of the cucumber.

The main conveyor 100 transfers cucumbers. The main conveyor 100 is operated by a known drive source such as a motor (not shown). The main conveyor 100 serves to transfer cucumbers having various shapes, sizes, and colors that are not classified, to the shape recognition unit 200.

The shape recognition unit 200 is provided at one side of the main conveyor 100 to recognize the shape of the cucumbers conveyed by the main conveyor 100. Shape recognition unit 200 is an embodiment of the present invention, one is installed for the conveying direction of the main conveyor 100, may be installed more than one for the selection efficiency of the cucumber.

Here, the shape recognition unit 200 recognizes the size and length of the cucumbers conveyed by the main conveyor 100 as an image and transmits the recognized image signal to the controller 900 to be described later. The shape recognition unit 200 may recognize cucumbers transferred on the main conveyor 100 in a two-dimensional image, or recognize cucumbers transferred on the main conveyor 100 in a three-dimensional image. The shape recognition unit 200 is preferably changed in accordance with the design and cost problems.

2 is a perspective view of the robot arm of the sorting apparatus according to a preferred embodiment of the present invention.

As illustrated in FIG. 2, the robot arm 400 includes a gripper 420 and a driver 440 as an embodiment of the present invention. The gripper 420 is determined by the control of the control unit 900 receives a signal from the shape recognition unit 200, the gripping range that can hold the cucumber. That is, the robot arm 400 of the present invention is controlled by the controller so that the grip range of the robot arm 400 is selectively adjusted based on the shape of the cucumbers based on the signal from the shape recognition unit 200. .

The gripper 420 may include a grip part 422, a hinge part 424, and a buffer member 426 as one embodiment of the present invention. The gripping portions 422 are disposed to face each other in pairs, and grip the cucumbers. The hinge portion 424 extends from the grip portion 422 to provide a reciprocating rotational force between a grip position at which the grip portion 422 grips cucumbers and a grip release position at which the grip grips the cucumbers.

Then, the buffer member 426 is provided on the gripping surface of the gripping portion 422 so that the gripping force transmitted to the cucumber gripped by the gripping portion 422 is buffered. The shock absorbing member 426 is made of a silicone foam or an elastic plastic to buffer the gripping force transmitted from the gripping portion 422 to the cucumber, thereby preventing the cucumber from being damaged or damaged.

The driving unit 440 provides a driving force to the gripper 420 so that the gripper 420 grips and releases cucumbers. The driving unit 440 is an embodiment of the present invention, the actuator (actuator) using the fluid pressure is used. That is, the driving unit 440 may provide a driving force to rotate the hinge portion 424 of the gripper 420 by the operation of the actuator. The fluid pressure provided to the driving unit 440 may be selectively used in pneumatic or hydraulic pressure in proportion to the required force.

Of course, the drive unit 440 may be a drive source such as a motor driven by an electric force in addition to the actuator method illustrated in the present invention.

In this case, the driving unit includes a reciprocating member for reciprocating the reciprocating motion of the motor and the motor, and for pressurizing and releasing the pair of the gripping parts such that the pair of the gripping parts are reciprocally rotated, and the rotation angle of the motor. By adjusting the opening angle of the gripping portion according to, the opening angle can be adjusted according to the size of the agricultural product to be screened.

The opening angle may be determined according to the thickness of the object to be held, and the thickness of the object may be determined by image processing after acquiring an image of the object to be held. That is, when the thickness of the object to be gripped through the image processing is determined, the rotation angle of the motor is determined through the control unit, and the opening angle is controlled by informing the motor of the determined rotation angle.

The control unit is equipped with image processing logic, and can analyze the image acquired through the camera to grasp the type, size, thickness, position of the position to be gripped, etc., and to control the driving unit by using the various pieces of information. Can be.

Next, Figure 3 is a first perspective view of the sorting apparatus according to a preferred embodiment of the present invention, Figure 4 is a second perspective view of the sorting apparatus according to a preferred embodiment of the present invention.

As shown in FIGS. 3 and 4, the sorting conveyor 500 transports the graded cucumbers grasped and transported by the robot arm 400. The sorting conveyor 500 is disposed transversely with respect to the conveying direction of the main conveyor 100 to convey cucumbers having different shapes, respectively conveyed by the robot arm 400. Here, at least two sorting conveyors 500 should be disposed with respect to the main conveyor 100 so that the cucumbers of each grade recognized according to the shape in the shape recognition unit 200 are classified and transported.

On the other hand, the classification transfer unit 700 is connected to the robot arm 400, the shape of the cucumber recognized by the shape recognition unit 200 disposed on the side of the main conveyor 100 for the cucumber gripped by the robot arm 400 Guide to each sorting conveyor 500 according to. The classification transfer part 700 of the present invention includes a linear transfer part 720, a link member 740, and a transfer support part 760.

The linear transfer unit 720 transfers the robot arm 400 along the transfer direction of the main conveyor 100. The link member 740 is connected between the robot arm 400 and the linear transfer unit 720 to guide the cucumber held by the robot arm 400 from the main conveyor 100 to the sorting conveyor 500.

Here, three link members 740 are disposed at equal intervals along the circumferential direction of the linear transfer unit 720 provided in a circular shape to achieve a balance of forces. Link member 740 is composed of a two-section link, each end is rotatably connected to the linear transfer portion 720 and the robot arm 400, and the other end is connected to each other in a relative rotational movement. The link member 740 is moved in the transverse direction with respect to the conveying direction of the linear transfer unit 720, to guide the movement of the robot arm 400 to the sorting conveyor 500 disposed in the transverse direction on the main conveyor (100).

The transfer support 760 connects the center region of the linear transfer unit 720 and the center region of the robot arm 400 so that the robot arm 400 may be guided by the linear transfer unit 720 or the link member 740. When the robot arm 400 secures the transfer stability.

Next, the classification driver 800 of the present invention includes a transfer driver 820 and a link driver 840. The transfer driving unit 820 provides a driving force to the linear transfer unit 720, and the link driving unit 840 provides a driving force to the link member 740. Detailed description of the classification driver 800 will be described later together in the control unit 900.

Finally, the control unit 900 controls the operation of the driving unit 440 and the classification driver 800, respectively. The controller 900 controls the operation of the robot arm 400 to selectively adjust the gripping range of the robot arm 400 according to the shape of the cucumber based on the signal from the shape recognition unit 200.

In addition, the control unit 900 controls the operation of the transfer driving unit 820 so that the robot arm 400 is transferred to the position of the cucumber to be transferred on the main conveyor 100 based on the signal from the shape recognition unit 200. do. In addition, the control unit 900 controls the operation of the link driving unit 840 to guide the cucumber gripped by the robot arm 400 to the classification conveyor 500 corresponding to the grade.

Herein, the control unit 900 may continuously perform operation control of the transfer driving unit 820 and the link driving unit 840 of the classification driving unit 800. The sorting apparatus 10 according to the present invention transmits a signal by detecting a position of the linear transfer unit 720 and the link member 740 to the control unit 900 to control the operation of the transfer driving unit 820 and the link driving unit 840. Position sensor (not shown) is preferably provided.

Thus, by recognizing the shape of the object to be sorted, such as fruit or vegetables having a variety of shapes to be conveyed to the main conveyor can selectively grasp the object to be grasped in the gripping range according to the shape of the object to be selected, according to the selection accuracy and speed Can be improved.

In addition, by recognizing the shape of the object to be sorted by applying a gripping range according to the shape of the object to be screened, it is possible to prevent damage of the object to be screened.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, . Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

10: sorting device 100: main conveyor
200: shape recognition unit 400: robot arm
420: gripper 422: gripper
424: hinge portion 426: buffer member
440: drive unit 500: classification conveyor
700: classification transfer unit 720: linear transfer unit
740: link member 900: control unit

Claims (7)

A main conveyor for transporting any of the fruits and vegetables to be selected;
A shape recognition unit provided at one side of the main conveyor and recognizing a shape of the sorting object conveyed by the main conveyor;
A robot arm for selectively holding the sorting object according to a shape of the sorting object recognized by the shape recognition unit;
And a control unit for controlling the operation of the robot arm to selectively adjust the gripping range of the robot arm according to the shape of the sorting object based on the signal from the shape recognition unit. The method of claim 1,
And the shape recognition unit recognizes the size (thickness) and the length of the object to be selected by the main conveyor as an image and transmits the recognized information to the controller. The method of claim 1,
The robot arm,
Mainframe;
A gripper disposed on one side of the main frame and having a pair of grip portions for holding the sorting object;
And a driving unit which provides a driving force to the gripper under the control of the control unit so that the sorting object is gripped by the gripper in a predetermined holding range. The method of claim 1,
And a plurality of sorting conveyors arranged in a transverse direction with respect to the conveying direction of the main conveyor and sorting and conveying the sorting objects having different shapes respectively conveyed by the robot arm. . The method of claim 4, wherein
The sorting device,
And a sorting transfer unit connected to the robot arm and guiding the sorting object held by the robot arm to each sorting conveyor according to the shape of the sorting object in the main conveyor. . The method of claim 5,
The classification transfer unit,
A linear conveying unit linearly conveyed to each sorting conveyor along the conveying direction of the main conveyor;
And a link member connected between the robot arm and the linear transfer unit to guide the sorting object held by the robot arm from the main conveyor to the sorting conveyor. The method of claim 3,
The gripper is disposed on one side of the mainframe, and includes a gripper and a hinge, wherein the gripper is disposed to face each other in a pair so that the object can be gripped, and the hinge extends from the gripper and rotates on the mainframe. It is connected to be possible, the gripping portion agricultural product sorting device, characterized in that for holding the object to be rotated by receiving a driving force from the drive.
KR1020100095216A 2010-09-30 2010-09-30 Selection apparatus for agricultural products KR20120033610A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104646302A (en) * 2013-11-24 2015-05-27 邢玉明 Method for sorting non-biological domestic garbage by parallel manipulators
CN105705257A (en) * 2013-09-06 2016-06-22 克瑞斯普兰股份有限公司 Method for inducting and singulating items to a sorter
CN107694960A (en) * 2017-10-10 2018-02-16 昆明理工大学 A kind of fully-automatic intelligent fruits and vegetables sorting vanning robot
KR101978910B1 (en) * 2017-12-07 2019-05-15 한국생산기술연구원 Workpiece Transport Automation System And Method
CN113118039A (en) * 2021-05-13 2021-07-16 哈尔滨理工大学 Automatic sorting and unloading matching system and method for garbage carrying
WO2022085965A1 (en) * 2020-10-22 2022-04-28 삼성전자주식회사 Clothing classification apparatus and clothing organizing apparatus including same
KR102541180B1 (en) * 2022-12-07 2023-06-14 성일하이메탈(주) A sorting device and system for sorting led lights by housing type through vision recognition from led mixed waste lights having different housing types

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105705257A (en) * 2013-09-06 2016-06-22 克瑞斯普兰股份有限公司 Method for inducting and singulating items to a sorter
CN105705257B (en) * 2013-09-06 2018-12-14 伯曼集团股份公司 Method for being guided article and singly assigning to sorter
CN104646302A (en) * 2013-11-24 2015-05-27 邢玉明 Method for sorting non-biological domestic garbage by parallel manipulators
CN107694960A (en) * 2017-10-10 2018-02-16 昆明理工大学 A kind of fully-automatic intelligent fruits and vegetables sorting vanning robot
CN107694960B (en) * 2017-10-10 2024-03-29 昆明理工大学 Full-automatic intelligent fruit and vegetable sorting and boxing robot
KR101978910B1 (en) * 2017-12-07 2019-05-15 한국생산기술연구원 Workpiece Transport Automation System And Method
WO2022085965A1 (en) * 2020-10-22 2022-04-28 삼성전자주식회사 Clothing classification apparatus and clothing organizing apparatus including same
CN113118039A (en) * 2021-05-13 2021-07-16 哈尔滨理工大学 Automatic sorting and unloading matching system and method for garbage carrying
CN113118039B (en) * 2021-05-13 2022-10-21 哈尔滨理工大学 Automatic sorting and unloading matching system and method for garbage carrying
KR102541180B1 (en) * 2022-12-07 2023-06-14 성일하이메탈(주) A sorting device and system for sorting led lights by housing type through vision recognition from led mixed waste lights having different housing types

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