TWI781562B - Intelligent automatic cutting and sorting system - Google Patents

Abstract

An intelligent automatic cutting and sorting system includes a feeding device for conveying a pineapple, a slicing device for cutting the pineapple into a plurality of pineapple slices, and a sorting device. The sorting device includes a detection unit and a cutting unit. The detection unit detects each pineapple slice with machine vision images and generates a first cutting path for distinguishing the respective cores and a first cutting path for distinguishing the respective peels. Two cutting paths, if one of the pineapple slices has at least one bad fruit area, the detection unit generates a third cutting path partially surrounding the at least one bad fruit area, and the cutting unit follows the first cutting path, the second cutting path through the water jet Two cutting paths, and the third cutting path cut, the present invention has the advantages of distinguishing good and bad fruits and can retain most of the pineapple pulp to reduce waste.

Description

Intelligent automatic cutting and sorting system

The present invention relates to a cutting system, in particular to an intelligent automatic cutting and sorting system.

An existing multi-edged pineapple processor such as the Taiwan Publication No. M388850U patent case, the multi-bladed pineapple processor includes a base, an annular cylinder arranged on the base, an annular cylinder arranged on the annular The tool set in the barrel, and an extruded piece that can be moved up and down by manual operation, is arranged above the annular barrel. The tool set includes a shaft, a hollow centering tool set on the upper end of the shaft, four A radial ring is arranged on the slitting knife of the shaft, four arc-shaped peeling knives are respectively arranged on the slitting knives, and four penetrating through the annular cylinder and can be respectively pressed against the cutting knives. The adjusting bar of the peeling cutter, the peeling cutters surround the slitting cutters, and the adjacent two are staggered along the radial direction. Place the pineapple with the head and tail removed above the cutter set in the annular cylinder, and then press the pineapple downwards by operating the extrusion member to peel the pineapple, remove the heart and cut the pulp of the pineapple, And with different sizes of pineapples, the depth of the adjusting rods protruding into the annular cylinder can be adjusted to change the circumference of the peeling knives around the slitting knives, so as to increase the convenience of peeling However, it is not only labor-intensive to operate the extruded part, but also requires manual adjustment of the circumference of the peeling knife to adjust the size of the pineapple for each cut. Pulp wasted.

Therefore, the purpose of the present invention is to provide an intelligent automatic cutting and sorting system that uses machine vision image detection and water jet cutting pineapple to save manpower time and reduce pulp waste during the cutting process.

Therefore, the intelligent automatic cutting and sorting system of the present invention is suitable for detecting and cutting a pineapple into a plurality of disc-shaped pineapple slices, each pineapple slice has a core, a pulp surrounding the core, and a surrounding pineapple slice. For the peel of the pulp, the intelligent automatic cutting and sorting system includes a feeding device, a slicing device, and a sorting device.

The feeding device is used to transport the pineapple, the slicing device is located downstream of the feeding device, and is used to cut the pineapple into the pineapple slices, the sorting device is located downstream of the slicing device and includes a detection unit, and a A cutting unit, the detection unit detects each pineapple slice with machine vision images and generates a first cutting path for distinguishing the core of each pineapple slice, and a second cutting path for distinguishing the peel of each pineapple slice, if One of the pineapple slices is judged to have at least one bad fruit area by the machine vision image by the detection unit, then the detection unit generates a third cutting path partially surrounding the at least one bad fruit area, the cutting unit is located downstream of the detection unit and passes through The water jet cuts each pineapple slice according to the respective first cutting path and the respective second cutting path, and separates the core and the peel of each pineapple slice from the pulp, and the cutting unit is followed by the water jet. It is determined that the third cutting path of the pineapple slices having the at least one bad fruit area is cut.

The effect of the present invention is that: by means of the detection unit of the sorting device, the core, the peel, and the pulp of each pineapple slice can be accurately distinguished, and the one pineapple slice with the at least one bad fruit area can be accurately distinguished. It can also accurately distinguish the bad fruit area, cooperate with the cutting unit to use water jets to cut along the first cutting path, the second cutting path, and the third cutting path, and can accurately separate and select good and bad fruit pulp, thereby maximizing The pulp is cut from each pineapple slice, so the present invention has the advantages of reducing manpower, increasing production capacity and high production efficiency.

Referring to Fig. 1, Fig. 2, and Fig. 3, an embodiment of the intelligent automatic cutting and sorting system of the present invention is suitable for detecting a plurality of pineapples (not shown) and cutting the pineapples into a plurality of disc-shaped Pineapple slices, each pineapple slice has a core, a pulp surrounding the core, and a pericarp surrounding the pulp. The intelligent automatic cutting and sorting system includes a feeding device 10, a slice device 20, and a dividing The selection device 30, the present embodiment is to cut and sort the pineapple slices by means of automatic optical detection and water jet cutting, and is not limited to the type of fruit, so in other variations of the present embodiment, the intelligent The automatic cutting and sorting system can also be used to cut and sort other types of fruits, but not limited to this.

The feeding device 10 transports the pineapples to the slicing device 20 sequentially by a mechanical arm (not shown), and the slicing device 20 cuts the pineapples into these pineapple slices respectively, and then the pineapples are cut into slices by the mechanical arm. The pineapple slices are sent to the sorting device 30 in sequence.

Referring to Fig. 2, Fig. 3, and Fig. 4, this sorting device 30 comprises a support 1, a rotating unit 2, a detection unit 3, a cutting unit 4, a heart-removing unit 5, a meat-taking unit 6, and A cleaning unit 7 .

The rotating unit 2 has a drive motor 21 arranged on the base 1, a shaft 22 rotatably arranged on the base 1 driven by the drive motor 21 with an axis L as the axis, and six surrounding The axis L is equidistantly arranged on the clamping groups 23 of the shaft 22, each clamping group 23 has a clamping driver 231 arranged on the shaft 22, and two clamping drivers 231 are arranged at intervals And can be driven by the clamping driver 231 to clamp the respective clamping components 232 of the pineapple slices.

Referring to Fig. 5, Fig. 6, and Fig. 7, the detection unit 3 has a detection base 31 disposed on the base 1, a detection bracket 32 disposed on the detection base 31, and a detection bracket 32 disposed on the detection bracket 32. And be positioned at the detector 33 above this detection base 31, this detection base 31 has a positioning part 34, in this embodiment this positioning part 34 is for this detector 33 identification and is used for this pineapple slice respectively In other variants of this embodiment, the circular mark for center alignment is not limited to the appearance of the positioning part 34 as long as it can be identified by the detector 33 as a basis for aligning each pineapple slice.

The detector 33 detects each pineapple slice with machine vision images and generates a first cutting path D1 for distinguishing the core of each pineapple slice, and a second cutting path D2 for distinguishing the peel of each pineapple slice, if One of the pineapple slices 8 has a bad fruit 84, and the detector 33 can additionally generate at least one bad fruit area S surrounding the bad fruit 84, and a third cutting path D3 partially surrounding the at least one bad fruit area S. In this embodiment, the one of the pineapple slices 8 with the bad fruit 84 is taken as an example for illustration. The one of the pineapple slices 8 is judged by the detector 33 to have the bad fruit area S surrounding the bad fruit 84 , then the detector 33 generates the third cutting path D3 partially surrounding the bad fruit area S. In this embodiment, the detector 33 detects one of the pineapple slices 8 by means of Automated Optical Inspection (AOI) and generates a calculated image (not shown), and then the one of the pineapple slices 8 Calculate the image and carry out grayscale and binarization, and the detector 33 can distinguish the core 81, the peel 83, the pulp 82 and the bad fruit area S of one of the pineapple slices 8 in a manner of distinguishing color difference, so as to generate the The first cutting path D1, the second cutting path D2, and the third cutting path D3.

In this embodiment, the first cutting path D1 is circular and located between the core 81 and the pulp 82 of one of the pineapple slices 8 , and the second cutting path D2 is circular and located between the core 81 and the pulp 82 of one of the pineapple slices 8 . Between the pulp 82 and the peel 83, one of the pulp 82 has a bad fruit area S around a bad fruit 84, and the third cutting path D3 has two extending from the core 81 of one of the pineapple slices 8 to The pericarp 83 is also located at the cutting section D31 on opposite sides of the bad fruit area S. In other variations of this embodiment, as long as the effect of cutting off the peel 83, the core 81, and the bad fruit area S of one of the pineapple slices 8 can be achieved, the first cutting path D1, The second cutting path D2, and the shape of the third cutting path D3, so when one of the pineapple slices 8 has a plurality of bad fruit areas S, the third cutting path D3 can be composed of a plurality of cutting segments D31 so that the Wait for the bad fruit area S to be removed.

5, FIG. 8, and FIG. 9, the cutting unit 4 has a first cutting module 41 located downstream of the detection unit 3, and a second cutting module 42 located downstream of the first cutting module 41, The first cutting module 41 has a first base 411 set on the base 1, a first mesh plate 412 set on the first base 411, a first base 411 set on the first base 411. A moving assembly 413, and a first water jet head 414 that is arranged on the first moving assembly 413 and can generate a downward spraying water jet, the first moving assembly 413 has a first base 411 that is arranged on The lower guide rail 415, and a first upper guide rail 416 movably arranged on the upper side of the first lower guide rail 415, the first waterjet head 414 is movably arranged on the first upper guide rail 416, the second cutting module 42 has a second base 421 set on the machine base 1, a second web plate 422 set on the second base 421, a second moving assembly 423 set on the second base 421, and a The second water jet head 424 that is arranged on the second moving assembly 423 and can generate a downward spraying water jet, the second moving assembly 423 has a second lower guide rail 425 arranged on the second base 421, and a The second upper guide rail 426 is movably disposed on the upper side of the first lower guide rail 415 , and the second waterjet head 424 is movably disposed on the second upper guide rail 426 .

Referring to Fig. 5 and Fig. 10, the coring unit 5 is located downstream of the second cutting module 42, and the coring unit 5 has a coring base 51 arranged on the base 1, a coring base 51 provided on the coring base. 51, a core removal bracket 52, a core removal driver 53 arranged on the center removal bracket 52, and a core removal device 54 arranged on the center removal driver 53 and driven by the center removal driver 53 to move up and down , the coring base 51 has a through hole 511 located below the coring member 54 .

Referring to Fig. 4, Fig. 5 and Fig. 11, the meat-taking unit 6 is located downstream of the coring unit 5, and the meat-taking unit 6 has a slide rail 61 arranged on the machine base 1, and a slide rail 61 arranged on the slide rail which can move horizontally. The slide seat 62 of rail 61, one is arranged on the carrying plate 63 of this slide seat 62, one is arranged on this support 1 and is positioned at the meat base 64 above this load plate 63, one is arranged on this meat base 64 Get the meat support 65, a meat drive 66 that is arranged on the meat support 65, and a plurality of meat drive parts that are arranged on the meat support 65 and driven by the meat drive 66 and can move up and down independently 67, the meat-taking base 64 has a working hole 641 between the meat-taking parts 67 and the bearing plate 63, and each meat-taking part 67 has three arrow-shaped forks 671. In this embodiment, the The meat-taking unit 6 has eight meat-taking parts 67 that are spaced and surround-shaped. The quantity and form of the meat-taking parts 67 can be adjusted according to different types of fruits. Driven by independent pneumatic valves, they can move up and down independently.

Referring to Fig. 5 and Fig. 12, the clearing unit 7 is located downstream of the meat-taking unit 6, and the clearing unit 7 has a clearing bracket 71 arranged on the base 1, a clearing driver 72 arranged on the clearing bracket 71, and A clearing member 73 is disposed on the clearing driving member 72 in an H shape and can be driven by the clearing driving member 72 to move up and down.

Referring to Fig. 1, Fig. 3, Fig. 4, the detection unit 3, the first cutting module 41, the second cutting module 42, the coring unit 5, the meat taking unit 6 and the cleaning unit 7 are arranged on the Frame 1, and around the shaft 22 at intervals, the drive motor 21 can drive the shaft 22 to rotate around the axis L, so that the clamping members 232 of each clamping group 23 can clamp their respective The pineapple slices pass through the detection unit 3 , the first cutting module 41 , the second cutting module 42 , the coring unit 5 , the fleshing unit 6 and the cleaning unit 7 in sequence.

In this embodiment, the meat-taking unit 6, the clamping groups 23, the coring unit 5, and the cleaning unit 7 are pneumatically actuated, and other power forms can also be used in other variations of this embodiment. Drive action, not limited to this.

In order to further understand the effects produced by the cooperation of the various components of the present invention, taking one of the pineapple slices 8 as an example, the operation process of the intelligent automatic cutting and sorting system is explained as follows:

Referring to Fig. 1, Fig. 6, Fig. 7, the detection unit 3 transmits one of the pineapple slices 8 to the detection base 31 by a mechanical arm, and the detector 33 detects and identifies the fruit of the one of the pineapple slices 8. The core 81, the fruit peel 83, the fruit pulp 82 and the at least one bad fruit area S generate the first cutting path D1, the second cutting path D2, and the third cutting path D3, and the mechanical arm adjusts the The position of a pineapple slice 8 makes the core 81 align with the positioning portion 34 .

Referring to Fig. 1, Fig. 7 and Fig. 8, one of the pineapple slices 8 is clamped by the clamping members 232 of the corresponding clamping group 23 and moved to the first mesh plate 412 of the first cutting module 41, the The first water jet head 414 cuts along the first cutting path D1 and the second cutting path D2 through the water jet to separate the core 81 and the peel 83 of one of the pineapple slices 8 from the pulp 82 .

Referring to Fig. 1, Fig. 7, Fig. 9, one of the pineapple slices 8 is clamped by the clamping members 232 of the corresponding clamping group 23 and moved to the second web plate 422 of the second cutting module 42, the The second water jet head 424 cuts along the third cutting path D3 through the water jet to separate the bad fruit area S of one of the pineapple slices 8 from the pulp 82 .

Referring to Figure 1 and Figure 10, one of the pineapple slices 8 is clamped by the clamping members 232 of the corresponding clamping group 23 and moved to the core-removing base 51 of the core-removing unit 5, the core-removing member 54 The downward movement pushes the core 81 of one of the pineapple slices 8 downward, so that the core 81 falls from the perforation 511 of the coring base 51 to break away from the pulp 82 .

Referring to Fig. 1 and Fig. 11, one of the pineapple slices 8 is clamped by the clamping parts 232 of the corresponding clamping group 23 and moved to the bearing plate 63 of the meat-taking unit 6, and some of the meat-taking parts 67 The pulp 82 without the bad fruit area S is inserted downward and moved upward, and the clamping members 232 of the corresponding clamping group 23 clamp the remaining peel 83 and the pulp 82 with the bad fruit area S Move between the flesh-taking unit 6 and the cleaning unit 7, the flesh-picking pieces 67 for inserting the pulp 82 without the bad fruit area S move upwards, so that the claws 671 retract inwardly, without the bad fruit area S. The pulp 82 of the fruit area S breaks away from the corresponding flesh-taking parts 67 and falls to the carrying plate 63, and the carrying plate 63 moves and collects the pulp 82 that does not have the bad fruit area S to a collection area (not shown in the figure) After moving back to the bottom of the working hole 641, the clamping members 232 of the corresponding clamping group 23 will continue to move the remaining peel 83 and the pulp 82 with the bad fruit area S to the cleaning unit 7. It is worth noting that, for the pineapple slices without the bad fruit area S, the flesh removal parts 67 can simultaneously move downwards and insert the pulp of the pineapple slices.

Referring to Fig. 1 and Fig. 12, the cleaning member 73 of the cleaning unit 7 moves downward to push down the peel 83 and the pulp 82 with the bad fruit area S to complete the cleaning operation.

Through the above description, the advantages of the intelligent automatic cutting and sorting system of the present invention can be summarized as follows:

1. With the detector 33 of the detection unit 3, the core 81, the pulp 82, the peel 83, and the bad fruit area S of one of the pineapple slices 8 can be accurately distinguished by means of automatic optical detection , and then utilize the water jets of the first cutting module 41 and the second cutting module 42 to cut off the core 81, the pulp 82, the peel 83, and the bad fruit area S of one of the pineapple slices 8, compared to For cutting with a blade, using a water jet not only has the advantages of sanitation, reduced bacterial contamination, and high efficiency, but also cuts with the cutting path calculated by the detector 33, and can also reduce the pulp 82 remaining in the core 81 and the peel 83 , keep the pulp 82 of one of the pineapple slices 8 most, to reduce waste.

2. The pineapple slices 8 are transported around the axis L by the clamping groups 23 of the rotating unit 2. Each clamping group 23 clamps the respective pineapple slices and passes through the detection unit 3, the first pineapple slice in sequence. A cutting module 41, the second cutting module 42, the coring unit 5, the meat taking unit 6 and the cleaning unit 7 can reduce the configuration of manpower during operation, and improve the processing of cutting and sorting the pineapple slices efficiency, and increase productivity.

But the above-mentioned ones are only embodiments of the present invention, and should not limit the scope of the present invention. All simple equivalent changes and modifications made according to the patent scope of the present invention and the content of the patent specification are still within the scope of the present invention. Within the scope covered by the patent of the present invention.

10: Feeding device 20: Slicing device 30: Sorting device 1: base 2: Rotation unit 21: Drive motor 22: shaft 23: clamping group 231: clamping driver 232: clamping piece 3: Detection unit 31: Detection base 32: Detection bracket 33: detector 34: Positioning Department 4: Cutting unit 41: The first cutting module 411: The first base 412: The first stencil 413: The first mobile component 415: The first lower rail 416: The first upper rail 414: The first water jet head 42: The second cutting module 421:Second Base 422: Second stencil 423: The second mobile component 425: The second lower guide rail 426: The second upper rail 424: The second water jet head 5: Coring unit 51: Heart base 511: perforation 52: Coring stent 53: Core drive 54: heart piece 6: Meat extraction unit 61: slide rail 62: sliding seat 63: Loading board 64: Meat Fetching Base 641: working hole 65: Meat extraction bracket 66: Meat drive 67: Take Meat Pieces 671: fork 7:Clear unit 71:Clear Brackets 72: Clear drive 73: Clear pieces 8: pineapple slices 81: fruit heart 82:Pulp 83: Peel 84: bad fruit D1: the first cutting path D2: Second cutting path D3: The third cutting path D31: Cutting section S: bad fruit area L: axis

Other features and effects of the present invention will be clearly presented in the implementation manner with reference to the drawings, wherein: Fig. 1 is a three-dimensional combined view of an embodiment of the intelligent automatic cutting and sorting system of the present invention; Fig. 2 is a three-dimensional exploded view of this embodiment; Fig. 3 is a block diagram of this embodiment; Fig. 4 is a bottom view of this embodiment; Fig. 5 is a top view of this embodiment; Figure 6 is an enlarged view of a detection unit of this embodiment; Fig. 7 is a schematic diagram of the cutting path of one of the pineapple slices in this embodiment; Figure 8 is an enlarged view of a first cutting module of this embodiment; Fig. 9 is an enlarged view of a second cutting module of this embodiment; Fig. 10 is an enlarged view of a heart-removing unit of this embodiment; Figure 11 is an enlarged view of a meat-taking unit of this embodiment; and Fig. 12 is an enlarged view of a cleaning unit of this embodiment.

30: Sorting device 1: base 2: Rotation unit 3: Detection unit 4: Cutting unit 41: The first cutting module 42: The second cutting module 5: Coring unit 6: Meat extraction unit 7:Clear unit L: axis

Claims (8)

An intelligent automatic cutting and sorting system is suitable for detecting and cutting a pineapple into a plurality of disc-shaped pineapple slices, each pineapple slice has a core, a pulp surrounding the core, and a pineapple surrounding the pulp Peel, the intelligent automatic cutting and sorting system includes: a feeding device for conveying the pineapple; a slicer, located downstream of the feeding device, for cutting the pineapple into slices; and A sorting device, located downstream of the slicing device and comprising: A detection unit detects each pineapple slice with machine vision images and generates a first cutting path for distinguishing the core of each pineapple slice, and a second cutting path for distinguishing the peel of each pineapple slice, if one of the The pineapple slice is determined to have at least one bad fruit area by the machine vision image, then the detection unit generates a third cutting path partially surrounding the at least one bad fruit area; and A cutting unit, located downstream of the detection unit, cuts the first cutting path and the second cutting path of each pineapple slice through a water knife, and separates the core and the peel of each pineapple slice from the The pulp is separated, and the cutting unit cuts the pineapple slices determined to have the at least one bad fruit area along the third cutting path through the water knife. The intelligent automatic cutting and sorting system as described in Claim 1, wherein the cutting unit has a first cutting module and a second cutting module, and the first cutting module has a first base, a setting The first moving component on the first base, and a first water jet head arranged on the first moving component, the first moving component can drive the first water jet head to follow each pineapple slice through the water knife The first cutting path and the respective second cutting paths are used for cutting, the second cutting module has a second base, a second moving assembly set on the second base, and a second moving assembly set on the first The second water knife head of the two moving components can drive the second water knife head to cut through the water knife along the third cutting path of the pineapple slices determined to have the at least one bad fruit area. According to the intelligent automatic cutting and sorting system described in claim 2, the sorting device further includes a core removal unit located downstream of the second cutting module, to take out the core of each pineapple slice. The intelligent automatic cutting and sorting system as described in claim 3, wherein, the sorting device further includes a meat-taking unit located downstream of the coring unit, and the meat-taking unit that does not have the at least one bad fruit area in each pineapple slice The pulp is removed. The intelligent automatic cutting and sorting system as described in claim item 4, wherein the sorting device also includes a cleaning unit located downstream of the meat taking unit, which separates the peel and the at least one bad fruit area of each pineapple slice The pulp is removed. The intelligent automatic cutting and sorting system as described in claim 1, wherein the detection unit has a base for placing each pineapple slice, and a detector arranged above the base, the base has a Align the positioning part of each pineapple slice. The intelligent automatic cutting and sorting system as described in claim 6, wherein the detector is detected by means of automatic optical detection. The intelligent automatic cutting and sorting system as described in claim 5, wherein the sorting device further includes a machine base, and a rotating unit arranged on the machine base, and the rotating unit has an A shaft arranged on the machine base, and six clamping groups arranged on the shaft at equal intervals around the axis, the detection unit, the first cutting module, the second cutting module, the coring unit, The meat taking unit and the clearing unit are arranged on the machine base and surround the rotating unit at intervals, and each clamping group can clamp the respective pineapple slices to pass through the detection unit, the first cutting module, and the pineapple in sequence. The second cutting module, the coring unit, the meat taking unit and the cleaning unit.

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