WO2021223330A1 - 一种基于网格结构预定位的规模化冬枣智能动态优选设备 - Google Patents

一种基于网格结构预定位的规模化冬枣智能动态优选设备 Download PDF

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WO2021223330A1
WO2021223330A1 PCT/CN2020/104537 CN2020104537W WO2021223330A1 WO 2021223330 A1 WO2021223330 A1 WO 2021223330A1 CN 2020104537 W CN2020104537 W CN 2020104537W WO 2021223330 A1 WO2021223330 A1 WO 2021223330A1
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Prior art keywords
winter jujube
grid
tooth
flexible
winter
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PCT/CN2020/104537
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English (en)
French (fr)
Inventor
张建军
贾振明
李远洋
孟岩
王怀雨
冯日
车清论
鹿贺伟
王郑扬
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青岛理工大学
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Publication of WO2021223330A1 publication Critical patent/WO2021223330A1/zh

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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
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
    • 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
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
    • A23N2015/008—Sorting of fruit and vegetables
    • 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

Definitions

  • the invention relates to the technical field of winter jujube screening, in particular to a large-scale intelligent dynamic optimization device for winter jujube based on grid structure pre-positioning with simple structure and convenient use.
  • Dongzao has a good taste and rich nutrition, and has the title of "King of Hundred Fruits". Due to the thin and brittle skin of winter jujube, it will inevitably cause damage to the fruit during the process of free growth, picking, and transportation before packaging, and will ulcerate and brown soon after storage. The festering and browning of Dongzao due to microscopic damage accounts for about one-fifth of the total storage. The lack of effective microscopic damage detection methods has become a bottleneck restricting the storage efficiency of Dongzao and extending the supply period. Therefore, it is very important for the whole winter jujube production industry to inspect the winter jujube before packaging and remove the bad fruit.
  • the current screening method of winter jujube is traditional manual screening, which not only has high screening cost, high labor intensity, and low screening efficiency, but also produces visual fatigue after long-time manual screening. The screening standards are different and the screening quality is also reduced.
  • the present invention proposes a large-scale Dongzao intelligent dynamic optimization equipment based on grid structure pre-positioning, which solves the problems of low screening efficiency and high cost of Dongzao in the prior art.
  • a large-scale intelligent dynamic optimization device for winter jujube based on grid structure pre-positioning including:
  • the conveying mechanism is arranged on the upper part of the frame, and is used to convey the winter jujube and realize the buffering of the winter jujube;
  • the conveying mechanism is arranged below the conveying mechanism, and is used to receive the winter jujube from the conveying mechanism and redistribute the winter jujube before conveying;
  • the rejection mechanism is arranged downstream of the conveying mechanism and is used to identify and reject the winter jujube of the conveying mechanism.
  • the conveying mechanism includes a first blanking plate and a second blanking plate that are arranged obliquely and symmetrically on a horizontal plane.
  • the winter jujube rolls down from the first blanking plate to the second under the action of its own weight.
  • the moving direction of the blanking board is changed.
  • a plurality of buffer brushes with different extension directions are arranged at the joint of the first blanking board and the second blanking board, and the winter jujube rolls down from the second blanking board to the conveying mechanism.
  • the first blanking plate is in the shape of a dustpan, a buffer layer is laid on its surface, and its end is in a narrowing shape.
  • the conveying mechanism includes
  • the flexible bottom plate is arranged below the second blanking plate, and the winter jujube rolls down from the second blanking plate onto the flexible bottom plate;
  • the flexible comb-tooth grid covers the flexible bottom plate and circulates.
  • the winter jujube on the flexible bottom plate is distributed in the flexible comb-tooth grid and rolls forward under the push of the flexible comb-tooth grid.
  • blocking brushes are respectively provided on both sides of the flexible bottom plate, and the extending direction of the blocking brush is the same as the rolling direction of the winter jujube.
  • the flexible comb tooth grid moves between the two blocking brushes.
  • At least one limiting brush is arranged above the flexible comb-tooth grid, and the extension direction of the limiting brush is perpendicular to the rolling direction of the winter jujube, and the limiting brush is used for stacking in the same grid Sweep out the winter dates.
  • the frame is provided with three support shafts arranged in a triangle, and the support shafts are all provided with gears and chains are wound around them, and the chains move under the drive of a motor;
  • the flexible comb-tooth grid is composed of a number of independent comb-tooth bodies arranged end to end in turn.
  • Each comb-tooth body includes a main tooth and a plurality of auxiliary teeth.
  • the two ends of the main tooth are fixed on the chains on both sides and are composed of Driven, a plurality of auxiliary teeth are evenly distributed on the main teeth, and the grid is enclosed between two adjacent comb-tooth bodies.
  • the frame is also provided with a tensioning mechanism for adjusting the tightness of the chain.
  • the rejection mechanism includes
  • a camera which is used to take multiple photographs and recognize the winter jujube rolling in the flexible comb-tooth grid
  • the number of movable plates corresponds to the number of rows of the flexible comb-tooth grid.
  • the movable plates are arranged at the end of the flexible bottom plate. The winter jujube rolls from the flexible bottom plate to the Movable board
  • the electromagnet has a one-to-one correspondence with the movable plate, and the electromagnet controls the movable plate to switch between a horizontal state and an inclined state through a pull rod;
  • the good fruit collecting board and the bad fruit collecting board are arranged at the movable board, and the good fruits and the bad fruits are separated according to the different actions of the movable board.
  • the movable plate is also arranged under the flexible comb-tooth grid, the inferior fruit collecting plate is located under the movable plate, and the superior fruit collecting plate is located at the end of the flexible comb-tooth grid;
  • the winter jujube is brought from the movable board to the excellent fruit collection board by the flexible comb tooth grid;
  • the electromagnet controls the movable plate to rotate downward to the inclined state
  • the winter jujube falls into the inferior fruit collecting plate from the flexible comb tooth grid under its own weight.
  • the flexible comb-tooth grid is in uniform motion or intermittent motion, and when it is in intermittent motion, its motion frequency is consistent with the photographing frequency of the camera.
  • the beneficial effect of the present invention is: the large-scale intelligent dynamic optimization equipment for winter jujube based on grid structure pre-positioning of the present invention uses the conveying mechanism on the rack to realize the conveyance of winter jujube and realize its buffering at the same time, so as to achieve as much as possible. Reduce the damage caused to the winter jujube; secondly, realize the redistribution of the winter jujube under the action of the subsequent conveying mechanism, which lays the foundation for the subsequent screening; finally, under the action of the elimination mechanism, the quality of the winter jujube is identified and eliminated as needed.
  • the technical scheme of the whole invention patent is simple in structure and convenient to use, can realize the screening of winter jujube with high efficiency and high accuracy, and has good practicability.
  • the conveying mechanism can change the direction of movement of the winter jujube during the fall of the winter jujube through the two symmetrical blanking plates up and down, thereby slowing down its rolling speed.
  • the buffer layer laid on the surface of the first blanking plate can also avoid the damage of the winter jujube.
  • a plurality of buffer brushes arranged in different directions at the joints of the blanking plates can also play a buffering effect, and further avoid damage to the surface of the winter jujube.
  • the first blanking plate is set in the shape of a dustpan, and its end is narrowed in size, which can facilitate the gradual collection of the winter jujube during the rolling down process, improve the screening efficiency and speed of the winter jujube, and can also prevent the winter jujube from rolling off the predetermined track.
  • the conveying mechanism of the present invention utilizes the combined action of the flexible bottom plate and the flexible comb tooth grid to realize the rolling forward of the winter jujube in the flexible comb tooth grid and synchronously on the flexible bottom plate, which not only avoids damage to the winter jujube, but also facilitates the subsequent removal of the winter jujube.
  • Multiple camera recognition from different angles, and the flexible comb-tooth grid structure can realize the redistribution of winter jujube, so that only one winter jujube is kept in a grid, ready for subsequent recognition and rejection.
  • the blocking brushes arranged on both sides of the flexible bottom plate can prevent the winter jujube from separating from the flexible comb-tooth grid from both sides, and the limiting brush set above the flexible comb-tooth grid can sweep out the winter jujube stacked in the same grid , So that a single winter jujube is located in a single grid to avoid local accumulation.
  • the vertical distance between the limit brush and the flexible comb tooth grid can be appropriately adjusted according to the general size of the winter jujube.
  • the culling mechanism of the present invention uses a camera to perform multiple photographs and recognition of the winter jujube rolling in the flexible comb tooth grid, which can comprehensively and maximally judge the quality of each winter jujube, and then use an electromagnet to control the movement of the movable board according to the judgment result ,
  • the movable board is horizontal, the excellent fruits continue to roll forward and enter the excellent fruit collecting plate.
  • the movable plate is rotated downward to the inclined state, the inferior fruits fall into the inferior fruit collecting plate, thereby realizing the separation of the excellent fruits and the inferior fruits.
  • This structure moves quickly, has a high recognition accuracy, and has a low manufacturing cost.
  • Figure 1 is a schematic structural diagram of an embodiment of the present invention
  • Figure 2 is a schematic view of the structure of this embodiment from another perspective
  • Figure 3 is a schematic diagram of the structure of the conveying mechanism
  • Figure 4 is a schematic front view of the conveying mechanism
  • Figure 5 is a schematic cross-sectional view at A-A in Figure 4.
  • Fig. 6 is a partial enlarged view of I in Fig. 5;
  • Figure 7 is a schematic diagram of the structure of the transfer mechanism
  • Figure 8 is a schematic view of the structure of the transfer mechanism from another perspective
  • Figure 9 is a schematic diagram of the structure of a single comb tooth body
  • Figure 10 is a schematic diagram of the structure of the rejection mechanism
  • Figure 11 is a schematic diagram of a state of the rejection mechanism
  • Figure 12 is a schematic diagram of the second state of the rejection mechanism
  • Figure 13 is a schematic diagram of the structure of the rejection mechanism
  • Figure 14 is a schematic diagram of the structure of a good fruit collecting plate and a bad fruit collecting plate
  • FIG. 1 and Figure 2 it is an embodiment of the large-scale intelligent dynamic optimization equipment for winter jujube based on grid structure pre-positioning of the present invention. Poor and inferior fruits are separated, and of course, they can also be used for screening of other products depending on the situation.
  • This embodiment mainly includes the following main parts: a frame 1, a conveying mechanism 2, a conveying mechanism 3, and a rejection mechanism 4.
  • the frame 1 is the supporting part of the entire device, and the other parts are installed on the frame 1.
  • the function of the conveying mechanism 2 is to convey the winter jujube, and it uses the gravity of the winter jujube to convey the winter jujube. Therefore, the conveying mechanism 2 needs to realize the deceleration and buffering of the winter jujube during the conveying process to avoid damage to the winter jujube.
  • the conveying mechanism 2 needs to be installed on the upper part of the frame 1.
  • the conveying mechanism 3 is arranged below the conveying mechanism 2, and its main function is to receive and redistribute the winter jujube and then transmit it.
  • the reason for the re-installation of the conveying mechanism 3 is that the winter jujube conveyed by the conveying mechanism 2 is messy. It is impossible to carry out subsequent identification and sorting. Therefore, it is necessary to use the conveying mechanism 3 to sort and redistribute the winter jujube.
  • the “redistribution” here mainly refers to the single-layer and regular distribution of the winter jujube for subsequent identification , Eliminate.
  • the rejection mechanism 4 is located at the end of the entire device, downstream of the conveying mechanism 3. It can recognize and reject the winter jujube on the conveying mechanism 3.
  • the image recognition technology used here is a relatively mature technical means in the prior art. There are mature applications in many fields.
  • the present invention can realize image recognition of winter jujube by using this technology, so as to judge the quality of the surface of winter jujube, and then distinguish the good fruit from the bad fruit, and realize according to the judgment result.
  • the separation of good fruits and bad fruits achieves the purpose of eliminating bad fruits. Since the specific image recognition principle is the prior art, it will not be repeated here. The following is a detailed description of the structure of these parts.
  • Figure 3, Figure 4, Figure 5 and Figure 6 are a schematic diagram of the structure of the conveying mechanism 2 in this embodiment, the conveying mechanism 2 includes a first blanking plate 5 and a second blanking plate 6, the first drop
  • the blanking plate 5 is larger than the second blanking plate 6, and the two blanking plates are arranged symmetrically up and down on a horizontal surface.
  • the phenomenon During use, the worker puts the winter jujube on the first blanking board 5. Under the action of gravity, the winter jujube rolls down along the first blanking board 5 and onto the second blanking board 6 while changing the rolling direction.
  • the overall shape of the first blanking plate 5 in this embodiment is a dustpan shape, and the end of the first blanking plate 5 is in a narrowing shape to prevent the winter jujube from being separated.
  • three buffer brushes 7 are also set at the junction of the two blanking plates. The arrangement directions of the three buffer brushes 7 are different, and they can play a further role when the winter jujube rolls down. Buffering effect.
  • the conveying mechanism 3 first includes a flexible bottom plate 8 which is made of soft material and is fixedly arranged under the second blanking plate 6.
  • the transmission mechanism 3 also includes three support shafts 12, which are arranged in a triangle on the frame 1.
  • Corresponding gears 13 and chains 14 are provided on the three support shafts 12, and a tension for adjusting the tightness of the chain 14 is also provided.
  • the mechanism 19, the gear 13 and the chain 14 are driven by a motor 15.
  • the tensioning mechanism 19 here is a relatively common mechanism in the prior art, and the specific structure will not be repeated here.
  • a flexible comb-tooth grid 9 is provided on the chain 14.
  • the flexible comb-tooth grid 9 circulates synchronously with the chain 14, and the flexible comb-tooth grid 9 covers the flexible bottom plate 8.
  • the winter jujube falls on the flexible bottom plate 8 , Will be dispersed in different grids of the flexible comb-tooth grid 9 and pushed by the flexible comb-tooth grid 9 to roll forward on the flexible bottom plate 8 to prepare for subsequent identification and screening.
  • the sliding speed of the winter jujube has been drastically alleviated, and the buffering effect of the buffer brush 7 makes the winter jujube fall into the grid accurately.
  • the transportation of the grid can be achieved.
  • the speed and the rate of blanking reach the exact critical value, which can avoid the phenomenon of blanks or serious accumulation in the grid.
  • the flexible comb-tooth grid 9 when the flexible comb-tooth grid 9 is driven by the chain 14 to move, it will simultaneously push the winter jujube to roll forward on the flexible bottom plate 8.
  • the cooperation between this flexible structure can minimize the damage to the winter jujube, and The rolling winter jujube can also ensure that the subsequent rejection agency can take photos and recognize it in all directions.
  • the extension direction of the limiter brushes 11 is perpendicular to the rolling direction of the winter dates.
  • the limit The bit brush 11 can sweep out the stacked winter jujube so that a single winter jujube is located in a single grid to avoid local accumulation.
  • this embodiment also sets up blocking brushes 10 on both sides of the flexible bottom plate 8.
  • the extension direction is the same as the rolling direction of the winter jujube.
  • the grid 9 moves between the two blocking brushes 10.
  • FIG. 9 it is a schematic diagram of the structure of a single comb tooth body 16.
  • the flexible comb tooth mesh 9 is formed by successively splicing and combining several comb tooth bodies 16 as shown in the figure.
  • Each comb tooth body 16 includes one
  • the main tooth 17 is composed of a plurality of auxiliary teeth 18, wherein the length of the main tooth 17 is longer, the length of the auxiliary tooth 18 is shorter, the auxiliary teeth 18 are evenly distributed on the main tooth 17, and the two ends of the main tooth 17 are fixed on both sides
  • two adjacent comb-tooth bodies 16 form the grid.
  • FIG. 10 it is a schematic diagram of the structure of the rejection mechanism 4, which mainly includes a camera 20, a movable plate 21, an electromagnet 22, a pull rod 23, a good fruit collecting plate 24 and a bad fruit collecting plate 25, among which ,
  • the camera 20 is installed on the lower surface of the first blanking plate 5 and is facing the flexible comb-tooth grid 9. It can take pictures and recognize the winter jujube rolling in the flexible comb-tooth grid 9, and under the rolling of the winter jujube, The multiple actions of the camera 20 can take photos of different angles of winter jujube, so as to judge its pros and cons in an all-round and more accurate manner; the movable plate 21 corresponds to the number of columns of the flexible comb-tooth grid 9.
  • the movable plate 21 is located below the flexible comb-tooth grid 9 and next to the flexible bottom plate 8.
  • the grid 9 is pushed from the flexible bottom plate 8 to the movable plate 21.
  • the movable plate 21 is connected to the electromagnet 22 through a pull rod 23.
  • the electromagnet 22 and the pull rod 23 can realize the movement of the movable plate 21.
  • There are two different states one is horizontal (shown in Figure 11), and the other is swinging down to tilt (shown in Figure 12). Among them, the four from the left and the three from the right in Figure 10 are all horizontal. , The middle one is swinging downward.
  • the electromagnet 22 is controlled by the determination results obtained by the camera 20 for multiple photographs, and the electromagnet 22 and the pull rod 23 are used to control the movable plate 21, which can efficiently and accurately realize the selection of good fruits and bad fruits.
  • the above-mentioned functions can be realized as long as the photographing frequency, the movement speed of the flexible comb-tooth grid 9 and the size of each component are set. This will be introduced in the following part, and the image recognition technology after the camera 20 takes a picture is also an existing technology. The more common and mature technologies in, I won’t repeat them here.
  • FIG. 14 it is a schematic diagram of the structure of the excellent fruit collecting plate 24 and the inferior fruit collecting plate 25, wherein the inferior fruit collecting plate 25 is located under the movable plate 21, and the excellent fruit collecting plate 24 is located at the end of the flexible comb-tooth grid 9.
  • the inferior jujube can be directly rolled into the inferior fruit collecting plate 25, and when the movable plate 21 is in a horizontal state, the superior fruit can be directly rolled down to the superior fruit collecting plate 24.
  • the movement of the flexible comb-tooth grid 9 there are two options for the movement of the flexible comb-tooth grid 9, one is uniform movement, and the other is intermittent movement. Regardless of the movement, the movement speed must be consistent with the frequency captured by the camera 20, for example, if the flexible The comb-tooth grid 9 moves intermittently, so when it is in a stopped state, the camera 20 just captures photos.
  • the size of the multiple parts of the mechanism needs to be set according to the size of the winter jujube.
  • the weight of a single winter jujube is 20-30g
  • the size of a single winter jujube is 20-30mm.
  • the angle between the first blanking plate 5 and the second blanking plate 6 can be obtained from the following formula:
  • g is the acceleration due to gravity
  • ⁇ is the angle between the first blanking plate 5 and the second blanking plate 6
  • ⁇ is the friction coefficient suffered by the winter jujube
  • ⁇ is the acceleration of the winter jujube. Since the winter jujube is rolling friction, Therefore, the friction coefficient ⁇ can be ignored.
  • the energy relationship of Dongzao after passing through multiple buffer brushes 7 is:
  • P is the kinetic energy of Dongzao
  • m is the mass of Dongzao
  • v is the speed of Dongzao
  • ⁇ is the acceleration of Dongzao
  • l is the rolling distance of Dongzao.
  • each grid is square, and its side length should be greater than the maximum diameter of a single winter jujube, and should be less than 1.5 times the diameter of the small winter jujube, so the side length in the positioning grid should be 40mm.
  • the length of the auxiliary tooth 18 is 40 mm.
  • the vertical distance between the limit brush 11 and the flexible bottom plate 8 also needs to be determined according to the general size of the winter jujube. Normally, the distance between the bottom of the limit brush 11 and the flexible bottom plate 8 should be greater than the diameter of the largest winter jujube and less than 1.3 of the minimum diameter of the winter jujube. Therefore, it is advisable to install the limit brush 11 at a distance of 40mm from the flexible bottom plate.
  • the above winter dates will be blocked by the limit brush 11 and then pushed into another empty grid, thus achieving the purpose of keeping only one winter date in a grid. It realizes the grid-based quantitative and accurate transmission, laying the foundation for subsequent identification.
  • the contact point between the grid and the winter jujube should be higher or lower than the center of gravity of the winter jujube (it is better to be higher to ensure that the winter jujube rolls forward, so as not to roll backwards out of the grid).
  • the center of gravity of the winter jujube is on the same horizontal plane. Therefore, according to the diameter of the winter jujube being 20-30 mm, the distance between the grid center and the flexible bottom plate 8 selected in this embodiment is 18 mm, which can ensure that the winter jujube is always rolling forward.
  • F is the thrust of the grid on the Dongzao, that is, the torque of the motor 15
  • ⁇ is the friction coefficient between the Dongzao and the flexible bottom plate 8
  • m is the mass of the Dongzao
  • g is the acceleration due to gravity
  • ⁇ is the acceleration of the Dongzao.
  • the rotation angle ⁇ of the movable plate 21 is 48°.
  • the large-scale intelligent dynamic optimization equipment for winter jujube based on grid structure pre-positioning of the present invention completes the pre-positioning kinetic energy of winter jujube by using a comb-like structure, and has the advantages of low cost, high efficiency, and easy promotion; and the entire device can realize complete treatment of winter jujube.
  • the location information collection and the accurate judgment of the good and bad dates, and the elimination of the bad dates through the lever principle of the electromagnet, have the advantages of high recognition rate and little damage to the winter dates.

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Abstract

一种基于网格结构预定位的规模化冬枣智能动态优选设备，包括机架（1）；输送机构（2），设置于机架的上部，用于冬枣的运输并实现冬枣的低程度损伤以及与传送机构的衔接；传送机构（3），设置于输送机构的下方，将冬枣进行再分布，保证单格单枣，便于后续装置的处理；剔除机构（4），设置于传送机构的下游，用于对传送机构的冬枣进行图像识别并进行定距推拉式剔除。该设备利用梳齿状运输结构完成了冬枣的预定位功能，整个设备可以实现对冬枣动态整体全方位的信息采集以及高精度的优劣判断，并通过定距式推拉式杠杆原理来实现劣枣的剔除，具有识别率高，处理量大的优点。

Description

一种基于网格结构预定位的规模化冬枣智能动态优选设备 技术领域
本发明涉及冬枣筛选技术领域，特别是指一种结构简单、使用方便的基于网格结构预定位的规模化冬枣智能动态优选设备。
背景技术
随着农业4.0时代的到来，我国农业机械化进程进一步提高，我国农机迎来智能化、自动化、数字化大变革，农业机械向着高效智能、节约环保、舒适便捷和个性专业方向不断发展。
冬枣口感上乘、营养丰富，有“百果之王”的称号。由于冬枣皮薄质脆，冬枣在自由生长、采摘、包装前运输过程当中会不可避免地对水果造成伤害，且在入库储藏后会很快出现溃烂、褐变。因微观损伤而溃烂、褐变的冬枣约占总储藏量的1/5，缺乏有效的微观损伤检测方法已成为制约冬枣储藏效益和延长供应期的瓶颈问题。因此包装前对冬枣进行检测，剔除其中的坏果，对整个冬枣生产行业来说至关重要。现如今的冬枣筛选方式是传统的人工筛选，其不仅筛选成本高、劳动强度大、筛选效率低，而且人工筛选长时间工作后产生视觉疲劳，筛选标准不一，也降低了筛选的质量。
发明内容
本发明提出一种基于网格结构预定位的规模化冬枣智能动态优选设备，解决了现有技术中冬枣筛选效率低、成本较高的问题。
本发明的技术方案是这样实现的：一种基于网格结构预定位的规模化冬枣智能动态优选设备，包括：
机架；
输送机构，设置于所述机架的上部，用于输送冬枣并实现冬枣的缓冲；
传送机构，设置于所述输送机构的下方，用于承接输送机构的冬枣并将冬枣再分布后进行传送；
剔除机构，设置于所述传送机构的下游，用于对传送机构的冬枣进行识别并进行剔除。
作为一种优选的实施方式，所述输送机构包括倾斜布置并以水平面上下对称的第一落料板和第二落料板，冬枣在自重的作用下自第一落料板滚落至第二落料板上并改变其运动方向，第一落料板和第二落料板的连接处设有多个延伸方向不同的缓冲毛刷，冬枣自第二落料板滚落至传送机构上。
作为一种优选的实施方式，所述第一落料板呈簸箕形，其表面铺设有缓冲层，其末端呈尺寸变窄的收口状。
作为一种优选的实施方式，所述传送机构包括
柔性底板，布置在所述第二落料板的下方，冬枣自第二落料板滚落至柔性底板上；
柔性梳齿网格，覆盖于所述柔性底板上并循环运动，柔性底板上的冬枣分布在所述柔性梳齿网格中并在柔性梳齿网格的推动作用下滚动前进。
作为一种优选的实施方式，所述柔性底板的两侧分别设置阻拦毛刷，所述阻拦毛刷的延伸方向与冬枣的滚动方向相同，柔性梳齿网格在两道阻拦毛刷之间运动；
所述柔性梳齿网格的上方设有至少一道限位毛刷，所述限位毛刷的延伸方向与冬枣的滚动方向垂直，所述限位毛刷用于将堆叠在同一个网格内的冬枣扫出。
作为一种优选的实施方式，所述机架上设有三角形布置的三根支撑轴，所述支撑轴上均设置有齿轮并绕有链条，所述链条在电机驱动下运动；
所述柔性梳齿网格由若干独立的梳齿体依次首尾排列组成，每个梳齿体包括一根主齿和多根副齿，主齿的两端固定在两侧的链条上并由链条带动，多根副齿均布在主齿上，相邻的两个梳齿体之间围成所述的网格。
作为一种优选的实施方式，所述机架上还设有用于调整所述链条松紧的张紧机构。
作为一种优选的实施方式，所述剔除机构包括
相机，用于对所述柔性梳齿网格内滚动的冬枣进行多次拍照识别；
活动板，其个数与所述柔性梳齿网格的列数之间对应，所述活动板设置在所述柔性底板的末端，冬枣在柔性梳齿网格的推动作用下从柔性底板滚动至活动板上；
电磁铁，与活动板之间一一对应，所述电磁铁通过拉杆控制活动板在水平状态和倾斜状态之间切换；
优果收集板和劣果收集板，其设置于活动板处，根据活动板的不同动作实现优果和劣果的分离。
作为一种优选的实施方式，所述活动板也布置于柔性梳齿网格的下方，劣果收集板位于活动板下方，优果收集板位于柔性梳齿网格的末端；
电磁铁控制活动板水平时，冬枣从活动板上由柔性梳齿网格带入优果收集板；
电磁铁控制活动板向下旋转至倾斜状态时，冬枣在自重下由柔性梳齿网格落入劣果收集板。
作为一种优选的实施方式，所述柔性梳齿网格为匀速运动或间歇运动，当其间歇运动时，其运动频率与相机的拍照频率保持一致。
采用了上述技术方案后，本发明的有益效果是：本发明的基于网格结构预定位的规模化冬枣智能动态优选设备利用机架上的输送机构实现冬枣的输送并同时实现其缓冲，以尽量减小对冬枣造成的损伤；其次在后续的传送机构作用下实现冬枣的再分布，为后续的筛选奠定了基础；最后在剔除机构的作用下进行冬枣的优劣识别并按需实现剔除。整个发明专利的技术方案结构简单、使用方便，能够高效率、高准确性地实现对冬枣的筛选，具有很好的实用性。
输送机构通过上下对称的两个落料板能够在冬枣滚落的过程中改变其运动方向，从而减缓其滚落速度，第一落料板表面铺设的缓冲层也能够避免冬枣损伤，同时在两个落料板连接处设置的方向不同的多个缓冲毛刷也能够起到缓冲作用，进一步避免了对冬枣表面造成的损伤。
第一落料板设置为簸箕形，且其末端呈尺寸变窄的收口状，能够方便冬枣在滚落过程中逐渐汇集，提高冬枣的筛选效率和速度，也能够避免冬枣滚落出预定轨道。
本发明的传送机构利用柔性底板和柔性梳齿网格的共同作用，实现冬枣在柔性梳齿网格内并同步在柔性底板上的滚动前进，不仅避免了冬枣损伤，方便了后续剔除机构对冬枣多个不同角度的拍照识别，而且柔性梳齿网格的结构能够实现对冬枣的再分配，使得一个网格内仅保留一个冬枣，为后续的识别、剔除做好准备。
设置在柔性底板两侧的阻拦毛刷能够防止冬枣从两侧脱离柔性梳齿网格，而且柔性梳齿网格的上方设置的限位毛刷能够将堆叠在同一个网格内的冬枣扫出，使得单个冬枣位于单个网格当中，避免产生局部堆积现象。当然，限位毛刷与柔性梳齿网格之间的垂直间距可以根据冬枣的一般大小进行适当性的调整。
本发明的剔除机构利用相机对柔性梳齿网格内滚动的冬枣进行多次拍照识别，能够全面地、最大限度地对每个冬枣进行优劣判断，之后根据判断结果利用电磁铁控制活动板动作，当活动板水平时，优果继续向前滚动进入优果收集板，当活动板向下旋转至倾斜状态时，劣果掉入劣果收集板内，从而实现优果和劣果的分离，这种结构动作迅速，识别准确率高，且制作成本较低。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明一种实施例的结构示意图；
图2为该实施例另一视角的结构示意图；
图3为输送机构的结构示意图；
图4为输送机构的正视示意图；
图5为图4中A-A处的剖视示意图；
图6为图5中I处的局部放大图；
图7为传送机构的结构示意图；
图8为传送机构另一视角的结构示意图；
图9为单个梳齿体的结构示意图；
图10为剔除机构的结构示意图；
图11为剔除机构状态一示意图；
图12为剔除机构状态二示意图；
图13为剔除机构的结构原理图；
图14为优果收集板和劣果收集板的结构示意图；
图中：1-机架；2-输送机构；3-传送机构；4-剔除机构；5-第一落料板；6-第二落料板；7-缓冲毛刷；8-柔性底板；9-柔性梳齿网格；10-阻拦毛刷；11-限位毛刷；12-支撑轴；13-齿轮；14-链条；15-电机；16-梳齿体；17-主齿；18-副齿；19-张紧机构；20-相机；21-活动板；22-电磁铁；23-拉杆；24-优果收集板；25-劣果收集板。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例：
如图1和图2所示，为本发明基于网格结构预定位的规模化冬枣智能动态优选设备的一种实施例，其主要用于冬枣的筛选和剔除，将质量好的优果和质量差的劣果进行分离，当然，也可视情况用于其他产品的筛选。
该实施例主要包括以下几个主要的部分：机架1、输送机构2、传送机构3和剔除机构4，其中，机架1为整个装置的支撑部分，其他部分均安装于机架1上。输送机构2的作用是用于输送冬枣，其输送冬枣所利用的是冬枣自身的重力作用，因此，输送机构2需要在输送过程中实现冬枣的减速、缓冲，以避免对冬枣造成损伤，此外，由于利用的是冬枣自身的重量，输送机构2需要安装在机架1的上部。传送机构3设置于输送机构2的下方，其主要的作用是用于承接冬枣 并将冬枣进行再分布后进行传送，之所以再设置传送机构3的原因是仅靠输送机构2输送的冬枣是杂乱无章的，无法进行后续的识别以及分拣，因此，需要利用传送机构3对冬枣进行梳理、再分布，此处的“再分布”主要指将冬枣进行单层、有规律的分布，以便后续的识别、剔除。剔除机构4位于整个装置的末端，位于传送机构3的下游，能够对传送机构3上的冬枣进行图像识别并进行剔除，此处应用的图像识别技术是现有技术中较为成熟的技术手段，在很多领域均已经有较为成熟的应用，本发明利用该技术能够实现对冬枣的图像识别，以此来判断出冬枣表面的质量好坏，进而区分出优果与劣果，并根据该判定结果实现优果与劣果的分离，达到剔除劣果的目的，其具体的图像识别原理由于是现有技术，在此不再赘述。下面即对该几部分结构做详细的说明。
如图3、图4、图5和图6共同所示，为该实施例中输送机构2的结构示意图，该输送机构2包括第一落料板5和第二落料板6，第一落料板5较第二落料板6大，且两个落料板以水平面上下对称布置，实际使用过程中，还需保证冬枣在滚落时速度不会过快并且不会出现冬枣卡位堵塞的现象。使用时，工人将冬枣放置于第一落料板5上，在重力作用下，冬枣沿第一落料板5向下滚落，并滚落至第二落料板6上，同时改变滚动方向，起到缓冲的作用，必要时可以在第一落料板5的表面铺设一层缓冲材料。而且为了实现冬枣的汇集，该实施例的第一落料板5整体形状呈簸箕形，其末端呈变窄的收口状，避免冬枣脱离。如图6所示，在两个落料板的连接处还设置了三个缓冲毛刷7，这三个缓冲毛刷7的布置方向是不同的，在冬枣滚落时其能够起到进一步的缓冲作用。
如图7和图8共同所示，为传送机构3的结构示意图，传送机构3首先包括一个柔性底板8，该柔性底板8由软体材料制作，并固定设置在第二落料板6的下方，冬枣从第二落料板6上直接滚落至柔性底板8上。传送机构3还包括三根支撑轴12，这三根支撑轴12呈三角形布置在机架1上，三根支撑轴12上设置对应的齿轮13和链条14，同时还设置用于调整链条14松紧的张紧机构19，齿轮13和链条14通过电机15驱动，此处的张紧机构19为现有技术中较为常见的机构，具体结构在此不再赘述。在链条14上设置有柔性梳齿网格9，柔性梳齿网格9随着链条14同步循环运动，柔性梳齿网格9覆盖在柔性底板8上，当冬枣掉落至柔性底板8上时，会被分散在柔性梳齿网格9不同的网格内，并被柔性梳齿网格9推动着在柔性底板8上滚动前进，为后续的识别、筛选做好准备。
根据能量关系可以得到，冬枣的下滑速度得到急剧缓解，并通过缓冲毛刷7的缓冲作用使得冬枣精确的落入网格当中，通过与电机15速度与下滑时间间隔的配合，使得网格的运输速率与落料的速率达到恰好的临界值，从而能够避免网格出现空格或者严重堆积的现象。
当然，在柔性梳齿网格9被链条14驱动运动时，会同时推动冬枣在柔性底板8上向前滚动，这种柔性结构之间的配合能够最大限度地减小对冬枣造成的损伤，而且滚动的冬枣也能够确保后续剔除机构对其全方位地进行拍照识别。由于 冬枣掉落在柔性底板8上后，不可避免地会存在同一个网格内堆叠多个冬枣的现象，为此，需要根据冬枣的一般大小确定单个网格的大小。而且在柔性梳齿网格9的上方还设有三道限位毛刷11，限位毛刷11的延伸方向与冬枣的滚动方向相垂直，当同一个网格内堆叠有多个冬枣时，限位毛刷11可以将堆叠在上方的冬枣扫出，使得单个冬枣位于单个网格当中，避免产生局部堆积现象。
此外，为了防止冬枣在滚动时脱离柔性梳齿网格9，该实施例还在柔性底板8的两侧设置了阻拦毛刷10，其延伸方向与冬枣的滚动方向相同，整个的柔性梳齿网格9在两个阻拦毛刷10之间运动。
如图9所示，为单个梳齿体16的结构示意图，柔性梳齿网格9即是由若干个图示的梳齿体16依次拼接组合而成，每个梳齿体16均包括一根主齿17和多根副齿18组成，其中，主齿17的长度较长，副齿18的长度较短，副齿18均布在主齿17上，主齿17的两端固定在两侧的链条14上，相邻的两个梳齿体16即围成了所述的网格。
如图10、图11和图12所示，为剔除机构4的结构示意图，其主要包括相机20、活动板21、电磁铁22、拉杆23、优果收集板24和劣果收集板25，其中，相机20安装在第一落料板5的下表面上，并正对着柔性梳齿网格9，能够对柔性梳齿网格9内滚动的冬枣进行拍照识别，而且在冬枣的滚动下，相机20多次动作可以对冬枣的多个不同的角度进行拍照，以便全方位、更准确地对其优劣进行判断；活动板21是与柔性梳齿网格9的列数之间对应的，在该实施例中，柔性梳齿网格9共有八列，因此，活动板21共有八个，并且活动板21位于柔性梳齿网格9的下方并紧邻柔性底板8，冬枣在柔性梳齿网格9的推动作用下从柔性底板8上滚动至活动板21上，活动板21通过一根拉杆23连接有电磁铁22，通过电磁铁22、拉杆23能够实现活动板21的动作，活动板21具有两种不同的状态，一是水平(即图11所示)，二是向下摆动至倾斜(即图12所示)其中，图10中左起四个、右起三个均为水平状态，中间一个为向下摆动状态。因此，当活动板21向下摆动时，其上的冬枣即顺着活动板21直接掉落下去，而处于水平状态的活动板21上的冬枣则继续向前滚动，从而实现不同冬枣的分离，因此，利用相机20多次拍照得到的判定结果控制电磁铁22，利用电磁铁22、拉杆23控制活动板21，即能够高效、准确地实现优果与劣果的筛选，此过程中相机20的拍照频率、柔性梳齿网格9的运动速度，以及各个部件的尺寸只要设定好，即能够实现上述功能，这在后续的部分会介绍，而且相机20拍照后的图像识别技术也是现有技术中较为常见的成熟技术，在此不再赘述。
如图14所示，为优果收集板24和劣果收集板25的结构示意图，其中，劣果收集板25位于活动板21的下方，优果收集板24位于柔性梳齿网格9的末端，这样，当活动板21向下摆动至倾斜状态时，能够实现劣枣直接滚落至劣果收集板25内，当活动板21处于水平状态时，优果直接滚落至优果收集板24内。
此外，柔性梳齿网格9的运动方式有两种选择，一是匀速运动，二是间歇运动，不论是哪种运动，均需其运动速度和相机20采集的频率保持一致，例如，如果柔性梳齿网格9是间歇运动的，则其处于停止状态时，相机20正好采集照片。
在实际应用过程中，该机构的多个部件的尺寸需根据冬枣的大小进行设定，通常情况下，单个冬枣的重量在20-30g，单个冬枣的大小在20-30mm。
1、首先，在输送机构2中，为了保证冬枣能顺利滑下且速度适中，由下面公式可得第一落料板5和第二落料板6的夹角：
Figure PCTCN2020104537-appb-000001
式中，g为重力加速度，θ为第一落料板5和第二落料板6之间的夹角，μ为冬枣所受的摩擦系数，α为冬枣的加速度，由于冬枣为滚动摩擦，因此摩擦系数μ可忽略不计，考虑到倾倒冬枣时，满足传送机构3所需，取θ＝30°为宜。相应的，冬枣在经过多个缓冲毛刷7后，能量关系为：
Figure PCTCN2020104537-appb-000002
式中，P为冬枣的动能，m为冬枣的质量，v为冬枣的速度，α为冬枣的加速度，l为冬枣滚动的距离。
2、其次，在传送机构3中，每个网格均呈正方形，其边长应大于单个冬枣的最大直径，且满足小于小型冬枣的1.5倍直径，故定位网格内的边长选用40mm为宜，即副齿18的长度为40mm。
限位毛刷11与柔性底板8之间的垂直距离也需要根据冬枣的一般大小确定，通常情况下，限位毛刷11底部距离柔性底板8应大于最大冬枣的直径，小于最小冬枣直径的1.3倍，故将限位毛刷11安装至距柔性底板40mm处为宜。当同一个网格内堆叠有冬枣时，上面的冬枣会被限位毛刷11阻挡，进而被推动到另一个空着的网格内，从而实现了一个网格内只保留一个冬枣的目的，实现了网格化定量准确传输，为后续的识别奠定基础。
为了确保冬枣是滚动前进，网格与冬枣的接触点要高于或者低于冬枣的重心(最好是高于，以保证冬枣向前滚动，不至于向后滚动滚出网格范围)，不能与冬枣的重心位于同一水平面上，因此，根据冬枣的直径在20-30mm，该实施例选择的网格中心与柔性底板8之间的间距是18mm，这样能够确保冬枣是一直往前滚动。
冬枣在柔性底板8上滚动时，其受力公式为
F-μmg＝ma
式中，F为网格对冬枣的推力，也即电机15的扭力，μ为冬枣与柔性底板8之间的摩擦系数，m为冬枣的质量，g为重力加速度，α为冬枣的加速度。
3、第三，在剔除机构4中，其动作原理图如图13所示，其中，BB`为电磁铁22的行程，O为活动板21的旋转中心，AA`为拉杆23末端的行程，该实施例中电磁铁22的行程BB`为30mm，而冬枣的直径为20-30mm，为保证坏果能顺利从张开的活动板中掉落，A到OA′的垂直距离选择为30mm，根据下列公式
Figure PCTCN2020104537-appb-000003
可得活动板21的旋转角度θ为48°。
同时，图13中还满足以下公式
(OO`+OA) 2+O`B 2＝AB 2
Figure PCTCN2020104537-appb-000004
Figure PCTCN2020104537-appb-000005
由于AA`与A`B`的角度近似180°，故将AB`近似为直线。联立上述四个公式可得出拉杆的长度为130mm。
本发明的基于网格结构预定位的规模化冬枣智能动态优选设备利用梳齿状结构完成了冬枣的预定位动能，具有成本低，效率高，易推广等优点；而且整个设备可以实现对冬枣全方位的信息采集以及优劣枣的精准判断，并通过电磁铁的杠杆原理来实现劣枣的剔除，具有识别率高，对冬枣损伤小的优点。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种基于网格结构预定位的规模化冬枣智能动态优选设备，其特征在于，包括：
    机架；
    输送机构，设置于所述机架的上部，用于输送冬枣并实现冬枣的缓冲；
    传送机构，设置于所述输送机构的下方，用于承接输送机构的冬枣并将冬枣再分布后进行传送；
    剔除机构，设置于所述传送机构的下游，用于对传送机构的冬枣进行识别并进行剔除。
  2. 如权利要求1所述的基于网格结构预定位的规模化冬枣智能动态优选设备，其特征在于：所述输送机构包括倾斜布置并以水平面上下对称的第一落料板和第二落料板，冬枣在自重的作用下自第一落料板滚落至第二落料板上并改变其运动方向，第一落料板和第二落料板的连接处设有多个延伸方向不同的缓冲毛刷，冬枣自第二落料板滚落至传送机构上。
  3. 如权利要求2所述的基于网格结构预定位的规模化冬枣智能动态优选设备，其特征在于：所述第一落料板呈簸箕形，其表面铺设有缓冲层，其末端呈尺寸变窄的收口状。
  4. 如权利要求2或3所述的基于网格结构预定位的规模化冬枣智能动态优选设备，其特征在于：所述传送机构包括
    柔性底板，布置在所述第二落料板的下方，冬枣自第二落料板滚落至柔性底板上；
    柔性梳齿网格，覆盖于所述柔性底板上并循环运动，柔性底板上的冬枣分布在所述柔性梳齿网格中并在柔性梳齿网格的推动作用下滚动前进。
  5. 如权利要求4所述的基于网格结构预定位的规模化冬枣智能动态优选设备，其特征在于：所述柔性底板的两侧分别设置阻拦毛刷，所述阻拦毛刷的延伸方向与冬枣的滚动方向相同，柔性梳齿网格在两道阻拦毛刷之间运动；
    所述柔性梳齿网格的上方设有至少一道限位毛刷，所述限位毛刷的延伸方向与冬枣的滚动方向垂直，所述限位毛刷用于将堆叠在同一个网格内的冬枣扫出。
  6. 如权利要求5所述的基于网格结构预定位的规模化冬枣智能动态优选设备，其特征在于：所述机架上设有三角形布置的三根支撑轴，所述支撑轴上均设置有齿轮并绕有链条，所述链条在电机驱动下运动；
    所述柔性梳齿网格由若干独立的梳齿体依次首尾排列组成，每个梳齿体包括一根主齿和多根副齿，主齿的两端固定在两侧的链条上并由链条带动，多根副齿均布在主齿上，相邻的两个梳齿体之间围成所述的网格。
  7. 如权利要求6所述的基于网格结构预定位的规模化冬枣智能动态优选设备，其特征在于：所述机架上还设有用于调整所述链条松紧的张紧机构。
  8. 如权利要求4所述的基于网格结构预定位的规模化冬枣智能动态优选设备，其特征在于：所述剔除机构包括
    相机，用于对所述柔性梳齿网格内滚动的冬枣进行多次拍照识别；
    活动板，其个数与所述柔性梳齿网格的列数之间对应，所述活动板设置在所述柔性底板的末端，冬枣在柔性梳齿网格的推动作用下从柔性底板滚动至活动板上；
    电磁铁，与活动板之间一一对应，所述电磁铁通过拉杆控制活动板在水平状态和倾斜状态之间切换；
    优果收集板和劣果收集板，其设置于活动板处，根据活动板的不同动作实现优果和劣果的分离。
  9. 如权利要求8所述的基于网格结构预定位的规模化冬枣智能动态优选设备，其特征在于：所述活动板也布置于柔性梳齿网格的下方，劣果收集板位于活动板下方，优果收集板位于柔性梳齿网格的末端；
    电磁铁控制活动板水平时，冬枣从活动板上由柔性梳齿网格带入优果收集板；
    电磁铁控制活动板向下旋转至倾斜状态时，冬枣在自重下由柔性梳齿网格落入劣果收集板。
  10. 如权利要求9所述的基于网格结构预定位的规模化冬枣智能动态优选设备，其特征在于：所述柔性梳齿网格为匀速运动或间歇运动，当其间歇运动时，其运动频率与相机的拍照频率保持一致。
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