WO2022047712A1 - 水果质检分选装置 - Google Patents

水果质检分选装置 Download PDF

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Publication number
WO2022047712A1
WO2022047712A1 PCT/CN2020/113324 CN2020113324W WO2022047712A1 WO 2022047712 A1 WO2022047712 A1 WO 2022047712A1 CN 2020113324 W CN2020113324 W CN 2020113324W WO 2022047712 A1 WO2022047712 A1 WO 2022047712A1
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WO
WIPO (PCT)
Prior art keywords
fruit
module
weighing
quality inspection
sorting
Prior art date
Application number
PCT/CN2020/113324
Other languages
English (en)
French (fr)
Inventor
刘燕德
胡军
王军政
欧阳思怡
闫云娟
崔惠桢
姜小刚
吴建
胡宣
欧阳爱国
Original Assignee
华东交通大学
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 华东交通大学 filed Critical 华东交通大学
Priority to PCT/CN2020/113324 priority Critical patent/WO2022047712A1/zh
Priority to US17/619,237 priority patent/US11801534B2/en
Publication of WO2022047712A1 publication Critical patent/WO2022047712A1/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
    • B07C5/34—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
    • B07C5/16—Sorting according to weight
    • 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
    • B07C5/16—Sorting according to weight
    • B07C5/28—Sorting according to weight using electrical control means
    • 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
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers
    • B65G15/50—Endless load-carriers consisting of a series of parallel ropes or belt strips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G53/00—Conveying materials in bulk through troughs, pipes or tubes by floating the materials or by flow of gas, liquid or foam
    • B65G53/34—Details
    • B65G53/40—Feeding or discharging devices
    • B65G53/44—Endless conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/23—Devices for tilting and emptying of containers
    • 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
    • B07C2501/009—Sorting of fruit
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32218—Sort workpieces as function of quality data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40078—Sort objects, workpieces

Definitions

  • the invention relates to the technical field of fruit quality inspection devices, in particular to a fruit quality inspection and sorting device.
  • Fruit has the advantages of very common, high nutritional value, and very important in daily life. Some consumers prefer sweeter fruits, some prefer sour fruits, some prefer larger fruits, and some prefer medium-sized fruits or even small fruits. According to the different needs of different consumers, fruit farmers also want to classify the fruits they produce. The classification of fruits is more conducive to the sales of products and the acquisition of profits.
  • the refined classification of fruits is usually carried out by manual screening, for example, by manually observing the appearance, size, and other qualities of the fruits, and such classification methods are time-consuming and labor-intensive.
  • the main purpose of the present invention is to provide a fruit quality inspection and sorting device to solve the problem of time-consuming and laborious fruit sorting in the prior art.
  • the present invention provides a fruit quality inspection and sorting device, comprising: a transmission module; a weighing module, the weighing module cooperates with the transmission module to transmit the weighed fruit through the transmission module;
  • the inspection module the internal quality inspection module cooperates with the transmission module, and performs internal quality inspection on the fruits after weighing;
  • the external quality inspection module the external quality inspection module cooperates with the transmission module, and performs external quality inspection on the fruits after the internal quality inspection;
  • Sorting module the sorting module cooperates with the transmission module, and sorts the fruits that pass through the weighing module, the internal quality inspection module and the external quality inspection module;
  • the module, the external quality detection module and the sorting module are all electrically connected, and the control module controls the sorting module to classify the fruits according to the detection results of the fruits.
  • the transmission module includes a support structure, an intermediate transmission belt structure and two side transmission belt structures, the intermediate transmission belt structure is arranged on the support structure, and the two side transmission belt structures are located on the support structure and on both sides of the intermediate transmission belt structure. , the transmission direction of the two side conveyor belt structures is opposite to that of the middle conveyor belt.
  • the weighing module includes a weighing bracket, a first weighing main structure and a second weighing main structure, the first weighing main structure and the second weighing main structure are arranged on the weighing bracket, and the weighing bracket spans At the first end of the transmission module, the first weighing main body structure and the second weighing main body structure are identical and symmetrically arranged on both sides of the transmission module.
  • the first weighing main structure includes a first weighing feeding conveyor belt, a first weighing grabbing manipulator and a first weighing cup, a first weighing feeding conveyor belt, a first weighing grabbing manipulator and The first weighing cups are all arranged on the weighing bracket, the first weighing and grabbing manipulator includes a first moving structure and a first fruit sucker structure, and the first fruit sucker structure is arranged on the first moving structure.
  • the first fruit suction cup structure includes a suction negative pressure device and a plurality of suction cups, and the plurality of suction cups are arranged on the moving structure at intervals and communicated with the suction negative pressure device.
  • the first weighing main body structure also includes a first box body push-pull structure, a first baffle suction cup structure, a first unloading conveyor belt and a first push box structure, and the first box body push-pull structure is arranged on the weighing bracket. It can drive the fruit box to move in the moving direction of the edge conveyor belt structure.
  • the first clapboard suction cup structure is arranged on the weighing bracket and can grab the clapboard in the fruit box. The first push box structure and the first unloading conveyor belt Set accordingly.
  • the internal quality inspection module includes an internal quality inspection housing, a halogen lamp and an optical fiber
  • the transmission module passes through the internal quality inspection housing
  • the halogen lamp is located above the side conveyor belt structure
  • the optical fiber is located under the side conveyor belt structure and is connected with the control.
  • the modules are electrically connected.
  • the external quality inspection module includes an external quality inspection casing, a fluorescent lamp and a camera
  • the transmission module passes through the external quality inspection casing
  • the fluorescent lamp is located above the side conveyor belt structure
  • the camera is located above the side conveyor belt structure.
  • the sorting module includes a plurality of sorting channels and a plurality of fruit unloading manipulators, the multiple sorting passages are arranged at intervals on the side of the side conveyor belt structure away from the intermediate conveyor belt structure, and the multiple fruit unloading manipulators are connected to the side conveyor belt structure.
  • Multiple sorting channels are set in one-to-one correspondence.
  • the fruit quality inspection and sorting device includes a fruit cup structure
  • the fruit cup structure includes a base, a fruit cup and a fruit cup handle
  • the side of the fruit cup close to the sorting channel is pivotally connected to the base through a hinge
  • the fruit cup The handle is arranged on the side of the fruit cup away from the sorting channel, and the fruit unloading manipulator cooperates with the fruit cup handle to turn the fruit cup.
  • the fruit unloading manipulator includes a cylinder, a lifting plate and a pressing plate, the lifting plate and the pressing plate are arranged at intervals on the moving rod of the cylinder, the lifting plate is located at the lower part of the handle of the fruit cup, and the pressing plate is located at the upper part of the handle of the fruit cup.
  • the fruit is weighed by the weighing module, and the measurement result of the weighed fruit is transmitted to the control module.
  • the weighed fruits are transmitted to the internal quality inspection module through the transmission module for internal quality inspection, and the results of the internal quality inspection are also transmitted to the control module.
  • the fruits after the internal quality inspection are transmitted to the external quality inspection module through the transmission module, and the inspection results of the external quality inspection module are also transmitted to the control module.
  • the fruit after the external quality inspection module is transferred to the sorting module through the transfer module.
  • the control module integrates the detection results of the weighing module, the internal quality detection module and the external quality detection module, and sorts the fruits according to the preset program in the control module.
  • the automatic screening of fruits realized by the above structure greatly reduces labor. strength, improve work efficiency.
  • the technical solution of the present invention effectively solves the time-consuming and labor-intensive problem of fruit sorting in the prior art.
  • FIG. 1 shows a schematic flow chart of an embodiment of a fruit quality inspection and sorting device according to the present invention
  • Fig. 2 shows the structural schematic diagram of the weighing module of the fruit quality inspection and sorting device of Fig. 1;
  • Fig. 3 shows the first push box structure schematic diagram of the weighing module of Fig. 2;
  • Fig. 4 shows the structural schematic diagram of the transmission module of the fruit quality inspection and sorting device of Fig. 1;
  • FIG. 5 shows a schematic structural diagram of another angle of the transmission module of FIG. 1;
  • Fig. 6 shows the structural schematic diagram of the internal quality detection module of the fruit quality inspection and sorting device of Fig. 1;
  • Fig. 7 shows the structural schematic diagram of the external quality detection module of the fruit quality inspection and sorting device of Fig. 1;
  • Fig. 8 shows the structural schematic diagram of the sorting channel of the fruit quality inspection and sorting device of Fig. 1;
  • Fig. 9 shows the structural schematic diagram of the fruit unloading manipulator of the fruit quality inspection and sorting device of Fig. 1;
  • Figure 10 shows a schematic diagram of the workflow of the fruit quality inspection and sorting device of Figure 1;
  • FIG. 11 shows a scatter diagram of the measured and predicted values of fruit soluble solids in the internal quality inspection module of the fruit quality inspection and sorting device of FIG. 1 .
  • spatially relative terms such as “on”, “over”, “on the surface”, “above”, etc., may be used herein to describe what is shown in the figures.
  • spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, elements described as “above” or “above” other devices or features would then be oriented “below” or “above” the other devices or features under other devices or constructions".
  • the exemplary term “above” can encompass both an orientation of "above” and “below.”
  • the device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.
  • the fruit quality inspection and sorting device in this embodiment includes: a transmission module 10 , a weighing module 20 , an internal quality detection module 30 , an external quality detection module 40 , a sorting module 50 and a control module.
  • the weighing module 20 cooperates with the transmission module 10 to transport the weighed fruit through the transmission module 10 .
  • the internal quality detection module 30 cooperates with the transmission module 10 and performs internal quality detection on the weighed fruit.
  • the external quality detection module 40 cooperates with the transmission module 10, and performs external quality detection on the fruit after the internal quality detection.
  • the sorting module 50 cooperates with the transmission module 10 and sorts the fruits passing through the weighing module 20 , the internal quality detection module 30 and the external quality detection module 40 .
  • the control module is electrically connected to the transmission module 10 , the weighing module 20 , the internal quality detection module 30 , the external quality detection module 40 and the sorting module 50 , and the control module controls the sorting module 50 to classify the fruits according to the detection results of the fruits.
  • the fruit is weighed by the weighing module 20, and the measurement result of the weighed fruit is transmitted to the control module.
  • the weighed fruits are transmitted to the internal quality detection module 30 through the transmission module 10 for internal quality detection, and the results of the internal quality detection are also transmitted to the control module.
  • the fruit after the internal quality inspection is transmitted to the external quality inspection module 40 through the transmission module 10, and the inspection result of the external quality inspection module 40 is also transmitted to the control module.
  • the fruits after the external quality inspection module 40 are transferred to the sorting module 50 through the transfer module 10 .
  • the control module integrates the detection results of the weighing module 20, the internal quality detection module 30 and the external quality detection module 40, and sorts the fruits according to the program preset in the control module. Reduce labor intensity and improve work efficiency.
  • the technical solution of the present invention effectively solves the time-consuming and labor-intensive problem of fruit sorting in the prior art.
  • the internal quality detection module 30 can detect the sweetness of the apple.
  • the preset program in the control module is set according to the needs, for example, the quality is high, the sweetness is high, and the appearance is not damaged. , the quality is small, the sweetness is high, and the appearance is not damaged for the third category, the quality is large, the sweetness is medium, the appearance is not damaged for the fourth category and so on.
  • the transmission module 10 includes a support structure 11 , an intermediate transmission belt structure 12 and two side transmission belt structures 13 , and the intermediate transmission belt structure 12 is arranged on the support structure 11 .
  • the two side conveyor belt structures 13 are located on the support structure 11 and on both sides of the intermediate conveyor belt, and the transmission direction of the two side conveyor belt structures 13 is opposite to that of the intermediate conveyor belt.
  • the above-mentioned fruit transportation requires fruit cups.
  • the side conveyor belt structure 13 transports the fruit in the fruit cup forward, and the fruit in the fruit cup is sorted. After dumping, the fruit cup is transported back through the intermediate conveyor belt structure 12 .
  • the two side conveyor belt structures 13 greatly improve the transportation efficiency.
  • the side conveyor belt structures 13 are located at both ends of the middle conveyor belt structure 12. On the one hand, the fruits on the side conveyor belt structures 13 are easily dumped, and the sorting module 50 is easy to set. On the other hand, the above-mentioned structure is compact and the processing cost is low. It should be noted that the weighing module 20 , the internal quality detection module 30 , the external quality detection module 40 and the sorting module 50 can all operate on the fruits on the two side conveyor structures 13 at the same time.
  • the weighing module 20 includes a weighing bracket 21, a first weighing main structure 22 and a second weighing main structure 23, and the first weighing main structure 22 and the first weighing main structure
  • the second weighing main body structure 23 is arranged on the weighing bracket 21, the weighing bracket 21 spans the first end of the transmission module 10, the first weighing main body structure 22 and the second weighing main body structure 23 are identical and symmetrically arranged on the Both sides of the transmission module 10 .
  • the above structure has high weighing efficiency, compact structure and cost saving.
  • the first weighing main structure 22 includes a first weighing feeding conveyor belt 221, a first weighing grabbing manipulator 222, and a first weighing cup 223.
  • a weighing feeding conveyor belt 221, a first weighing and grabbing manipulator 222 and a first weighing cup 223 are all disposed on the weighing bracket 21, and the first weighing and grabbing manipulator 222 includes a first moving structure and a first fruit
  • the suction cup structure, the first fruit suction cup structure is arranged on the first moving structure.
  • the manufacturing cost of the above structure is low.
  • the second weighing main structure 23 also includes a second weighing feeding conveyor belt, a second weighing grabbing manipulator and a second weighing cup.
  • the first moving structure includes a first horizontal moving structure, a second horizontal moving structure and a vertical moving structure.
  • the moving directions of the first horizontal moving structure and the second horizontal moving structure are both horizontal and perpendicular to each other, and the movement of the first horizontal moving structure
  • the direction is along the moving direction of the side conveyor belt structure 13
  • the moving direction of the second horizontal moving structure is perpendicular to the moving direction of the side conveyor belt structure 13
  • the vertical moving structure moves along the vertical direction.
  • the first horizontal moving structure, the second horizontal moving structure and the vertical moving structure may be a motor screw drive structure, and a cylinder structure, a hydraulic structure or an electric push rod structure may be used.
  • the second weighing and grabbing manipulator includes a second moving structure and a second fruit sucker structure.
  • the first fruit suction cup structure includes a negative pressure suction device and a plurality of suction cups, and the plurality of suction cups are arranged on the moving structure at intervals and communicated with the negative pressure suction device.
  • the suction cup structure of the above structure is not easy to damage the fruit, and the suction cup is made of elastic and buffering materials such as rubber or silica gel.
  • the structure of multiple suction cups greatly improves the weighing efficiency. Of course, there are also multiple weighing fruit cups, and the weighing fruit cups have buffer pads made of flexible materials.
  • the suction cup structure also includes a pressure sensor and a negative pressure sensor. Both the pressure sensor and the negative pressure sensor are electrically connected to the control module.
  • the suction cup stops moving downward, and the negative pressure suction device absorbs negative pressure.
  • the suction of the negative pressure is stopped, so that the fruit can be lifted.
  • the movement of the suction cup can also be to move down while sucking the negative pressure equipment while sucking the negative pressure.
  • the first weighing main body structure 22 further includes a first box body push-pull structure, a first partition suction cup structure, a first unloading conveyor belt 224 and a first A push box structure 225
  • the first box push-pull structure is arranged on the weighing bracket 21 and can drive the fruit box to move in the moving direction of the edge conveyor structure 13
  • the first partition suction cup structure is arranged on the weighing bracket 21 and can be Grab the partition in the fruit box
  • the first push box structure 225 is arranged corresponding to the first unloading conveyor belt 224 .
  • the above structure further improves the intelligence of the fruit quality inspection and sorting device, and does not need to manually take the separator.
  • the fruit quality inspection and sorting device in this embodiment can be set according to the number of fruits in each layer of the fruit box. For example, for a layer of 4 ⁇ 5 fruits, after grabbing 20 fruits, the first box push-pull structure pushes the fruit box. To the suction cup structure of the first partition, after the partition is adsorbed, the first box push-pull structure pulls the fruit box back.
  • the second weighing main body structure 23 also includes a second box body push-pull structure, a second baffle plate suction cup structure, a second unloading conveyor belt and a second push box structure.
  • the internal quality detection module 30 includes an internal quality detection housing 31 , a halogen lamp 32 and an optical fiber 33 , the transmission module 10 passes through the internal quality detection housing 31 , and the halogen lamp 32 Located above the side conveyor structure 13, the optical fiber 33 is located below the side conveyor structure 13 and is electrically connected to the control module.
  • the light emitted by the halogen lamp 32 passes through the fruit, the optical fiber 33 receives the light passing through the fruit, and the optical fiber 33 is electrically connected to the spectrometer.
  • the preset spectrum in the control module is compared with the spectrum of the spectrometer, see Figure 11, so that the measured sugar content of the fruit can be obtained. and other internal parameter information.
  • the internal quality inspection housing 31 is a dark box, which can effectively avoid the influence of external factors.
  • There are two halogen lamps 32 and two optical fibers 33 all of which are arranged corresponding to the two side belt structures 13 .
  • the external quality detection module 40 includes an external quality detection housing 41 , a fluorescent lamp 42 and a camera 43 , the transmission module 10 passes through the external quality detection housing 41 , and the fluorescent lamp 42 is located at the edge of the external quality detection housing 41 .
  • the camera 43 is located above the side conveyor belt structure. The above structure can realize the detection of the appearance of the fruit.
  • there are two fluorescent lamps 42 and two cameras 43 which are respectively located on the two side conveyor structures 13 .
  • the sorting module 50 includes a plurality of sorting channels 51 and a plurality of fruit unloading robots 52 , and the plurality of sorting channels 51 are arranged at intervals on the side of the transmission On the side of the belt structure 13 away from the intermediate conveyor belt structure 12 , a plurality of fruit unloading robots 52 are arranged in a one-to-one correspondence with a plurality of sorting channels 51 .
  • the above structure realizes the automation of the classification of fruits.
  • the sorting channel 51 includes an inclined plate and a sorting conveying belt. The fruits on the side conveying belt structure 13 enter the sorting conveying belt through the inclined plate. The setting of the inclined plate can reduce energy consumption by using gravity. bezel.
  • the fruit quality inspection and sorting device includes a fruit cup structure 60
  • the fruit cup structure 60 includes a base 61 , a fruit cup 62 and a fruit cup handle 63 , and the fruit cup 62 is close to the dividing One side of the selection channel 51 is pivotally connected to the base 61 through a hinge, the fruit cup handle 63 is arranged on the side of the fruit cup 62 away from the sorting channel 51, and the fruit unloading manipulator 52 cooperates with the fruit cup handle 63 to flip the fruit cup 62.
  • the fruit of the above structure is more convenient to dump, the fruit cup 62 has a buffer pad, and the middle of the fruit cup 62 has a through hole, so that the diffusely transmitted light is received by the optical fiber 33 through the through hole.
  • the unloading manipulator 52 includes an air cylinder 521, a lifting plate 522 and a pressing plate 523, and the lifting plate 522 and the pressing plate 523 are arranged on the moving rod of the air cylinder 521 at intervals.
  • the lifting plate 522 is located at the lower part of the fruit cup handle 63
  • the pressing plate 523 is located at the upper part of the fruit cup handle 63 .
  • the above structure has low processing cost and convenient installation.
  • the lifting plate 522 can play the role of lifting the fruit cup handle 63, so that the fruit cup 62 is turned over a certain angle, and the fruit rolls down into the sorting channel 51.
  • the pressing plate 523 can play the role of returning the fruit cup 62 to the initial position.
  • the working principle and working process of the fruit sorting in this embodiment are as follows: first, press the start button to initialize the system, and after it is determined to start sorting, the upper box belt (the first weighing and feeding conveyor belt and the The second weighing and feeding conveyor belt) will transport the fruit box to the top of the belt, and under the action of the fruit box pushing cylinder 206, the fruit box will be transported to a suitable grabbing position of the fruit box placing platform 214.
  • On the LCD touch screen 216 set the spacing between each row of apples in each layer, grab the number of apples, and adjust the spacing between the suction heads of the first suction cup and the second suction cup.
  • the first suction cup After grabbing the number of layers, the first suction cup is placed in Driven by the first suction cup motor, the apples in the fruit box are grabbed onto the weighing fruit cups (the first weighing cup and the second weighing cup) with a weight sensor. After weighing the apples on the weighing fruit cup, the weight information of the apples will be fed back to the PC. Driven by the suction cup motor, the second suction cup grabs the weighed apples in the weighing fruit cup onto the weighing fruit cup of the side conveyor belt structure 13 . With the transmission of the side conveyor structure 13, the fruit cups 62 loaded with apples will be transported to the apple internal quality inspection module 30 to collect the spectral information of the internal quality, and the apple external quality inspection module 40 to collect the external quality information of the apples.
  • the information obtained from Apple will be sent to the PC.
  • the apples With the conveying of the side conveyor belt structure 13, the apples will be conveyed to the harvesting area, and the next harvesting area (the area where the sorting module 50 is located) is, at this time, the blocking part installed in the middle of the conveying module 10.
  • the fruit cup 62 with apples will be blocked, and the apples that meet the sorting requirements will be lifted up by the lifting plate 522 under the action of the fruit unloading manipulator 52, and the lifting plate 522 will be connected with the fruit cup handle on the fruit cup 62.
  • the harvesting conveyor belt in the sorting channel (fruit harvesting channel) is driven by the harvesting conveyor belt motor to carry out the sorting of the apples. Carry out the delivery and complete the sorting. At this time, apples that do not meet the sorting requirements on the fruit cup 62 will be transported to the next sorting channel 51, and the above process will continue to be repeated. If there are apples in the penultimate sorting channel 51 that do not meet the sorting requirements , so that all apples that do not meet the requirements will be lifted into the last sorting channel 51, thus completing the sorting.
  • the sorted fruit cups 62 will be pushed to the intermediate conveyor belt structure 12 at the end of the fruit quality inspection and sorting device, and the intermediate conveyor belt structure 12 will transport the empty fruit cups 62 to the end of the fruit quality inspection and sorting device. , At the end of the fruit quality inspection and sorting device, the fruit cup 62 will be pushed back to the side conveyor belt structure 13 to complete the cycle, so that one sorting is completed.
  • FIG. 11 is a scatter diagram of the measured and predicted values of apple soluble solids (sugar content) established in this example.
  • the internal quality detection module 30 collects the internal spectral information of the apple. After the spectrum collection of apples is completed, the pulp of the apple collection surface is cut off for juicing to measure the true value of the apples, and the juice of the apples is filtered with filter paper. The filtered apple juice was dropped onto the measurement window of the portable digital refractometer to measure the soluble solid content (sugar content) of the apple. Each measurement was repeated 3 times, and the average value was taken as the experimental value of sugar content, and the obtained value was expressed in mass fraction.
  • This embodiment adopts the following method for modeling.
  • SG smoothing has achieved better preprocessing results, and the SG smoothing algorithm can be specially used to eliminate random noise in spectral signals.
  • CARS performs variable selection.
  • the CARS variable selection method can effectively simplify the prediction model and improve the prediction accuracy of the model.
  • a correction model was established for 90 samples using partial least squares (PLS).
  • PLS partial least squares
  • the obtained calibration model is used to predict the remaining 30 validation set samples.
  • the modeling effect and prediction effect are shown in Figure 11, respectively.
  • the scatterplot is drawn by Origin2017.

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Abstract

一种水果质检分选装置，包括：传输模块（10）；称重模块（20），称重模块（20）与传输模块（10）相配合，以将称重后的水果通过传输模块（10）传输；内部品质检测模块（30），内部品质检测模块（30）与传输模块（10）配合，并对称重后的水果进行内部品质检测；外部品质检测模块（40），外部品质检测模块（40）与传输模块（10）配合，并对内部品质检测后的水果进行外部品质检测；分选模块（50），分选模块（50）与传输模块（10）相配合，并对通过称重模块（20）、内部品质检测模块（30）和外部品质检测模块（40）的水果进行分类；控制模块，控制模块与传输模块（10）、称重模块（20）、内部品质检测模块（30）、外部品质检测模块（40）和分选模块（50）均电连接，控制模块根据水果的检测结果控制分选模块（50）对水果进行分类。该水果质检分选装置解决了水果分选的费时费力的问题。

Description

水果质检分选装置 技术领域
本发明涉及水果质检装置的技术领域，具体而言，涉及一种水果质检分选装置。
背景技术
水果具有非常常见、营养价值高、在日常生活中非常的重要的优点。有的消费者喜欢吃甜一点的水果，有的消费者喜欢吃带着酸味的水果，有的消费者喜欢个头大一点的水果，也有些消费者更偏向于中等大小的水果甚至小的水果。针对不同的消费者的不同需求，果农也想把产出的水果进行精细的分类，水果的分类细化更利于产品的销售以及利润的获取。
在现有的技术中，通常是通过人工筛检进行水果的细化分类，例如人工观察水果的外观、大小等品质进行分类，这样的分类方法费时费力。
发明内容
本发明的主要目的在于提供一种水果质检分选装置，以解决现有技术中的水果分选的费时费力的问题。
为了实现上述目的，本发明提供了一种水果质检分选装置，包括：传输模块；称重模块，称重模块与传输模块相配合，以将称重后的水果通过传输模块传输；内部品质检测模块，内部品质检测模块与传输模块配合，并对称重后的水果进行内部品质检测；外部品质检测模块，外部品质检测模块与传输模块配合，并对内部品质检测后的水果进行外部品质检测；分选模块，分选模块与传输模块相配合，并对通过称重模块、内部品质检测模块和外部品质检测模块的水果进行分类；控制模块，控制模块与传输模块、称重模块、内部品质检测模块、外部品质检测模块和分选模块均电连接，控制模块根据水果的检测结果控制分选模块对水果进行分类。
进一步地，传输模块包括支架结构、中间传输带结构和两个边传输带结构，中间传输带结构设置在支架结构上，两个边传输带结构位于支架结构上并位于中间传输带结构的两侧，两个边传输带结构的传输方向与中间传输带的传输方向相反。
进一步地，称重模块包括称重支架、第一称重主体结构和第二称重主体结构，第一称重主体结构和第二称重主体结构设置在称重支架上，称重支架横跨在传输模块的第一端，第一称重主体结构和第二称重主体结构相同并对称地设置在传输模块的两侧。
进一步地，第一称重主体结构包括第一称重上料传输带、第一称重抓取机械手和第一称重杯，第一称重上料传输带、第一称重抓取机械手和第一称重杯均设置在称重支架上，第一 称重抓取机械手包括第一移动结构和第一水果吸盘结构，第一水果吸盘结构设置在第一移动结构上。
进一步地，第一水果吸盘结构包括吸负压设备和多个吸盘，多个吸盘相间隔地设置在移动结构上并与吸负压设备相连通。
进一步地，第一称重主体结构还包括第一箱体推拉结构、第一隔板吸盘结构、第一下料传输带和第一推箱结构，第一箱体推拉结构设置在称重支架上并可驱动水果箱在沿边传输带结构的移动方向移动，第一隔板吸盘结构设置在称重支架上并可抓取水果箱内的隔板，第一推箱结构与第一下料传输带相对应地设置。
进一步地，内部品质检测模块包括内部品质检测壳体、卤素灯和光纤，传输模块穿过内部品质检测壳体，卤素灯位于边传输带结构的上方，光纤位于边传输带结构的下方并与控制模块电连接。
进一步地，外部品质检测模块包括外部品质检测壳体、荧光灯和摄像头，传输模块穿过外部品质检测壳体，荧光灯位于边传输带结构的上方，摄像头位于边传输带结构的上方。
进一步地，分选模块包括多个分选通道和多个卸果机械手，多个分选通道相间隔地设置在边传输带结构的位于远离中间传输带结构的一侧，多个卸果机械手与多个分选通道一一对应地设置。
进一步地，水果质检分选装置包括果杯结构，果杯结构包括底座、果杯和果杯提手，果杯靠近分选通道的一侧与底座通过合页可枢转地连接，果杯提手设置在果杯的远离分选通道的一侧，卸果机械手与果杯提手相配合以翻转果杯。
进一步地，卸果机械手包括气缸、抬升板和抵压板，抬升板和抵压板相间隔地设置在气缸的移动杆上，抬升板位于果杯提手的下部，抵压板位于果杯提手的上部。
应用本发明的技术方案，水果通过称重模块进行称重，称重后的水果的测量结果传输到控制模块。称重后的水果通过传输模块传输到内部品质检测模块进行内部品质检测，内部品质检测的结果同样传输到控制模块。内部品质检测后的水果通过传输模块传输到外部品质检测模块，外部品质检测模块检测的结果也传输到控制模块。外部品质检测模块后的水果通过传输模块传输到分选模块。控制模块综合称重模块、内部品质检测模块和外部品质检测模块的检测结果，按照控制模块中预先设定的程序对水果进行分选，上述的结构实现的水果的自动化筛选，大大地减少了劳动强度，提高了工作效率。本发明的技术方案有效地解决了现有技术中的水果分选的费时费力的问题。
附图说明
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1示出了根据本发明的水果质检分选装置的实施例的流程示意图；
图2示出了图1的水果质检分选装置的称重模块结构示意图；
图3示出了图2的称重模块的第一推箱结构示意图；
图4示出了图1的水果质检分选装置的传输模块的结构示意图；
图5示出了图1的传输模块的另一角度的结构示意图；
图6示出了图1的水果质检分选装置的内部品质检测模块的结构示意图；
图7示出了图1的水果质检分选装置的外部品质检测模块的结构示意图；
图8示出了图1的水果质检分选装置的分选通道的结构示意图；
图9示出了图1的水果质检分选装置的卸果机械手的结构示意图；
图10示出了图1的水果质检分选装置的工作流程示意图；以及
图11示出了图1的水果质检分选装置的内部品质检测模块的水果可溶性固形物实测值与预测值的散点图。
其中，上述附图包括以下附图标记：
10、传输模块；11、支架结构；12、中间传输带结构；13、边传输带结构；20、称重模块；21、称重支架；206、果箱推动气缸；214、果箱放置平台；216、液晶触摸屏；22、第一称重主体结构；221、第一称重上料传输带；222、第一称重抓取机械手；223、第一称重杯；224、第一下料传输带；225、第一推箱结构；23、第二称重主体结构；30、内部品质检测模块；31、内部品质检测壳体；32、卤素灯；33、光纤；40、外部品质检测模块；41、外部品质检测壳体；42、荧光灯；43、摄像头；50、分选模块；51、分选通道；52、卸果机械手；521、气缸；522、抬升板；523、抵压板；60、果杯结构；61、底座；62、果杯；63、果杯提手。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。
应该指出，以下详细说明都是例示性的，旨在对本申请提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方” 或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述做出相应解释。
现在，将参照附图更详细地描述根据本申请的示例性实施方式。然而，这些示例性实施方式可以由多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施方式。应当理解的是，提供这些实施方式是为了使得本申请的公开彻底且完整，并且将这些示例性实施方式的构思充分传达给本领域普通技术人员，在附图中，为了清楚起见，扩大了层和区域的厚度，并且使用相同的附图标记表示相同的器件，因而将省略对它们的描述。
如图1至图11所示，本实施例的水果质检分选装置包括：传输模块10、称重模块20、内部品质检测模块30、外部品质检测模块40、分选模块50和控制模块。称重模块20与传输模块10相配合，以将称重后的水果通过传输模块10传输。内部品质检测模块30与传输模块10配合，并对称重后的水果进行内部品质检测。外部品质检测模块40与传输模块10配合，并对内部品质检测后的水果进行外部品质检测。分选模块50与传输模块10相配合，并对通过称重模块20、内部品质检测模块30和外部品质检测模块40的水果进行分类。控制模块与传输模块10、称重模块20、内部品质检测模块30、外部品质检测模块40和分选模块50均电连接，控制模块根据水果的检测结果控制分选模块50对水果进行分类。
应用本实施例的技术方案，水果通过称重模块20进行称重，称重后的水果的测量结果传输到控制模块。称重后的水果通过传输模块10传输到内部品质检测模块30进行内部品质检测，内部品质检测的结果同样传输到控制模块。内部品质检测后的水果通过传输模块10传输到外部品质检测模块40，外部品质检测模块40检测的结果也传输到控制模块。外部品质检测模块40后的水果通过传输模块10传输到分选模块50。控制模块综合称重模块20、内部品质检测模块30和外部品质检测模块40的检测结果，按照控制模块中预先设定的程序对水果进行分选，上述的结构实现的水果的自动化筛选，大大地减少了劳动强度，提高了工作效率。本发明的技术方案有效地解决了现有技术中的水果分选的费时费力的问题。
需要说明的是，以苹果为例，内部品质检测模块30可检测苹果的甜度。控制模块中的预先设定的程序是根据需要进行设定的，例如，质量大，甜度高，外观没有损伤的为第一类，质量中等，甜度高，外观没有损伤的为第二类，质量小，甜度高，外观没有损伤的为第三类，质量大，甜度中等，外观没有损伤的为第四类等等。
如图1至图4所示，在本实施例的技术方案中，传输模块10包括支架结构11、中间传输带结构12和两个边传输带结构13，中间传输带结构12设置在支架结构11上，两个边传输带结构13位于支架结构11上并位于中间传输带的两侧，两个边传输带结构13的传输方向与中间传输带的传输方向相反。上述的水果运输需要水果杯，边传输带结构13讲水果杯内的水果向前运输，水果杯内的水果分类好，倾卸后，水果杯通过中间传输带结构12运回。边传输带结构13为两个大大地提高了运输效率，边传输带结构13位于中间传输带结构12的两端一方面使得边传输带结构13上的水果倾卸容易，分选模块50容易设置，另一方面上述结构紧凑， 加工成本较低。需要说明的是，称重模块20、内部品质检测模块30、外部品质检测模块40和分选模块50均能同时对两个边传输带结构13上的水果进行操作。
如图2所示，在本实施例的技术方案中，称重模块20包括称重支架21、第一称重主体结构22和第二称重主体结构23，第一称重主体结构22和第二称重主体结构23设置在称重支架21上，称重支架21横跨在传输模块10的第一端，第一称重主体结构22和第二称重主体结构23相同并对称地设置在传输模块10的两侧。上述结构称重效率较高，结构紧凑，节省成本。
如图2所示，在本实施例的技术方案中，第一称重主体结构22包括第一称重上料传输带221、第一称重抓取机械手222和第一称重杯223，第一称重上料传输带221、第一称重抓取机械手222和第一称重杯223均设置在称重支架21上，第一称重抓取机械手222包括第一移动结构和第一水果吸盘结构，第一水果吸盘结构设置在第一移动结构上。上述结构制作成本较低。需要说明的是，第二称重主体结构23也包括第二称重上料传输带、第二称重抓取机械手和第二称重杯。第一移动结构包括第一水平移动结构、第二水平移动结构和竖向移动结构，第一水平移动结构和第二水平移动结构的移动方向均为水平且互相垂直，第一水平移动结构的移动方向为沿边传输带结构13的移动方向，第二水平移动结构的移动方向垂直于边传输带结构13的移动方向，竖向移动结构沿竖直方向移动。第一水平移动结构、第二水平移动结构和竖向移动结构可以为电机丝杆传动结构，气缸结构、液压结构或者电推杆结构均是可以的。第二称重抓取机械手包括第二移动结构和第二水果吸盘结构。
如图2所示，在本实施例的技术方案中，第一水果吸盘结构包括吸负压设备和多个吸盘，多个吸盘相间隔地设置在移动结构上并与吸负压设备相连通。上述结构的吸盘结构不容易损伤水果，吸盘为橡胶或者硅胶等具有弹性、缓冲性的材质制成。多个吸盘的结构大大地提高了称重效率，当然，称重果杯也为多个，称重果杯内具有柔性材料制成的缓冲垫。吸盘结构还包括压力传感器和负压传感器，压力传感器和负压传感器均与控制模块电连接，当压力传感器检测到压力达到预定值时，吸盘停止向下移动，吸负压设备进行吸负压，当检测到负压达到预定值时，停止吸负压，这样就可以把水果提起。吸盘的移动也可以为边向下移动，吸负压设备边吸负压。
如图2和图3所示，在本实施例的技术方案中，第一称重主体结构22还包括第一箱体推拉结构、第一隔板吸盘结构、第一下料传输带224和第一推箱结构225，第一箱体推拉结构设置在称重支架21上并可驱动水果箱在沿边传输带结构13的移动方向移动，第一隔板吸盘结构设置在称重支架21上并可抓取水果箱内的隔板，第一推箱结构225与第一下料传输带224相对应地设置。上述结构进一步提高了水果质检分选装置的智能化程度，不需要人工拿取隔板。本实施例的水果质检分选装置可以根据水果箱内每一层水果的数量进行设定，例如，4X5一层的水果，当抓取20个水果后第一箱体推拉结构将水果箱推至第一隔板吸盘结构处，当隔板吸附后，第一箱体推拉结构将水果箱拉回。第二称重主体结构23也包括第二箱体推拉结构、第二隔板吸盘结构、第二下料传输带和第二推箱结构。
如图6所示，在本实施例的技术方案中，内部品质检测模块30包括内部品质检测壳体31、卤素灯32和光纤33，传输模块10穿过内部品质检测壳体31，卤素灯32位于边传输带结构 13的上方，光纤33位于边传输带结构13的下方并与控制模块电连接。卤素灯32发出的光通过水果，光纤33接受通过水果的光，光纤33与光谱仪电连接，控制模块中预设的光谱与光谱仪的光谱对照参见图11，这样就能够得出测量的水果的糖分等内部参数信息。内部品质检测壳体31为暗箱，这样可以有效避免外部因素的影响。卤素灯32为两个，光纤33为两个，均与两个边传输带结构13对应设置。
如图7所示，在本实施例的技术方案中，外部品质检测模块40包括外部品质检测壳体41、荧光灯42和摄像头43，传输模块10穿过外部品质检测壳体41，荧光灯42位于边传输带结构13的上方，摄像头43位于边传输带结构的上方。上述结构可以实现水果的外观的检测。在本实施例的技术方案中，荧光灯42位两个，摄像头43为两个，分别位于两个边传输带结构13上。
如图1和图8所示，在本实施例的技术方案中，分选模块50包括多个分选通道51和多个卸果机械手52，多个分选通道51相间隔地设置在边传输带结构13的位于远离中间传输带结构12的一侧，多个卸果机械手52与多个分选通道51一一对应地设置。上述结构实现了水果的分类的自动化。分选通道51包括倾斜板、分选传输带，边传输带结构13上的水果通过倾斜板进入分选传输带，倾斜板的设置可以利用重力减少能量消耗，分选传输带两侧均设置有挡板。
如图9所示，在本实施例的技术方案中，水果质检分选装置包括果杯结构60，果杯结构60包括底座61、果杯62和果杯提手63，果杯62靠近分选通道51的一侧与底座61通过合页可枢转地连接，果杯提手63设置在果杯62的远离分选通道51的一侧，卸果机械手52与果杯提手63相配合以翻转果杯62。上述结构的水果倾卸比较方便，果杯62内具有缓冲垫，果杯62的中部具有通孔，这样漫透射光通过通孔被光纤33接收。
如图9所示，在本实施例的技术方案中，卸果机械手52包括气缸521、抬升板522和抵压板523，抬升板522和抵压板523相间隔地设置在气缸521的移动杆上，抬升板522位于果杯提手63的下部，抵压板523位于果杯提手63的上部。上述结构加工成本较低，设置方便。抬升板522可以起到抬升果杯提手63的作用，这样果杯62翻转一定角度，水果滚落至分选通道51内，当果杯62在重力的作用下不容易回到初始位置时，抵压板523可以起到将果杯62回到初始位置的作用。
如图10所示，本实施例的水果分选的工作原理与工作过程如下：首先按动开始按钮，对系统初始化，确定开始分选后，上箱皮带(第一称重上料传输带和第二称重上料传输带)会将果箱运送至皮带的顶端，果箱在果箱推动气缸206的作用下，会被运送到果箱放置平台214的合适的抓取位置。在液晶触摸屏216设定好每层苹果每一排之间的间距，抓取个数，调整好第一吸盘和第二吸盘的吸头之间的间距，抓取层数后，第一吸盘在第一吸盘电机的带动下，将果箱内的苹果抓取至带有重量传感器的称重果杯(第一称重杯、第二称重杯)上。在称重果杯上称重完的苹果，苹果的重量信息会被反馈到PC端。第二吸盘在吸盘电机的带动下将称重果杯中称重完的苹果抓取至边传输带结构13的称重果杯上。随着边传输带结构13的传送，载有苹果的果杯62会被运送至苹果内部品质检测模块30采集内部品质的光谱信息，苹果的 外部品质检测模块40采集苹果的外部品质信息。经过这两部分的检测后，得到苹果的信息会被传送至PC端。随着边传输带结构13的运送，苹果会被运送至收果区，依次来到的一个收果区(分选模块50所在的区域)，此时安装在传输模块10的中间位置的阻挡部分会将带有苹果的果杯62阻挡下来，符合分选要求的苹果会在卸果机械手52的作用下，通过向上提拉抬升板522，抬升板522再与果杯62上的果杯提手63作用，将果杯62向上掀起后，将苹果收入分选通道51，然后分选通道(收果通道)内的收果运送皮带在收果运送皮带电机的带动下，对分选好的苹果进行运送，完成分选。此时，在果杯62上不符合分选要求的苹果会被运送至下一分选通道51，继续重复以上的过程，如果存在苹果在倒数第二个分选通道51还不符合分选要求，这样的所有不符合要求的苹果都会被抬升到最后一个分选通道51内，这样就完成了分选。完成分选的果杯62在水果质检分选装置的尾部会被推送到中间传输带结构12上，中间传输带结构12会将空的果杯62运送至水果质检分选装置的端头，在水果质检分选装置的端头，果杯62会被重新推至边传输带结构13上，完成循环，这样一次分选就算完成了。
如图11是本实施例建立的苹果可溶性固形物(糖度)实测值与预测值的散点图。内部品质检测模块30采集到苹果的内部光谱信息。在完成苹果的光谱采集之后，对苹果采集面的果肉切掉进行榨汁便于测量苹果的真值，并用滤纸对苹果的果汁进行过滤。将过滤的苹果果汁滴到便携式数显折射计的测定窗口上，进行苹果的可溶性固形物(糖度)的测定。每次测量重复3次，取平均值作为糖度实验值，所得值以质量分数表示。本实施例采用了如下的方式进行建模，首先使用The Unscramber软件进行数据预处理和建模，使用原始光谱建立模型的性能，其中校正集和预测集的相关系数分别为Rc＝0.979和Rp＝0.959；均方根误差分别为RMSEC＝0.376和RMSEP＝0.559。其中使用SG平滑取得了较好的预处理结果，SG平滑算法可以专门用于消除频谱信号中的随机噪声。使用SG建立模型的性能，其中校正集和预测集的相关系数分别为Rc＝0.971和Rp＝0.959；均方根误差分别为RMSEC＝0.443和RMSEP＝0.559。最后CARS进行变量筛选，CARS变量选择方法能有效简化预测模型和提高模型预测精度。使用偏最小二乘法(PLS)对90个样本建立校正模型。将所得到的校正模型对剩余的30个验证集样本进行预测，建模效果与预测效果分别如图11所示该散点图由Origin2017绘制。其中校正集和预测集的相关系数分别为Rc＝0.970，Rp＝0.969；校正集和预测集的均方根误差分别为RMSEC＝0.450，RMSEP＝0.530。可见该方案的预测结果较为理想，说明本发明对苹果糖度具有较强的预测能力。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施方式例如能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必 限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。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 (11)

  1. 一种水果质检分选装置，其特征在于，包括：
    传输模块(10)；
    称重模块(20)，所述称重模块(20)与所述传输模块(10)相配合，以将称重后的水果通过所述传输模块(10)传输；
    内部品质检测模块(30)，所述内部品质检测模块(30)与所述传输模块(10)配合，并对称重后的水果进行内部品质检测；
    外部品质检测模块(40)，所述外部品质检测模块(40)与所述传输模块(10)配合，并对内部品质检测后的水果进行外部品质检测；
    分选模块(50)，所述分选模块(50)与所述传输模块(10)相配合，并对通过所述称重模块(20)、所述内部品质检测模块(30)和所述外部品质检测模块(40)的水果进行分类；
    控制模块，所述控制模块与所述传输模块(10)、称重模块(20)、内部品质检测模块(30)、外部品质检测模块(40)和分选模块(50)均电连接，所述控制模块根据水果的检测结果控制所述分选模块(50)对水果进行分类。
  2. 根据权利要求1所述的水果质检分选装置，其特征在于，所述传输模块(10)包括支架结构(11)、中间传输带结构(12)和两个边传输带结构(13)，所述中间传输带结构(12)设置在所述支架结构(11)上，所述两个边传输带结构(13)位于所述支架结构(11)上并位于所述中间传输带结构(12)的两侧，所述两个边传输带结构(13)的传输方向与所述中间传输带的传输方向相反。
  3. 根据权利要求2所述的水果质检分选装置，其特征在于，所述称重模块(20)包括称重支架(21)、第一称重主体结构(22)和第二称重主体结构(23)，所述第一称重主体结构(22)和所述第二称重主体结构(23)设置在所述称重支架(21)上，所述称重支架(21)横跨在所述传输模块(10)的第一端，所述第一称重主体结构(22)和所述第二称重主体结构(23)相同并对称地设置在所述传输模块(10)的两侧。
  4. 根据权利要求3所述的水果质检分选装置，其特征在于，所述第一称重主体结构(22)包括第一称重上料传输带(221)、第一称重抓取机械手(222)和第一称重杯(223)，所述第一称重上料传输带(221)、所述第一称重抓取机械手(222)和所述第一称重杯(223)均设置在所述称重支架(21)上，所述第一称重抓取机械手(222)包括第一移动结构和第一水果吸盘结构，所述第一水果吸盘结构设置在所述第一移动结构上。
  5. 根据权利要求4所述的水果质检分选装置，其特征在于，所述第一水果吸盘结构包括吸负压设备和多个吸盘，所述多个吸盘相间隔地设置在所述移动结构上并与所述吸负压设备相连通。
  6. 根据权利要求4所述的水果质检分选装置，其特征在于，所述第一称重主体结构(22)还包括第一箱体推拉结构、第一隔板吸盘结构、第一下料传输带(224)和第一推箱结构(225)，所述第一箱体推拉结构设置在所述称重支架(21)上并可驱动水果箱在沿所述边传输带结构(13)的移动方向移动，所述第一隔板吸盘结构设置在所述称重支架(21)上并可抓取水果箱内的隔板，所述第一推箱结构(225)与所述第一下料传输带(224)相对应地设置。
  7. 根据权利要求2所述的水果质检分选装置，其特征在于，所述内部品质检测模块(30)包括内部品质检测壳体(31)、卤素灯(32)和光纤(33)，所述传输模块(10)穿过所述内部品质检测壳体(31)，所述卤素灯(32)位于所述边传输带结构(13)的上方，所述光纤(33)位于所述边传输带结构(13)的下方并与所述控制模块电连接。
  8. 根据权利要求2所述的水果质检分选装置，其特征在于，所述外部品质检测模块(40)包括外部品质检测壳体(41)、荧光灯(42)和摄像头(43)，所述传输模块(10)穿过所述外部品质检测壳体(41)，所述荧光灯(42)位于所述边传输带结构(13)的上方，所述摄像头(43)位于所述边传输带结构的上方。
  9. 根据权利要求2所述的水果质检分选装置，其特征在于，所述分选模块(50)包括多个分选通道(51)和多个卸果机械手(52)，所述多个分选通道(51)相间隔地设置在所述边传输带结构(13)的位于远离所述中间传输带结构(12)的一侧，所述多个卸果机械手(52)与所述多个分选通道(51)一一对应地设置。
  10. 根据权利要求9所述的水果质检分选装置，其特征在于，所述水果质检分选装置包括果杯结构(60)，所述果杯结构(60)包括底座(61)、果杯(62)和果杯提手(63)，所述果杯(62)靠近所述分选通道(51)的一侧与所述底座(61)通过合页可枢转地连接，所述果杯提手(63)设置在所述果杯(62)的远离所述分选通道(51)的一侧，所述卸果机械手(52)与所述果杯提手(63)相配合以翻转所述果杯(62)。
  11. 根据权利要求10所述的水果质检分选装置，其特征在于，所述卸果机械手(52)包括气缸(521)、抬升板(522)和抵压板(523)，所述抬升板(522)和所述抵压板(523)相间隔地设置在所述气缸(521)的移动杆上，所述抬升板(522)位于所述果杯提手(63)的下部，所述抵压板(523)位于所述果杯提手(63)的上部。
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