Shell breakage detecting and sorting device and method based on pecan processing

Abstract

The invention relates to the technical field of nut sorting equipment, and particularly discloses a pecan processing based shell breakage detecting and sorting device and method.The pecan processing based shell breakage detecting and sorting device comprises a conveying box, the conveying box is used for conveying nuts to be sorted, the conveying box is provided with a detecting assembly, and the detecting assembly is used for detecting the nuts with broken shells; the detection assembly comprises a visual sensor and is used for identifying nuts with broken shells; and the clamping assembly is used for clamping the shell-broken nuts according to the recognition result of the visual sensor. The visual detection system is combined with the dynamic extrusion mechanism to remarkably improve the detection precision, the transparent extrusion plate is matched with the telescopic device, the position of the nut can be fixed, the nut can be driven to rotate in multiple axial directions, the visual sensor can comprehensively capture the surface characteristics of the nut, and the damage characteristics are subjected to multi-dimensional analysis through an intelligent image processing algorithm. The problem of visual blind areas existing in static detection is effectively solved, and the accuracy and reliability of damaged nut recognition are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of nut sorting equipment, and in particular to a device and method for detecting and sorting cracked pecan shells based on pecan processing. Background Art

[0002] A pecan sorting device is a device used for grading, screening, or detecting pecans, which can improve sorting efficiency and reduce labor costs; the following are several common pecan sorting devices and their characteristics: Pecan grader: This device grades pecans by controlling the diameter size gap and is suitable for round or oval fruits; Pecan shell crack detection and sorting device: This device detects the crack condition of pecan shells through laser detection technology and automatically sorts them. Its characteristics include: using a laser detection mechanism, capable of distinguishing the peel from the pulp and accurately sorting; equipped with a hydraulic cylinder and a pushing block to achieve automatic sorting; Visual sorting equipment: Adopting AI technology and a visual detection system, it can sort the appearance defects of pecans; its characteristics include: high efficiency, accuracy, and low noise, capable of identifying various defects; one device can replace 30 - 50 picking workers, greatly improving production capacity; The prior art publication number: CN112108393B, discloses a patent named: Pecan Shell Crack Detection and Sorting Device. This patent includes a feeding component, a first feeding pipe, a sorting component, a second feeding pipe, a third feeding pipe, a first discharging groove, a second discharging groove, a third discharging groove, a control cabinet, and a bottom plate. The present invention detects the crack condition, volume size, and kernel plumpness of pecan shells through the feeding component, sorting component, image processing, and data analysis technologies, and sorts pecans into three categories according to whether there is a large crack, whether the volume and kernel plumpness meet the standards. This device has a high degree of automation, high sorting accuracy and efficiency, and can reduce the workload of workers; The problems existing in the prior art are: when sorting pecans, when cracked pecans pass through the screening machine, the cracked pecans will be sorted together with the normal fruits, resulting in uneven quality of the sorted pecans. Summary of the Invention

[0003] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this part, the abstract, and the title. However, such simplifications or omissions shall not be used to limit the scope of the present invention.

[0004] The present invention provides a device and method for detecting and sorting cracked pecan nut shells during pecan nut processing, which can solve the problem that "cracked pecan nuts are sorted together with normal nuts, resulting in uneven quality of sorted pecan nuts". The specific solution is as follows: On the one hand, the present invention provides a device for detecting and sorting cracked pecan nut shells during pecan nut processing, including a conveying box for conveying nuts to be sorted. The conveying box is equipped with a detection component for detecting cracked nuts. The detection component includes: A vision sensor for identifying nuts with damaged outer shells; A clamping component for clamping cracked nuts according to the results identified by the vision sensor; A discharge chute installed above the conveying box; A flipping block that flips upward when the clamping component picks up the nut, places the cracked nut in the discharge chute, and discharges it along the inclination angle of the discharge chute; In the above solution, the visual detection system combined with the dynamic extrusion mechanism significantly improves the detection accuracy. The combined design of the transparent extrusion plate and the telescopic device can not only fix the position of the nut but also drive its multi-axial rotation, enabling the vision sensor to comprehensively capture the surface features of the nut. Through intelligent image processing algorithms, multi-dimensional analysis of the damage features is carried out, effectively overcoming the problem of visual blind spots in static detection and ensuring the accuracy and reliability of identifying damaged nuts.

[0005] Preferably, there are several sorting rollers on the conveying box. Both ends of the several sorting rollers are rotatably installed in the middle of the conveying box through bearings. The spacing between the sorting rollers increases from small to large. An outlet box is provided below each spacing area. The outlet box is inclined. When the nuts pass through the sorting rollers with the smallest spacing, the nuts with smaller diameters are first separated to the lower part of the sorting rollers. Then, as the sorting rollers rotate, nuts of different diameters are sequentially separated to the lower part of the sorting rollers in ascending order and then discharged from the outlet box to complete the sorting.

[0006] Preferably, a synchronous pulley is provided at one end of each sorting roller, and then the synchronous pulleys at the ends of each sorting roller are coupled through a synchronous belt so that each sorting roller can rotate simultaneously. A driving device is provided at the end of one of the sorting rollers; In the above solution, through the gradient change of the sorting roller spacing and the synchronous transmission system, continuous sorting operation of nut sizes is realized. The progressive design of the sorting roller gaps from dense to sparse combined with the synchronous belt linkage structure can complete multi-stage sorting in a single conveying process, significantly improving the sorting efficiency. This mechanical sorting method avoids the problems of high labor intensity and high error rate in traditional manual screening. At the same time, the sorted nuts can be directly classified and collected through the inclined outlet box, forming a complete automated sorting closed loop.

[0007] Preferably, a feed hopper is provided at the input end of the conveying box. The width of the feed hopper matches the width of the conveying box. The nuts to be sorted are poured into the interior of the feed hopper. A conveyor belt is provided inside the feed hopper. The left end of the conveyor belt extends into the interior of the feed hopper and forms a horizontal area at the bottom of the feed hopper, which can cover the bottom of the feed hopper. The right end of the conveyor belt extends to the feed end of the conveying box. Transmission rollers are respectively provided at both ends of the conveyor belt, and both ends of the two transmission rollers are rotatably connected to the side walls of the feed hopper and the two ends of the conveying box respectively.

[0008] Preferably, baffles are provided on the surface of the conveyor belt, and the baffles are made of elastic materials.

[0009] Preferably, a drive shaft is provided on one side of the conveyor belt. Both ends of the drive shaft are rotatably connected to the side walls of the feed hopper. Blades are connected to the outer wall of the drive shaft. The blades are divided into several pieces and are linearly and evenly distributed on the drive shaft. The distance between adjacent two blades is greater than the diameter of a single nut and less than the sum of the diameters of two nuts.

[0010] Preferably, a pressing plate is provided on the right side of the drive shaft. Fixing blocks are provided at both ends of the pressing plate. A first telescopic member is connected between the bottom of the fixing block and the pressing plate. One end of one of the fixing blocks is connected with a limiting rod, and the limiting rod is slidably connected to one of the side walls of the feed hopper. One end of the other fixing block is connected with a second telescopic member, and the other end of the second telescopic member is fixed to the other side wall of the feed hopper.

[0011] Preferably, the clamping assembly includes an adjusting block. The adjusting block is slidably installed on one side of the fixed seat. An adjusting groove is formed on one side of the fixed seat. The shape of the adjusting groove matches the shape of the adjusting block, and the adjusting block is slidably connected to the adjusting groove. Two clamping plates are installed below the adjusting block. Arc-shaped grooves are provided at the adjacent ends of the two clamping plates. When the two clamping plates approach each other, the two relatively arranged arc-shaped grooves can clamp the nuts.

[0012] Preferably, a cavity is provided inside the flipping block. A third telescopic member is provided inside the cavity. The bottom of the third telescopic member is connected with a second rack. The tops of the two clamping plates are connected with second gears. The inner sides of the two second gears are meshed with both sides of the second rack. When the third telescopic member drives the second rack to move up and down, it can drive the two second gears to rotate, so that the clamping plates approach or move away from each other. When the two clamping plates approach each other, they can clamp the nuts.

[0013] On the other hand, the present invention provides a method for detecting and sorting the cracked shells of pecans based on pecan processing, including the following steps: S1: Nut conveying: Continuously convey the pecans to be sorted through the conveying box, and control the conveying speed so that the nuts stay in the detection area for a preset time; S2: Damage detection: Image acquisition of the nut shells on the conveying box is performed through a vision sensor. Based on the image grayscale value and texture features, the damaged areas of the shells are identified, and a trigger signal is generated when shell damage is detected. S3: Clamping of damaged nuts: According to the trigger signal, the clamping assembly is controlled to position and clamp the target nuts. S4: Sorting of damaged nuts: The flipping block is driven to flip upward to a preset angle, so that the clamping assembly releases the damaged nuts into the discharge chute, and the damaged nuts are guided to the defective product collection bin through the inclination angle of the discharge chute. S5: Output of intact nuts: The intact nuts that are not triggered for clamping continue to move with the conveying box to the finished product discharge port to complete the sorting.

[0014] Compared with the prior art, the present invention can at least achieve one of the following beneficial effects: 1. Through the gradient change of the sorting roller spacing and the synchronous transmission system, the device realizes continuous sorting operation of nut sizes. The progressive design of the sorting roller gap from dense to sparse, combined with the synchronous belt linkage structure, can complete multi-stage sorting in a single conveying process, significantly improving the sorting efficiency. This mechanical sorting method avoids problems such as high labor intensity and high error rate in traditional manual screening. At the same time, the sorted nuts can be directly classified and collected through the inclined discharge box, forming a complete automated sorting closed loop.

[0015] 2. The visual detection system combined with the dynamic extrusion mechanism significantly improves the detection accuracy. The combined design of the transparent extrusion plate and the telescopic device can not only fix the nut position but also drive its multi-axial rotation, enabling the vision sensor to comprehensively capture the surface features of the nuts. Through intelligent image processing algorithms, multi-dimensional analysis of the damage features is carried out, effectively overcoming the visual blind spot problem existing in static detection and ensuring the accuracy and reliability of damaged nut recognition.

[0016] 3. The modular clamping assembly innovatively realizes the precise removal and directional recycling of damaged nuts. Through the mechanical structure of gear-rack linkage, the clamping device can accurately control the opening and closing of the clamping plate and the flipping angle, and complete complex actions of grasping - lifting - flipping in a limited space. This mechanism adopts an adjustable installation design, which can adapt to the clamping requirements of nuts of different sizes. The damaged nuts return to the processing system through the directional channel, forming a complete quality closed-loop control system.

[0017] Other features and advantages of the present invention will be described in the subsequent specification, and some will be obvious from the specification, or understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the written specification and the drawings. Description of the Drawings

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them: Figure 1 Is the first perspective three-dimensional view of the present invention; Figure 2 Is the second perspective three-dimensional view of the present invention; Figure 3 Is the three-dimensional view of the conveyor belt of the present invention; Figure 4 Is the three-dimensional view of the drive shaft of the present invention; Figure 5 Is the three-dimensional view of the extrusion plate of the present invention Figure 6 Is the three-dimensional view of the sorting roller of the present invention; Figure 7 Is the first perspective three-dimensional view of the detection component of the present invention; Figure 8 Is the second perspective three-dimensional view of the detection component of the present invention; Figure 9 Is the three-dimensional view of the adjustment block of the present invention; Figure 10 Is the cross-sectional view of the adjustment block of the present invention; Figure 11 Is the three-dimensional view of the internal structure of the flipping block of the present invention; Figure 12 Is the three-dimensional view of the clamping plate of the present invention.

[0019] Among them, the reference numerals are as follows: 101, conveying box; 102, sorting roller; 103, feed hopper; 104, discharge box; 105, conveyor belt; 106, baffle; 107, driving roller; 108, guide wheel; 109, drive shaft; 110, blade; 111, extrusion plate; 112, fixing block; 113, first telescopic member; 114, limiting rod; 115, second telescopic member; 200, detection component; 201, vision sensor; 202, discharge chute; 203, communication groove; 204, blanking tray; 205, fixing seat; 206, clamping component; 2061, adjustment block; 2063, clamping plate; 2064, sliding block; 2065, sliding groove; 2066, screw; 2067, first rack; 2068, sliding sleeve; 2069, first gear; 207, flipping block; 2071, second gear; 2072, second rack; 2073, third telescopic member. Detailed implementation manners

[0020] The preferred embodiments of the present invention will be specifically described below with reference to the accompanying drawings. The accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principles of the present invention.

[0021] Embodiment 1: As Figure 1 , Figure 2 shown, this embodiment provides a fruit shell breakage detection and sorting device based on pecan processing, including a sorting device main body. The sorting device main body includes a conveying box 101, and the conveying box 101 is used to sort nuts to be sorted (pecans are taken as an example in this embodiment). There are several sorting rollers 102 on the conveying box 101. Both ends of the several sorting rollers 102 are rotatably installed in the middle of the conveying box 101 through bearings. And in this embodiment, the several sorting rollers 102 form five different spacing areas. As Figure 1 shown, from left to right, the spacing of the sorting rollers 102 increases from small to large. An outlet box 104 is arranged below each spacing area. The outlet box 104 is inclined. When the nuts pass through the sorting rollers 102 with the smallest spacing, the nuts with a smaller diameter are separated to the lower part of the sorting rollers 102 first. Then, as the sorting rollers 102 rotate, the nuts with different diameters are sequentially separated to the lower part of the sorting rollers 102 in ascending order, and then discharged from the outlet box 104 to complete the sorting; In the above solution, a synchronous wheel is arranged at one end of each sorting roller 102, and then the synchronous wheels at the ends of each sorting roller 102 are coupled by a synchronous belt, so that each sorting roller 102 can rotate simultaneously. Among them, the above synchronous wheel can be a sprocket or a pulley, and the synchronous belt can be a chain or a belt. And a driving device is arranged at the end of one of the sorting rollers. The driving device can be a motor, and the sorting roller 102 is driven to rotate by the driving device; As Figure 1 , Figure 2 shown, a feed hopper 103 is arranged at the input end of the conveying box 101. The width of the feed hopper 103 matches the width of the conveying box 101, and the nuts to be sorted are poured into the interior of the feed hopper 103; As Figure 3 shown, a conveyor belt 105 is arranged inside the feed hopper 103. The left end of the conveyor belt 105 extends into the interior of the feed hopper 103 and forms a horizontal area at the bottom of the feed hopper 103, and this horizontal area can cover the bottom of the feed hopper 103. The right end of the conveyor belt 105 extends to the feed end of the conveying box 101. Transmission rollers 107 are arranged at both ends of the conveyor belt 105. Both ends of the two transmission rollers 107 are rotatably connected to the side walls of the feed hopper 103 and the two ends of the conveying box 101 respectively. A limiting block is arranged at the turning position of the conveyor belt 105, and the limiting block is fixed to the inner wall of the feed hopper 103 and the two ends of the conveying box 101 to provide a transition for the conveying of the conveyor belt 105; In order to enable the nuts to be conveyed above the conveying box 101 along the conveyor belt 105, a baffle 106 is provided on the surface of the conveyor belt 105. The baffle 106 is made of an elastic material. When the baffle 106 is not under the action of an external force, the nuts can be supported on the baffle 106. When the baffle 106 rotates with the conveyor belt 105 and is close to the inner wall of the feeding hopper 103, the baffle 106 can be bent. Two guide wheels 108 are provided at the bending portion of the conveyor belt 105 where it is located at the feeding hopper 103. The two guide wheels 108 are respectively arranged at both ends of the conveyor belt 105, and the two guide wheels 108 are rotatably connected to the side wall of the feeding hopper 103.

[0022] As Figure 4 shown, a drive shaft 109 is provided on one side of the conveyor belt 105. Both ends of the drive shaft 109 are rotatably connected to the side wall of the feeding hopper 103. Blades 110 are connected to the outer wall of the drive shaft 109. The blades 110 are divided into several and are linearly and evenly distributed on the drive shaft 109. The function of the blades 110 is to allow the nuts conveyed by the conveyor belt 105 to pass only through the spacing between two adjacent blades 110, and the spacing between two adjacent blades 110 is greater than the diameter of a single nut and less than the sum of the diameters of two nuts.

[0023] As Figure 5 shown, an extrusion plate 111 is provided on the right side of the drive shaft 109. Fixing blocks 112 are provided at both ends of the extrusion plate 111. A first telescopic member 113 is connected between the bottom of the fixing block 112 and the extrusion plate 111. One end of one of the fixing blocks 112 is connected with a limiting rod 114, and the limiting rod 114 is slidably connected to one of the side walls of the feeding hopper 103. One end of the other fixing block 112 is connected with a second telescopic member 115, and the other end of the second telescopic member 115 is fixed to the other side wall of the feeding hopper 103. Among them, the extrusion plate 111 is made of a transparent material, such as acrylic or glass.

[0024] As Figure 3 、 Figure 6 shown, a detection assembly 200 is provided on the right side of the extrusion plate 111. The detection assembly 200 is used to identify and pick out the degree of damage to the nut shells; the detection assembly 200 includes a vision sensor 201. The vision sensor 201 is fixed above the feeding hopper 103 through a fixing frame. There are multiple vision sensors 201. The multiple vision sensors 201 can cover the width range of the conveyor belt 105, so as to identify the nuts in each corner without dead angles and identify the nuts with damaged outer shells; In the above solution, the first telescopic member 113 moves the pressing plate 111 downward, so that the bottom of the pressing plate 111 presses against the top of the nut, clamping the nut between the pressing plate 111 and the conveyor belt 105. Then, the second telescopic member 115 drives the pressing plate 111 to reciprocate back and forth, enabling the nut to roll, so that the vision sensor 201 can identify each surface of the nut, improving the accuracy of identification; Principle of the vision sensor 201: Image acquisition and preprocessing: A high-precision RGB camera (such as a 3CCD area array camera) is used to capture the surface image of the nut to ensure clear details. The image quality is optimized through preprocessing such as light compensation and denoising, laying a foundation for subsequent segmentation; Image segmentation and defect localization: The Otsu adaptive double-threshold algorithm is used to automatically divide the target area and background in the image. This algorithm calculates the optimal threshold of the gray histogram to accurately segment damaged areas such as cracks and broken shells, reducing the need for manual intervention; Feature extraction and dimensionality reduction: Geometric features (such as area, perimeter, shape complexity) and texture features (such as gray-level co-occurrence matrix parameters) are extracted from the segmented defect areas to form a 20-dimensional initial feature vector, which is compressed to 9 dimensions through principal component analysis (PCA) or feature selection methods, improving the calculation efficiency while retaining key discriminant information; Such as Figure 7 、 Figure 8 As shown, the detection component 200 further includes a discharge chute 202. The discharge chute 202 is arranged on one side of the vision sensor 201 and is used to discharge nuts with damaged husks. A connecting chute 203 is connected to one end of the discharge chute 202. The top of the connecting chute 203 is connected to a blanking tray 204. A fixing seat 205 is arranged below the blanking tray 204. Several clamping components 206 are provided below the fixing seat 205. The clamping components 206 are used to clamp the nuts with damaged husks and then turn them over above the fixing seat 205, placing the nuts with damaged husks on the blanking tray 204; Among them, both sides of the discharge chute 202 slope downward and the middle arches upward.

[0025] Such as Figure 9 、 Figure 10As shown, the clamping assembly 206 includes an adjusting block 2061 which is slidably mounted on one side of the fixed seat 205. An adjusting groove is formed on one side of the fixed seat 205. The shape of the adjusting groove matches that of the adjusting block 2061. The adjusting block 2061 is slidably connected to the adjusting groove. Two clamping plates 2063 are installed below the adjusting block 2061. An arc-shaped groove is provided at one adjacent end of the two clamping plates 2063. When the two clamping plates 2063 approach each other, the two relatively arranged arc-shaped grooves can pick up the nuts. A vertically penetrating groove is provided in the middle of the adjusting block 2061. A turning block 207 is arranged inside the groove. The top of the turning block 207 is hinged to the top of the clamping plate 2063. A sliding block 2064 is arranged inside the groove. A sliding groove 2065 is formed on the inner wall of the groove. The sliding block 2064 is slidably connected to the inside of the sliding groove 2065. Among them, the cross-sectional shapes of the sliding block 2064 and the sliding groove 2065 match each other. A screw rod 2066 is arranged inside the sliding block 2064. The upper and lower ends of the screw rod 2066 are rotatably connected to the upper and lower inner parts of the sliding groove 2065. A servo motor 2062 is fixedly installed on the top of the adjusting block 2061. The output shaft of the servo motor 2062 is fixedly connected to the top end of the screw rod 2066, so that the servo motor 2062 can drive the screw rod 2066 to rotate. The screw rod 2066 is threadedly connected to the middle of the sliding block 2064. One side of the sliding block 2064 is connected with a first rack 2067. The top of the turning block 207 is connected with a first gear 2069. The first rack 2067 meshes with the first gear 2069. One side of the adjusting block 2061 is connected with a sliding sleeve 2068. The top of the fixed seat 205 is connected with a sliding rod (not shown in the figure). The sliding sleeve 2068 is slidably connected to the sliding rod and can drive the sliding sleeve 2068 to move up and down along the sliding rod through a telescopic device.

[0026] As Figure 11 , Figure 12 shown, a cavity is arranged inside the turning block 207. A third telescopic member 2073 is arranged inside the cavity. The bottom of the third telescopic member 2073 is connected with a second rack 2072. The tops of the two clamping plates 2063 are connected with second gears 2071. The inner sides of the two second gears 2071 mesh with both sides of the second rack 2072. When the third telescopic member 2073 drives the second rack 2072 to move up and down, it can drive the two second gears 2071 to rotate, so that the clamping plates 2063 approach or move away from each other. When the two clamping plates 2063 approach each other, the nuts can be clamped. In the above solution, when the visual sensor 201 detects damaged nuts, in cooperation with the driving roller 107 and the clamping assembly 206, when the nuts are conveyed by the conveyor belt 105 to the lower part of the turning block 207, the clamping plate 2063 below the turning block 207 picks up the nuts. Example 2: The technical solution of this example is different from that of Example 1. This example provides a method for detecting and sorting cracked pecan nut shells during processing, including the following steps: S1: Nut transportation: Continuously transport the pecans to be sorted through the transport box 101, and control the transport speed so that the nuts stay in the detection area for a preset time. S2: Crack detection: Use the vision sensor 201 to collect images of the nut shells on the transport box 101, identify the cracked areas of the shells based on the image grayscale values and texture features, and generate a trigger signal when a cracked shell is detected. S3: Clamping of cracked nuts: According to the trigger signal, control the clamping assembly 206 to position and clamp the target nuts. S4: Sorting of cracked nuts: Drive the flipping block 207 to flip upward to a preset angle, so that the clamping assembly 206 releases the cracked nuts into the discharge chute 202, and guide the cracked nuts to the defective product collection bin through the inclination angle of the discharge chute 202. S5: Output of intact nuts: The intact nuts that are not triggered to be clamped continue to move with the transport box 101 to the finished product discharge port to complete the sorting. In the description of this specification, the descriptions referring to the terms "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0027] The terms "first", "second", "third", "fourth", etc. (if any) in the description of the embodiments of this application, the specification and the claims, and the above drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0028] Parallel: The parallel defined in this application is not limited to absolute parallelism. The definition of this parallel can be understood as substantially parallel, allowing for situations where it is not absolutely parallel due to factors such as assembly tolerances, design tolerances, and the influence of structural flatness, and allowing for errors within a small angular range. For example, within an assembly error range of less than 10 degrees, it can all be understood as a parallel relationship.

[0029] Perpendicular: The perpendicular defined in this application is not limited to an absolutely perpendicular intersection (with an included angle of 90 degrees) relationship. It allows for a relationship where it is not absolutely perpendicular due to factors such as assembly tolerances, design tolerances, and the influence of structural flatness, and allows for errors within a small angular range. For example, within an assembly error range from 80 degrees to 100 degrees, it can all be understood as a perpendicular relationship.

[0030] The devices or elements indicated in the embodiments of this application or implied must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation on the embodiments of this application. In the description of the embodiments of this application, the meaning of "a plurality of" is two or more, unless otherwise specifically and precisely defined.

[0031] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the relevant technical field can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A nut shell damage detection and sorting device based on pecan processing, comprising a conveying box (101), the conveying box (101) is used to convey the sorted nuts, the conveying box (101) is provided with a detection component (200), the detection component (200) is used to detect the broken shell nuts, and is characterized in that: The detection component (200) comprises: A visual sensor (201) for identifying nuts with damaged shells; A clamping assembly (206) clamps the cracked nuts according to the recognition result of the visual sensor (201); A discharge chute (202) is installed above the conveying box (101); The flip block (207) flips upward when the clamping assembly (206) clamps the nuts, placing the shelled nuts in the discharge chute (202) and discharging them according to the inclination angle of the discharge chute (202).

2. The device for detecting and sorting damaged husks based on pecan processing according to claim 1, characterized in that: A conveying box (101) is provided with a plurality of sorting rollers (102). Both ends of the plurality of sorting rollers (102) are rotatably mounted in the middle of the conveying box (101) via bearings. The spacing of the sorting rollers (102) increases from small to large. A discharge box (104) is arranged below each spacing area. The discharge box (104) is arranged obliquely. When nuts pass through the sorting rollers (102) with the smallest spacing, nuts with smaller diameters are first separated to the bottom of the sorting rollers (102). Then, as the sorting rollers (102) rotate, nuts with different diameters are sequentially separated to the bottom of the sorting rollers (102) in order from small to large, and then discharged from the discharge box (104), completing the sorting.

3. The device for detecting and sorting damaged husks based on pecan processing according to claim 1, characterized in that: A synchronous wheel is provided at one end of each sorting roller (102), and the synchronous wheels at the end of each sorting roller (102) are coupled and connected via a synchronous belt, so that each sorting roller (102) can rotate simultaneously, and a driving device is provided at the end of one of the sorting rollers.

4. The device for detecting and sorting damaged husks based on pecan processing according to claim 1, characterized in that: A feed hopper (103) is provided at the input end of the conveying box (101). The width of the feed hopper (103) matches the width of the conveying box (101). Nuts to be sorted are poured into the feed hopper (103). A conveyor belt (105) is provided inside the feed hopper (103). The left end of the conveyor belt (105) extends into the feed hopper (103) and forms a horizontal area at the bottom of the feed hopper (103). The horizontal area can cover the bottom of the feed hopper (103). The right end of the conveyor belt (105) extends to the feed end of the conveying box (101). Transmission rollers (107) are provided at both ends of the conveyor belt (105). The two ends of the two transmission rollers (107) are rotatably connected to the side wall of the feed hopper (103) and the two ends of the conveying box (101).

5. The device for detecting and sorting damaged husks based on pecan processing according to claim 4, characterized in that: A baffle (106) is provided on the surface of the conveyor belt (105), and the baffle (106) is made of elastic material.

6. The device for detecting and sorting damaged husks based on pecan processing according to claim 4, characterized in that: A drive shaft (109) is provided on one side of the conveyor belt (105), and both ends of the drive shaft (109) are rotatably connected to the side wall of the feed hopper (103). The outer wall of the drive shaft (109) is connected to blades (110), and the blades (110) are divided into a plurality of blades and are linearly and evenly distributed on the drive shaft (109). The distance between two adjacent blades (110) is greater than the diameter of a single nut and less than the sum of the diameters of the two nuts.

7. The device for detecting and sorting damaged husks based on pecan processing according to claim 4, characterized in that: An extrusion plate (111) is arranged on the right side of the driving shaft (109), and fixed blocks (112) are arranged at both ends of the extrusion plate (111). A first telescopic member (113) is connected between the bottom of the fixed block (112) and the extrusion plate (111), one end of one of the fixed blocks (112) is connected to a limiting rod (114), and the limiting rod (114) is slidably connected to one of the side walls of the feed hopper (103), and one end of the other fixed block (112) is connected to a second telescopic member (115), and the other end of the second telescopic member (115) is fixed to the other side wall of the feed hopper (103).

8. The device for detecting and sorting damaged husks based on pecan processing according to claim 1, characterized in that: The clamping assembly (206) comprises an adjusting block (2061), the adjusting block (2061) being slidably mounted on one side of the fixing seat (205), an adjusting groove being provided on one side of the fixing seat (205), the adjusting groove having a shape matching that of the adjusting block (2061), the adjusting block (2061) being slidably connected to the adjusting groove, two clamping plates (2063) being mounted below the adjusting block (2061), arc-shaped grooves being provided at adjacent ends of the two clamping plates (2063), and when the two clamping plates (2063) are close to each other, the two arc-shaped grooves arranged opposite to each other can clamp the nut.

9. The device for detecting and sorting damaged husks based on pecan processing according to claim 1, characterized in that: A cavity is provided inside the flip block (207), and a third telescopic member (2073) is provided inside the cavity. The bottom of the third telescopic member (2073) is connected to the second rack (2072), and the tops of the two clamping plates (2063) are connected to the second gear (2071). The inner sides of the two second gears (2071) are meshed with the two sides of the second rack (2072). When the third telescopic member (2073) drives the second rack (2072) to move up and down, it can drive the two second gears (2071) to rotate, so that the clamping plates (2063) are moved closer to each other or farther away from each other. When the two clamping plates (2063) are close to each other, the nut can be clamped.

10. A method for detecting and sorting damaged husks based on pecan processing, using a device for detecting and sorting damaged husks based on pecan processing according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Nut conveying: the sorted pecans are continuously conveyed through the conveying box (101), and the conveying speed is controlled so that the nuts stay in the detection area for a preset time; S2: damage detection: collecting images of nut shells on the conveyor box (101) through a visual sensor (201), identifying damaged areas of the shells based on image grayscale values ​​and texture features, and generating a trigger signal when damage to the shells is detected; S3: Broken nut clamping: according to the trigger signal, the clamping assembly (206) is controlled to position and clamp the target nut; S4: Sorting of broken nuts: driving the flip block (207) to flip upward to a preset angle, so that the clamping assembly (206) releases the broken nuts to the discharge chute (202), and guides the broken nuts to the defective product collection bin through the inclination angle of the discharge chute (202); S5: Complete nut output: The complete nuts that have not triggered the clamping continue to move with the conveying box (101) to the finished product discharge port to complete the sorting.

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