Single-channel fresh apricot directional coring device

Abstract

The utility model discloses a single-channel fresh apricot directional pitting device (short for directional pitting device), which belongs to the field of pitting equipment and comprises a frame, a conveying mechanism, a pitting mechanism, a directional mechanism and an automatic directional control system. Wherein the orientation mechanism comprises a camera, a lifting mechanism, a control development board, an orientation hood and an execution device; the conveying mechanism conveys fresh apricots to the orientation mechanism, the camera shoots the fresh apricots in the tray, the relative position coordinates of the fruit and fruit calyx detection frame are detected through a fruit and fruit calyx detection model in the automatic orientation control system deployed on the development board, and then the corresponding single-fruit fresh apricot posture is calculated. The stepping motor is used for calculating the rotation step number based on the single-fruit posture of the fresh apricots and outputting an electric signal to the execution device, the stepping motor is connected with a position correction wheel through a rotating shaft, and the position correction wheel drives the fresh apricots to rotate by a corresponding angle in the tray so as to achieve single-fruit posture adjustment of the fresh apricots and unified upward arrangement of fruit calyx; and the conveying mechanism conveys the fresh apricots from the orientation mechanism to the pitting mechanism, and the cutting and pitting of the fresh apricots are realized through the pitting mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of pitting equipment, in particular to a single-channel fresh apricot directional pitting device. Background Art

[0002] Fresh apricots have a large yield in Xinjiang, but a short maturity period. They are respiratory climacteric fruits. A large number of fresh apricots are not easy to store after being put on the market. Therefore, in addition to being eaten fresh, fresh apricots are mostly pitted in the production area and processed into dried fruits, preserved fruits, and canned products for circulation in the market. At present, fresh apricot pitting and cutting machines are usually used to remove the pits of fresh apricots. For example, the invention patent with the patent number "202011083174.0" and the patent name "A fully automatic fruit pitting and cutting method and equipment" has proposed a continuous pitting and cutting machine including a frame, a transmission mechanism, a feeding mechanism, a pitting mechanism, a power mechanism, and a discharging device. The conveying mechanism is installed on the frame, and the PLC controls the stepper motor A and the stepper motor B (the PLC controls the pulse signal to control the motor step angle) to drive the conveyor belt composed of the core removal and cutting tray to move. The material is carried by the core removal and cutting tray and conveyed to the feeding mechanism for positioning. The punch rod and the cutter head in the core removal mechanism reciprocate under the drive of the cylinder and cooperate with the conveyor belt to achieve continuous core removal and cutting of fresh apricots. However, in actual application of the above patent, it was found that the coordination between the cylinder of the core removal mechanism and the conveyor belt was very difficult. Often, the cutter has come down, but the tray is still not in place, which makes it difficult to accurately cut the apricots. Large quantities of apricots need to be reworked and recut, which is time-consuming and labor-intensive.

[0003] For this purpose, the invention patent with patent number "202220408797.9" and patent name "A continuous fruit core removal and cutting device" proposes a continuous core removal and cutting machine including a frame, a conveying mechanism, a core removal mechanism and a driving mechanism; the conveying mechanism includes a tray and a driving wheel; the core removal mechanism includes a guide vertical rod, a tool base sliding on the guide vertical rod, and a core removal tool is provided on the tool base; the driving mechanism includes an intermittent cam divider, a crank-connecting rod structure and a driving device, the input end of the input shaft of the intermittent cam divider is connected to the driving device, and the output end is connected to the tool base through the crank-connecting rod structure, and the output shaft of the intermittent cam divider is connected to the driving wheel; the intermittent cam divider can convert the original power into an intermittent power and a continuous power, the continuous power enables the crank-connecting rod structure to drive the core removal tool to reciprocate up and down, and the intermittent power drives the tray to move intermittently, so as to achieve precise coordination between conveying and core removal. However, in actual application of the above patent, it was found that in order to reduce the loss rate of apricot flesh, manual assistance was required to straighten the posture of the apricots so that the calyx or stalk was placed upward, which increased labor and processing costs. Summary of the invention

[0004] The purpose of the present invention is to solve the above technical problems, provide a single-channel fresh apricot directional pitting device, and establish a lightweight fresh apricot and fruit stalk recognition network. A large number of fresh apricot and fruit stalk image sample data taken at different heights and angles are obtained, and a data set is prepared according to the YOLOv8n network requirements to train a deep learning network. The pixel coordinates of the fresh apricot and fruit stalk in the image are obtained through the target recognition model; the rotation angles of the stepper motor A and the stepper motor B of the relevant vector algorithm output execution device are established to achieve the uniform upward arrangement of the fresh apricot calyx.

[0005] To achieve the above-mentioned purpose, the present invention provides the following scheme: The present invention provides a single-channel fresh apricot directional pitting device, comprising five parts: a frame, a driving mechanism, an automatic directional control system, a conveying mechanism, an directional mechanism and a pitting mechanism, which is used for identifying, orienting, adjusting the posture, and cutting and pitting fresh apricots, and is characterized in that: the conveying mechanism is fixedly connected to the frame by a vertical bearing seat, the directional mechanism is connected to the frame by a lifting mechanism, the pitting mechanism is fixedly connected to the frame by a guide rod clamp, and the driving mechanism is fixedly connected to the frame.

[0006] The driving mechanism includes a reduction motor, a cam divider, a driving shaft, a driving sprocket A, a driving sprocket B, a driving chain, a crank shaft, a crank sprocket, a cam sprocket A, a cam sprocket B and a crank-connecting rod structure; the cam sprocket A of the input shaft of the intermittent cam divider is connected to the reduction motor driving sprocket B, the reduction motor driving shaft is connected to the tool base through the crank-connecting rod structure, and the output shaft of the intermittent cam divider is connected to the conveying sprocket through the cam sprocket B; the intermittent cam divider can convert the original power into an intermittent power, the continuous power enables the crank-connecting rod structure to drive the core removal tool to reciprocate up and down, the continuous power enables the lifting mechanism to drive the orienting mechanism to lift and reciprocate, and the intermittent power drives the tray to move intermittently, so as to achieve precise coordination of conveying, orienting and core removal.

[0007] The conveying mechanism includes an inlet, an inclined conveying area, a horizontal conveying area, a vertical conveying area, a conveying sprocket, a driven sprocket, a conveying chain, a vertical bearing seat, a tray, an apricot meat discharge port, a collecting device and an apricot kernel discharge port; the apricot meat discharge port is 35° from the vertical conveying area and is adjacent to it, and collects the apricot meat after pitting and cutting of fresh apricots; the apricot kernel discharge port is located below the pitting mechanism, and collects fresh apricot kernels; the conveying sprocket is fixedly connected to the frame through a vertical bearing seat, the driven sprocket is connected to the driving sprocket B through a conveying chain, and 26 trays are fixedly connected to the conveying chain; the inclined conveying area is located at an angle of 28° to the horizontal plane in the inlet area, and the horizontal conveying area is located above the alignment wheels A and B and below the pitting tool;

[0008] The orientation mechanism includes a CCD industrial camera, a lifting mechanism, a control development board, an orientation machine cover and an actuator; wherein the actuator includes: a stepper motor A, a stepper motor B, a motor bracket, a calibration wheel A and a calibration wheel B; wherein the stepper motor A and the stepper motor B are fixedly connected to the motor bracket, the calibration wheel A and the calibration wheel B are respectively fixedly connected to the stepper motor A and the stepper motor B, and the actuator is connected to the frame through the lifting mechanism; the lifting mechanism is connected to the frame through a linear bearing, the tray is between the actuator and the camera and is fixedly connected to the conveying sprocket, and the lifting cam is connected to the The driving shaft is fixed; the lifting mechanism is fixedly connected to the stepper motor A and the stepper motor B through the motor bracket, and the lifting mechanism is connected to the lifting cam through the roller; the adjacent pallet in the inclined conveying area is set as the first row, and the actuator is located below the pallets in the second and third rows of the horizontal conveying area, wherein the rotation direction of the calibration wheel A of the actuator is parallel to the travel direction of the horizontal conveying area, and the rotation direction of the calibration wheel B of the actuator is perpendicular to the travel direction of the horizontal conveying area; the CCD industrial camera is located above the second and third rows of pallets in the horizontal conveying area, and the CCD industrial camera is fixedly connected to the upper end of the frame;

[0009] The core removal mechanism includes two sets of guide vertical rods, two sets of guide rod clamps, and a tool base sliding on the guide vertical rods. A core removal tool is arranged on the tool base. The two sets of guide vertical rods are fixedly connected to the frame through two sets of guide rod clamps. The tool base is connected to the intermittent cam divider through a crank connecting rod structure. The core removal tool is located above the fourth row of pallets in the horizontal conveying area.

[0010] The control development board model is NVIDIA nano development board; the automatic orientation control system is deployed in the control development board, mainly including: reading module, recognition module, calculation module and output module. The reading module sends a photo command to the CCD industrial camera according to the intermittent motion stagnation time in the horizontal conveying area, and transmits the photo to the recognition module after low-light image enhancement processing; the recognition module is mainly composed of fresh apricot and fruit stalk recognition models, accurately identifying fresh apricots and fruit stalks in the image, and accurately fitting the target frame in the image to each recognition target, and extracting the label and coordinate information of the target frame and transmitting it to the calculation module; the calculation module calculates the center of mass coordinates of fresh apricots and fruit stalks through the coordinate information of the target frame and obtains the vector coordinates of the fresh apricot-fruit stalk axis, calculates the corresponding number of rotation steps through Fourier transform and transmits it to the output module; the output module sends two sets of pulse signals to stepper motor A and stepper motor B respectively, stepper motor A and stepper motor B rotate, driving the two fresh apricots to adjust their postures;

[0011] The CCD industrial camera photographs the fresh apricots in the second row of trays in the horizontal conveying area, and identifies the vector coordinates of the fresh apricot-stalk axis by controlling the fresh apricot and stalk recognition model on the automatic orientation control system of the control development board, calculates the corresponding number of rotation steps and outputs electrical signals to the stepper motor A and stepper motor B located in the actuator. The stepper motor A and stepper motor B are connected to the calibration wheel A and calibration wheel B respectively. During the intermittent motion stagnation in the horizontal conveying area, the calibration wheel A drives the fresh apricots to rotate a corresponding angle parallel to the travel direction of the horizontal conveying area to achieve the posture adjustment of the single fresh apricot fruit, and the direction of the stalk is parallel to the travel direction of the horizontal conveying area. The CCD industrial camera photographs the fresh apricots in the third row of trays in the horizontal conveying area. By controlling the fresh apricot and fruit stalk recognition model on the automatic orientation control system of the control development board, the vector coordinates of the fresh apricot-fruit stalk axis are identified, the corresponding number of rotation steps is calculated and an electrical signal is output to the stepper motor B located in the actuator. During the intermittent motion stagnation in the horizontal conveying area, the positioning wheel B drives the fresh apricots to rotate a corresponding angle perpendicular to the travel direction of the horizontal conveying area to achieve single-fruit posture adjustment of the fresh apricots, with the fruit stalk direction perpendicular to the plane of the tray.

[0012] When the present invention is in operation, limited materials are poured into the inlet of the device manually or through a conveyor belt, and the angle between the inclined conveying area in the inlet area and the horizontal plane is 28°, so that the materials are concentrated at the inlet, and the fresh apricots move obliquely upward through the conveying unit tray of the inclined conveying area, so that the fresh apricots in the tray pass through the directional mechanism in a single and orderly manner, and the directional mechanism is driven to rise by the lifting mechanism, and the calibration wheel A and the calibration wheel B approach the fresh apricots and the directional mechanism realizes the automatic orientation of the fresh apricots in the horizontal conveying area, and the fruit stem enters the pitting mechanism with an upward posture; the tool base drives the pitting tool to do up and down reciprocating motion under the drive of the crank connecting rod structure, and when the pitting tool moves downward, the blade cuts the fresh meat, and the apricot kernel is pushed by the pitting tool, and the apricot kernel begins to separate from the flesh and completely ejects the apricot kernel from the cross gap at the bottom of the tray, and falls into the apricot kernel outlet, so as to realize the complete separation of the flesh and the apricot kernel. At this time, the pitting tool performs a reset movement upward, and two petals of fresh flesh will remain on the tray. When the fresh apricots are cut and pitted, the tray enters the horizontal conveying area and starts vertical conveying. The tray continues to move along the vertical conveying area, and the apricot meat falls off the tray into the collection device, completing the collection of the apricot meat. Repeating the above actions can continuously realize the automatic directional cutting and pitting of fresh apricots.

[0013] Compared with the prior art, the single-channel fresh apricot directional pitting device of the present invention adopts the above technical solution and has the following technical effects:

[0014] (1) The single-channel fresh apricot directional pitting device designed by the present invention uses the real-time acquisition of fresh apricot images in a tray by a CCD camera as a basis to determine the pixel coordinates of the target fruit stalk. The control development board controls the stepper motor A and the stepper motor B of the actuator. The fresh apricot is rotated by the calibration wheels A and B to move the stalk to the target coordinates. The above operation is repeated to achieve directional action, which can effectively improve the accuracy and efficiency of automatic orientation.

[0015] (2) The present invention provides a single-channel directional pitting device for fresh apricots. To solve the problem of coordination between the lifting mechanism and the tray in the horizontal conveying area, the device is designed as follows: the alignment wheels A and B are shaped like cylinders. When the horizontal conveying area moves intermittently, the lifting mechanism is kept in a descending state by a cam to avoid interference between the alignment wheels A and B and the tray. When the intermittent movement of the horizontal conveying area stops, the lifting mechanism is kept in an ascending state by a cam, so that the alignment wheels A and B pass through the cross gap at the bottom of the tray to contact the fruit and rotate it, thereby adjusting the posture of the fresh apricots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a schematic diagram of the overall three-dimensional structure of a single-channel fresh apricot directional pitting device;

[0018] Figure 2 This is a schematic diagram of the internal three-dimensional structure of a single-channel fresh apricot directional pitting device;

[0019] Figure 3 This is a schematic diagram of the internal top view of the single-channel fresh apricot directional pitting device;

[0020] Figure 4 This is a schematic diagram of the main internal structure of a single-channel fresh apricot directional pitting device;

[0021] Figure 5 This is a schematic diagram of the internal structure of the single-channel fresh apricot directional pitting device when viewed from above;

[0022] Figure 6 It is a schematic diagram of the partial front view structure inside the directional mechanism;

[0023] Figure 7 It is a schematic diagram of the partially enlarged structure inside the directional mechanism;

[0024] Figure 8 It is a schematic diagram of the three-dimensional structure of the execution device;

[0025] Fig. 9 It is a schematic diagram of the three-dimensional structure of the pallet;

[0026] Fig.10 It is a schematic diagram of the internal three-dimensional structure of the nucleation mechanism;

[0027] Fig.11 It is a schematic diagram of the internal rear view structure of the denucleation mechanism;

[0028] Fig.12 This is the automatic orientation flow chart of fresh apricots in the design of the present invention

[0029] Description of part numbers in the figure:

[0030] 1. Frame; 2. Driving mechanism; 3. Automatic directional control system; 4. Conveying mechanism; 5. Orienting mechanism; 6. De-nucleating mechanism.

[0031] 101. Device cover; 201. Speed ​​reduction motor; 203. Cam divider; 210. Drive shaft; 211a. Drive sprocket A; 211b. Drive sprocket B; 215. Drive chain; 212. Crank shaft; 213. Crank sprocket; 214a. Cam sprocket A; 214b. Cam sprocket B; 204. Crank-connecting rod structure; 206. Cam chain; 207. Crank; 208. Connecting rod; 205. Caster.

[0032] 411, feeding port; 401, inclined conveying area; 407, horizontal conveying area; 408, vertical conveying area; 402, conveying sprocket; 403, driven sprocket; 404, conveying chain; 405, vertical bearing seat; 406, tray; 413, apricot pulp discharge port; 414, collecting device; 415, apricot kernel discharge port.

[0033] 501, CCD industrial phase; 502, lifting mechanism; 503, control development board; 509, directional machine cover; 508, actuator; 504a, stepper motor A; 504b, stepper motor B; 505, bearing; 506, motor bracket; 507a, calibration wheel A; 507b, calibration wheel B; 511, lifting cam; 513, roller.

[0034] 601. Two sets of guide vertical rods; 602. Tool base; 603. Core removal tool; 604. Two sets of guide rod clamps. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the description of the invention, it should be noted that the directions or positional relationships indicated by the terms "left", "right", "up", "down", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0036] This embodiment provides a single-channel fresh apricot directional pitting device, which can be used for automatic directional cutting and pitting of fresh apricots. Figures 1 to 10 As shown, it includes a frame 1, a driving mechanism 2, an automatic orientation control system 3, a conveying mechanism 4, an orientation mechanism 5, and a core removal mechanism 6.

[0037] The driving mechanism 2 includes an intermittent cam divider 203, a crank connecting rod structure 204 and a reduction motor 201 fixed to the frame 1; the crank connecting rod structure 204 includes a cam-shaped crank 207 and a connecting rod 208, the connecting rod 208 and the crank 207 are hinged to each other, the crank 207 is connected to the crank sprocket 213 through the crank shaft 212, and the connecting rod 208 is hinged to the tool base 602; the cam sprocket A214a of the input shaft of the intermittent cam divider 203 is connected to the driving sprocket B211b Then, the output shaft of the intermittent cam divider 203 is connected to the conveying chain 404 through the cam sprocket B214b and the conveying sprocket 402; the driving angle of the output shaft of the intermittent cam divider 203 is 90°, that is, the dynamic-static ratio of the output shaft of the intermittent cam divider 203 is 1:3, so that the moving and staying time of the conveying unit tray 406 is 1:3. When the conveying unit tray 406 completes a workstation movement (including the moving process and the staying process), the crank-connecting rod structure completes a reciprocating motion.

[0038] In this embodiment, Fig.10 As shown, the output shaft of the intermittent cam divider 203 is connected to the conveying sprocket 402 through a transmission mechanism; the transmission mechanism includes a cam sprocket B214b and a conveying sprocket 402, wherein the cam sprocket B214b is located on the same plane of the conveying sprocket 402 and is connected by a chain, so that when the output shaft of the intermittent cam divider 203 rotates, the conveying sprocket 402 can be driven to rotate together. The conveying sprocket 402 and the driven sprocket 403 are fixed on the same rotating shaft, so that when the driving sprocket B211b rotates, the intermittent cam divider 203 can drive the conveying chain 404 to move intermittently.

[0039] In this embodiment, Figure 2As shown, the driving mechanism 2 includes a reduction motor 201 and an intermittent cam divider 203 . The driving shaft 210 of the reduction motor 201 is connected to the intermittent cam divider 203 via a driving sprocket B211b , and the cam sprocket A214a is connected to the input shaft of the intermittent cam divider 203 . The reduction motor 201 provides the operating motive force for the entire single-channel fresh apricot directional pitting device. The motive force reaches 20-30r / min after speed reduction and torque increase. The power is distributed by the drive shaft 3 and divided into three parts: one part is transmitted to the crank-connecting rod structure 204, driving the tool base 602 and the pitting tool 603 to perform continuous up and down reciprocating motion to perform the cutting and pitting operation; the other part of the power is transmitted to the conveying chain 404 through the intermittent cam divider 203, causing the conveying chain 404 to perform intermittent motion, thereby driving the conveying unit tray 406 to perform intermittent motion, thereby realizing the motion coordination relationship between the conveying mechanism and the pitting mechanism; the third part of the power is transmitted to the lifting mechanism 502 through the lifting cam 511, driving the stepping motor A504a and the stepping motor B504b to perform lifting and continuous reciprocating motion with the positioning wheel A507a and the positioning wheel B507b respectively, to perform the fresh apricot posture adjustment operation.

[0040] Preferably, a reduction motor 201 with a rated power of 200W and a rated speed of 20-30r / min is selected; the output speed of the reduction motor 201 after adjustment by the speed regulator is set to 30r / min, that is, the transmission ratio is 70. The eccentricity of the crank 207 connected to the tool base 602 is 60mm. According to the intermittent motion time of the tray, the posture position of the crank 207 is pre-set to make it consistent in movement. When the eccentric axis of the crank 207 is parallel to the ground, the tool base 602 is in the rising stage, and the intermittent cam divider 203 drives the cam sprocket B214b to start a 90° rotation, that is, when the conveying unit tray 406 moves forward, the next de-coring action begins; at the same time, the lifting mechanism 502 is in the descending stage to prevent the alignment wheel A507a and the alignment wheel B507b from interfering with the tray 406.

[0041] In this embodiment, Figure 1 As shown, the frame 1 is wrapped with a device cover 101, and the top of the device cover 101 is provided with an opening corresponding to the tray, and the head end of the tray is tilted downward to form an inlet 411 with the side wall of the device cover 101. Preferably, the conveying chain 404 at the inlet 411 is at an angle of 28° with the horizontal plane, and each tray 406 drives a fresh apricot to automatically load during operation. The side and end of the device cover 101 are respectively provided with a core discharge port and a discharge port, and the apricot core discharge port 415 extends out of the core discharge port, so that the fresh apricot core is led out of the device cover 101, and the collection device 414 extends out of the apricot meat discharge port 413, so that the pulp is led out of the device cover 101. Collection boxes can be placed at both the core discharge port and the discharge port for collection.

[0042] In the feed port 411; first, place the fresh apricots in the feed port 411; then, start the reduction motor 201, and the conveying chain 404 is connected to the conveying unit tray 406 to start intermittent movement. Since the conveying unit tray 406 at the feed port 411 has a certain inclination angle, a part of the fresh apricots can be fed into the tray 406 to realize the upward transmission of the fresh apricots, and the other part can fall back to the bottom of the feed port 411 under the action of gravity, so as to realize the separation and feeding of the fresh apricots, and ensure that there are no excess fresh apricots in the subsequent working area.

[0043] The conveying mechanism 4 includes an inclined conveying area 401 of the feeding area, a horizontal conveying area 407 of the automatic orientation and core removal and cutting area, and a vertical conveying area 408 of the discharging area, a conveying sprocket 402 of the driving tray, a driven sprocket 403, a conveying chain 404, and a vertical bearing seat 405, which are arranged side by side along the conveying path of the tray.

[0044] In this embodiment, Figure 2 As shown, the conveying mechanism 4 also includes a conveying sprocket 402, a driven sprocket 403 and a conveying chain 404, the conveying chain 404 is wound around the driven sprocket 403, the conveying unit tray 406 is fixed on the conveying chain 404 along the length direction of the conveying chain 404, and the conveying sprocket 402 is connected to the output shaft of the cam divider 203 through the chain and the cam sprocket B214b. Figure 5 , including a conveying sprocket 402, eight driven sprockets 403 and two conveying chains 404, the two driven sprockets 403 are connected by a circular shaft, the conveying sprocket 402 and the driven sprocket 403 are connected by a circular shaft; the two chains 404 are wound side by side on the driven sprocket 403. Preferably, there is one tray 406 per row, and there are 26 rows, and the conveying unit tray 406 has a food-grade resin material with a thickness of 3mm. Of course, the above are only preferred setting parameters, and the relevant parameters can be adjusted as needed.

[0045] Preferably, the chain 404 is a roller chain, which is suitable for the low-speed stage of the transmission system. The pitch in the roller chain is 12.7 mm, the width of each conveying unit tray 406 is 102.15 mm, and the number of teeth of the conveying sprocket 402 is 28 teeth. When the output shaft of the intermittent cam divider 203 rotates 90°, the conveying sprocket 402 will rotate 7 teeth, the conveying chain 404 moves 7 chain links, and a row of conveying unit trays 406 just moves to the bottom of the core removal tool 603. When the output shaft of the intermittent cam divider 203 rotates another 90°, the conveying sprocket 402 will rotate 7 teeth, the chain 404 moves 7 chain links, and the conveying unit tray 406 just moves out from under the core removal tool 603. In this process, the tool base 602 completes an up and down reciprocating motion.

[0046] The core removal mechanism 6 includes a guide vertical rod 601 and a tool base 602. The guide vertical rod 601 is located on the conveying path of the horizontal conveying area 407 and is fixed on the frame 1, preferably close to the tail end on the conveying path of the horizontal conveying area 407. The tool base 602 is slidably connected to the guide vertical rod 601. In order to improve the sliding stability, a linear bearing can be set between the tool base 602 and the guide vertical rod 601. A core removal tool 603 is fixed on the tool base 602. The core removal tool 603 faces downward. The core removal tool 603 is located at the center of the tray 406 on the conveying unit, with reference to FIG. Figure 8 , trays 406 are arranged in a single row.

[0047] In this embodiment, Figure 10-11 As shown, the pitting tool 603 is vertically fixed on the tool base 602, and can be fixed on the tool base 602 by a nut, which is convenient for the disassembly and adjustment of the pitting tool 603. The blade surface at the end of the tool base 602 is arc-shaped, and the blade surface can form a shape similar to a semicircle. When the tool base 602 moves downward, the apricot pit in the fresh apricot can be pushed out and the fresh apricot can be divided into two. The pitting tool 603 is embedded in the pulp along the fruit stem of the fresh apricot, and the loss rate of the pulp is the lowest. In order to meet the two requirements of cutting and pitting of fresh apricots, preferably, the tool base 602 is a solid rod of 304 stainless steel with a diameter of 6mm, and the end of the tool base 602 is concave with a hemispherical groove with a diameter of 5mm, and the thickness of the blade surface is 1mm.

[0048] Further, in this embodiment, reference Fig. 9 , the tray 406 is square, with a hemispherical concave in the middle, the bottom of the concave is spherical, and a cross opening is provided on the bottom with a width of 11mm. When used for pitting and cutting fresh apricots, if the size of the fresh apricots is between 40 and 55mm, the diameter of the hemispherical concave of the tray 406 is preferably 55mm, the length of the cross opening is 25mm and the thickness is 3mm, the fruit loss rate is the lowest, the tray 406 is a square 102.15×88.9mm and the thickness is 3mm, and the external dimensions of the tray 406 are not limited to the above values, and are determined according to the average size of local apricots. In order to facilitate the extrusion of apricot kernels from the cross opening of the tray 406, the material elasticity of the tray 406 is particularly critical, and the tray 406 is generally made of food-grade silicone material. The Shore hardness of silicone rubber is 85, and the overall thickness of the tray 406 is preferably 3mm. If the Shore hardness of the material of the tray 406 is too high, the tray 406 will not deform when the pulp is squeezed, which may easily cause damage to the pulp. However, if the Shore hardness is too low, the pulp and the apricot kernel may be squeezed out of the tray 406.

[0049] In this embodiment, Figure 6-7As shown, the alignment wheel A507a and the alignment wheel B507b are adjacent to the cross gaps at the bottom of the two trays 406 respectively; when the alignment wheel A507a and the alignment wheel B507b are not working, the lifting cam 511 of the lifting mechanism 502 does not interfere with the tray 406 in the descending stage. When the tray 406 moves to the actuator 508 with the fresh apricots, the lifting cam 511 of the lifting mechanism 502 has a height difference of 10mm in the ascending and descending stages; the control development board 503 sends a pulse electrical signal to rotate the stepper motor A504a and the stepper motor B504b to a certain angle; the alignment wheel A507a and the alignment wheel B507b are fixedly connected to the motor shaft. The calibration wheel A507a and the calibration wheel B507b are cylindrical in shape with a diameter of 50 mm and a thickness of 10 mm. The calibration wheel A507a and the calibration wheel B507b respectively contact the bottom of the fresh apricots through the cross gaps at the bottom of the two trays 406. The calibration wheel A507a and the calibration wheel B507b respectively contact the bottom of the two fresh apricots and rotate in the two trays 406 to achieve orientation.

[0050] In this embodiment, Figure 6 As shown, the CCD industrial camera 501 photographs two fresh apricots located in the second and third rows of trays 406 in the horizontal conveying area 407, and identifies the vector coordinates of the two fresh apricot-stalk axes by controlling the fresh apricot and stalk recognition model on the automatic orientation control system 3 in the control development board 503, calculates the corresponding number of rotation steps and outputs electrical signals to the stepper motor A504a and the stepper motor B504b located in the actuator 508, and the stepper motor A504a and the stepper motor B504b are respectively connected to the alignment wheel A507a and the alignment wheel B507b. During the intermittent motion stagnation period in the horizontal conveying area 407, the alignment wheel A507a and the alignment wheel B507b drive the two fresh apricots to rotate the corresponding angles in the two trays 406, so as to achieve the posture adjustment of the two fresh apricot single fruits, and the fruit stalks are uniformly arranged upward.

[0051] In this embodiment, Figure 1 to Figure 2 As shown, an apricot kernel outlet 415 and a collecting device 414 are fixed on the frame 1. The apricot kernel outlet 415 is located below the pitting cutter 603, and is used to receive the apricot kernels that fall from the conveying unit tray 406 that is transferred to the bottom of the cutter base 602. The collecting device 414 is located at the tail end of the conveying path of the conveying area, and is used to receive the pulp that falls from the tray 406 here.

[0052] Further, in this embodiment, if Figure 1 As shown, the directional machine cover 509 is arranged outside the guide vertical rod 601 and the tool base 602, which can prevent the core removal tool 603 and the like from being contaminated and damaged by impact.

[0053] In this embodiment, Figures 1 to 11As shown, the use process of the single-channel fresh apricot directional pitting device is as follows: the fresh apricots will pass through the feed inlet 411, the directional machine cover 509 and the apricot meat discharge port 413 in sequence from the head end to the tail end of the conveying mechanism.

[0054] In the orientation machine cover 509: the execution device 508 will align the fresh apricots randomly placed in the tray 406 in an orderly manner to ensure that the pitting knife can cut along the stem of the fresh apricot to obtain the apricot flesh.

[0055] In the directional machine cover 509: when the conveying unit tray 406 carries the fresh apricots with the fruit stems upward into the directional machine cover 509, the chain 404 stops, and the tool base 602 drives the pitting tool 603 to do up and down reciprocating motion under the drive of the crank connecting rod structure. When the pitting tool 603 moves downward, the blade cuts the fresh meat, and the apricot kernel is pushed by the pitting tool 603, and the apricot kernel begins to separate from the flesh and completely pushes the apricot kernel out of the cross gap at the bottom of the tray 406 and falls into the discharge port 415, so that the flesh and the apricot kernel are completely separated. At this time, the pitting tool 603 performs a reset movement upward, and two petals of fresh flesh will remain on the tray 406. By repeating the above actions in this way, the automatic directional cutting and pitting of fresh apricots can be continuously realized.

[0056] At the discharge port of the device cover 101: after the fresh apricots are cut and pitted, the conveying unit tray 406 continues to move, carrying the pulp on the tray 406 into the collecting device 414. As the conveying unit tray 406 enters the tail end, the tray 406 faces downward as a whole, and the apricot pulp falls off and falls into the collecting device 414, completing the collection of the apricot pulp. By repeating the above actions, the conveying, automatic orientation, cutting, pitting, and collection of fresh apricots can be continuously realized.

[0057] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A single-channel fresh apricot directional pitting device, comprising a frame (1), a driving mechanism (2), an automatic directional control system (3), a conveying mechanism (4), an directional mechanism (5) and a pitting mechanism (6), for detecting orientation, adjusting posture and cutting and pitting fresh apricots. The single-channel fresh apricot directional pitting device is characterized in that: The conveying mechanism (4) conveys the fresh apricots to the orienting mechanism (5) to adjust their posture, and then conveys them to the pitting mechanism (6) to be cut and pitted. The driving mechanism (2), the conveying mechanism (4), the orienting mechanism (5) and the pitting mechanism (6) are fixedly connected to the frame (1); The driving mechanism (2) comprises a reduction motor (201), a cam divider (203), a driving shaft (210), a driving sprocket A (211a), a driving sprocket B (211b), a driving chain (215), a crank shaft (212), a crank sprocket (213), a cam sprocket A (214a), a cam sprocket B (214b) and a crank connecting rod structure (204). The driving mechanism (2) is characterized in that the driving shaft (210) of the reduction motor (201) is connected to the crank connecting rod structure (204) via the driving sprocket A (211a) and the crank sprocket (213). The input shaft of the intermittent cam divider (203) is connected to the reduction motor (201) through the cam sprocket A (214a) and the driving sprocket B (211b). The intermittent cam divider (203) can convert the original power into an intermittent power and connect it to the conveying sprocket (402) through the output shaft and the cam sprocket B (214b). The continuous power of the reduction motor (201) drives the crank connecting rod structure (204) to drive the core removal tool (603) to reciprocate up and down. The intermittent power of the cam divider (203) drives the tray (406) to move intermittently, so as to achieve precise coordination between conveying and core removal. The conveying mechanism (4) includes a feed inlet (411), an inclined conveying area (401), a horizontal conveying area (407), a vertical conveying area (408), a conveying sprocket (402), a driven sprocket (403), a conveying chain (404), a vertical bearing seat (405), and a conveying mechanism including a plurality of trays (406) arranged side by side, an apricot meat discharge port (413), a collecting device (414) and an apricot kernel discharge port (415). The conveying mechanism (4) is characterized in that the apricot meat discharge port (413) is at an angle of 35° with the vertical conveying area (408) and is adjacent thereto, so as to collect fresh apricots with pits removed and cut into pieces. The apricot meat after separation, the apricot kernel discharge port (415) is located below the kernel removal mechanism (6) to collect fresh apricot kernels, the conveying sprocket (402) is fixedly connected to the frame (1) through a vertical bearing seat (405), the driven sprocket (403) is connected to the driving sprocket B (211b) through a conveying chain (404), 26 trays (406) are fixedly connected to the conveying chain (404), the inclined conveying area (401) is located at an angle of 28° with the horizontal plane in the feeding port area, and the horizontal conveying area (407) is located above the alignment wheel A (507a) and the alignment wheel B (507b) and below the kernel removal tool (603); The orientation mechanism (5) comprises a CCD industrial camera (501), a lifting mechanism (502), a control development board (503), an orientation machine cover (509) and an actuator (508), wherein the actuator (508) comprises: a stepping motor A (504a), a stepping motor B (504b), a motor bracket (506), a positioning wheel A (507a) and a positioning wheel B (507b), the orientation mechanism (5) is characterized in that the stepper motor A (504a) and the stepper motor B (504b) are fixedly connected to the motor bracket (506), the calibration wheel A (507a) and the calibration wheel B (507b) are respectively fixedly connected to the stepper motor A (504a) and the stepper motor B (504b), the actuator (508) is connected to the frame (1) through the lifting mechanism (502), the lifting mechanism (502) and the frame (1) are connected through a linear bearing (505), the tray (406) is between the actuator (508) and the camera (501) and is fixedly connected to the conveying sprocket (402), the lifting cam (511) is fixedly connected to the driving shaft (210), the lifting mechanism (502) is connected to the stepper motor A (504a) through the motor bracket (506), and the lifting cam (511) is fixedly connected to the driving shaft (210). 4a) and a stepper motor B (504b) are fixedly connected, the lifting mechanism (502) is connected to the lifting cam (511) through a roller (513), the adjacent tray (406) of the inclined conveying area (401) is set as the first row, two groups of actuators (508) are located below the trays (406) in the second and third rows of the horizontal conveying area (407), wherein the rotation direction of the alignment wheel A (507a) of the actuator (508) is parallel to the travel direction of the horizontal conveying area (407), and the rotation direction of the alignment wheel B (507b) of the actuator (508) is perpendicular to the travel direction of the horizontal conveying area (407), the CCD industrial camera (501) is located in the upper middle of the trays (406) in the second and third rows of the horizontal conveying area (407), and the CCD industrial camera (501) is fixedly connected to the upper end of the frame (1); The de-coring mechanism (6) comprises two groups of guide vertical rods (601), two groups of guide rod clamps (604), and a tool base (602) sliding on the guide vertical rods (601), and a de-coring tool (603) is provided on the tool base (602). The de-coring mechanism (6) is characterized in that the two groups of guide vertical rods (601) are fixedly connected to the frame (1) through the two groups of guide rod clamps (604), the tool base (602) is connected to the intermittent cam divider (203) through a crank connecting rod structure (204), and the de-coring tool (603) is located above the fourth row of trays (406) in the horizontal conveying area (407); The control development board (503) is a NVIDIA nano development board. The automatic orientation control system (3) is deployed in the control development board (503), and mainly includes: a reading module, a recognition module, a calculation module and an output module. The control development board (503) is characterized in that the reading module sends a photo command to the CCD industrial camera (501) according to the intermittent motion stagnation time of the horizontal conveying area (407), and transmits the photo to the recognition module after low-light image enhancement processing. The recognition module mainly consists of a fresh apricot and fruit stalk recognition model, accurately recognizes the fresh apricot and fruit stalk in the image, and accurately fits the target frame in the image to each recognition target, and extracts the label and coordinate information of the target frame and transmits it to the calculation module. The calculation module calculates the centroid coordinates of the fresh apricot and fruit stalk through the coordinate information of the target frame and obtains the fresh apricot-fruit stalk axis vector coordinates, calculates the corresponding rotation steps through Fourier transform and transmits it to the output module, and the output module sends the stepper motor A (504a) and the stepper motor B to the stepper motor A (504a). (504b) sends a pulse signal, and the stepper motor A (504a) and the stepper motor B (504b) rotate, driving the posture of the fresh apricots to adjust; The CCD industrial camera (501) photographs the fresh apricots in the second row of trays (406) in the horizontal conveying area (407), and is characterized in that the fresh apricot and fruit stalk identification model on the automatic orientation control system (3) of the control development board (503) is used to identify the vector coordinates of the fresh apricot-fruit stalk axis, calculate the corresponding number of rotation steps and output an electrical signal to the stepper motor A (504a) located in the execution device (508), the stepper motor A (504a) is connected to the alignment wheel A (507a), and during the intermittent motion stagnation period of the horizontal conveying area (407), the alignment wheel A (507a) drives the fresh apricots to rotate a corresponding angle in parallel with the travel direction of the horizontal conveying area (407), so as to achieve the posture adjustment of the single fresh apricot fruit and the direction of the fruit stalk. Parallel to the direction of travel of the horizontal conveying area (407), the CCD industrial camera (501) photographs the fresh apricots in the third row of the tray (406) in the horizontal conveying area (407), identifies the fresh apricot-stalk axis vector coordinates by controlling the fresh apricot and stalk recognition model on the automatic orientation control system (3) of the control development board (503), calculates the corresponding number of rotation steps and outputs an electrical signal to the stepper motor B (504b) located in the execution device (508), and during the intermittent motion stagnation period of the horizontal conveying area (407), the alignment wheel A (507a) drives the fresh apricots to rotate a corresponding angle perpendicular to the direction of travel of the horizontal conveying area (407) to achieve the posture adjustment of the single fresh apricot fruit, and the stalk direction is perpendicular to the plane of the tray (406).

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