A step-by-step multi-channel spherical fruit grading device

Abstract

The present invention provides a step-by-step multi-channel spherical fruit grading device, comprising a transmission platform, a transmission module, a feeding module, and a controller module; the transmission platform is a multi-channel horizontal surface, partitions are provided between adjacent channels, and a plurality of feeding holes are provided at equal intervals on each channel; the servo motor of the transmission module drives the sprocket, and the plurality of blocks are fixed to the chain, which are used to push the graded fruits forward; the feeding module comprises a flat plate, a feeding guide groove, an air nozzle, and a flat plate switch control mechanism; the relative position of the flat plate and the feeding hole switches between open and closed; the controller module controls the opening and closing of the flat plate and the feeding hole, as well as the operation of the air nozzle according to the front-end signal, controls the working state of each feeding module, and realizes multi-channel spherical fruit grading.

Description

Technical Field

[0001] The invention relates to agricultural product quality grading equipment, in particular to a step-by-step multi-channel spherical fruit grading device. Background Art

[0002] my country boasts abundant land resources, and spherical fruits like apples and citrus fruits are among the most produced and consumed fruits in China. In recent years, agricultural product quality inspection technologies based on machine vision and near-infrared technology have matured both domestically and internationally, enabling efficient and automatic identification of agricultural product quality indicators such as size, shape, color, damage, and decay. With the trend toward high-throughput testing and the commercialization of agricultural product production, efficient grading devices and methods that complement front-end inspection are becoming increasingly important.

[0003] After searching, it is found that the automatic detection and back-end grading at home and abroad currently generally uses the two-side push-pull fruit cup grading method, which has the advantage of integrated detection and grading, but this structure requires a certain amount of space on both the left and right sides during grading, which is not conducive to the design of multi-channel detection lines, especially vehicle-mounted detection and grading devices for on-site grading of agricultural products. The utility model patent with application number 201721005378.6 discloses a spherical fruit grading machine with adjustable grading size, including a frame, a feed end, a cleaning device, a fruit sorting rack and a fruit sorting trough, but the device is only for physical grading of spherical fruits of different sizes; the invention patent application with application number 201810159429.3 discloses a step-by-step automatic grading device based on computer vision, including a feed unit, a conveying unit, a pushing unit and an identification unit. The invention uses computer vision technology and combines the functions of the conveying unit and the pushing unit to realize automatic recognition and grading of the appearance quality of apples. Its disadvantage is that the grading device is difficult to Expanding to multiple channels; the invention patent application with application number 201811457297.9 discloses a mobile on-site inspection and grading method for citrus quality, which uses vehicle-mounted equipment to directly perform post-harvest grading in the field. The disadvantage of this device is that the grading device is limited to a single channel, and the space on both sides of the grading conveyor line cannot be utilized, and most of the space in the carriage cannot be utilized; the utility model patent with application number 201920120846.7 discloses an apple grading execution device, which controls the connection of the corresponding grade frame through the angle of the fruit discharge chute. The device has certain limitations on the number of grade divisions, and a single fruit discharge chute can only match a single-channel fruit detection line. Summary of the Invention

[0004] In view of the above-mentioned deficiencies of the existing devices and methods, the present invention proposes a step-by-step multi-channel spherical fruit grading device, which provides multiple detection channels and improves detection efficiency.

[0005] The present invention achieves the above technical objectives through the following technical means.

[0006] A step-by-step multi-channel spherical fruit grading device, characterized by comprising a transmission platform, a transmission module, a feeding module, and a controller module;

[0007] The transmission platform is a multi-channel horizontal platform with arc-shaped plates at both ends; partitions are provided between adjacent channels, and multiple feeding holes are provided on each channel at equal intervals;

[0008] The transmission module is composed of a servo motor, a sprocket, a chain, and a block. The servo motor drives the sprocket, the chain is mounted on the sprocket, and the multiple blocks are fixed to the chain. The blocks are provided with grooves at positions corresponding to the partitions in the transmission platform to push the graded fruits forward.

[0009] The blanking module includes a flat plate, a blanking guide groove, an air nozzle, and a flat plate switch control mechanism; the flat plate is located at the blanking hole, the blanking guide groove is located below the blanking hole, and the air nozzle is installed above the corresponding blanking hole; the flat plate switch control mechanism is used to control the relative position of the flat plate and the blanking hole, switching between open and closed;

[0010] The controller module consists of a hierarchical controller, a front-end signal module, a hierarchical control module, a sensor detection module and a drive module;

[0011] The grading controller is the main control unit of the grading device, which is connected to the front-end signal module through a data interface to transmit the quality detection level and operating status;

[0012] The front-end signal module includes a PC and a detection line controller for fruit quality detection; the PC is the detection processor of the front-end multi-channel detection line, which outputs the grade information of the inspected fruit in real time and sends the grade in hexadecimal form; the detection line controller is the main controller of the front-end multi-channel detection line, and exchanges the respective operating states with the grading controller in real time;

[0013] After receiving the grade information, the grading controller stores it in the shift register of the corresponding channel and moves it forward one position. The grading controller cyclically detects the information of the shift register storage unit of each blanking module corresponding to the workstation, and determines whether the storage information of the storage unit is consistent with the fruit grade information of the workstation where the blanking module is located. If they are consistent, the blanking operation is carried out; if they are inconsistent, the workstation is passed;

[0014] The hierarchical controller is connected to the hierarchical control module, which is composed of a driver, a driving mechanism of the flat switch control mechanism, and an air nozzle solenoid valve; the driver controls the operation of the flat switch control mechanism and the air nozzle through the driving mechanism of the flat switch control mechanism and the air nozzle solenoid valve, thereby controlling the working state of each unloading module;

[0015] The grading controller is connected to the sensor detection module; the sensor detection module is used to feedback the grading line operation status information, mainly including a grading line encoder, a detection line encoder, an AND gate module and a homing proximity switch module; the grading line encoder is used to feedback the grading line operation distance and operation status; the detection line encoder is used to feedback the front-end multi-channel detection line operation speed to achieve speed matching between the detection line and the grading line; the AND gate module will comprehensively judge the homing proximity switch satisfaction signal to determine whether it has been returned to its position, and feed back the result to the grading controller; the homing proximity switch is used to monitor the homing status of the blanking module.

[0016] Furthermore, the flat plate switch control mechanism in the blanking module is an electromagnetic control switch, including a telescopic electromagnet and a support column. One end of the telescopic electromagnet is connected to one end of the flat plate, and the other end is mounted on a bent plate rib fixed under the transmission platform. The support column is movably connected to the bent plate rib, and the upper end is ball-hinged with the middle or other end of the flat plate.

[0017] Furthermore, the height of the air nozzle from the blanking hole is determined by the air jet angle of the air nozzle, ensuring that the air jet surface can cover the blanking hole.

[0018] Furthermore, the surface of the arc-shaped plate is smooth.

[0019] Furthermore, the number of channels and the intervals between adjacent channels in the transmission platform are consistent with those of the front-end detection line.

[0020] Furthermore, the number of the feed holes is determined according to the number of grades.

[0021] Furthermore, the size of the feeding hole is larger than the maximum fruit diameter.

[0022] The beneficial effects of the present invention are:

[0023] 1. The flat-plate opening and closing hole grading structure effectively utilizes the longitudinal space of the grading device, saving the space required for fruit grading and being more conducive to the design of multi-channel online detection and grading devices.

[0024] 2. The step-by-step operation mode of the grading device provides idle time for fruit grading and unloading, which is beneficial to reduce the travel required for short grading stations and shorten the length of the grading line. It can meet the requirements of mobile fruit inspection lines and other inspection and grading lines with high dimensional requirements.

[0025] 3. Signal synchronization between the grading line and the detection line can be achieved through the data interface in electrical control, which is conducive to the expansion of the number of channels and has a certain degree of adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic structural diagram of the step-by-step multi-channel spherical fruit grading device of the present invention;

[0027] Figure 2 is a structural diagram of the transmission platform;

[0028] Figure 3 is the transmission module;

[0029] Figure 4 1 is a structural diagram of an embodiment of the blanking module;

[0030] Figure 5 This is a partial structural axonometric drawing of a step-by-step multi-channel spherical fruit grading device;

[0031] Figure 6 It is the electrical connection diagram of the automatic control system.

[0032] Figure: 1. Conveyor platform; 2. Conveyor module; 3. Unloading module; 101. Curved plate; 102. Partition plate; 103. Unloading hole; 201. Servo motor; 202. Sprocket; 203. Chain; 204. Stopper; 301. Plate; 302. Support column; 303. Telescopic electromagnet; 304. Unloading guide; 305. Air nozzle; 306. Bending plate rib; 4. Fruit box; 5. Inspected fruit. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0034] like Figure 1 As shown, the step-by-step multi-channel spherical fruit grading device of the present invention comprises a transmission platform 1, a transmission module 2, a material discharge module 3, and a controller module. The transmission platform 1 is a multi-channel horizontal surface. Figure 2 As shown, partitions 102 are installed between adjacent channels to ensure the independence of different channels. The number of channels on the transmission platform and the spacing between adjacent channels are consistent with the front-end detection line. The number of discharge holes 103 is determined by the number of grades required. Each channel has multiple discharge holes 103 spaced evenly apart, and the size of each discharge hole 103 is larger than the diameter of the largest fruit. Curved plates 101 are installed at the starting and ending ends of the transmission platform 1. The curved plates 101 have a smooth surface to reduce friction when the graded fruit rolls on the platform.

[0035] like Figure 3As shown, the transport module 2 consists of a servo motor 201, a sprocket 202, a chain 203, and a block 204, which is used to push the unloaded fruit forward. The servo motor 201 and sprocket 202 are connected by a keyway structure. The servo motor 201 drives the sprocket 202, providing power for the movement of the transport module. Multiple blocks 204 are fixed to the chain 203, and grooves are provided at the positions of the blocks 204 corresponding to the partitions 102 in the transport platform 1. The partitions 102 can be accommodated in these grooves without generating friction. The blocks 204 move with the chain 203 to propel the graded fruit forward.

[0036] like Figure 4 、 Figure 5 As shown, the unloading module 3 is fixed to the conveying platform 1 and comprises a plate 301, a support column 302, a telescopic electromagnet 303, a unloading guide 304, an air nozzle 305, and a bent plate rib 306. The plate 301 is positioned at the unloading hole 103, with the unloading guide 304 located below the hole 103. Two circular holes are defined on the bottom of the plate 301: the first hole is located at one end of the plate 301, and the second hole is located in the middle or at the other end. The bent plate rib 306 is fixed to the bottom of the conveying platform 1. One end of the telescopic electromagnet 303 is embedded in the first circular hole of the plate 301, and the other end is mounted on the bent plate rib 306. The upper end of the support column 302 is hinged to the second circular hole of the plate 301, and the other end is movably connected to the bent plate rib 306. When the telescopic electromagnet 303 is powered off, the flat plate 301 fits tightly against the upper surface of the transmission platform 1 ; when the telescopic electromagnet 303 is powered on, one end of the flat plate 301 is lifted up and tilted, with an inclination angle sufficient for the largest fruit to slide into the feed guide trough 304 .

[0037] The air nozzle 305 is mounted above the corresponding discharge hole 103, its fixed height determined by the air jet angle of the air nozzle 305, ensuring that the air jet surface covers the discharge hole 103. The discharge guide 304 is connected to the discharge hole 103, collecting fruits of the same grade and distributing them into the corresponding grade packaging boxes. The terminal end of the transmission platform is equipped with a transmission channel for non-standard fruits and / or a non-standard fruit box 4. The non-standard fruit box 4 is placed at the terminal end of the transmission platform for collecting non-standard fruits 5.

[0038] The controller module 6 is the electronic control part of the grading device, which consists of a grading controller, a front-end signal module, a grading control module, a sensor detection module and a drive module; the grading controller is the main control unit of the grading device, which is connected to the front-end signal module through a data interface to transmit quality detection levels and operating status; the front-end signal module includes a PC and a detection line controller for fruit quality detection, which are respectively connected to the grading controller through a data interface; the PC is the detection processor of the front-end multi-channel detection line, which outputs the grade information of the inspected fruit in real time and sends its grade in hexadecimal numbers; the detection line controller is the main controller of the front-end multi-channel detection line, and exchanges its respective operating status with the grading controller in real time.

[0039] After receiving the grade information, the grading controller stores it in the shift register of the corresponding channel and moves it forward one position. The grading controller cyclically detects the shift register storage unit information of each unloading module corresponding to the workstation, and determines whether the storage information of the storage unit is consistent with the fruit grade information of the workstation where the unloading module is located. If they are consistent, the unloading operation is performed; if they are inconsistent, the workstation is passed.

[0040] The hierarchical controller is connected to the hierarchical control module through the I / O output port to control the working status of each blanking module; the hierarchical control module is composed of a solenoid valve driver, a telescopic solenoid valve and an air nozzle solenoid valve; the solenoid valve driver amplifies the power of the control signal output by the hierarchical controller through photoelectric isolation and control signal amplification circuit to meet the working requirements of the telescopic electromagnet and the air nozzle solenoid valve; the solenoid valve driver is connected to the hierarchical controller through the I / O port, and the output port is connected to the telescopic solenoid valve and the air nozzle solenoid valve respectively, and the telescopic solenoid valve and the air nozzle solenoid valve respectively control the operation of the telescopic electromagnet 303 and the air nozzle 305, thereby controlling the working status of each blanking module.

[0041] The grading controller is connected to the sensor detection module through the I / O input port; the sensor detection module is used to feedback the grading line operation status information, mainly including a grading line encoder, a detection line encoder, an AND gate module and a homing proximity switch module; the grading line encoder is used to feedback the grading line operation distance and operation status; the detection line encoder is used to feedback the front-end multi-channel detection line operation speed to achieve speed matching between the detection line and the grading line; the AND gate circuit will comprehensively judge the homing proximity switch satisfaction signal to determine whether it has been returned to the position, and feed back the result to the grading controller; the homing proximity switch is used to monitor the homing status of the blanking module.

[0042] The grading controller is connected to the drive module through a data interface to monitor the operation of the grading device; the drive module consists of a servo control module and a zero point proximity switch; the servo drive module is a servo motor and a servo driver, which provides power output for the grading line; the zero point proximity switch is used to trigger the output of the grading line zero point position signal.

[0043] The embodiments described are preferred implementations of the present invention, but the present invention is not limited to the above implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention are within the scope of protection of the present invention.

Claims

1. A step-by-step multi-channel spherical fruit grading device, characterized in that: It includes a transmission platform (1), a transmission module (2), a material unloading module (3), and a controller module; The transmission platform (1) is a multi-channel horizontal platform, with arc-shaped plates (101) provided at both ends; partitions (102) are provided between adjacent channels, and a plurality of discharge holes (103) are provided at equal intervals on each channel; The transmission module (2) is composed of a servo motor (201), a sprocket (202), a chain (203), and a stopper (204); the servo motor (201) drives the sprocket (202); the chain (203) is mounted on the sprocket (202); a plurality of the stoppers (204) are fixed to the chain (203); and grooves are provided at positions of the stoppers (204) corresponding to the partitions (102) in the transmission platform (1) for pushing the graded fruits forward; The blanking module (3) comprises a flat plate (301), a blanking guide groove (304), an air nozzle (305) and a flat plate switch control mechanism; the flat plate (301) is located at the blanking hole (103), the blanking guide groove (304) is located below the blanking hole (103), the air nozzle (305) is installed above the corresponding blanking hole (103), and the height of the air nozzle (305) from the blanking hole (103) is determined by the air jet angle of the air nozzle (305), ensuring that the air jet surface can cover the blanking hole (103); the flat plate switch control mechanism is used to control the relative position of the flat plate (301) and the blanking hole (103), and switch between open and closed; The flat panel switch control mechanism is an electromagnetic control switch, comprising a telescopic electromagnet (303) and a support column (302), one end of the telescopic electromagnet (303) being connected to one end of the flat panel (301), and the other end being mounted on a bent plate rib (306) fixed below the transmission platform (1); the support column (302) being movably connected to the bent plate rib (306), and the upper end being spherically hinged to the middle or the other end of the flat panel (301); The controller module consists of a hierarchical controller, a front-end signal module, a hierarchical control module, a sensor detection module and a drive module; The grading controller is the main control unit of the grading device, which is connected to the front-end signal module through a data interface to transmit the quality detection level and operating status; The front-end signal module includes a PC and a detection line controller for fruit quality detection; the PC is the detection processor of the front-end multi-channel detection line, which outputs the grade information of the inspected fruit in real time and sends the grade in hexadecimal form; the detection line controller is the main controller of the front-end multi-channel detection line, and exchanges the respective operating states with the grading controller in real time; After receiving the grade information, the grading controller stores it in the shift register of the corresponding channel and moves it forward one position. The grading controller cyclically detects the information of the shift register storage unit of each blanking module corresponding to the workstation, and determines whether the storage information of the storage unit is consistent with the fruit grade information of the workstation where the blanking module is located. If they are consistent, the blanking operation is carried out; if they are inconsistent, the workstation is passed; The hierarchical controller is connected to the hierarchical control module, which is composed of a driver, a driving mechanism of the flat switch control mechanism, and an air nozzle solenoid valve; the driver controls the operation of the flat switch control mechanism and the air nozzle through the driving mechanism of the flat switch control mechanism and the air nozzle solenoid valve, thereby controlling the working state of each unloading module; The grading controller is connected to the sensor detection module; the sensor detection module is used to feedback the grading line operation status information, mainly including a grading line encoder, a detection line encoder, an AND gate module and a homing proximity switch module; the grading line encoder is used to feedback the grading line operation distance and operation status; the detection line encoder is used to feedback the front-end multi-channel detection line operation speed to achieve speed matching between the detection line and the grading line; the AND gate module will comprehensively judge the homing proximity switch satisfaction signal to determine whether it has been returned to its position, and feed back the result to the grading controller; the homing proximity switch is used to monitor the homing status of the blanking module.

2. The step-by-step multi-channel spherical fruit grading device according to claim 1, characterized in that: The surface of the arc-shaped plate (101) is smooth.

3. The step-by-step multi-channel spherical fruit grading device according to claim 1, characterized in that: The number of channels and the intervals between adjacent channels in the transmission platform are consistent with those of the front-end detection line.

4. The step-by-step multi-channel spherical fruit grading device according to claim 1, characterized in that: The number of the feed holes (103) is determined according to the number of grades.

5. The step-by-step multi-channel spherical fruit grading device according to claim 1, characterized in that: The size of the feeding hole (103) is larger than the maximum fruit diameter.

6. The step-by-step multi-channel spherical fruit grading device according to claim 1, characterized in that: The terminal of the transmission platform is provided with a transmission channel for other fruits and / or a box for other fruits (4).

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