Adaptive coconut meat cutting device based on image recognition

Abstract

The application provides an adaptive coconut meat cutting equipment based on image recognition and relates to the technical field of coconut processing equipment. The equipment comprises an equipment rack, an annular conveying belt installed on the equipment rack, a plurality of clamping cups uniformly installed on the annular conveying belt, a clamping device installed on each clamping cup, a trigger mechanism arranged on the inner side of the annular conveying belt and used for releasing the clamped coconut in the clamping cup, a plurality of image recognition modules arranged above the annular conveying belt, a coconut meat digging device arranged on one side of each image recognition module, and a collecting box arranged below the annular conveying belt and provided with a coconut meat collecting groove and a coconut shell collecting groove. The application realizes the automatic digging of coconut meat based on the image recognition technology and realizes the automatic packaging of coconut meat and coconut shell, thereby replacing the manual operation of digging and packaging coconut meat.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coconut processing equipment, and particularly relates to a self-adaptive coconut meat cutting equipment based on image recognition. BACKGROUND

[0002] Coconut is a treasure, and each part of coconut, such as coconut meat, coconut skin and coconut juice, has high utilization value. After being cut in half, the coconut meat needs to be dug out of the coconut shell. At present, the separation of coconut meat and coconut shell is still in the stage of manual or semi-manual. SUMMARY

[0003] The present application provides a self-adaptive coconut meat cutting equipment based on image recognition, which realizes automatic digging of coconut meat based on image recognition technology and automatic packaging of coconut meat and coconut shell, replacing manual digging and packaging of coconut meat.

[0004] The technical scheme of the present application is as follows:

[0005] The self-adaptive coconut meat cutting equipment based on image recognition comprises an equipment rack, an annular conveying belt is installed on the equipment rack, a plurality of clamping cups are uniformly installed on the annular conveying belt, a clamping device for clamping and fixing a coconut is installed on each clamping cup, a trigger mechanism for releasing the clamped coconut in the clamping cup is arranged on the inner side of the annular conveying belt, a plurality of image recognition modules are arranged above the annular conveying belt, a coconut digging device is arranged on one side of each image recognition module, a collecting box is arranged below the annular conveying belt, a coconut collecting groove and a coconut shell collecting groove are arranged in the collecting box, and the position of the coconut shell collecting groove corresponds to the position of the trigger mechanism.

[0006] As a preferred technical scheme, each coconut digging device comprises a digging knife mounting rod, a digging knife for digging coconut meat is installed at the lower end of each digging knife mounting rod, the spacing between two adjacent digging knives is the same as the spacing between two adjacent clamping cups, each digging knife mounting rod is installed on a mounting frame through a position adjusting mechanism, and each mounting frame is fixed on the equipment rack.

[0007] As a preferred technical scheme, each position adjusting mechanism comprises a rotating fixing member, one end of each rotating fixing member is rotationally installed on a fixing column, each fixing column is fixedly installed on the corresponding mounting rack in the vertical direction, the other end of each rotating fixing member is provided with a rotating motor, a driving gear is fixedly installed on the motor shaft of each rotating motor, a fixed gear is fixedly installed on each fixing column, each fixed gear is engaged with the corresponding driving gear, the bottom of each rotating fixing member is slidably installed with a sliding seat through a linear slide, each sliding seat slides along the radial direction of the fixed gear, an electric push rod is fixedly installed on each sliding seat, and the upper end of each digging tool mounting rod is fixedly connected with the telescopic push rod of the electric push rod.

[0008] As a preferred technical scheme, each image recognition module comprises an optical camera, each optical camera is arranged above the annular conveying belt, and each optical camera is fixedly installed on the corresponding fixing column.

[0009] As a preferred technical scheme, the trigger mechanism comprises a stepped trigger plate fixed to the equipment rack, the stepped trigger plate comprises a first plate segment and a second plate segment arranged in the horizontal direction, the first plate segment is arranged on the front side of the second plate segment in the conveying direction of the clamping cup, the first plate segment is located above the second plate segment, and a transition plate segment for smooth transition is arranged between the first plate segment and the second plate segment.

[0010] As a preferred technical scheme, each clamping device comprises at least three clamping seats arranged on the outer side of the clamping cup, at least three clamping openings are arranged on the side wall of each clamping cup, the number and positions of the clamping openings correspond to the number and positions of the clamping seats, each clamping seat extends into the clamping cup through the corresponding clamping opening, a tensioning large arm is hingedly connected between each clamping seat and the clamping cup, a sliding frame is arranged below each clamping cup, each sliding frame is axially slidably installed on the clamping cup, a tensioning spring is arranged between each sliding frame and the clamping cup, and a tensioning small arm is hingedly connected between each tensioning large arm and the sliding frame.

[0011] As a preferred technical scheme, at least one one-way shaft cylinder is arranged on each clamping seat, each one-way shaft cylinder is rotationally installed on an installation shaft, each installation shaft is fixedly installed on the corresponding clamping seat, a ratchet seat is fixedly installed on each installation shaft, a plurality of ratchets are fixedly arranged on the side wall of each ratchet seat, a plurality of one-way ratchets are arranged on the inner wall of each one-way shaft cylinder, and each ratchet is engaged with the one-way ratchet.

[0012] As a preferred technical solution, the bottom of each clamping cup is fixedly connected with a fixed middle plate through a center fixed rod, and one end of each tensioning large arm away from the clamping seat is hingedly installed on the fixed middle plate.

[0013] Each sliding frame comprises a tensioning upper plate parallel to the fixed middle plate and a trigger bottom plate, each tensioning upper plate is arranged between the clamping cup and the fixed middle plate, each tensioning upper plate is slidingly installed on the corresponding center fixed rod, one end of each tensioning small arm away from the tensioning large arm is hingedly installed on the corresponding tensioning upper plate, each trigger bottom plate is arranged on the side of the fixed middle plate away from the clamping cup, each trigger bottom plate is fixedly connected with the tensioning upper plate through a connecting rod, and each tensioning spring is installed between the trigger bottom plate and the fixed middle plate.

[0014] As a preferred technical solution, the inner wall of each mounting frame is fixedly installed with a lamp strip.

[0015] By adopting the above technical solutions, the application has the following beneficial effects:

[0016] Compared with the existing semi-manual coconut meat digging device which needs manual clamping, taking out and manual packaging of coconut shells and coconut meat, the clamping device in the application is always in a clamping state, the coconut enters the clamping cup and is directly clamped and fixed, the ring-shaped conveyor belt is continuously rotating, the clamping cup is continuously brought to the positions of the image recognition module and the coconut meat digging device to automatically dig the coconut meat, the coconut meat is completely separated from the coconut shell, and when the clamping cup is conveyed to the lower part for inversion, the clamping device and the trigger mechanism are combined to realize automatic separation and packaging of the coconut meat and the coconut shell, in the application, the mechanized and automated coconut conveying, coconut meat digging and packaging structure is adopted to replace the traditional manual clamping of coconut, manual packaging of coconut shells and coconut meat, the manual operation steps of the coconut meat digging work are simplified, and the work efficiency is improved.

[0017] Since the image recognition module comprises an optical camera, the coconut meat digging device comprises a digging knife, a digging knife mounting rod and a position adjusting mechanism, in the present application, the optical camera is used to collect images of the coconut in the clamping cup, the collected images are processed by relevant algorithms to obtain coordinate values required by the digging work, the position adjusting mechanism drives the digging knife to move according to the obtained coordinate values, and the digging knife is used to completely separate the coconut meat outer wall from the coconut shell inner wall, so that the accuracy of the coconut meat digging work is improved, and the situation that the coconut meat remains in the coconut shell is avoided.

[0018] Since the trigger mechanism comprises a stepped trigger plate, and the clamping device comprises a clamping seat, a sliding frame and a tension spring, in the present application, when the annular transmission belt conveys the clamping cup to the lower side, the clamping cup is rotated to the inverted state, and the coconut meat naturally falls off under the action of gravity; the stepped trigger plate is in contact with the sliding frame, and the sliding frame is driven to move, so that the clamping device releases the clamping force, and thus the coconut shell naturally falls off under the action of gravity; after the sliding frame leaves the stepped trigger plate, the sliding frame returns to the original position under the elastic force of the tension spring, and drives the clamping seat to return to the initial state, so that the automatic separation and sub-packaging of the coconut meat and the coconut shell are completed.

[0019] Since the one-way shaft cylinder is mounted on the clamping seat through the mounting shaft, and the ratchet on the mounting shaft is engaged with the one-way ratchet on the inner wall of the one-way shaft cylinder, in the present application, the one-way ratchet and the ratchet are arranged, so that the one-way shaft cylinder can only rotate around the mounting shaft in one direction; when the coconut enters the clamping cup, each one-way shaft cylinder is pressed against the outer wall of the coconut shell under the action of the tension spring and the clamping seat, and can rotate with the movement of the coconut shell, so that the coconut can smoothly enter the clamping cup for clamping; when the clamping cup is inverted, the coconut shell has a tendency to separate from the clamping cup downward under the action of gravity, and will apply a downward force to the one-way shaft cylinder, but the one-way shaft cylinder with the one-way rotation property cannot rotate, thus reliably limiting and supporting the coconut shell, and the coconut meat naturally falls off under the action of gravity while the coconut shell is clamped in the clamping cup, so that the automatic separation of the coconut meat is realized. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative labor.

[0021] Figure 1 The structure of the present application is shown in the figure;

[0022] Figure 2 The left view of Figure 1 ;

[0023] Figure 3 Figure 1 is a structural schematic diagram of the coconut meat digging device in the present application;

[0024] Figure 4 Figure 2 is a structural schematic diagram of the clamping device in the present application;

[0025] Figure 5 Figure 3 is a structural schematic diagram of the clamping seat in the present application;

[0026] Figure 6 Figure 4 is a structural schematic diagram of the present application; Figure 5 Figure 5 is a sectional view along A-A direction of the present application.

[0027] Wherein: 1, device rack; 2, ring conveyor belt; 3, power wheel; 4, clamping cup; 5, collection box; 6, coconut meat collection groove; 7, coconut shell collection groove; 8, lamp strip; 9, digging knife installation rod; 10, digging knife; 11, installation frame; 12, rotating fixing piece; 13, fixed column; 14, rotating motor; 15, driving gear; 16, fixed gear; 17, straight line sliding table; 18, sliding seat; 19, electric push rod; 20, optical camera; 21, stepped trigger plate; 22, first plate section; 23, second plate section; 24, transition plate section; 25, clamping seat; 26, clamping opening; 27, tensioning large arm; 28, sliding frame; 29, tensioning spring; 30, tensioning small arm; 31, one-way shaft cylinder; 32, installation shaft; 33, ratchet seat; 34, ratchet; 35, one-way ratchet; 36, center fixing rod; 37, fixed middle plate; 38, tensioning upper plate; 39, trigger bottom plate; 40, connecting rod; 41, coconut meat; 42, coconut shell. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] As Figures 1-6As shown in the drawings, the adaptive coconut meat cutting device based on image recognition comprises a device rack 1, an annular conveying belt 2 is installed on the device rack 1, in the embodiment, a pair of power wheels 3 is rotatably installed at two ends of the device rack 1 respectively, the annular conveying belt 2 is jointly arranged around the two pairs of power wheels 3, one pair of the power wheels 3 is driven by an external power device (not shown in the figure); a plurality of clamping cups 4 are uniformly installed on the annular conveying belt 2, in the embodiment, a plurality of installation openings are arranged on the annular conveying belt 2, one clamping cup 4 is fixedly installed in each installation opening, and the spacing between every two adjacent clamping cups 4 is the same; a clamping device for clamping and fixing the coconut is installed on each clamping cup 4, a trigger mechanism for releasing the clamped coconut in the clamping cup 4 is arranged on the inner side of the annular conveying belt 2, a plurality of image recognition modules are arranged above the annular conveying belt 2, a coconut meat digging device is arranged on one side of each image recognition module, and a collecting box 5 is arranged below the annular conveying belt 2, the collecting box 5 is provided with a coconut meat collecting groove 6 and a coconut shell collecting groove 7, and the position of the coconut shell collecting groove 7 corresponds to the position of the trigger mechanism.

[0030] In the application, the relative position of the coconut meat 41 relative to the coconut shell 42 is obtained through the image recognition technology, the automatic digging of the coconut meat 41 is realized, the automatic separation and packaging of the coconut meat 41 and the coconut shell 42 are realized by ingeniously combining the clamping device, the clamping cup 4 can be operated in a cycle in the application, the structure is simple, the operation is convenient, and the working efficiency is high.

[0031] As shown in the drawings, Figure 2 and Figure 3 As shown in the drawings, each coconut meat digging device comprises a digging knife mounting rod 9, a digging knife 10 for digging the coconut meat 41 is mounted at the lower end of each digging knife mounting rod 9, the spacing between every two adjacent digging knives 10 is the same as the spacing between every two adjacent clamping cups 4, each digging knife mounting rod 9 is installed on a mounting frame 11 through a position adjusting mechanism, each mounting frame 11 is fixed to the device rack 1, and in the application, the digging knife 10 adopts a straight knife, a curved knife or a ball knife which can realize the meat digging operation.

[0032] Each position adjusting mechanism comprises a rotating fixing member 12, one end of each rotating fixing member 12 is rotatably installed on a fixing column 13, each fixing column 13 is fixedly installed on the corresponding mounting frame 11 in vertical direction, the other end of each rotating fixing member 12 is installed with a rotating motor 14, a driving gear 15 is fixedly installed on the motor shaft of each rotating motor 14, a fixed gear 16 is fixedly installed on each fixing column 13, each fixed gear 16 is engaged with the corresponding driving gear 15, the bottom of each rotating fixing member 12 is slidably installed with a slide base 18 through a linear slide table 17, each slide base 18 slides along the radial direction of the fixed gear 16, and each slide base 18 is fixed with an electric push rod 19, the upper end of each digging knife mounting rod 9 is fixedly connected with the telescopic push rod of the electric push rod 19, in the embodiment, the linear slide table 17 adopts a dust-free screw rod type slide table mold of ECH14 model produced by Dongyouda Robot (Suzhou) Co., Ltd., and the electric push rod 19 adopts a UT series electric push rod produced by Wuxi Ailite Linear Motion Machinery Co., Ltd.

[0033] As shown in Figure 3 Each image recognition module comprises an optical camera 20, each optical camera 20 is arranged above the annular conveying belt 2, and each optical camera 20 is fixedly installed on the corresponding fixing column 13, in the embodiment, the optical camera 20 adopts an optical camera of CV-X / XG-X series produced by Keyence (China) Co., Ltd., and the image recognition module is not limited to the optical camera 20, all sensors that can distinguish the coconut shell 42 and the coconut meat 41 can be used, and the image recognition module can be cooperated with the coconut meat digging device to completely separate the coconut meat 41 from the coconut shell 42, so that the automatic digging work of the coconut meat 41 is realized.

[0034] As shown in Figure 1 The trigger mechanism comprises a stepped trigger plate 21 fixed on the equipment rack 1, the stepped trigger plate 21 comprises a first plate segment 22 and a second plate segment 23 arranged in horizontal direction, the first plate segment 22 is arranged on the front side of the second plate segment 23 along the conveying direction of the clamping cup 4, the first plate segment 22 is located above the second plate segment 23, and a transition plate segment 24 for smooth transition is arranged between the first plate segment 22 and the second plate segment 23.

[0035] As shown in Figure 1 and Figure 4As shown in the drawings, each clamping device comprises at least three clamping seats 25 arranged outside the clamping cup 4, the side wall of each clamping cup 4 is provided with at least three clamping openings 26, the number and position of the clamping openings 26 correspond to the number and position of the clamping seats 25, each clamping seat 25 extends into the clamping cup 4 through the corresponding clamping opening 26, and each clamping seat 25 is hingedly connected with a tensioning large arm 27, and the lower side of each clamping cup 4 is provided with a sliding frame 28, each sliding frame 28 is axially slidingly installed on the clamping cup 4, and a tensioning spring 29 is jointly installed between each sliding frame 28 and the clamping cup 4, and in this embodiment, the tensioning spring 29 is a compression spring; each tensioning large arm 27 is hingedly connected with a tensioning small arm 30.

[0036] As shown in the drawings, Figures 4-6 As shown in the drawings, each clamping seat 25 is provided with at least one one-way shaft cylinder 31, each one-way shaft cylinder 31 is rotationally installed on an installation shaft 32, each installation shaft 32 is fixedly installed on the corresponding clamping seat 25, each installation shaft 32 is fixedly provided with a ratchet seat 33, the side wall of each ratchet seat 33 is fixedly provided with a plurality of ratchets 34, the inner wall of each one-way shaft cylinder 31 is provided with a plurality of one-way ratchets 35, each ratchet 34 is engaged with the one-way ratchet 35, and in the present application, the arrangement of the ratchet 34 and the one-way ratchet 35 enables the one-way shaft cylinder 31 to rotate in one direction, so that the one-way shaft cylinder 31 can rotate when the coconut enters the clamping cup 4, but cannot rotate when the coconut has a downward falling trend, thereby avoiding the situation that the coconut falls under the action of gravity when the clamping cup 4 is inverted, under the synergistic effect of the elastic force of the tensioning spring 29 and the one-way rotation of the one-way shaft cylinder 31.

[0037] Moreover, the bottom of each clamping cup 4 is fixedly connected with a fixed middle plate 37 through a central fixed rod 36, and the end of each tensioning large arm 27 away from the clamping seat 25 is hingedly installed on the fixed middle plate 37.

[0038] Each sliding frame 28 comprises a tensioning upper plate 38 parallel to the fixed middle plate 37 and a trigger bottom plate 39, each tensioning upper plate 38 is arranged between the clamping cup 4 and the fixed middle plate 37, each tensioning upper plate 38 is slidingly installed on the corresponding central fixed rod 36, the end of each tensioning small arm 30 away from the tensioning large arm 27 is hingedly installed on the corresponding tensioning upper plate 38, each trigger bottom plate 39 is arranged on the side of the fixed middle plate 37 away from the clamping cup 4, each trigger bottom plate 39 is fixedly connected with the tensioning upper plate 38 through a connecting rod 40, and each tensioning spring 29 is installed between the trigger bottom plate 39 and the fixed middle plate 37.

[0039] In the present application, when the inverted clamping cup 4 contacts the stepped trigger plate 21, it will pass through the first plate segment 22, the transition plate segment 24 and the second plate segment 23 in turn, and the height from the first plate segment 22, the transition plate segment 24 to the second plate segment 23 is gradually reduced, so under the pressure of the stepped trigger plate 21, the trigger bottom plate 39 will continuously move downward to compress the tension spring 29, at the same time, the trigger bottom plate 39 drives the tension upper plate 38 to continuously approach the bottom of the clamping cup 4, in this process, the tension small arm 30 continuously rotates to flatten to drive the tension large arm 27 to rotate outward to open, and the tension large arm 27 drives the clamping seat 25 to move away from the clamping cup 4, so as to realize the release of the coconut.

[0040] As shown in Figure 2 each mounting frame 11 is fixedly installed with a lamp strip 8, in the embodiment, the lamp strip 8 is an LED lamp strip 8, and is fixed to the inner side of the mounting frame 11 through the back glue of the LED lamp strip 8, for assisting the image acquisition work of the optical camera 20.

[0041] When the present application is used for the coconut meat 41 digging work of the coconut subjected to the half-cutting treatment, the working principle of the present application is as follows:

[0042] In the first step, when the optical camera 20 detects that the clamping cup 4 carrying the coconut moves to the specified position, the control ring-shaped conveyor belt 2 is stopped, at this time, each optical camera 20 is aligned with a coconut subjected to the half-cutting treatment;

[0043] In the second step, the optical camera 20 takes a photo of the coconut located directly below, and the acquired image is subjected to the related algorithm of image processing to obtain the minimum circumscribed circle parameters of the coconut meat 41 in the coconut, and the parameters are converted into coordinate values;

[0044] In the third step, the digging knife 10 is driven to rotate by the rotating mechanism, and is driven to horizontally displace by the linear slide 17, so as to move the digging knife 10 to the specified coordinate position of the digging work, and the automatic digging work of the coconut meat 41 is realized through the cooperative matching of the rotating motor 14, the linear slide 17 and the electric push rod 19;

[0045] In the fourth step, after the coconut meat 41 digging work is completed, the ring-shaped conveyor belt 2 is started again to drive the clamping cup 4 to continuously move forward to perform the coconut meat 41 digging work on the new coconut;

[0046] In the fifth step, when the clamping cup 4 is inverted by being rotated to the lower side, the coconut meat 41 in the clamping cup 4 naturally falls off under the action of gravity and falls into the coconut meat collecting groove 6 located below;

[0047] In the sixth step, the clamping cup 4 drives the coconut shell 42 to continue to move, the sliding frame 28 at the bottom of the clamping cup 4 contacts the stepped trigger plate 21, under the pressure of the stepped trigger plate 21, the sliding frame 28 continuously slides, the tension spring 29 is continuously compressed, so that the clamping seat 25 moves outward and releases the coconut shell 42, the coconut shell 42 naturally falls off under the action of gravity and falls into the coconut shell collecting groove 7 below;

[0048] In the seventh step, after the sliding frame 28 is separated from the stepped trigger plate 21, the clamping seat 25 returns to the initial state under the elastic force of the tension spring 29 and performs a new round of work.

[0049] In summary, the adaptive coconut meat cutting equipment based on image recognition realizes the automatic digging of the coconut meat 41 and realizes the automatic packaging of the coconut meat 41 and the coconut shell 42, replacing the manual digging and packaging operation of the coconut meat 41.

[0050] The above only describes the preferred embodiment of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An image recognition based adaptive coconut meat cutting apparatus comprising an apparatus frame, characterized in that, The device rack is provided with a circular conveying belt, a plurality of clamping cups are uniformly arranged on the circular conveying belt, each clamping cup is provided with a clamping device for clamping and fixing coconuts, the inner side of the circular conveying belt is provided with a trigger mechanism for releasing the clamped coconuts in the clamping cups, a plurality of image recognition modules are arranged above the circular conveying belt, one side of each image recognition module is provided with a coconut meat digging device, and a collecting box is arranged below the circular conveying belt, and the collecting box is provided with a coconut meat collecting groove and a coconut shell collecting groove, and the position of the coconut shell collecting groove corresponds to the position of the trigger mechanism. Each clamping device comprises at least three clamping seats arranged outside the clamping cup, the side wall of each clamping cup is provided with at least three clamping openings, the number and position of the clamping openings correspond to the number and position of the clamping seats, each clamping seat extends into the clamping cup through the corresponding clamping opening, a tensioning arm is hingedly connected between each clamping seat and the clamping cup, a sliding frame is arranged below each clamping cup, each sliding frame is axially slidably arranged on the clamping cup, a tensioning spring is arranged between each sliding frame and the clamping cup, and a tensioning small arm is hingedly connected between each tensioning arm and the sliding frame. At least one one-way shaft cylinder is arranged on each clamping seat, each one-way shaft cylinder is rotatably arranged on a mounting shaft, each mounting shaft is fixedly arranged on the corresponding clamping seat, each mounting shaft is fixedly provided with a ratchet seat, a plurality of ratchets are fixedly arranged on the side wall of each ratchet seat, a plurality of one-way ratchet teeth are arranged on the inner wall of each one-way shaft cylinder, and each ratchet is engaged with the one-way ratchet teeth. The bottom of each clamping cup is fixedly connected with a fixed middle plate through a center fixed rod, and one end of each tensioning arm away from the clamping seat is hingedly arranged on the fixed middle plate. Each sliding frame comprises a tensioning upper plate parallel to the fixed middle plate and a trigger bottom plate, each tensioning upper plate is arranged between the clamping cup and the fixed middle plate, each tensioning upper plate is slidably arranged on the corresponding center fixed rod, one end of each tensioning small arm away from the tensioning arm is hingedly arranged on the corresponding tensioning upper plate, each trigger bottom plate is arranged on the side of the fixed middle plate away from the clamping cup, each trigger bottom plate is fixedly connected with the tensioning upper plate through a connecting rod, and each tensioning spring is arranged between the trigger bottom plate and the fixed middle plate.

2. The image recognition based adaptive coconut meat cutting apparatus as claimed in claim 1, wherein, Each coconut meat digging device comprises a digging knife mounting rod, the lower end of each digging knife mounting rod is provided with a digging knife for digging coconut meat, the distance between every two adjacent digging knives is the same as the distance between every two adjacent clamping cups, each digging knife mounting rod is arranged on a mounting frame through a position adjusting mechanism, and each mounting frame is fixed on the device rack.

3. The image recognition based adaptive coconut meat cutting apparatus as claimed in claim 2, wherein, Each position adjusting mechanism comprises a rotating fixing member, one end of each rotating fixing member is rotatably installed on a fixing column, each fixing column is fixedly installed on the corresponding mounting frame in vertical direction, the other end of each rotating fixing member is installed with a rotating motor, a driving gear is fixedly installed on the motor shaft of each rotating motor, a fixed gear is fixedly installed on each fixing column, each fixed gear is engaged with the corresponding driving gear, the bottom of each rotating fixing member is slidably installed with a sliding seat through a linear slide, each sliding seat slides along the radial direction of the fixed gear, an electric push rod is fixedly installed on each sliding seat, the upper end of each digging tool mounting rod is fixedly connected with the telescopic push rod of the electric push rod.

4. The image recognition based adaptive coconut meat cutting apparatus as claimed in claim 3, wherein, Each image recognition module comprises an optical camera, each optical camera is arranged above the annular conveying belt, and each optical camera is fixedly installed on the corresponding fixing column.

5. The image recognition based adaptive coconut meat cutting apparatus as claimed in claim 1, wherein, The trigger mechanism comprises a stepped trigger plate fixed on the equipment rack, the stepped trigger plate comprises a first plate segment and a second plate segment arranged in horizontal direction, the first plate segment is arranged on the front side of the second plate segment in the conveying direction of the clamping cup, the first plate segment is located above the second plate segment, and a transition plate segment for smooth transition is arranged between the first plate segment and the second plate segment.

6. The image recognition based adaptive coconut meat cutting apparatus as claimed in claim 4, wherein, The inner wall of each mounting frame is fixedly installed with a lamp strip.

Images