Citrus cyst vacuum sorting assembly, equipment and method

Abstract

The invention relates to the technical field of fruit cyst foreign matter detection, and particularly discloses a citrus cyst vacuum sorting assembly, device and method. The citrus cyst vacuum sorting assembly comprises a support, and a visual camera is arranged on the support; a conveying device is arranged on the bracket; a vacuum sorting assembly is rotationally arranged on the support. The vacuum sorting assembly comprises a rotary vacuum shell, and a vacuum generator is arranged at one end of a rotary vacuum cavity. A plurality of suction holes are formed in the rotary vacuum shell, vacuum control valves are arranged at the suction holes, and magnetic opening and closing mechanisms are connected to the vacuum control valves; an upper magnetic device and a magnetic eraser are arranged on the bracket; comprising an industrial personal computer, and the industrial personal computer is electrically connected with a visual camera, a conveying device, a rotating power source of a vacuum sorting assembly, a magnetic feeding device and a magnetic eraser. The device has the advantages of being high in removing efficiency, low in removing cost and good in removing stability.

Description

Technical Field

[0001] The invention relates to the technical field of fruit cyst foreign body detection, and in particular to a citrus cyst vacuum sorting component, equipment and method. Background Art

[0002] Citrus is one of the main fruits in my country. It tastes good, has a high edible rate and is rich in nutrients. In addition to being eaten fresh, citrus is mainly processed into juice, canned food, cysts, etc. Citrus cysts are citrus particles obtained by removing the cysts from orange slices through acid and alkali and then impacting them with water. In the process of processing citrus cysts, foreign matter such as cysts, orange pits, hair or plastic particles will inevitably be introduced. Foreign matter must be removed before the cysts are canned. Because cysts carry water, there is currently no equipment that can reliably complete this process. Factories generally use manual removal methods, which have problems such as low efficiency, high missed detection rate and high cost. The detection effect is also easily affected by factors such as the mood and physical condition of the operator. Summary of the invention

[0003] The present invention solves the problems existing in the existing citrus cyst foreign body removal process and provides a citrus cyst sorting device and method using vacuum, which has the characteristics of high removal efficiency, low cost and good removal stability.

[0004] The first technical solution of the present invention: a citrus cyst vacuum sorting device comprises a support, wherein at least one visual camera is disposed on the support; a conveying device is disposed on the support, and the visual direction of the visual camera points to the conveying device; a vacuum sorting component is rotatably disposed on the support, and the vacuum sorting component is located on the support between the visual camera and the output end of the conveying device;

[0005] The vacuum sorting assembly comprises a rotating vacuum shell, which is rotatably arranged on a bracket, and a rotating vacuum chamber is formed inside the rotating vacuum shell, and a vacuum generator is arranged at one end of the rotating vacuum chamber; a plurality of suction holes are arranged on the rotating vacuum shell, and a vacuum control valve is arranged at the suction holes, and a magnetic opening and closing mechanism is connected to the vacuum control valve;

[0006] At least one upper magnet is disposed on the bracket, and the magnetic opening and closing mechanism corresponds to the upper magnet;

[0007] At least one demagnetizer is provided on the bracket, and the magnetic opening and closing mechanism corresponds to the demagnetizer;

[0008] The invention comprises an industrial computer, which is electrically connected with a visual camera, a conveying device, a rotation power source of a vacuum sorting component, a magnetizer and a demagnetizer.

[0009] The present invention arranges at least one visual camera on a bracket, the visual direction of the visual camera points to the conveying device, the visual camera can take pictures of the citrus cysts conveyed by the conveying device, and the collected picture information is transmitted to the industrial computer for data analysis. If cyst foreign matter is found, the industrial computer controls the conveying device, the magnetizer and the demagnetizer to work together, the magnetizer and the demagnetizer control the magnetic opening and closing mechanism at the position where the cyst foreign matter is located to open and close the suction hole, and the cyst foreign matter is sucked into the rotating vacuum chamber by the vacuum negative pressure and removed, thereby achieving the purpose of efficient and intelligent detection and removal of cyst foreign matter. Compared with the existing manual detection and removal, the present invention has higher detection and removal efficiency, better removal stability and lower detection cost, and less missed detection. The rate is lower, the detection and removal accuracy is higher, and the qualified rate and detection quality of the product are better guaranteed; the number of visual cameras can be flexibly set above the conveying device according to the specific situation, so as to be able to take pictures and detect the citrus cysts that pass through; the conveying device in the present invention can stably convey the citrus cysts, and intelligently cooperate with the visual camera, the rotation of the vacuum sorting component, the magnetizer and the demagnetizer to adjust the conveying speed, so as to achieve the effect of taking both detection speed and removal accuracy into account; the vacuum sorting component is rotatably set on the bracket, and when there is foreign matter, the industrial computer controls the vacuum sorting component to rotate, and the magnetizer magnetizes the magnet at the corresponding position, and the suction hole corresponding to the vacuum sorting component is opened, and the suction hole is rotated to above the foreign matter , the found cyst foreign matter is sucked into the rotating vacuum chamber under vacuum negative pressure for removal, the industrial computer controls the vacuum sorting component to continue rotating, so that the magnet rotates to the demagnetizer to demagnetize the magnet, and the vacuum control valve closes the corresponding suction hole, and the foreign matter is sucked into the foreign matter barrel between the vacuum generator and the rotating vacuum shell. A filter is arranged inside the foreign matter barrel, and the filter is a structure that air can pass through but foreign matter cannot. The equipment has good removal accuracy and intelligence; specifically, the vacuum sorting component is arranged on the bracket between the visual camera and the output end of the conveying device to ensure the coordination of the visual camera and the vacuum sorting component, so as to achieve a continuous cycle of detection-discovery-removal, and ensure the genuine qualified rate of citrus cysts output from the output end of the conveying device; the invention The rotating vacuum shell in the invention rotates on the bracket. Under the control of the industrial computer, if foreign matter is found, the vacuum sorting component will immediately rotate so that the suction hole is aligned with the foreign matter, and the cystic foreign matter is quickly and accurately sucked into the rotating vacuum shell for removal; the vacuum generator serves as a vacuum generating source in the rotating vacuum chamber, so that the rotating vacuum chamber always has a vacuum negative pressure. When cystic foreign matter is found, the vacuum control valve at the corresponding position is opened in time to suck the cystic foreign matter into the rotating vacuum chamber for removal; a number of suction holes are distributed on the rotating vacuum shell, all over the rotating vacuum shell. If foreign matter is found, the industrial computer controls the rotating vacuum shell to rotate and aligns the suction hole with the foreign matter, so that the cystic foreign matter found is sucked and removed without omission, thereby ensuring the efficiency of foreign matter removal;The vacuum control valve is correspondingly arranged at each suction hole. Under the magnetic force of the magnetic opening and closing mechanism, the vacuum control valve can timely open or close the suction hole under the control of the industrial control computer, and timely suck the cyst foreign matter into the rotating vacuum chamber under negative pressure; the magnetizer in the present invention can timely magnetize the magnetic opening and closing mechanism at the corresponding position where the cyst foreign matter appears, so that the vacuum control valve is opened, and the cyst foreign matter is timely sucked into the suction hole for removal; the demagnetizer can timely remove the magnetism on the corresponding magnetic opening and closing mechanism after the cyst foreign matter is adsorbed, so that the vacuum control valve is closed; the present invention as a whole realizes the removal of foreign matter in citrus cysts based on the visual camera, uses visual collection pictures, transmits them to the industrial control computer for analysis, and works in conjunction with the conveying device, the rotating power source of the vacuum sorting component, the vacuum generator, the magnetizer and the demagnetizer to detect and remove the foreign matter in the citrus cyst, so as to achieve the purpose of intelligent detection and removal of foreign matter, overcome the shortcomings of low efficiency and high cost of existing manual detection, and compared with manual detection, it has the characteristics of simple operation, low missed detection rate, high efficiency and high precision. ;

[0010] Preferably, the magnetic opening and closing mechanism comprises a plurality of magnets arranged on a rotating vacuum shell, a plurality of insertion holes are provided on the rotating vacuum shell, the insertion holes correspond to the corresponding magnets, a plug rod is slidably provided in the insertion hole, an adsorption block is provided at one end of the plug rod located outside the rotating vacuum shell, and the adsorption block corresponds to the magnet; a part of the plug rod located inside the rotating vacuum shell is sleeved with a first return spring, and an end of the plug rod located inside the rotating vacuum shell is movably connected with a transmission rod through a through hole and a structure that cooperates with the rotating rod; a plurality of support seats are provided on the inner wall of the rotating vacuum shell, the transmission rod is rotatably arranged on the corresponding support seats, and the vacuum control valve is arranged at one end of the transmission rod away from the through hole; the magnet corresponds to the upper magnetizer; the magnet corresponds to the demagnetizer. A plurality of magnets correspond to the magnetizer and the demagnetizer, and each suction hole corresponds to a magnet. The vacuum control valve is opened and closed by magnetizing and demagnetizing itself, so that the opening and closing of the suction hole are highly sensitive. Under the magnetic force of the magnet, the plug rod moves back and forth in the plug hole, pulling the transmission rod to rotate on the support seat, so as to achieve the purpose of timely opening and closing of the suction hole by the vacuum control valve. The adsorption block corresponds to the magnet and can act in time according to whether the magnet is magnetized or not. If the magnet is magnetized, the adsorption block is adsorbed by the magnet, and the suction hole is opened through the linkage of the plug rod and the transmission rod, and the foreign matter found is adsorbed and removed in time. If the magnet is demagnetized, the adsorption block is no longer adsorbed by the magnet. Under the return force of the first return spring, the plug rod and the transmission rod are linked again to close the suction hole. The entire magnetic opening and closing mechanism has a simple structure and good opening and closing sensitivity.

[0011] Preferably, the magnetic opening and closing mechanism comprises a plurality of magnets arranged on a rotating vacuum shell; a plurality of support seats are arranged on the inner wall of the rotating vacuum shell, a transmission rod is rotatably arranged on the support seat, the vacuum control valve is arranged at one end of the transmission rod, an end of the transmission rod away from the vacuum control valve is movably connected with an insertion rod through a through hole and a structure that cooperates with the rotating rod, an end of the insertion rod away from the through hole is provided with an adsorption block, the adsorption block corresponds to the magnet, a second return spring is connected to the adsorption block, and an end of the second return spring away from the adsorption block is connected to the inner wall of the rotating vacuum shell. A plurality of magnets correspond to the magnetizer and the demagnetizer, and each suction hole corresponds to a magnet. The vacuum control valve is opened and closed by magnetizing and demagnetizing itself, so that the opening and closing of the suction hole is highly sensitive. Under the magnetic force of the magnet, the adsorption block is magnetically adsorbed, and the driving rod is pulled to rotate on the support seat by the insertion rod, so as to achieve the purpose of timely opening and closing of the suction hole by the vacuum control valve. The adsorption block corresponds to the magnet and can act in time according to whether the magnet is magnetized or not. If the magnet is magnetized, the adsorption block is adsorbed by the magnet, and the suction hole is opened through the linkage of the insertion rod and the transmission rod, and the foreign matter found is adsorbed and removed in time. If the magnet is demagnetized, the adsorption block is no longer adsorbed by the magnet. Under the return force of the second return spring, the insertion rod and the transmission rod are linked again to close the suction hole. The entire magnetic opening and closing mechanism has a simple structure and good opening and closing sensitivity.

[0012] Preferably, the through hole is a waist hole, which enables the rotating rod to move properly in the waist hole, and according to the rotation of the transmission rod on the support seat, good transmission is performed between the insertion rod and the transmission rod.

[0013] Preferably, the adsorption block is made of iron or nickel. The adsorption block made of iron or nickel can be sensitively adsorbed by a magnet.

[0014] Preferably, a sealing sleeve is rotatably provided at one end of the rotating vacuum shell, and the vacuum generator is connected to the sealing sleeve via a connecting pipe. The sealing sleeve can well realize the connection between the connecting pipe and the rotating vacuum shell, on the one hand, it does not interfere with the rotation of the rotating vacuum shell, and on the other hand, it does not affect the vacuum generator to ensure a stable vacuum degree in the rotating vacuum shell through the connecting pipe.

[0015] Preferably, the end of the rotating vacuum shell away from the vacuum generator is connected to a second drive motor through a first coupling, and the second drive motor is electrically connected to the industrial computer. The first coupling can achieve a stable connection between the second drive motor and the rotating vacuum shell, and the rotating vacuum shell rotates with the rotation of the second drive motor. Under the overall control of the industrial computer, the rotation of the rotating vacuum shell can be performed intelligently and sensitively according to actual needs.

[0016] Preferably, the first drive motor and the second drive motor are both servo motors or stepper motors.

[0017] Preferably, the plurality of suction holes are arranged in a single row or multiple rows of linear arrays on the rotating vacuum shell. The plurality of suction holes arranged in a linear array can fully correspond to the surface of the annular conveyor belt of the conveying device, and can ensure that the cystic foreign matter found is adsorbed and removed without omission, thereby ensuring the efficiency of foreign matter removal.

[0018] Preferably, when multiple rows of linear arrays are arranged, a plurality of suction holes on each row correspond to a plurality of suction holes on adjacent rows in an interlaced manner, so as to ensure that all cystic foreign bodies found are adsorbed and removed without omission, thereby ensuring the efficiency of foreign body removal.

[0019] Preferably, a suction tube is provided at the suction hole. The suction end of the suction tube can be more accurately directed to the cystic foreign matter, and if a cystic foreign matter is found, it can be accurately sucked out, preventing qualified cysts from being sucked in, thereby ensuring the accuracy of foreign matter suction.

[0020] Preferably, the upper magnet includes an upper magnetic plate arranged on a bracket, and a plurality of upper magnetic blocks are arranged on the upper magnetic plate, and the upper magnetic blocks correspond to corresponding magnets. The plurality of upper magnetic blocks on the upper magnetic plate correspond to corresponding magnets, and can timely and accurately magnetize the magnets at the corresponding positions where the cystic foreign matter appears, control the vacuum control valve to open, and timely suck the cystic foreign matter into the suction hole for removal. The whole is controlled by an industrial computer, and when foreign matter is found, only the magnet corresponding to the foreign matter is magnetized to ensure the accuracy of foreign matter removal.

[0021] Preferably, the demagnetizer is a demagnetizing plate arranged on the bracket, and the demagnetizing plate corresponds to the magnet. The demagnetizing plate can timely and accurately demagnetize the magnet at the position corresponding to the cyst foreign body, and control the vacuum control valve to close.

[0022] Preferably, the demagnetization board is provided with a plurality of demagnetization blocks, and the demagnetization blocks correspond to corresponding magnets. The plurality of demagnetization blocks on the demagnetization board correspond to corresponding magnets, and can timely and accurately demagnetize the magnets at the corresponding positions where the cyst foreign matter appears, control the vacuum control valve to close, and the whole is controlled by an industrial computer, and only the corresponding magnets after the foreign matter is adsorbed are demagnetized, with good accuracy.

[0023] Preferably, a bearing seat is provided on the bracket, and the end of the rotating vacuum shell is rotatably arranged on the bearing seat through a bearing. The bearing seat provides stable support for the stable rotation of the rotating vacuum shell and the accurate adsorption of cystic foreign matter.

[0024] Preferably, the conveying device includes a first rotating shaft and a second rotating shaft rotatably arranged on a bracket, the first rotating shaft is rotatably connected to the second rotating shaft through an annular conveyor belt, one end of the first rotating shaft or the second rotating shaft is provided with a first driving motor, the first driving motor is electrically connected to an industrial computer, and one end of the first rotating shaft or the second rotating shaft is connected to the driving end of the first driving motor through a second coupling; the visual direction of the visual camera points to the annular conveyor belt. The first rotating shaft, the second rotating shaft, the annular conveyor belt and the first driving motor cooperate to stably transport the citrus cysts to the location of the visual camera and the vacuum sorting component, and the flow of water completes the detection and foreign body removal work. The rotation speed of the first driving motor is intelligently adjusted by the industrial computer to ensure a continuous and stable cycle of detection-discovery-removal.

[0025] Preferably, the bracket is provided with a support rod, and the visual camera is arranged on the support rod. The support rod provides an installation position for the visual camera, so that the visual camera is stably located above a suitable position of the conveying device, stably completes the visual acquisition of pictures, and transmits them to the industrial computer for analysis.

[0026] Preferably, the endless conveyor belt is a transparent structure, which enables intuitive understanding of the working conditions of various components above, inside and below the endless conveyor belt in the entire device.

[0027] Preferably, a water absorption component is provided on the support, and the water absorption component is located inside the endless conveyor belt, and the water absorption component is located between the visual camera and the output end of the endless conveyor belt on the support. The water absorption component can timely remove the water flowing on the endless conveyor belt from the citrus cysts after the visual camera detection and the removal of debris by the vacuum sorting component, so as to prevent the water from dripping from the endless conveyor belt to the ground.

[0028] Preferably, the water absorption component includes a water collection shell, which is arranged on a bracket, and is located inside the circular conveyor belt. The water collection shell is provided with a water inlet, and a group of water guide plates are provided at the water inlet. The group of water guide plates are arranged to form a bell mouth, and the expanded end of the bell mouth is located below the circular conveyor belt. One end of the water collection shell is provided with a water outlet, and a water suction pump is provided at the water outlet. The water collection shell can collect the water dripping from the circular conveyor belt to prevent the water from dripping directly onto the ground; a group of water guide plates are arranged to form a bell mouth, which can guide the water flowing out of the citrus cysts after removing foreign matter to the water inlet, and the water is collected by the water collection shell and then processed centrally; under the suction force of the water suction pump, the collected water is discharged from the water outlet to the external water collection box for centralized processing; wherein the suction force and working condition of the water suction pump can be controlled and adjusted by an industrial computer.

[0029] Preferably, the vacuum sorting component is adjusted and arranged on the bracket by a lifting component relative to the surface of the endless conveyor belt, and the lifting component is electrically connected to the industrial computer. The distance of the vacuum sorting component relative to the surface of the endless conveyor belt can be adjusted by the lifting component, and the industrial computer controls the vacuum sorting component to have a distance of 0.5cm to 5cm from the suction end of the debris to the surface of the endless conveyor belt, so as to adjust the required distance in real time according to the actual situation, and ensure that the citrus cyst foreign matter found is accurately and quickly adsorbed and removed. The camera has a 3D ranging function, and can timely adjust the height of the vacuum sorting component relative to the surface of the endless conveyor belt according to the height of the cysts on the endless conveyor belt.

[0030] Preferably, the lifting assembly includes a lifting motor, which is arranged on a bracket or placed on the ground, and a driving end of the lifting motor is provided with a rotating disk, and the driving end of the lifting motor is connected to the eccentric disk surface of the rotating disk, and a lifting frame is provided on the rotating disk, and a guide rod is provided on the lifting frame, and one end of the guide rod away from the lifting motor is connected to the vacuum sorting assembly; a guide block is provided on the bracket, and a guide hole is provided on the guide block, and the guide rod is slidably arranged in the guide hole; the lifting motor is electrically connected to the industrial computer. The lifting motor provides a stable driving force for the lifting of the vacuum sorting component; the driving end of the lifting motor is connected to the eccentric disk surface of the rotating disk to achieve the distance adjustment of the vacuum sorting component relative to the surface of the circular conveyor belt. The rotation of the lifting motor is controlled by the industrial computer, and the distance of the vacuum sorting component relative to the surface of the circular conveyor belt is intelligently and real-time adjusted to an appropriate distance; the lifting frame can stably transmit the lifting force of the rotating disk to the vacuum sorting component; the guide rod cooperates with the guide hole, so that after the lifting force of the rotating disk is transmitted to the vacuum sorting component, the distance between the vacuum sorting component and the surface of the circular conveyor belt is adjusted without deflection.

[0031] Preferably, a mounting block is provided at one end of the guide rod away from the lifting motor, the bearing seat is arranged on the mounting block, and the end of the rotating vacuum shell is rotatably arranged on the bearing seat through a bearing; a mounting plate is provided on the mounting block, and the second drive motor is arranged on the mounting plate. The mounting block provides a mounting position for the bearing seat to ensure the stable rotation of the rotating vacuum shell and the accurate adsorption of the cyst foreign matter; the mounting plate provides a mounting position for the second drive motor, provides stable support for the second drive motor, and ensures the stable rotation of the rotating vacuum shell.

[0032] The second technical solution of the present invention: a method for sorting citrus cysts, comprising the following steps:

[0033] (S01) placing the citrus cysts on a ring-shaped conveyor belt of a conveying device for conveying;

[0034] (S02) a visual camera takes photos of the citrus cysts on the endless conveyor belt in step (S01) for identification and comparison;

[0035] (S03) If the identification and comparison result in step (S02) is that non-cystic foreign matter exists, the upper magnet is magnetized on the magnet at the corresponding position, and the magnetic opening and closing mechanism at the corresponding position of the rotating vacuum shell drives the vacuum control valve to open the suction hole, and the non-cystic foreign matter is sucked into the rotating vacuum chamber by the vacuum negative pressure and removed;

[0036] (S04) The rotating vacuum shell in step (S03) continues to rotate to the demagnetizer, and the demagnetizer demagnetizes the magnet. Under the action of the first return spring or the second return spring, the magnetic opening and closing mechanism at the corresponding position drives the vacuum control valve to close the suction hole. The equipment starts to work, and each part starts. The industrial computer adjusts the speed of the second drive motor to adjust the speed of the rotating vacuum shell. The industrial computer adjusts the speed of the first drive motor to adjust the speed of the circular conveyor belt. When the optical fiber sensor arranged next to the circular conveyor belt detects that the citrus cyst enters the shooting section, a level signal is generated to trigger the light source strobe and the visual camera to shoot the image of the citrus cyst. The image processing software in the industrial computer performs a series of image processing. The industrial computer detects all foreign objects in the field of view and enters the coordinates of the foreign objects into the database. The data in the database is optimized. If there is a foreign object, a command is sent to the magnet where the foreign object is located. The magnetic opening and closing mechanism at the corresponding position of the rotating vacuum shell drives the vacuum control valve to open the suction hole. The non-cyst foreign object is sucked into the rotating vacuum chamber by the vacuum negative pressure and removed. After the foreign object is removed, the demagnetizer demagnetizes the magnet. Under the action of the first return spring or the second return spring, the magnetic opening and closing mechanism at the corresponding position drives the vacuum control valve to close the suction hole. This cycle is repeated to remove all foreign objects found one by one. The whole system first uses a visual camera to collect images of citrus cysts in real time, and extracts the corresponding image coordinates and motion information, so that the target always appears in the field of view of the visual camera, achieving the purpose of visual locking of the target, thereby realizing the tracking and absolute positioning of foreign objects in citrus cysts. Image-based vision technology is used to drive the vacuum sorting component to work. The industrial computer updates the image Jacobian matrix and its inverse matrix in real time, and calculates the output control quantity to control the opening and closing of the magnetic opening and closing mechanism at the location of the foreign object, ultimately achieving the purpose of accurately removing foreign objects.

[0037] The third technical solution of the present invention: a citrus cyst vacuum sorting component comprises a rotating vacuum shell, wherein a rotating vacuum chamber is formed inside the rotating vacuum shell, and a vacuum generator is provided at one end of the rotating vacuum chamber; the rotating vacuum shell is provided with a plurality of suction holes, and a vacuum control valve is provided at the suction holes, and a magnetic opening and closing mechanism is connected to the vacuum control valve;

[0038] It includes at least one upper magnet, and the magnetic opening and closing mechanism corresponds to the upper magnet;

[0039] It includes at least one demagnetizer, and the magnetic opening and closing mechanism corresponds to the demagnetizer. The rotating vacuum shell in the present invention rotates on the bracket, and the rotation can be coordinated according to the conveying speed of the conveying device and the vacuum suction of the cystic foreign matter. Under the control of the industrial computer, if foreign matter is found, the vacuum sorting component will immediately rotate so that the suction hole is aligned with the foreign matter, and the cystic foreign matter is quickly and accurately sucked into the rotating vacuum shell for removal; the vacuum generator serves as a vacuum generating source in the rotating vacuum chamber, so that the rotating vacuum chamber always has a vacuum negative pressure. When cystic foreign matter is found, the vacuum control valve at the corresponding position is opened in time to suck the cystic foreign matter into the rotating vacuum chamber for removal; a number of suction holes are distributed on the rotating vacuum shell, which are all over the rotating vacuum shell. If foreign matter is found, the industrial computer controls the rotating vacuum shell. During rotation, there will be suction holes aligned with foreign matter, which can ensure that the found cystic foreign matter is adsorbed and removed without omission, thereby ensuring the efficiency of foreign matter removal; a vacuum control valve is correspondingly arranged at each suction hole, and under the magnetic opening and closing force of the magnetic opening and closing mechanism, the vacuum control valve can open or close the suction hole in time under the control of the industrial computer, and the cystic foreign matter is sucked into the rotating vacuum chamber under negative pressure in time; the magnetizer in the present invention can magnetize the magnetic opening and closing mechanism at the corresponding position where the cystic foreign matter appears in time, so that the vacuum control valve is opened, and the cystic foreign matter is sucked into the suction hole in time for removal; the demagnetizer can timely remove the magnetism on the corresponding magnetic opening and closing mechanism after the cystic foreign matter is adsorbed, so that the vacuum control valve is closed.

[0040] Preferably, the magnetic opening and closing mechanism comprises a plurality of magnets arranged on a rotating vacuum shell, a plurality of insertion holes are provided on the rotating vacuum shell, the insertion holes correspond to the corresponding magnets, a plug rod is slidably provided in the insertion hole, an adsorption block is provided at one end of the plug rod located outside the rotating vacuum shell, and the adsorption block corresponds to the magnet; a part of the plug rod located inside the rotating vacuum shell is sleeved with a first return spring, and an end of the plug rod located inside the rotating vacuum shell is movably connected with a transmission rod through a through hole and a structure that cooperates with the rotating rod; a plurality of support seats are provided on the inner wall of the rotating vacuum shell, the transmission rod is rotatably arranged on the corresponding support seats, and the vacuum control valve is arranged at one end of the transmission rod away from the through hole; the magnet corresponds to the upper magnetizer; the magnet corresponds to the demagnetizer. A plurality of magnets correspond to the magnetizer and the demagnetizer, and each suction hole corresponds to a magnet. The vacuum control valve is opened and closed by magnetizing and demagnetizing itself, so that the opening and closing of the suction hole are highly sensitive. Under the magnetic force of the magnet, the plug rod moves back and forth in the plug hole, pulling the transmission rod to rotate on the support seat, so as to achieve the purpose of timely opening and closing of the suction hole by the vacuum control valve. The adsorption block corresponds to the magnet and can act in time according to whether the magnet is magnetized or not. If the magnet is magnetized, the adsorption block is adsorbed by the magnet, and the suction hole is opened through the linkage of the plug rod and the transmission rod, and the foreign matter found is adsorbed and removed in time. If the magnet is demagnetized, the adsorption block is no longer adsorbed by the magnet. Under the return force of the first return spring, the plug rod and the transmission rod are linked again to close the suction hole. The entire magnetic opening and closing mechanism has a simple structure, ingenious design, and good opening and closing sensitivity.

[0041] Preferably, the magnetic opening and closing mechanism comprises a plurality of magnets arranged on a rotating vacuum shell; a plurality of support seats are arranged on the inner wall of the rotating vacuum shell, a transmission rod is rotatably arranged on the support seat, the vacuum control valve is arranged at one end of the transmission rod, an end of the transmission rod away from the vacuum control valve is movably connected with an insertion rod through a through hole and a structure that cooperates with the rotating rod, an end of the insertion rod away from the through hole is provided with an adsorption block, the adsorption block corresponds to the magnet, a second return spring is connected to the adsorption block, and an end of the second return spring away from the adsorption block is connected to the inner wall of the rotating vacuum shell. A plurality of magnets correspond to the magnetizer and the demagnetizer, and each suction hole corresponds to a magnet. The vacuum control valve is opened and closed by magnetizing and demagnetizing itself, so that the opening and closing of the suction hole is highly sensitive. Under the magnetic force of the magnet, the adsorption block is magnetically adsorbed, and the driving rod is pulled to rotate on the support seat by the insertion rod, so as to achieve the purpose of timely opening and closing of the suction hole by the vacuum control valve. The adsorption block corresponds to the magnet and can act in time according to whether the magnet is magnetized or not. If the magnet is magnetized, the adsorption block is adsorbed by the magnet, and the suction hole is opened through the linkage of the insertion rod and the transmission rod, and the foreign matter found is adsorbed and removed in time. If the magnet is demagnetized, the adsorption block is no longer adsorbed by the magnet. Under the return force of the second return spring, the insertion rod and the transmission rod are linked again to close the suction hole. The entire magnetic opening and closing mechanism has a simple structure and good opening and closing sensitivity.

[0042] Preferably, the through hole is a waist hole, which allows the rotating rod to move properly in the waist hole, and according to the rotation of the transmission rod on the support seat, good transmission is performed between the insertion rod and the transmission rod.

[0043] Preferably, the adsorption block is made of iron or nickel. The adsorption block made of iron or nickel can be sensitively adsorbed by a magnet.

[0044] Preferably, a sealing sleeve is rotatably provided at one end of the rotating vacuum shell, and a vacuum generator is connected to the sealing sleeve via a connecting pipe. The sealing sleeve can well realize the connection between the connecting pipe and the rotating vacuum shell, and on the one hand, it does not interfere with the rotation of the rotating vacuum shell, and on the other hand, it does not affect the vacuum generator to continuously ensure a stable vacuum degree in the rotating vacuum shell through the connecting pipe.

[0045] Preferably, the end of the rotating vacuum shell away from the vacuum generator is connected to a second drive motor through a first coupling, and the second drive motor is electrically connected to the industrial computer. The first coupling can achieve a stable connection between the second drive motor and the rotating vacuum shell, and the rotating vacuum shell rotates with the rotation of the second drive motor. Under the overall control of the industrial computer, the rotation of the rotating vacuum shell can be performed intelligently and sensitively according to actual needs.

[0046] Preferably, the first drive motor and the second drive motor are both servo motors or stepper motors.

[0047] Preferably, the plurality of suction holes are arranged in a single row or multiple rows of linear arrays on the rotating vacuum shell. The plurality of suction holes arranged in a linear array can fully correspond to the surface of the annular conveyor belt of the conveying device, and can ensure that the cystic foreign matter found is adsorbed and removed without omission, thereby ensuring the efficiency of foreign matter removal.

[0048] Preferably, when multiple rows of linear arrays are arranged, a plurality of suction holes on each row correspond to a plurality of suction holes on adjacent rows in an interlaced manner, so as to ensure that all cystic foreign bodies found are adsorbed and removed without omission, thereby ensuring the efficiency of foreign body removal.

[0049] Preferably, a suction tube is provided at the suction hole. The suction end of the suction tube can be more accurately directed to the cystic foreign matter, and if a cystic foreign matter is found, it can be accurately sucked out, preventing qualified cysts from being sucked in, thereby ensuring the accuracy of foreign matter suction.

[0050] Preferably, the device comprises a bracket; the upper magnet comprises an upper magnetic plate arranged on the bracket, the upper magnetic plate is provided with a plurality of upper magnetic blocks, and the upper magnetic blocks correspond to corresponding magnets. The plurality of upper magnetic blocks on the upper magnetic plate correspond to corresponding magnets, and can timely and accurately magnetize the magnets at the corresponding positions where the cystic foreign matter appears, control the vacuum control valve to open, and timely suck the cystic foreign matter into the suction hole for removal, and the whole device is controlled by an industrial computer. When foreign matter is found, only the magnet corresponding to the foreign matter is magnetized to ensure the accuracy of foreign matter removal.

[0051] Preferably, the demagnetizer is a demagnetizing plate arranged on the bracket, and the demagnetizing plate corresponds to the magnet. The demagnetizing plate can timely and accurately demagnetize the magnet at the position corresponding to the cyst foreign body, and control the vacuum control valve to close.

[0052] Preferably, the demagnetization board is provided with a plurality of demagnetization blocks, and the demagnetization blocks correspond to corresponding magnets. The plurality of demagnetization blocks on the demagnetization board correspond to corresponding magnets, and can timely and accurately demagnetize the magnets at the corresponding positions where the cyst foreign matter appears, control the vacuum control valve to close, and the whole is controlled by an industrial computer, and only the corresponding magnets after the foreign matter is adsorbed are demagnetized, with good accuracy.

[0053] Preferably, a bearing seat is provided on the bracket, and the end of the rotating vacuum shell is rotatably arranged on the bearing seat through a bearing. The bearing seat provides stable support for the stable rotation of the rotating vacuum shell and the accurate adsorption of cystic foreign matter.

[0054] The present invention has the following beneficial effects:

[0055] (1) At least one visual camera is arranged on the support, and the visual direction of the visual camera points to the conveying device. The visual camera can take pictures of the citrus cysts conveyed by the conveying device, and the collected picture information is transmitted to the industrial computer for data analysis. If cyst foreign matter is found, the industrial computer controls the conveying device, the magnetizer and the demagnetizer to work together. The magnetizer and the demagnetizer control the magnetic opening and closing mechanism at the location where the cyst foreign matter is located to open and close the suction hole. The cyst foreign matter is sucked into the rotating vacuum chamber by the vacuum negative pressure and removed, thereby achieving the purpose of efficient and intelligent detection and removal of cyst foreign matter. Compared with the existing manual detection and removal, it has higher detection and removal efficiency, better removal stability and lower detection cost, lower missed detection rate, higher detection and removal accuracy, and better guarantees the qualified rate and detection quality of the product; wherein the number of visual cameras can be flexibly set above the conveying device according to the specific situation, so as to be able to take pictures and detect all the citrus cysts passing through;

[0056] (2) The conveying device can stably convey the citrus cysts, and intelligently cooperate with the visual camera, the rotation of the vacuum sorting component, the magnetizer and the demagnetizer to adjust the conveying speed, so as to achieve the effect of taking both detection speed and removal accuracy into consideration; the vacuum sorting component is rotatably arranged on the bracket, and when there is a foreign object, the industrial computer controls the vacuum sorting component to rotate, and the magnetizer magnetizes the magnet at the corresponding position, and the suction hole corresponding to the vacuum sorting component is opened, and the suction hole is rotated to the top of the foreign object, and the found cyst foreign object is vacuum-pressure sucked into the rotating vacuum chamber for removal, and the industrial computer controls the vacuum sorting component to continue rotating, so that The magnet rotates to the demagnetizer to demagnetize the magnet, and the vacuum control valve closes the corresponding suction hole. The foreign matter is sucked into the foreign matter cylinder between the vacuum generator and the rotating vacuum shell. A filter is provided inside the foreign matter cylinder. The filter is a structure that allows air to pass but foreign matter cannot pass. The device has good removal accuracy and intelligence. Specifically, the vacuum sorting component is arranged on the bracket between the visual camera and the output end of the conveying device to ensure the coordination of the visual camera and the vacuum sorting component, so as to achieve a continuous cycle of detection-discovery-removal, and ensure the genuine qualified rate of citrus cysts output from the output end of the conveying device.

[0057] (3) The rotating vacuum shell rotates on the bracket. Under the control of the industrial computer, if foreign matter is found, the vacuum sorting component rotates immediately so that the suction hole is aligned with the foreign matter, and the cystic foreign matter is quickly and accurately sucked into the rotating vacuum shell for removal; the vacuum generator serves as the vacuum generating source in the rotating vacuum chamber, so that the rotating vacuum chamber always has a vacuum negative pressure. When cystic foreign matter is found, the vacuum control valve at the corresponding position is opened in time to suck the cystic foreign matter into the rotating vacuum chamber for removal; a number of suction holes are distributed on the rotating vacuum shell, which are distributed throughout the rotating vacuum shell. If foreign matter is found, the industrial computer controls the rotating vacuum shell to rotate, and there will be suction holes aligned with the foreign matter, which can ensure that the found cystic foreign matter is sucked and removed without omission, thereby ensuring the efficiency of foreign matter removal; the vacuum control valve is correspondingly arranged at each suction hole. Under the magnetic force of the magnetic opening and closing mechanism, the vacuum control valve can open or close the suction hole in time under the control of the industrial computer, and the cystic foreign matter is sucked into the rotating vacuum chamber in time under negative pressure;

[0058] (4) The magnetizer can magnetize the magnetic opening and closing mechanism at the position corresponding to the cystic foreign matter in time, so that the vacuum control valve is opened, and the cystic foreign matter is sucked into the suction hole in time for removal; the demagnetizer can timely remove the magnetism on the corresponding magnetic opening and closing mechanism after the cystic foreign matter is adsorbed, so that the vacuum control valve is closed;

[0059] (5) The overall system is based on a visual camera to remove foreign objects in citrus cysts. It uses vision to collect images and transmits them to an industrial computer for analysis. It works in conjunction with the conveying device, the rotating power source of the vacuum sorting component, the magnetizer and the demagnetizer to detect and remove foreign objects in the citrus cysts, thereby achieving the purpose of intelligent detection and removal of foreign objects. It overcomes the shortcomings of low efficiency and high cost of existing manual detection. Compared with manual detection, it has the characteristics of simple operation, low missed detection rate, high efficiency and high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 is a first three-dimensional structural diagram of the present invention;

[0061] Figure 2 is a second three-dimensional structural diagram of the present invention;

[0062] Figure 3 is a third structural schematic diagram of the present invention;

[0063] Figure 4 It is a structural schematic diagram of the rotating vacuum shell of the present invention;

[0064] Figure 5 It is a structural schematic diagram of the annular conveyor belt of the present invention;

[0065] Figure 6 It is a structural schematic diagram of the lifting component of the present invention;

[0066] Figure 7 It is a structural schematic diagram of the rotating disk of the present invention;

[0067] Figure 8 It is a structural schematic diagram of the water absorption component of the present invention;

[0068] Fig. 9 It is a structural schematic diagram of the bearing seat of the present invention;

[0069] Fig.10 It is a structural schematic diagram of the suction pipe of the present invention;

[0070] Fig.11 It is a structural schematic diagram of the demagnetizer of the present invention;

[0071] Fig.12 It is a structural schematic diagram of the upper magnetic device of the present invention;

[0072] Fig.13 It is a first structural schematic diagram of the magnetic opening and closing mechanism of the present invention;

[0073] Fig.14 It is a second structural schematic diagram of the magnetic opening and closing mechanism of the present invention;

[0074] Fig.15 It is a control module diagram of the present invention.

[0075] The marks in the attached drawings are: 100-rotating vacuum shell, 101-suction hole, 102-vacuum control valve, 103-sealing sleeve, 104-connecting pipe, 105-first coupling, 106-second drive motor, 107-suction pipe, 108-bearing seat, 109-vacuum generator, 200-magnetic opening and closing mechanism, 201-magnet, 203-insertion rod, 204-adsorption block, 205-first return spring, 206-through hole, 207-transmission rod, 208-support seat, 209-second return spring, 300-upper magnet, 301-upper magnetic plate, 302-upper magnetic block, 400-demagnetizer, 401-upper magnetic plate, 402-upper magnetic block, 403-demagnetizer, 404-magnetizer, 405-magnetizer, 406-magnetizer, 407-magnetizer, 408-magnetizer, 409-magnetizer, 401-magnetizer, 402-magnetizer, 403-magnetizer, 404-magnetizer, 405-magnetizer, 406-magnetizer, 407-magnetizer, 408-magnetizer, 409-magnetizer, 400-magnetizer, 401-magnetizer, 402-magnetizer, 403 ... 01-demagnetization plate, 402-demagnetization block, 500-bracket, 501-support rod, 600-visual camera, 700-conveying device, 701-first rotating shaft, 702-second rotating shaft, 703-annular conveyor belt, 704-first driving motor, 800-water absorption component, 801-water collecting shell, 802-water inlet, 803-water guide plate, 804-water outlet, 900-lifting component, 901-lifting motor, 902-rotating disk, 903-lifting frame, 904-guide rod, 905-guide block, 906-guide hole, 907-mounting block, 908-mounting plate, 1000-industrial computer. DETAILED DESCRIPTION

[0076] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0077] like Figure 1 and Figure 2 The citrus cyst vacuum sorting device shown in the figure comprises a support, on which is provided at least one Figure 4 The visual camera 600 shown; a conveying device 700 is provided on the bracket, and the visual direction of the visual camera points to the conveying device; a vacuum sorting component is rotatably provided on the bracket, and the vacuum sorting component is located on the bracket between the visual camera and the output end of the conveying device;

[0078] The vacuum sorting assembly includes a rotating vacuum shell 100, which is rotatably mounted on a bracket. A rotating vacuum chamber is formed inside the rotating vacuum shell, and a vacuum generator 109 is disposed at one end of the rotating vacuum chamber. The rotating vacuum shell is provided with a plurality of Fig. 9 The suction hole 101 shown in the figure has a vacuum control valve 102 disposed thereat, and the vacuum control valve is connected to a Fig.13 The magnetic opening and closing mechanism 200 shown;

[0079] The bracket is provided with at least one Fig.12 The upper magnet 300 shown, the magnetic opening and closing mechanism corresponds to the upper magnet;

[0080] The bracket is provided with at least one Fig.11 The degausser 400 shown, the magnetic opening and closing mechanism corresponds to the degausser;

[0081] Including Fig.15 The industrial computer 1000 shown is electrically connected to a visual camera, a conveying device, a rotation power source of a vacuum sorting component, a magnetizer, and a demagnetizer. The visual camera is an industrial camera of model MV-CS050-60UC produced by Hangzhou Hikvision Robotics Co., Ltd.; its power adapter is: 12-24V, 0.28A USB5V 0.67A.

[0082] like Fig.13 The magnetic opening and closing mechanism shown in the figure includes several components arranged on the rotating vacuum shell. Fig.10 The magnet 201 shown has a plurality of sockets on the rotating vacuum shell, the sockets correspond to the corresponding magnets, a rod 203 is slidably arranged in the socket, an adsorption block 204 is arranged at one end of the rod outside the rotating vacuum shell, the adsorption block corresponds to the magnet; a first return spring 205 is sleeved on the part of the rod located inside the rotating vacuum shell, and a transmission rod 207 is movably connected to the end of the rod located inside the rotating vacuum shell through a through hole 206 that cooperates with the rotating rod; a plurality of support seats 208 are arranged on the inner wall of the rotating vacuum shell, the transmission rod is rotatably arranged on the corresponding support seats, and a vacuum control valve is arranged at one end of the transmission rod away from the through hole; the magnet corresponds to the upper magnetizer; the magnet corresponds to the demagnetizer. Or as Fig.14The magnetic opening and closing mechanism shown comprises a plurality of magnets 201 arranged on a rotating vacuum shell; a plurality of support seats 208 are arranged on the inner wall of the rotating vacuum shell, a transmission rod 207 is rotatably arranged on the support seat, a vacuum control valve is arranged at one end of the transmission rod, an end of the transmission rod away from the vacuum control valve is movably connected with a plug rod 203 through a through hole 206 and a structure matching the rotating rod, an adsorption block 204 is arranged at one end of the plug rod away from the through hole, the adsorption block corresponds to the magnet, a second return spring 205 is connected to the adsorption block 204, and an end of the second return spring 209 away from the adsorption block 204 is connected to the inner wall of the rotating vacuum shell. The through hole is preferably a waist hole.

[0083] A sealing sleeve 103 is provided at one end of the rotating vacuum shell. Figure 5 The connecting pipe 104 shown is connected to the sealing sleeve. The end of the rotating vacuum shell away from the vacuum generator is connected to the second drive motor 106 through the first coupling 105, and the second drive motor is electrically connected to the industrial control machine. A plurality of suction holes are arranged in a single row or multiple rows of linear arrays on the rotating vacuum shell; when multiple rows of linear arrays are arranged, a plurality of suction holes on each row correspond to a plurality of suction holes on adjacent rows in an interlaced manner. A suction tube 107 is provided at the suction hole. The adsorption block is made of iron or nickel. The first drive motor and the second drive motor are both servo motors or stepper motors.

[0084] The upper magnetizer includes an upper magnetic plate 301 arranged on the bracket, on which a plurality of upper magnetic blocks 302 are arranged, and the upper magnetic blocks correspond to the corresponding magnets. The demagnetizer is a demagnetizing plate 401 arranged on the bracket, and the demagnetizing plate corresponds to the magnets.

[0085] The demagnetizing plate is provided with a plurality of demagnetizing blocks 402, and the demagnetizing blocks correspond to the corresponding magnets. A bearing seat 108 is provided on the bracket, and the end of the rotating vacuum shell is rotatably arranged on the bearing seat through a bearing.

[0086] The conveying device includes a first rotating shaft 701 and a second rotating shaft 702 rotatably arranged on the bracket. Figure 3 The circular conveyor belt 703 shown is rotatably connected to the second rotating shaft, a first driving motor 704 is provided at one end of the first rotating shaft or the second rotating shaft, the first driving motor is electrically connected to the industrial computer, and one end of the first rotating shaft or the second rotating shaft is connected to the driving end of the first driving motor through a second coupling; the visual direction of the visual camera points to the circular conveyor belt.

[0087] The bracket is provided with a support rod 501, and the visual camera is arranged on the support rod. The endless conveyor belt is a transparent structure.

[0088] The bracket is provided with Figure 8The water absorption assembly 800 shown is located inside the circular conveyor belt, and the water absorption assembly is located between the visual camera and the output end of the circular conveyor belt on the bracket. The water absorption assembly includes a water collecting shell 801, which is arranged on the bracket and located inside the circular conveyor belt. The water collecting shell is provided with a water inlet 802, and a group of water guide plates 803 are provided at the water inlet. The group of water guide plates are arranged to form a bell mouth, and the expanded end of the bell mouth is located below the circular conveyor belt. A water outlet 804 is provided at one end of the water collecting shell, and a water suction pump 805 is provided at the water outlet.

[0089] The vacuum sorting components are placed on the support by Figure 6 The lifting assembly 900 shown is adjusted relative to the surface of the endless conveyor belt, and the lifting assembly is electrically connected to the industrial control computer. The lifting assembly includes a lifting motor 901, which is set on a bracket or placed on the ground. The driving end of the lifting motor is provided with Figure 7 The rotating disk 902 shown, the driving end of the lifting motor is connected to the eccentric disk surface of the rotating disk, the rotating disk is provided with a lifting frame 903, the lifting frame is provided with a guide rod 904, the end of the guide rod away from the lifting motor is connected to the vacuum sorting assembly; the bracket is provided with a guide block 905, the guide block is provided with a guide hole 906, the guide rod is slidably arranged in the guide hole; the lifting motor is electrically connected to the industrial control machine. The end of the guide rod away from the lifting motor is provided with a mounting block 907, the bearing seat is arranged on the mounting block, and the end of the rotating vacuum shell is rotatably arranged on the bearing seat through the bearing; the mounting block is provided with a mounting plate 908, and the second driving motor is arranged on the mounting plate.

[0090] The citrus cyst sorting method comprises the following steps:

[0091] (S01) placing citrus cysts on a circular conveyor belt for transportation;

[0092] (S02) a visual camera performs 3D photography, recognition and comparison of the citrus cysts on the endless conveyor belt in step (S01);

[0093] (S03) If the identification and comparison result in step (S02) is that non-cystic foreign matter exists, the upper magnet is magnetized on the magnet at the corresponding position, and the magnetic opening and closing mechanism at the corresponding position of the rotating vacuum shell drives the vacuum control valve to open the suction hole, and the non-cystic foreign matter is sucked into the rotating vacuum chamber by the vacuum negative pressure and removed;

[0094] (S04) The rotating vacuum shell in step (S03) continues to rotate to the demagnetizer, and the demagnetizer demagnetizes the magnet. Under the action of the first return spring or the second return spring, the magnetic opening and closing mechanism at the corresponding position drives the vacuum control valve to close the suction hole.

[0095] The citrus cyst vacuum sorting component comprises a rotating vacuum shell 100, wherein a rotating vacuum chamber is formed inside the rotating vacuum shell, and a vacuum generator is arranged at one end of the rotating vacuum chamber; a plurality of suction holes 101 are arranged on the rotating vacuum shell, and a vacuum control valve 102 is arranged at the suction holes, and a magnetic opening and closing mechanism 200 is connected to the vacuum control valve;

[0096] It includes at least one upper magnet 300, and the magnetic opening and closing mechanism corresponds to the upper magnet;

[0097] It includes at least one demagnetizer 400, and the magnetic opening and closing mechanism corresponds to the demagnetizer.

[0098] The magnetic opening and closing mechanism includes a plurality of magnets 201 arranged on the rotating vacuum shell, a plurality of jacks are arranged on the rotating vacuum shell, the jacks correspond to the corresponding magnets, a plug rod 203 is slidably arranged in the jack, an adsorption block 204 is arranged at one end of the plug rod outside the rotating vacuum shell, and the adsorption block corresponds to the magnet; a first return spring 205 is sleeved on the part of the plug rod located inside the rotating vacuum shell, and a transmission rod 207 is movably connected to the end of the plug rod located inside the rotating vacuum shell through a through hole 206 that matches the rotating rod; a plurality of support seats 208 are arranged on the inner wall of the rotating vacuum shell, the transmission rod is rotatably arranged on the corresponding support seats, and the vacuum control valve is arranged at one end of the transmission rod away from the through hole; the magnet corresponds to the upper magnetizer; the magnet corresponds to the demagnetizer. The adsorption block is made of iron or nickel. Or the magnetic opening and closing mechanism comprises a plurality of magnets 201 arranged on the rotating vacuum shell; a plurality of support seats 208 are arranged on the inner wall of the rotating vacuum shell, a transmission rod 207 is rotatably arranged on the support seat, a vacuum control valve is arranged at one end of the transmission rod, an end of the transmission rod away from the vacuum control valve is movably connected with a plug rod 203 through a through hole 206 and a structure matching with the rotating rod, an adsorption block 204 is arranged at one end of the plug rod away from the through hole, the adsorption block corresponds to the magnet, a second return spring 205 is connected to the adsorption block 204, and an end of the second return spring 209 away from the adsorption block 204 is connected to the inner wall of the rotating vacuum shell. The through hole is preferably a waist hole.

[0099] A sealing sleeve 103 is rotatably provided at one end of the rotating vacuum shell, and a vacuum generator is connected to the sealing sleeve through a connecting pipe 104. A second driving motor 106 is connected to the end of the rotating vacuum shell away from the vacuum generator through a coupling 105. A plurality of suction holes are arranged in a single row or a plurality of rows of linear arrays on the rotating vacuum shell; when the plurality of rows of linear arrays are arranged, the plurality of suction holes on each row correspond to the plurality of suction holes on the adjacent rows in an interlaced manner. A suction tube 107 is provided at the suction hole. It includes a bracket 500; the upper magnetizer includes an upper magnetic plate 301 arranged on the bracket, and a plurality of upper magnetic blocks 302 are arranged on the upper magnetic plate, and the upper magnetic blocks correspond to the corresponding magnets. The demagnetizer is a demagnetizing plate 401 arranged on the bracket, and the demagnetizing plate corresponds to the magnet. The demagnetizer includes a demagnetizing plate 401 arranged on the bracket, and a plurality of demagnetizing blocks 402 are arranged on the demagnetizing plate, and the demagnetizing blocks correspond to the corresponding magnets. A bearing seat 108 is provided on the bracket, and the end of the rotating vacuum shell is rotatably arranged on the bearing seat through a bearing.

[0100] The working principle of the present invention is:

[0101] At least one visual camera 600 is arranged on the bracket 500, and the visual direction of the visual camera is directed to the conveying device 700. The visual camera can take pictures of the citrus cysts conveyed by the conveying device, and the collected picture information is transmitted to the industrial computer 1000 for data analysis. If cyst foreign matter is found, the industrial computer controls the conveying device, the upper magnetizer 300 and the demagnetizer 400 to work together, and the upper magnetizer and the demagnetizer control the magnetic opening and closing mechanism 200 at the location where the cyst foreign matter is located to open and close the suction hole, and the cyst foreign matter is sucked into the rotating vacuum chamber by the vacuum negative pressure and removed, thereby achieving the purpose of efficient and intelligent detection and removal of cyst foreign matter. Compared with the existing manual detection and removal, it has higher detection and removal efficiency, better removal stability and lower The detection cost is reduced, the missed detection rate is low, the detection and removal accuracy is higher, and the product qualification rate and detection quality are better guaranteed; the number of visual cameras 600 can be flexibly set above the conveying device 700 according to the specific situation, so as to be able to take pictures and detect the citrus cysts that pass through; the conveying device 700 can stably convey the citrus cysts, and intelligently cooperate with the visual camera, the rotation of the vacuum sorting component, the magnetizer and the demagnetizer to adjust the conveying speed, so as to achieve the effect of taking both detection speed and removal accuracy into account; the vacuum sorting component is rotatably set on the bracket 500, and when there is a foreign object, the industrial computer controls the vacuum sorting component to rotate, and the magnetizer magnetizes the magnet at the corresponding position, and the suction hole corresponding to the vacuum sorting component is opened, and the suction hole is rotated to the foreign object. The vacuum sorting assembly is controlled by the industrial computer to continue to rotate, so that the magnet rotates to the demagnetizer to demagnetize the magnet, and the vacuum control valve closes the corresponding suction hole. The foreign matter is sucked into the foreign matter cylinder between the vacuum generator and the rotating vacuum shell. A filter is arranged inside the foreign matter cylinder. The filter is a structure that allows air to pass but foreign matter cannot pass. The device has good removal accuracy and intelligence. Specifically, the vacuum sorting assembly is arranged on the bracket between the visual camera and the output end of the conveying device to ensure the coordination of the visual camera and the vacuum sorting assembly, so as to achieve a continuous cycle of detection-discovery-removal, and ensure the genuine qualified rate of the citrus cysts outputted from the output end of the conveying device 700. The rotating vacuum shell 100 Rotating on the bracket 500, under the control of the industrial computer 1000, if foreign matter is found, the vacuum sorting component will immediately rotate so that the suction hole is aligned with the foreign matter, and the cystic foreign matter is quickly and accurately sucked into the rotating vacuum shell 100 for removal; the vacuum generator 109 serves as a vacuum generating source in the rotating vacuum chamber, so that the rotating vacuum chamber always has a vacuum negative pressure. When cystic foreign matter is found, the vacuum control valve 102 at the corresponding position is opened in time to suck the cystic foreign matter into the rotating vacuum chamber for removal; a number of suction holes 101 are distributed on the rotating vacuum shell, all over the rotating vacuum shell. If foreign matter is found, the industrial computer controls the rotating vacuum shell to rotate and aligns the suction hole with the foreign matter, which can ensure that the cystic foreign matter found is sucked and removed without omission, thereby ensuring the efficiency of foreign matter removal;The vacuum control valve is correspondingly arranged at each suction hole. Under the magnetic force of the magnetic opening and closing mechanism, the vacuum control valve can open or close the suction hole in time under the control of the industrial control computer, and suck the cyst foreign matter into the rotating vacuum chamber in time under negative pressure; the upper magnetizer 300 can timely magnetize the magnetic opening and closing mechanism 200 at the corresponding position where the cyst foreign matter appears, so that the vacuum control valve 102 is opened, and the cyst foreign matter is sucked into the suction hole in time for removal; the demagnetizer 400 can timely remove the magnetism on the corresponding magnetic opening and closing mechanism after the cyst foreign matter is adsorbed, so that the vacuum control valve is closed; the overall foreign matter in the citrus cyst is removed based on the visual camera 600, and the visual acquisition picture is transmitted to the industrial control computer for analysis, and the foreign matter in the citrus cyst is detected and removed after being detected by the conveying device, the rotating power source of the vacuum sorting component, the upper magnetizer and the demagnetizer, so as to achieve the purpose of intelligent detection and removal of foreign matter, overcome the shortcomings of low efficiency and high cost of existing manual detection, and compared with manual detection, it has the characteristics of simple operation, low missed detection rate, high efficiency and high precision. ;

[0102] A plurality of magnets 201 correspond to the magnetizer 300 and the demagnetizer 400. Each suction hole 101 corresponds to a magnet. The vacuum control valve 102 is opened and closed by magnetizing and demagnetizing itself, so that the opening and closing of the suction hole is highly sensitive. Under the magnetic force of the magnet, the plug rod 203 moves back and forth in the plug hole, pulling the transmission rod 207 to rotate on the support seat 208, so as to achieve the purpose of timely opening and closing of the suction hole by the vacuum control valve. The adsorption block 204 corresponds to the magnet and can act in time according to whether the magnet is magnetized or not. If the magnet is magnetized, the adsorption block is adsorbed by the magnet, and the adsorption block is adsorbed by the magnet through the plug rod and the transmission rod. The linkage makes the suction hole open, and the foreign matter found is adsorbed and removed in time. If the magnet is demagnetized, the adsorption block 204 is no longer adsorbed by the magnet. Under the return force of the first return spring 205, the insertion rod and the transmission rod are linked again to close the suction hole; the entire magnetic opening and closing mechanism 200 has a simple structure and a clever design, and has good opening and closing sensitivity; the sealing sleeve 103 can well realize the connection between the connecting tube 104 and the rotating vacuum shell 100, on the one hand, it does not interfere with the rotation of the rotating vacuum shell, and on the other hand, the stable vacuum degree in the rotating vacuum shell is ensured through the connecting tube; the first coupling 105 can realize the stable connection between the second drive motor 106 and the rotating vacuum shell The rotating vacuum shell rotates with the rotation of the second driving motor. Under the overall control of the industrial computer, the rotation of the rotating vacuum shell can be performed intelligently and sensitively according to actual needs; the plurality of suction holes 101 arranged in a linear array can fully correspond to the surface of the annular conveyor belt of the conveying device, and can ensure that the cystic foreign matter found is adsorbed and removed without omission, thereby ensuring the efficiency of foreign matter removal; the suction end of the suction tube 107 can more accurately point to the cystic foreign matter, and if the cystic foreign matter is found, it can be accurately sucked, preventing qualified cysts from being sucked in, thereby ensuring the accuracy of foreign matter suction; the plurality of upper magnetic blocks 302 on the upper magnetic plate 301 and the corresponding magnets 201 Correspondingly, the magnet at the corresponding position where the cystic foreign matter appears can be magnetized in a timely and accurate manner, and the vacuum control valve 102 can be controlled to be opened, so that the cystic foreign matter can be sucked into the suction hole in time for removal. The whole process is controlled by an industrial computer. When foreign matter is found, only the magnet corresponding to the foreign matter is magnetized to ensure the accuracy of foreign matter removal. The demagnetization plate 401 corresponds to the magnet 201, and can timely and accurately demagnetize the magnet at the corresponding position where the cystic foreign matter appears, and the vacuum control valve can be controlled to be closed. The whole process is controlled by an industrial computer, and only the corresponding magnet after the foreign matter is adsorbed is demagnetized, with good accuracy. The bearing seat 108 provides stable support for the stable rotation of the rotating vacuum shell and the accurate adsorption of the cystic foreign matter.

[0103] The first rotating shaft 701, the second rotating shaft 702, the annular conveyor belt 703 and the first driving motor 704 cooperate to stably convey the citrus cysts to the location of the visual camera 600 and the vacuum sorting component, and complete the detection and foreign matter removal work in a running water manner. The rotation speed of the first driving motor is intelligently adjusted by the industrial computer to ensure a continuous and stable cycle of detection-discovery-removal; the industrial computer 1000 controls the rotation of the rotating vacuum shell 100 and the conveying speed of the annular conveyor belt as a whole to ensure the overall detection efficiency and the qualified rate of genuine products after the foreign matter is removed in time; the support rod 501 provides an installation position for the visual camera, so that the visual camera is stably located above the appropriate position of the conveying device, stably completes the visual acquisition of pictures, and transmits them to the industrial computer for analysis; the transparent structure of the annular conveyor belt can intuitively know the working conditions of each component above the annular conveyor belt, inside the annular conveyor belt and below the annular conveyor belt in the entire equipment; The water absorption component 800 can remove the water flowing on the circular conveyor belt 703 in time after the visual camera 600 detects and the vacuum sorting component removes the debris, so as to prevent the water from dripping from the circular conveyor belt to the ground; the water collecting shell 801 can collect the water dripping from the circular conveyor belt to prevent the water from dripping directly to the ground; a group of water guide plates 803 are arranged to form a bell mouth, which can guide the water flowing out of the citrus cysts after the foreign matter is removed to the water inlet 802, and then be collected by the water collecting shell for centralized treatment; under the suction force of the water suction pump 805, the collected water is discharged from the water outlet to the external water collecting box for centralized treatment; the suction force and working condition of the water suction pump can be controlled and adjusted by the industrial computer; the distance between the vacuum sorting component and the surface of the circular conveyor belt 703 can be adjusted by the lifting component 900, and the industrial computer controls the distance between the suction end of the vacuum sorting component for the debris and the surface of the circular conveyor belt 0.The distance between the vacuum sorting component and the conveyor belt surface is preferably 5cm to 5cm, so that the required distance can be adjusted in real time according to the actual situation to ensure that the citrus cyst foreign matter found is accurately and quickly adsorbed and removed; the visual camera has a 3D ranging function, and can timely adjust the height of the vacuum sorting component relative to the surface of the circular conveyor belt according to the height of the cyst on the circular conveyor belt; the lifting motor 901 provides a stable driving force for the lifting of the vacuum sorting component; the driving end of the lifting motor is connected to the eccentric disk surface of the rotating disk 902 to achieve the distance adjustment of the vacuum sorting component relative to the surface of the circular conveyor belt, and the rotation of the lifting motor is controlled by the industrial computer, and the vacuum sorting component is adjusted in real time intelligently. The distance between the components and the surface of the annular conveyor belt is a suitable distance; the lifting frame 903 can stably transmit the lifting force of the rotating disk to the vacuum sorting component; the guide rod 904 cooperates with the guide hole 906, so that after the lifting force of the rotating disk is transmitted to the vacuum sorting component, the distance between the vacuum sorting component and the surface of the annular conveyor belt can be adjusted without deflection; the mounting block 907 provides a mounting position for the bearing seat 108 to ensure the stable rotation of the rotating vacuum shell and the accurate adsorption of cyst foreign matter; the mounting plate 908 provides a mounting position for the second drive motor 106, provides stable support for the second drive motor, and ensures the stable rotation of the rotating vacuum shell. .

[0104] The equipment starts working, and each part starts. The industrial computer adjusts the speed of the second drive motor 106 to adjust the speed of the rotating vacuum shell, and the industrial computer adjusts the speed of the first drive motor 704 to adjust the speed of the circular conveyor belt. When the optical fiber sensor arranged next to the circular conveyor belt detects that the citrus cyst enters the shooting section, a level signal is generated to trigger the light source strobe and the visual camera 600 to shoot the image of the citrus cyst. The image is transmitted to the industrial computer through the IEEE1394B data line. The image processing software in the industrial computer performs a series of image processing. The industrial computer 1000 detects all foreign objects in the field of view and inputs the coordinates of the foreign objects into the image processing software. The data in the database are entered into the database, and the data in the database are optimized. If there is foreign matter, a command is sent to the magnet 201 where the foreign matter is located, and the magnetic opening and closing mechanism 200 at the corresponding position of the rotating vacuum shell 100 drives the vacuum control valve 102 to open the suction hole 101, and the non-cystic foreign matter is sucked into the rotating vacuum chamber by the vacuum negative pressure and removed. After the foreign matter is removed, the demagnetizer 400 demagnetizes the magnet, and under the action of the first return spring 205 or the second return spring 209, the magnetic opening and closing mechanism at the corresponding position drives the vacuum control valve to close the suction hole, and this cycle is repeated to remove all foreign matter found one by one. The whole system first uses a visual camera 600 to collect images of citrus cysts in real time, and extracts the corresponding image coordinates and motion information, so that the target always appears in the field of view of the guide camera, thereby achieving the purpose of visual locking of the target, thereby realizing the tracking and absolute positioning of foreign objects in citrus cysts, and using image-based visual technology to drive the vacuum sorting component to work. The industrial computer updates the image Jacobian matrix and its inverse matrix in real time, and calculates the output control quantity to control the opening and closing of the magnetic opening and closing mechanism 200 at the location of the foreign object, ultimately achieving the purpose of accurately removing foreign objects.

Claims

1. Citrus cyst vacuum sorting equipment, characterized by: The invention comprises a support, wherein at least one visual camera (600) is arranged on the support; a conveying device (700) is arranged on the support, and the visual direction of the visual camera points to the conveying device; a vacuum sorting component is rotatably arranged on the support, and the vacuum sorting component is located on the support between the visual camera and the output end of the conveying device; The vacuum sorting assembly comprises a rotating vacuum shell (100), the rotating vacuum shell is rotatably arranged on a bracket, a rotating vacuum chamber is formed inside the rotating vacuum shell, and a vacuum generator (109) is arranged at one end of the rotating vacuum chamber; a plurality of suction holes (101) are arranged on the rotating vacuum shell, and a vacuum control valve (102) is arranged at the suction holes, and a magnetic opening and closing mechanism (200) is connected to the vacuum control valve; At least one upper magnet (300) is provided on the bracket, and the magnetic opening and closing mechanism corresponds to the upper magnet; At least one demagnetizer (400) is provided on the bracket, and the magnetic opening and closing mechanism corresponds to the demagnetizer; It comprises an industrial computer (1000), which is electrically connected to a visual camera, a conveying device, a rotation power source of a vacuum sorting component, a magnetizer and a demagnetizer.

2. The citrus cyst vacuum sorting equipment according to claim 1, characterized in that: The magnetic opening and closing mechanism comprises a plurality of magnets (201) arranged on a rotating vacuum shell, a plurality of insertion holes are arranged on the rotating vacuum shell, the insertion holes correspond to the corresponding magnets, a plug rod (203) is slidably arranged in the insertion hole, an adsorption block (204) is arranged at one end of the plug rod located outside the rotating vacuum shell, and the adsorption block corresponds to the magnet; a first return spring (205) is arranged on the part of the plug rod located inside the rotating vacuum shell, and a transmission rod (207) is movably connected to the end of the plug rod located inside the rotating vacuum shell through a through hole (206) and a structure that cooperates with the rotating rod; a plurality of support seats (208) are arranged on the inner wall of the rotating vacuum shell, the transmission rod is rotatably arranged on the corresponding support seats, and the vacuum control valve is arranged at one end of the transmission rod away from the through hole; the magnet corresponds to the upper magnetizer; the magnet corresponds to the demagnetizer.

3. The citrus cyst vacuum sorting equipment according to claim 1, characterized in that: The magnetic opening and closing mechanism comprises a plurality of magnets (201) arranged on a rotating vacuum shell; a plurality of support seats (208) are arranged on the inner wall of the rotating vacuum shell; a transmission rod (207) is rotatably arranged on the support seat; the vacuum control valve is arranged at one end of the transmission rod; an end of the transmission rod away from the vacuum control valve is movably connected to an insertion rod (203) through a through hole (206) and a structure that cooperates with the rotating rod; an adsorption block (204) is arranged at one end of the insertion rod away from the through hole; the adsorption block corresponds to the magnet; a second return spring (205) is connected to the adsorption block (204); and an end of the second return spring (209) away from the adsorption block (204) is connected to the inner wall of the rotating vacuum shell.

4. The citrus cyst vacuum sorting equipment according to claim 2 or 3, characterized in that: A sealing sleeve (103) is rotatably provided at one end of the rotating vacuum shell, and the vacuum generator is connected to the sealing sleeve via a connecting pipe (104); One end of the rotating vacuum housing away from the vacuum generator is connected to a second drive motor (106) via a first coupling (105), and the second drive motor is electrically connected to an industrial control machine; The adsorption block is made of iron or nickel; A suction pipe (107) is provided at the suction hole; A bearing seat (108) is provided on the bracket, and the end of the rotating vacuum shell is rotatably arranged on the bearing seat through a bearing.

5. The citrus cyst vacuum sorting equipment according to claim 1, characterized in that: The plurality of suction holes are arranged in a single row or multiple rows of linear arrays on the rotating vacuum shell; When multiple rows of linear arrays are arranged, a number of suction holes on each row correspond to a number of suction holes on an adjacent row in an alternating manner.

6. The citrus cyst vacuum sorting equipment according to claim 1, characterized in that: The upper magnet comprises an upper magnetic plate (301) arranged on a bracket, and a plurality of upper magnetic blocks (302) are arranged on the upper magnetic plate, and the upper magnetic blocks correspond to corresponding magnets; The demagnetizer is a demagnetization plate (401) arranged on the bracket, and the demagnetization plate corresponds to the magnet.

7. The citrus cyst vacuum sorting equipment according to claim 1, characterized in that: The support is provided with a water absorption component (800), the water absorption component is located inside the annular conveyor belt (703) in the conveying device, and the water absorption component is located between the visual camera and the output end of the annular conveyor belt on the support; The water absorption component comprises a water collecting shell (801), which is arranged on a bracket and located inside the circular conveyor belt. The water collecting shell is provided with a water inlet (802), and a group of water guide plates (803) are provided at the water inlet. The group of water guide plates are arranged to form a bell mouth, and the expanded end of the bell mouth is located below the circular conveyor belt. A water outlet (804) is provided at one end of the water collecting shell, and a water suction pump (805) is provided at the water outlet.

8. The citrus cyst vacuum sorting equipment according to claim 1, characterized in that: The vacuum sorting component is adjusted and arranged on the support relative to the surface of the annular conveyor belt in the conveying device through a lifting component (900), and the lifting component is electrically connected to the industrial control machine; The lifting assembly comprises a lifting motor (901), which is arranged on a bracket or placed on the ground. The driving end of the lifting motor is provided with a rotating disk (902), and the driving end of the lifting motor is connected to the eccentric disk surface of the rotating disk. The rotating disk is provided with a lifting frame (903), and the lifting frame is provided with a guide rod (904), and the end of the guide rod away from the lifting motor is connected to the vacuum sorting assembly; the bracket is provided with a guide block (905), and the guide block is provided with a guide hole (906), and the guide rod is slidably arranged in the guide hole; the lifting motor is electrically connected to the industrial control computer.

9. A method for sorting citrus cysts, characterized in that: Includes the following step, (S01) placing the citrus cysts on a ring-shaped conveyor belt of a conveying device for conveying; (S02) a visual camera takes photos of the citrus cysts on the endless conveyor belt in step (S01) for identification and comparison; (S03) If the identification and comparison result in step (S02) is that non-cystic foreign matter exists, the upper magnet is magnetized on the magnet at the corresponding position, and the magnetic opening and closing mechanism at the corresponding position of the rotating vacuum shell drives the vacuum control valve to open the suction hole, and the non-cystic foreign matter is sucked into the rotating vacuum chamber by the vacuum negative pressure and removed; (S04) The rotating vacuum shell in step (S03) continues to rotate to the demagnetizer, and the demagnetizer demagnetizes the magnet. Under the action of the first return spring or the first return spring, the magnetic opening and closing mechanism at the corresponding position drives the vacuum control valve to close the suction hole.

10. A citrus cyst vacuum sorting assembly, characterized by: It comprises a rotating vacuum shell (100), wherein a rotating vacuum chamber is formed inside the rotating vacuum shell, and a vacuum generator is provided at one end of the rotating vacuum chamber; the rotating vacuum shell is provided with a plurality of suction holes (101), wherein vacuum control valves (102) are provided at the suction holes, and a magnetic opening and closing mechanism (200) is connected to the vacuum control valve; It comprises at least one upper magnet (300), and the magnetic opening and closing mechanism corresponds to the upper magnet; It comprises at least one demagnetizer (400), and the magnetic opening and closing mechanism corresponds to the demagnetizer.

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