Automatic production equipment for pineapples or pineapples

Abstract

The invention relates to the technical field of automatic processing of pineapples or pineapples, in particular to automatic production equipment for pineapples or pineapples, firstly, the pineapples or the pineapples are conveyed through a first conveying line, initial images of the pineapples or the pineapples are shot by first camera shooting equipment, and the outline shape and size of the single pineapple or pineapple are obtained according to the initial images. After the outline shape and size of the pineapple or the pineapple are obtained, the head and tail cutting device can be controlled to cut the head and tail of the pineapple or the pineapple. Then the pineapple or the pineapple is grabbed through the fruit grabbing and positioning device and adjusted to be in a preset shape, the pineapple or the pineapple is automatically peeled, then the position of a pineapple hole of the pineapple or the pineapple is recognized, the hole digging rotating cutter is controlled to accurately dig the pineapple hole, and therefore full-automatic head and tail removing, peeling and hole digging processing of the pineapple or the pineapple is achieved; the processing efficiency is greatly improved, and the processing cost of pineapples or pineapples can be reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic processing of pineapples or pineapples, and in particular relates to automatic production equipment for pineapples or pineapples. Background Art

[0002] In the field of pineapple or pineapple processing, the skin of pineapple or pineapple is hard, and there are many pineapple eyes on the surface of the flesh. At present, manual processing is generally adopted, that is, after manually removing the head and tail of the pineapple, peeling, using pineapple eye clips or pineapple shovels to remove the eyes, and then the pineapple or pineapple flesh embryo is obtained. When the pineapple eye clip is used to remove the eyes, it is necessary to manually remove the pineapple eyes one by one, which is not only inefficient, but also easy to remove excess flesh, thereby causing flesh waste. When the pineapple shovel is used to remove the eyes, the V-shaped blade of the pineapple shovel is used to shovel the eyes along the lines of the pineapple eyes, resulting in more flesh waste.

[0003] Therefore, in the field of pineapple or pineapple processing, improving processing effect and reducing pulp waste are current problems to be solved in pineapple or pineapple processing. Summary of the invention

[0004] The object of the present invention is to provide an automated production device for pineapples or pineapples, thereby overcoming the defect that the current pineapple or pineapple processing is carried out manually, resulting in low processing efficiency.

[0005] To achieve the above object, the present invention provides an automated production device for pineapples or pineapples, comprising:

[0006] A first transmission line is used to successively transmit individual pineapples or pineapples;

[0007] A first camera device, which is arranged on the first transmission line, and is used to successively capture initial images of the single pineapple or pineapple;

[0008] A first recognition module, which is used to obtain the outline, shape and size of a single pineapple or pineapple according to the initial image;

[0009] A head and tail cutting device is arranged behind the first camera device, and controls the head and tail cutting device to cut off the head and tail predetermined parts of the pineapple or pineapple according to the size of the outline shape;

[0010] A fruit grabbing and positioning device, which is arranged behind the head and tail cutting device and is used to grab the pineapple or pineapple and adjust the pineapple or pineapple to a predetermined shape;

[0011] A second transmission line is provided with a plurality of rotatable pins, and the plurality of pins move along the second transmission line; the fruit grabbing and positioning device grabs the pineapple or pineapple and adjusts it to a predetermined shape and pushes it onto the pins;

[0012] A first peeling device is arranged on the transmission path of the second transmission line, and the first peeling device is provided with a scraper that can move up and down and left and right. When peeling, the pin member drives the pineapple or pineapple to rotate, and the first peeling device adjusts the position of the scraper according to the outline shape and size of the pineapple or pineapple to drive the scraper to scrape the pineapple or pineapple;

[0013] A second camera device is provided on a transmission path of the second transmission line, and is used to capture a plurality of second images of the single pineapple;

[0014] A second recognition module, which is used to identify and obtain the pineapple eye position of a single pineapple or pineapple according to the plurality of the second images;

[0015] The first eye-digging device includes a moving mechanism and an eye-digging mechanism, wherein the moving mechanism is used to drive the eye-digging mechanism to move, and the eye-digging mechanism is provided with an eye-digging rotary knife that can move forward and backward and can rotate. When digging eyes, according to the position of the pineapple eye, the moving mechanism drives the eye-digging mechanism to move to a certain position according to the position of the pineapple eye, and the pin member drives the pineapple or pineapple to rotate and cooperate with the rotating eye-digging rotary knife to continuously move forward and backward to dig the eye at the pineapple eye position.

[0016] Preferably, in the above technical solution, the first transmission line includes a conveyor belt and a plurality of brackets arranged on the conveyor belt.

[0017] Preferably, in the above technical scheme, the head and tail resection device includes a first transmission mechanism, a first tool holder, a first drive device, a first cutter, a second transmission mechanism, a second tool holder, a second drive device, a second cutter, a pressure plate bracket, a third drive device and a fixed pressure plate; the first transmission mechanism and the second transmission mechanism are respectively arranged on both sides of the rear of the first camera device, the first tool holder is arranged on the first transmission mechanism so that the first transmission mechanism drives the first tool holder to move back and forth laterally, the second tool holder is arranged on the second transmission mechanism so that the second transmission mechanism drives the second tool holder to move back and forth laterally, the first cutter is arranged on the first tool holder through the first drive device so that the first drive device drives the first cutter to move up and down, the second cutter is arranged on the second tool holder through the second drive device so that the second drive device drives the second cutter to move up and down, the pressure plate bracket is arranged between the first cutter and the second cutter, and the fixed pressure plate is arranged on the pressure plate bracket through the third drive device so that the third drive device drives the fixed pressure plate to move up and down.

[0018] Preferably, the above technical solution further comprises a first positioning camera device, a second positioning camera device and a third identification module, the fruit grabbing and positioning device comprises a five-axis linkage manipulator, and the five-axis linkage manipulator is located behind the head and tail cutting device to successively grab the pineapples or pineapples;

[0019] The first positioning camera device is used to capture a first positioning image from a first perspective after the five-axis linkage manipulator grasps the pineapple or pineapple; the second positioning camera device is used to capture a second positioning image from a second perspective after the five-axis linkage manipulator grasps the pineapple or pineapple; and according to the first positioning image and the second positioning image, the five-axis linkage manipulator is controlled to drive the pineapple or pineapple to a vertical state.

[0020] Preferably, in the above technical solution, the second transmission line includes an annular transmission belt and a plurality of pin mechanisms, the plurality of pin mechanisms are respectively arranged on the annular transmission belt, the pin mechanisms include a pin seat, a fourth driving device and a pin piece, the pin seat is fixed on the annular transmission belt, the pin piece is arranged on the pin seat through the fourth driving device so that the pin piece is driven to rotate by the fourth driving device.

[0021] Preferably, in the above technical solution, the first peeling device includes a peeling bracket, a fifth driving device, a first peeling scraper bracket, a sixth driving device, a second peeling scraper bracket and a peeling scraper; the first peeling scraper bracket is arranged on the peeling bracket so as to be movable up and down, the fifth driving device is used to drive the first peeling scraper bracket to move up and down, the second peeling scraper bracket is arranged on the first peeling scraper bracket so as to be movable laterally, the sixth driving device is used to drive the second peeling scraper bracket to move left and right, and the peeling scraper is arranged on the second peeling scraper bracket.

[0022] Preferably, in the above technical solution, the moving mechanism includes an eye-digging frame, an up-and-down moving module and a forward-and-backward moving module, the up-and-down moving module is arranged on the eye-digging frame, the forward-and-backward moving module is arranged on the up-and-down moving module, the eye-digging mechanism is arranged on the forward-and-backward moving module, the eye-digging mechanism includes an eye-digging bracket, an eye-digging cutter and a reciprocating drive mechanism, a high-speed rotating motor and a magnetic coupling rotating drive mechanism arranged on the eye-digging bracket; the eye-digging cutter is fixed on the rotating shaft of the inner rotor of the magnetic coupling rotating drive mechanism, the high-speed rotating motor is connected to the outer rotor of the magnetic coupling rotating drive mechanism to drive the outer rotor to rotate at a high speed, and the reciprocating drive mechanism is used to drive the rotating shaft of the inner rotor to perform reciprocating motion.

[0023] Preferably, in the above technical solution, the outer periphery of the end of the eye-gouging rotary knife is provided with a plurality of long blades extending outwardly relative to the knife wall of the eye-gouging rotary knife, and the ends of the long blades are arc-shaped.

[0024] Preferably, the above technical solution also includes a second peeling device, which has the same structure as the first peeling device, and is arranged on the transmission path of the second transmission line. After the pineapple is dug out, the needle member drives the pineapple to rotate, and the second peeling device adjusts the position of the scraper of the second peeling device according to the contour shape and size of the pineapple to drive the scraper to scrape the pineapple for the second time.

[0025] Preferably, the above technical solution further comprises a fourth identification module and a third camera device and a second eye-digging device which are sequentially arranged on the transmission path of the second transmission line; the second eye-digging device has the same structure as the first eye-digging device;

[0026] The third camera device is used to take multiple third images of the single pineapple or pineapple; the fourth recognition module is used to identify and obtain the pineapple eye position and rotten fruit position of the single pineapple or pineapple based on the multiple third images; when performing secondary eye digging, according to the pineapple eye position or the rotten fruit position, the moving mechanism drives the eye digging mechanism to move to a certain position according to the pineapple eye position or the rotten fruit position, and the pin member drives the pineapple or pineapple to rotate and cooperate with the rotating eye digging knife to continuously move back and forth to dig the pineapple eye position or the rotten fruit position.

[0027] Preferably, the above technical solution further includes mechanisms at both ends of the lower fruit pins arranged on the transmission path of the second transmission line, the mechanisms at both ends of the lower fruit pins include: a lower fruit support, a lower fruit puller, a puller driving device, a lower fruit push plate, a lower fruit driving device, an upper cutter, a lower cutter and a lower cutting driving device, the lower fruit support is provided with a lower fruit outlet, the upper end of the lower fruit outlet is provided with an upper cutter, and the lower end is provided with a lower cutter that can slide up and down, and the lower cutting driving device is used to drive the lower cutter to float up and down;

[0028] A lower fruit supporting plate is provided on the lower fruit bracket on one side of the lower fruit outlet, and the pin member can correspond to the lower fruit supporting plate when the second transmission line moves; the lower fruit shifter is provided above the lower fruit supporting plate in a manner that it can move up and down, and the shifter driving device is used to drive the lower fruit shifter to move up and down, and the lower fruit push plate is provided on one side of the lower fruit outlet in a manner that it can move laterally, and the lower fruit driving device is used to drive the lower fruit push plate to move back and forth toward the lower fruit outlet.

[0029] Compared with the existing technology, the present invention has the following beneficial effects:

[0030] 1. The automated production equipment of pineapple or pineapple in the present invention first transmits pineapple or pineapple through a first transmission line, shoots an initial image of pineapple or pineapple by a first camera device, and obtains the outline shape and size of a single pineapple or pineapple according to the initial image. After obtaining the outline shape and size of the pineapple or pineapple, the head and tail removal device can be controlled to remove the head and tail of the pineapple or pineapple. Then, the pineapple or pineapple is grasped and adjusted to a predetermined shape by a fruit grasping positioning device, the pineapple or pineapple is automatically peeled and the pineapple eye position of the pineapple or pineapple is identified, and the eye-digging rotary cutter is controlled to accurately dig the pineapple eye, thereby realizing full-automatic head and tail removal, peeling and eye-digging processing of pineapple or pineapple, greatly improving processing efficiency, and reducing pineapple or pineapple processing cost.

[0031] 2. After the present invention identifies the position of the pineapple eye of the pineapple or pineapple, the eye-digging rotary cutter is used to rotate back and forth at high speed to dig out the pineapple eye. Because the rotating eye-digging rotary cutter corresponds to the position of the pineapple eye and the digging area is small, the waste of pulp is reduced.

[0032] 3. After the initial digging, the present invention can further identify the bad fruit position of the pineapple or pineapple, so as to further dig out the bad fruit position, thereby improving the quality of the pineapple or pineapple flesh. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a first structural schematic diagram of the automated production equipment for pineapples or pineapples of the present invention.

[0034] Figure 2 It is a partial enlarged structural schematic diagram of the head and tail resection device of the present invention.

[0035] Figure 3 It is a schematic diagram of the structure of the head and tail resection device of the present invention.

[0036] Figure 4 For the present invention Figure 1 A partial enlarged schematic diagram of .

[0037] Figure 5 It is a schematic diagram of the fixed-result shooting of the positioning camera of the present invention.

[0038] Figure 6 It is a schematic structural diagram of the second transmission line of the present invention.

[0039] Figure 7 It is a structural schematic diagram of the pin insertion mechanism of the present invention.

[0040] Figure 8 This is a second structural schematic diagram of the automated production equipment for pineapples or pineapples of the present invention.

[0041] Fig. 9 It is a schematic structural diagram of the peeling device of the present invention.

[0042] Fig.10 It is a structural schematic diagram of the eye-digging device of the present invention.

[0043] Fig.11 It is a structural schematic diagram of the reciprocating drive mechanism of the present invention.

[0044] Fig.12 It is a schematic diagram of shooting of the second camera device of the present invention.

[0045] Fig.13 It is a structural schematic diagram of the eye-digging rotary knife of the present invention.

[0046] Fig.14 It is a structural schematic diagram of the mechanisms at both ends of the lower fruit pin of the present invention.

[0047] Figure 15a-15g It is a schematic diagram of the process of pineapple eye recognition of the present invention.

[0048] in:

[0049] 11-first transmission line, 12-second transmission line,

[0050] 2- First camera device,

[0051] 3-head and tail cutting device, 31-first transmission mechanism, 32-second transmission mechanism, 331-first tool holder, 332-first cutter, 333-first driving device, 341-second tool holder, 342-second cutter, 343-second driving device, 351-pressing plate bracket, 352-fixed pressing plate, 353-third driving device,

[0052] 4-grasping and positioning device, 41-five-axis linkage driving mechanism, 42-mechanical claw,

[0053] 5-positioning camera device, 51-first positioning camera device, 52-second positioning camera device,

[0054] 6-pin mechanism, 61-pin seat, 62-pin member, 63-fourth drive device,

[0055] 7-first peeling device, 71-peeling support, 72-first peeling scraper frame, 73-fifth driving device, 74-second peeling scraper frame, 75-sixth driving device, 76-peeling scraper,

[0056] 8- Second camera device,

[0057] 9-first eye-digging device, 91-up and down moving module, 92-forward and backward moving module, 93-eye-digging mechanism, 931-eye-digging bracket, 932-reciprocating drive motor, 933-cam, 934-sliding block, 935-slide rail, 936-connecting rod, 937-high-speed rotating motor, 938-magnetic coupling rotating drive mechanism, 9381-outer rotor, 9382-inner rotor, 939-eye-digging rotary knife, 9391-long blade,

[0058] 10-lower fruit pin end mechanisms, 101-lower fruit bracket, 102-lower fruit supporting plate, 103-lower fruit puller, 104-upper cutter, 105-lower cutter, 106-lower fruit outlet. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "thick", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0061] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If the terms "first", "second", "third" are described, they are only used for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0062] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is an explanation of the embodiments of the present invention based on its overall structure.

[0063] like Figure 1-Figure 14 As shown, the automated production equipment for pineapples or pineapples in this embodiment includes: a first transmission line 1, a first camera device 2, a first identification module, a head and tail cutting device 3, a positioning camera device 5, a second identification module, a fruit grabbing and positioning device 4, a second transmission line, a first peeling device 7, a second camera device 8, a third identification module, a first eye-digging device 9, a second peeling device, a third camera device, a fourth identification module, a second eye-digging device and mechanisms 10 at both ends of the lower fruit pin.

[0064] Continue to refer Figure 1-Figure 3 The first transmission line 1 is used to successively transmit single pineapples or pineapples. Specifically, the first transmission line 1 includes a conveyor belt and a plurality of brackets arranged on the conveyor belt. The pineapples or pineapples are placed on the brackets for transmission, and can be equipped with an automated robot to realize automatic loading.

[0065] The first camera device 2 is arranged at the front end of the first transmission line 1, and is used to successively take the initial image of a single pineapple or pineapple. The first camera device 2 is preferably a camera. The first camera device 2 obtains the initial image of the pineapple or pineapple and transmits it to the first recognition module, and the first recognition module is used to obtain the outline shape size of the single pineapple or pineapple according to the initial image. Specifically, the outer contour of the pineapple in the initial image is firstly recognized, and then the size of the outer contour on the X-axis and the Y-axis in the coordinate system is calculated, which is the outline shape size.

[0066] The head and tail cutting device 3 is arranged behind the first camera device 2, and controls the head and tail cutting device 3 to cut off the head and tail predetermined parts of the pineapple or pineapple according to the outline shape and size of the pineapple or pineapple. Figure 1-Figure 2The head and tail cutting device 3 includes a first transmission mechanism 31, a first tool holder 331, a first driving device 333, a first cutter 332, a second transmission mechanism 32, a second tool holder 341, a second driving device 343, a second cutter 342, a pressure plate bracket 351, a third driving device 353 and a fixed pressure plate 352. The first transmission mechanism 31 and the second transmission mechanism 35 are respectively arranged on both sides of the rear of the first camera device 2. The first transmission mechanism 31 and the second transmission mechanism 32 are preferably screw transmission mechanisms. The first tool holder 331 is arranged on the first transmission mechanism 31 so that the first transmission mechanism 31 drives the first tool holder 331 to move back and forth horizontally. The second tool holder 341 is arranged on the second transmission mechanism 32 so that the second transmission mechanism 32 drives the second tool holder 341 to move back and forth horizontally. The first cutter 332 is arranged on the first tool holder 331 through the first driving device 333 so that the first driving device 333 drives the first cutter 332 to move up and down. The second cutter 342 is arranged on the second tool holder 341 through the second driving device 343 so that the second cutter 342 is driven by the second driving device 343 to move up and down. There is a fruit cutting space between the first cutter 332 and the second cutter 342, and the distance between the first cutter 332 and the second cutter 342 is controlled according to the size of the contour shape. The pressure plate bracket 351 is disposed above the first cutter 332 and the second cutter 342 . The fixed pressure plate 352 is disposed on the pressure plate bracket 351 through the third driving device 353 so that the third driving device 353 drives the fixed pressure plate 352 to move up and down.

[0067] When the predetermined position of the head and tail of the pineapple or pineapple is cut off, the predetermined position of the head and tail of the pineapple or pineapple is determined according to the outline shape and size of the pineapple or pineapple, and then the first transmission mechanism 31 and the second transmission mechanism 32 are controlled to adjust the first cutter 332 and the second cutter 342 to the predetermined position, and then the third driving device 353 is controlled to drive the fixed pressing plate 352 to press down and fix the pineapple or pineapple, and finally the first driving device 333 and the second driving device 343 are controlled to drive the first cutter 332 and the second cutter 342 to move downward to cut off the predetermined position of the head and tail of the pineapple or pineapple. This method can accurately cut according to the size of the fruit and avoid waste of pulp.

[0068] Continue to refer Figure 1 and Figure 4 The fruit grabbing and positioning device 4 is arranged on the first transmission line 1 behind the head and tail cutting device 3, and is used to grab the pineapple or pineapple and adjust the pineapple or pineapple to a predetermined shape. Specifically, the fruit grabbing and positioning device 4 includes a five-axis linkage manipulator, which is located behind the head and tail cutting device for successively grabbing the pineapple or pineapple. And the five-axis linkage manipulator is located above the first transmission line 1. In this embodiment, the five-axis linkage manipulator is composed of a five-axis linkage drive mechanism 41 and a mechanical claw 42, and the five-axis linkage drive mechanism 41 is composed of five coordinate axis drive modules, namely three linear coordinate drive modules and two rotational coordinate drive modules.

[0069] refer to Figure 1 and Figure 4-Figure 5 The positioning camera device 5 includes a first positioning camera device 51 and a second positioning camera device 52. The first positioning camera device 51 and the second positioning camera device 52 are respectively arranged on a vertical line of the same horizontal plane or the same longitudinal plane. In this embodiment, the first positioning camera device 51 and the second positioning camera device 52 are preferably cameras. The first positioning camera device 51 is used to shoot a first positioning image of a first perspective after the five-axis linkage manipulator grabs the pineapple or pineapple, and the second positioning camera device 52 is used to shoot a second positioning image of a second perspective after the five-axis linkage manipulator grabs the pineapple or pineapple. Two vertical images of the same horizontal plane or the same longitudinal plane are shot, and after correction from two perspectives, the pineapple or pineapple is ensured to be in a vertical state of the vertical horizontal plane or the vertical longitudinal plane.

[0070] The five-axis linkage robot is controlled to drive the pineapple or pineapple to a vertical state according to the first positioning image and the second positioning image. That is, after obtaining the images of the pineapple or pineapple in two directions, the vertical correction angles of the pineapple or pineapple are obtained from the two directions respectively, and the five-axis linkage robot is controlled to drive the pineapple or pineapple to adjust the angle from the two directions through the vertical correction angles in the two directions, so that the pineapple or pineapple is in a vertical state perpendicular to the horizontal or longitudinal plane.

[0071] When performing the fruit grasping and positioning operation, the five-axis linkage robot grasps the pineapple or pineapple whose head and tail parts have been cut off on the first production line, and then adjusts it to a predetermined position. The first positioning camera device 51 and the second positioning camera device 52 take the first positioning image and the second positioning image of the pineapple or pineapple in two directions, and then the third recognition module obtains the vertical correction angles of the pineapple or pineapple in two directions based on the first positioning image and the second positioning image. According to the vertical correction angles in the two directions, the five-axis linkage robot is controlled to drive the pineapple or pineapple from two directions to adjust the angle so that the pineapple or pineapple is perpendicular to the horizontal plane or the longitudinal plane.

[0072] Continue to refer Figure 6-Figure 7, a plurality of rotatable pin members 62 are provided on the second transmission line 12, and the plurality of pin members 62 move with the second transmission line. The fruit grabbing and positioning device 4 grabs the pineapple or pineapple and adjusts it to a predetermined shape and pushes it onto the pin member 62. Specifically, the second transmission line 12 includes an annular transmission belt and a plurality of pin mechanisms 6, and the plurality of pin mechanisms 6 are respectively arranged on the annular transmission belt. The pin mechanism 6 includes a pin seat 61, a fourth driving device 63 and a pin member 62. The pin seat 61 is fixed on the annular transmission belt, and the pin member 62 is rotatably arranged on the pin seat 61. The fourth driving device 63 is arranged on the pin seat 61 so that the pin member 62 is driven to rotate by the fourth driving device 63. After the fruit grabbing and positioning device 4 grabs the pineapple or pineapple for vertical correction, it drives the head or tail of the pineapple or pineapple to be pushed onto the pin member 62.

[0073] In this embodiment, reference Figure 6 The second transmission line 12 is preferably set as an annular transmission belt, which includes an annular transmission chain, a pulley and a guide rail. One end of the pin seat 61 is connected to the annular transmission chain, and the pin seat 61 is connected to the guide rail through the pulley. However, this embodiment is not limited to this, and other forms of transmission belts can also be used. Figure 8 On the transmission path of the second transmission line, there are arranged in sequence the upper fruit station, the first peeling station, the first eye-digging station, the second peeling station, the second eye-digging station and the stations at both ends of the lower fruit pin, the first peeling device 7, the second camera equipment 8, the first eye-digging device 9, the second peeling device, the third camera equipment, the second eye-digging device and the mechanisms 10 at both ends of the lower fruit pin correspond to the stations on the transmission path of the second transmission line in sequence.

[0074] Continue to refer Fig. 9 The first peeling device 7 is arranged at the first peeling station on the transmission path of the second transmission line 12, and the first peeling device 7 is provided with a scraper that can move up and down and left and right. Specifically, the first peeling device 7 includes a peeling bracket 71, a fifth driving device 73, a first peeling scraper frame 72, a sixth driving device 75, a second peeling scraper frame 74 and a peeling scraper 76; the first peeling scraper frame 72 is arranged on the peeling bracket 71 so as to be movable up and down, the fifth driving device 73 is used to drive the first peeling scraper frame 72 to move up and down, the second peeling scraper frame 74 is arranged on the first peeling scraper frame 72 so as to be movable laterally, the sixth driving device 75 is used to drive the second peeling scraper frame 74 to move left and right, and the peeling scraper 76 is arranged on the second peeling scraper frame, and the peeling scraper 76 is preferably arranged in an inclined manner to better fit the surface of the pineapple or pineapple.

[0075] When peeling, according to the outline shape and size of the pineapple or pineapple, the fifth driving device 73 and the sixth driving device 75 are controlled to drive the peeling scraper 76 to move to a certain position, and the pin member 62 drives the pineapple or pineapple to rotate, driving the peeling scraper 76 to cooperate with the rotating pineapple or pineapple to scrape the skin of the pineapple or pineapple.

[0076] Continue to refer Fig.10 The second camera device 8 and the first eye-digging device 9 are sequentially arranged at the first eye-digging station on the transmission path of the second transmission line, and cooperate with the rotating pin member 62 to take multiple second images of a single pineapple or pineapple. The second recognition module is used to identify and obtain the pineapple eye position of a single pineapple or pineapple according to the multiple second images.

[0077] refer to Figure 15a-15g This embodiment shows a method for identifying pineapple eyes of pineapples or pineapples, and the specific steps are:

[0078] Step S1, dividing the pineapple into a plurality of recognition images of equal angles along the circumference of the pineapple according to its size, and each time the pineapple rotates once through an equal angle, the second camera device 8 captures a color recognition image of the pineapple from the front.

[0079] First, a coordinate system is established. The pineapple is centered and rotated rapidly at an even angle. The second camera 8 captures images when the pineapple is in a static position. The width of the ROI recognition image captured is the perimeter of the fruit / the number of divisions, and the height of the image captured is the maximum length of the fruit. For details, refer to Fig.15a .

[0080] Secondly, the number of divisions is based on the size of the fruit (i.e. the width and height of the acquisition), and the number is determined based on 10-20 copies to obtain the optimal value of the result after image synthesis.

[0081] Step S2, when collecting the color recognition image of the pineapple or pineapple from the front, record the peripheral points corresponding to the position of each average angle, obtain the radial size of the outer contour of the fruit collected from the side according to the peripheral points, and obtain the eye-digging depth of each subsequent pineapple or pineapple according to the radial size and the maximum diameter of the fruit. Fig.15b .

[0082] Specifically, the eye-digging depth coordinate T = the radial dimension corresponding to the Y coordinate of the pineapple eye position - the fruit size coefficient * the set quantitative digging depth dimension, and the fruit size coefficient = the maximum diameter of the fruit / the average diameter of the collected fruit.

[0083] Step S3, combining the collected multiple recognition images into a peripheral eye image of the pineapple or pineapple, for details, refer to Fig.15c .

[0084] Specifically, in order to seamlessly connect the pixels of multiple recognition images in the order of collection, it is necessary to collect recognition image data for one rotation.

[0085] Step S4, using a green filter algorithm to convert a certain range of green in the peripheral hole image into white.

[0086] Step S5, binarize the peripheral hole image, and only keep the black and white spot image. The pineapple eye of the pineapple or pineapple is black, and the rest is white. For details, refer to Fig.15d .

[0087] The green part of the skin will become an interference item after binarization and needs to be removed first.

[0088] Step S6, remove the spot interference items whose area is larger or smaller than a certain threshold, distinguish the bad fruit area and burr interference, refer to Fig.15e .

[0089] Remove burr interference and reduce the waste of pulp and time caused by equipment malfunction.

[0090] Step S7, find the area center of each black spot on the peripheral eye image, and then output it as the pineapple eye position data of the manipulator through calibration coordinate transformation to locate the black spot of the pineapple eye. Fig.15f .

[0091] Convert the coordinates of the found spot image into the coordinates of the robot eye digging. Note that the X coordinate is converted into the corresponding rotation angle value.

[0092] Step S8, merging the coordinates of the black spots whose distance is less than a certain threshold, which are the overlapping spots when the picture is synthesized. At this time, the eye-digging depth of the black spots of each pineapple eye of the pineapple or pineapple can be obtained according to the radial size and the maximum diameter of the pineapple or pineapple.

[0093] Step S9, calculate the optimal eye-digging trajectory, and sort all eye-digging coordinates into the optimal trajectory. That is, calculate the distance between any two black spots, and re-sort the coordinate points of all black spots according to the principle of the shortest trajectory, and plan the overall trajectory of eye-digging to improve the speed of eye-digging. For details, refer to Figure 15g .

[0094] Step S10, sending the sorted coordinate data to the eye-digging device PLC, and the device starts the eye-digging operation according to the spot coordinate points.

[0095] Send the sorted coordinates of all points, where each pineapple eye coordinate contains X (rotation angle), Y, Z and digging depth T data, and write the data into PLC through the modbus protocol. PLC moves and performs eye digging operations based on this point data.

[0096] Further references Figure 10-12The first eye-digging device 9 includes a moving mechanism and an eye-digging mechanism 93. The moving mechanism is used to drive the eye-digging mechanism 93 to move. The eye-digging mechanism is provided with an eye-digging rotary knife that can move forward and backward and can rotate. Specifically, the moving mechanism includes an eye-digging frame, an up-and-down moving module 91 and a front-and-back moving module 92. The up-and-down moving module is arranged on the eye-digging frame 91, the front-and-back moving module 92 is arranged on the up-and-down moving module 91, and the eye-digging mechanism 93 is arranged on the front-and-back moving module 92. The eye-digging mechanism 93 includes an eye-digging sub-bracket 931, an eye-digging rotary knife 939, and a reciprocating drive mechanism arranged on the eye-digging sub-bracket 931, a high-speed rotating motor 937 and a magnetic coupling rotating drive mechanism 938. The eye-digging cutter 939 is fixed on the rotating shaft of the inner rotor 9382 of the magnetic coupling rotating drive mechanism 938, and the high-speed rotating motor 937 is connected to the outer rotor 9381 of the magnetic coupling rotating drive mechanism 938 to drive the outer rotor 9381 to rotate at high speed, and the reciprocating drive mechanism is used to drive the rotating shaft of the inner rotor 9382 to reciprocate.

[0097] In this embodiment, a reciprocating drive mechanism is disclosed, which specifically includes: a reciprocating drive motor 932, a cam 933, a connecting rod 936, a slider 934 and a slide rail 935. The reciprocating drive motor 932 and the slide rail 934 are arranged on the eye pick bracket 931, the cam 933 is arranged on the rotating shaft of the reciprocating drive motor 932, the slider 934 is slidably arranged on the slide rail 935, and the two ends of the connecting rod 936 are respectively hinged to the cam 933 and the slider 934. The reciprocating drive motor 932 drives the cam 933 to rotate, thereby driving the slider 934 to reciprocate along the slide rail 934 through the connecting rod 936.

[0098] Furthermore, the magnetic coupling rotation drive mechanism in this embodiment is provided with a rotor support, an outer rotor 9381 and an inner rotor 9382 matched with the outer rotor 9381, a gap is set between the inner rotor 9382 and the outer rotor 9381, the rotor support is fixed on the eye-digging support 931, the outer rotor 9381 is rotatably arranged on the rotor support, and the inner rotor 9382 is rotatably arranged on the slider 934 (such as through a bearing, etc.). The high-speed rotating motor 937 drives the outer rotor 9381 to rotate, and the outer rotor 9381 generates a rotating magnetic field, which will drag the inner rotor 9382 to rotate with it, thereby realizing the transmission of power. Since the inner rotor 9382 does not contact the outer rotor 9381, the inner rotor 9382 does not generate physical friction when performing high-speed reciprocating motion, and there is no friction loss between the two.

[0099] In this embodiment, preferably, reference Fig.13, discloses an eye-digging rotary knife 939, the specific structure of the eye-digging rotary knife 939 is: a plurality of long blades 9391 extending outwardly relative to the blade wall of the eye-digging rotary knife 939 are provided on the outer periphery of the end of the eye-digging rotary knife 939, and the ends of the long blades 9391 are arc-shaped. There are guide grooves between the blades of the eye-digging rotary knife. When digging eyes, after the rotating eye-digging rotary knife digs eyes, the rotating guide groove can quickly throw away the dug pulp, so that the eye-digging can be maintained quickly without clogging. Moreover, the eye-digging rotary knife adopts a rotating method to dig eyes, and the area of ​​the dug pulp is smaller, which can avoid the waste of pulp.

[0100] When digging out the eye, the moving mechanism drives the eye-digging mechanism 93 to move to a certain position according to the position of the pineapple eye. At this time, the high-speed rotating motor 937 drives the outer rotor 9381 to drive the inner rotor 9382 to rotate at high speed, thereby driving the eye-digging cutter 939 to rotate rapidly, and the reciprocating drive mechanism drives the inner rotor 9382 to reciprocate rapidly, cooperating with the pin part 62 to drive the pineapple or pineapple to rotate, and continuously digs out the pineapple eye position of the pineapple or pineapple, thereby achieving rapid eye digging.

[0101] The second peeling device is arranged at the second peeling station on the transmission path of the second transmission line. The second peeling device has the same structure as the first peeling device. After the pineapple is dug out, the needle member 62 drives the pineapple to rotate. The second peeling device adjusts the position of the scraper of the second peeling device according to the contour shape and size of the pineapple to drive the scraper to scrape the pineapple for the second time. The scraping principle of the second peeling device is the same as that of the first peeling device.

[0102] Furthermore, a third camera and a second eye-digging device are sequentially arranged at the second eye-digging station on the transmission path of the second transmission line, and the second eye-digging device has the same structure as the first eye-digging device. After the eye-digging and secondary peeling, the processed pineapple or pineapple needs to be inspected to detect whether there are any missed pineapple eyes and rotten fruit parts. That is, the pin member drives the pineapple or pineapple to rotate continuously, and the third camera is used to take multiple third images of a single pineapple or pineapple. The fourth recognition module is used to identify and obtain the pineapple eye position and the rotten fruit position of a single pineapple or pineapple based on the multiple third images. Among them, the fourth recognition module identifies the pineapple eye position in the same way as the second recognition module identifies the pineapple eye position, and the identification of the rotten fruit position is to set the threshold recognition method in step S6 of the above method, so that the rotten fruit area can be identified.

[0103] When digging the eye for the second time, the moving mechanism of the second eye-digging device drives the eye-digging mechanism of the second eye-digging device to move to a certain position according to the position of the pineapple eye or the position of the rotten fruit. According to the position of the pineapple eye or the position of the rotten fruit, the pin piece cooperates with the pineapple or pineapple to rotate, and the second eye-digging device digs the eye at the position of the pineapple eye or the position of the rotten fruit, thereby completing the re-inspection and eye-digging operation of the pineapple or pineapple and obtaining the pineapple or pineapple pulp embryo.

[0104] Further references Fig.14 The mechanisms 10 at both ends of the lower fruit pin are arranged at the workstations at both ends of the lower fruit pin on the transmission path of the second transmission line. The mechanisms 10 at both ends of the lower fruit pin include: a lower fruit support 101, a lower fruit shifter 103, a shifter driving device, a lower fruit push plate, a lower fruit driving device, an upper cutter 104, a lower cutter 105 and a lower cutting driving device. The lower fruit support 101 is provided with a lower fruit outlet 106. The upper end of the lower fruit outlet 106 is provided with an upper cutter 104, and the lower end is provided with a lower cutter 105 that can move up and down. The lower cutting driving device is used to drive the lower cutter 105 to move up and down.

[0105] A lower fruit supporting plate 102 is provided on the lower fruit bracket 101 on one side of the lower fruit outlet 106, and the pin member 62 can correspond to the lower fruit supporting plate 102 when the second transmission line moves. The lower fruit shifter 103 is provided above the lower fruit supporting plate 102 in a manner that it can move up and down. The shifter driving device is used to drive the lower fruit shifter 103 to move up and down. The lower fruit push plate is provided on one side of the lower fruit outlet 102 in a manner that it can move laterally. The lower fruit driving device is used to drive the lower fruit push plate to move back and forth toward the lower fruit outlet 102.

[0106] When operating at both ends of the lower fruit pin, the pusher driving device drives the lower fruit pusher 103 to push the pineapple or pineapple pulp embryo out of the pin member 62 and drop it onto the lower fruit supporting plate 102, and the lower cutting driving device drives the lower cutter to move up and down to a predetermined position according to the contour shape and size of the pineapple or pineapple, and then the lower fruit driving device pushes the pineapple or pineapple pulp embryo to move in the direction of the upper cutter 104 and the lower cutter 105, and the upper cutter 104 and the lower cutter 105 cut off the two ends of the pineapple or pineapple pulp embryo and move to the lower fruit outlet, so that the processing operation of the pineapple or pineapple is completed.

[0107] It is worth noting that in this embodiment, all modules are connected to the PLC control system of the workstation, and the workstation control system controls the operation of each component to achieve automated operation.

[0108] By this, the automated production equipment of pineapple or pineapple in the present embodiment first transmits pineapple or pineapple through the first transmission line, shoots the initial image of pineapple or pineapple by the first camera device, and obtains the outline shape size of a single pineapple or pineapple according to the initial image. After obtaining the outline shape size of the pineapple or pineapple, the head and tail removal device can be controlled to remove the head and tail of the pineapple or pineapple. Then, the pineapple or pineapple is grasped and adjusted to a predetermined shape by the fruit grasping and positioning device, and the pineapple or pineapple is automatically peeled and the pineapple eye position of the pineapple or pineapple is identified, and the eye-digging rotary cutter is controlled to accurately dig the pineapple eye, and then the pineapple or pineapple is subjected to secondary peeling, secondary eye-digging and rotten fruit digging operations, thereby realizing fully automatic head and tail removal, peeling and eye-digging processing of pineapple or pineapple, greatly improving processing efficiency, and reducing pineapple or pineapple processing cost.

[0109] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.

Claims

1. An automated production device for pineapples or pineapples, characterized in that: include: A first transmission line is used to successively transmit individual pineapples or pineapples; A first camera device, which is arranged on the first transmission line, and is used to successively capture initial images of the single pineapple or pineapple; A first recognition module, which is used to obtain the outline, shape and size of a single pineapple or pineapple according to the initial image; A head and tail cutting device is arranged behind the first camera device, and controls the head and tail cutting device to cut off the head and tail predetermined parts of the pineapple or pineapple according to the size of the outline shape; A fruit grabbing and positioning device, which is arranged behind the head and tail cutting device and is used to grab the pineapple or pineapple and adjust the pineapple or pineapple to a predetermined shape; A second transmission line is provided with a plurality of rotatable pins, and the plurality of pins move along the second transmission line; the fruit grabbing and positioning device grabs the pineapple or pineapple and adjusts it to a predetermined shape and pushes it onto the pins; A first peeling device is arranged on the transmission path of the second transmission line, and the first peeling device is provided with a scraper that can move up and down and left and right. When peeling, the pin member drives the pineapple or pineapple to rotate, and the first peeling device adjusts the position of the scraper according to the outline shape and size of the pineapple or pineapple to drive the scraper to scrape the pineapple or pineapple; A second camera device is provided on a transmission path of the second transmission line, and is used to capture a plurality of second images of the single pineapple; A second recognition module, which is used to identify and obtain the pineapple eye position of a single pineapple or pineapple according to the plurality of the second images; The first eye-digging device includes a moving mechanism and an eye-digging mechanism, wherein the moving mechanism is used to drive the eye-digging mechanism to move, and the eye-digging mechanism is provided with an eye-digging rotary knife that can move forward and backward and can rotate. When digging eyes, according to the position of the pineapple eye, the moving mechanism drives the eye-digging mechanism to move to a certain position, and the pin piece drives the pineapple or pineapple to rotate and cooperate with the rotating eye-digging rotary knife to continuously move forward and backward to dig the eye at the pineapple eye position.

2. The automated production equipment for pineapples or pineapples according to claim 1, characterized in that: The head and tail cutting device includes a first transmission mechanism, a first tool holder, a first drive device, a first cutter, a second transmission mechanism, a second tool holder, a second drive device, a second cutter, a pressure plate bracket, a third drive device and a fixed pressure plate; the first transmission mechanism and the second transmission mechanism are respectively arranged on both sides of the rear of the first camera device, the first tool holder is arranged on the first transmission mechanism so that the first transmission mechanism drives the first tool holder to move back and forth horizontally, the second tool holder is arranged on the second transmission mechanism so that the second transmission mechanism drives the second tool holder to move back and forth horizontally, the first cutter is arranged on the first tool holder through the first drive device so that the first drive device drives the first cutter to move up and down, the second cutter is arranged on the second tool holder through the second drive device so that the second drive device drives the second cutter to move up and down, the pressure plate bracket is arranged between the first cutter and the second cutter, and the fixed pressure plate is arranged on the pressure plate bracket through the third drive device so that the third drive device drives the fixed pressure plate to move up and down.

3. The automated production equipment for pineapples or pineapples according to claim 1, characterized in that: It also includes a first positioning camera device, a second positioning camera device and a third identification module. The fruit grabbing and positioning device includes a five-axis linkage manipulator, and the five-axis linkage manipulator is located behind the head and tail cutting device to successively grab the pineapple or pineapple; The first positioning camera device is used to capture a first positioning image from a first perspective after the five-axis linkage manipulator grasps the pineapple or pineapple; the second positioning camera device is used to capture a second positioning image from a second perspective after the five-axis linkage manipulator grasps the pineapple or pineapple; and according to the first positioning image and the second positioning image, the five-axis linkage manipulator is controlled to drive the pineapple or pineapple to a vertical state.

4. The automated production equipment for pineapples or pineapples according to claim 1, characterized in that: The second transmission line includes an annular transmission belt and a plurality of pin mechanisms, which are respectively arranged on the annular transmission belt. The pin mechanisms include a pin seat, a fourth driving device and a pin piece. The pin seat is fixed on the annular transmission belt. The pin piece is arranged on the pin seat through the fourth driving device so that the fourth driving device drives the pin piece to rotate.

5. The automated production equipment for pineapples or pineapples according to claim 1, characterized in that: The first peeling device includes a peeling bracket, a fifth driving device, a first peeling scraper bracket, a sixth driving device, a second peeling scraper bracket and a peeling scraper; the first peeling scraper bracket is arranged on the peeling bracket so as to be movable up and down, the fifth driving device is used to drive the first peeling scraper bracket to move up and down, the second peeling scraper bracket is arranged on the first peeling scraper bracket so as to be movable laterally, the sixth driving device is used to drive the second peeling scraper bracket to move left and right, and the peeling scraper is arranged on the second peeling scraper bracket.

6. The automated production equipment for pineapples or pineapples according to claim 1, characterized in that: The moving mechanism includes an eye-digging frame, an up-and-down moving module and a front-and-back moving module, the up-and-down moving module is arranged on the eye-digging frame, the front-and-back moving module is arranged on the up-and-down moving module, the eye-digging mechanism is arranged on the front-and-back moving module, the eye-digging mechanism includes an eye-digging bracket, an eye-digging rotary cutter and a reciprocating drive mechanism, a high-speed rotating motor and a magnetic coupling rotating drive mechanism arranged on the eye-digging bracket; the eye-digging rotary cutter is fixed on the rotating shaft of the inner rotor of the magnetic coupling rotating drive mechanism, the high-speed rotating motor is connected to the outer rotor of the magnetic coupling rotating drive mechanism to drive the outer rotor to rotate at a high speed, and the reciprocating drive mechanism is used to drive the rotating shaft of the inner rotor to perform reciprocating motion.

7. The automated production equipment for pineapples or pineapples according to claim 1, characterized in that: The outer periphery of the end of the eye-digging rotary knife is provided with a plurality of long blades extending outwardly relative to the blade wall of the eye-digging rotary knife, and the ends of the long blades are arc-shaped.

8. The automated production equipment for pineapples or pineapples according to claim 5, characterized in that: It also includes a second peeling device, which has the same structure as the first peeling device. The second peeling device is arranged on the transmission path of the second transmission line. After the pineapple is dug out, the needle member drives the pineapple to rotate, and the second peeling device adjusts the position of the scraper of the second peeling device according to the outline shape and size of the pineapple to drive the scraper to scrape the pineapple for the second time.

9. The automated production equipment for pineapples or pineapples according to claim 6, characterized in that: It also includes a fourth recognition module and a third camera device and a second eye-digging device which are sequentially arranged on the transmission path of the second transmission line; the second eye-digging device has the same structure as the first eye-digging device; The third camera device is used to capture multiple third images of the single pineapple or pineapple; The fourth recognition module is used to identify and obtain the pineapple eye position and rotten fruit position of a single pineapple or pineapple based on multiple third images; when performing secondary eye digging, according to the pineapple eye position or rotten fruit position, the moving mechanism drives the eye digging mechanism to move to a certain position according to the pineapple eye position or rotten fruit position, and the pin member drives the pineapple or pineapple to rotate and cooperate with the rotating eye digging knife to continuously move back and forth to dig the pineapple eye position or rotten fruit position.

10. The automated production equipment for pineapples or pineapples according to claim 1, characterized in that: It also includes two end mechanisms of a lower fruit pin arranged on the transmission path of the second transmission line, and the two end mechanisms of the lower fruit pin include: a lower fruit support, a lower fruit shifting member, a shifting member driving device, a lower fruit pushing plate, a lower fruit driving device, an upper cutter, a lower cutter and a lower cutting driving device, the lower fruit support is provided with a lower fruit outlet, the upper end of the lower fruit outlet is provided with an upper cutter, and the lower end is provided with a lower cutter that can slide up and down, and the lower cutting driving device is used to drive the lower cutter to float up and down; A lower fruit supporting plate is provided on the lower fruit bracket on one side of the lower fruit outlet, and the pin member can correspond to the lower fruit supporting plate when the second transmission line moves; the lower fruit shifter is provided above the lower fruit supporting plate in a manner that it can move up and down, and the shifter driving device is used to drive the lower fruit shifter to move up and down, and the lower fruit push plate is provided on one side of the lower fruit outlet in a manner that it can move laterally, and the lower fruit driving device is used to drive the lower fruit push plate to move back and forth toward the lower fruit outlet.

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