Material conveying device for suckable jelly processing
By designing a feeding device including position adjustment, detection and screening mechanism, the problems of low efficiency and safety of fruit screening in the prior art are solved, and the automated detection and screening of fruits are realized, efficiency is improved and food safety is ensured.
Patent Information
- Application Number
- CN202510282058.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2025-04-29
AI Technical Summary
Existing feeding devices cannot screen fruits, resulting in safety issues and inefficiency.
A material conveying device including a transmission mechanism, a position adjustment mechanism, a detection mechanism and a screening mechanism are designed. The position adjustment mechanism realizes the misalignment of the fruit through the visual device and the baffle. The detection mechanism takes the fruit image through the visual module and analyzes whether it is qualified. The screening mechanism screens the fruit based on the detection results.
Automatic detection and screening of fruits is realized, efficiency is improved, food safety is ensured, and manual intervention is avoided.
Smart Images
Figure CN119897293A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of jelly automatic processing, in particular to a feeding device for processing suckable jelly. Background Art
[0002] Suckable jelly refers to a snack that is in an irregular shape after being poured out of the packaging container, and the gel does not disperse or break, and can be directly sucked with a straw. One of the raw materials of suckable jelly is fruit, which is usually made by squeezing fruit juice as one of the raw materials, or adding diced fruit to the raw materials for preparation.
[0003] Therefore, the automated production of suckable jelly requires the conveying and feeding of fruits. Since fruits may be damaged or destroyed during transportation and cleaning, they need to be sorted. If they are sorted manually, the efficiency is obviously very low; and the current feeding device cannot screen the fruits, which obviously brings safety problems.
[0004] In order to solve the above technical problems, the present invention provides a feeding device for processing suckable jelly, which can automatically complete the detection and screening of fruits, thereby ensuring safety and improving efficiency.
[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides a feeding device for processing suckable jelly, comprising a transmission mechanism, a positioning mechanism, a detection mechanism and a screening mechanism all arranged on the transmission mechanism. The transmission mechanism is used to transmit fruits; The position adjustment mechanism is used to adjust the fruit to a misaligned position so that there is only one fruit at the same time on a straight line perpendicular to the transmission direction of the transmission mechanism; The testing agency is used to take images of each fruit and analyze whether the fruit is qualified; The screening agency screens the fruits based on the analysis results of the testing agency.
[0006] Furthermore, the positioning mechanism includes a visual device, a baffle and a positioning drive module. The baffle is movably arranged on the transmission mechanism. The positioning drive module is used to drive the baffle to move. The visual device is used to identify the position of the fruit on the transmission mechanism. The baffle is used to stop the fruit so that different fruits are misaligned.
[0007] Furthermore, the positioning drive module includes a positioning telescopic device and a positioning rotator, and the action mode of the positioning mechanism specifically includes: Obtain the distribution of fruits at the monitoring position of the transmission mechanism through a visual device; Projecting the fruit distribution onto a first straight line; wherein the first straight line is parallel to the transmission direction of the transmission mechanism; It is determined whether the projections of the fruits overlap; if so, the movement of the baffle is controlled by the position adjustment telescopic device and the position adjustment rotator according to the overlapping positions of the fruits, so that the fruits overlapping on the first straight line are misplaced.
[0008] Furthermore, the number of the baffles and the position adjustment drive module is two respectively, the two baffles are respectively arranged on both sides of the transmission mechanism, and the two position adjustment drive modules are respectively connected to the two baffles in a one-to-one corresponding driving manner; the baffle movement is controlled by the position adjustment telescopic device and the position adjustment rotator according to the overlapping positions of the fruits, specifically including: Get the positions of the overlapping fruits respectively; Obtaining a distance L1 between the overlapping fruit and another fruit along a first straight line direction and a distance L2 between the overlapping fruit and another fruit along a second direction; wherein the second direction is perpendicular to the first direction; According to L1 and L2, the corresponding positioning mechanism is controlled to operate so that there are no overlapping fruits on the projection of the first straight line.
[0009] Furthermore, the detection mechanism includes a visual module and a pusher, the pusher is arranged on the side of the transmission mechanism, and the visual module is located directly above the detection mechanism. The working method of the detection mechanism includes: Using a pusher to push the fruit to roll on the conveying mechanism; During the rolling process of the fruit, the visual module captures the image of the fruit and obtains the appearance of the fruit from all angles based on the image of the fruit; Analyze the appearance of the fruit from all angles to determine whether the fruit is qualified.
[0010] Furthermore, there are multiple pushers, which are staggered and respectively distributed on both sides of the transmission mechanism; The method of using a pusher to push the fruit to roll on the transmission mechanism specifically includes: Obtain the location distribution of fruits through the visual module; Calculate the distances of the fruit from both sides of the transmission mechanism. When the distance between the fruit and one side of the transmission mechanism is greater than a preset value, the pusher located on the other side of the transmission mechanism pushes the fruit to roll. If the distance between the fruit and both sides of the transmission mechanism is less than the preset value, one pusher pushes the fruit to roll to one side, and then the next pusher pushes the fruit to roll to the other side, so that the distance the fruit rolls to the other side is greater than the preset value.
[0011] Furthermore, the screening mechanism includes a qualified transmission module, an unqualified transmission module, a screening drive module and a screening pusher. The qualified transmission module and the unqualified transmission module are both connected to the transmission mechanism. The screening pusher is movably arranged on the transmission mechanism. The screening drive module is used to drive the screening pusher to move back and forth; the screening pusher is used to push the fruit to move so that the fruit moves to the qualified transmission module / unqualified transmission module.
[0012] Furthermore, the number of the screening drive modules and the number of the screening pushers are two respectively, the two screening pushers are respectively located on both sides of the transmission mechanism, the two screening drive modules are drivingly connected with the two screening pushers in a one-to-one correspondence; the two screening pushers are staggered, and a contact member for contacting with the fruit is provided at the end of the screening pusher, and the contact member is made of a soft material; The action modes of the screening mechanism include: Obtain the qualified status of each fruit after testing by the testing agency; Determine whether the fruit needs to be pushed based on the qualified status of each fruit and its current position; According to the judgment result, the action of the screening pusher is controlled.
[0013] Furthermore, it also includes a recycling mechanism, which is used to recycle unqualified fruits; the recycling mechanism includes a recycling container, a waste collection container, a detection camera, a picking module and a cutting module, and the action mode of the recycling mechanism includes: S1. Use the picking module to pick up the fruit and move it to the detection camera; S2. Use the picking module to control the rotation of the fruit, and use the detection camera to capture the fruit image to obtain the damaged position of the fruit; S3. The cutter module cuts off the damaged part of the fruit in front of the camera, and the ratio of cutting depth to fruit width is k=1 / 4-1 / 3; S4. Use the detection camera to view the image of the location where the fruit is cut off, and determine whether the fruit is still damaged. If so, move the fruit to a waste collection container, otherwise, put the fruit into a recycling container.
[0014] Furthermore, when the fruit is damaged in more than one place, perform the following steps: If there are two damaged positions of the fruit, connect the two damaged positions and determine whether the ratio k' of the cutting depth to the fruit depth is greater than k based on the connection line. If so, directly transfer the fruit to the waste collection container, otherwise, execute step S4; If the fruit is damaged in three or more places, move the fruit directly to a waste collection container; In step S4, if the fruit is transferred to a waste collection container, step S5 needs to be performed: cleaning the cutter module.
[0015] Beneficial effects of the present invention: The present invention realizes the effects of automatically detecting and screening fruits through the arrangement of the positioning mechanism, the detection mechanism and the screening mechanism, without the need for manual intervention in the screening of fruits, thereby improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the present invention.
[0017] Figure 2 It is a schematic diagram of the adjustment mechanism of the present invention.
[0018] Figure 3 It is a schematic diagram of the detection mechanism of the present invention.
[0019] Figure 4 It is a schematic diagram of the screening drive module and the screening pusher of the present invention.
[0020] Figure 5 It is a schematic diagram of the position adjustment mechanism of the present invention when it is working.
[0021] Figure markings: 1—transmission mechanism, 2—positioning mechanism, 3—detection mechanism, 4—screening mechanism, 5—recycling and processing mechanism, 21—visual device, 22—baffle, 23—positioning drive module, 24—positioning telescope, 25—positioning rotator, 31—visual module, 32—pushers, 41—qualified transmission module, 42—unqualified transmission module, 43—screening drive module, 44—screening pusher, 45—contact member, 51—recycling container, 52—waste collection container, 53—detection camera, 54—cutter module, 55—picking module. DETAILED DESCRIPTION
[0022] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with the embodiments and drawings, and the contents mentioned in the embodiments are not intended to limit the present invention. The present invention is described in detail below in conjunction with the drawings.
[0023] like Figures 1 to 4 As shown, the present invention provides a feeding device for processing suckable jelly, comprising a transmission mechanism 1, a positioning mechanism 2, a detection mechanism 3 and a screening mechanism 4, all of which are arranged on the transmission mechanism 1. The transmission mechanism 1 is used to transmit fruits; The position adjustment mechanism 2 is used to adjust the fruit to a misaligned position so that there is only one fruit at the same time on a straight line perpendicular to the transmission direction of the transmission mechanism 1; The detection mechanism 3 is used to take images of each fruit and analyze whether the fruit is qualified; The screening mechanism 4 screens the fruits according to the analysis results of the detection mechanism 3 .
[0024] In actual application, the present invention has a main control module to achieve coordination and cooperation with multiple mechanisms. When the present invention is working, pre-processed (for example, peeled and washed) fruits are placed in the transmission mechanism 1. In the process of the transmission mechanism 1 transmitting the fruits, the positioning mechanism 2 first adjusts the fruits to avoid the fruits overlapping in the transmission direction of the transmission mechanism 1, and then the detection mechanism 3 detects the appearance of the fruits, and the screening mechanism 4 screens the fruits according to the detection results. Qualified fruits are transmitted to the next station through the transmission mechanism 1, and unqualified fruits are subjected to specific treatment. No manual intervention is required in the whole process, thereby improving efficiency.
[0025] The transmission mechanism 1 used in the present invention is preferably a transmission belt structure to ensure stable transmission of the fruit.
[0026] In this embodiment, the positioning mechanism 2 includes a visual device 21, a baffle 22 and a positioning drive module 23. The baffle 22 is movably arranged on the transmission mechanism 1. The positioning drive module 23 is used to drive the baffle 22 to move. The visual device 21 is used to identify the position of the fruit on the transmission mechanism 1, and the baffle 22 is used to stop the fruit so that different fruits are misaligned.
[0027] In actual use, the visual device 21 uses a high-precision camera, which can accurately identify the position of each fruit on the transmission mechanism 1 with a relatively fast transmission rate, and then the baffle 22 is driven by the positioning drive module 23 to move. The baffle 22 is stopped by the baffle 22, so that the stopped fruit needs to move along the baffle 22 under the drive of the transmission mechanism 1, thereby increasing the moving stroke and achieving the effect of fruit dislocation.
[0028] Specifically, the positioning drive module 23 includes a positioning telescopic device 24 and a positioning rotator 25. The action mode of the positioning mechanism 2 specifically includes: Obtaining the distribution of fruits at the monitoring position of the transmission mechanism 1 through the visual device 21; Project the fruit distribution onto a first straight line; wherein the first straight line is parallel to the transmission direction of the transmission mechanism 1; It is determined whether the fruit projections overlap; if so, the baffle 22 is controlled to move according to the overlapping positions of the fruits through the position adjustment telescopic device 24 and the position adjustment rotator 25, so that the fruits overlapping on the first straight line are misplaced.
[0029] Since there is a phenomenon that multiple fruits are simultaneously loaded into the transmission mechanism 1 at one time when the fruits are loaded, the fruits may overlap in the second direction, and such overlap may interfere with subsequent detection. Therefore, the present invention uses the visual device 21 to obtain the image at the monitoring position of the transmission mechanism 1, and realizes the projection of the fruits in the first direction through the main control module, so as to determine whether the fruits overlap; when the fruits overlap, the distance of the baffle 22 extending is controlled according to the position of the fruits in the second direction, and the swing amplitude of the baffle 22 is controlled according to the degree of overlap of the fruits, so as to ensure that the fruits do not overlap after the intervention of the baffle 22.
[0030] Specifically, the overlap described in the present invention may be that the projections of the fruit in the first direction have overlapping parts, or the distance between the projections of the fruit in the first direction is less than a predetermined distance value. The distance value is used to avoid interference when the detection mechanism 3 detects the fruit later, and the distance value can be set according to the specifications of the fruit, for example, 3-10 cm.
[0031] Since the pre-processed fruits are transported to the transmission mechanism 1 in batches, after each transportation is completed, and the transmission rate of the transmission mechanism 1 is relatively high, the present invention has enough time to transport the fruits, and the overlapping fruits can be staggered to meet the requirements.
[0032] Specifically, the number of the baffles 22 and the position adjustment drive modules 23 are two, respectively. The two baffles 22 are respectively arranged on both sides of the transmission mechanism 1, and the two position adjustment drive modules 23 are respectively connected to the two baffles 22 in a one-to-one driving manner; the baffles 22 are controlled to move by the position adjustment telescopic device 24 and the position adjustment rotator 25 according to the overlapping positions of the fruits, specifically including: Get the positions of the overlapping fruits respectively; Obtaining a distance L1 between the overlapping fruit and another fruit along a first straight line direction and a distance L2 between the overlapping fruit and another fruit along a second direction; wherein the second direction is perpendicular to the first direction; According to L1 and L2, the corresponding positioning mechanism 2 is controlled to operate so that there are no overlapping fruits on the projection of the first straight line.
[0033] That is, the fruit interfered by the baffle 22 must consider two factors: Figure 5 , fruit A and fruit B overlap in the second direction, but the distance between fruit A and fruit C is obviously greater than the distance between fruit B and fruit D. Therefore, even if fruit A is located behind fruit B, the present invention preferably uses the left position adjustment mechanism 2 to adjust the position of fruit A so that fruit B is misplaced. A relatively high-quality position adjustment effect is achieved.
[0034] Of course, multiple positioning mechanisms 2 can be set on the transmission mechanism 1 to cope with the situation where the fruit density is high and one positioning mechanism 2 is difficult to complete the positioning work. Specifically: when the visual device 21 of the first positioning mechanism 2 obtains a large fruit density at the monitoring position, it will drive the two baffles 22 to swing continuously, and the distance between the fruits is staggered by continuously correcting the fruit travel, so that the subsequent positioning mechanism 2 can better adjust the fruit position.
[0035] Of course, the position adjusting and retracting device 24 can be an electric push rod, and the baffle 22 is divided into two sections: one section is installed on the position adjusting rotator 25, the electric push rod is installed on this section of the baffle 22, and the other end of the baffle 22 is installed on the electric push rod.
[0036] In this embodiment, the detection mechanism 3 includes a visual module 31 and a pusher 32. The pusher 32 is arranged on the side of the transmission mechanism 1, and the visual module 31 is located directly above the detection mechanism 3. The working method of the detection mechanism 3 includes: The pusher 32 is used to push the fruit to roll on the conveying mechanism 1; During the rolling process of the fruit, the visual module 31 captures the image of the fruit and obtains the appearance of the fruit from all angles according to the image of the fruit; Analyze the appearance of the fruit from all angles to determine whether the fruit is qualified.
[0037] Under the action of the above-mentioned adjustment mechanism 2, it is ensured that the fruit will be misplaced, so that when the fruit enters the detection mechanism 3, the pusher 32 can push the fruit to roll along the second direction on the transmission mechanism 1, so that the visual module 31 can take images of the fruit at multiple angles. The main control module analyzes these images to determine whether the fruit has defects such as deterioration and damage.
[0038] Damage can be judged by whether the surface of the fruit is broken, while deterioration can be judged mainly based on multiple dimensions such as the rolling trajectory of the fruit and whether it is deformed irreversibly after being pushed. However, as long as there is suspicion of deterioration, the fruit will be directly judged as unqualified to ensure food safety.
[0039] Specifically, there are multiple pushers 32, and the multiple pushers 32 are staggered and respectively distributed on both sides of the transmission mechanism 1; The use of the pusher 32 to push the fruit to roll on the transmission mechanism 1 specifically includes: Obtaining the position distribution of fruits through the visual module 31; Calculate the distances of the fruit from both sides of the transmission mechanism 1. When the distance between the fruit and one side of the transmission mechanism 1 is greater than a preset value, the pusher 32 located on the other side of the transmission mechanism 1 pushes the fruit to roll. If the distance between the fruit and both sides of the transmission mechanism 1 is less than the preset value, one pusher 32 pushes the fruit to roll to one side, and then the next pusher 32 pushes the fruit to roll to the other side, so that the distance the fruit rolls to the other side is greater than the preset value.
[0040] Generally speaking, the width of the transmission mechanism 1 is greater than the width of the fruit rolling twice. Only when the transmission mechanism 1 with a small width has to be used due to user needs, there will be a situation where the fruit needs to be pushed twice.
[0041] In this embodiment, the screening mechanism 4 includes a qualified transmission module 41, an unqualified transmission module 42, a screening drive module 43 and a screening pusher. The qualified transmission module 41 and the unqualified transmission module 42 are both connected to the transmission mechanism 1. The screening pusher is movably arranged on the transmission mechanism 1. The screening drive module 43 is used to drive the screening pusher to move back and forth; the screening pusher is used to push the fruit to move so that the fruit moves to the qualified transmission module 41 / unqualified transmission module 42. Specifically, the screening drive module 43 is preferably an electric push rod, and the pusher 31 is preferably powered by the electric push rod.
[0042] That is, the transmission mechanism 1 is divided into two after the detection mechanism 3 and is connected to the qualified transmission module 41 and the unqualified transmission module 42 respectively. The fruits that have completed the detection will be quickly judged as qualified or unqualified. Subsequently, the screening drive module 43 drives the screening pusher to move, and pushes the fruits to both sides according to whether they are qualified, and then are transmitted to the qualified transmission module 41 and the unqualified transmission module 42 respectively, realizing the last step of automated screening.
[0043] Specifically, the number of the screening drive modules 43 and the number of the screening pushers are two, respectively. The two screening pushers are located at both sides of the transmission mechanism 1, and the two screening drive modules 43 are drivingly connected with the two screening pushers in a one-to-one correspondence; the two screening pushers 44 are staggered, and the ends of the screening pushers 44 are provided with contact members 45 for contacting with fruits, and the contact members 45 are made of soft material; The action modes of the screening mechanism 4 include: Obtain the qualified status of each fruit after being tested by the testing agency 3; Determine whether the fruit needs to be pushed based on the qualified status of each fruit and its current position; According to the judgment result, the action of the screening pusher 44 is controlled.
[0044] The soft material can be changed according to the type of fruit, for example, it can be a sponge, etc., the purpose of which is to reduce the impact of pushing on the fruit and avoid damage to the fruit. The pusher 32 is preferably also provided with a contact member 45.
[0045] For soft fruits, such as grapes, if they are unqualified, they can be directly discarded; but for harder fruits, such as pineapples and apples, if they are damaged, they can still be recycled.
[0046] Therefore, in this embodiment, the present invention further includes a recycling mechanism 5, which is used to recycle unqualified fruits; the recycling mechanism includes a recycling container 51, a waste collection container 52, a detection camera 53, a picking module 55 and a cutting module 54, and the action mode of the recycling mechanism includes: S1. Pick up the fruit using the picking module 55 and move it to the detection camera 53; S2. The pickup module 55 is used to control the rotation of the fruit, and the detection camera 53 is used to capture images of the fruit to obtain the location of the damaged fruit; S3. The cutter module 54 cuts off the damaged fruit in front of the camera, and the ratio of the cutting depth to the width of the fruit is k = 1 / 4-1 / 3; S4. Use the detection camera 53 to view the image of the position where the fruit is cut off, and determine whether the fruit is still damaged. If so, the fruit is transferred to the waste collection container 52, otherwise the fruit is placed in the recycling container 51.
[0047] According to the action of the screening mechanism 4, the fruits will fall into the qualified transmission module 41 / unqualified transmission module 42 one by one, so the present invention can judge the unqualified reasons of the fruits according to the transmission order of the fruits. For spoiled fruits, they are directly transferred to the waste gas collection container; and for damaged fruits, since they still have utilization value, the present invention is more inclined to recycle them, that is, after cutting off the damaged part, if there is no deterioration or other problems inside the fruit, it can still be sent to the recycling container 51; and since the present invention cuts off a large volume of the fruit at one time, if there is still an unqualified problem after cutting once, the fruit is not worth cutting again and can be directly discarded.
[0048] Normally, since the fruit has been screened once during pretreatment, the unqualified rate of the fruit screened in the present invention will be low, so there is no need to worry that the efficiency of the recycling and processing mechanism 5 cannot match the transmission mechanism 1. By setting up the recycling and processing mechanism 5, the unqualified fruit can be recycled again, which can further save costs. The fruit in the subsequent recycling container 51 will be promptly transported to the next station for processing, and the waste collection container 52 will be unloaded once after a period of time, and the unloaded fruit will be transported to a specific location for burial.
[0049] Specifically, when the fruit is damaged in more than one location, perform the following steps: If there are two damaged positions of the fruit, connect the two damaged positions and determine whether the ratio k' of the cutting depth to the fruit depth is greater than k based on the connection line. If so, directly transfer the fruit to the waste collection container 52, otherwise, execute step S4; If the fruit is damaged in three or more places, the fruit is directly transferred to the waste collection container 52; In step S4 , if the fruit is transferred to the waste collection container 52 , step S5 needs to be performed: cleaning the cutter module 54 .
[0050] That is to say, in the present invention, if the fruit is damaged in one place, it is processed according to the above S1-S4, and if it is damaged in two places, it is determined whether it can be cut according to the distribution of the two damaged positions; and if it is damaged in three places, even if the distance is very close, it is directly sent to the waste collection container 52. Therefore, if the fruit is damaged in three places, it means that the quality of the fruit itself is unqualified and there is no need to recycle it.
[0051] It should be noted that the picking module 55 and the cutting knife module 54 of the present invention are both driven by flexible robots, and cooperate with the clamping claws and the cutting knife to perform corresponding actions respectively.
[0052] In summary, the present invention is applied to the processing of raw materials for suckable jelly, and the raw materials can be used as additives for jelly or raw materials for jelly flavor. The present invention is mainly used for automatic screening of fruits used as raw materials during the transmission process, thereby ensuring food safety and improving the reliability and efficiency of screening.
[0053] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention is disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent changes and modifications made to the above embodiments according to the technology of the present invention are within the scope of the technical solution of the present invention without departing from the content of the technical solution of the present invention.
Claims
1. A feeding device for processing suckable jelly, characterized in that: It includes a transmission mechanism, a positioning mechanism, a detection mechanism and a screening mechanism all arranged on the transmission mechanism, The transmission mechanism is used to transmit fruits; The position adjustment mechanism is used to adjust the fruit to a misaligned position so that there is only one fruit at the same time on a straight line perpendicular to the transmission direction of the transmission mechanism; The testing agency is used to take images of each fruit and analyze whether the fruit is qualified; The screening agency screens the fruits based on the analysis results of the testing agency.
2. The feeding device for processing smokable jelly according to claim 1, characterized in that: The positioning mechanism includes a visual device, a baffle and a positioning drive module. The baffle is movably arranged on the transmission mechanism. The positioning drive module is used to drive the baffle to move. The visual device is used to identify the position of the fruit on the transmission mechanism. The baffle is used to stop the fruit so that different fruits are misaligned.
3. The feeding device for processing smokable jelly according to claim 2, characterized in that: The positioning drive module includes a positioning telescopic device and a positioning rotator, and the action mode of the positioning mechanism specifically includes: Obtain the distribution of fruits at the monitoring position of the transmission mechanism through a visual device; Projecting the fruit distribution onto a first straight line; wherein the first straight line is parallel to the transmission direction of the transmission mechanism; It is determined whether the projections of the fruits overlap; if so, the movement of the baffle is controlled by the position adjustment telescopic device and the position adjustment rotator according to the overlapping positions of the fruits, so that the fruits overlapping on the first straight line are misplaced.
4. The feeding device for processing smokable jelly according to claim 3, characterized in that: The number of the baffles and the position adjustment drive modules are two, respectively. The two baffles are respectively arranged on both sides of the transmission mechanism, and the two position adjustment drive modules are respectively connected to the two baffles in a one-to-one corresponding driving manner; the baffle movement is controlled by the position adjustment telescopic device and the position adjustment rotator according to the overlapping positions of the fruits, specifically including: Get the positions of the overlapping fruits respectively; Obtaining a distance L1 between the overlapping fruit and another fruit along a first straight line direction and a distance L2 between the overlapping fruit and another fruit along a second direction; wherein the second direction is perpendicular to the first direction; According to L1 and L2, the corresponding positioning mechanism is controlled to operate so that there are no overlapping fruits on the projection of the first straight line.
5. The feeding device for processing smokable jelly according to claim 1, characterized in that: The detection mechanism includes a visual module and a pusher. The pusher is arranged on the side of the transmission mechanism. The visual module is located directly above the detection mechanism. The working method of the detection mechanism includes: Using a pusher to push the fruit to roll on the conveying mechanism; During the rolling process of the fruit, the visual module captures the image of the fruit and obtains the appearance of the fruit from all angles based on the image of the fruit; Analyze the appearance of the fruit from all angles to determine whether the fruit is qualified.
6. The feeding device for processing smokable jelly according to claim 5, characterized in that: There are multiple pushers, which are staggered and distributed on both sides of the transmission mechanism respectively; The method of using a pusher to push the fruit to roll on the transmission mechanism specifically includes: Obtain the location distribution of fruits through the visual module; Calculate the distances of the fruit from both sides of the transmission mechanism. When the distance between the fruit and one side of the transmission mechanism is greater than a preset value, the pusher located on the other side of the transmission mechanism pushes the fruit to roll. If the distance between the fruit and both sides of the transmission mechanism is less than the preset value, one pusher pushes the fruit to roll to one side, and then the next pusher pushes the fruit to roll to the other side, so that the distance the fruit rolls to the other side is greater than the preset value.
7. The feeding device for processing smokable jelly according to claim 1, characterized in that: The screening mechanism comprises a qualified transmission module, an unqualified transmission module, a screening drive module and a screening pusher. The qualified transmission module and the unqualified transmission module are both connected to the transmission mechanism. The screening pusher is movably arranged on the transmission mechanism. The screening drive module is used to drive the screening pusher to move back and forth. The screening pusher is used to push the fruit to move so that the fruit moves to the qualified transmission module / unqualified transmission module.
8. The feeding device for processing smokable jelly according to claim 7, characterized in that: The number of the screening drive modules and the number of the screening pushers are two respectively, the two screening pushers are respectively located on both sides of the transmission mechanism, and the two screening drive modules are drivingly connected with the two screening pushers in a one-to-one correspondence; The two screening pushers are staggered, and the ends of the screening pushers are provided with contact pieces for contacting with fruits, and the contact pieces are made of soft materials; The action modes of the screening mechanism include: Obtain the qualified status of each fruit after testing by the testing agency; Determine whether the fruit needs to be pushed based on the qualified status of each fruit and its current position; According to the judgment result, the action of the screening pusher is controlled.
9. The feeding device for processing smokable jelly according to claim 1, characterized in that: It also includes a recycling mechanism, which is used to recycle unqualified fruits; the recycling mechanism includes a recycling container, a waste collection container, a detection camera, a picking module and a cutting module, and the action mode of the recycling mechanism includes: S1. Use the picking module to pick up the fruit and move it to the detection camera; S2. Use the picking module to control the rotation of the fruit, and use the detection camera to capture the fruit image to obtain the damaged position of the fruit; S3. The cutter module cuts off the damaged part of the fruit in front of the camera, and the ratio of cutting depth to fruit width is k=1 / 4-1 / 3; S4. Use the detection camera to view the image of the location where the fruit is cut off, and determine whether the fruit is still damaged. If so, move the fruit to a waste collection container, otherwise, put the fruit into a recycling container.
10. The feeding device for processing smokable jelly according to claim 9, characterized in that: When fruit is damaged in more than one location, follow these steps: If there are two damaged positions of the fruit, connect the two damaged positions and determine whether the ratio k' of the cutting depth to the fruit depth is greater than k based on the connection line. If so, directly transfer the fruit to the waste collection container, otherwise, execute step S4; If the fruit is damaged in three or more places, move the fruit directly to a waste collection container; In step S4, if the fruit is transferred to a waste collection container, step S5 needs to be performed: cleaning the cutter module.