Kernel digging device with adjustable kernel digging size and fruit kernel digging machine based on image recognition

Abstract

The invention provides a kernel removing device with adjustable kernel removing size and a fruit kernel removing machine based on image recognition, and belongs to the technical field of fruit processing. The coring machine solves the problem that an existing coring machine is low in qualified rate of processed products. The kernel digging device comprises a base, a lifting tool apron and a kernel digging tool, the shaft part of the kernel digging tool is rotationally connected with the lifting tool apron, and a first motor connected with the kernel digging tool is mounted on the lifting tool apron; the lifting tool apron is connected with the base through a first guide rod guiding assembly, the guiding direction of the first guide rod guiding assembly is perpendicular to the abutting plane, a second motor is installed on the base, and a main shaft of the second motor is connected with the lifting tool apron through a first transmission assembly. The fruit coring machine comprises an image recognition system, a control circuit controls a second motor according to the numerical values of the long axis and the short axis of an oval or the diameter numerical value of a circle, the distance between the shaft part of a coring knife and an abutting plane is adaptively adjusted in real time according to the size of a fruit kernel, and the product percent of pass is increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of fruit processing, and relates to a machine for processing fruits, in particular to a pit-removing device with adjustable pit-removing size, and a fruit pit-removing machine with a pit-removing device with adjustable pit-removing size and based on image recognition. Background Art

[0002] In the process of fruit can production, removing the fruit pit is a key process to ensure the product quality. The traditional manual pit-removing method has problems such as low efficiency and high hygienic risks. In recent years, mechanized pit-removing equipment has been gradually popularized, such as a pit-removing production line robot for stone fruits based on image recognition (application number 201610704671.5) and an automatic pit-removing machine (application number 202111499505.3) disclosed in Chinese patent documents; the pit is separated through a mechanical structure, significantly improving the processing efficiency.

[0003] However, there are still some deficiencies in the existing equipment in actual application. Taking the processing of peaches as an example, the individual sizes of peaches often vary by 30%-50%, and strict pre-classification and screening are usually required. The classification process requires auxiliary equipment such as vibrating screens and optoelectronic sorters, which not only increases the floor area occupied by the workshop, but also causes mechanical damage to a small amount of raw materials during the sorting and transportation process. Before processing raw materials in different size batches, parameters such as the tool travel and clamping distance need to be recalibrated, and each adjustment takes a long time, seriously affecting the production continuity. Even for raw materials in the same size individual batch, there are still obvious differences in the pit sizes after splitting. When using the above-mentioned pit-removing machine for processing, there are problems such as incomplete pit removal, excessive flesh removal, and flesh cracking at the knife exit, that is, the product qualification rate is low. Summary of the Invention

[0004] The present invention provides a pit-removing device with adjustable pit-removing size. The technical problem to be solved by the present invention is how to improve the product qualification rate when processing fruits with the pit-removing device.

[0005] The present invention also provides a fruit pit-removing machine based on image recognition. The technical problem to be solved by the present invention is how to improve the product qualification rate and processing efficiency when processing fruits with the pit-removing machine.

[0006] The technical problem to be solved by the present invention can be achieved through the following technical solutions: a core-digging device with adjustable core size, comprising a base, the bottom surface of the base being an abutment plane for contacting the pulp, characterized in that the core-digging device also includes a lifting knife seat and a core-digging knife, the shaft of the core-digging knife is rotatably connected to the lifting knife seat and the axis center line of the shaft of the core-digging knife is arranged parallel to the abutment plane, a first motor is installed on the lifting knife seat, and the main shaft of the first motor is transmission-connected to the shaft of the core-digging knife; the lifting knife seat is connected to the base through a first guide rod guide assembly, and the guiding direction of the first guide rod guide assembly is arranged perpendicular to the abutment plane, a second motor is installed on the base, and the main shaft of the second motor is connected to the lifting knife seat through a first transmission assembly; when the second motor drives the lifting knife seat to move through the first transmission assembly, the distance between the shaft of the core-digging knife and the abutment plane is changed.

[0007] A fruit core digging machine based on image recognition comprises a frame, a fruit conveying device, the core digging device and an image recognition system are installed on the frame; the fruit conveying device comprises a fruit carrying cup for placing fruits; the frame and the base of the core digging device are connected through a second guide rod guide assembly, the guiding direction of the second guide rod guide assembly is arranged parallel to the guiding direction of the first guide rod guide assembly, a third motor is installed on the frame, the main shaft of the third motor is connected to the base through a second transmission assembly, when the third motor drives the core digging device to move through the second transmission assembly, the abutment plane can be aligned with the half water surface placed on the fruit carrying cup The cross-section of the fruit is in contact with the core; the image recognition system includes an industrial camera, an image processing unit and a control circuit, the industrial camera is installed on the frame, the industrial camera is used to obtain the cross-section image of half of the fruit placed on the fruit cup, the image processing unit is used to process the cross-section image obtained by the industrial camera, and extract the features of the fruit core and perform elliptical fitting or circular fitting on the feature data; the control circuit is electrically connected to the second motor of the core-digging device, the control circuit controls the second motor according to the values ​​of the major axis and minor axis of the ellipse or the diameter of the circle, and adaptively changes the distance between the shaft of the core-digging knife and the abutting plane.

[0008] Compared with the prior art, the second motor in the core-digging device can flexibly adjust the distance between the shaft of the core-digging knife and the abutting plane according to the parameters, thereby adjusting the core-digging depth, that is, when the fruit core is small, the distance between the shaft of the core-digging knife and the abutting plane is increased, and when the fruit core is large, the distance between the shaft of the core-digging knife and the abutting plane is reduced. As a preferred second motor, a stepper motor or a servo motor is used, which has the advantages of short time and high precision for adjusting the distance between the shaft of the core-digging knife and the abutting plane, that is, the distance between the shaft of the core-digging knife and the abutting plane can be adjusted in real time according to the size of the fruit core, thereby significantly improving the integrity of fruit core removal and significantly reducing the amount of pulp removed, thereby improving the product qualification rate.

[0009] This fruit pitting machine based on image recognition can recognize the size of the fruit pits to be removed in real time through an image recognition system. When the fruit-carrying conveying device transports the fruit from below the industrial camera to below the pitting device, the distance between the shaft part of the pitting knife and the abutting plane is adaptively changed by controlling the second motor, thereby significantly improving the integrity of pit removal and significantly reducing the amount of pulp removed, achieving the improvement of product qualification rate and processing efficiency.

[0010] Preferably, the base includes a bottom plate at the bottom and a top plate at the top. The bottom plate and the top plate are fixedly connected by vertical rods; the bottom surface of the bottom plate is an abutting plane for the pulp to contact, and an avoidance hole opposite to the position of the pitting knife is provided at the center of the bottom plate.

[0011] Preferably, the pitting knife further includes an arc-shaped strip-shaped blade part, and both sides of the blade part have cutting edges; the first motor can drive the pitting knife to rotate forward and backward.

[0012] Preferably, the first transmission component is a screw-nut component or a gear-rack component.

[0013] Preferably, the pitting device further includes a cylinder, the cylinder body of which is fixed on the base, and the extended piston rod can press the fruit pit on the pulp.

[0014] Preferably, the fruit-carrying conveying device further includes a chain conveying component installed on the frame. Multiple fruit-carrying plates arranged in sequence are installed on the chain conveying component. A plurality of installation holes arranged along the longitudinal line are provided on the fruit-carrying plates, and a fruit-carrying cup is inserted in each installation hole. The bottom of the fruit-carrying cup is connected to the fruit-carrying plate by a first spring.

[0015] Preferably, the number of pitting devices is the same as the number of fruit-carrying cups on each fruit-carrying plate, and the pitting devices are arranged in one-to-one correspondence with the fruit-carrying cups; the bases of all pitting devices are fixed on the same first lifting plate, and the first lifting plate is connected to the frame through the second guide rod guiding component.

[0016] Preferably, a set of jacking components is arranged directly below each pitting device. All jacking components are fixed on the same second lifting plate. The second lifting plate is connected to the frame through a third guide rod guiding component, and the guiding direction of the third guide rod guiding component is parallel to the guiding direction of the second guide rod guiding component; the first lifting plate and the second lifting plate are connected by a third transmission component, and the third transmission component can make the first lifting plate and the second lifting plate move synchronously and in opposite directions; when the third motor moves the pitting device, the jacking component can push the fruit-carrying cup to move upward synchronously.

[0017] Preferably, the jacking assembly includes a jacking seat fixedly connected to the second lifting plate and a jacking rod vertically passing through the jacking seat. A guiding structure is formed between the outer side surface of the jacking rod and the side surface of the mounting hole in the jacking seat. The jacking rod and the jacking seat are also connected by a second spring; a jacking plate is installed at the top of the jacking rod.

[0018] Preferably, a supporting rod is fixed on the frame below the fruit-carrying plate, and a pressing rod is fixed on the first lifting plate above the fruit-carrying plate. After the abutting plane of the pit-removing device contacts the cut surface of the fruit placed on the fruit-carrying cup under the action of the third motor, the supporting rod and the pressing rod can press the fruit-carrying plate. Description of the Drawings

[0019] Figure 1 and Figure 2 are perspective structural schematic diagrams of the pit-removing device from different views.

[0020] Figure 3 is a perspective structural schematic diagram of the pit-removing device in the processing state.

[0021] Figure 4 is a perspective structural schematic diagram of the fruit pit-removing machine.

[0022] Figure 5 is an enlarged partial structural view of the fruit pit-removing machine.

[0023] Figure 6 is in the fruit pit-removing machine Figure 5 is a front view structural schematic diagram of the area shown.

[0024] Figure 7 is Figure 6 is a sectional structural schematic diagram taken along A-A in

[0025] In the figures, 100, pit-removing device; 200, frame; 300, fruit-carrying conveying device; 400, industrial camera; 500, orientation adjustment device; 11, base; 11a, bottom plate; 11b, top plate; 11c, vertical rod; 11d, abutting plane; 11e, avoidance hole; 12, lifting knife seat; 13, pit-removing knife; 13a, shaft part; 13b, blade part; 14, cylinder; 15, first guide rod guiding assembly; 16, first motor; 17, second motor; 18, first transmission assembly; 31, fruit-carrying cup; 32, chain conveying assembly; 33, fruit-carrying plate; 34, first spring; 41, first lifting plate; 42, second guide rod guiding assembly; 43, third motor; 44, second transmission assembly; 51, second lifting plate; 52, jacking assembly; 52a, jacking seat; 52b, jacking rod; 52c, second spring; 52d, jacking plate; 53, third guide rod guiding assembly; 54, third transmission assembly; 61, supporting rod; 62, pressing rod; 71, pulp; 72, fruit pit. Detailed Embodiments

[0026] The following are specific embodiments of the present invention. In combination with the accompanying drawings, the technical solutions of the present invention will be further described, but the present invention is not limited to these embodiments.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 to the present invention.

[0028] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0029] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0030] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manner.

[0031] Such as Figure 1 and Figure 2As shown, the core digging device 100 with adjustable core digging size includes a base 11, a lifting knife seat 12, a core digging knife 13 and a cylinder 14.

[0032] The base 11 includes a bottom plate 11a at the bottom and a top plate 11b at the top, and the bottom plate 11a and the top plate 11b are fixedly connected by a vertical rod 11c. The bottom surface of the bottom plate 11a is a contact plane 11d for contacting the pulp 71, and a avoidance hole 11e is provided at the center of the bottom plate 11a, which is opposite to the position of the core-digging knife 13.

[0033] The lifting knife seat 12 is located between the bottom plate 11a and the top plate 11b. The lifting knife seat 12 is connected to the top plate 11b of the base 11 via a first guide rod guide assembly 15. The guiding direction of the first guide rod guide assembly 15 is perpendicular to the abutment plane 11d.

[0034] The core-digging knife 13 includes a shaft 13a and a blade 13b in an arc strip shape, and both sides of the blade 13b have cutting edges. The shaft 13a of the core-digging knife 13 is rotatably connected to the lifting knife seat 12, and the axis of the shaft 13a of the core-digging knife 13 is arranged parallel to the abutting plane 11d. A first motor 16 is installed on the lifting knife seat 12, and the first motor 16 is preferably a stepping motor with a reduction gear box or a servo motor with a reduction gear box, and the output shaft of the gear box is directly connected to the shaft 13a of the core-digging knife 13 or connected through a coupling, thereby not only reducing the rotation speed of the core-digging knife 13 and increasing the torque of the core-digging knife 13, but also enabling the core-digging knife 13 to cut the fruit by forward rotation or reverse rotation. The cylinder body of the cylinder 14 is fixed on the base 11, and the extended piston rod can press the fruit core 72 onto the flesh 71.

[0035] During the core digging process, the cut surface of the fruit is in contact with the abutment plane 11d, and the core 72 is opposite to the avoidance hole 11e, that is, the core 72 and the core digging knife 13 are in a matching state; first, the core digging knife 13 is controlled to rotate 90° forward to cut half of the projected area of ​​the core 72, and then the core digging knife 13 is controlled to reverse to a set angle to avoid interference between the core digging knife 13 and the piston rod of the cylinder 14, such as 270°, and then continue to reverse 90° to cut the other half of the projected area of ​​the core 72. This can not only significantly reduce the possibility of the flesh 71 breaking and improve the product qualification rate; it also significantly reduces the possibility of the core 72 getting stuck on the core digging knife 13 and the possibility of the core 72 being separated from the flesh 71, thereby improving the processing continuity and facilitating the centralized collection of the cores 72.

[0036] A second motor 17 is installed on the upper top plate 11b of the base 11, and the main shaft of the second motor 17 is connected to the lifting tool holder 12 through a first transmission assembly 18; the accompanying drawings of the specification show that the first transmission assembly 18 is a screw-nut assembly, the screw is connected to the main shaft of the second motor 17, and the nut is fixedly connected to the lifting tool holder 12. According to the actual situation, the screw-nut assembly can be replaced by a gear-rack assembly.

[0037] Control the rotation of the main shaft of the second motor 17, drive the lifting tool holder 12 to move along the guiding direction of the first guide rod guiding assembly 15 through the first transmission assembly 18, and then change the distance between the shaft portion 13a of the pit core cutter 13 and the abutting plane 11d. When the distance between the shaft portion 13a of the pit core cutter 13 and the abutting plane 11d is reduced, the distance that the blade portion 13b of the pit core cutter 13 crosses over the abutting plane 11d increases, that is, the depth of the blade portion 13b cutting into the fruit increases. This operation is suitable for digging out larger fruit cores 72. In other words, when a smaller fruit core 72 needs to be dug out, control the rotation of the main shaft of the second motor 17 to increase the distance between the shaft portion 13a of the pit core cutter 13 and the abutting plane 11d.

[0038] As Figures 1 to 7 shown, a fruit pit core digging machine based on image recognition includes a frame 200, a fruit-carrying conveying device 300, the above-mentioned pit core digging device 100 and an image recognition system.

[0039] The fruit-carrying conveying device 300 includes a fruit-carrying cup 31 for placing fruits and a chain conveying assembly 32 installed on the frame 200. The chain conveying assembly 32 includes a chain, a sprocket and a motor. A plurality of fruit-carrying plates 33 arranged in sequence are installed on the chain. A plurality of mounting holes arranged along its longitudinal line are formed in the fruit-carrying plate 33, and a fruit-carrying cup 31 is inserted into each mounting hole. The bottom of the fruit-carrying cup 31 is connected to the fruit-carrying plate 33 through a first spring 34. The accompanying drawings of the specification show that 8 fruit-carrying cups 31 are installed on each fruit-carrying plate 33. The number of fruit-carrying cups 31 can be adaptively increased or decreased according to the actual situation.

[0040] The number of the pit-removing devices 100 is the same as the number of the fruit-carrying cups 31 on each fruit-carrying plate 33, and the pit-removing devices 100 are arranged in one-to-one correspondence with the fruit-carrying cups 31. The bases 11 of all the pit-removing devices 100 are fixed on the same first lifting plate 41. The first lifting plate 41 is connected to the frame 200 through a second guide rod guiding assembly 42. The guiding direction of the second guide rod guiding assembly 42 is the vertical direction, and the guiding direction of the second guide rod guiding assembly 42 is parallel to the guiding direction of the first guide rod guiding assembly 15. A third motor 43 is installed on the frame 200, and the main shaft of the third motor 43 is connected to the base 11 through a second transmission assembly 44. The instruction manual drawing shows that the second transmission assembly 44 includes a first cam and a first connecting rod; the first cam is fixedly connected to the main shaft of the third motor 43, one end of the first connecting rod is connected to the first cam, and the other end of the first connecting rod is connected to the first lifting plate 41. According to the actual situation, the second transmission assembly 44 can also be replaced with a gear and rack assembly to replace the above-mentioned cam and connecting rod assembly.

[0041] A set of jacking assemblies 52 are arranged directly below each pit-removing device 100. All the jacking assemblies 52 are fixed on the same second lifting plate 51. The second lifting plate 51 is connected to the frame 200 through a third guide rod guiding assembly 53. The guiding direction of the third guide rod guiding assembly 53 is the vertical direction. The first lifting plate 41 and the second lifting plate 51 are connected through a third transmission assembly 54. The third transmission assembly 54 can make the first lifting plate 41 and the second lifting plate 51 move synchronously and in opposite directions. The instruction manual drawing shows that the third transmission assembly 54 includes a second cam rotatably connected to the frame 200. Two second connecting rods are connected to the second cam. One second connecting rod is connected to the first lifting plate 41, and the other second connecting rod is connected to the second lifting plate 51. According to the actual situation, the third transmission assembly 54 can also be replaced with a gear and rack assembly to replace the above-mentioned cam and connecting rod assembly. The first lifting plate 41 and the second lifting plate 51 are driven in a linkage manner, which has the advantages of simple structure, convenient operation and stable operation.

[0042] As Figures 5 to 7 shown, the jacking assembly 52 includes a jacking seat 52a fixedly connected to the second lifting plate 51 and a jacking rod 52b vertically penetrating the jacking seat 52a. A guiding structure is formed between the outer side surface of the jacking rod 52b and the side surface of the mounting hole in the jacking seat 52a. The jacking rod 52b and the jacking seat 52a are also connected through a second spring 52c; a jacking disc 52d is installed at the top of the jacking rod 52b. The second spring 52c enables a flexible connection between the fruit-carrying cup 31 and the second lifting plate 51 when the fruit-carrying cup 31 is jacked up. In this way, when the cut surface of the fruit contacts the abutting plane 11d of the pit-removing device 100, the second spring 52c is preferentially compressed and deformed, significantly reducing the fruit damage rate.

[0043] A supporting rod 61 is fixed on the frame 200 and is located below the fruit-carrying plate 33, and a pressing rod 62 is fixed on the first lifting plate 41 and is located above the fruit-carrying plate 33. The supporting rod 61 and the pressing rod 62 significantly improve the strength of the fruit-carrying plate 33, reduce the bending deformation rate, improve the fruit-carrying stability of the fruit-carrying cup 31, and reduce the fruit damage rate.

[0044] The image recognition system includes an industrial camera 400, an image processing unit, and a control circuit. The fruit-carrying plate 33 of the fruit-carrying conveying device 300 moves along the arrow X direction. The industrial camera 400 is located on the front side of the pit-removing device 100, and the industrial camera 400 is installed on the frame 200. The specification drawings show that the number of industrial cameras 400 is 4, and each industrial camera 400 is used to simultaneously obtain the cross-sectional images of the upper half of the fruit placed on two fruit-carrying cups 31; according to the actual situation, the industrial camera 400 can also be arranged in one-to-one correspondence with the fruit-carrying cup 31.

[0045] The image processing unit is used to process the cross-sectional images obtained by the industrial camera 400, extract the features of the peach pit, and perform elliptical fitting or circular fitting on the feature data. The control circuit is electrically connected to the second motor 17 of the pit-removing device 100. The control circuit controls the second motor 17 according to the values of the major axis and minor axis of the ellipse or the diameter value of the circle, and adaptively changes the distance between the shaft portion 13a of the pit-removing knife 13 and the abutting plane 11d. When the fitted shape of the fruit pit 72 of the fruit is an ellipse, such as a peach, a orientation adjustment device 500 for driving the fruit-carrying cup 31 to rotate can also be installed between the industrial camera 400 and the pit-removing device 100. The orientation adjustment device 500 includes a fourth motor. The control circuit and the fourth motor of the orientation adjustment device 500 are both electrically connected. The control circuit controls the fourth motor according to the values of the major axis and minor axis of the ellipse, and the fourth motor drives the fruit-carrying cup 31 to rotate so that the major axis of the ellipse is in the same direction. The above-mentioned image processing unit and the orientation adjustment device 500 are both prior arts and will not be described in detail here.

[0046] By elaborating on the process of processing peaches using the fruit pit-removing machine, the functions and advantages of each component are further explained: First, the halved peaches are placed on the fruit-carrying cup 31 with the cross-section of the peaches facing up. In order to improve the fitting shape numerical accuracy of the image recognition system, a pressing plate or the orientation adjustment device 500 can be used to pre-press the cross-section of the peaches to improve the flatness of the cross-section of the peaches.

[0047] Secondly, the motor of the chain conveying assembly 32 drives the sprocket, the chain, and the fruit-carrying plate 33 to move in sequence, thereby driving the fruit-carrying cup 31 and the peach to move horizontally to directly below the industrial camera 400. The industrial camera 400 takes an image, and then obtains the cross-sectional image of the peach placed on the fruit-carrying cup 31. The image processing unit processes the above cross-sectional image, extracts the features of the peach pit, and performs elliptical fitting on the feature data. For example, the major axis of the ellipse fitted for the No. 1 peach is 45 mm, the minor axis is 25 mm, and the angle between the major axis and the set reference line is 10°; the major axis of the ellipse of the No. 2 peach is 50 mm, the minor axis is 30 mm, and the angle between the major axis and the set reference line is -15°.

[0048] Then, the chain conveying assembly 32 conveys the above peaches to the orientation adjustment device 500. The orientation adjustment device 500 controls the rotation angle and the forward and reverse rotation of the fourth motor according to the angle between the major axis and the set reference line; thereby significantly improving the consistency of the peach state.

[0049] Next, the chain conveying assembly 32 conveys the above peaches to directly below the pit-removing device 100. The control circuit controls the second motor 17 according to the values of the major axis and the minor axis of the ellipse, and adaptively changes the distance between the shaft portion 13a of the pit-removing knife 13 and the abutting plane 11d. If the initial position of the pit-removing knife 13 in the pit-removing device 100 corresponding to the No. 1 peach is suitable for removing a peach with a major axis of 55 mm, then the control circuit controls the second motor 17 in the pit-removing device 100 corresponding to the No. 1 peach according to the values of the major axis and the minor axis of the ellipse of the No. 1 peach, and the second motor 17 drives the lifting knife seat 12 to move upward by the required distance, such as 5 mm; if the initial position of the pit-removing knife 13 in the pit-removing device 100 corresponding to the No. 2 peach is suitable for removing a peach with a major axis of 45 mm, then the control circuit controls the second motor 17 in the pit-removing device 100 corresponding to the No. 2 peach according to the values of the major axis and the minor axis of the ellipse of the No. 2 peach, and the second motor 17 drives the lifting knife seat 12 to move downward by the required distance, such as 3 mm.

[0050] The third motor 43 drives the pit-removing device 100 to move downward through the second transmission assembly 44 until the supporting rod 61 and the pressing rod 62 press the fruit-carrying plate 33; the first lifting plate 41 drives the second lifting plate 51 to move upward synchronously through the third transmission assembly 54. During the upward movement of the jacking assembly 52, the jacking disc 52d is first unloaded. After the jacking disc 52d contacts the bottom surface of the fruit-carrying cup 31, the jacking disc 52d and the fruit-carrying cup 31 move upward synchronously, and the first spring 34 is gradually compressed until the cross-section of the peach contacts the abutting plane 11d of the pit-removing device 100. After that, the second spring 52c in the jacking assembly 52 is gradually compressed. The jacking disc 52d increases the contact area between the jacking assembly 52 and the fruit-carrying cup 31, thereby improving the upward movement stability of the fruit-carrying cup 31, significantly reducing the possibility of peach displacement, and improving the product qualification rate.

[0051] Next, control the first motor 16 to drive the pit removal knife 13 to rotate and control the cylinder 14 to act, so as to separate the fruit pit 72 from the pulp 71.

[0052] Finally, control the third motor 43 to reset the pit removal device 100, and the fruit-loading cup 31 is reset under the elastic force of the first spring 34, and the lifting disc 52d is reset under the elastic force of the second spring 52c.

Claims

1. A core-digging device with adjustable core-digging size, comprising a base (11), the bottom surface of the base (11) being a contact plane (11d) for contact with fruit pulp (71), characterized in that: The core digging device further comprises a lifting knife seat (12) and a core digging knife (13); the shaft portion (13a) of the core digging knife (13) is rotatably connected to the lifting knife seat (12), and the axis center line of the shaft portion (13a) of the core digging knife (13) is arranged parallel to the abutment plane (11d); a first motor (16) is mounted on the lifting knife seat (12), and the main shaft of the first motor (16) is transmission-connected to the shaft portion (13a) of the core digging knife (13); the lifting knife seat (12) and the base (11) are connected via a first guide rod. The guide assembly (15) is connected to the base (11), the guide direction of the first guide rod guide assembly (15) is arranged perpendicular to the abutment plane (11d), a second motor (17) is installed on the base (11), and the main shaft of the second motor (17) is connected to the lifting knife seat (12) through the first transmission assembly (18); when the second motor (17) drives the lifting knife seat (12) to move through the first transmission assembly (18), the distance between the shaft portion (13a) of the core digging knife (13) and the abutment plane (11d) is changed.

2. The core digging device with adjustable core digging size according to claim 1 is characterized in that: The base (11) comprises a bottom plate (11a) located at the bottom and a top plate (11b) located at the top, the bottom plate (11a) and the top plate (11b) being fixedly connected via a vertical rod (11c); the bottom surface of the bottom plate (11a) is a contact plane (11d) for contact with the pulp (71), and a avoidance hole (11e) is provided at the center of the bottom plate (11a) and is opposite to the position of the core-digging knife (13).

3. The core digging device with adjustable core digging size according to claim 1, characterized in that: The core-digging knife (13) further comprises a blade portion (13b) in the form of an arc strip, and both sides of the blade portion (13b) have cutting edges; the first motor (16) can drive the core-digging knife (13) to rotate forward and reverse.

4. The core digging device with adjustable core digging size according to claim 1, characterized in that: The first transmission assembly (18) is a screw-nut assembly or a gear rack assembly.

5. The core digging device with adjustable core digging size according to claim 1, 2, 3 or 4, characterized in that: The core-digging device further comprises a cylinder (14), the cylinder body of the cylinder (14) being fixed on the base (11), and the extended piston rod being capable of pressing the fruit core (72) onto the fruit flesh (71).

6. A fruit core digging machine based on image recognition, comprising a frame (200), on which a fruit conveying device (300) and an image recognition system are mounted; the fruit conveying device (300) comprises a fruit carrying cup (31) for placing fruits; and characterized in that: The fruit core digging machine further comprises a core digging device (100) as claimed in any one of claims 1 to 5, wherein a frame (200) is connected to a base (11) of the core digging device (100) via a second guide rod guide assembly (42), a guide direction of the second guide rod guide assembly (42) is arranged parallel to a guide direction of the first guide rod guide assembly (15), a third motor (43) is mounted on the frame (200), a main shaft of the third motor (43) is connected to the base (11) via a second transmission assembly (44), and when the third motor (43) drives the core digging device (100) to move via the second transmission assembly (44), the abutment plane (11d) can be brought into contact with a cut surface of a fruit placed on the fruit carrying cup (31); The image recognition system comprises an industrial camera (400), an image processing unit and a control circuit. The industrial camera (400) is mounted on a frame (200). The industrial camera (400) is used to obtain a cross-sectional image of half a fruit placed on a fruit carrying cup (31). The image processing unit is used to process the cross-sectional image obtained by the industrial camera (400), extract features of a fruit core (72) and perform elliptical fitting or circular fitting on the feature data. The control circuit is electrically connected to a second motor (17) of a core-digging device (100). The control circuit controls the second motor (17) according to the values ​​of the major axis and minor axis of the ellipse or the diameter value of the circle, and adaptively changes the distance between the shaft portion (13a) of the core-digging knife (13) and the abutting plane (11d).

7. The fruit core digging machine based on image recognition according to claim 6, characterized in that: The fruit conveying device (300) further comprises a chain conveying assembly (32) mounted on the frame (200), wherein a plurality of fruit carrying plates (33) arranged in sequence are mounted on the chain conveying assembly (32), wherein a plurality of mounting holes arranged in sequence along the longitudinal lines of the fruit carrying plates (33) are provided, wherein a fruit carrying cup (31) is inserted into each mounting hole, and the bottom of the fruit carrying cup (31) is connected to the fruit carrying plate (33) via a first spring (34).

8. The fruit core digging machine based on image recognition according to claim 7, characterized in that: The number of the core-digging devices (100) is the same as the number of the fruit-carrying cups (31) on each fruit-carrying plate (33), and the core-digging devices (100) and the fruit-carrying cups (31) are arranged in a one-to-one correspondence; the bases (11) of all the core-digging devices (100) are fixed on the same first lifting plate (41), and the first lifting plate (41) and the frame (200) are connected via the second guide rod guide assembly (42).

9. The fruit core digging machine based on image recognition according to claim 8, characterized in that: A group of lifting assemblies (52) is arranged directly below each of the core digging devices (100), and all the lifting assemblies (52) are fixed on the same second lifting plate (51). The second lifting plate (51) is connected to the frame (200) via a third guide rod guide assembly (53), and the guide direction of the third guide rod guide assembly (53) is arranged parallel to the guide direction of the second guide rod guide assembly (42); the first lifting plate (41) and the second lifting plate (51) are connected via a third transmission assembly (54), and the third transmission assembly (54) can make the first lifting plate (41) and the second lifting plate (51) move synchronously in opposite directions; when the third motor (43) moves the core digging device (100), the lifting assemblies (52) can push the fruit carrying cup (31) to move upward synchronously.

10. The fruit core digging machine based on image recognition according to claim 9, characterized in that: The lifting assembly (52) comprises a lifting seat (52a) fixedly connected to the second lifting plate (51) and a lifting rod (52b) vertically passing through the lifting seat (52a); a guide structure is formed between the outer side surface of the lifting rod (52b) and the side surface of the mounting hole in the lifting seat (52a); the lifting rod (52b) and the lifting seat (52a) are also connected via a second spring (52c); a lifting plate (52d) is installed on the top of the lifting rod (52b); A supporting rod (61) located below the fruit loading plate (33) is fixed on the frame (200), and a pressing rod (62) located above the fruit loading plate (33) is fixed on the first lifting plate (41). When the third motor (43) causes the abutting plane (11d) of the core digging device (100) to contact the cut surface of the fruit placed on the fruit loading cup (31), the supporting rod (61) and the pressing rod (62) can press the fruit loading plate (33).

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