Fruit core digging device with adjustable core size and fruit core digging machine based on image recognition

Abstract

The present invention provides a fruit core digging device with adjustable core size and a fruit core digging machine based on image recognition, belonging to the field of fruit processing technology. It solves the problem of low product qualification rate of existing fruit core digging machines. The fruit core digging device includes a base, a lifting knife seat, and a fruit core digging knife. The shaft of the fruit core digging knife is rotatably connected to the lifting knife seat, and a first motor connected to the fruit core digging knife is mounted on the lifting knife seat. The lifting knife seat and the base are connected by a first guide rod guide assembly, and the guiding direction of the first guide rod guide assembly is set perpendicular to the abutment plane. A second motor is mounted on the base, and the main shaft of the second motor is connected to the lifting knife seat by a first transmission assembly. The fruit core digging machine includes an image recognition system. The control circuit controls the second motor based on the values of the major and minor axes of the ellipse or the diameter of the circle. The spacing between the shaft of the fruit core digging knife and the abutment plane is adaptively adjusted in real time according to the size of the fruit core, thereby improving the product qualification rate.

Description

Technical Field

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

[0002] In canned fruit production, removing the core is a critical step in ensuring product quality. Traditional manual core removal methods suffer from low efficiency and high hygiene risks. In recent years, mechanized core removal equipment has become increasingly popular. For example, Chinese patents disclose an image recognition-based core removal robot (application number 201610704671.5) and an automatic core removal machine (application number 202111499505.3). These mechanical structures separate the cores, significantly improving processing efficiency.

[0003] However, the existing equipment still has some shortcomings in practical applications. Take peach processing as an example. The individual size difference of peaches is often as high as 30%-50%, and strict grading and screening are usually required in advance. The grading process requires the configuration of auxiliary equipment such as vibrating screens and photoelectric sorting machines, which not only increases the plant area occupied, but also causes a small amount of raw materials to be mechanically damaged during the sorting and transportation process. Before processing raw materials of different sizes, parameters such as tool stroke and clamping spacing need to be recalibrated. Each adjustment takes a long time, which seriously affects production continuity. Even for raw materials of the same size, there are still obvious differences in the size of the fruit core after opening. When using the above-mentioned core digging machine for processing, there are problems such as incomplete removal of the fruit core, excessive removal of flesh, and cracking of the flesh at the knife exit. In other words, there is a problem of low product qualification rate. Summary of the Invention

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

[0005] The present invention also proposes a fruit core-digging 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 using the core-digging 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 contact with the pulp, and 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 includes a frame, a fruit conveying device, the above-mentioned core digging device and an image recognition system are installed on the frame; the fruit conveying device includes a fruit carrying cup for placing fruits; the frame and the base of the core digging device are connected by 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 by 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 level placed on the fruit carrying cup. The cross-section of the fruit contacts the cross-section of the fruit; 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 a 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, and the control circuit controls the second motor according to the values of the major axis and minor axis of the ellipse or the diameter value of the circle, so as to adaptively change the distance between the shaft of the core-digging knife and the abutting plane.

[0008] Compared with the prior art, the second motor in this core-digging device can flexibly adjust the distance between the shaft of the core-digging knife and the abutment plane according to 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 abutment plane is increased, and when the fruit core is large, the distance between the shaft of the core-digging knife and the abutment plane is reduced. Preferably, the second motor is a stepper motor or a servo motor, which has the advantages of short time and high precision in adjusting the distance between the shaft of the core-digging knife and the abutment plane. That is, the distance between the shaft of the core-digging knife and the abutment 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 flesh removed, thereby improving the product qualification rate.

[0009] This fruit corer based on image recognition uses an image recognition system to identify the size of the fruit core to be dug in real time. When the fruit conveyor device transports the fruit from under the industrial camera to under the corer, the second motor is controlled to adaptively change the distance between the shaft of the corer and the abutment plane, thereby significantly improving the integrity of fruit core removal and significantly reducing the amount of fruit pulp removed, thereby improving product qualification rate and improving processing efficiency.

[0010] Preferably, the base includes a bottom plate located at the bottom and a top plate located at the top, and the bottom plate and the top plate are fixedly connected by a vertical rod; the bottom surface of the bottom plate is a contact plane for contact with the pulp, and an avoidance hole opposite to the position of the core-digging knife is opened at the center of the bottom plate.

[0011] Preferably, the core-digging knife further comprises a blade portion in the form of an arc strip, both sides of the blade portion have cutting edges; the first motor can drive the core-digging knife to rotate forward and reverse.

[0012] Preferably, the first transmission assembly is a screw-nut assembly or a rack-and-pinion assembly.

[0013] Preferably, the core-digging device further comprises a cylinder, the cylinder body of which is fixed on the base, and the extended piston rod can press the fruit core onto the flesh.

[0014] Preferably, the fruit conveying device further comprises a chain conveying assembly mounted on the frame, a plurality of fruit carrying plates arranged in sequence are mounted on the chain conveying assembly, a plurality of mounting holes arranged along the longitudinal lines of the fruit carrying plates are provided, a fruit carrying cup is inserted into each mounting hole, and the bottom of the fruit carrying cup is connected to the fruit carrying plate by a first spring.

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

[0016] Preferably, a group of jacking assemblies is provided directly below each of the core-digging devices, and all the jacking assemblies are fixed on the same second lifting plate. The second lifting plate is connected to the frame via a third guide rod guide assembly, and the guiding direction of the third guide rod guide assembly is arranged parallel to the guiding direction of the second guide rod guide assembly; the first lifting plate and the second lifting plate are connected via a third transmission assembly, and the third transmission assembly can make the first lifting plate and the second lifting plate move synchronously in opposite directions; when the third motor moves the core-digging device, the jacking assembly 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 guide structure is formed between the outer side surface of the jacking rod and the side surface of the mounting hole in the jacking seat, and the jacking rod and the jacking seat are also connected by a second spring; a jacking plate is installed on the top of the jacking rod.

[0018] Preferably, a supporting rod located below the fruit loading plate is fixed on the frame, and a pressing rod located above the fruit loading plate is fixed on the first lifting plate. When the third motor causes the abutting plane of the core-digging device to contact the cut surface of the fruit placed on the fruit loading cup, the supporting rod and the pressing rod can press the fruit loading plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 and Figure 2 It is a schematic diagram of the three-dimensional structure of the core-digging device from different visual perspectives.

[0020] Figure 3 It is a three-dimensional structural schematic diagram of the core-digging device in the processing state.

[0021] Figure 4 It is a three-dimensional structural diagram of a fruit core digging machine.

[0022] Figure 5 This is an enlarged view of the partial structure of the fruit core digging machine.

[0023] Figure 6 It is a fruit core digging machine Figure 5 Schematic diagram of the main view structure of the area shown.

[0024] Figure 7 yes Figure 6 Schematic diagram of the cross-sectional structure of AA.

[0025] In the figure, 100, the core-digging device; 200, the frame; 300, the fruit-carrying conveyor; 400, the industrial camera; 500, the orientation adjustment device; 11, the base; 11a, the bottom plate; 11b, the top plate; 11c, the vertical rod; 11d, the abutting plane; 11e, the avoidance hole; 12, the lifting knife seat; 13, the core-digging knife; 13a, the shaft; 13b, the blade; 14, the cylinder; 15, the first guide rod guide assembly; 16, the first motor; 17, the second motor; 18, the first transmission assembly ; 31. Fruit carrying cup; 32. Chain conveyor assembly; 33. Fruit carrying plate; 34. First spring; 41. First lifting plate; 42. Second guide rod guide assembly; 43. Third motor; 44. Second transmission assembly; 51. Second lifting plate; 52. Lifting assembly; 52a. Lifting seat; 52b. Lifting rod; 52c. Second spring; 52d. Lifting plate; 53. Third guide rod guide assembly; 54. Third transmission assembly; 61. Support rod; 62. Press rod; 71. Fruit pulp; 72. Fruit core. DETAILED DESCRIPTION

[0026] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solutions of the present invention, 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", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships 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, 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 should not be understood as limiting the present invention.

[0028] In the present invention, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0029] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level 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 may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0031] like 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] Base 11 comprises a bottom plate 11a and a top plate 11b, fixedly connected by a vertical rod 11c. The underside of bottom plate 11a forms a contact surface 11d for contact with the fruit pulp 71. A clearance hole 11e is defined in the center of bottom plate 11a, corresponding to the position of core-removing 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 through a first guide rod guide assembly 15. The guiding direction of the first guide rod guide assembly 15 is set perpendicular to the abutment plane 11d.

[0034] The core-digging knife 13 includes a shaft 13a and an arcuate blade 13b, with cutting edges on both sides of the blade 13b. The shaft 13a of the core-digging knife 13 is rotatably connected to the lifting knife base 12, and the axis of the shaft 13a of the core-digging knife 13 is arranged parallel to the abutment plane 11d. The lifting knife base 12 is mounted with a first motor 16. Preferably, the first motor 16 is a stepper motor or a servo motor with a reduction gearbox. The output shaft of the gearbox is directly connected to the shaft 13a of the core-digging knife 13 or is connected to the shaft 13a of the core-digging knife 13 via a coupling. This not only reduces the rotation speed of the core-digging knife 13 and increases the torque of the core-digging knife 13, but also enables the core-digging knife 13 to cut the fruit by both forward and reverse rotation. The cylinder 14 is fixed to 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 compatible 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 the 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 not only significantly reduces the possibility of the flesh 71 cracking and improves 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 separating from the flesh 71, thereby improving the processing continuity and facilitating the centralized collection of the cores 72.

[0036] A second motor 17 is mounted on the top plate 11b of the base 11. The main shaft of the second motor 17 is connected to the lifter 12 via a first transmission assembly 18. The drawings in the specification illustrate that the first transmission assembly 18 is a screw-nut assembly, with the screw connected to the main shaft of the second motor 17 and the nut fixedly connected to the lifter 12. Depending on the actual situation, the screw-nut assembly can be replaced with a rack and pinion assembly.

[0037] The main shaft of the second motor 17 is controlled to rotate, driving the lifter 12 to move along the guide direction of the first guide rod guide assembly 15 via the first transmission assembly 18, thereby changing the distance between the shaft portion 13a of the core-digging knife 13 and the abutment surface 11d. When the distance between the shaft portion 13a of the core-digging knife 13 and the abutment surface 11d decreases, the distance that the blade portion 13b of the core-digging knife 13 passes over the abutment surface 11d increases, that is, the blade portion 13b penetrates deeper into the fruit. This operation is suitable for digging out larger fruit pits 72. In other words, when digging out smaller fruit pits 72, the main shaft of the second motor 17 is operated to rotate to increase the distance between the shaft portion 13a of the core-digging knife 13 and the abutment surface 11d.

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

[0039] The fruit conveyor 300 includes a fruit cup 31 for placing fruit and a chain conveyor assembly 32 mounted on the frame 200. The chain conveyor assembly 32 includes a chain, sprockets, and a motor. Multiple fruit carriers 33 are mounted on the chain. Each of the fruit carriers 33 has multiple mounting holes arranged longitudinally therethrough. A fruit cup 31 is inserted into each mounting hole. The bottom of each fruit cup 31 is connected to the fruit carrier 33 via a first spring 34. The accompanying drawings show eight fruit cups 31 mounted on each fruit carrier 33, but the number of fruit cups 31 can be increased or decreased as needed.

[0040] The number of core-digging devices 100 is the same as the number of fruit-carrying cups 31 on each fruit-carrying plate 33, and each core-digging device 100 corresponds to each fruit-carrying cup 31. The base 11 of all core-digging devices 100 is fixed to the same first lifting plate 41. The first lifting plate 41 is connected to the frame 200 via a second guide rod guide assembly 42. The second guide rod guide assembly 42 has a vertical orientation and is parallel to the orientation of the first guide rod guide assembly 15. A third motor 43 is mounted on the frame 200, and the main shaft of the third motor 43 is connected to the base 11 via a second transmission assembly 44. The accompanying drawings in this specification show 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. Depending on the actual situation, the second transmission assembly 44 can also be replaced with a rack and pinion assembly instead of the cam-connecting rod assembly.

[0041] A set of lifting assemblies 52 is located directly below each core-digging device 100. All lifting assemblies 52 are fixed to 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, which guides in the vertical direction. The first lifting plate 41 and the second lifting plate 51 are connected by a third transmission assembly 54, which enables the first lifting plate 41 and the second lifting plate 51 to move synchronously in opposite directions. The accompanying drawings in the specification show that the third transmission assembly 54 includes a second cam rotatably connected to the frame 200. The second cam is connected to two second connecting rods: 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. Depending on the actual situation, the third transmission assembly 54 can also use a gear rack assembly instead of the above-mentioned cam connecting rod assembly. The first lifting plate 41 and the second lifting plate 51 are driven by a linkage method, which has the advantages of simple structure, convenient operation, and stable operation.

[0042] like Figures 5 to 7 As shown, the lifting assembly 52 includes a lifting seat 52a fixedly connected to the second lifting plate 51 and a lifting rod 52b extending vertically through the lifting seat 52a. A guide structure is formed between the outer side of the lifting rod 52b and the side of the mounting hole in the lifting seat 52a. The lifting rod 52b and the lifting seat 52a are also connected by a second spring 52c. A lifting plate 52d is mounted on the top of the lifting rod 52b. The second spring 52c ensures a flexible connection between the fruit loading cup 31 and the second lifting plate 51 when the fruit loading cup 31 is lifted. This allows the second spring 52c to be preferentially squeezed and deformed when the cut surface of the fruit contacts the abutment surface 11d of the core-removing device 100, significantly reducing the risk of fruit damage.

[0043] A support rod 61 is fixed to the frame 200 and is located below the fruit loading plate 33. A pressure rod 62 is fixed to the first lifting plate 41 and is located above the fruit loading plate 33. The support rod 61 and the pressure rod 62 significantly increase the strength of the fruit loading plate 33, reduce the bending deformation rate, improve the fruit loading stability of the fruit loading cup 31, and reduce the damage rate of the fruit.

[0044] The image recognition system includes an industrial camera 400, an image processing unit, and a control circuit. The fruit carrier 33 of the fruit conveyor 300 moves in the direction indicated by arrow X. The industrial camera 400 is located in front of the core-removing device 100 and is mounted on the frame 200. The accompanying drawings show four industrial cameras 400, each used to simultaneously capture images of a cross-section of half a fruit placed in two fruit cups 31. Alternatively, multiple industrial cameras 400 can be assigned to each fruit cup 31, depending on the specific situation.

[0045] The image processing unit is used to process the cross-sectional image captured by the industrial camera 400, extract features from the peach pit, and perform ellipse or circle fitting on the feature data. A control circuit is electrically connected to the second motor 17 of the pitting device 100. The control circuit controls the second motor 17 based on the values of the major and minor axes of the ellipse or the diameter of the circle, adaptively changing the distance between the shaft 13a of the pitting knife 13 and the abutment surface 11d. When the fruit pit 72 is elliptical, such as a peach, an orientation adjustment device 500 for rotating the fruit carrying cup 31 can be installed between the industrial camera 400 and the pitting device 100. The orientation adjustment device 500 includes a fourth motor. The control circuit is electrically connected to the fourth motor of the orientation adjustment device 500. The control circuit controls the fourth motor based on the values of the major and minor axes of the ellipse, which rotates the fruit carrying cup 31 to align the major axis of the ellipse. The image processing unit and orientation adjustment device 500 are both conventional technology and will not be described in detail here.

[0046] By describing the process of processing peaches using a fruit corer, the functions and advantages of each component are further explained: First, the peach is placed in half on the fruit holding cup 31 with the cut surface of the peach facing upward. In order to improve the numerical accuracy of the shape fitting of the image recognition system, a pressing plate or an orientation adjustment device 500 can be used to pre-press the cut surface of the peach to improve the horizontality of the cut surface of the peach.

[0047] Next, the motor of the chain conveyor assembly 32 sequentially drives the sprocket, chain, and fruit carrier 33, which in turn drives the fruit carrier cup 31 and the peaches to move horizontally directly below the industrial camera 400. The industrial camera 400 captures an image, capturing a cross-sectional image of the peach placed on the fruit carrier cup 31. The image processing unit processes this cross-sectional image, extracts features from the peach pit, and fits an ellipse to the feature data. For example, the fitted ellipse for peach No. 1 has a major axis of 45 mm and a minor axis of 25 mm, with an angle of 10° between the major axis and the set baseline. The ellipse for peach No. 2 has a major axis of 50 mm and a minor axis of 30 mm, with an angle of -15° between the major axis and the set baseline.

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

[0049] Next, the chain conveyor assembly 32 conveys the peach to the position directly below the core-digging device 100. The control circuit controls the second motor 17 based on the values of the major and minor axes of the elliptical shape, adaptively changing the distance between the shaft 13a of the core-digging knife 13 and the contact surface 11d. If the initial position of the core-digging knife 13 in the core-digging device 100 corresponding to peach No. 1 is suitable for digging a peach with a major axis of 55 mm, the control circuit controls the second motor 17 in the core-digging device 100 corresponding to peach No. 1 based on the values of the major and minor axes of the elliptical shape of peach No. 1, causing the second motor 17 to move the lifter 12 upward by the required distance, such as 5 mm. If the initial position of the core-digging knife 13 in the core-digging device 100 corresponding to peach No. 2 is suitable for digging a peach with a major axis of 45 mm, the control circuit controls the second motor 17 in the core-digging device 100 corresponding to peach No. 2 based on the values of the major and minor axes of the elliptical shape of peach No. 2, causing the second motor 17 to move the lifter 12 downward by the required distance, such as 3 mm.

[0050] The third motor 43 drives the core-digging device 100 downward through the second transmission assembly 44 until the support rod 61 and the pressure rod 62 press against the fruit-carrying plate 33. The first lifting plate 41 drives the second lifting plate 51 upward synchronously through the third transmission assembly 54. During the upward movement of the lifting assembly 52, the lifting plate 52d is initially unloaded. After the lifting plate 52d contacts the bottom surface of the fruit-carrying cup 31, the lifting plate 52d and the fruit-carrying cup 31 move upward synchronously. The first spring 34 is gradually compressed until the cut surface of the peach contacts the abutment surface 11d of the core-digging device 100. After this, the second spring 52c in the lifting assembly 52 is gradually compressed. The lifting plate 52d increases the contact area between the lifting assembly 52 and the fruit-carrying cup 31, thereby improving the upward stability of the fruit-carrying cup 31, significantly reducing the possibility of peach displacement and improving the product quality rate.

[0051] Then, the first motor 16 is controlled to drive the core-digging knife 13 to rotate and the cylinder 14 is controlled to move, so that the fruit core 72 and the flesh 71 are separated.

[0052] Finally, the third motor 43 is controlled to reset the core-digging device 100, and the fruit-carrying cup 31 is reset under the elastic force of the first spring 34, and the lifting plate 52d is reset under the elastic force of the second spring 52c.

Claims

1. A core-digging device with adjustable core size, comprising a base (11), the bottom surface of the base (11) being a contact plane (11d) for contact with the pulp (71), characterized in that: The core digging device also includes a lifting knife seat (12) and a core digging knife (13), the core digging knife (13) includes a shaft portion (13a) and a blade portion (13b) located on one side of the shaft portion (13a) and in the shape of an arc strip, the shaft portion (13a) 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 installed 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) is connected to the base (11) The first guide rod guide assembly (15) is connected to the fruit by a first guide rod guide assembly (15), 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) by a 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, thereby adjusting the core-digging depth of the blade portion (13b) cutting into the fruit.

2. The core digging device with adjustable core digging size according to claim 1, characterized in that: The base (11) comprises a bottom plate (11a) located at the bottom and a top plate (11b) located at the top, wherein the bottom plate (11a) and the top plate (11b) are fixedly connected via a vertical rod (11c); the bottom surface of the bottom plate (11a) is a contact plane (11d) for contact with the fruit pulp (71), and a relief hole (11e) is provided at the center of the bottom plate (11a) 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: 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 corer based on image recognition, comprising a frame (200), a fruit conveying device (300) and an image recognition system mounted on the frame (200); the fruit conveying device (300) comprising a fruit cup (31) for placing fruit; 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 the frame (200) is connected to the base (11) of the core digging device (100) via a second guide rod guide assembly (42), the guide direction of the second guide rod guide assembly (42) is arranged parallel to the guide direction of the first guide rod guide assembly (15), a third motor (43) is mounted on the frame (200), the 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 the cut surface of the fruit placed on the fruit carrying cup (31); The image recognition system includes 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 the 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. The fruit core digging machine first identifies the size of the fruit core to be dug in real time through an image recognition system, and then controls a second motor (17) to adaptively change the distance between the shaft portion (13a) of the core digging knife (13) and the abutting plane (11d) so that the depth of the core digging when the blade portion (13b) cuts into the fruit is adapted to the size of the fruit core (72) to be dug.

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 the fruit carrying plates (33) are provided with a plurality of mounting holes arranged along their longitudinal lines, 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 jacking assemblies (52) is provided directly below each of the core-digging devices (100), and 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) 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 jacking assembly (52) can push the fruit carrying cup (31) to move upward synchronously.

10. The fruit corer based on image recognition according to claim 9, characterized in that: The lifting assembly (52) includes 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 to the frame (200), and a pressing rod (62) located above the fruit loading plate (33) is fixed to 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).

Images