Automatic feeding and conveying device and method for jujube production

Abstract

The invention discloses an automatic feeding and conveying device and method for jujube production, and relates to the technical field of special equipment for intelligent transportation of agricultural products. The spiral conveying mechanism is used for directionally conveying jujubes; a shape adaptation detection mechanism is arranged on one side of the spiral conveying mechanism and comprises at least three air bags, a control mechanism, a plurality of elastic contact fingers and a displacement sensor. According to the invention, the shape adaptation detection mechanism is arranged, and dual detection of air bag pressure and elastic contact finger displacement is combined, so that special-shaped fruits with irregular shapes and qualified sizes can be accurately identified, and the identification accuracy is improved; and a visual sensor is replaced by a mechanical structure, so that identification errors in dust and humid environments are effectively avoided, the maintenance cost is low, and the device is more suitable for complex working conditions of jujube processing.

Description

Technical Field

[0001] The present invention relates to the technical field of special equipment for intelligent transportation of agricultural products, and in particular to an automatic feeding and conveying device and method for jujube production. Background Art

[0002] Due to the influence of factors such as variety, lighting conditions, pests and diseases during the natural growth process, jujubes can produce a variety of shapes, including normal, curved, flat, conjoined, and those with damaged skins. In the market, regular-shaped jujubes are sold as high-end gifts or fresh food, while irregularly shaped jujubes are often used to make secondary products such as jujube paste and jam. Therefore, jujubes of different shapes must be sorted and transported during production to maximize resource utilization. Traditional manual sorting methods are inefficient and subject to subjective judgment, making it difficult to produce standardized classification results and no longer meeting the needs of large-scale production.

[0003] For example, a Chinese patent with publication number CN116654534A discloses an automatic feeding and conveying device for red dates, which relates to the technical field of automatic feeding of agricultural products, including a feeding hopper, a chain roller conveying mechanism, three sprockets, an air-blowing grading system and a grading blanking frame; the chain roller conveying mechanism is composed of multiple rollers and multiple chain links, the middle of the roller is recessed, the chain roller conveying mechanism includes an inclined section and a horizontal section, the three sprockets are respectively engaged with the chain links at the starting end of the inclined section, the chain links at the connection between the inclined section and the horizontal section, and the chain links at the end of the horizontal section, the feeding hopper is located above the inclined section, the air-blowing grading system and the grading blanking frame are arranged at the end of the horizontal section, and the air-blowing grading system and the grading blanking frame are respectively located on two opposite sides of the end of the horizontal section.

[0004] However, the above-mentioned device has obvious limitations. It can only grade fruits based on size and cannot identify irregularly shaped fruits that meet the required size. In addition, some existing sorting and transportation devices that rely on visual sensors and algorithm processing not only have high equipment costs, but are also prone to recognition errors in dusty and humid processing environments, and are difficult to maintain. Summary of the Invention

[0005] The purpose of this application is to provide an automated feeding and conveying device and method for date production, which can effectively solve the problems raised in the above background technology.

[0006] To achieve the above object, the application provides the following technical scheme: an automatic feeding and conveying device for jujube production, comprising a spiral conveying mechanism arranged on a mounting rack; the spiral conveying mechanism is used for directional conveying of jujubes; one side of the spiral conveying mechanism is provided with a shape adaptation detection mechanism, the shape adaptation detection mechanism comprises at least three air bags, a control mechanism, a plurality of elastic fingers and a displacement sensor; wherein, a mounting plate is fixedly arranged on the mounting rack; the at least three air bags are arranged in an equidistant circumferential array above the spiral conveying mechanism through the mounting plate; a protruding portion is arranged on one side of the air bag close to the jujubes to adapt to the arc structure of the jujubes; the control mechanism is mounted on the mounting rack, an output end of the control mechanism is communicated with the plurality of air bags, and the control mechanism is used for controlling the extrusion force of the air bags on the jujubes when the jujubes pass through; at least one elastic finger is arranged on one side of each air bag, and the root of the elastic finger is rotationally connected to the mounting plate about an axis; the displacement sensor is mounted at the end of the elastic finger and is used for detecting the extrusion deformation amount of the jujubes on the elastic finger.

[0007] Preferably, the control mechanism comprises a connecting pipe, an air pump, at least three pressure reducing valves, a pressure sensor and an electromagnetic control valve; the mounting plate is fixedly arranged on the mounting rack, and the air bags are mounted on the mounting plate; the air pump is mounted on the mounting plate, an output end of the air pump is connected with the three air bags through three connecting pipe branches respectively, one pressure reducing valve, a pressure sensor and an electromagnetic control valve form a pressure control mechanism, each pressure control mechanism is mounted on one connecting pipe branch; and the mounting sequence of the pressure control mechanism on the connecting pipe branch between the output end of the air pump and the air bag is a pressure reducing valve, a pressure sensor and an electromagnetic control valve.

[0008] Preferably, the spiral conveying mechanism comprises a first driving mechanism and at least three conveying rollers; the at least three conveying rollers are rotationally connected to the mounting rack about an axis, and the at least three conveying rollers and the at least three air bags are arranged at equal intervals around the same circumference; a spiral groove is arranged on the conveying roller, and the spiral groove on the bottommost conveying roller is arranged clockwise, and the spiral grooves on the other conveying rollers are arranged counterclockwise.

[0009] Preferably, the first driving mechanism comprises a first motor and a plurality of first gears; each conveying roller is coaxially fixed with a first gear, and adjacent first gears are meshingly connected; the first motor is mounted on the mounting rack, and an output end of the first motor is coaxially connected with one of the first gears.

[0010] Preferably, a vibrating feeding mechanism is arranged above the spiral conveying mechanism; the vibrating feeding mechanism is used for making the jujubes fall onto the conveying rollers for conveying in turn.

[0011] Preferably, the vibrating feeding mechanism comprises a feeding hopper, a vibrator and a plurality of springs; the feeding hopper is mounted on a mounting frame via the plurality of springs; the vibrator is mounted on a side wall of the feeding hopper near the bottom;

[0012] A guide groove is provided at the bottom of the feed hopper; the guide groove is elliptical to guide the jujube fruits to enter the spiral conveying mechanism in an axial posture.

[0013] Preferably: a conveying guide mechanism is provided between the vibrating feeding mechanism and the morphological adaptation detection mechanism; the conveying guide mechanism includes a second driving mechanism, a pair of limit baffles and a silicone strip; the pair of limit baffles are provided above the spiral conveying mechanism, and the length direction of the limit baffles is parallel to the conveying direction of the spiral conveying mechanism; the silicone strip is provided on the limit baffle; the second driving mechanism is installed on the mounting frame through the mounting plate, and is used to control the relative or opposite movement of the pair of limit baffles to push the jujube fruits to maintain axial conveyance through the morphological adaptation detection mechanism.

[0014] Preferably: the second driving mechanism includes a second motor, a second gear and a pair of racks; the second motor is mounted on a mounting plate, the second gear is coaxially connected to the output end of the second motor, a pair of racks are slidably connected to the mounting plate along their length direction, and both sides of the second gear are respectively meshed with a pair of racks; the pair of racks are respectively fixed to a pair of limit baffles.

[0015] Preferably: a pneumatic actuator is provided at the end of the spiral conveying mechanism; the pneumatic actuator includes a qualified channel, a special-shaped channel, a sorting baffle and a rotating cylinder; the qualified channel is arranged at the end of the spiral conveying mechanism in a downward tilt, the special-shaped channel is arranged at an angle on the side of the qualified channel, and the special-shaped channel is connected to the qualified channel; the sorting baffle is hinged at the connection position between the qualified channel and the special-shaped channel; the rotating cylinder is installed on the mounting frame and is used to drive the sorting baffle to rotate to open or close the special-shaped channel; when the sorting baffle rotates to open the special-shaped channel, the qualified channel is blocked and closed by the sorting baffle.

[0016] An automated feeding and conveying method for jujube production, using the automated feeding and conveying device for jujube production, specifically comprising the following steps:

[0017] Step 1: Air pressure detection and identification: When the jujube fruit is pushed to the entrance of the detection channel of the morphological adaptation detection mechanism via the spiral conveying mechanism, the control mechanism will first control the initial pressure of the three airbags to stabilize it at a predetermined value, thereby forming an enclosed detection range; then, the jujube fruit enters the core area of ​​the detection channel, where its top first contacts the top airbag, while the two sides simultaneously squeeze the symmetrically distributed side airbags; at this time, the contour of the jujube fruit causes a local depression in the airbag, resulting in an increase in the internal pressure of the airbag; by detecting the change in the airbag pressure, the symmetry of the jujube fruit shape can be reflected, and then it can be determined whether the jujube fruit shape meets the requirements;

[0018] Step 2: Detection and identification of the contact fingers: When the elastic contact fingers come into contact with the jujube fruit, the ends of the elastic contact fingers will come into contact with the surface of the jujube fruit and subsequently produce rotational displacement; at this time, the displacement signal is detected by the displacement sensor installed at the ends of the elastic contact fingers; for standard jujube fruits, their axial shape is uniform, so the displacement deviation of multiple elastic contact fingers is small; while for irregular jujube fruits, due to their irregular shape, the displacement of the elastic contact fingers will show characteristic deviations; by comparing the size and characteristics of the displacement deviations, the standard jujube fruits and irregular jujube fruits can be judged.

[0019] In summary, the technical effects and advantages of the present invention are:

[0020] 1. The present invention has a reasonable structure. By setting up a morphological adaptation detection mechanism and combining the dual detection of airbag pressure and elastic contact finger displacement, it can accurately identify irregularly shaped but qualified shaped fruits, thereby improving the recognition accuracy. In addition, by replacing the visual sensor with a mechanical structure, it effectively avoids recognition errors in dusty and humid environments, has low maintenance costs, and is more adaptable to the complex working conditions of jujube fruit processing.

[0021] 2. The present invention sets a spiral conveying mechanism to form a corresponding detection position with the airbag. Through the coordinated rotation of multiple conveying rollers, a balanced propulsion force is formed, so that the jujube fruits move stably along the conveying direction. The pitch design of the spiral groove ensures that the jujube fruits enter the detection channel one by one.

[0022] 3. By setting up a conveying guide mechanism and realizing dynamic adjustment of the limit baffle, the vertical error of the conveying posture of the jujube fruit can be reduced, providing a stable posture reference for shape detection, ensuring that the jujube fruit always passes through the detection channel in an axial posture and is accurately aligned with the airbag and elastic contact finger. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of the overall first-view three-dimensional structure of the present invention;

[0025] Figure 2 For the present invention Figure 1 Schematic diagram of the enlarged structure of area A in the middle;

[0026] Figure 3 This is a schematic diagram of the overall second-viewing perspective three-dimensional structure of the present invention;

[0027] Figure 4 It is a three-dimensional enlarged structural schematic diagram of the vibration feeding mechanism of the present invention;

[0028] Figure 5 It is a three-dimensional enlarged structural schematic diagram of the spiral conveying mechanism of the present invention;

[0029] Figure 6 It is a three-dimensional enlarged structural diagram of the morphological adaptation detection mechanism of the present invention;

[0030] Figure 7 It is a partially cutaway, three-dimensional, and enlarged structural diagram of the morphology adaptation detection mechanism of the present invention;

[0031] Figure 8 It is a schematic diagram of the three-dimensional enlarged structure of the airbag of the present invention;

[0032] Figure 9 It is a three-dimensional enlarged structural schematic diagram of the conveying guide mechanism of the present invention;

[0033] Figure 10 Flow chart of the method of the present invention.

[0034] In the figure: 1. Mounting frame; 2. Vibrating feeding mechanism; 21. Feed hopper; 22. Guide trough; 23. Vibrator; 24. Spring; 3. Screw conveying mechanism; 31. Conveying roller; 32. Spiral trough; 33. First driving mechanism; 331. First gear; 332. First motor; 4. Conveying guide mechanism; 41. Limit baffle; 42. Silicone strip; 43. Second driving mechanism; 431. Second motor; 432. Second gear; 433. Rack; 5. Morphological adaptation detection mechanism; 51. Mounting plate; 52. Airbag; 53. Protrusion; 54. Elastic contact finger; 55. Connecting pipe; 56. Air pump; 57. Pressure reducing valve; 58. Pressure sensor; 59. Solenoid control valve; 6. Pneumatic actuator; 61. Qualified channel; 62. Special-shaped channel; 63. Sorting baffle; 64. Rotating cylinder. DETAILED DESCRIPTION

[0035] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the protection scope of the present application.

[0036] Embodiment 1: refer to Figure 1 and Figures 6-8 An automatic feeding and conveying device for jujube production is shown in FIGS. 1, 2 and 3, which comprises a spiral conveying mechanism 3 arranged on a mounting rack 1; the spiral conveying mechanism 3 is used for directional conveying of jujubes; one side of the spiral conveying mechanism 3 is provided with a shape adaptation detection mechanism 5, which comprises at least three air bags 52, a control mechanism, a plurality of elastic fingers 54 and a displacement sensor; wherein the mounting rack 1 is fixedly provided with a mounting plate 51; the at least three air bags 52 are arranged in an equidistant circumferential array above the spiral conveying mechanism 3 through the mounting plate 51; a protruding portion 53 is arranged on one side of the air bag 52 close to the jujubes, so as to adapt to the arc structure of the jujubes; the control mechanism is installed on the mounting rack 1, the output end of the control mechanism is communicated with the plurality of air bags 52, and the control mechanism is used for controlling the extrusion force of the air bags 52 on the jujubes when the jujubes pass through; at least one elastic finger 54 is arranged on one side of each air bag 52, the root of the elastic finger 54 is rotatably connected to the mounting plate 51 about the axis thereof; the root of the elastic finger 54 and the mounting plate 51 are provided with a spring piece, which is used for driving the elastic finger 54 to quickly reset when the elastic finger 54 loses the limitation; the spring piece is prior art and is not shown in the figure, and will not be described in detail; the displacement sensor is installed at the end of the elastic finger 54 and is used for detecting the extrusion deformation amount of the jujubes on the elastic finger 54.

[0037] It should be noted that the spiral conveying mechanism 3 and the shape adaptation detection mechanism 5 work cooperatively; the spiral conveying mechanism 3 provides a stable conveying path for the jujubes, and the shape adaptation detection mechanism 5 realizes shape recognition through the composite detection of the air bags 52 and the elastic fingers 54; the mounting plate 51 fixes the at least three air bags 52 in an equidistant circumferential array above the spiral conveying mechanism 3, forming a surrounding detection space.

[0038] During detection, the air pressure in the air bag 52 is first adjusted by the control mechanism, so that the jujubes are subjected to a preset extrusion force when passing through; when the jujubes pass through the air bag 52, the arc surface of the jujubes is adapted to the protruding portion 53 on the air bag 52, ensuring sufficient contact; when the jujubes contact the elastic finger 54, the elastic finger 54 generates a rotational displacement, and the displacement sensor at the end converts the deformation amount into an electrical signal, which cooperates with the pressure signal of the air bag 52 to reflect the shape of the jujubes.

[0039] Embodiment 1: refer to Figure 1 and Figures 6-7The control mechanism includes a connecting pipe 55, an air pump 56, at least three pressure reducing valves 57, a pressure sensor 58 and an electromagnetic control valve 59; a mounting plate 51 is fixed on the mounting frame 1, and the airbag 52 is mounted on the mounting plate 51; the air pump 56 is mounted on the mounting plate 51, and the output end of the air pump 56 is connected to the three airbags 52 respectively through three connecting pipe 55 branches. A pressure reducing valve 57, a pressure sensor 58 and an electromagnetic control valve 59 form a group of pressure control mechanisms, and each group of pressure control mechanisms is installed on a connecting pipe 55 branch; and the installation order of the pressure control mechanisms on the connecting pipe 55 branch between the output end of the air pump 56 and the airbag 52 is the pressure reducing valve 57, the pressure sensor 58 and the electromagnetic control valve 59.

[0040] It should be noted that the control mechanism realizes precise control of the pressure of the airbag 52 through the series structure of the air pump 56, the pressure reducing valve 57, the pressure sensor 58 and the electromagnetic control valve 59; the air pump 56 provides initial high-pressure gas as the gas source, which is delivered to each airbag 52 in three ways through the connecting pipe 55; the pressure reducing valve 57 on each connecting pipe 55 first adjusts the high-pressure gas to the working pressure required for jujube fruit detection, ensuring that the squeezing force of the airbag 52 is adapted to the hardness of the jujube fruit; the pressure sensor 58 monitors the gas pressure after decompression in real time, and feeds the signal back to the control center to form a pressure closed-loop control; the electromagnetic control valve 59 controls the air path according to the detection requirements. When the jujube fruit enters the detection area, the valve is opened to inflate the airbag 52, and the valve is closed and reset after the detection is completed.

[0041] The pressure control mechanism realizes the independent adjustment of the pressure of the airbag 52, and can flexibly adjust the squeezing force according to the hardness differences of different varieties of jujube fruits, thereby reducing the skin damage rate; the pressure sensor 58 and the pressure reducing valve 57 work together to achieve high pressure control accuracy, ensuring the stability of the detection signal; the rapid response of the electromagnetic control valve 59 enables the three groups of airbags 52 to work independently, improving the detection efficiency, while avoiding the impact of single-path failure on the overall system.

[0042] See also Figures 1-2 and Figure 5 The spiral conveying mechanism 3 includes a first driving mechanism 33 and at least three conveying rollers 31; the at least three conveying rollers 31 are connected to the mounting frame 1 by rotating around their axes, and the at least three conveying rollers 31 and the at least three air bags 52 are arranged at equal intervals around the same circumference, and a spiral groove 32 is opened on the conveying roller 31, and the spiral groove 32 on the conveying roller 31 at the bottom is opened in a clockwise spiral, and the spiral grooves 32 on the other conveying rollers 31 are opened in a counterclockwise spiral.

[0043] It should be noted that at least three conveying rollers 31 of the spiral conveying mechanism 3 form corresponding detection positions with the upper airbag 52, and the conveying rollers 31 convey the jujubes by rotating around their own axes; the spiral grooves 32 on the surfaces of the conveying rollers 31 provide accommodating space for the jujubes, wherein the spiral direction of the spiral grooves 32 of the bottom conveying roller 31 is opposite to the spiral direction of the other conveying rollers 31; when the conveying rollers 31 rotate, the forward-rotating spiral grooves 32 generate a rightward axial thrust on the jujubes, and the reverse-rotating spiral grooves 32 generate a leftward axial thrust, and the two cooperate to form a balanced propulsion force, so that the jujubes move stably along the conveying direction, and the pitch design of the spiral grooves 32 ensures that the jujubes enter the detection channel one by one;

[0044] The differentiated rotational design of the spiral groove 32 solves the problem that the traditional conveying roller 31 easily causes the jujube fruits to deviate, so as to control the amount of deviation of the jujube fruits during conveying; the circumferential distribution of multiple conveying rollers 31 cooperates with the spiral groove 32 to achieve stable support and directional conveying of the jujube fruits, meet the needs of large-scale production, have stronger constraints on the jujube fruits, and can adapt to the conveying of jujube fruits of different sizes.

[0045] See also Figure 5 It can be understood that the present application does not limit the specific structure and installation method of the first driving mechanism 33. The following only provides a feasible technical solution; the first driving mechanism 33 includes a first motor 332 and a plurality of first gears 331; each conveying roller 31 is coaxially fixed with a first gear 331, and adjacent first gears 331 are meshed and connected; the first motor 332 is installed on the mounting frame 1, and the output end of the first motor 332 is coaxially connected to one of the first gears 331.

[0046] It should be noted that when the first motor 332 is working, it drives the first gear 331 to rotate, and drives all the conveying rollers 31 to rotate synchronously through the meshing relationship; due to the rigid transmission characteristics of the meshing of the first gear 331, the rotation speed of each conveying roller 31 is completely consistent, ensuring that the spiral groove 32 synchronizes the propulsion rhythm of the jujube fruits.

[0047] See also Figure 1 and Figures 3-4 A vibrating feeding mechanism 2 is provided above the spiral conveying mechanism 3; the vibrating feeding mechanism 2 is used to make the jujube fruits fall onto the conveying roller 31 and be conveyed in sequence; the vibrating feeding mechanism 2 includes a feeding hopper 21, a vibrator 23 and a plurality of springs 24; the feeding hopper 21 is mounted on the mounting frame 1 through a plurality of springs 24; the vibrator 23 is mounted on the side wall of the feeding hopper 21 near the bottom; a guide groove 22 is provided at the bottom of the feeding hopper 21; the guide groove 22 is elliptical to guide the jujube fruits to enter the spiral conveying mechanism 3 in an axial posture.

[0048] It should be noted that the vibration feeding mechanism 2 makes the dates orderly enter the spiral conveying mechanism 3 through vibration; the spring 24 provides vibration elastic support for the feeding hopper 21; when the external vibration source is driven, the feeding hopper 21 generates high-frequency micro-amplitude vibration, so that the internal dates are loose and move to the bottom; the guide-out groove 22 at the bottom of the feeding hopper 21 limits the output quantity of dates, ensures that the dates fall on the conveying roller 31 one by one, and avoids conveying congestion caused by batch falling;

[0049] The guide-out groove 22 of the vibration feeding mechanism 2 is designed in an elliptical shape, the long axis of which is adapted to the axial length of the dates, and the short axis is slightly larger than the maximum diameter of the dates; when the dates move to the guide-out groove 22 under the action of vibration, the elliptical structure can guide the posture of the dates, so that the dates with the axial direction consistent with the long axis can smoothly pass through the guide-out groove 22, while the dates in the transverse or inclined direction are blocked due to size mismatch and then pass through after adjusting the posture under the action of vibration, so that the dates finally enter the spiral groove 32 of the spiral conveying mechanism 3 in the axial posture; the posture guiding function of the elliptical guide-out groove 22 makes the dates enter in the axial direction at a high rate, reduces the posture correction pressure of the subsequent conveying guide mechanism 4; compared with the circular guide-out groove 22, the elliptical guide-out groove 22 has stronger constraint on the posture of the dates, avoids detection errors caused by posture disorder, and improves the accuracy of shape recognition; at the same time, the structure does not need complex driving components, has low cost and high reliability, and is suitable for large-scale production scenes.

[0050] Please refer to Figure 3 , Figure 6 and Figure 9 , the conveying guide mechanism 4 is arranged between the vibration feeding mechanism 2 and the shape adaptation detection mechanism 5; the conveying guide mechanism 4 includes a second driving mechanism 43, a pair of limiting baffles 41 and a silica gel strip 42; the pair of limiting baffles 41 are arranged above the spiral conveying mechanism 3, and the length direction of the limiting baffles 41 is parallel to the conveying direction of the spiral conveying mechanism 3; the silica gel strip 42 is arranged on the limiting baffles 41; the second driving mechanism 43 is installed on the mounting frame 1 through the mounting plate 51 and is used to control the relative or opposite movement of the pair of limiting baffles 41, so as to push the dates to maintain axial conveying through the shape adaptation detection mechanism 5.

[0051] It should be noted that when the dates appear to be horizontally offset, the baffles move to the center, and the dates are pushed back to the conveying center by the pushing force of the silica gel strip 42; when the sizes of the dates are different, the distance between the baffles can be adaptively adjusted to ensure that the dates always pass through the detection channel in the axial posture and are accurately aligned with the air bag 52 and the elastic fingers 54;

[0052] The dynamic adjustment function of the limiting baffles 41 can reduce the verticality error of the conveying posture of the dates, and provide a stable posture reference for shape detection; the flexible contact of the silica gel strip 42 avoids scratching the surface of the dates; compared with the fixed baffles, the limiting baffles can adapt to dates with larger diameter difference, have stronger universality, and reduce the equipment adjustment time caused by variety replacement.

[0053] See also Figure 9 It can be understood that the present application does not limit the specific structure and installation method of the second driving mechanism 43. The following only provides a feasible technical solution; the second driving mechanism 43 includes a second motor 431, a second gear 432 and a pair of racks 433; the second motor 431 is installed on the mounting plate 51, the second gear 432 is coaxially connected to the output end of the second motor 431, and a pair of racks 433 are slidably connected to the mounting plate 51 along their length direction, and the two sides of the second gear 432 are respectively meshed with a pair of racks 433; the pair of racks 433 are respectively fixed to a pair of limit baffles 41.

[0054] It should be noted that the second driving mechanism 43 realizes the adjustment of the spacing of the limit baffle 41 through the transmission of the second gear 432 and the rack 433; when the second motor 431 rotates forward, the second gear 432 drives the racks 433 on both sides to move in the opposite direction, so that the limit baffles 41 move toward each other, so that the spacing is reduced; when the motor reverses, the rack 433 moves in the same direction, and the limit baffles 41 move relative to each other, so that the spacing is increased, thereby realizing precise control of the spacing of the limit baffles 41.

[0055] Example 2: This example differs from Example 1 in that: Figures 1-2 As shown, a pneumatic actuator 6 is provided at the end of the spiral conveying mechanism 3; the pneumatic actuator 6 includes a qualified channel 61, a special-shaped channel 62, a sorting baffle 63 and a rotating cylinder 64; the qualified channel 61 is arranged at the end of the spiral conveying mechanism 3 in a downwardly inclined manner, and the special-shaped channel 62 is arranged at an angle to one side of the qualified channel 61, and the special-shaped channel 62 is connected to the qualified channel 61; the sorting baffle 63 is hinged at the connection position between the qualified channel 61 and the special-shaped channel 62; the rotating cylinder 64 is installed on the mounting frame 1, and is used to drive the sorting baffle 63 to rotate to open or close the special-shaped channel 62; when the sorting baffle 63 rotates to open the special-shaped channel 62, the qualified channel 61 is blocked and closed by the sorting baffle 63.

[0056] It should be noted that the pneumatic actuator 6 is located at the end of the spiral conveying mechanism 3 and is responsible for the classification and output of the jujube fruits; the qualified channel 61 and the special-shaped channel 62 are arranged at an angle, and gravity is used to assist the transportation of the jujube fruits; when standard fruits are detected, the sorting baffle 63 is in the initial position, blocking the special-shaped channel 62 and opening the qualified channel 61, and the jujube fruits are transported to the next process along the qualified channel 61; when special-shaped fruits are detected, the rotating cylinder 64 drives the sorting baffle 63 to rotate, opens the special-shaped channel 62, blocks the qualified channel 61, and the jujube fruits enter the special-shaped channel 62 for collection.

[0057] See also Figures 1-10As shown, an automated feeding and conveying method for jujube production uses the automated feeding and conveying device for jujube production; specifically, the following steps are included:

[0058] Step 1: Air pressure detection and identification: When the jujube fruit is pushed to the entrance of the detection channel of the shape adaptation detection mechanism 5 via the spiral conveying mechanism 3, the control mechanism will first control the initial pressure of the three air bags 52 to stabilize it at a predetermined value, thereby forming an enclosed detection range; then, the jujube fruit enters the core area of ​​the detection channel, where its top first contacts the top air bag 52, while the two sides simultaneously squeeze the symmetrically distributed side air bags 52; at this time, the contour of the jujube fruit causes the air bags 52 to partially dent, resulting in an increase in the internal pressure of the air bags 52; by detecting the change in the pressure of the air bags 52, the symmetry of the jujube fruit's shape can be reflected, and then it can be judged whether the jujube fruit's shape meets the requirements;

[0059] Step 2: Touch finger detection and identification: When the elastic touch finger 54 contacts the jujube fruit, the end of the elastic touch finger 54 will contact the surface of the jujube fruit and produce rotational displacement; at this time, the displacement signal is detected by the displacement sensor installed at the end of the elastic touch finger 54; for standard jujube fruits, their axial shape is uniform, so the displacement deviation of multiple elastic touch fingers 54 is small; while for special-shaped jujube fruits, due to their irregular shape, the displacement of the elastic touch finger 54 will show characteristic deviation; by comparing the size and characteristics of the displacement deviation, the standard jujube fruits and special-shaped jujube fruits can be judged.

[0060] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic feeding and conveying device for jujube production, characterized in that: The invention comprises a spiral conveying mechanism (3) arranged on a mounting frame (1); a form adaptation detection mechanism (5) is arranged on one side of the spiral conveying mechanism (3), and the form adaptation detection mechanism (5) comprises: At least three air bags (52), a mounting plate (51) is fixedly provided on the mounting frame (1); at least three air bags (52) are arranged above the spiral conveying mechanism (3) in an evenly spaced circular array through the mounting plate (51); a raised portion (53) is provided on the side of the air bag (52) close to the jujube fruit to adapt to the arc-shaped structure of the jujube fruit; A control mechanism, the control mechanism being mounted on the mounting frame (1), the output end of the control mechanism being in communication with a plurality of air bags (52) and being used to control the squeezing force of the air bags (52) on the jujube fruits when the jujube fruits pass through; A plurality of elastic contact fingers (54), with at least one elastic contact finger (54) being provided on one side of each air bag (52), and the base of the elastic contact finger (54) being rotatably connected to the mounting plate (51) around its axis; and a displacement sensor; the displacement sensor is installed at the end of the elastic contact finger (54) and is used to detect the amount of compression deformation of the elastic contact finger (54) caused by the jujube fruit.

2. The automatic feeding and conveying device for jujube production according to claim 1, characterized in that: The control mechanism comprises a connecting pipe (55), an air pump (56), at least three pressure reducing valves (57), a pressure sensor (58) and an electromagnetic control valve (59); a mounting plate (51) is fixedly provided on the mounting frame (1), and the air bag (52) is mounted on the mounting plate (51); the air pump (56) is mounted on the mounting plate (51), and the output end of the air pump (56) is respectively connected to the three air bags (52) through three connecting pipe (55) branches; one pressure reducing valve (57), pressure sensor (58) and electromagnetic control valve (59) form a group of pressure control mechanisms, and each group of pressure control mechanisms is respectively mounted on one connecting pipe (55) branch; and the order of mounting the pressure control mechanisms on the connecting pipe (55) branch between the output end of the air pump (56) and the air bag (52) is the pressure reducing valve (57), pressure sensor (58) and electromagnetic control valve (59).

3. The automatic feeding and conveying device for jujube production according to claim 2, characterized in that: The spiral conveying mechanism (3) comprises a first driving mechanism (33) and at least three conveying rollers (31); the at least three conveying rollers (31) are connected to the mounting frame (1) by rotating around their axes, and the at least three conveying rollers (31) and at least three air bags (52) are arranged at equal intervals around the same circumference; spiral grooves (32) are provided on the conveying rollers (31), and the spiral groove (32) on the conveying roller (31) at the bottom is provided in a clockwise spiral, while the spiral grooves (32) on the other conveying rollers (31) are provided in a counterclockwise spiral.

4. The automatic feeding and conveying device for jujube production according to claim 3, characterized in that: The first driving mechanism (33) comprises a first motor (332) and a plurality of first gears (331); each of the conveying rollers (31) is coaxially fixed with a first gear (331), and adjacent first gears (331) are meshedly connected; the first motor (332) is mounted on the mounting frame (1), and the output end of the first motor (332) is coaxially connected to one of the first gears (331).

5. The automatic feeding and conveying device for jujube production according to claim 3, characterized in that: A vibrating feeding mechanism (2) is provided above the spiral conveying mechanism (3); the vibrating feeding mechanism (2) is used to allow the jujube fruits to fall onto the conveying roller (31) and be conveyed in sequence.

6. The automatic feeding and conveying device for jujube production according to claim 5, characterized in that: The vibrating feeding mechanism (2) comprises a feeding hopper (21), a vibrator (23) and a plurality of springs (24); the feeding hopper (21) is mounted on a mounting frame (1) via the plurality of springs (24); the vibrator (23) is mounted on a side wall of the feeding hopper (21) near the bottom; A guide groove (22) is provided at the bottom of the feed hopper (21); the guide groove (22) is elliptical so as to guide the jujube fruits to enter the spiral conveying mechanism in an axial posture.

7. The automatic feeding and conveying device for jujube production according to claim 5, characterized in that: A conveying guide mechanism (4) is provided between the vibrating feeding mechanism (2) and the morphological adaptation detection mechanism (5); the conveying guide mechanism (4) comprises a second driving mechanism (43), a pair of limiting baffles (41) and a silicone strip (42); the pair of limiting baffles (41) are provided above the spiral conveying mechanism (3), and the length direction of the limiting baffles (41) is parallel to the conveying direction of the spiral conveying mechanism (3); the silicone strip (42) is provided on the limiting baffles (41); the second driving mechanism (43) is installed on the mounting frame (1) through the mounting plate (51), and is used to control the relative or opposite movement of the pair of limiting baffles (41) to push the jujube fruits to maintain axial conveyance through the morphological adaptation detection mechanism (5).

8. The automatic feeding and conveying device for jujube production according to claim 7, characterized in that: The second driving mechanism (43) comprises a second motor (431), a second gear (432) and a pair of racks (433); the second motor (431) is mounted on a mounting plate (51); the second gear (432) is coaxially connected to an output end of the second motor (431); the pair of racks (433) are slidably connected to the mounting plate (51) along their length direction, and both sides of the second gear (432) are respectively meshed and connected with the pair of racks (433); the pair of racks (433) are respectively fixed to a pair of limit baffles (41).

9. The automatic feeding and conveying device for jujube production according to claim 1, characterized in that: The end of the spiral conveying mechanism (3) is provided with a pneumatic actuator (6); the pneumatic actuator (6) includes a qualified channel (61), a special-shaped channel (62), a sorting baffle (63) and a rotating cylinder (64); the qualified channel (61) is arranged at the end of the spiral conveying mechanism (3) in a downwardly inclined manner, the special-shaped channel (62) is arranged at a side of the qualified channel (61), and the special-shaped channel (62) is communicated with the qualified channel (61); the sorting baffle (63) is hinged at a connection position between the qualified channel (61) and the special-shaped channel (62); the rotating cylinder (64) is installed on the mounting frame (1) and is used to drive the sorting baffle (63) to rotate to open or close the special-shaped channel (62); when the sorting baffle (63) rotates to open the special-shaped channel (62), the qualified channel (61) is blocked and closed by the sorting baffle (63).

10. An automated feeding and conveying method for jujube production, characterized in that: Use the automatic feeding and conveying device for date production according to any one of claims 1 to 9; Specifically include the following steps: Step 1: Air pressure detection and identification: When the jujube fruit is pushed to the entrance of the detection channel of the shape adaptation detection mechanism (5) through the spiral conveying mechanism (3), the control mechanism will first control the initial pressure of the three air bags (52) to stabilize it at a predetermined value, thereby forming an enclosed detection range; then, the jujube fruit enters the core area of ​​the detection channel, and its top first contacts the top air bag (52), while the two sides simultaneously squeeze the symmetrically distributed side air bags (52); at this time, the contour of the jujube fruit will cause the air bag (52) to be partially concave, resulting in an increase in the internal pressure of the air bag (52); by detecting the change in the pressure of the air bag (52), the symmetry of the jujube fruit shape is reflected, and then it is judged whether the shape of the jujube fruit meets the requirements; Step 2, finger detection and identification: when the elastic finger (54) contacts the jujube fruit, the end of the elastic finger (54) contacts the surface of the jujube fruit and generates a rotational displacement; at this time, the displacement signal is detected by a displacement sensor installed at the end of the elastic finger (54); for standard jujube fruit, its axial shape is uniform, so the displacement deviation of multiple elastic finger (54) is small; and for irregular jujube fruit, due to its irregular shape, the displacement of the elastic finger (54) will show a characteristic deviation; by comparing the size and characteristics of the displacement deviation, the standard jujube fruit and the irregular jujube fruit can be judged.

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