High-quality feeding and sorting production line and sorting method for pericarpium citri reticulatae

Abstract

The invention belongs to the field of dried orange peel processing, and particularly discloses a dried orange peel high-quality feeding and sorting production line and a sorting method.The production line comprises a dried orange peel feeding device, an X-ray detection device, a defect detection device, a hyperspectral detection device and a dried orange peel conveying device; the dried orange peel feeding device comprises a feeding mechanism, a spreading mechanism and a carrying mechanism; the feeding mechanism is used for conveying the dried orange peel into the spreading mechanism; the spreading mechanism is used for spreading the dried orange peel; the carrying mechanism is used for carrying the dried orange peel to the dried orange peel conveying device; the X-ray detection device is used for detecting impurities and defects in invisible areas in the dried orange peel; the defect detection device is used for detecting various types of defects of the dried orange peel; the hyperspectral detection device is used for detecting the content of flavonoid substances in the pericarpium citri reticulatae. According to the high-quality feeding and sorting production line for the pericarpium citri reticulatae, automatic feeding of the pericarpium citri reticulatae, automatic detection of surface defects and automatic sorting work of the pericarpium citri reticulatae of different qualities can be achieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of dried orange peel processing, and particularly relates to a dried orange peel high-quality feeding and sorting production line and a sorting method. BACKGROUND

[0002] As a characteristic agricultural product with medicinal and edible properties, the quality of dried orange peel directly determines the economic value and market acceptance of the product. With the popularization of health and wellness concepts and the sustained growth of demand in the food and pharmaceutical industries, the market consumption of dried orange peel is increasing year by year, which has driven the production mode to transform from traditional family-style small workshops to industrialization and large-scale direction. In the industrialized processing flow of dried orange peel, standardized screening is one of the core links, which needs to accurately remove worm-eaten, moldy, damaged and substandard individuals to ensure the uniformity and safety of the subsequent processed products. Traditional dried orange peel sorting is mainly completed by manual operation, and the operating personnel identify the quality of dried orange peel by naked eye and sort it, and then realize the transfer and positioning of materials through manual handling.

[0003] However, the manual operation mode has many inherent defects. On the one hand, the judgment standard of manual screening is easily affected by the experience, physical strength and subjective state of the operating personnel, and it is difficult to form a unified standardized detection result, thereby leading to poor product quality stability. On the other hand, the efficiency of manual operation is low, and the daily processing capacity of each person is limited, which cannot meet the demand of "high productivity and fast turnover" in large-scale production, and the continuous rise of labor cost also greatly increases the production and operation cost of enterprises. SUMMARY

[0004] In order to overcome the deficiencies in the prior art, the application provides a dried orange peel high-quality feeding and sorting production line, which can realize automatic feeding of dried orange peel, automatic detection of surface defects of dried orange peel and automatic sorting of dried orange peel with different qualities, thereby reducing labor cost and improving production efficiency.

[0005] A second object of the application is to provide a dried orange peel high-quality feeding and sorting method.

[0006] The technical solution of the application to solve the above technical problems is:

[0007] A dried orange peel high-quality feeding and sorting production line, comprising a dried orange peel feeding device, an X-ray detection device, a defect detection device, a hyperspectral detection device, and a dried orange peel conveying device for conveying the dried orange peel fed by the dried orange peel feeding device to the X-ray detection device, the defect detection device and the hyperspectral detection device in sequence, wherein,

[0008] The dried orange peel loading device comprises a loading mechanism, a spreading mechanism and a carrying mechanism, wherein the loading mechanism is used to deliver dried orange peel into the spreading mechanism; the spreading mechanism is used to realize the flat laying of dried orange peel; the carrying mechanism is used to carry the dried orange peel that has completed flat laying in the spreading mechanism to the dried orange peel conveying device.

[0009] The X-ray detection device is used to detect sundries and defects in the invisible area inside dried orange peel; the defect detection device is used to detect various types of defects of dried orange peel; and the hyperspectral detection device is used to detect the content of flavonoids in dried orange peel.

[0010] Preferably, the dried orange peel removing device for removing the unqualified dried orange peel is further included; the dried orange peel removing device is three groups, and the three groups of dried orange peel removing devices are respectively arranged at the positions between the X-ray detection device and the defect detection device, between the defect detection device and the hyperspectral detection device and downstream of the hyperspectral detection device.

[0011] Preferably, the dried orange peel removing device comprises an optical fiber sensor and a gas blowing nozzle, wherein the optical fiber sensor and the gas blowing nozzle are both mounted on the rack, and the gas blowing nozzle is located at the downstream position of the optical fiber sensor; when the optical fiber sensor detects the dried orange peel that needs to be removed, the gas blowing nozzle blows the dried orange peel from the dried orange peel conveying device into the corresponding collection container.

[0012] Preferably, the loading mechanism comprises a vibrating loading groove and a linear vibrator arranged at the bottom of the vibrating loading groove, wherein the linear vibrator is mounted on the rack, and the driving end of the linear vibrator is connected with the bottom of the vibrating loading groove; and the spreading mechanism is a flexible vibrating disc.

[0013] Preferably, the dried orange peel conveying device comprises a horizontal conveying belt and a conveying driving mechanism for driving the horizontal conveying belt to move.

[0014] Preferably, the X-ray detection device comprises a first black box, an X-ray detection console arranged on the first black box and an X-ray camera arranged in the first black box, wherein the horizontal conveying belt passes through the first black box.

[0015] Preferably, the defect detection device comprises a second black box and a ring-shaped light source and a depth camera arranged in the second black box, wherein the horizontal conveying belt passes through the second black box.

[0016] Preferably, the hyperspectral detection device comprises a third black box and a halogen lamp light source and a hyperspectral camera arranged in the third black box, wherein the horizontal conveying belt passes through the third black box.

[0017] Preferably, the carrying mechanism comprises a mechanical arm and a flexible grabbing device arranged at the end of the mechanical arm, wherein the flexible grabbing device comprises a support, a fixed flange plate arranged on the support, a movable flange plate, and a rotating driving mechanism for driving the movable flange plate to rotate, the fixed flange plate is coaxially arranged below the movable flange plate, the outer diameter of the movable flange plate is smaller than that of the fixed flange plate, a plurality of groups of flexible belts are arranged between the fixed flange plate and the movable flange plate, the plurality of groups of flexible belts are arranged along the circumferential direction of the fixed flange plate or the movable flange plate, one end of each group of flexible belts is mounted on the fixed flange plate, the other end is mounted on the movable flange plate, and the middle part of the flexible belt is twisted in a 180-degree manner.

[0018] A high-quality loading and sorting method of pericarpium citri reticulatae includes the following steps:

[0019] Step 1: The loading mechanism transports pericarpium citri reticulatae to the spreading mechanism, and the spreading mechanism scatters the piled or hooked pericarpium citri reticulatae to make it into a single-layer flat state.

[0020] Step 2: The carrying mechanism carries the pericarpium citri reticulatae to the pericarpium citri reticulatae conveying device, and the pericarpium citri reticulatae conveying device conveys the pericarpium citri reticulatae to the X-ray detection device; the X-ray detection device is used for detecting the impurities and defects in the invisible area inside the pericarpium citri reticulatae, and when the difference between the material density and the fiber density in the pericarpium citri reticulatae is greater than a first preset threshold value, the pericarpium citri reticulatae is marked as unqualified product and is rejected.

[0021] Step 3: The pericarpium citri reticulatae conveying device conveys the pericarpium citri reticulatae that has completed X-ray detection and passed the detection to the defect detection device, and the defect detection device is used for detecting various types of defects of the pericarpium citri reticulatae and identifying the pericarpium citri reticulatae with surface defects and the pericarpium citri reticulatae with incomplete three pieces by combining a visual recognition algorithm, marking the pericarpium citri reticulatae as unqualified product and rejecting it.

[0022] Step 4: The pericarpium citri reticulatae conveying device conveys the pericarpium citri reticulatae that has completed defect detection and passed the detection to the hyperspectral detection device, and the hyperspectral detection device is used for detecting the content of flavonoids in the pericarpium citri reticulatae, identifying the content of flavonoids in the pericarpium citri reticulatae by acquiring spectral data of the pericarpium citri reticulatae and comparing, and realizing sorting and collecting of the pericarpium citri reticulatae accordingly.

[0023] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0024] 1: The pericarpium citri reticulatae high-quality loading and sorting production line integrates pericarpium citri reticulatae loading, X-ray detection, defect detection, hyperspectral detection and pericarpium citri reticulatae quality classification into one production line, thereby realizing automatic operation of the whole process of pericarpium citri reticulatae loading and sorting, improving the production efficiency of pericarpium citri reticulatae sorting, and improving the precision in the sorting process, and being suitable for application occasions of large-scale production of pericarpium citri reticulatae.

[0025] 2、The pericarpium citri reticulatae high-quality feeding and sorting production line integrates different steps of pericarpium citri reticulatae production into the same production line, compared with the traditional manual sorting method, the pericarpium citri reticulatae high-quality feeding and sorting production line not only effectively reduces the floor area of the production line, but also reduces the comprehensive production cost of the enterprise.

[0026] 3、The pericarpium citri reticulatae high-quality feeding and sorting production line can realize full-process automatic operation, only needs to be maintained regularly, greatly reduces the labor input cost, and is suitable for large-scale industrial production scene.

[0027] 4、The main body structure of the pericarpium citri reticulatae high-quality feeding and sorting production line can be processed from stainless steel material, and has the advantages of convenient processing, flexible assembly and low cost. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a structure schematic view of the pericarpium citri reticulatae high-quality feeding and sorting production line.

[0029] Figure 2 It is a structure enlarged view of A in Figure 1

[0030] Figure 3 It is a structure schematic view of the pericarpium citri reticulatae feeding device.

[0031] Figure 4 It is a schematic view of the unfolded state of the flexible grabbing device.

[0032] Figure 5 It is a structure schematic view of the flexible grabbing device without flexible belt.

[0033] Figure 6 It is a schematic view of the envelope state of the flexible grabbing device.

[0034] Figure 7 It is a schematic view of the state of the flexible belt in the envelope state of the flexible grabbing device.

[0035] Figure 8 It is an installation schematic view of the flexible film sensor.

[0036] In the figure: 1-conveying mechanism; 2-flexible grabbing device; 201-support; 202-fixed flange; 203-movable flange; 204-flexible belt; 205-rotary motor; 3-flexible film sensor; 4-gravity sensor; 5-robotic arm; 6-vibrating feeding groove; 7-flexible vibrating disc; 8-X-ray detection device; 9-defect detection device; 10-hyperspectral detection device; 11-horizontal conveyor belt; 12-optical fiber sensor; 13-air blowing nozzle. DETAILED DESCRIPTION ​

[0037] The application will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the application are not limited thereto.

[0038] Referring to Figures 1-8 The high-quality Pericarpium Citri Reticulatae feeding and sorting production line comprises a Pericarpium Citri Reticulatae feeding device, an X-ray detection device 8, a defect detection device 9, a hyperspectral detection device 10, and a Pericarpium Citri Reticulatae conveying device for conveying the Pericarpium Citri Reticulatae fed by the Pericarpium Citri Reticulatae feeding device to the X-ray detection device 8, the defect detection device 9, and the hyperspectral detection device 10 in sequence.

[0039] Referring to Figures 1-8 The Pericarpium Citri Reticulatae conveying device comprises a horizontal conveying belt 11 and a conveying drive mechanism for driving the horizontal conveying belt 11 to move. In this embodiment, the Pericarpium Citri Reticulatae conveying device is implemented in the form of an existing conveying belt conveying mode.

[0040] Referring to Figures 1-8 The high-quality Pericarpium Citri Reticulatae feeding and sorting production line further comprises a Pericarpium Citri Reticulatae removing device for removing the unqualified Pericarpium Citri Reticulatae. The Pericarpium Citri Reticulatae removing device is in three groups, and the three groups of Pericarpium Citri Reticulatae removing devices are respectively arranged between the X-ray detection device 8 and the defect detection device 9, between the defect detection device 9 and the hyperspectral detection device 10, and at a downstream position of the hyperspectral detection device 10. The Pericarpium Citri Reticulatae removing device comprises an optical fiber sensor 12 and an air blowing nozzle 13, wherein the optical fiber sensor 12 and the air blowing nozzle 13 are both mounted on the rack, and the air blowing nozzle 13 is located at a downstream position of the optical fiber sensor 12. When the optical fiber sensor 12 detects unqualified Pericarpium Citri Reticulatae, the air blowing nozzle 13 blows the unqualified Pericarpium Citri Reticulatae off the horizontal conveying belt 11 into a corresponding container.

[0041] Referring to Figures 1-8 The Pericarpium Citri Reticulatae feeding device comprises a feeding mechanism, a spreading mechanism, and a carrying mechanism 1, wherein,

[0042] The feeding mechanism is used for conveying Pericarpium Citri Reticulatae to the spreading mechanism, and the feeding mechanism comprises a vibrating feeding groove 6 and a linear vibrator arranged at the bottom of the vibrating feeding groove 6, wherein the linear vibrator is mounted on the rack, and the driving end of the linear vibrator is connected with the bottom of the vibrating feeding groove 6.

[0043] The spreading mechanism is used for realizing the flat laying of Pericarpium Citri Reticulatae, and the spreading mechanism is a flexible vibrating disc 7. The flexible vibrating disc 7 is driven by a voice coil motor, and the frequency and amplitude of the voice coil motor are set to scatter the Pericarpium Citri Reticulatae stacked or hooked together into a single layer and flatly laid on the vibrating disc, so as to facilitate the grabbing of the scara robot.

[0044] The carrying mechanism 1 is used for carrying the finished parched peel in the spreading mechanism to the peel conveying device.

[0045] In the embodiment, the vibration feeding groove 6 is made of 0.5mm-thick stainless steel material by stamping, and is connected with a linear vibrator (such as an eccentric wheel vibration motor) below the vibration feeding groove 6. A camera is arranged above the vibration feeding groove 6. The camera is fixed on the control cabinet by screws, and forms a 45° angle with the side of the control cabinet. The flexible vibration disc 7 is placed on the control cabinet, and the center position of the flexible vibration disc 7 is below the end of the vibration feeding groove 6. The carrying mechanism 1 is installed on the control cabinet, and is adjacent to the flexible vibration disc 7.

[0046] Referring to Figures 1-8 , the X-ray detection device 8 is used for detecting the impurities and defects in the invisible area of the peel. The X-ray detection device 8 comprises a first black box, an X-ray detection console arranged on the first black box, and an X-ray camera arranged in the first black box. In the embodiment, the X-ray camera is located above the horizontal conveying belt 11, and the X-ray detection console is located above the first black box. Since the X-ray has strong penetration ability, the peel on the horizontal conveying belt 11 is photographed by the X-ray camera, and the photograph is processed to identify the part with large difference in density of the material and the peel fiber. The part with density greater than the density of the peel fiber appears as a very obvious black spot or block with clear edges on the image. The part with density less than the density of the peel fiber or with defects appears as an irregular light-colored area brighter than the surrounding normal tissue on the image, which can be easily identified by image recognition algorithm. After the detection is completed, when the peel with internal impurities or defects passes through the optical fiber sensor 12, the air blowing nozzle 13 blows high-speed airflow to blow the peel to the collection container on one side of the horizontal conveying belt 11.

[0047] In the embodiment, the first black box is made of 0.5mm-thick stainless steel plate, and is fixed and connected by screws, and has the characteristics of convenient installation. A window is formed in the middle of the first black box, and the window penetrates the middle of the first black box. The horizontal conveying belt 11 passes through the window. The X-ray detection console is placed on the top of the first black box. The bracket of the X-ray camera is made of industrial aluminum profile. The X-ray camera is installed above the horizontal conveying belt 11, and is fixed on the aluminum profile bracket by screws. The lens of the X-ray camera faces the horizontal conveying belt 11 and is vertically arranged with the conveying plane of the horizontal conveying belt 11. The optical fiber sensor 12 corresponding to the peel removing device is arranged at a position downstream of the first black box in the conveying direction of the horizontal conveying belt 11. The air blowing nozzle 13 is arranged at a position downstream of the optical fiber sensor 12.

[0048] Referring to Figures 1-8The defect detection device 9 is used for various types of defect detection of the pericarpium citri reticulatae; the defect detection device 9 comprises a second black box and a ring-shaped light source and a depth camera arranged in the second black box; the pericarpium citri reticulatae on the horizontal conveying belt 11 is photographed by the depth camera and the photograph is processed, and the defects such as insect eyes, molds and stains on the surface of the pericarpium citri reticulatae are identified by a visual recognition algorithm; when the pericarpium citri reticulatae with defects such as insect eyes, molds and stains passes through the optical fiber sensor 12, the air blowing nozzle 13 will blow high-speed airflow to blow such pericarpium citri reticulatae into a container placed beside the horizontal conveying belt 11.

[0049] In the embodiment, the depth cameras are respectively arranged on the upper and lower sides of the horizontal conveying belt 11, and are used for photographing the upper side and the lower side of the pericarpium citri reticulatae on the horizontal conveying belt 11; for this purpose, the horizontal conveying belt 11 adopts a PU transparent conveying belt; in the embodiment, the second black box also adopts a stainless steel plate with a thickness of 0.5 mm as a base material, and is fixedly connected and assembled by screws, and has stable structure and convenient assembly, and can effectively guarantee the stability of the internal detection environment; the depth cameras are fastened to special supports by screws, and the installation angles thereof are accurately adjusted; the lens of the depth camera on the upper side is directed obliquely downward and faces the conveying plane of the horizontal conveying belt 11, so as to ensure that the surface morphology and depth information of the pericarpium citri reticulatae on the horizontal conveying belt 11 can be completely captured; the lens of the depth camera on the lower side is directed obliquely upward and faces the conveying plane of the horizontal conveying belt 11, so as to ensure that the bottom morphology and depth information of the pericarpium citri reticulatae on the horizontal conveying belt 11 can be completely captured; the ring-shaped light source matched with the depth camera is fixed to the outer periphery of the depth camera by screws, the light emission direction of the ring-shaped light source is parallel to the direction of the lens of the depth camera, uniform illumination can be formed on the detection area, the interference of the shadow in the photographing is eliminated, and the image acquisition quality is improved; in order to realize omnidirectional and dead angle-free detection of the pericarpium citri reticulatae, the ring-shaped light source and the depth camera form a detection unit as a group, two groups of detection units are arranged on the upper and lower sides of the horizontal conveying belt 11, and the two groups of detection units are respectively symmetrically arranged on the two sides of the horizontal conveying belt 11, so that the morphological characteristic data of the pericarpium citri reticulatae on the two sides can be synchronously acquired.

[0050] The pericarpium citri reticulatae removing device corresponding to the defect detection device 9, the optical fiber sensor 12 and the air blowing nozzle 13 are both fixed to aluminum profile supports by screws, the installation directions of the two are both horizontal and perpendicular to the conveying direction of the horizontal conveying belt 11, and both are inwardly directed to the material bearing area of the horizontal conveying belt 11; on the conveying path of the horizontal conveying belt 11, the components are sequentially arranged according to the functional logic of “detection-triggering-removing”: the installation position of the optical fiber sensor 12 is located downstream of the second black box, and the installation position of the air blowing nozzle 13 is located downstream of the optical fiber sensor 12, so as to ensure that the unqualified pericarpium citri reticulatae can be accurately triggered and removed after being detected and identified.

[0051] Referring to Figures 1-8The hyperspectral detection device 10 is used for hyperspectral detection of the pericarpium citri reticulatae; the hyperspectral detection device 10 comprises a third black box and a halogen light source and a hyperspectral camera arranged in the third black box; the hyperspectral camera is used for photographing the pericarpium citri reticulatae on the horizontal conveying belt 11 and processing the photos, obtaining the spectral data of the pericarpium citri reticulatae and comparing, obtaining the content of different chemical substances in the pericarpium citri reticulatae, determining the different uses of the pericarpium citri reticulatae through the difference of the content of the chemical substances, for example, for the pericarpium citri reticulatae with high flavonoid content and low bitterness content, after passing through the optical fiber sensor 12, the air blowing nozzle 13 blows high-speed airflow to blow the pericarpium citri reticulatae to the collecting container arranged on one side of the conveying belt, which is used for eating; the remaining pericarpium citri reticulatae is high-quality pericarpium citri reticulatae with high medicinal value, which is conveyed to the designated collecting device through the horizontal conveying belt 11.

[0052] In the embodiment, the mounting bracket of the hyperspectral camera is prepared from industrial aluminum profile, is fastened to the horizontal conveying belt 11 through screws, and the lens of the hyperspectral camera faces the conveying plane of the horizontal conveying belt 11 perpendicularly; the halogen light source is fixed on the horizontal aluminum profile member through screws, and the light emission direction faces obliquely downward and faces the horizontal conveying belt 11 directly; the halogen light source is provided in two groups, and the two groups of light sources are symmetrically arranged on the two sides of the horizontal conveying belt 11 to provide a uniform and stable illumination environment.

[0053] Referring to Figures 1-8 The conveying mechanism 1 comprises a mechanical arm 5, a flexible grabbing device 2 arranged at the end of the mechanical arm 5, and a control device, wherein the mechanical arm 5 is a multi-degree-of-freedom mechanical arm; the flexible grabbing device 2 comprises a support 201, a fixed flange plate 202 arranged on the support 201, a movable flange plate 203, and a rotary driving mechanism for driving the movable flange plate 203 to rotate, wherein the fixed flange plate 202 is located below the movable flange plate 203 and is coaxially arranged with the movable flange plate 203; the outer diameter of the movable flange plate 203 is smaller than the outer diameter of the fixed flange plate 202; a plurality of groups of flexible belts 204 are arranged between the fixed flange plate 202 and the movable flange plate 203; the plurality of groups of flexible belts 204 are arranged along the circumferential direction of the fixed flange plate 202 or the movable flange plate 203; one end of each group of flexible belts 204 is mounted on the fixed flange plate 202, and the other end is mounted on the movable flange plate 203, and the middle part of the flexible belt 204 is twisted by 180 degrees.

[0054] Through the above setting, the carrying mechanism 1 in the application has the following advantages: 1. Through enveloping grabbing instead of clamping grabbing, the overall control is simple, and other transmission components are not required to tightly envelope small, light and irregular objects such as pericarp, so as to ensure that the pericarp does not fall off when grabbing; 2. By using the flexibility of the flexible belt 204, the pericarp is not easily damaged when grabbing or enveloping the pericarp, so as to ensure the integrity of the pericarp, and due to the certain friction of the flexible belt 204, the pericarp can be well grabbed; 3. By driving multiple groups of flexible belts 204 to envelope or unfold, the flexibility of the flexible belt 204 can be used to stably grab pericarp of different sizes and different toughness, even different regularity, without damaging the surface texture and internal structure of the pericarp, with strong adaptability and high fault tolerance.

[0055] Referring to Figures 1-8 , the lower surface of one end of the flexible belt 204 is horizontally installed on the upper surface of the fixed flange plate 202, and the lower surface of the other end is installed on the movable flange plate 203, and the middle part of the flexible belt 204 is in a 180-degree twisted state; and the length of each flexible belt 204 is the same, and the specific number can be different optimal values according to the average size of the pericarp to be grabbed; in particular, when installing, the middle part of the flexible belt 204 is twisted by 180° to form a closed loop belt (similar to half of a Mobius ring), that is, as shown in Figure 5 , so that the two end surfaces of each flexible belt 204 are upward, so that the flexible belt 204 is always enveloped upward (as shown in Figure 7 ) when grabbing, and at this time, the middle part of each flexible belt 204 is no longer in a twisted state (as shown in Figure 8 ).

[0056] In addition, due to the size difference between the fixed flange plate 202 and the movable flange plate 203, the flexible belt 204 installed on the fixed flange plate 202 and the movable flange plate 203 has a radial deviation and a height deviation, which enables multiple flexible belts 204 to be stacked and misaligned when grabbing, and to complete the switching of enveloping and unfolding without interfering with each other.

[0057] In this embodiment, the flexible belt 204 is eight groups, and the eight groups of flexible belts 204 are arranged at equal angles along the circumferential direction of the fixed flange plate 202 or the movable flange plate 203; each group of flexible belts 204 is an elastic thin belt, which is a flexible and tough thin belt made of TPU or PEBA thermoplastic flexible material.

[0058] Referring to Figures 1-8The fixed flange plate 202 and the movable flange plate 203 are provided with mounting holes, wherein the mounting hole connected with the elastic thin belt on the fixed flange plate 202 is an outer connecting hole, and the mounting hole connected with the elastic thin belt on the movable flange plate 203 is an inner connecting hole.

[0059] Referring to Figures 1-8 The rotating drive mechanism comprises a rotating motor 205 and a rotating shaft provided on the rotating motor 205, wherein the rotating motor 205 is mounted on the support 201, the lower end of the rotating shaft is connected with the main shaft of the rotating motor 205 through a shaft coupling, and the upper end is connected with the lower end of the movable flange plate 203; the fixed flange plate 202 is provided with an avoiding hole for avoiding the rotating shaft; the rotating motor 205 drives the rotating shaft to rotate, thereby driving the movable flange plate 203 connected with the rotating shaft to rotate, so that the end of the flexible belt 204 mounted on the movable flange plate 203 is rotated, so as to promote the torsion of the plurality of flexible belts 204 relative to the movable flange plate 203, thereby realizing the upward envelope, so as to realize the grabbing of the pericarpium citri reticulatae; when the rotating motor 205 reverses the rotation, the plurality of flexible belts 204 can change from the envelope state to the blooming state.

[0060] Referring to Figures 1-8 The flexible belt 204 is pasted with a flexible film sensor 3 for measuring the deformation data of the flexible belt 204; the control device comprises a data acquisition module, a data processing module and a feedback adjustment module, wherein the flexible film sensor 3 is connected with the data acquisition module, the data acquisition module is used for acquiring the detection signal of the flexible film sensor 3, and the detection signal is transmitted to the data processing module after signal processing; the data processing module calculates the corresponding bending curvature of the flexible belt 204 based on the built-in voltage-curvature calculation model, and inputs the calculated bending curvature, the material parameters and the size parameters of the flexible belt 204 into the built-in grabbing force calculation model to obtain the grabbing force of the corresponding flexible belt 204; the feedback adjustment module adjusts the rotation angle of the rotating motor 205 based on the grabbing force of the flexible belt 204 calculated by the data processing module.

[0061] In this embodiment, it is necessary to set the state of the plurality of groups of flexible belts 204 in the unfolded state as the signal zero point state, and when the plurality of groups of flexible belts 204 are in the state of grabbing the pericarp, as the flexible belts 204 are continuously deformed, the flexible film sensor 3 will continuously generate signal changes (the flexible film sensor 3 can be a resistance sensor or a piezoelectric sensor, the sensor signal is converted into a voltage signal through a signal conditioning circuit, collected by an A / DC acquisition card and processed and transmitted to a data processing module (such as a computer or a single-chip microcomputer); before establishing a mathematical model, calibration is required, wherein the bending degree of the flexible belt 204 can be calibrated by machine vision measurement, the machine vision measurement measures the bending curvature Q under each bending state, then according to the voltage V collected by the A / DC acquisition card, a data pair about voltage V and bending curvature Q is constructed, then a linear fitting method is used to linearly fit a plurality of data pairs to obtain the mapping relationship between voltage V and bending curvature Q, so as to obtain a voltage-curvature calculation model for reflecting the mapping relationship between voltage signal change and bending degree; through the data acquisition module (A / DC), the data of signal change is continuously collected in the process of deforming the flexible belt 204, until the plurality of groups of flexible belts 204 are in a completely enveloped state, and the bending degree of the flexible belt 204 can be used to identify the current grabbing state of the plurality of groups of flexible belts 204; by collecting the bending curvature when the plurality of groups of flexible belts 204 are opened and closed, and combining the material parameters (such as material type, stiffness, etc.) and size parameters (length, width and thickness) of the flexible belt 204, a grabbing force calculation model is constructed, for example, a deep neural network model is used, the bending curvature and the material parameters and size parameters of the flexible belt 204 are used as inputs, and the grabbing force is used as output, experimental test data is used to train the deep neural network model, and a required deep neural network model is obtained, the size of the grabbing force of the flexible belt 204 when grabbing the pericarp (the calculation of the grabbing force needs to combine material mechanics, the flexible belt 204 is simplified into pure elastic deformation, and the size of the restoring force is calculated according to the stiffness and deformation of different materials under different bending degrees) is calculated through the deep neural network model, the operator can adjust the envelope degree of the plurality of groups of flexible belts 204 by the calculated grabbing force size and the collected bending curvature in the background, or use a feedback adjustment module for adaptive adjustment, the feedback adjustment module uses a feedback adjustment mechanism to adjust the rotation angle of the rotating motor 205 according to the grabbing state and the size of the grabbing force, so as to control the opening and closing degree and the envelope size of the plurality of groups of flexible belts 204 at the same time; by balancing the grabbing force size and the bending degree when the plurality of groups of flexible belts 204 are grabbing, the pericarp can be grabbed without damage under the premise of not damaging the pericarp.

[0062] The detection of the grabbing state and the control of the grabbing force are realized by using the flexible film sensor 3 installed on the flexible belt 204, which can not only better ensure that the multiple flexible belts 204 will not be over-wrapped or incompletely wrapped, but also ensure the intactness of the surface of the grabbed pericarp. In addition, each flexible film sensor 3 is of a single type to avoid data confusion during recording, and multiple information can be obtained by one flexible film sensor 3, thereby greatly improving the economy and accuracy of the flexible grabbing device 2.

[0063] The carrying mechanism 1 in the embodiment has the flexible film sensor 3 pasted on each flexible belt 204, which can detect the bending state of the flexible belt 204 in real time, and can realize real-time feedback control of the grabbing force in cooperation with the grabbing force calculation model, thereby further avoiding damage to the grabbed objects, and better realizing the non-destructive grabbing and carrying of the fragile materials.

[0064] Referring to Figures 1-8 , the movable flange 203 is provided with the gravity sensor 4 for detecting the weight of the pericarp grabbed by the flexible belt 204. The sensor signal when there is no grabbed object is set as zero point, and when there is a grabbed object, the sensor signal is not zero, which proves that the object has been grabbed. In order to realize grabbing one piece of pericarp at a time, the average weight of a single piece of pericarp is obtained through data statistics and is set as the threshold value of grabbing. When the weight of the grabbed object is greater than the threshold value, it proves that the object has been grabbed. When the weight of the grabbed object is greater than the threshold value by n (n is a positive integer, which is a safety threshold multiple), it proves that the grabbed object is much heavier than the pericarp, which proves that the grabbed object is too much or is grabbed incorrectly. The gravity sensor 4 is used to detect whether the flexible grabbing device 2 grabs the pericarp, and the pressure value of the reaction force borne by each flexible belt 204 is detected by the flexible film sensor 3 on each flexible belt 204, so as to judge whether the pericarp is grabbed too much or is grabbed unevenly. When the above situation occurs, the control device drives the rotary motor 205 to reverse, so that the multiple flexible belts 204 are in an unfolded state, i.e. the grabbed pericarp is loosened, and then the pericarp is grabbed again to avoid damage to the pericarp due to excessive grabbing force.

[0065] Referring to Figures 1-8The end of the mechanical arm 5 is provided with a linear driving mechanism for driving the support 201 to move linearly, and the flexible grabbing device 2 is lifted by the linear driving mechanism; wherein the linear driving mechanism can adopt an electric push rod; the main body of the electric push rod is installed at the end of the mechanical arm 5, and the telescopic rod is connected with the support 201; in addition, the end of the mechanical arm 5 is provided with a rotation driving mechanism for driving the support 201 to rotate; the rotation direction of the support 201 is opposite to the rotation direction of the movable flange plate 203; the rotation driving mechanism can adopt a rotation motor or a steering wheel, wherein the rotation axis of the support 201 coincides with the rotation axis of the movable flange plate 203.

[0066] In the embodiment, the mechanical arm 5 is a multi-degree-of-freedom mechanical arm 5, for example, a scara mechanical arm 5.

[0067] Referring to Figures 1-8 Figures 1-8 The working principle of the conveying mechanism 1 in the embodiment is as follows:

[0068] The specified grabbing position is recognized by an image recognition device (for example, an industrial camera), and the multi-degree-of-freedom mechanical arm 5 is controlled by the control device to drive the flexible grabbing device 2 to move to the specified position, in the process, the plurality of flexible belts 204 in the flexible grabbing device 2 can be in an envelope state or in an unfolded state; when reaching the specified grabbing position, if the plurality of flexible belts 204 are in the envelope state, the movable flange plate 203 is driven by the rotation motor 205 to rotate in the reverse direction (for example, counterclockwise), so as to drive the plurality of flexible belts 204 to bloom like a flower bud, and then be in the unfolded state; after reaching the specified grabbing position, the movable flange plate 203 is driven by the rotation motor 205 to rotate in the forward direction (for example, clockwise), and since the entire flexible grabbing device 2 is downward at this time, the plurality of flexible belts 204 can be downwardly enveloped, so as to realize non-destructive grabbing of the dried orange peel at the specified grabbing position; finally, the multi-degree-of-freedom mechanical arm 5 drives the flexible grabbing device 2 to move to the specified placing position, the movable flange plate 203 is driven by the rotation motor 205 to rotate in the reverse direction (for example, counterclockwise), so as to drive the plurality of flexible belts 204 to bloom like a flower bud, so as to loosen the grabbed dried orange peel, and then realize the conveying of the dried orange peel.

[0069] In the process of enveloping the plurality of flexible belts 204 downward to realize the grasping of the pericarpium citri reticulatae, the support 201 can be driven to rotate by the self-rotation driving mechanism, so as to drive the whole flexible grasping device 2 to rotate (the rotating direction is opposite to the enveloping direction), so as to sweep the pericarpium citri reticulatae at the edge of the grasping range into the grasping range, thereby improving the grasping efficiency. Since the surface of each flexible belt 204 is provided with the flexible film sensor 3, when the plurality of flexible belts 204 envelop to grasp the pericarpium citri reticulatae, the flexible film sensor 3 will continuously generate signal changes with the continuous deformation of the flexible belt 204. The data acquisition module acquires the signals output by the flexible film sensor 3 and processes the signals to input them into the data processing module. The data processing module obtains the bending curvature of the corresponding flexible belt 204 through the voltage-curvature calculation module built-in, and obtains the grasping force of the corresponding flexible belt 204 in combination with the trained grasping force calculation model. The grasping force size calculated and the bending curvature data collected are balanced, so that the pericarpium citri reticulatae can be grasped without damage under the premise of not damaging the pericarpium citri reticulatae.

[0070] The main body structure of the application is processed by stainless steel structure, which is easy to process and assemble and has low cost. The horizontal conveying belt 11 is made of transparent PU material, which has high wear resistance and toughness. The transparent feature reduces the interference of the background on the camera recognition and sorting. The automatic feeding of pericarpium citri reticulatae, automatic detection of surface defects of pericarpium citri reticulatae, and automatic sorting of pericarpium citri reticulatae of different qualities are realized, which reduces the labor cost and improves the production efficiency.

[0071] Taking pericarpium citri reticulatae as an example, pericarpium citri reticulatae refers to high-quality pericarpium citri reticulatae produced in Xinhui, Guangdong, which has a wide market in Guangdong and Guangxi regions, and there are many enterprises producing pericarpium citri reticulatae on a large scale. It is suitable to use a fully automatic method for pericarpium citri reticulatae sorting. The pericarpium citri reticulatae sorting process includes the following steps:

[0072] Start the equipment, pour the pericarpium citri reticulatae into the vibrating feeding groove 6, the eccentric vibrating motor drives the vibrating feeding groove 6 to make the pericarpium citri reticulatae fall into the flexible vibrating disc 7, then the voice coil motor in the flexible vibrating disc 7 vibrates at a certain frequency to scatter the pericarpium citri reticulatae on the flexible vibrating disc 7 into a single layer for easy grasping by the carrying mechanism 1. Then the camera recognizes and locates the pericarpium citri reticulatae, then the scara robot arm moves, the flexible grasping device 2 at the end of the scara robot arm moves to the positioning coordinates to grasp the pericarpium citri reticulatae, then the scara robot moves above the horizontal conveying belt 11, the flexible grasping device 2 releases the pericarpium citri reticulatae and places it on the horizontal conveying belt 11.

[0073] The horizontal conveying belt 11 conveys the broad pericampi to the first black box. After the X-ray camera detects the broad pericampi, the horizontal conveying belt 11 stops, waits for the X-ray camera to take a photo and processes it through a visual algorithm to identify the part with a large difference in material density from the broad pericampi fiber. After the detection is completed, the horizontal conveying belt 11 continues to move. When the broad pericampi with foreign matter or defects passes through the optical fiber sensor 12, the air blowing nozzle 13 will blow high-speed airflow to blow such broad pericampi into the collection container placed beside the horizontal conveying belt 11.

[0074] Then, the horizontal conveying belt 11 conveys the broad pericampi to the second black box. After the depth camera detects the broad pericampi, the horizontal conveying belt 11 stops, waits for the depth camera to take a photo and processes it through a visual algorithm to identify defects such as insect eyes, mold, stains, etc. on the surface of the broad pericampi. After the detection is completed, the horizontal conveying belt 11 continues to move. When the broad pericampi with defects such as insect eyes, mold, stains, etc. on the surface passes through the optical fiber sensor 12, the air blowing nozzle 13 will blow high-speed airflow to blow such broad pericampi into the collection container placed beside the horizontal conveying belt 11.

[0075] Then, the horizontal conveying belt 11 conveys the broad pericampi to the third black box. After the hyperspectral camera detects the broad pericampi, the horizontal conveying belt 11 stops, waits for the hyperspectral camera to take a photo and processes it through a visual algorithm to detect the chemical content of different broad pericampi samples by acquiring the spectral data of the broad pericampi and comparing them. By the difference in chemical content, the broad pericampi is sorted. When the broad pericampi with high flavonoid content and low bitterness content passes through the optical fiber sensor 12, the air blowing nozzle 13 will blow high-speed airflow to blow such broad pericampi into the container placed beside the horizontal conveying belt 11. Such broad pericampi has a good taste and has edible value. The remaining broad pericampi is complete, defect-free, high-quality, and has high medicinal value. Such broad pericampi is conveyed by the horizontal conveying belt 11 to the end container for sale.

[0076] The above is the preferred embodiment of the present application, but the embodiments of the present application are not limited by the above, any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present application shall be equivalent replacement methods, all included in the protection scope of the present application.

Claims

1. A high-quality tangerine peel feeding and sorting production line, characterized in that, It includes a tangerine peel feeding device, an X-ray inspection device, a defect detection device, a hyperspectral inspection device, and a tangerine peel conveying device for sequentially transporting the tangerine peel fed by the tangerine peel feeding device to the X-ray inspection device, the defect detection device, and the hyperspectral inspection device. The tangerine peel feeding device includes a feeding mechanism, a spreading mechanism, and a conveying mechanism. The feeding mechanism is used to transport the tangerine peel to the spreading mechanism; the spreading mechanism is used to spread the tangerine peel evenly; and the conveying mechanism is used to transport the already spread tangerine peel in the spreading mechanism to the tangerine peel conveying device. The X-ray detection device is used to detect impurities and defects in the invisible areas inside the dried tangerine peel; the defect detection device is used to detect various types of defects in the dried tangerine peel; and the hyperspectral detection device is used to detect the content of flavonoids in the dried tangerine peel.

2. The high-quality tangerine peel feeding and sorting production line according to claim 1, characterized in that, It also includes a tangerine peel removal device for removing tangerine peel that fails the test; the tangerine peel removal device consists of three sets, which are respectively located between the X-ray detection device and the defect detection device, between the defect detection device and the hyperspectral detection device, and downstream of the hyperspectral detection device.

3. The high-quality tangerine peel feeding and sorting production line according to claim 2, characterized in that, The tangerine peel removal device includes an optical fiber sensor and an air nozzle, wherein both the optical fiber sensor and the air nozzle are mounted on a frame, and the air nozzle is located downstream of the optical fiber sensor; when the optical fiber sensor detects tangerine peel that needs to be removed, the air nozzle blows the tangerine peel from the tangerine peel conveying device into the corresponding collection container.

4. The high-quality tangerine peel feeding and sorting production line according to claim 1, characterized in that, The feeding mechanism includes a vibrating feeding trough and a linear vibrator disposed at the bottom of the vibrating feeding trough, wherein the linear vibrator is mounted on the frame and the drive end of the linear vibrator is connected to the bottom of the vibrating feeding trough; the spreading mechanism is a flexible vibrating plate.

5. The high-quality tangerine peel feeding and sorting production line according to claim 1, characterized in that, The dried tangerine peel conveying device includes a horizontal conveyor belt and a conveying drive mechanism for driving the horizontal conveyor belt.

6. The high-quality tangerine peel feeding and sorting production line according to claim 5, characterized in that, The X-ray inspection device includes a first black box, an X-ray inspection control console mounted on the first black box, and an X-ray camera mounted inside the first black box, wherein the horizontal conveyor belt passes through the first black box.

7. The high-quality tangerine peel feeding and sorting production line according to claim 6, characterized in that, The defect detection device includes a second black box and a ring light source and a depth camera disposed inside the second black box, wherein the horizontal conveyor belt passes through the second black box.

8. The high-quality tangerine peel feeding and sorting production line according to claim 7, characterized in that, The hyperspectral detection device includes a third black box and a halogen lamp light source and a hyperspectral camera disposed inside the third black box, wherein the horizontal conveyor belt passes through the third black box.

9. The high-quality tangerine peel feeding and sorting production line according to claim 1, characterized in that, The handling mechanism includes a robotic arm and a flexible gripping device disposed at the end of the robotic arm. The flexible gripping device includes a support, a fixed flange disposed on the support, a movable flange, and a rotary drive mechanism for driving the movable flange to rotate. The fixed flange is located below the movable flange and is coaxially arranged with it. The outer diameter of the movable flange is smaller than the outer diameter of the fixed flange. Multiple sets of flexible bands are disposed between the fixed flange and the movable flange. The multiple sets of flexible bands are arranged along the circumference of the fixed flange or the movable flange. One end of each set of flexible bands is mounted on the fixed flange, and the other end is mounted on the movable flange. The middle part of the flexible band is twisted 180 degrees.

10. A method for high-quality feeding and sorting of dried tangerine peel in a high-quality feeding and sorting production line according to any one of claims 1-9, characterized in that, Includes the following steps: Step 1: The feeding mechanism transports the dried tangerine peel to the spreading mechanism, which then shakes the piled or connected tangerine peel to make it a single layer. Step 2: The conveying mechanism transports the dried tangerine peel to the dried tangerine peel conveying device, which then transports the dried tangerine peel to the X-ray detection device. The X-ray detection device is used to detect impurities and defects in the invisible areas inside the dried tangerine peel. When the difference between the density of the substance and the density of the dried tangerine peel is found to be greater than a first preset threshold, the dried tangerine peel is marked as a defective product and discarded. Step 3: The tangerine peel conveying device transports the tangerine peel that has completed X-ray inspection and passed the inspection to the defect detection device. The defect detection device is used to perform various types of defect detection on the tangerine peel, and combines visual recognition algorithms to identify tangerine peel with surface defects and tangerine peel with incomplete three segments, marking the tangerine peel as unqualified and rejecting it. Step 4: The tangerine peel conveying device transports the tangerine peel that has completed defect detection and passed the test to the hyperspectral detection device. The hyperspectral detection device is used to detect the content of flavonoids in the tangerine peel. By acquiring the spectral data of the tangerine peel and comparing it, the content of flavonoids in the tangerine peel is identified, and the tangerine peel is sorted and collected accordingly.

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