Fruit external quality detection device

Abstract

The utility model relates to the technical field of visual inspection automation equipment, in particular to a fruit external quality detection device which comprises a rack, a feeding mechanism, an annular clamping device, a discharging mechanism and a driving mechanism are sequentially installed on the rack from one side to the other side, and the feeding mechanism comprises a feeding guide assembly. The feeding mechanism comprises a feeding guide assembly, the side, close to the annular clamping device, of the feeding guide assembly is provided with an upper and lower surface detection camera assembly, the discharging mechanism comprises a discharging guide assembly, and the side, away from the annular clamping device, of the discharging guide assembly is provided with an upper and lower surface subcutaneous detection camera assembly; the driving mechanism is provided with a driving source and a transmission component which simultaneously drive the feeding mechanism, the annular clamping device and the discharging mechanism to act. 360-degree dead-corner-free detection of the external quality of fruits is realized by adopting an upper and lower surface detection assembly, a peripheral surface detection camera assembly and an upper and lower surface subcutaneous detection camera assembly; the detection speed is greatly increased, and the whole detection efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of visual inspection automation equipment, in particular to a device for detecting the external quality of fruits. Background Art

[0002] With the improvement of people's living standards, higher requirements are also put forward for the quality of fruits. Traditional fruit sorting relies on manual labor. Workers visually inspect and manually grade fruits based on experience, which is time-consuming and laborious. With the development of technology, the fruit sorting process increasingly relies on automated and intelligent systems, which can improve the sorting speed, accuracy and efficiency, and also reduce the labor cost. Modern fruit sorting lines use mechanical equipment and machine vision technology. Through high-speed cameras and image processing systems, machine vision technology can identify the characteristics of fruits. Using optical sensors, it can also detect the color, shape and surface defects of fruits to achieve fast and accurate sorting.

[0003] The existing automated fruit sorting lines have the following deficiencies:

[0004] (1) The fruit tray is transported by the feeding mechanism to the visual inspection area. At present, in order to ensure a certain distance between adjacent fruit trays during transportation to avoid stacking, the feeding mechanism will intermittently start and stop the drive motor on the feeding transmission line by setting relays, etc. This not only causes waste of the energy consumption of the drive motor, but also cannot strictly ensure that there is a certain distance between adjacent fruit trays, and it is most likely to be congested especially when guiding into the visual processing transmission line.

[0005] (2) After the fruit is placed in the fruit tray and moves along the conveyor line or is sucked up by an additional suction cup for detection, there are detection dead angles, or the fruit may fall due to insufficient adsorption of the suction cup, resulting in damage.

[0006] (3) The bin of the discharging mechanism needs to be driven by at least 2 motors, which drive the good product transmission line and the defective product transmission line to move and transmit respectively, occupying a large area and being not conducive to control. Content of the Utility Model

[0007] The technical problem to be solved by the utility model is to overcome the deficiencies in the prior art and provide a device for detecting the external quality of fruits.

[0008] The technical solution adopted by the present utility model to solve its technical problems is as follows: A fruit external quality detection device includes a frame. On the frame, a feeding mechanism, a ring clamping device, a discharging mechanism, and a driving mechanism are sequentially installed from one side to the other side. The feeding mechanism includes a feeding guiding component. On one side of the feeding guiding component close to the ring clamping device, an upper and lower surface detection camera component is provided. The discharging mechanism includes a discharging guiding component. On one side of the discharging guiding component away from the ring clamping device, an upper and lower subcutaneous detection camera component is provided. In the middle section of the ring clamping device, a circumferential side surface detection camera component is provided. The driving mechanism has a driving source and transmission components for simultaneously driving the feeding mechanism, the ring clamping device, and the discharging mechanism to act.

[0009] Further, the feeding mechanism further includes a transmission component. On one side of the transmission component, a spiral feeding component is provided. The spiral feeding component has a spiral feeding rod. The pitch of the spiral feeding rod gradually increases from the inlet of the transmission component to the outlet of the transmission component. At the discharging position of the spiral feeding component, a feeding guiding component is provided.

[0010] Further, the structure of the feeding guiding component is the same as that of the discharging guiding component. The feeding guiding component includes a guiding tray, a mounting bracket, a guiding seat, and a first rotating shaft. A number of limiting notches for limiting fruit trays are evenly formed on the outer circle of the guiding tray. The guiding seat is fixed on the mounting bracket. The upper end of the first rotating shaft passes through the top surface of the mounting bracket and is connected to the guiding tray through a mounting sleeve.

[0011] Further, the ring clamping device includes a clamping mechanism, a rotating mechanism, an upper track, and a lower track. The upper track has a concave arc section. The lower track is provided with a convex arc section corresponding to the concave arc section. The rotating mechanism has a chain rotating assembly and a slide rail assembly connected to the clamping mechanism. The clamping mechanism includes an upper clamping assembly, a lower supporting assembly, and a fruit tray. Upper and lower cam members that roll along the top surfaces of the upper track and the lower track are respectively provided at the upper end of the upper clamping assembly and the lower end of the lower supporting assembly. The fruit tray is arranged on the top of the lower supporting assembly. The lower supporting assembly has a push rod that can pass through the through hole of the fruit tray.

[0012] Furthermore, two rotating mechanisms are provided. The two rotating mechanisms are connected to a column and are distributed in an upper and lower layer structure. The rotating mechanism includes an annular mounting plate. The chain rotating assembly includes a driving sprocket, a driven sprocket, and a chain. The driving sprocket and the driven sprocket are respectively installed at both ends of the annular mounting plate. The chain is wound around the driving sprocket and the driven sprocket. The slide rail assembly includes an annular slide rail provided at the edge of the annular mounting plate. A number of sliders that slide along the annular slide rail are provided on the annular slide rail. The sliders have extension parts. The extension parts are connected to the chain. The distance between two adjacent sliders is equal.

[0013] Furthermore, the upper clamping assembly includes an upper support frame, upper guide rods, and a suction cup assembly. The upper support frame has an upper top plate, a lower top plate, and upper support vertical plates connecting the two. Linear bearings for the upper guide rods to pass through are provided on the upper top plate and the lower top plate. An upper connecting seat connected to the slider of the upper layer rotating mechanism is provided on the upper support vertical plate. The upper end of the upper guide rod is connected to an upper cam member through an upper support seat, and the lower end of the upper guide rod is connected to the suction cup assembly through a mounting plate. The suction cup assembly has a suction cup and a suction cup connecting member;

[0014] The lower support assembly includes a lower support frame, lower guide rods, and a fruit tray holder. The lower support frame has a lower bottom plate, an intermediate plate, and lower support vertical plates connecting the two. Linear bearings for the lower guide rods to pass through are provided on the intermediate plate and the lower bottom plate. A lower connecting seat connected to the slider of the lower layer rotating mechanism is provided on the lower support vertical plate. The upper end of the lower guide rod is connected to a push rod through a connecting plate, and the lower end of the lower guide rod is connected to a lower cam member through a lower support seat. A flexible support section is provided at the end of the push rod.

[0015] Furthermore, the driving source of the driving mechanism is a motor. The transmission components include a sprocket transmission assembly, a first synchronous belt transmission assembly, and a second synchronous belt assembly. The motor drives the sprocket rotating assembly to act through the sprocket transmission assembly, drives the feeding guiding assembly to act through the first synchronous belt transmission assembly, and drives the loading and unloading guiding assembly to act through the second synchronous belt assembly.

[0016] Further, the upper and lower surface detection camera assembly includes a pair of CCD cameras arranged up and down, the upper and lower subcutaneous detection camera assembly includes a pair of NIR cameras arranged up and down, and the circumferential side detection camera assembly includes four CCD cameras distributed in a surrounding manner.

[0017] Further, the unloading mechanism further includes the bin component. The bin component includes a bin motor, a first bin connecting rod, a second bin connecting rod, and a third bin connecting rod. The tail end of the second bin connecting rod is connected to the middle end of the third bin connecting rod, the head end of the second bin connecting rod is connected to the head end of the first bin connecting rod, the tail end of the first bin connecting rod is connected to the conveying section of the bin motor, and a driven rotating shaft facilitating the rotation of the third connecting rod is provided at the tail end of the third bin connecting rod.

[0018] The beneficial effects of the present utility model are:

[0019] In the feeding mechanism, a spiral pushing component is arranged on one side of the transmission component to apply a radial external force to the fruit trays on the feeding transmission component, so as to increase the transmission distance between adjacent fruit trays. Moreover, the pitch of the spiral pushing rod of the spiral pushing component gradually increases from the inlet of the transmission component to the outlet of the transmission component, which can ensure that the transmission distance between adjacent fruit trays is larger closer to the outlet of the transmission component, thus avoiding congestion when the fruit trays are transferred into the feeding guiding component;

[0020] In the annular clamping device, cam parts are arranged at the upper end of the upper clamping component and the lower end of the lower support component of the clamping mechanism. The upper clamping component realizes the ascending and descending actions along the upper track through the upper cam part, and the lower support component realizes the ascending and descending actions along the lower track through the lower cam part. While the upper clamping component descends, the lower support component ascends. The push rod of the lower support component pushes the fruit out of the fruit carrier, and the suction cup of the upper clamping component assists in completing the action of clamping the fruit, ensuring that the part blocked by the fruit carrier can be detected, and the parts in contact with the fruit are all made of flexible materials to ensure that the fruit is not damaged during the entire clamping process;

[0021] The upper and lower surface detection components + the circumferential side detection camera components + the upper and lower subcutaneous detection camera components are adopted to realize the 360° dead-angle-free detection of the external quality of the fruit;

[0022] The entire detection device is driven by a single power source. The encoder can be used to make all detection positions accurate, and the detection speed is greatly increased, improving the entire detection efficiency;

[0023] Through the operation of the bin-dividing component, the fruits are bin-divided to complete the sorting work of the fruits. The degree of automation is high. The double-output shaft motor drives the good-quality belt component and the bad-quality belt component to act simultaneously, which not only improves the production efficiency but also improves the accuracy of bin-dividing. Description of the Drawings

[0024] The present utility model will be further described below with reference to the drawings and embodiments.

[0025] Figure 1 is the structural schematic diagram of the present utility model.

[0026] Figure 2 is Figure 1 the structural schematic diagram after removing the frame.

[0027] Figure 3 is the installation structure diagram of the upper and lower surface detection components, the circumferential side detection camera components and the upper and lower subcutaneous detection camera components in the present utility model.

[0028] Figure 4 is the structural schematic diagram of the feeding mechanism in the present utility model.

[0029] Figure 5 is Figure 4 the partial structural schematic diagram in another direction.

[0030] Figure 6 is Figure 4 the assembly drawing of the feeding guide component in .

[0031] Figure 7 is the structural schematic diagram of the annular clamping device in the present utility model.

[0032] Figure 8 is Figure 7 Schematic diagram of the installation structure of the upper and lower tracks.

[0033] Figure 9 is Figure 7 Schematic diagram of the structure of the clamping mechanism, where Figure 9 (a) is the schematic diagram of the structure of the upper clamping component, Figure 9 (b) is the schematic diagram of the structure of the lower support component.

[0034] Figure 10 is Figure 7 Schematic diagram of the structure of the rotating mechanism.

[0035] Figure 11 Schematic diagram of the structure of the blanking mechanism in the present utility model.

[0036] Figure 12 is Figure 11 Schematic diagram of the structure of the bin component.

[0037] Figure 13 is Figure 12 State diagram of the bin component during actual use, where Figure 13 (a) is the schematic diagram of the initial state of the bin component, Figure 13 (b) is the schematic diagram of the working state of the bin component.

[0038] In the figure: 1. Frame;

[0039] 2. Loading mechanism; 21. Loading guiding component, 22. Transmission component; 221. Reduction motor; 222. Transmission frame; 2221. Main shaft; 2222. Sub-shaft; 2223. Guardrail; 223. Flexible chain plate; 23. Screw feeding component; 231. Screw feeding rod; 232. Protective cover; 211. Material guiding plate; 2111. Limit notch; 212. Installation bracket; 213. Guiding seat; 2131. Bottom plate; 2132. Guiding plate; 214. Rotating shaft one; 2141. Shaft head section; 215. Installation sleeve; 216. Sealing element; 217. 90-degree corner adapter; 219. Rotating shaft two;

[0040] 3. Ring clamping device; 31. Clamping mechanism; 311. Upper clamping component; 3111. Support frame; 31111. Upper top plate; 31112. Lower top plate; 31113. Lower support vertical plate; 31115. Upper connecting seat; 3112. Upper guide rod; 3113. Suction cup assembly; 31131. Suction cup; 31132. Suction cup connecting piece; 3114. Upper support seat; 3115. Upper cam part; 3116. Mounting plate; 312. Lower support component; 3121. Lower support frame; 31211. Lower bottom plate; 31212. Intermediate plate; 31213. Lower support vertical plate; 31214. Lower connecting seat; 3122. Lower guide rod; 3123. Fruit tray holder; 3124. Connecting plate; 3125. Push rod; 31251. Flexible support section; 3126. Lower support seat; 3127. Lower cam part; 32. Rotating mechanism; 320. Slide block; 3201. Extension part; 3202. Left pulley; 3203. Right pulley; 321. Chain rotating assembly; 3211. Driving sprocket; 3212. Driven sprocket; 322. Slide rail assembly; 3221. Ring slide rail; 323. Ring mounting plate; 33. Driving mechanism; 331. Transmission component; 3311. First sprocket; 3312. Second sprocket; 34. Upper track; 341. Lower concave arc section; 35. Lower track; 351. Upper convex arc section; 352. Connecting block; 353. Support arm; 36. Column; 37. Support beam;

[0041] 4. Blank discharging mechanism; 41. Blank discharging guiding component; 40. Feeding belt component; 42. Bin separating component; 427. Bin separating motor; 428. First bin separating connecting rod; 429. Second bin separating connecting rod; 4210. Third bin separating connecting rod; 4211. Driven rotating shaft; 4212. Bin separating support plate; 43. Good product roller; 44. Good product belt component; 45. Bad product roller; 46. Bad product belt component; 417. Double output shaft motor;

[0042] 5. Driving mechanism; 52. Motor; 51 First sprocket; 53. Rotating shaft; 54. Second sprocket; 55. First synchronous belt pulley; 56. Second synchronous belt pulley; 57. Third synchronous belt pulley; 58. Fourth synchronous belt pulley; 59. Fifth synchronous belt; 510. Sixth synchronous belt;

[0043] 6. Upper and lower surface detection camera assembly; 7. Upper and lower subcutaneous detection camera assembly; 8. Peripheral side detection camera assembly; 13. Fruit tray. Detailed implementation manners

[0044] Now, the present utility model will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present utility model in a schematic manner, so they only show the components related to the present utility model.

[0045] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0046] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0047] As Figures 1 to 3 shown, a fruit external quality detection device includes a frame 1. On the frame 1, a feeding mechanism 2, an annular clamping device 3, a discharging mechanism 4, and a driving mechanism 5 are sequentially installed from one side to the other side. The feeding mechanism 2 includes a feeding guiding assembly 21. On the side of the feeding guiding assembly 21 close to the annular clamping device 3, an upper and lower surface detection camera assembly 6 is provided. The discharging mechanism 4 includes a discharging guiding assembly 41. On the side of the discharging guiding assembly 41 away from the annular clamping device 3, an upper and lower subcutaneous detection camera assembly 7 is provided. A circumferential side detection camera assembly 8 is provided in the middle section of the annular clamping device 3. The driving mechanism 5 has a driving source and transmission components for simultaneously driving the feeding mechanism 2, the annular clamping device 3, and the discharging mechanism 4 to act. Among them, the feeding guiding assembly 21 and the discharging guiding assembly 41 have the same structure, and the following is a specific description of the feeding guiding assembly 21.

[0048] As Figure 2As shown in the figure, the drive source of the drive mechanism 5 is the motor 52. The transmission components specifically include a sprocket transmission assembly, a first synchronous belt transmission assembly, and a second synchronous belt assembly. The motor 52 drives the sprocket rotation assembly 321 to act through the sprocket transmission assembly, drives the feeding guiding assembly 21 to act through the first synchronous belt transmission assembly, and drives the loading and unloading guiding assembly 41 to act through the second synchronous belt transmission assembly. That is, by using a single power drive, the power supply of the entire detection device can be realized.

[0049] Specifically: The sprocket transmission assembly includes a first sprocket 51, a second sprocket 54, and a chain. The first sprocket 51 is installed on the output shaft of the motor 52, the second sprocket 54 is installed below a rotating shaft 53, the chain is wound around the first sprocket 51 and the second sprocket 54, and the rotating shaft 53 passes through the annular clamping device 3; The first synchronous belt transmission assembly includes a first synchronous belt pulley 55, a second synchronous belt pulley 56, and a synchronous belt. The first synchronous belt pulley 55 is installed below the second sprocket 54, and the second synchronous belt pulley 56 is installed below the rotating shaft that drives the material guiding plate to rotate in the unloading guiding assembly 41; The second synchronous belt transmission assembly includes a third synchronous belt pulley 57, a fourth synchronous belt pulley 58, a fifth synchronous belt 59, a sixth synchronous belt 510, and a synchronous belt. The third synchronous belt pulley 57 is axially connected below the annular clamping device 3. The fourth synchronous belt pulley 58 and the fifth synchronous belt 59 are both installed below the rotating shaft that drives the material guiding plate to rotate in the feeding guiding assembly 41. The fourth synchronous belt pulley 58 is connected to the third synchronous belt pulley 57 through a synchronous belt. The sixth synchronous belt 510 is installed below the rotating shaft that drives the spiral feeding assembly 23 to rotate in the feeding mechanism 2, and the sixth synchronous belt 510 is connected to the fifth synchronous belt 59 through a synchronous belt.

[0050] In addition, considering the force transmission in the transmission, there are 1 to 2 guiding synchronous belt pulleys provided inside the synchronous belt loops around the first synchronous belt pulley 55 and the second synchronous belt pulley 56, inside the synchronous belt loops around the third synchronous belt pulley 57 and the fourth synchronous belt pulley 58, and inside the synchronous belt loops around the fifth synchronous belt 59 and the sixth synchronous belt 510.

[0051] As Figure 3 shown, the upper and lower surface detection camera assembly 6 includes a pair of CCD cameras arranged up and down, the upper and lower subcutaneous detection camera assembly 7 includes a pair of NIR cameras arranged up and down, and the circumferential side surface detection camera assembly 8 includes four CCD cameras distributed in a surrounding manner.

[0052] As Figure 4 and Figure 5As shown in the figure, the feeding mechanism 2 further includes a transmission component 22. A spiral feeding component 23 is arranged on one side of the transmission component 22. The spiral feeding component 23 includes a spiral feeding rod 231 and a power component for driving the rotation of the spiral feeding rod 231. The pitch of the spiral feeding rod 23 increases successively from the inlet of the transmission component 22 to the outlet of the transmission component 22. A feeding guiding component 21 is arranged at the discharging position of the spiral feeding component 23. The feeding guiding component 21 has a guiding disc 211 driven by the power component to rotate. A number of limiting notches 2111 for limiting the fruit trays 13 are evenly arranged on the outer circle of the guiding disc 211.

[0053] Specifically, the transmission component 22 includes a reduction motor 221, a transmission frame 222 and a flexible chain plate 223. The transmission frame 222 includes a main shaft 2221 and a sub-shaft 2222 rotatably connected to both ends inside the transmission frame 222. Driving sprockets (not shown in the figure) and driven sprockets (not shown in the figure) are respectively installed on the main shaft 2221 and the sub-shaft 2222. A flexible chain plate 223 is sleeved between the driving sprocket and the driven sprocket. The output end of the reduction motor 221 is connected to one end of the main shaft 2221 through a coupling. A guardrail 2223 is arranged on one side of the transmission frame 222. Generally, there are guardrails on both sides of the existing transmission frame 222, but on the other side of the transmission frame 222 in this embodiment is the spiral feeding rod 231, and a protective cover 232 in a "C" shape is arranged outside the spiral feeding rod 231. The protective cover 232 can play a role in protecting the spiral feeding rod 231, preventing the spiral feeding rod 231 from being directly exposed to external forces and affecting its performance. One end of the spiral feeding rod 231 is connected to one end of a 90-degree angler 217, and the other end of the 90-degree angler 217 is connected to a sixth synchronous belt 510. The sixth synchronous belt 510 is connected to the fifth synchronous belt 59 through a synchronous belt.

[0054] As Figure 6As shown in the figure, the loading guiding assembly 21 further includes a mounting bracket 212, a guiding seat 213, and a first rotating shaft 214. The guiding seat 213 includes a bottom plate 2131 fixed to the top surface of the mounting bracket 212 and a guiding plate 2132 connected to an outer edge section of the bottom plate 2131. The guiding plate 2132 is arc-shaped, and the curvature of the arc-shaped guiding plate 2132 is the same as that of the material guiding plate 211. When the fruit tray 13 rotates with the material guiding plate 211, the guiding plate 2132 prevents the fruit tray 13 from falling off and can also play an auxiliary guiding role. One end of the first rotating shaft 214 passes through the top surface of the mounting bracket 242 and is connected to the material guiding plate 211 through a mounting sleeve 215. The first rotating shaft 214 is connected to the material guiding plate 211 through the mounting sleeve 215, and the mounting height can be adjusted by using mounting sleeves 215 of different specifications. More specifically: the upper end of the first rotating shaft 214 has a protruding shaft head section 2141, and a sealing member 216 is provided between the shaft head section 2141 and the mounting sleeve 215. With this setting, the connection effectiveness between the first rotating shaft 214 and the material guiding plate 211 can be ensured. The fifth synchronous belt 59 and the fourth synchronous pulley 58 are successively installed at the lower end of the first rotating shaft 214.

[0055] Specific operation process: The fruit tray 13 is placed on the transmission assembly 22 manually or by a machine. The reduction motor 221 drives the main shaft 2221 to rotate, and the driving sprocket rotates accordingly, causing the flexible chain plate 223 to drive the fruit tray 13 to move. At this time, the motor 52 is started, and the rotating shaft 53 is driven to rotate through the sprocket transmission assembly, causing the driving sprockets 3211 on the upper and lower layer rotating mechanisms 32 to rotate. The driven sprockets 3212 on the upper layer are driven to rotate through the chain (see the following description), driving the third synchronous pulley 57 to rotate. The fourth synchronous pulley 58 is rotated through the belt, and the first rotating shaft 214 rotates, driving the material guiding plate 211 to rotate. At the same time, the fifth synchronous belt 59 drives the sixth synchronous belt 510 to rotate through the belt, causing the second rotating shaft 219 to rotate. Then, the spiral pushing rod 231 is driven to rotate through the 90-degree angler 212. The spiral pushing rod 231 applies a radial force to the fruit tray 13 moving on the flexible chain plate 223, causing the distance between adjacent fruit trays 13 to be widened. The fruit tray 13 moves to the material guiding plate 211 and enters the limiting notch 2111 on the material guiding plate 211, and rotates with the material guiding plate 211 to the annular clamping device 3. The upper and lower CCD cameras of the upper and lower surface detection camera assembly 6 take pictures of the upper and lower surfaces of the fruit in the fruit tray 13, and transmit the captured data to the upper computer (such as a PC) with image processing software for processing to mark the fruits with defects on the upper and lower surfaces.

[0056] As Figure 7 and Figure 8As shown in the figure, the annular clamping device 3 includes a clamping mechanism 31, a rotating mechanism 32, an upper track 34 and a lower track 35. The upper track 34 has a concave arc surface section 341, and the lower track 35 is provided with a convex arc surface section 351 corresponding to the concave arc surface section 341. There are two rotating mechanisms 32, and the two rotating mechanisms 32 are connected to the column 36 and are distributed in an upper and lower layer structure. Both sides of the upper part of the column 36 are connected with support beams 37, and both ends of the support beams 37 are connected to the inner wall of the upper track 34. A number of connecting blocks 352 are connected to the inner wall of the lower track 35, and the connecting blocks 352 are connected to the equipment platform. The connecting block 352 close to the convex arc surface section 351 is connected to one end of a support arm 353, and the other end of the support arm 353 is connected to the inner wall of the convex arc surface section 51.

[0057] Among them, the rotating mechanism 32 has a chain rotating assembly 321 and a slide rail assembly 322 connected to the clamping mechanism 1. The driving mechanism 33 is connected to the chain rotating assembly 321 through a transmission assembly 331. The clamping mechanism 31 includes an upper clamping assembly 311, a lower support assembly 312 and a fruit tray 13, and the fruit tray 13 is arranged on the top of the lower support assembly 312.

[0058] As Figure 9 As shown in (a), the upper clamping assembly 311 includes an upper support frame 3111, an upper guide rod 3112 and a suction cup assembly 3113. The upper support frame 3111 has an upper top plate 31111, a lower top plate 31112 and an upper support vertical plate 31113 connected between the two. Linear bearings for the upper guide rod 3112 to pass through are provided on the upper top plate 31111 and the lower top plate 31112. An upper connecting seat 31115 connected to the upper slider 320 of the upper layer rotating mechanism 32 is provided on the upper support vertical plate 31113. The upper end of the upper guide rod 3112 is connected to the upper cam member 3115 through an upper support seat 3114, and the lower end of the upper guide rod 3112 is connected to the suction cup assembly 3113 through a mounting plate 3116. The suction cup assembly 3113 has a suction cup 31131 and a suction cup connecting member 31132, and the suction cup 31131 is made of silica gel material.

[0059] As Figure 9As shown in (b), the lower support assembly 312 includes a lower support frame 3121, lower guide rods 3122, and a fruit tray holder 3123. The lower support frame 3121 has a lower bottom plate 31211, an intermediate plate 31212, and lower support vertical plates 31213 connecting the two. Linear bearings for the lower guide rods 3122 to pass through are provided on the intermediate plate 31212 and the lower bottom plate 31211. A lower connection seat 31214 connected to the slider 320 on the lower layer rotating mechanism 35 is provided on the lower support vertical plate 31213. The upper end of the lower guide rod 3122 is connected to a push rod 3125 through a connecting plate 3124. The lower end of the lower guide rod 3122 is connected to a lower cam member 3127 through a lower support seat 3126. The end of the push rod 3125 is provided with a flexible support section 31251, and the material of the flexible support section 31251 can be sponge, silica gel, etc.

[0060] As Figure 10 shown, the rotating mechanism 32 includes an annular mounting plate 323. The chain rotation assembly 321 includes a driving sprocket 3211, a driven sprocket 3212, and a chain. The driving sprocket 3211 and the driven sprocket 3212 are respectively mounted at both ends of the annular mounting plate 323, and the chain is wound around the driving sprocket 3211 and the driven sprocket 3212. The slide rail assembly 322 includes an annular slide rail 3221 provided at the edge of the annular mounting plate 323. A number of sliders 320 sliding along it are provided on the annular slide rail 3221. The slider 320 has an extension 3201, and the extension 3201 is connected to the chain. The distance between two adjacent sliders 320 is equal. More specifically, chutes are opened on both side surfaces of the annular slide rail 3221, and a left pulley 3202 and a right pulley 3203 that slide in the chutes on both sides of the annular slide rail 3221 are connected to the bottom of the slider 320. The rotating shaft 53 passes through the annular mounting plates 323 of the two rotating mechanisms 32. The driving sprocket 3211 of the rotating mechanism 32 located on the upper layer is mounted on the rotating shaft 333 through a clamping ring, and the driving sprocket 3211 of the rotating mechanism 32 located on the lower layer is connected to the rotating shaft 53 through a mounting ring.

[0061] Specific working process: Fruits are transported to the fruit tray 13 on the conveyor line by the feeding mechanism. The fruit tray 13 is clamped by the fruit tray holder 3123 of the lower support assembly 312. At this time, the motor 52 is started, and the rotating shaft 53 is driven to rotate through the sprocket transmission assembly, so that the driving sprockets 3211 on the upper and lower layer rotating mechanisms 32 rotate. The driven sprockets 3212 on the upper layer are driven to rotate through the chain, and the slider 320 on the chain slides along the annular slide rail 3221. In addition, the upper cam member 3115 at the upper end of the upper clamping assembly 311 and the lower cam member 3127 at the lower end of the lower support assembly 312 roll along the top surfaces of the upper track 34 and the lower track 35 respectively. When the upper cam member 3115 rolls to the lower concave arc section 341, the upper guide rod 3112 moves downward, pushing the suction cup 31131 to act downward. At the same time, the lower cam member 3127 rolls to the upper convex arc section 351, and the lower guide rod 3122 moves upward, pushing the push rod 3125 to pass through the fruit tray 13 to move the fruit toward the suction cup 31131. The flexible support section 31251 supports the fruit, and the suction cup 31131 assists in sucking the fruit. The four CCD cameras of the circumferential surface detection camera assembly 8 take pictures of the outer circumferential surface of the fruit, and transmit the captured data to the upper computer (such as a PC) with image processing software for processing, marking the fruits with defects on the upper and lower surfaces. After the detection is completed, the upper cam member 3115 leaves the lower concave arc section 341, and the lower cam member 3127 leaves the upper convex arc section 351. The suction cup 31131 and the push rod 3125 are reset, and the fruit tray 13 is transported to the blanking guide assembly 41 of the blanking mechanism 4. The upper and lower NIR cameras of the upper and lower surface subcutaneous detection camera assembly 7 take pictures of the upper and lower surfaces of the fruit in the fruit tray 13, and transmit the captured data to the upper computer (such as a PC) with image processing software for processing, marking the fruits with defects on the upper and lower surfaces.

[0062] When the motor 52 is started and drives the rotating shaft 53 to rotate through the sprocket transmission assembly, the first synchronous pulley 55 will rotate accordingly, and the second synchronous pulley 56 is driven to rotate through the synchronous belt. Since the blanking guide assembly 41 and the feeding guide assembly 21 have the same structure, the guide tray in the blanking guide assembly 41 is driven to rotate, and the fruit tray 13 is transferred to the loading and unloading mechanism 4.

[0063] As Figure 11 shown, the blanking mechanism 4 further includes a feeding belt assembly 40. On both sides of the tail end of the feeding belt assembly 40, there are a good product belt assembly 44 and a defective product belt assembly 46. Between the feeding belt assembly 40 and the good product belt assembly 44, there is a bin dividing assembly 42 for dividing the fruit tray 13 into the defective product belt assembly 46. Between the feeding belt assembly 41 and the defective product belt assembly 46, there is a bin dividing assembly 42 for dividing the fruit tray 13 into the good product belt assembly 44.

[0064] As Figure 12As shown in the figure, the bin component 42 includes a bin motor 427, a first bin connecting rod 428, a second bin connecting rod 429, and a third bin connecting rod 4210. The tail end of the second bin connecting rod 429 is connected to the middle end of the third bin connecting rod 4210. The head end of the second bin connecting rod 429 is connected to the head end of the first bin connecting rod 428. The tail end of the first bin connecting rod 428 is connected to the conveying section of the bin motor 427. A driven rotating shaft 4211 facilitating the rotation of the third connecting rod 4210 is provided at the tail end of the third bin connecting rod 4210. The main shafts of the good product belt assembly 44 and the bad product belt assembly 46 are respectively connected to both ends of the double-output shaft motor 417.

[0065] A good product roller 43 is further provided between the feeding belt assembly 40 and the good product belt assembly 40, and a bad product roller 45 is further provided between the feeding belt assembly 40 and the bad product belt assembly 46. The bin component 42 further includes a bin support plate 4212. The bin motor 427 is located below the bin support plate 4212. The first bin connecting rod 428, the second bin connecting rod 429, and the third bin connecting rod 4210 are located above the bin support plate 4212. The output end of the bin motor 427 passes through the bin support plate 4212; the driven rotating shaft 4211 passes through the bin support plate 4212.

[0066] Specific working process: The fruit tray 13 is transferred onto the feeding belt assembly 40 and is bin-divided according to the quality of the fruits marked by the previous detection. As Figure 13 (a) shown, if the detected fruit is a good product, the bin motor 427 near the bad product belt assembly 46 receives a signal, and this bin motor 427 operates to drive the first bin connecting rod 428 to rotate, so that the head end of the second bin connecting rod 429 moves forward. Through the transmission of the second bin connecting rod 9, it drives the tail end of the second bin connecting rod 9 to move forward, thereby driving the third bin connecting rod 4210 to rotate around the driven rotating shaft 4211. The third bin connecting rod 4210 pushes the fruit tray 13 forward. As Figure 13 (b) shown, it is conveyed through the good product roller 43 and enters the good product belt assembly 44; if the detected fruit is a bad product, the bin motor 427 near the good product belt assembly 44 receives a signal, and the working process is the same as above. The third bin connecting rod 4210 pushes the fruit tray 13 forward, is conveyed through the bad product roller 45, and enters the bad product belt assembly 46; the double-output shaft motor 17 starts, driving the good product belt assembly 44 and the bad product belt assembly 46 to act simultaneously, respectively transporting good products and bad products.

[0067] What is described in the above specification is only the specific implementation manner of the present invention. Various examples do not constitute a limitation to the essence of the present invention. Those of ordinary skill in the art can make modifications or deformations to the previously described specific implementation manner after reading the specification without departing from the essence and scope of the invention.

Claims

1. A fruit external quality detection device, comprising a frame (1), characterized in that: On the frame (1), a loading mechanism (2), a ring clamping device (3), a discharging mechanism (4) and a driving mechanism (5) are sequentially installed from one side to the other side. The loading mechanism (2) includes a loading guiding component (21). On one side of the loading guiding component (21) close to the ring clamping device (3), an upper and lower surface detection camera assembly (6) is provided. The discharging mechanism (4) includes a discharging guiding component (41). On one side of the discharging guiding component (41) away from the ring clamping device (3), an upper and lower subcutaneous detection camera assembly (7) is provided. In the middle section of the ring clamping device (3), a circumferential side surface detection camera assembly (8) is provided. The driving mechanism (5) has a driving source and transmission components for simultaneously driving the loading mechanism (2), the ring clamping device (3) and the discharging mechanism (4) to act.

2. The fruit external quality detection device according to claim 1, characterized in that: The loading mechanism (2) further includes a transmission component (22). On one side of the transmission component (22), a spiral feeding component (23) is provided. The spiral feeding component (23) has a spiral feeding rod (231). The pitch of the spiral feeding rod (231) gradually increases from the inlet of the transmission component (22) to the outlet of the transmission component (22). At the discharging place of the spiral feeding component (23), a loading guiding component (21) is provided.

3. The fruit external quality detection device according to claim 1, characterized in that: The structure of the loading guiding component (21) is the same as that of the discharging guiding component (41). The loading guiding component (21) includes a guiding tray (211), a mounting bracket (212), a guiding seat (213) and a first rotating shaft (214). On the outer circle of the guiding tray (211), a number of limiting notches (2111) for the limiting fruit trays (13) are evenly opened. The guiding seat (213) is fixed on the mounting bracket (212). The upper end of the first rotating shaft (214) passes through the top surface of the mounting bracket (212) and is connected to the guiding tray (211) through a mounting sleeve (215).

4. The fruit external quality detection device according to claim 1, characterized in that: The ring clamping device (3) includes a clamping mechanism (31), a rotating mechanism (32), an upper track (34) and a lower track (35). The upper track (34) has a downward concave arc section (341). The lower track (35) is provided with an upward convex arc section (351) corresponding to the downward concave arc section (341). The rotating mechanism (32) has a chain rotating assembly (321) and a slide rail assembly (322) connected to the clamping mechanism (31). The clamping mechanism (31) includes an upper clamping component (311), a lower supporting component (312) and a fruit tray (13). Upper cam parts (3115) and lower cam parts (3127) that roll along the top surfaces of the upper track (34) and the lower track (35) are respectively provided at the upper end of the upper clamping component (311) and the lower end of the lower supporting component (312). The fruit tray (13) is arranged on the top of the lower supporting component (312). The lower supporting component (312) has a push rod (3125) that can pass through the through hole of the fruit tray (13).

5. The fruit external quality detection device according to claim 4, characterized in that: There are two sets of the rotation mechanisms (32), and the two rotation mechanisms (32) are connected to the column (36) and are distributed in an upper and lower layer structure; the rotation mechanism (32) includes an annular mounting plate (323), the chain rotation assembly (321) includes a driving sprocket (3211), a driven sprocket (3212) and a chain, the driving sprocket (3211) and the driven sprocket (3212) are respectively mounted at both ends of the annular mounting plate (323), and the chain is wound outside the driving sprocket (3211) and the driven sprocket (3212); the slide rail assembly (322) includes an annular slide rail (3221) provided at the edge of the annular mounting plate (323), and a plurality of sliders (320) sliding along the annular slide rail (3221) are provided on the annular slide rail (3221), the slider (320) has an extension part (3201), the extension part (3201) is connected to the chain, and the distance between two adjacent sliders (320) is equal.

6. The fruit external quality detection device according to claim 4, characterized in that: The upper clamping assembly (311) includes an upper support frame (3111), an upper guide rod (3112) and a suction cup assembly (3113), the upper support frame (3111) has an upper top plate (31111), a lower top plate (31112) and an upper support vertical plate (31113) connected between the two, linear bearings for the upper guide rod (3112) to pass through are provided on the upper top plate (31111) and the lower top plate (31112), an upper connection seat (31115) connected to the slider (320) on the upper layer rotation mechanism (32) is provided on the upper support vertical plate (31113), the upper end of the upper guide rod (3112) is connected to an upper cam member (3115) through an upper support seat (3114), the lower end of the upper guide rod (3112) is connected to the suction cup assembly (3113) through a mounting plate (3116), and the suction cup assembly (3113) has a suction cup (31131) and a suction cup connecting member (31132); The lower support assembly (312) includes a lower support frame (3121), a lower guide rod (3122) and a fruit tray holder (3123), the lower support frame (3121) has a lower bottom plate (31211), an intermediate plate (31212) and a lower support vertical plate (31213) connecting the two, linear bearings for the lower guide rod (3122) to pass through are provided on the intermediate plate (31212) and the lower bottom plate (31211), a lower connection seat (31214) connected to the slider (320) on the lower layer rotation mechanism (32) is provided on the lower support vertical plate (31213), the upper end of the lower guide rod (3122) is connected to a push rod (3125) through a connecting plate (3124), the lower end of the lower guide rod (3122) is connected to a lower cam member (3127) through a lower support seat (3126), and a flexible support section (31251) is provided at the end of the push rod (3125).

7. The fruit external quality detection device according to claim 5, characterized in that: The driving source of the driving mechanism (5) is a motor (52). The transmission components include a sprocket transmission assembly, a first synchronous belt transmission assembly, and a second synchronous belt assembly. The motor (52) drives the sprocket rotation assembly (321) to act through the sprocket transmission assembly, drives the feeding guiding assembly (21) to act through the first synchronous belt transmission assembly, and drives the loading and unloading guiding assembly (41) to act through the second synchronous belt transmission assembly.

8. The fruit external quality detection device according to claim 1, characterized in that: The upper and lower surface detection camera assembly (6) includes a pair of CCD cameras arranged up and down. The upper and lower subcutaneous detection camera assembly (7) includes a pair of NIR cameras arranged up and down. The circumferential side surface detection camera assembly (8) includes four CCD cameras distributed in a surrounding manner.

9. The fruit external quality detection device according to claim 1, characterized in that: The unloading mechanism (4) further includes a bin separation assembly (42). The bin separation assembly (42) includes a bin separation motor (427), a first bin separation connecting rod (428), a second bin separation connecting rod (429), and a third bin separation connecting rod (4210). The tail end of the second bin separation connecting rod (429) is connected to the middle end of the third bin separation connecting rod (4210). The head end of the second bin separation connecting rod (429) is connected to the head end of the first bin separation connecting rod (428). The tail end of the first bin separation connecting rod (428) is connected to the conveying section of the bin separation motor (427). The tail end of the third bin separation connecting rod (4210) is provided with a driven rotating shaft (4211) facilitating the rotation of the third connecting rod (4210).

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