Annular fruit clamping device

Abstract

The utility model relates to the technical field of visual inspection automation equipment, in particular to an annular clamping device for fruits, which comprises a clamping mechanism, a rotating mechanism, a driving mechanism, an upper track and a lower track, the upper track is provided with a lower concave cambered surface section, and the lower track is provided with an upper convex cambered surface section corresponding to the lower concave cambered surface section; the rotating mechanism is provided with a chain wheel rotating assembly and a sliding rail assembly which are connected with the clamping mechanism, the driving mechanism is connected with the chain wheel rotating assembly through a transmission assembly, and the clamping mechanism comprises an upper clamping assembly, a lower supporting assembly and a fruit support. The upper end of the upper clamping assembly and the lower end of the lower supporting assembly are provided with an upper cam part and a lower cam part which roll along the top faces of the upper track and the lower track respectively, the fruit support is arranged at the top of the lower supporting assembly, and the lower supporting assembly is provided with a push rod. Cam pieces are arranged at the upper end of the upper clamping assembly and the lower end of the lower supporting assembly, the lower supporting assembly ascends while the upper clamping assembly descends, a push rod of the lower supporting assembly ejects fruits out of the fruit support, and it is guaranteed that the part shielded by the fruit support is detected.

Description

Technical Field

[0001] The utility model relates to the technical field of visual inspection automation equipment, in particular to an annular clamping device for fruits. Background Technique

[0002] With the improvement of people's living standards, there are also higher requirements 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 sorting speed, accuracy, and efficiency, while also reducing labor costs. 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] On the existing automated fruit sorting lines, fruits are placed in fruit carriers and move along the conveyor line or are sucked up by additional suction cups for inspection. There are detection dead angles, or fruits may fall due to insufficient suction of the suction cups, resulting in damage. Content of the Utility Model

[0004] The technical problem to be solved by the utility model is: to overcome the deficiencies in the prior art and provide an annular clamping device for fruits.

[0005] The technical solution adopted by the utility model to solve its technical problems is: an annular clamping device for fruits, including a clamping mechanism, a rotating mechanism, and a driving mechanism, and further including an upper track and a lower track. The upper track has a downward concave arc-shaped surface, and the lower track is provided with an upward convex arc-shaped surface corresponding to the downward concave arc-shaped surface; the rotating mechanism has a chain rotating assembly and a slide rail assembly connected to the clamping mechanism. The driving mechanism is connected to the chain rotating assembly through a transmission component. The clamping mechanism includes an upper clamping component, a lower support component, and a fruit carrier. An upper cam member and a lower cam member 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 component and the lower end of the lower support component. The fruit carrier is arranged at the top of the lower support component. The lower support component has a push rod that can pass through the through hole of the fruit carrier, and a flexible support section is provided at the end of the push rod.

[0006] Furthermore, there are two rotating mechanisms, which are connected to the column and 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, and the chain surrounds the driving sprocket and the driven sprocket; the slide rail assembly includes an annular slide rail arranged on the edge of the annular mounting plate, and a plurality of sliders sliding along the annular slide rail are arranged on the annular slide rail. The slider has an extension part, and the extension part is connected to the chain, and the distance between two adjacent sliders is equal.

[0007] Furthermore, chutes are provided on both side surfaces of the annular slide rail, and a left pulley and a right pulley that slide in the chutes on both sides of the annular slide rail are connected to the bottom of the slider respectively.

[0008] Furthermore, the upper clamping assembly includes an upper support frame, an upper guide rod and a suction cup assembly. The upper support frame has an upper top plate, a lower top plate and an upper support vertical plate connected between the two. Linear bearings for the upper guide rod to pass through are provided on the upper top plate and the lower top plate. An upper connecting seat connected to the slider on the upper rotating mechanism is provided on the upper support vertical plate. The upper end of the upper guide rod is connected to an upper cam part 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 piece, and the suction cup is made of silica gel material.

[0009] Furthermore, the lower support assembly includes a lower support frame, a lower guide rod and a fruit tray holder. The lower support frame has a lower bottom plate, an intermediate plate and a lower support vertical plate connecting the two. Linear bearings for the lower guide rod to pass through are provided on the intermediate plate and the lower bottom plate. A lower connecting seat connected to the slider on the lower 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 part through a lower support seat.

[0010] Furthermore, the driving mechanism includes a motor and a transmission assembly. The transmission assembly includes a first sprocket, a second sprocket and a chain. The first sprocket is installed on the output shaft of the motor, the second sprocket is installed below a rotating shaft, and the chain surrounds the first sprocket and the second sprocket. The rotating shaft penetrates through the annular mounting plates of the two rotating mechanisms.

[0011] Furthermore, the driving sprocket of the rotating mechanism located in the upper layer is installed on the rotating shaft through a clamping ring, and the driving sprocket of the rotating mechanism located in the lower layer is connected to the rotating shaft through a mounting ring.

[0012] Furthermore, support beams are connected to both sides of the upper part of the column, and both ends of the support beam are connected to the inner wall of the upper track.

[0013] Further, a number of connecting blocks are connected to the inner wall of the lower track, and the connecting blocks are connected to the equipment platform.

[0014] Further, the connecting block near the upper convex arc surface section is connected to one end of a support arm, and the other end of the support arm is connected to the inner wall of the upper convex arc surface section.

[0015] The beneficial effects of the utility model are as follows: The utility model is reasonably designed and easy to operate. 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. When 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 tray, 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 tray can be detected, and the parts in contact with the fruit are all made of flexible materials, ensuring that the fruit is not damaged during the whole clamping process. Description of the Drawings

[0016] The following further describes the present utility model in conjunction with the drawings and embodiments.

[0017] Figure 1 is a schematic structural diagram of the present utility model.

[0018] Figure 2 is a schematic installation structure diagram of the upper track and the lower track of the present utility model.

[0019] Figure 3 is a schematic structural diagram of the clamping mechanism of the present utility model, wherein, Figure 3 (a) is a schematic structural diagram of the upper clamping component, Figure 3 (b) is a schematic structural diagram of the lower support component.

[0020] Figure 4 is a schematic structural diagram of the rotating mechanism of the present utility model.

[0021] Figure 5 is a schematic structural diagram of the driving structure of the present utility model.

[0022] In the figure:

[0023] 1. Clamping mechanism; 11. Upper clamping assembly; 111. Support frame; 1111. Upper top plate; 1112. Lower top plate; 1113. Lower support vertical plate; 1115. Upper connecting seat; 112. Upper guide rod; 113. Suction cup assembly; 1131. Suction cup; 1132. Suction cup connecting piece; 114. Upper support seat; 115. Upper cam member; 116. Mounting plate; 12. Lower support assembly; 121. Lower support frame; 1211. Lower bottom plate; 1212. Intermediate plate; 1213. Lower support vertical plate; 1214. Lower connecting seat; 122. Lower guide rod; 123. Fruit tray holder; 124. Connecting plate; 125. Push rod; 1251. Flexible support section; 126. Lower support seat; 127. Lower cam member; 13. Fruit tray

[0024] 2. Rotating mechanism; 20. Slide block; 201. Extension part; 202. Left pulley; 203. Right pulley; 21. Chain rotating assembly; 211. Driving sprocket; 212. Driven sprocket; 22. Slide rail assembly; 221. Annular slide rail; 23. Annular mounting plate

[0025] 3. Driving mechanism; 31. Transmission assembly; 311. First sprocket; 312. Second sprocket; 32. Motor; 33. Rotating shaft

[0026] 4. Upper track; 41. Lower concave arc section

[0027] 5. Lower track; 51. Upper convex arc section; 52. Connecting block; 53. Support arm

[0028] 6. Column; 7. Support beam Detailed implementation mode

[0029] 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 showing the basic structure of the present utility model in a schematic way, so they only show the components related to the present utility model

[0030] 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 therefore should not be construed as a limitation to the present utility model. In addition, 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.

[0031] 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 can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can 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.

[0032] As Figure 1 and Figure 2 shown, a ring-shaped clamping device for fruits includes a clamping mechanism 1, a rotating mechanism 2, a driving mechanism 3, an upper track 4, and a lower track 5. The upper track 4 has a downward concave arc section 41, and the lower track 5 is provided with an upward convex arc section 51 corresponding to the downward concave arc section 41. There are two rotating mechanisms 2, and the two rotating mechanisms 2 are connected to a column 6 and are arranged in an upper and lower layer distribution structure. Both sides of the upper part of the column 6 are connected with support beams 7, and both ends of the support beams 7 are connected to the inner wall of the upper track 4. A plurality of connecting blocks 52 are connected to the inner wall of the lower track 5, and the connecting blocks 52 are connected to the equipment platform. The connecting block 52 close to the upward convex arc section 51 is connected to one end of a support arm 53, and the other end of the support arm 53 is connected to the inner wall of the upward convex arc section 51.

[0033] Among them, the rotating mechanism 2 has a chain wheel rotation assembly 21 and a slide rail assembly 22 connected to the clamping mechanism 1, the driving mechanism 3 is connected to the chain wheel rotation assembly 21 through a transmission assembly 31, the clamping mechanism 1 includes an upper clamping assembly 11, a lower support assembly 12, and a fruit tray 13, and the fruit tray 13 is arranged on the top of the lower support assembly 12.

[0034] As Figure 3As shown, the upper clamping assembly 11 includes an upper support frame 111, upper guide rods 112, and a suction cup assembly 113. The upper support frame 111 has an upper top plate 1111, a lower top plate 1112, and upper support vertical plates 1113 connecting the two. Linear bearings for the upper guide rods 112 to pass through are provided on the upper top plate 1111 and the lower top plate 1112. An upper connection seat 1115 connected to the upper slider 20 of the upper layer rotating mechanism 2 is provided on the upper support vertical plate 1113. The upper end of the upper guide rod 112 is connected to an upper cam member 115 through an upper support seat 114, and the lower end of the upper guide rod 112 is connected to the suction cup assembly 113 through a mounting plate 116. The suction cup assembly 113 has a suction cup 1131 and a suction cup connecting member 1132, and the suction cup 1131 is made of silicone material.

[0035] The lower support assembly 12 includes a lower support frame 121, lower guide rods 122, and a fruit tray holder 123. The lower support frame 121 has a lower bottom plate 1211, an intermediate plate 1212, and lower support vertical plates 1213 connecting the two. Linear bearings for the lower guide rods 122 to pass through are provided on the intermediate plate 1212 and the lower bottom plate 1211. A lower connection seat 1214 connected to the lower slider 20 of the lower layer rotating mechanism 5 is provided on the lower support vertical plate 1213. The upper end of the lower guide rod 122 is connected to a push rod 125 through a connecting plate 124, and the lower end of the lower guide rod 122 is connected to a lower cam member 127 through a lower support seat 126. A flexible support section 1251 is provided at the end of the push rod 125, and the material of the flexible support section 1251 can be sponge, silicone, etc.

[0036] As Figure 4 shown, the rotating mechanism 2 includes an annular mounting plate 23. The chain rotating assembly 21 includes a driving sprocket 211, a driven sprocket 212, and a chain. The driving sprocket 211 and the driven sprocket 212 are respectively installed at both ends of the annular mounting plate 23, and the chain is wound around the driving sprocket 211 and the driven sprocket 212. The slide rail assembly 22 includes an annular slide rail 221 provided on the edge of the annular mounting plate 23. A number of sliders 20 sliding along it are provided on the annular slide rail 221. The slider 20 has an extension 201, and the extension 201 is connected to the chain, and the distance between two adjacent sliders 20 is equal. More specifically, sliding grooves are opened on both side surfaces of the annular slide rail 221, and a left pulley 202 and a right pulley 203 that slide in the sliding grooves on both sides of the annular slide rail 221 are connected to the bottom of the slider 20.

[0037] As Figure 5As shown in the figure, the driving mechanism 3 includes a motor 32 and a transmission assembly 31. The transmission assembly 31 includes a first sprocket 311, a second sprocket 312 and a chain. The first sprocket 311 is installed on the output shaft of the motor 32, and the second sprocket 312 is installed below a rotating shaft 33. The chain is wound around the first sprocket 311 and the second sprocket 312. The rotating shaft 33 penetrates through the annular mounting plates 23 of the two rotating mechanisms 2. The driving sprocket 211 of the upper rotating mechanism 2 is installed on the rotating shaft 33 through a clamping ring, and the driving sprocket 211 of the lower rotating mechanism 2 is connected to the rotating shaft 33 through a mounting ring.

[0038] Specific working process: Fruits are transported to the fruit trays 13 on the conveyor line by the feeding mechanism, and the fruit tray holders 123 of the lower support assembly 12 clamp the fruit trays 13. At this time, the motor 32 is started, and the rotating shaft 33 is driven to rotate through the transmission assembly 31, so that the driving sprockets 211 on the upper and lower rotating mechanisms 2 rotate. The driven sprocket 212 on the upper layer is driven to rotate through the chain, and the slider 20 on the chain slides along the annular slide rail 221. In addition, the upper cam member 115 at the upper end of the upper clamping assembly 11 and the lower cam member 127 at the lower end of the lower support assembly 12 respectively roll along the top surfaces of the upper track 4 and the lower track 5. When the upper cam member 115 rolls to the concave arc section 41, the upper guide rod 112 moves downward, pushing the suction cup 1131 to move downward. At the same time, the lower cam member 127 rolls to the convex arc section 51, and the lower guide rod 122 moves upward, pushing the push rod 125 to penetrate through the fruit tray 13 and move the fruit towards the suction cup 1131. The flexible support section 1251 supports the fruit, and the suction cup 1131 assists in sucking the fruit, and then the circumferential visual inspection of the fruit can be carried out. After the inspection is completed, the upper cam member 115 leaves the concave arc section 41, the lower cam member 127 leaves the convex arc section 51, the suction cup 1131 and the push rod 125 are reset, and the fruit tray 13 is transported to the next process.

[0039] 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 circular clamping device for a fruit, comprising a clamping mechanism (1), a rotating mechanism (2) and a driving mechanism (3), characterized in that: It further includes an upper track (4) and a lower track (5). The upper track (4) has a concave arc surface segment (41), and the lower track (5) is provided with a convex arc surface segment (51) corresponding to the concave arc surface segment (41). The rotating mechanism (2) has a chain rotating assembly (21) and a slide rail assembly (22) connected to the clamping mechanism (1). The driving mechanism (3) is connected to the chain rotating assembly (21) through a transmission assembly (31). The clamping mechanism (1) includes an upper clamping assembly (11), a lower support assembly (12), and a fruit tray (13). An upper cam member (115) and a lower cam member (127) that roll along the top surfaces of the upper track (4) and the lower track (5) are respectively provided at the upper end of the upper clamping assembly (11) and the lower end of the lower support assembly (12). The fruit tray (13) is arranged on the top of the lower support assembly (12), and the lower support assembly (12) has a push rod (125) that can pass through the through hole of the fruit tray (13).

2. The annular clamping device for fruits according to claim 1, characterized in that: Two rotating mechanisms (2) are provided. The two rotating mechanisms (2) are connected to a column (6) and are arranged in an upper and lower layer distribution structure. The rotating mechanism (2) includes an annular mounting plate (23). The chain rotating assembly (21) includes a driving sprocket (211), a driven sprocket (212), and a chain. The driving sprocket (211) and the driven sprocket (212) are respectively installed at both ends of the annular mounting plate (23), and the chain is wound around the driving sprocket (211) and the driven sprocket (212). The slide rail assembly (22) includes an annular slide rail (221) provided at the edge of the annular mounting plate (23). A plurality of sliders (20) that slide along the annular slide rail (221) are provided on the annular slide rail (221). The slider (20) has an extension portion (201), and the extension portion (201) is connected to the chain. The distance between two adjacent sliders (20) is equal.

3. The annular clamping device for fruits according to claim 2, wherein: Chute grooves are formed on both side surfaces of the annular slide rail (221). A left pulley (202) and a right pulley (203) that slide in the chute grooves on both sides of the annular slide rail (221) are respectively connected to the bottom of the slider (20).

4. The annular clamping device for fruits according to claim 2, characterized in that: The upper clamping assembly (11) includes an upper support frame (111), an upper guide rod (112), and a suction cup assembly (113). The upper support frame (111) has an upper top plate (1111), a lower top plate (1112), and an upper support vertical plate (1113) connected between the two. Linear bearings through which the upper guide rod (112) passes are provided on the upper top plate (1111) and the lower top plate (1112). An upper connection seat (1115) connected to the slider (20) on the upper layer rotating mechanism (2) is provided on the upper support vertical plate (1113). The upper end of the upper guide rod (112) is connected to the upper cam member (115) through an upper support seat (114), and the lower end of the upper guide rod (112) is connected to the suction cup assembly (113) through a mounting plate (116). The suction cup assembly (113) has a suction cup (1131) and a suction cup connecting member (1132). The suction cup (1131) is made of silicone material.

5. The annular clamping device for fruits according to claim 2, wherein: The lower support assembly (12) includes a lower support frame (121), a lower guide rod (122) and a fruit tray holder (123). The lower support frame (121) has a lower bottom plate (1211), an intermediate plate (1212) and a lower support vertical plate (1213) connecting the two. Linear bearings for the lower guide rod (122) to pass through are provided on the intermediate plate (1212) and the lower bottom plate (1211). A lower connecting seat (1214) connected to the slider (20) on the lower layer rotating mechanism (2) is provided on the lower support vertical plate (1213). The upper end of the lower guide rod (122) is connected to a push rod (125) through a connecting plate (124), and the lower end of the lower guide rod (122) is connected to a lower cam member (127) through a lower support seat (126). A flexible support section (1251) is provided at the end of the push rod (125).

6. The annular clamping device for fruits according to claim 2, wherein: The driving mechanism (3) includes a motor (32) and a transmission assembly (31). The transmission assembly (31) includes a first sprocket (311), a second sprocket (312) and a chain. The first sprocket (311) is mounted on the output shaft of the motor (32). The second sprocket (312) is mounted below a rotating shaft (33). The chain is wound around the first sprocket (311) and the second sprocket (312). The rotating shaft (33) passes through the annular mounting plates (23) of the two rotating mechanisms (2).

7. The annular clamping device for fruits according to claim 6, wherein: The driving sprocket (211) of the rotating mechanism (2) located in the upper layer is mounted on the rotating shaft (33) through a clamping ring, and the driving sprocket (211) of the rotating mechanism (2) located in the lower layer is connected to the rotating shaft (33) through a mounting ring.

8. The annular clamping device for fruits according to claim 2, characterized in that: Support beams (7) are connected to both sides of the upper part of the column (6), and both ends of the support beams (7) are connected to the inner wall of the upper track (4).

9. The annular clamping device for fruits according to claim 2, wherein: A number of connecting blocks (52) are connected to the inner wall of the lower track (5), and the connecting blocks (52) are connected to the equipment platform.

10. The annular clamping device for fruits according to claim 9, characterized in that: The connecting block (52) near the upper convex arc section (51) is connected to one end of a support arm (53), and the other end of the support arm (53) is connected to the inner wall of the upper convex arc section (51).

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