Areca seed pitting machine and areca seed pitting processing equipment

Abstract

The utility model relates to the technical field of areca nut processing equipment, and provides an areca nut pitting machine and areca nut pitting processing equipment. The areca nut pitting machine comprises a rotary clamping assembly used for clamping areca nuts and rotating the areca nuts; the first image detector is used for acquiring first image information of areca nuts in a non-denucleated state; the first kernel removing assembly is provided with a first clamping mechanism and is used for clamping kernels of areca nuts; the second image detector is used for acquiring second image information after the areca nuts are denucleated; and the controller is used for carrying out identification processing on the first image information and the second image information and carrying out corresponding control operation on the rotary clamping assembly and the first kernel removing assembly. According to the technical scheme, the position and the posture of the kernel can be accurately recognized through the image information, the corresponding kernel removing operation can be controlled, the result of the kernel removing operation can be confirmed, closed-loop control is formed, and therefore the kernel removing accuracy and the yield are improved, manual operation can be reduced, and production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of betel nut processing equipment, and in particular to a betel nut pitting machine and betel nut pitting processing equipment. Background Art

[0002] Currently, betel nut and other fruit foods often require pitting during processing. Typically, the betel nut is first cut in half to expose the pit, and then the pit is removed using appropriate pitting equipment. Existing pitting processes typically use methods such as tweezers or a pitting needle. However, due to individual differences in the morphology of each betel nut and its pit, standardization is difficult to achieve. This results in a low success rate for pitting equipment, which in turn leads to a low yield rate for betel nut products. Furthermore, manual operation is required, which affects production efficiency, making it difficult to widely promote and apply existing pitting equipment. Utility Model Content

[0003] In order to solve the problems of low success rate and product yield of existing pitting equipment, affecting production efficiency and being difficult to promote and apply, the present application provides a betel nut pitting machine and betel nut pitting processing equipment.

[0004] In an embodiment of the first aspect of the technical solution of the present application, a betel nut pitting machine is provided, comprising: a rotating clamping assembly for clamping and rotating a betel nut; a first image detector, arranged corresponding to the rotation trajectory of the rotating clamping assembly, for obtaining first image information of the betel nut in an unpitted state; a first pitting assembly, arranged at a downstream position of the first image detector relative to the rotation trajectory, the first pitting assembly having a first clamping mechanism for clamping the pit of the betel nut; a second image detector, arranged at a downstream position of the first pitting assembly relative to the rotation trajectory, for obtaining second image information of the betel nut after the pitting operation of the first pitting assembly; a controller, communicatively connected to the rotating clamping assembly, the first image detector, the first pitting assembly and the second image detector, for identifying and processing the received first image information and the second image information, and performing corresponding control operations on the rotating clamping assembly and the first pitting assembly.

[0005] In a further embodiment of the present application, the first de-coring component includes: a first moving device; a first support, connected to the side of the first moving device facing the rotating clamping component, and capable of moving along the horizontal, longitudinal and height directions of the first moving device under the action of the first moving device; a first rotating platform, rotatably connected to the first support; a first clamping mechanism, connected to the first rotating platform and arranged along the height direction, and the first clamping mechanism can rotate under the action of the first rotating platform.

[0006] In a further embodiment of the present application, the first core removal component also includes: an air jet mechanism connected to the first rotary platform, the nozzle of the air jet mechanism facing downward of the first clamping mechanism, and is used to perform an air jet cleaning operation on the betel nut undergoing the core removal operation.

[0007] In a further embodiment of the present application, an opening is provided on the first rotating platform, which is through in the height direction; the first clamping mechanism includes a first clamping drive mechanism and two first clamping arms; the first clamping drive mechanism is connected to the top of the first rotating platform, and the output end of the first clamping drive mechanism is passed through the opening of the first rotating platform; the two first clamping arms are both transmission-connected to the output end of the first clamping drive mechanism, so as to move toward each other or move back to back under the drive of the first clamping drive mechanism, so as to clamp and release the fruit core.

[0008] In a further embodiment of the present application, the first image detector and the second image detector have the same structure and both include: a detection bracket having a protrusion extending toward one side of the rotating clamping assembly; a camera connected to the protrusion and arranged downward in the height direction for obtaining image information of the betel nut; and at least one lighting lamp connected to the detection bracket or the camera for providing lighting for the shooting range of the camera.

[0009] In a further embodiment of the present application, a second core removal component is provided at a downstream position of the second image detector relative to the rotation trajectory, and the second core removal component is used to perform a core removal operation on the betel nut fruit whose core has not been removed; a third image detector is provided at a downstream position of the second core removal component relative to the rotation trajectory, and the third image detector is used to obtain third image information of the betel nut fruit after the core is removed by the second core removal component; wherein, the controller is communicatively connected with the second core removal component and the third image detector to identify and process the third image information, and perform corresponding control operations on the second core removal component.

[0010] In a further embodiment of the present application, the second core removal component includes: a second movable device; a second support, connected to the side of the second movable device facing the rotating clamping component, and capable of moving along the horizontal, longitudinal and height directions of the second movable device under the action of the second movable device; a second rotating platform, rotatably connected to the second support; a needle picking mechanism, connected to the bottom of the second rotating platform, and eccentrically arranged relative to the second rotating platform, the needle picking mechanism has at least one picking needle for performing core picking operations on betel nut fruits.

[0011] In a further embodiment of the present application, the needle picking mechanism is arranged at an angle relative to the second rotating platform, and the tip of the picking needle is facing the central axis of the second rotating platform; and / or, the needle picking mechanism has a plurality of picking needles arranged side by side, and the distance between two adjacent picking needles is within a preset distance range.

[0012] In a further embodiment of the present application, the rotating clamping assembly includes: a rotating mechanism, the rotating mechanism having a center hole extending through in the height direction; a rotating support connected to the rotating mechanism, at least a portion of the rotating support extending radially outward from the rotating mechanism and capable of rotating around the center hole under the drive of the rotating mechanism; a clamping mechanism connected to the rotating support, the clamping mechanism having a clamping drive mechanism and two clamping arms arranged opposite to each other, the clamping drive mechanism being transmission-connected to the two clamping arms to drive the two clamping arms to move toward each other or back to back to clamp or release the betel nut.

[0013] The embodiment of the technical solution in the second aspect of the present application also provides a betel nut pitting processing equipment, including: the betel nut pitting machine in any embodiment of the first aspect mentioned above; a loading and conveying device, provided on one side of the betel nut pitting machine, for conveying betel nut fruits to the rotary clamping assembly, the rotary clamping assembly can clamp the betel nut fruits conveyed by the loading and conveying device and perform a rotation operation for the betel nut pitting machine to perform a pitting operation; a unloading and conveying device, provided on one side of the betel nut pitting machine, for receiving the pitted betel nut fruits on the rotary clamping assembly and performing unloading and conveying operations.

[0014] The beneficial effects of the above technical solution of this application are:

[0015] The betel nut pitting machine in the present application sets image detectors at the upstream and downstream positions of the first pitting component respectively, so as to collect image information and perform corresponding recognition processing on the betel nut fruit before and after the pitting operation, so as to determine the exact position and posture of the fruit pit before the pitting operation, thereby helping to improve the accuracy of the pitting operation, and after the pitting operation, the result of the pitting operation can be confirmed again, thereby forming feedback and closed-loop control, which can greatly improve the accuracy of the pitting operation and the yield rate of the product, and is beneficial to production efficiency. It can also reduce manual auxiliary operations as much as possible, which is conducive to promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a top view of a betel nut pitting machine in one embodiment of the present application;

[0017] Figure 2 This is a schematic block diagram of a betel nut pitting machine in one embodiment of the present application;

[0018] Figure 3 This is a schematic diagram of a betel nut pitting machine in one embodiment of the present application;

[0019] Figure 4 This is a schematic diagram of a first de-coring component in one embodiment of the present application;

[0020] Figure 5This is a schematic diagram of the first core removal component in one embodiment of the present application from another perspective;

[0021] Figure 6 This is a schematic diagram of the first decoring component in one embodiment of the present application from another perspective;

[0022] Figure 7 A bottom view of a partial structure of a first core removal component in one embodiment of the present application;

[0023] Figure 8 A schematic diagram of a first image detector in one embodiment of the present application;

[0024] Figure 9 Schematic diagram of another betel nut pitting machine in one embodiment of the present application;

[0025] Figure 10 This is a schematic block diagram of another betel nut pitting machine in one embodiment of the present application;

[0026] Figure 11 This is a schematic diagram of a second denucleation component in one embodiment of the present application;

[0027] Figure 12 This is a schematic diagram of the second de-coring component in one embodiment of the present application from another perspective;

[0028] Figure 13 is a schematic diagram of a rotary clamping assembly in one embodiment of the present application;

[0029] Figure 14 A top view of a rotary clamping assembly in one embodiment of the present application;

[0030] Figure 15 This is a top view of a betel nut pitting processing device in one embodiment of the present application;

[0031] Figure 16 This is a schematic diagram of another betel nut pitting processing equipment in an embodiment of the present application.

[0032] In the above drawings, arrow H indicates the height direction. Figure 1 The dotted circle in FIG represents the rotation trajectory of the betel nut under the action of the rotating clamping assembly.

[0033] Description of reference numerals:

[0034] 1 rotating clamping assembly, 11 rotating mechanism, 12 rotating support, 13 clamping mechanism, 131 clamping arm, 132 clamping drive mechanism;

[0035] 21 first image detector, 211 detection bracket, 2111 protrusion, 212 camera, 213 first lighting lamp, 214 second lighting lamp, 22 second image detector, 23 third image detector, 24 controller;

[0036] 3 first core removal assembly, 31 first moving device, 311 first longitudinal sliding mechanism, 312 first transverse sliding mechanism, 313 first lifting mechanism, 32 first support, 33 first rotary platform, 331 first rotary tray, 3311 first opening, 332 first rotary drive mechanism, 333 first rotary transmission mechanism, 34 first clamping mechanism, 341 first clamping drive mechanism, 343 first clamping arm, 35 jet mechanism;

[0037] 4 Second core removal assembly, 41 Second moving device, 411 Second longitudinal sliding mechanism, 412 Second transverse sliding mechanism, 413 Second lifting mechanism, 42 Second support, 43 Second rotary platform, 431 Second rotary tray, 432 Second rotary drive mechanism, 433 Second rotary transmission mechanism, 44 Needle picking mechanism, 441 Needle picking; 51 Loading conveying device, 52 Unloading conveying device, 53 Workbench, 54 Chassis; 61 Betel nut. DETAILED DESCRIPTION

[0038] The present application is further described in detail below by means of specific embodiments in conjunction with the accompanying drawings. Similar elements in different embodiments are numbered with associated similar elements. In the following embodiments, many detailed descriptions are provided to enable the present application to be better understood. However, those skilled in the art will readily appreciate that some of the features may be omitted in different circumstances, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification. This is to avoid the core portion of the present application being overwhelmed by excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail. They can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0039] In addition, the features, operations, or characteristics described in the specification may be combined in any appropriate manner to form various implementations, and the operational steps involved in each embodiment may be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for the purpose of clearly describing a particular embodiment and do not imply a required composition and / or sequence.

[0040] The serial numbers assigned to components herein, such as "first," "second," etc., are used solely to distinguish the objects being described and do not convey any sequential or technical meaning. References to "connection" and "coupling" herein, unless otherwise specified, include both direct and indirect connections (couplings).

[0041] During the production and processing of betel nut and other fruits, it is usually necessary to perform a pitting operation. In the existing process, the betel nut is generally cut into two halves to expose the pit, and then the pit is removed using corresponding pitting equipment.

[0042] The betel nut pitting machine provided by the present application is capable of clamping and rotating the cut betel nut fruit by setting a rotary clamping component, that is, the conveying path of the betel nut fruit is consistent with the rotation trajectory of the rotary clamping component. On the rotation trajectory of the rotary clamping component, a first image detector, a first pitting component, and a second image detector are respectively arranged in sequence, and a corresponding control operation is performed by a controller connected by communication, and the first image information is obtained before the pitting operation, the pitting operation, and the second image information is obtained after the pitting operation. The controller can process and identify the first image information and the second image information based on the visual recognition model of artificial intelligence, determine the state of the betel nut fruit and its pit, and cooperate with the pitting operation of the first pitting component and the rotation and clamping operation of the rotary clamping component to achieve closed-loop control, thereby effectively improving the accuracy of the pitting operation, and can effectively sort the betel nut fruit after the pitting operation, which is beneficial to improving the yield rate and production efficiency of the betel nut product.

[0043] The following describes some embodiments of the betel nut pitting machine and betel nut pitting processing equipment provided by the present application in conjunction with the accompanying drawings.

[0044] In an embodiment of the first aspect of the present application, Figure 1 、 Figure 2 and Figure 3As shown, the betel nut pitting machine includes a rotating clamping assembly 1, a first image detector 21, a first pitting assembly 3, a second image detector 22, and a controller 24. The controller 24 is in communication with the rotating clamping assembly 1, the first image detector 21, the first pitting assembly 3, and the second image detector 22, respectively, to perform corresponding identification processing and control operations. The rotating clamping assembly 1 can rotate and clamp the betel nut according to control instructions from the controller 24, thereby driving the betel nut 61 to rotate along a rotational trajectory to achieve rotary conveyance. The rotating clamping assembly 1 can also rotate the betel nut 61 to a target position and release it according to control instructions from the controller 24 to place the betel nut 61 at the target position. The first image detector 21, the first core removal component 3 and the second image detector 22 are arranged in sequence corresponding to the rotation trajectory of the rotary clamping component 1; the first image detector 21 can obtain the first image information of the betel nut 61 and its core (image information in the initial state) when the betel nut 61 rotates to the detection position of the first image detector 21, and transmit the first image information to the controller 24; the first core removal component 3 is located at the downstream position of the first image detector 21 relative to the rotation trajectory of the rotary clamping component 1, and the first core removal component 3 has a first clamping mechanism 34 for clamping the core; the second image detector 22 is arranged at the downstream position of the first core removal component 3 relative to the rotation trajectory of the rotary clamping component 1, and can obtain the second image information of the betel nut 61 and its core (image information after the clamping and core removal operation of the first core removal component 3) when the betel nut 61 rotates to the detection position of the second image detector 22, and can transmit the second image information to the controller 24.

[0045] During use, when the betel nut 61 is rotated to the working position of the first image detector 21, the first image information of the betel nut 61 before the core removal operation is performed is first obtained through the first image detector 21, and the controller 24 can perform corresponding recognition processing based on the first image information, thereby determining the initial state of the betel nut 61 and its core, and then when the betel nut 61 is rotated to the working position of the first core removal component 3, the first core removal component 3 is controlled to perform corresponding operations so that the first clamping mechanism 34 is aligned with the core of the betel nut 61 and performs a clamping and core removal operation; thereafter, when the betel nut 61 is rotated to the working position of the second image detector 22, the second image information of the betel nut 61 after the core removal operation of the first core removal component 3 is obtained through the second image detector 22, and the controller 24 performs corresponding recognition processing based on the second image information, thereby determining the state of the betel nut 61 and its core and the core removal result at this time. Afterwards, the rotating clamping assembly 1 can perform corresponding operations according to the de-pitting results under the control of the controller 24, and place the betel nut 61 that has been determined to have been de-pitted normally on the unloading and conveying device 52 for normal unloading and conveying, and place the betel nut 61 that has not been de-pitted normally at the corresponding work station to facilitate other operations (such as defective product recovery, re-pitting, etc.).

[0046] It is understood that in actual production and processing scenarios, the betel nut is already cut, with the pit exposed. The betel nut can be fed to the rotary clamping assembly 1 via a corresponding feeding and conveying device, ensuring that the pit is facing the first image detector 21, the first pitting assembly 3, and the second image detector 22 to facilitate the pitting operation. For example, the height of the rotary clamping assembly 1 can be set lower than the working height of the first image detector 21, the first pitting assembly 3, and the second image detector 22, so that the cut betel nut pit is facing upward during feeding.

[0047] The betel nut pitting machine in this application combines visual recognition operation with pitting operation, so that the exact position and posture of the fruit pit can be determined before the pitting operation, so as to help improve the accuracy of the pitting operation, and the result of the pitting operation can be confirmed again after the pitting operation, thereby forming a closed-loop control, which can greatly improve the accuracy of the pitting operation and the yield rate of the product, and at the same time can reduce manual auxiliary operations as much as possible, which is beneficial to production efficiency and is conducive to promotion and application in production and processing scenarios.

[0048] It should be noted that, in this embodiment, the first image information and the second image information include but are not limited to picture information and video information; the controller 24 may pre-store a visual model based on artificial intelligence and a corresponding recognition processing program, and may be pre-trained with a large amount of image information to meet the accuracy and yield requirements of production; in addition, in actual application, the image information of each betel nut can also be used as training material for the controller 24, so as to perform synchronous training in actual application to further improve the recognition precision and accuracy.

[0049] In a further embodiment of the present application, Figure 1 、 Figure 4 and Figure 5 As shown, in the betel nut pitting machine, the first pitting component 3 includes a first moving device 31, a first support 32, a first rotating platform 33, and a first clamping mechanism 34. The first support 32 serves as the mounting base for the first rotating platform 33 and the first clamping mechanism 34 and is connected to the side of the first moving device 31 facing the rotating clamping component 1; the first rotating platform 33 is provided on the first support 32, and the first rotating platform 33 and the first support 32 are rotatably connected; the first clamping mechanism 34 is arranged along the height direction and is connected to the first rotating platform 33 so as to be able to rotate relative to the first support 32 under the action of the first rotating platform 33; at the same time, the first support 32, the first rotating platform 33, and the first clamping mechanism 34 can perform lateral movement, longitudinal movement, and vertical lifting movement under the action of the first moving device 31. Among them, the lateral, longitudinal, and height directions here are all based on the first moving device 31. Through the above arrangement, during the core removal operation, the position of the first clamping mechanism 34 in three-dimensional space can be adjusted by the first moving device 31 and the first rotating platform 33, so that the first clamping mechanism 34 is aligned with the betel nut 61 on the rotating clamping assembly 1, thereby accurately clamping the core of the betel nut 61 and removing the core, and the spatial adaptability of the core removal operation is stronger.

[0050] It can be understood that due to individual differences in betel nut fruits, the size, shape and pit position of the betel nut fruits are different in each operation. The first pitting component 3 in this embodiment can accurately and efficiently perform pitting operations on betel nut fruits in different states.

[0051] Specifically, if Figures 4 to 6 In the example, the first moving device 31 can specifically be provided with a first longitudinal sliding mechanism 311, a first transverse sliding mechanism 312 and a first lifting mechanism 313, and realize corresponding horizontal longitudinal movement, horizontal transverse movement and height direction lifting movement through corresponding driving motors and transmission parts, for example Figure 5In addition, the first rotary platform 33 can be provided with a first rotary drive mechanism 332 and a first rotary transmission mechanism 333 to drive the first rotary tray 331 to rotate horizontally relative to the first support 32, for example Figure 6 In the example, the first rotary tray 331 is rotatably mounted on the first support 32, and the first rotary transmission mechanism 333 specifically adopts a multi-link mechanism, one end of which is eccentrically connected to the first rotary tray 331, and the other end is transmission-connected to the output end of the first rotary drive motor, so that the first rotary drive motor outputs torque to drive the multi-link mechanism to generate corresponding swing, thereby driving the first rotary tray 331 to rotate horizontally relative to the first support 32. Figure 6 In the example, in order to facilitate the installation of the first clamping mechanism 34, a through hole can be opened on the first support 32 along the height direction, and the first rotary tray 331 can be rotatably inserted into the through hole, so that the first clamping mechanism 34 can pass through the bottom of the first rotary tray 331 and perform the corresponding core removal operation.

[0052] Further, if Figure 5 and Figure 6 As shown, the first clamping mechanism 34 specifically includes a first clamping drive mechanism 341 and two first clamping arms 343 arranged opposite to each other. A first opening 3311 is provided on the first rotary tray 331 of the first rotary platform 33, and the first clamping drive mechanism 341 is arranged at the top of the first rotary platform 33, and the output end of the first clamping drive mechanism 341 is passed through the first opening 3311 of the first rotary platform 33; accordingly, the two first clamping arms 343 are located at the bottom of the first rotary platform 33, and are connected to the output end of the first clamping drive mechanism 341 through the first opening 3311, so that the power of the first clamping drive mechanism 341 drives the two first clamping arms 343 to move toward each other or move back to back relative to each other, thereby clamping the fruit core when moving toward each other, and after the fruit core is taken out, the fruit core is released by the relative back movement of the two first clamping arms 343, thereby realizing the de-core operation of the betel nut 61. Among them, preferably, as Figure 7 In the example in FIG, the first opening 3311 is configured as a long strip opening along the horizontal direction to reserve movement space for the two first clamping arms 343 .

[0053] In a further embodiment of the present application, Figures 5 to 7As shown, the first core removal assembly 3 further includes an air jet mechanism 35. The air jet mechanism 35 is connected to the first rotary platform 33, with its nozzle facing downward from the first gripping mechanism 34. The air jet mechanism 35 is capable of ejecting high-pressure gas. When the first gripping mechanism 34 is performing a core removal operation on the betel nut 61 or after the core removal operation, the high-pressure gas is ejected to perform a jet cleaning operation on the betel nut 61 to remove smaller core fragments or debris.

[0054] It is understandable that some fruit cores may be damaged during the clamping process and produce smaller pieces or debris, which are difficult to further accurately clamp. The fruit core pieces or debris can be directly blown off by spraying high-pressure gas through the jet mechanism 35, which can further improve the core removal efficiency and is also conducive to further improving the yield rate.

[0055] It should be noted that the jet mechanism 35 can be provided with a corresponding high-pressure air pump and an air pipe, and one or more air pipes can be provided. Figure 7 In the example, when multiple air pipes are provided, they can be arranged at circumferential intervals relative to the first clamping mechanism 34, and the nozzles of the multiple air pipes are all directed downwardly toward the first clamping mechanism 34, so as to betel nut 61 be sprayed and cleaned from different directions.

[0056] In a further embodiment of the present application, Figure 1 、 Figure 2 and Figure 8 As shown, the first image detector 21 specifically includes a detection bracket 211, a camera 212, and a lighting lamp. The detection bracket 211 serves as a support structure for supporting the camera 212 and the lighting lamp. The detection bracket 211 has a protrusion 2111 on the side facing the rotating clamping assembly 1. The protrusion 2111 extends toward the rotating clamping assembly 1 and is located above the rotating clamping assembly 1 in the height direction. The camera 212 is connected to the protrusion 2111 and is positioned downward in the height direction. When the rotating clamping assembly 1 rotates the betel nut 61 below the protrusion 2111, the camera 212 captures first image information (including but not limited to pictures and videos) of the betel nut 61 and its pit. The camera 212 is communicatively connected to the controller 24 and can transmit the captured first image information to the controller 24 in real time, so that the controller 24 can determine the status information of the betel nut 61 and its pit based on the first image information. One or more lighting lamps can be provided to provide lighting for the shooting range of the camera 212 so as to make the first image information shot by the camera 212 clearer. Figure 8In the example, a first annular lighting lamp 213 can be set around the lens of the camera 212, and two second lighting lamps 214 opposite to each other in the horizontal direction can be set in the area below the camera 212, both of which can provide lighting for the camera 212; wherein, the specific installation positions of the first lighting lamp 213 and the second lighting lamp 214 avoid the shooting range of the camera 212 to avoid blocking the betel nut.

[0057] It should be noted that the second image detector 22 has the same structure as the first image detector 21. The difference between the two lies in their installation locations, resulting in different images of the betel nut. Therefore, the first image detector 21 and the second image detector 22 are interchangeable. The same image detectors can be purchased and installed in the corresponding workstations.

[0058] In another embodiment of the present application, Figure 9 and Figure 10 As shown, in addition to the rotary clamping assembly 1, first image detector 21, first core removal assembly 3, and second image detector 22 described in the above embodiment, the betel nut pitting machine also includes a second core removal assembly 4 and a third image detector 23. The second core removal assembly 4 and the third image detector 23 are positioned on the side of the second image detector 22 away from the first core removal assembly 3 and are sequentially positioned downstream of the second image detector 22 relative to the rotational trajectory of the rotary clamping assembly 1. The second core removal assembly 4 is used to remove the core of betel nut 61 from any fruit that has not been cored after being processed by the first core removal assembly 3. The third image detector 23 is used to capture images of the betel nut 61 after the core removal operation has been completed, thereby obtaining third image information of the betel nut 61 after the core removal operation by the second core removal assembly 4. By providing the second core removal assembly 4 with a core removal method different from the clamping operation of the first core removal assembly 3, the second core removal assembly 4 can be used to compensate for the shortcomings of the clamping core removal method. This allows the core to be removed through the core removal method if the clamping operation cannot remove the core, thus preventing the yield of individual betel nut fruits from being affected by the difficulty of clamping core removal.

[0059] The third image detector 23 can adopt the same structural form as the first image detector 21; the controller 24 is in communication with the second core removal component 4 and the third image detector 23. The controller 24 can specifically determine whether the core of the betel nut 61 has been removed after the first core removal component 3 clamping operation based on the second image information. If the core has been removed, there is no need to perform the core picking operation. If the core has not been removed, the second core removal component 4 is controlled to perform the core picking operation. After the core picking operation is completed, the betel nut 61 is rotated to the detection station of the third image detector 23 to collect the third image information of the betel nut 61. The controller 24 determines whether the core of the betel nut 61 has been removed based on the third image information. If the core has been removed, it can be transported to the unloading area normally. If the core has not been removed, it will not be transported to the unloading area and can be placed in a preset target location (e.g., a recycling area) to prevent un-cored betel nut 61 from entering the normal unloading area.

[0060] Furthermore, if Figure 9 、 Figure 11 and Figure 12 As shown, the second core removal component 4 specifically includes a second moving device 41, a second support 42, a second rotating platform 43 and a needle picking mechanism 44. The second support 42 serves as the mounting base for the second rotating platform 43 and the needle picking mechanism 44, and is connected to the side of the second moving device 41 facing the rotating clamping component 1; the second rotating platform 43 is provided on the second support 42, and the second rotating platform 43 and the second support 42 are rotatably connected; the needle picking mechanism 44 is connected to the bottom of the second rotating platform 43, and the needle picking mechanism 44 is eccentrically arranged relative to the second rotating platform 43, so that it can rotate relative to the second support 42 under the action of the second rotating platform 43; at the same time, the second support 42, the second rotating platform 43 and the needle picking mechanism 44 can perform lateral movement, longitudinal movement and height lifting movement under the action of the second moving device 41. Among them, the lateral, longitudinal and height directions here are all based on the second moving device 41. The adjustment mechanism includes at least one picking needle 441, which can be used to pick the core of the betel nut 61 so as to remove the core from the betel nut 61. Through the above arrangement, the core picking mechanism can be adjusted in three dimensions by the second moving device 41 and the second rotating platform 43 so as to align the core picking mechanism with the betel nut 61 on the rotating clamping assembly 1, thereby accurately picking out the core of the betel nut 61. This arrangement provides greater spatial adaptability and can accommodate betel nuts in different states.

[0061] Specifically, if Figure 11 、 Figure 12In the example, the second moving device 41 can be specifically provided with a second longitudinal sliding mechanism 411, a second transverse sliding mechanism 412 and a second lifting mechanism 413, and realizes corresponding horizontal longitudinal movement, horizontal transverse movement and height direction lifting movement through corresponding driving motors and transmission parts, for example Figure 11 In addition, the second rotary platform 43 can be provided with a second rotary drive mechanism 432 and a second rotary transmission mechanism 433 to drive the second rotary tray 431 to rotate horizontally relative to the second support 42, for example Figure 12 In the example, the second rotary tray 431 is rotatably mounted on the second support 42, and the second rotary transmission mechanism 433 specifically adopts a multi-link mechanism, one end of which is eccentrically connected to the second rotary tray 431, and the other end is transmission-connected to the output end of the second rotary drive motor, so that the second rotary drive motor outputs torque to drive the multi-link mechanism to generate corresponding swing, thereby driving the second rotary tray 431 to rotate horizontally relative to the second support 42. Figure 12 In the example, in order to facilitate the installation of the needle picking mechanism 44, a through hole can be opened on the second support 42 along the height direction, and the second rotary tray 431 can be rotatably inserted into the through hole, so that the needle picking mechanism 44 can perform the corresponding core picking operation from the bottom of the second rotary tray 431.

[0062] Furthermore, if Figure 11 and Figure 12 In the example, the picking needle mechanism 44 is tilted relative to the second rotating platform 43, the picking needle 441 is located at the bottom end of the picking needle mechanism 44, and the tip of the picking needle 441 is facing the central axis of the second rotating platform 43, that is, the picking needle 441 extends obliquely downward to adapt to the state of the fruit core, so that the picking needle 441 can extend from the side of the betel nut 61 to the bottom of the fruit core, and then pick out the fruit core by picking it up.

[0063] Furthermore, if Figure 11 and Figure 12 In the example, a plurality of picking needles 441 are provided on the needle picking mechanism 44, and the plurality of picking needles 441 are arranged side by side and spaced apart, and the spacing between two adjacent picking needles 441 is within a preset spacing range, for example, within a range of 0.5 cm to 3 cm, so that the plurality of picking needles 441 can contact different positions of the fruit core at the same time, so as to increase the contact area and enhance the force during the core picking operation, which is beneficial to improving the success rate of core picking.

[0064] In addition, in practical applications, a corresponding jet cleaning mechanism may also be provided in the second core removal component to perform jet cleaning operations on the needle picking mechanism.

[0065] In a further embodiment of the present application, Figure 1 、 Figure 13 and Figure 14 As shown, in the betel nut pitting machine, the rotating clamping assembly 1 includes a rotating mechanism 11, a rotating support 12, and a clamping mechanism 13. The rotating support 12 is connected to the rotating mechanism 11 and can rotate horizontally under the drive of the rotating mechanism 11; at least a portion of the rotating support 12 extends radially outward from the rotating mechanism 11 to serve as a mounting base for the clamping mechanism 13. The clamping mechanism 13 is connected to the rotating support 12 and has two clamping arms 131 arranged opposite to each other. The clamping mechanism 13 also has a clamping drive mechanism 132 that is transmission-connected to the two clamping arms 131. The clamping drive mechanism 132 drives the two clamping arms 131 to move toward each other horizontally or move away from each other, thereby achieving the clamping and releasing operations of the betel nut 61. Among them, the rotating mechanism 11 is provided with a center hole that passes through in the height direction as a wire hole to facilitate the arrangement of the cables of the clamping mechanism 13; in the radial direction of the rotating mechanism 11, the clamping drive mechanism 132 is located close to the center hole, and the clamping arm 131 is connected to the end of the clamping drive mechanism 132 away from the center hole and extends radially.

[0066] Furthermore, if Figure 13 and Figure 14 In the example, the two clamping arms 131 are provided with groove structures that match the shape of the betel nut 61 near the top on the opposite sides to reserve a clamping space for the betel nut 61. Furthermore, the portions of the two clamping arms 131 with the groove structures can be slightly tilted relative to the vertical plane to Figure 13 For example, the clamping arm 131 on the left side is rotated in a counterclockwise direction by a certain angle, and the clamping arm 131 on the right side is rotated in a clockwise direction by a certain angle, so that the area of ​​the top opening is increased after the two groove structures are aligned, so as to be able to adapt to more betel nuts of different sizes.

[0067] Of course, the above is only a preferred implementation of the clamping mechanism 13. In actual applications, the clamping mechanism 13 can also adopt other structural forms. For example, the two clamping arms 131 can also be set to a bottom hinged form and can rotate around the hinge axis under the drive of the corresponding driving mechanism. The rotation directions of the two clamping arms 131 are opposite, and the clamping and releasing operations of the betel nut can also be realized.

[0068] In the embodiment of the second aspect of the present application, a betel nut pitting processing device is provided, such as Figure 1 、 Figure 2 and Figure 15As shown, the betel nut pitting processing equipment includes the betel nut pitting machine of any embodiment of the first aspect described above, as well as a loading and conveying device 51 and a unloading and conveying device 52. The loading and conveying device 51 and the unloading and conveying device 52 are both located on one side of the betel nut pitting machine. The loading and conveying device 51 is used to convey unpitted betel nuts 61 to the rotating clamping assembly 1 of the betel nut pitting machine, and the unloading and conveying device 52 is used to receive and unpitted betel nuts 61 by the betel nut pitting machine.

[0069] It should be noted that the betel nut fruits 61 conveyed by the feeding and conveying device 51 are all in a state of being cut and the cores are exposed. Figure 15 The status shown in .

[0070] Further, if Figure 15 In the example, both the loading conveying device 51 and the unloading conveying device 52 are in the form of conveyor belts, and the loading conveying device 51 and the unloading conveying device 52 are arranged side by side, which is beneficial to improving space utilization.

[0071] Further, if Figure 16 As shown, the betel nut pitting machine specifically includes a rotating clamping component 1, and a first image detector 21, a first pitting component 3, a second image detector 22, a second pitting component 4, and a third image detector 23 arranged in sequence along the circumference of the rotating clamping component 1; wherein the first image detector 21 and the third image detector 23 are relatively arranged on both sides of the rotating clamping component 1 and in opposite directions, and the direction of the second image detector 22 is perpendicular to the line between the first image detector 21 and the third image detector 23; the loading and unloading conveying device 51 and the unloading conveying device 52 are arranged on the side of the rotating clamping component 1 away from the second image detector 22. The betel nut pitting processing equipment also includes a workbench 53 and a chassis 54 located below the workbench 53. The rotating clamping component 1, the first image detector 21, the first pitting component 3, the second image detector 22, the second pitting component 4, the third image detector 23, the loading and unloading conveying device 51, and the unloading conveying device 52 are all installed on the workbench 53. The controller 24 of the betel nut pitting machine is arranged in the chassis 54; the chassis 54 is also provided with a corresponding power supply device and other auxiliary devices, and multiple doors are arranged on the side of the chassis 54 for opening or closing the chassis 54.

[0072] Furthermore, the loading conveying device 51 and the unloading conveying device 52 can be communicatively connected to the controller 24 of the betel nut pitting machine to perform corresponding conveying operations according to the control instructions of the controller 24 to keep consistent with the operating rhythm of the betel nut pitting machine.

[0073] Of course, the betel nut pitting processing equipment can also be equipped with an independent control terminal (such as an industrial computer), which is connected to the betel nut pitting machine, the loading conveyor 51, the unloading conveyor 52, and the corresponding auxiliary devices through the control terminal to perform overall control operations. Among them, the controller 24 of the betel nut pitting machine can also be integrated into the control terminal.

[0074] In actual production, Figures 1 to 16 In the example shown in FIG. 1 , the device starts operating. The feeding conveyor 51 conveys the betel nut 61, which has been cut in half and has its core exposed, to the clamping mechanism 13 of the rotating clamping assembly 1. The clamping mechanism 13 clamps the betel nut 61 with its two clamping arms 131 and exposes the core upward. Thereafter, the clamping mechanism 13 rotates horizontally under the drive of the rotating mechanism 11. When the betel nut 61 is rotated to the detection station of the first image detector 21, the camera of the first image detector 21 captures the first image information of the betel nut 61 in its initial state and transmits it to the controller 24. The controller 24 performs corresponding recognition processing on the received first image information to confirm the status information of the betel nut 61 and its pit (including but not limited to shape, size, posture, position, etc.); then, the betel nut 61 is rotated to the operating station of the first pitting component 3, and the first clamping mechanism 34 is driven by the first moving device 31 and the first rotating platform 33 to move to the position corresponding to the betel nut 61, and clamps the pit to perform the first pitting operation, and the jet mechanism 35 sprays high-pressure gas to the betel nut 61 to perform a jet cleaning operation.

[0075] Afterwards, the betel nut 61 is rotated to the detection station of the second image detector 22. The camera 212 of the second image detector 22 captures the second image information of the betel nut 61 at this time and transmits it to the controller 24. The controller 24 performs corresponding recognition processing on the received second image information to confirm the status information of the betel nut 61 at this time and identify whether the fruit core has been removed. If the pit has been removed, there is no need to perform a secondary pitting operation. The rotating mechanism 11 directly rotates the betel nut 61 to the position corresponding to the unloading and conveying device 52. The clamping mechanism 13 places the pitted betel nut 61 on the unloading and conveying device 52, and performs the unloading and conveying operation through the unloading and conveying device 52. If the pit has not been removed after the first pitting operation, the rotating mechanism 11 rotates the betel nut 61 to the working position of the second pitting component 4. The needle picking mechanism 44 moves to the position corresponding to the betel nut 61 under the drive of the second moving device 41 and the second rotating platform 43, and extends the needle 441 into the betel nut 61 to pick out the pit to achieve a secondary pitting operation.

[0076] Afterwards, the betel nut 61 is rotated to the inspection station of the third image detector 23. The camera 212 of the third image detector 23 captures the third image information of the betel nut 61 after the second pitting and transmits it to the controller 24. The controller 24 performs corresponding recognition processing on the third image information to determine the status information of the betel nut 61 at this time and to identify whether the pit has been removed. If the pit has been removed, the betel nut 61 is rotated to the corresponding position of the unloading conveyor 52 and placed on the unloading conveyor 52 by the clamping mechanism 13 for unloading and conveying. If the pit has not been removed, the rotating clamping assembly 1 rotates the betel nut 61 to the corresponding target position (e.g., the recycling area). The clamping mechanism 13 places the betel nut 61 at the target position to prevent unpitted betel nut 61 from entering the unloading conveyor 52.

[0077] Thereafter, the rotary clamping assembly 1 rotates to a position corresponding to the loading and conveying device 51 to perform the next working cycle.

[0078] By removing the core of the betel nut through the above-mentioned operation process, the accuracy of the de-core operation can be greatly improved, and the un-core betel nut can be effectively prevented from entering the unloading and conveying device, thereby correspondingly improving the yield rate of the betel nut product; moreover, the controller can perform image information recognition and processing according to the visual recognition model based on artificial intelligence. The whole operation process has a high degree of automation, which can effectively reduce manual operation and reduce the possibility of human contact with betel nut, which is conducive to ensuring food safety.

[0079] In addition, the betel nut pitting processing equipment in this embodiment also has all the beneficial effects of the betel nut pitting machine in any of the above embodiments, which will not be repeated here.

[0080] The above examples are used to illustrate the present invention, which are only used to help understand the present invention and are not intended to limit the present invention. Those skilled in the art of the present invention can make some simple deductions, modifications or substitutions based on the concept of the present invention.

Claims

1. A betel nut pitting machine, characterized in that: include: A rotating clamping assembly, used for clamping the betel nut and rotating it; a first image detector, arranged corresponding to the rotation trajectory of the rotating clamping assembly, for acquiring first image information of the betel nut in an unpitted state; a first core removal assembly disposed at a downstream position of the first image detector relative to the rotation trajectory, the first core removal assembly comprising a first gripping mechanism for gripping the core of the betel nut; a second image detector, disposed at a downstream position of the first core removal component relative to the rotation trajectory, for acquiring second image information of the betel nut after the core removal operation by the first core removal component; The controller is communicatively connected to the rotating clamping assembly, the first image detector, the first de-coring assembly and the second image detector, and is used to identify and process the received first image information and the second image information, and perform corresponding control operations on the rotating clamping assembly and the first de-coring assembly.

2. The betel nut pitting machine according to claim 1, characterized in that: The first denucleation component comprises: a first mobile device; a first support connected to a side of the first moving device facing the rotating clamping assembly and capable of moving along the lateral, longitudinal and height directions of the first moving device under the action of the first moving device; A first rotary platform rotatably connected to the first support; The first clamping mechanism is connected to the first rotating platform and is arranged along the height direction. The first clamping mechanism can rotate under the action of the first rotating platform.

3. The betel nut pitting machine according to claim 2, characterized in that: The first denucleation component further comprises: The jet mechanism is connected to the first rotary platform, and the nozzle of the jet mechanism is directed toward the bottom of the first clamping mechanism, and is used to perform jet cleaning operation on the betel nut undergoing the pitting operation.

4. The betel nut pitting machine according to claim 2, characterized in that: The first rotary platform is provided with an opening extending through the platform in the height direction; The first clamping mechanism includes a first clamping drive mechanism and two first clamping arms; The first clamping drive mechanism is connected to the top of the first rotary platform, and the output end of the first clamping drive mechanism is passed through the opening of the first rotary platform; The two first clamping arms are both in transmission connection with the output end of the first clamping drive mechanism so as to move toward each other or move away from each other under the drive of the first clamping drive mechanism to clamp and release the fruit core.

5. The betel nut pitting machine according to claim 1, characterized in that: The first image detector and the second image detector have the same structure and both include: a detection bracket, the detection bracket having a protrusion extending toward one side of the rotary clamping assembly; A camera is connected to the protruding portion and is arranged downward in the height direction, for acquiring image information of the betel nut; At least one lighting lamp is connected to the detection bracket or the camera, and is used to provide lighting for the shooting range of the camera.

6. The betel nut pitting machine according to claim 1, characterized in that: Also includes: a second core removal assembly, disposed at a downstream position of the second image detector relative to the rotation track, the second core removal assembly being used to remove the cores of the betel nut fruits that have not had their cores removed; a third image detector, disposed at a downstream position of the second core removal component relative to the rotation trajectory, the third image detector being used to obtain third image information of the betel nut after the core is removed by the second core removal component; The controller is in communication with the second de-coring component and the third image detector to identify and process the third image information and perform corresponding control operations on the second de-coring component.

7. The betel nut pitting machine according to claim 6, characterized in that: The second denucleation component comprises: a second mobile device; a second support connected to a side of the second moving device facing the rotating clamping assembly and capable of moving along the lateral, longitudinal and height directions of the second moving device under the action of the second moving device; a second rotary platform rotatably connected to the second support; The needle picking mechanism is connected to the bottom of the second rotating platform and is eccentrically arranged relative to the second rotating platform. The needle picking mechanism has at least one needle for picking the core of the betel nut.

8. The betel nut pitting machine according to claim 7, characterized in that: The needle picking mechanism is tilted relative to the second rotary platform, and the tip of the needle picking mechanism faces the central axis of the second rotary platform; and / or, The needle picking mechanism has a plurality of needles arranged side by side, and the distance between two adjacent needles is within a preset distance range.

9. The betel nut pitting machine according to claim 1, characterized in that: The rotary clamping assembly comprises: A rotating mechanism having a central hole extending in a height direction; a rotating support connected to the rotating mechanism, wherein at least a portion of the rotating support extends radially outward from the rotating mechanism and is capable of rotating around the central hole when driven by the rotating mechanism; The clamping mechanism is connected to the rotating support. The clamping mechanism has a clamping drive mechanism and two clamping arms arranged opposite to each other. The clamping drive mechanism is in transmission connection with the two clamping arms to drive the two clamping arms to move toward each other or move away from each other to clamp or release the betel nut.

10. A betel nut pitting production equipment, characterized in that: include: The betel nut pitting machine according to any one of claims 1 to 9; A feeding conveyor device is provided on one side of the betel nut pitting machine, and is used to convey betel nuts to the rotary clamping assembly. The rotary clamping assembly can clamp the betel nuts conveyed by the feeding conveyor device and rotate them for the betel nut pitting machine to perform a pitting operation. The unloading and conveying device is arranged on one side of the betel nut pitting machine, and is used to receive the pitted betel nut fruits on the rotary clamping assembly and perform unloading and conveying operations.

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