Weighing classification robot

Abstract

The utility model discloses a weighing and classifying robot, and relates to the technical field of weighing and classifying equipment. The problems that a traditional agricultural product classification mode is low in precision, poor in efficiency and high in cost are solved. The robot comprises a supporting base, a control box, a pitching arm and a weighing tray. The weighing tray is provided with a weight sensor for sensing the weight of the agricultural products and is driven by a double-shaft steering engine to achieve pitching motion, and the agricultural products are poured into a target classification box. The control box integrates a controller, a display screen, an AD converter and other modules, displays weight data in real time and controls equipment operation. The weighing tray is designed into a round tray body with ribs at the bottom, a concave middle part and arc edges on the periphery, so that the structural stability and the dumping smoothness are ensured. The device has the advantages of being high in precision, low in cost, convenient to operate, flexible and portable, suitable for automatic weighing and classification of agricultural products such as fruits and shellfish, especially suitable for small and medium-sized agricultural production scenes, and capable of remarkably improving classification efficiency and economic benefits.

Description

TECHNICAL FIELD

[0001] The utility model relates to weighing classification equipment technical field, especially a weighing classification robot. BACKGROUND

[0002] With the development of modern agriculture, the classification and grading demand of agricultural products is increasing. Especially in the production and sales of high value-added agricultural products such as fruits and shellfish, the grading of products directly affects their market price and economic benefits. For example, the weight, size and other indicators of fruits or shellfish are often important factors in determining their prices. Therefore, accurate classification of agricultural products has become an important part of agricultural production.

[0003] The traditional classification method of agricultural products mainly relies on manual sorting or large-scale automatic assembly line equipment. However, both methods have obvious shortcomings:

[0004] Manual sorting: manual sorting usually classifies agricultural products according to their appearance size, color and other external characteristics. This method has low precision and cannot meet the requirements of modern market for fine grading of agricultural products. For high value agricultural products, small differences in volume or weight can cause large fluctuations in sales prices, and manual sorting often cannot accurately identify these subtle differences. In addition, manual sorting is labor-intensive, low in efficiency, and can lead to inconsistent classification results due to human fatigue or subjective judgment, further affecting classification quality.

[0005] Large-scale automatic assembly line equipment: although automatic assembly line equipment can achieve high precision and high efficiency classification, its equipment cost is high, and the area occupied is large, which usually needs to be fixedly arranged indoors. This equipment is economically burdensome for ordinary farmers or small and medium-sized agricultural enterprises, and is difficult to popularize. At the same time, the installation and maintenance of the assembly line equipment are complex, and the flexibility is poor, which is difficult to adapt to the classification needs of different types of agricultural products.

[0006] In summary, the existing classification method of agricultural products cannot simultaneously consider classification accuracy, operation convenience and economy. Especially in rural areas or small agricultural production scenes, there is an urgent need for a low-cost, high-precision and flexible portable classification device to meet the actual needs of agricultural product grading. INVENTION CONTENTS

[0007] To solve the above problems, the utility model provides a weighing classification robot which can classify agricultural products according to their weight.

[0008] The technical scheme adopted by the utility model is:

[0009] A weighing classification robot, the weighing classification robot comprises a supporting base, a control box installed on the supporting base, a pitch arm installed on the control box, and a weighing tray installed on the pitch arm;

[0010] The weighing tray is a circular disc body with a middle recess and an arc edge around, which is installed on the pitching arm through a transition support plate, and a weight sensor connected with the control box is installed on the bottom of the weighing tray; the pitching arm comprises a rudder installation seat connected with the control box, a double-shaft rudder is installed in the rudder installation seat and connected with the control box in a wired mode, and the output shafts on both sides of the double-shaft rudder are connected with the tray support through a partition; the tray support is connected with the transition support plate, and the double-shaft rudder can drive the weighing tray to perform pitching movement.

[0011] Further, the support base comprises a bottom plate, and a support column is fixedly arranged at the center of the bottom plate; the bottom of the support column is fixedly connected with the bottom plate, and the top is fixedly connected with the bottom center of the support frame; the support frame is a bent plate body with a U-shaped cross section, the control box can be placed on the support frame, and connecting holes for bolt connection with the control box are arranged on both sides of the support frame.

[0012] Further, the support column comprises an upper insertion rod and a lower cylinder; the top of the upper insertion rod is fixedly connected with the bottom center of the support frame, the bottom is inserted into the top of the lower cylinder, and the bottom of the lower cylinder is fixedly connected with the bottom plate; a positioning bolt is threadedly connected with the top outer wall of the lower cylinder, and the positioning bolt can abut against the insertion section of the upper insertion rod through the cylinder wall of the lower cylinder.

[0013] Further, the top surface of the weighing tray is recessed downward at the middle, and a plurality of platforms are arranged at intervals around the top surface, a weight sliding groove is formed between the adjacent two platforms, and the weight sliding groove is formed with an arc edge at the edge of the weighing tray; the bottom of the weighing tray is provided with a sensor installation groove and a plurality of reinforcing ribs.

[0014] Further, the weighing and classifying robot further comprises a rotating arm arranged between the pitching arm and the control box; the rotating arm comprises a single-shaft rudder installed in the control box, the output shaft of the single-shaft rudder is connected with the pitching arm through a cross roller bearing and an inner ring connecting shaft penetrating through the control box, and the single-shaft rudder can drive the pitching arm to rotate relative to the support base.

[0015] Further, the control box comprises a box body fixedly connected with the support base, and a box cover detachably connected with the box body; the box body is internally provided with a controller, a display screen, a switch button, an AD converter, a DC 5V power supply, a power socket and a status indicator; the controller is connected with the double-shaft rudder, the single-shaft rudder, the display screen, the switch button, the AD converter, the DC 5V power supply and the status indicator in a wired mode, the DC 5V power supply is connected with the power socket in a wired mode, the AD converter is connected with the weight sensor in a wired mode, and the display screen, the switch button, the power socket and the status indicator are exposed outside the box body.

[0016] The beneficial effects of the utility model are as follows:

[0017] 1. High precision classification: The weight sensor senses the weight of agricultural products, and the controller controls the dual-axis servo to drive the weighing tray to pitch, ensuring accurate pouring of agricultural products into the target classification box, avoiding errors.

[0018] 2. Easy operation: The device has high automation, and users only need to place agricultural products on the tray to complete weighing and classification. The display screen displays the classification results in real time, and the switch button and status indicator provide intuitive operation feedback, making it simple and efficient to use.

[0019] 3. Economic and low cost: Compact structure, universal components, low manufacturing cost, suitable for ordinary farmers and small and medium-sized agricultural enterprises. Supports DC5V power supply, can be powered by power bank, etc., reduces power demand.

[0020] 4. Flexibility and portability: The support base height is adjustable to adapt to different scene requirements; the overall lightweight design is convenient for moving and deploying. The combination of rotating arm and pitching arm realizes flexible transfer in three-dimensional space, adapting to multiple classification box layouts.

[0021] 5. High efficiency and reliability: The automated process greatly improves classification efficiency and reduces labor intensity. The reinforcing ribs and cross-roller bearings enhance structural stability to ensure smooth operation of the device for a long time.

[0022] 6. Wide applicability: Classification standards can be set according to weight range, suitable for grading various agricultural products such as fruits and shellfish, compatible with indoor and outdoor use scenarios.

[0023] In summary, the robot has the characteristics of high precision, low cost and strong flexibility, providing efficient classification solutions for fruit farmers and breeders, with significant economic benefits and social value, helping the development of modern agriculture. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is the overall structure diagram of the weighing classification robot of the utility model;

[0025] Figure 2 It is the structure diagram of the support base of the utility model;

[0026] Figure 3 It is the structure diagram of the weighing tray of the utility model;

[0027] Figure 4 It is the structure diagram of the pitching arm of the utility model;

[0028] Figure 5 It is the split structure diagram of the control box of the utility model;

[0029] Figure 6 It is the overall structure diagram of the rotating arm of the utility model;

[0030] Figure 7 This is a schematic diagram of the disassembled structure of the rotating arm of this utility model;

[0031] In the diagram: 1. Support base; 2. Control box; 3. Pitch arm; 4. Weighing pallet; 5. Transition support plate; 6. Weight sensor; 7. Servo mount; 8. Dual-axis servo; 9. Spacer; 10. Pallet bracket; 11. Base plate; 12. Support frame; 13. Upper insert rod; 14. Lower cylinder; 15. Positioning bolt; 16. Platform; 17. Weight slide; 18. Arc edge; 19. Reinforcing rib; 20. Rotating arm; 21. Single-axis servo; 22. Crossed roller bearing; 23. Inner ring connecting shaft; 24. Housing; 25. Housing cover; 26. Controller; 27. Display screen; 28. Switch button; 29. ​​AD converter; 30. DC 5V power supply; 31. Power socket; 32. Status indicator light. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model. Example 1

[0033] To address the problems of low accuracy, low efficiency, and high cost of traditional agricultural product classification methods, this embodiment proposes a weighing and classification robot. For example... Figure 1 As shown, the weighing and sorting robot mainly consists of a support base 1, a control box 2, a pitching arm 3, and a weighing tray 4. The support base 1 provides overall support and height adjustment for the robot. The control box 2, mounted on the support base 1, serves as the robot's control and information display center, responsible for signal processing, power management, and data display. The pitching arm 3, mounted on the control box 2, controls the pitching motion of the tray, enabling agricultural products to be accurately poured into the target sorting bins. The weighing tray 4, mounted on the pitching arm 3, holds the agricultural products and senses their weight.

[0034] Specifically, such as Figure 1 and Figure 2As shown, the support base 1 in the embodiment includes a bottom plate 11, which is a rectangular plate body, and the bottom plate 11 provides overall support for the base, enhances the stability of the bottom of the robot, and prevents tipping. A support column is fixedly arranged at the center of the bottom plate 11. To achieve the height adjustment function, the support column in the embodiment includes an upper insertion rod 13 and a lower cylinder 14. The top of the upper insertion rod 13 is fixedly connected to the bottom center of a support frame 12, the bottom is inserted into the top of the lower cylinder 14, and the bottom of the lower cylinder 14 is fixedly connected to the bottom plate 11. A positioning bolt 15 is threadedly connected to the top outer wall of the lower cylinder 14, and the positioning bolt 15 can abut against the insertion section of the upper insertion rod 13 through the cylinder wall of the lower cylinder 14. The support frame 12 is a bent plate body with a U-shaped cross section, and the U-shaped groove can accommodate the control box 2. The support frame 12 is provided with connecting holes for bolt connection with the control box 2 on both sides.

[0035] As shown in Figure 1 , the weighing tray 4 in the embodiment is a circular disc body, the top surface of the weighing tray 4 is recessed downward in the middle, and four platforms 16 are arranged at intervals on the circumference of the top surface. A weight sliding groove 17 is formed between adjacent two platforms 16, and the weight sliding groove 17 is formed with an arc edge 18 at the edge of the weighing tray 4 to facilitate the sliding of agricultural products in the specified direction. As shown in Figure 3 , a sensor mounting groove is arranged at the bottom center of the weighing tray 4, and a plurality of reinforcing ribs 19 are arranged on the periphery of the mounting groove to increase the rigidity of the weighing tray 4. A weight sensor 6 for sensing the weight of agricultural products is installed in the sensor mounting groove and fixed by bolts. As shown in Figure 3 , the bottom of the weighing tray 4 is bolted to a transition support plate, which serves as a connecting piece between the weighing tray 4 and the pitch arm 3, so that the weighing tray 4 can be installed on the pitch arm 3.

[0036] As shown in Figure 1 and Figure 4 , the pitch arm 3 in the embodiment includes a steering gear mounting seat 7 connected to the control box 2, and a double-shaft steering gear 8 is fixedly installed in the steering gear mounting seat 7 by bolts. A spacer 9 is installed on the output shafts on both sides of the double-shaft steering gear 8, and the tray support 10 is bolted to the spacer 9. The top center of the tray support 10 is connected to the transition support plate 5 by bolts. When the double-shaft steering gear 8 is started, the output shafts can drive the tray support 10 to swing forward or backward relative to the steering gear mounting seat 7 through the spacer 9, so that the tray support 10 drives the weighing tray 4 to perform pitch movement.

[0037] As shown in Figure 1 and Figure 5As shown, the control box 2 in the embodiment includes a box body 24 fixedly connected with the support base 1, and a box cover 25 detachably connected with the box body 24 by bolts. The two outer sides of the box body 24 are fixedly installed on the support frame 12 by bolts, the side wall of the box body 24 is provided with a wire hole matched with a wire, and the box body 24 is internally provided with a controller 26, a display screen 27, a switch button 28, an AD converter 29, a DC 5V power supply 30, a power socket 31, and a state indicating lamp 32.

[0038] The controller 26 can adopt an Arduino Mega 2560 controller, which is wiredly connected with the dual-shaft servo 8 and is provided with a remote controller. The controller 26 is used to receive the signal of the weight sensor 6 and control the dual-shaft servo 8, so as to ensure that the robot completes the classification task according to the preset rules.

[0039] The DC 5V power supply 30 is wiredly connected with the controller 26. The DC 5V power supply 30 is used to supply power to the controller 26, the display screen 27, the dual-shaft servo 8, the AD converter 29, and the weight sensor 6. The power socket 31 connected with the DC 5V power supply 30 is further provided on the side wall of the box body 24, and is used to charge the DC 5V power supply 30.

[0040] The display screen 27 can adopt a Nextion NX3224T024 display screen, which is wiredly connected with the controller 26 and is exposed outside the box body 24. The display screen 27 is used to display the weight data of the agricultural products measured by the weight sensor 6.

[0041] The AD converter 29 can adopt an Avia Semiconductor HX711 AD conversion module, which is wiredly connected with the controller 26 and the weight sensor 6, and is used to convert the analog signal of the weight sensor 6 into a digital signal and transmit the digital signal to the controller 26.

[0042] The switch button 28 can adopt a Schneider KCD1 series button switch, which is installed on the connection line between the controller 26 and the DC 5V power supply 30 and is exposed outside the box body 24, and is used to control the start or stop of the robot.

[0043] The state indicating lamp 32 can adopt a Worldsemi RGB LED lamp bead, which is wiredly connected with the controller 26 and is exposed outside the box body 24, and is used to display the working state of the robot, such as standby, running, and failure.

[0044] Based on the above weighing classification robot, the working principle is as follows: first, the agricultural products are placed on the weighing tray 4, the weight sensor 6 senses the weight of the agricultural products, and the weight is displayed through the display screen 27; based on the weight data displayed on the display screen 27, the agricultural products can be classified. When classifying, control instructions are sent to the controller 26 through the remote control to start the dual-shaft rudder 8; after the dual-shaft rudder 8 is started, the output shaft can drive the tray support 10 to swing forward or backward relative to the rudder mounting seat 7 through the spacer 9, so that the agricultural products on the weighing tray 4 can be accurately poured into the target classification box. Example 2

[0045] Based on example 1, to further accurately classify agricultural products, the following improvements are made to the structure of the above weighing classification robot in this embodiment:

[0046] As shown in Figure 1 and Figure 6 , a rotating arm 20 is also added in this embodiment, which is arranged between the pitch arm 3 and the control box 2, and the pitch arm 3 is installed on the control box 2 through the rotating arm 20; the function of the rotating arm 20 is to control the rotating movement of the pitch arm 3 and the weighing tray 4, so that the weighing tray 4 can rotate relative to the support base 1, thereby changing the agricultural products from being poured in the front and back directions of example 1 to being poured in the front, back, left and right directions, so as to more accurately classify the agricultural products.

[0047] Specifically, as shown in Figure 6 and Figure 7 , the rotating arm 20 includes a single-shaft rudder 21 installed in the control box 2, the single-shaft rudder 21 is fixed on the box cover 25 by bolts, and the single-shaft rudder 21 is connected with the controller 26 in the control box 2 by wires. The top of the box cover 25 is designed with a bearing seat, the outer ring of the cross-roller bearing 22 is bolted with the bearing seat, the inner ring of the cross-roller bearing 22 is bolted with the inner ring connecting shaft 23, and the output shaft of the single-shaft rudder 21 passes through the control box 2 and the inner ring of the cross-roller bearing 22 and is keyed with the inner ring connecting shaft 23. The inner ring connecting shaft 23 is bolted with the rudder mounting seat 7 of the pitch arm 3 by bolts.

[0048] Based on the weight data of the agricultural products displayed on the display screen 27, the agricultural products can be classified into four groups; when classifying, control instructions are sent to the controller 26 through the remote control to start the single-shaft rudder 21, so that the pitch arm 3 and the weighing tray 4 rotate relative to the support base 1 to the front-back direction or the left-right direction; then the dual-shaft rudder 8 is started to accurately pour the agricultural products on the weighing tray 4 into the four target classification boxes, so as to more accurately classify the agricultural products.

[0049] The basic principle, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A weighing and sorting robot, characterized in that: The weighing classification robot comprises a supporting base, a control box installed on the supporting base, a pitching arm installed on the control box, and a weighing tray installed on the pitching arm; The weighing tray is a circular disc body with a concave middle and an arc edge around the periphery, is installed on the pitching arm through a transition support plate, and is provided with a weight sensor at the bottom and connected with the control box in a wired manner; the pitching arm comprises a rudder installation seat connected with the control box, a double-shaft rudder installed in the rudder installation seat and connected with the control box in a wired manner, and two output shafts of the double-shaft rudder connected with a tray support through a spacer; the tray support is connected with the transition support plate and can drive the weighing tray to perform pitching movement through the double-shaft rudder.

2. The weight sorting robot according to claim 1, characterized in that: The supporting base comprises a bottom plate, and a supporting column fixedly arranged at the center of the bottom plate; the bottom of the supporting column is fixedly connected with the bottom plate, and the top is fixedly connected with the bottom center of a supporting frame; the supporting frame is a bent plate body with a U-shaped cross section, the control box can be placed on the supporting frame, and the two sides of the supporting frame are provided with connecting holes for bolt connection with the control box.

3. The weight sorting robot according to claim 2, characterized in that: The supporting column comprises an upper insertion rod and a lower cylinder; the top of the upper insertion rod is fixedly connected with the bottom center of the supporting frame, the bottom is inserted with the top of the lower cylinder, and the bottom of the lower cylinder is fixedly connected with the bottom plate; a positioning bolt is threadedly connected with the top outer wall of the lower cylinder, and the positioning bolt can abut against the insertion section of the upper insertion rod through the cylinder wall of the lower cylinder.

4. The weight sorting robot of claim 1, wherein: The top surface of the weighing tray is concave downward at the middle, and a plurality of platforms are arranged at intervals around the periphery of the top surface, a weight sliding groove is formed between the adjacent two platforms, and the weight sliding groove is provided with an arc edge at the edge of the weighing tray; the bottom of the weighing tray is provided with a sensor installation groove and a plurality of reinforcing ribs.

5. The weight sorting robot of claim 1, wherein: The weighing classification robot further comprises a rotating arm arranged between the pitching arm and the control box; the rotating arm comprises a single-shaft rudder installed in the control box, an output shaft of the single-shaft rudder is connected with the pitching arm through a cross roller bearing and an inner ring connecting shaft penetrating through the control box, and the rotating arm can drive the pitching arm to rotate relative to the supporting base.

6. The weight sorting robot according to claim 5, characterized in that: The control box comprises a box body fixedly connected with the supporting base, and a box cover detachably connected with the box body; the box body is installed with a controller, a display screen, a switch button, an AD converter, a power socket, and a status indicator; the controller is connected with the double-shaft rudder, the single-shaft rudder, the display screen, the switch button, the AD converter, the power socket, and the status indicator in a wired manner, and the AD converter is connected with the weight sensor in a wired manner.

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