Tomato raw material sorting device based on machine vision

Abstract

The utility model relates to tomato sorting technical field especially based on machine vision's tomato raw material sorting device, including mounting bracket, the mounting bracket is installed in the top of conveying unit, is located the inside fixed connection with sorting mechanism and visual identification component in the mounting bracket, wherein, the sorting mechanism is by angle adjusting assembly, bearing disc and sucking component and is composed, the universal joint structure swing joint is passed to between angle adjusting assembly bearing disc, the bearing disc is used for fixing sucking component, the utility model sets up fixed structure on the basis of the connection of the ball head and ball seat of manipulator through direct shape change butt joint, on one hand, the ball head piece is limited in the ball seat through the top cap and does not influence the normal universal adjusting effect between ball head piece and ball seat, on the other hand, still can dismantle and replace the ball head piece through the mode of dismounting top cap, enough ensure that the ball head and ball seat can keep good fastening.

Description

Technical Field

[0001] This utility model relates to the field of tomato sorting technology, and in particular to a tomato raw material sorting device based on machine vision. Background Technology

[0002] In the tomato processing industry (such as the production of tomato paste and tomato juice), the quality of raw materials directly affects the quality of the final product. Traditional manual sorting methods are inefficient, subjective, and costly, making it difficult to meet the needs of large-scale, standardized production. However, automatic sorting devices based on visual recognition robotic arms can efficiently and accurately classify tomatoes, remove defective products, and improve processing efficiency and product quality.

[0003] Tomato sorting can be performed based on the physical characteristics of tomatoes (such as size, weight, and hardness) through visual recognition. For example, the existing technology disclosed in Chinese Patent Publication No. "CN221734110U" is a tomato sorting machine, which effectively solves the technical problems of low sorting accuracy and high price of tomato sorting machines. It includes a frame, a conveyor belt installed on the frame, rubber rings on the conveyor belt, a feeding device on the conveyor belt, a visual image detector at the right end of the feeding device, a first electric push rod, a second electric push rod, and a third electric push rod fixed to the visual image detector, an infrared sensor and a color sensor at the first electric push rod, the second electric push rod, and the third electric push rod are equipped with a first screening plate, a second screening plate, and a third screening plate, and the conveyor belt is connected to a fourth screening plate.

[0004] The tomatoes, once identified, can be sorted by a robotic arm. The robotic arm needs to have the ability to adjust at multiple angles in order to pick up the tomatoes with a suction cup. For example, the existing Chinese patent announcement number "CN217255939U" discloses a spider robotic arm for the renovation of climbing scaffold mesh in construction, which includes a connecting seat, a servo motor, a drive motor, a rotating arm, a bearing plate, and an electric screwdriver. Several servo motors are installed on the circumference of the connecting seat. The output end of the servo motor is fixed to the rotating arm. The rotating arm is hinged to one end of the linkage mechanism. The other ends of several linkage mechanisms are all hinged to the bearing plate.

[0005] In practical operation, a universal ball joint structure is used to connect the linkage mechanism and the bearing plate to ensure flexible movement. However, considering that the ball head is only engaged in the ball seat by elastic deformation and there is no fixed structure, it may become weak after long-term use, or the ball head and ball seat may be twisted significantly. The lack of a fixed structure may easily lead to loose connection. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of existing technologies, such as the loose connection between the linkage mechanism and the bearing plate, and to propose a tomato raw material sorting device based on machine vision.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] Design a tomato raw material sorting device based on machine vision, including a mounting frame, which is installed above the conveying unit, and a sorting mechanism and a vision recognition component are fixedly connected inside the mounting frame;

[0009] The sorting mechanism consists of an angle adjustment component, a support plate, and a suction component. The angle adjustment component and the support plate are movably connected by a universal joint structure, and the support plate is used to fix the suction component.

[0010] Furthermore, the angle adjustment assembly includes a support base, and three rotating arms are circumferentially distributed on the outer wall of the support base and rotatably connected by a drive component. The free ends of the rotating arms are connected to the bearing plate by a connecting rod.

[0011] Furthermore, the universal joint structure includes a ball seat, which has two connecting ends, one of which is fixedly connected to the connecting rod, and the other connecting end is provided with a through groove.

[0012] One end of the through groove extends from the inner wall near the opening toward the axis to form a stop, and the other end of the through groove is threaded to a top cover.

[0013] Furthermore, the universal joint structure also includes a ball joint, which consists of a rod-shaped portion and a ball-head portion, wherein the rod-shaped portion passes through the through groove and the ball-head portion abuts against the stop portion;

[0014] Rotate the top cover so that the top cover limits the ball head portion of the ball head member through the recess at the top.

[0015] Furthermore, the rod-shaped portion of the ball-head component is threadedly connected to the bearing plate, and a locking element is also threadedly connected to the periphery of the rod-shaped portion of the ball-head component, the locking element abutting against the side wall of the bearing plate.

[0016] Furthermore, the suction component is a suction cup with the suction end facing downwards, and the suction cup is connected to a negative pressure device.

[0017] The present invention proposes a tomato raw material sorting device based on machine vision. The advantages are as follows: The present invention sets up a fixed structure on the basis of the direct deformation docking connection between the ball head and the ball seat of the robot arm. On the one hand, the ball head is limited in the ball seat by the top cover, which does not affect the normal universal adjustment between the ball head and the ball seat. On the other hand, the ball head can be disassembled and replaced by removing the top cover. This can prevent the ball head from deforming and becoming weak due to long-term activity and not being fixed tightly. It can also ensure that the ball head and the ball seat can maintain good tightness when the connecting rod drives the bearing plate to adjust the angle by a large range. The structure is simple and practical. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the sorting mechanism of this utility model;

[0020] Figure 3 This is a schematic diagram of the angle adjustment component of this utility model;

[0021] Figure 4 This is a cross-sectional view of the universal joint structure of this utility model.

[0022] In the diagram: 1. Mounting frame; 2. Conveying unit; 3. Vision recognition component; 4. Angle adjustment component; 41. Support base; 42. Drive component; 43. Rotating arm; 44. Connecting rod; 5. Carrying plate; 6. Suction component; 7. Universal joint structure; 71. Ball seat; 72. Through groove; 73. Stop; 74. Top cover; 75. Ball head component; 76. Locking component. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] Reference Figure 1-4 A tomato raw material sorting device based on machine vision includes a mounting frame 1, which is installed above a conveying unit 2. A sorting mechanism and a visual recognition component 3 are fixedly connected inside the mounting frame 1.

[0025] The sorting mechanism consists of an angle adjustment component 4, a support plate 5, and a suction component 6. The angle adjustment component 4 and the support plate 5 are movably connected by a universal joint structure 7. The support plate 5 is used to fix the suction component 6.

[0026] In some embodiments, the visual recognition component 3 collects a large number of image samples containing various impurities and tomatoes of different ripeness levels to establish a rich image dataset. Deep learning algorithms, such as convolutional neural networks (CNN), are used to train the dataset, continuously adjusting algorithm parameters to improve the model's ability to recognize complex impurities and subtle differences. Based on the physical characteristics of the tomatoes (such as size, weight, and firmness) and the spatial layout on the production line, and after visually recognizing the impurities, the component connects to the control unit to cooperate with the sorting mechanism to sort tomatoes of different grades.

[0027] In the prior art, the visual recognition component transmits the processed target information to the control unit through serial port, USB, network protocols (such as TCP / IP, ROS) or inter-process communication (IPC), thereby driving the robot to perform corresponding actions. The specific prior art will not be elaborated here.

[0028] It should be added that two conveyor belts can be set on the conveying unit 2, and the two conveyor belts can transport tomatoes of different grades respectively. Of course, tomatoes of different grades can also be directly sorted to the two sides of the same conveyor belt for transport by a sorting mechanism.

[0029] Specifically, the structure of the sorting mechanism can be referenced from the existing technology of spider robotic arms.

[0030] Furthermore, the angle adjustment component 4 includes a support base 41, and three rotating arms 43 are circumferentially distributed on the outer wall of the support base 41 and rotatably connected by a drive member 42. The free ends of the rotating arms 43 are connected to the bearing plate 5 by a connecting rod 44.

[0031] It should be added that the driving component 42 is a motor, which is fixedly connected inside the support base 41. The motor shaft is fixedly connected to one end of the rotating arm 43. Since the other ends of the three connecting rods 44 are all connected to the bearing plate 5, and the connecting rods 44 are restricted when the rotating arm 43 rotates, the angle of the bearing plate 5 can be adjusted by cooperating with the operation of different speeds of the motors. Then, the tomatoes can be picked up by bending and unfolding the three rotating arms 43 and the connecting rods 44.

[0032] Furthermore, the connecting rod 44 in the same group consists of two parts, which are connected by elastic connectors at both ends to prevent asynchronous movement.

[0033] Furthermore, the universal joint structure 7 includes a ball seat 71, which has two connecting ends. One connecting end is fixedly connected to the connecting rod 44, and the other connecting end is provided with a through groove 72.

[0034] One end of the through groove 72 extends from the inner wall near the opening toward the axis to form a stop 73, and the other end of the through groove 72 is threadedly connected to a top cover 74.

[0035] More specifically, the universal joint structure 7 also includes a ball joint 75, which is composed of a rod-shaped portion and a ball-shaped portion, wherein the rod-shaped portion passes through the through groove 72 and the ball-shaped portion abuts against the stop portion 73;

[0036] Rotate the top cover 74 so that the top cover 74 limits the ball head portion of the ball head member 75 through the recess at the top.

[0037] In general, the rod-shaped portion of the ball head 75 is threadedly connected to the bearing plate 5, and a locking member 76 is also threadedly connected to the periphery of the rod-shaped portion of the ball head 75, the locking member 76 abutting against the side wall of the bearing plate 5.

[0038] In this embodiment, as Figure 3 , 4 As shown, under normal circumstances, the ball head 75 is placed in the through groove 72. After the rod-shaped part of the ball head 75 passes through the through groove 72, it is threadedly connected to the side wall of the bearing plate 5. Then, the ball head part of the ball head 75 abuts against the stop part 73 for initial installation.

[0039] Then, tighten the top cover 74. The top cover 74 is used to support and limit the ball head component 75. Its purpose is not to lock the ball head component 75, but to ensure that the ball head component 75 and the ball seat 71 can make a basic movable connection, and to prevent the ball head component 75 from freely extending and retracting, which would affect the connection stability.

[0040] Among them, the locking part 76 is a nut. After the nut is locked, it abuts against the side wall of the bearing plate 5 to prevent the ball head part 75 from loosening when it moves.

[0041] Finally, the suction component 6 is a suction cup with the suction end facing downwards, and the suction cup is connected to the negative pressure device.

[0042] The suction cup is connected to the air circuit of the negative pressure device. The specific connection method is existing technology and will not be described in detail here.

[0043] Working method: After the visual recognition component 3 identifies the quality of the tomatoes, it connects to the control unit and works with the sorting mechanism to sort the tomatoes;

[0044] Among them, the three motors are adjusted by appropriate rotation, and the connecting rod 44 drives the bearing plate 5 to connect the suction cup for angle adjustment, so as to ensure that the suction end of the suction cup can fit the surface of the tomato. Then, the rotating arm 43 and the connecting rod 44 can pick up the tomato by bending.

[0045] When connecting rod 44 is connected to bearing plate 5, the rod-shaped part of ball head 75 passes through through groove 72 and is threaded to the side wall of bearing plate 5. Then, the ball head part of ball head 75 abuts against stop part 73. Tighten top cover 74 to drive top cover 74 to press against ball head part of ball head 75 through end recess. Finally, tighten locking part 76 to complete the connection.

[0046] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A tomato raw material sorting device based on machine vision, comprising a mounting frame (1), characterized in that: The mounting frame (1) is installed above the conveying unit (2), and a sorting mechanism and a visual recognition component (3) are fixedly connected inside the mounting frame (1); The sorting mechanism consists of an angle adjustment component (4), a support plate (5), and a suction component (6). The angle adjustment component (4) and the support plate (5) are movably connected by a universal joint structure (7). The support plate (5) is used to fix the suction component (6).

2. The tomato raw material sorting device based on machine vision according to claim 1, characterized in that: The angle adjustment component (4) includes a support base (41), and three rotating arms (43) are circumferentially distributed on the outer wall of the support base (41) and rotatably connected by a drive member (42). The free end of the rotating arm (43) is connected to the bearing plate (5) by a connecting rod (44).

3. The tomato raw material sorting device based on machine vision according to claim 2, characterized in that: The universal joint structure (7) includes a ball seat (71), which has two connecting ends. One connecting end is fixedly connected to the connecting rod (44), and the other connecting end is provided with a through groove (72). One end of the through groove (72) extends from the inner wall near the opening toward the axis to form a stop (73), and the other end of the through groove (72) is threaded to a top cover (74).

4. The tomato raw material sorting device based on machine vision according to claim 3, characterized in that: The universal joint structure (7) also includes a ball joint (75), which is composed of a rod-shaped part and a ball-shaped part. The rod-shaped part passes through the through groove (72), and the ball-shaped part abuts against the stop (73). Rotate the top cover (74) so ​​that the top cover (74) limits the ball head portion of the ball head member (75) through the recess at the top.

5. The tomato raw material sorting device based on machine vision according to claim 4, characterized in that: The rod-shaped portion of the ball head (75) is threadedly connected to the bearing plate (5), and a locking member (76) is also threadedly connected to the periphery of the rod-shaped portion of the ball head (75), and the locking member (76) abuts against the side wall of the bearing plate (5).

6. The tomato raw material sorting device based on machine vision according to claim 1, characterized in that: The suction component (6) is a suction cup with the suction end facing downwards, and the suction cup is connected to a negative pressure device.

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