Automatic grading device for wu citrus based on machine vision

Abstract

This utility model discloses an automatic grading device for Wogan oranges based on machine vision, relating to the field of Wogan orange processing technology. It includes a mounting frame, with a connecting frame fixedly connected to the lower end of the mounting frame. A circular plate is fixedly connected to the connecting frame, and several sets of fixed frames are fixedly connected to the outer end of the circular plate. A threaded screw is rotatably mounted between the circular plate and the mounting frame. A servo motor is fixedly mounted on the mounting frame, and the output shaft of the servo motor is fixedly connected to the threaded screw. A moving block is threadedly connected to the threaded screw, and moving components are rotatably connected to the four sides of the moving block. In this solution, four sets of clamping components are arranged in a ring at 90° intervals and synchronously driven by the servo motor to effectively clamp the Wogan oranges, preventing slippage. Simultaneously, during clamping, the pressure on the fruit is gradually increased by the clamping springs to prevent damage. The clamping plate, in conjunction with the rotating block, the reset clamping spring, and the reset spring II, ensures that the clamping plate effectively conforms to the surface of the Wogan orange.

Description

Technical Field

[0001] This utility model relates to the field of Wogan orange processing technology, specifically to an automatic grading device for Wogan oranges based on machine vision. Background Technology

[0002] Wogan oranges are popular among consumers due to their good taste and high nutritional value. However, in the actual processing of Wogan oranges, they often need to be graded and packaged, which requires an automatic grading device.

[0003] A search revealed a machine vision-based automatic grading device for Wogan oranges, application number CN202120619910.3. This device includes a CCD camera, collection bins, a frame, and a conveyor belt. The conveyor belt is mounted on top of the frame, and a servo motor is installed inside the frame below the conveyor belt. A controller is installed inside the frame at one end of the servo motor. A first assembly base plate is mounted on the frame above the conveyor belt. In operation, the controller starts the drive motor, which moves the conveyor belt to transport the Wogan oranges placed on it. When the oranges reach below the CCD camera, the camera captures an image and sends the data to an industrial computer. The industrial computer's image comparison and processing module grades the oranges based on their shape, size, and color. The grading data is then sent to the controller, which controls the movement of a robotic arm and an electric gripper to hold the graded oranges. Combined with the rotation of the drive motor and the height adjustment of the electric telescopic rod, the graded oranges are sequentially placed into the corresponding collection bins. The three collection bins correspond to the three grades of the oranges.

[0004] However, existing solutions use a robotic arm in conjunction with an electric gripper to hold and grade Wogan oranges. The electric gripper provides a rigid grip, which can easily damage the surface of the oranges during the gripping process, affecting their appearance and reducing their commercial value. Furthermore, the gripping from both sides can result in insufficient contact area, increasing the risk of slippage. Therefore, this solution provides a machine vision-based automatic Wogan orange grading device to address the aforementioned problems. Utility Model Content

[0005] To solve the above-mentioned technical problems, an automatic grading device for Wogan oranges based on machine vision is provided. This technical solution solves the problems mentioned in the background technology.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] The machine vision-based automatic grading device for Wogan oranges includes a mounting frame. A connecting frame is fixedly connected to the lower end of the mounting frame. A circular plate is fixedly connected to the connecting frame. Several sets of fixed frames are fixedly connected to the outer end of the circular plate. A threaded screw is rotatably installed between the circular plate and the mounting frame. A servo motor is fixedly installed on the mounting frame. The output shaft of the servo motor is fixedly connected to the threaded screw. A moving block is threadedly connected to the threaded screw. Moving components are rotatably connected to the four sides of the moving block. The moving components include several sets of moving frames that are slidably installed on the fixed frame. Sliding blocks are fixedly connected to the moving frames. Each fixed frame has a sliding groove for movement. A connecting rod is rotatably installed on each sliding block. One end of the connecting rod is rotatably connected to one side of the moving block. Several sets of traveling wheels that abut against the fixed frame are rotatably installed on the moving frame. Several sets of lower plates are fixedly connected to the outer end of the moving frame. A clamping component for holding is provided at the lower end of the moving frame. A locking component for fixing is provided on the moving frame.

[0008] Preferably, four sets of fixing brackets are provided, and the four sets of fixing brackets are evenly arranged in a ring about the center of the threaded screw.

[0009] Preferably, the clamping assembly includes several sets of slide rods slidably mounted on the movable frame. One end of each slide rod is fixedly connected to a limiting plate, and lower plates are respectively disposed on the lower side of the slide rod. A clamping spring sleeved on the slide rod is fixedly connected between the limiting plate and the lower plate. A limiting ring is fixedly connected to the surface of the slide rod away from the lower plate, and a clamping member fixedly mounted on the slide rod is provided on one side of the limiting ring.

[0010] Preferably, the clamping component includes a fixed seat fixedly mounted on the slide rod, a rotating block rotatably mounted inside the fixed seat, a clamping plate fixedly connected to the rotating block, an anti-slip pad fixedly connected to the clamping plate, and a reset clamping spring and a reset spring II fixedly connected to the upper and lower ends of the clamping plate, respectively.

[0011] Preferably, the locking component includes an electric push rod fixedly mounted on the movable frame. A vertical rod is provided on the lower side of the electric push rod, and several sets of upper plates are fixedly connected to one end of the vertical rod near the lower plate. The output shaft of the electric push rod is fixedly connected to the top of the uppermost upper plate.

[0012] Preferably, arc-shaped grooves are provided on the upper side of the lower plate and the lower end of the upper plate.

[0013] Compared with the prior art, the present invention proposes an automatic grading device for Wogan oranges based on machine vision, which has the following beneficial effects:

[0014] 1. This utility model includes a clamping assembly. A servo motor drives a threaded screw to rotate, which in turn moves a moving block upward. This moving block then moves a moving assembly, which in turn moves the clamping assembly below to clamp the Wogan mandarin orange. The four clamping assemblies are arranged in a ring at 90° intervals, allowing for simultaneous application of radial clamping force and forming a four-point symmetrical load. This avoids fruit deformation or rotation caused by unilateral compression, as well as damage to the pulp caused by excessive pressure on one side. At the same time, the assembly forms a spherical contact surface, which, combined with an anti-slip pad, further increases the friction on the Wogan mandarin orange, effectively preventing slippage and improving the grading efficiency of the fruit.

[0015] 2. In this utility model, during the clamping process of the Wogan mandarin orange, the clamping spring, in conjunction with the clamping plate in the clamping component, clamps the Wogan mandarin orange. The clamping spring gradually increases the pressure on the fruit as it moves, thereby reducing the instantaneous pressure peak on the fruit and preventing excessive pressure from damaging the Wogan mandarin orange during clamping. The clamping plate achieves pitch freedom through the rotating block, and together with the upper and lower reset clamping springs and the reset spring, it forms an angle adaptive capability, allowing the clamping plate to effectively fit the surface of the Wogan mandarin orange, making the contact pressure distribution uniform, thereby reducing the impact of local pressure on the surface of the Wogan mandarin orange. At the same time, the limiting ring on the sliding rod is the set maximum clamping stroke to prevent the spring from being overstretched and causing the pressure to exceed the limit.

[0016] 2. After the clamping is completed, the lengths of the slide rods in the clamping assembly are different. At this time, the electric push rod is activated, which drives the vertical rod and the upper plate, so that the arc groove in the upper plate abuts against the upper end face of the slide rod. Together with the lower plate, the slide rod is clamped and constrained, thus preventing the tangerine from falling due to vibration or other external factors after clamping. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the internal structure of the fixing frame in this utility model;

[0019] Figure 3 This is a schematic diagram of the clamping component in this utility model;

[0020] Figure 4 This is a schematic diagram of the internal structure of the clamping component in this utility model;

[0021] Figure 5 This is a schematic diagram of the locking component in this utility model.

[0022] The numbers on the map are:

[0023] 1. Mounting bracket; 2. Connecting bracket; 3. Round plate; 301. Fixed bracket; 302. Sliding groove; 4. Threaded screw; 5. Servo motor; 6. Moving block; 7. Moving assembly; 701. Moving frame; 702. Sliding block; 703. Connecting rod; 704. Traveling wheel; 8. Lower plate; 9. Clamping assembly; 901. Slide rod; 902. Limiting plate; 903. Clamping spring; 904. Limiting ring; 905. Fixed seat; 906. Rotating block; 907. Clamping plate; 908. Reset clamping spring; 909. Reset spring II; 10. Locking component; 1001. Electric push rod; 1002. Vertical rod; 1003. Upper plate; 11. Anti-slip pad. Detailed Implementation

[0024] The following description is intended to disclose the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0025] Reference Figure 1-5 As shown, the automatic grading device for Wogan oranges based on machine vision includes a mounting frame 1. A connecting frame 2 is fixedly connected to the lower end of the mounting frame 1. A circular plate 3 is fixedly connected to the connecting frame 2. Several sets of fixing frames 301 are fixedly connected to the outer end of the circular plate 3. A threaded screw 4 is rotatably installed between the circular plate 3 and the mounting frame 1. A servo motor 5 is fixedly installed on the mounting frame 1. The output shaft of the servo motor 5 is fixedly connected to the threaded screw 4. A moving block 6 is threadedly connected to the threaded screw 4. Moving components 7 are rotatably connected to the four sides of the moving block 6. Four sets of fixing frames 301 are arranged in a ring around the center of the threaded screw 4.

[0026] Furthermore: The servo motor 5 drives the threaded screw 4 to rotate, which in turn drives the moving block 6 to move upward. The moving block 6 then drives the moving component 7, which in turn drives the clamping component 9 on the lower side to clamp the Wogan mandarin orange. The four clamping components 9 are arranged in a ring at 90° intervals, which can apply radial clamping force simultaneously to form a four-point symmetrical load. This avoids fruit deformation or rotation caused by unilateral squeezing, as well as damage to the pulp caused by excessive pressure on one side. At the same time, it forms a spherical contact, which, together with the anti-slip soft pad 11, further increases the friction on the Wogan mandarin orange, effectively preventing the Wogan mandarin orange from slipping and improving the grading efficiency of the Wogan mandarin orange.

[0027] Specifically, in this embodiment, the movable component 7 includes several sets of movable frames 701 that are slidably mounted on the fixed frame 301. Sliding blocks 702 are fixedly connected to each movable frame 701. Each fixed frame 301 is provided with a sliding groove 302 for cooperating movement. Connecting rods 703 are rotatably mounted on each sliding block 702. One end of each connecting rod 703 is rotatably connected to one side of each movable block 6. Several sets of traveling wheels 704 that abut against the fixed frame 301 are rotatably mounted on the movable frame 701. Several sets of lower plates 8 are fixedly connected to the outer end of the movable frame 701. A clamping component 9 for clamping is provided at the lower end of the movable frame 701. A locking member 10 for fixing is provided on the movable frame 701.

[0028] Furthermore: when the servo motor 5 drives the threaded screw 4 to rotate, the rotation of the threaded screw 4 drives the moving block 6 to move upward, which in turn drives the connecting rod 703 to move upward through the moving block 6. One end of the connecting rod 703 moves upward, which in turn pulls the sliding block 702 at the other end to slide in the sliding groove 302 of the fixed frame 301, thereby driving the moving frame 701 to move inward. The moving frame 701 then drives the clamping assembly 9 to move inward, so that the four sets of clamping assemblies 9 come into contact with the surface of the Wogan orange and clamp it.

[0029] Specifically, in this embodiment, the clamping assembly 9 includes several sets of slide rods 901 slidably mounted on the movable frame 701. One end of each slide rod 901 is fixedly connected to a limiting plate 902. Lower plates 8 are respectively disposed on the lower side of each slide rod 901. Clamping springs 903, sleeved on the slide rods 901, are fixedly connected between the limiting plate 902 and the lower plate 8. A limiting ring 904 is fixedly connected to the surface of the slide rod 901 away from the lower plate 8. A clamping member fixedly mounted on the slide rod 901 is provided on one side of the limiting ring 904.

[0030] Specifically, in this embodiment, the clamping member includes a fixed seat 905 fixedly installed on the slide rod 901, a rotating block 906 rotatably installed inside the fixed seat 905, a clamping plate 907 fixedly connected to the rotating block 906, an anti-slip pad 11 fixedly connected to the clamping plate 907, and a reset clamping spring 908 and a reset spring 909 fixedly connected to the upper and lower ends of the clamping plate 907 and the upper and lower ends of the fixed seat 905, respectively.

[0031] Furthermore, during the clamping process of the Wogan mandarin orange, the clamping spring 903, in conjunction with the clamping plate 907 in the clamping component, clamps the Wogan mandarin orange. The clamping spring 903 gradually increases the pressure on the fruit as it moves, thereby reducing the instantaneous pressure peak on the fruit and preventing excessive pressure from damaging the Wogan mandarin orange during clamping. The clamping plate 907 achieves pitch freedom through the rotating block 906, and together with the upper and lower reset clamping springs 908 and 909, it forms an angle adaptive capability, allowing the clamping plate 907 to effectively conform to the surface of the Wogan mandarin orange, making the contact pressure distribution uniform, thereby reducing the impact of local pressure on the surface of the Wogan mandarin orange. At the same time, the limiting ring 904 on the slide rod 901 is the set maximum clamping stroke, preventing the clamping spring 903 from being overstretched and causing the pressure to exceed the limit.

[0032] Specifically, in this embodiment, the locking member 10 includes an electric push rod 1001 fixedly installed on the movable frame 701. A vertical rod 1002 is provided on the lower side of the electric push rod 1001. Several sets of upper plates 1003 are fixedly connected to one end of the vertical rod 1002 near the lower plate 8. The output shaft of the electric push rod 1001 is fixedly connected to the top of the uppermost upper plate 1003.

[0033] Specifically, in this embodiment, arc-shaped grooves are provided on the upper side of the lower plate 8 and the lower end of the upper plate 1003.

[0034] Furthermore: After clamping is completed, the lengths of the slide rods 901 in the clamping assembly 9 are different. At this time, the electric push rod 1001 is activated, which drives the vertical rod 1002 and the upper plate 1003, so that the arc groove in the upper plate 1003 abuts against the upper end face of the slide rod 901. Together with the lower plate 8, the slide rod 901 is clamped and constrained, so that the Wogan orange is prevented from falling due to vibration or other external factors after clamping.

[0035] By pulling the locking rod 1004 in the locking member 10, the locking rod 1004 is disengaged from the through hole 1002 of the fixing plate 1001, thereby releasing the fixation between the lower plate 8 and the fixing plate 1001. At this time, the position of the lower plate 8 can be adjusted. After the adjustment is completed, a certain through hole 1002 on the fixing plate 1001 is coaxially connected with the slot 801 on the lower plate 8. Then, the locking rod 1004 is released. Under the action of the second spring 1006, the locking rod 1004 is reinserted into the through hole 1002 and the slot 801, and the lower plate 8 is fixed again. This achieves the adjustment of the position of the limiting ring 904 and the clamping member, that is, the adjustment of the maximum clamping stroke of the clamping assembly 9, so that the maximum clamping pressure of the Wogan can be adjusted without replacing the spring, making it effectively adaptable to various sizes of Wogan candies.

[0036] The working principle of this utility model is as follows: When clamping the Wogan orange, the servo motor 5 drives the threaded screw 4 to rotate. The rotation of the threaded screw 4 drives the moving block 6 to move upward. The rotation of the threaded screw 4 drives the moving block 6 to move upward, which in turn drives the connecting rod 703 to move upward. One end of the connecting rod 703 moves upward, which in turn pulls the sliding block 702 at the other end to slide in the sliding groove 302 of the fixed frame 301. This causes the moving frame 701 to move inward. The moving frame 701 then drives the clamping assembly 9 to move inward, so that the four sets of clamping assemblies 9 come into contact with the surface of the Wogan orange and clamp it.

[0037] During the clamping process of the Wogan mandarin orange, the clamping spring 903, in conjunction with the clamping plate 907 in the clamping component, clamps the Wogan mandarin orange. The clamping spring 903 gradually increases the pressure on the fruit as it moves, thereby reducing the instantaneous pressure peak on the fruit and preventing excessive pressure from damaging the Wogan mandarin orange during clamping. The clamping plate 907 achieves pitch freedom through the rotating block 906, and together with the upper and lower reset clamping springs 908 and 909, it forms an angle adaptive capability, allowing the clamping plate 907 to effectively fit the surface of the Wogan mandarin orange, making the contact pressure distribution uniform, thereby reducing the impact of local pressure on the surface of the Wogan mandarin orange. At the same time, the limiting ring 904 on the slide rod 901 is the set maximum clamping stroke to prevent the clamping spring 903 from being overstretched and causing the pressure to exceed the limit.

[0038] Meanwhile, after clamping is completed, the lengths of the slide rods 901 in the clamping assembly 9 are different. At this time, the electric push rod 1001 is activated, which drives the vertical rod 1002 and the upper plate 1003, so that the arc groove in the upper plate 1003 abuts against the upper end face of the slide rod 901. Together with the lower plate 8, the slide rod 901 is clamped and constrained, so that the Wogan orange is prevented from falling due to vibration or other external factors after clamping.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An automatic grading device for Wogan oranges based on machine vision, characterized in that, The system includes a mounting frame (1), a connecting frame (2) fixedly connected to the lower end of the mounting frame (1), a circular plate (3) fixedly connected to the connecting frame (2), several sets of fixing frames (301) fixedly connected to the outer end of the circular plate (3), a threaded screw (4) rotatably mounted between the circular plate (3) and the mounting frame (1), a servo motor (5) fixedly mounted on the mounting frame (1), the output shaft of the servo motor (5) fixedly connected to the threaded screw (4), a moving block (6) threadedly connected to the threaded screw (4), and moving components (7) rotatably connected to the four sides of the moving block (6), the moving components (7) including several sets of moving frames (701) slidably mounted on the fixing frame (301). The movable frame (701) is fixedly connected to a sliding block (702), and the fixed frame (301) is provided with a sliding groove (302) for moving. A connecting rod (703) is rotatably installed on the sliding block (702). One end of the connecting rod (703) is rotatably connected to one side of the movable block (6). Several sets of traveling wheels (704) that abut against the fixed frame (301) are rotatably installed on the movable frame (701). Several sets of lower plates (8) are fixedly connected to the outer end of the movable frame (701), and a clamping assembly (9) for clamping is provided at the lower end of the movable frame (701). A locking member (10) for fixing is provided on the movable frame (701).

2. The machine vision-based automatic grading device for citrus fruit according to claim 1, wherein: The fixing frame (301) is provided in four sets, and the four sets of fixing frames (301) are uniformly arranged in a ring about the center of the threaded screw (4).

3. The automatic grading device for Wogan oranges based on machine vision according to claim 1, characterized in that: The clamping assembly (9) includes several sets of slide rods (901) slidably mounted on the movable frame (701). One end of the slide rod (901) is fixedly connected to a limiting plate (902). The lower plate (8) is respectively set on the lower side of the slide rod (901). A clamping spring (903) sleeved on the slide rod (901) is fixedly connected between the limiting plate (902) and the lower plate (8). A limiting ring (904) is fixedly connected to the surface of the end of the slide rod (901) away from the lower plate (8). A clamping member fixedly mounted on the slide rod (901) is provided on one side of the limiting ring (904).

4. The automatic grading device for Wogan oranges based on machine vision according to claim 3, characterized in that: The clamping component includes a fixed seat (905) fixedly installed on the slide rod (901), a rotating block (906) rotatably installed inside the fixed seat (905), a clamping plate (907) fixedly connected to the rotating block (906), an anti-slip pad (11) fixedly connected to the clamping plate (907), and a reset clamping spring (908) and a reset spring two (909) fixedly connected to the upper and lower ends of the clamping plate (907) respectively.

5. The machine vision-based automatic citrus fruit grading device according to claim 1, wherein: The locking component (10) includes an electric push rod (1001) fixedly installed on the movable frame (701). A vertical rod (1002) is provided on the lower side of the electric push rod (1001). Several sets of upper plates (1003) are fixedly connected to one end of the vertical rod (1002) near the lower plate (8). The output shaft of the electric push rod (1001) is fixedly connected to the top of the uppermost upper plate (1003).

6. The machine vision-based automatic grading device for citrus fruit according to claim 5, wherein: Arc-shaped grooves are provided on the upper side of the lower plate (8) and the lower end of the upper plate (1003).

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