A bad fruit ejecting mechanism of a fruit drop collecting apparatus

Abstract

The utility model discloses a kind of bad fruit rejection mechanisms of fruit collection equipment, including respectively buffer transport mechanism, shooting mechanism, bad fruit grabbing mechanism and bad fruit collection mechanism, the buffer transport mechanism can respectively deliver nut to the processing position of shooting mechanism and bad fruit grabbing mechanism, the shooting mechanism is for photographing nut on the buffer transport mechanism, the bad fruit grabbing mechanism is connected with the buffer transport mechanism and bad fruit collection mechanism respectively, for grabbing and placing bad fruit on the bad fruit collection mechanism on the buffer transport mechanism.The utility model can realize full automation process from nut delivery, bad fruit identification to bad fruit rejection, greatly reduce labor intensity, save artificial cost;Using machine vision, avoid the misjudgment of human factor, ensure the accuracy and consistency of bad fruit rejection.

Description

Technical Field

[0001] This utility model relates to the field of nut harvesting technology, specifically to a mechanism for removing damaged fruit from a fallen fruit collection device. Background Technology

[0002] With the continuous expansion of fruit and nut planting areas in my country, especially nuts such as chestnuts, olives, and walnuts, the traditional method for harvesting these nuts after they mature is mostly manual. Sometimes, harvesters need to climb trees and use sticks or clubs to knock the nuts down. This method is not only labor-intensive and time-consuming, but also poses certain dangers and is not conducive to safe production operations.

[0003] Currently, some fruit-shaking machines have appeared on the market. These machines shake branches or trunks to pull nuts off trees; the shaken nuts are then collected manually, avoiding the dangers of climbing trees. However, even after the machines have pulled the nuts down, manual collection, removal of damaged nuts, and sorting based on size are still necessary, requiring considerable manpower and resulting in high labor costs. Therefore, it is necessary to design a device that can automatically collect and sort the shaken nuts, and correspondingly, a mechanism that can automatically remove damaged nuts. Utility Model Content

[0004] To address some or all of the problems existing in the prior art, this utility model provides a defective fruit removal mechanism for a fallen fruit collection device. The fallen fruit collection device includes a base and a controller. A conveying mechanism is provided on the base, which can convey nuts to the defective fruit removal mechanism. The defective fruit removal mechanism includes a buffer conveying mechanism, a photographing mechanism, and a defective fruit grabbing mechanism, all connected to the controller. A defective fruit collection mechanism is provided on the base. The inlet end of the buffer conveying mechanism is connected to the outlet end of the conveying mechanism. The buffer conveying mechanism can convey nuts to the processing positions of the photographing mechanism and the defective fruit grabbing mechanism. The photographing mechanism is used to photograph the nuts on the buffer conveying mechanism. The defective fruit grabbing mechanism is connected to both the buffer conveying mechanism and the defective fruit collection mechanism, and is used to grab the defective nuts on the buffer conveying mechanism and place them on the defective fruit collection mechanism.

[0005] As a further improvement of this utility model, the buffer conveying mechanism includes a conveying motor, a buffer active roller shaft and a buffer driven roller shaft. The buffer active roller shaft and the buffer driven roller shaft are rotatably connected to the machine base, the conveying motor is connected to the machine base, the output end of the conveying motor is connected to the buffer active roller shaft, and a buffer conveyor belt is sleeved on the buffer active roller shaft and the buffer driven roller shaft.

[0006] As a further improvement of this utility model, the buffer conveyor belt is provided with multiple transverse blocks at equal intervals, and the transverse blocks are integrally formed with the buffer conveyor belt.

[0007] As a further improvement of this utility model, the shooting mechanism includes a shooting mounting frame, which is connected to the base. A wide-angle camera is mounted on the shooting mounting frame and positioned directly above the buffer transport mechanism. The wide-angle camera is used to take pictures of the nuts on the buffer transport mechanism.

[0008] As a further improvement of this utility model, there are two wide-angle cameras, and the two wide-angle cameras are symmetrically distributed on the left and right sides along the center line of the shooting mounting frame.

[0009] As a further improvement of this utility model, the defective fruit gripping mechanism includes a gripping Y-axis module, which is connected to the base. The output end of the gripping Y-axis module is provided with a gripping X-axis module, the output end of the gripping X-axis module is provided with a gripping Z-axis module, and the output end of the gripping Z-axis module is provided with a gripper cylinder.

[0010] As a further improvement of this utility model, there are two gripping X-axis modules and two gripping Z-axis modules, and they are set in a one-to-one correspondence.

[0011] As a further improvement of this utility model, the spoiled fruit collection mechanism includes a spoiled fruit collection frame, which is detachably connected to the base. An oblique spoiled fruit guide groove is provided on the base at a position corresponding to the spoiled fruit grasping mechanism. The spoiled fruit grasping mechanism can grasp the spoiled fruit into the oblique spoiled fruit guide groove, which is located directly above the spoiled fruit collection frame.

[0012] As a further improvement of this utility model, the base is provided with a placement slot, and the spoiled fruit collection frame is connected to the drawer of the placement slot.

[0013] As a further improvement of this utility model, there are two oblique bad fruit guide grooves, and the two oblique bad fruit guide grooves are symmetrically distributed on the left and right sides along the center line of the machine base.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This utility model achieves a fully automated process from nut conveying and bad fruit identification to bad fruit removal through the coordinated operation of the buffer conveying mechanism, the shooting mechanism, and the bad fruit grabbing mechanism. It completely replaces the traditional manual visual identification and manual removal of bad fruit, greatly reducing labor intensity and saving labor costs.

[0016] 2. This utility model utilizes machine vision technology to capture images of nuts using a high-resolution wide-angle camera, avoiding misjudgments caused by human subjective factors and fatigue, ensuring the accuracy and consistency of removing bad nuts, and improving the overall quality of the final collected nuts. Attached Figure Description

[0017] To more clearly illustrate the solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model;

[0019] Figure 2 This is a schematic diagram of the internal structure of the base in an embodiment of this utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the buffer transport mechanism in an embodiment of this utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the bad fruit grasping mechanism in an embodiment of this utility model. Detailed Implementation

[0022] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used in the specification is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or accompanying drawings of this invention are used to distinguish different objects, not to describe a particular order.

[0023] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention can be combined with other embodiments.

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0025] like Figure 1-4 As shown, a defective fruit removal mechanism for a fallen fruit collection device is installed on the fallen fruit collection device. The fallen fruit collection device includes a base 100 and a controller. The base 100 is provided with a conveying mechanism 200 and a sorting structure. The conveying mechanism 200 can convey nuts to the defective fruit removal mechanism, and the defective fruit removal mechanism can convey good fruits that have been removed from the defective fruits to the sorting mechanism.

[0026] The defective fruit removal mechanism includes a buffer conveying mechanism 1, a photographing mechanism 2, and a defective fruit grasping mechanism 3, all connected to a controller. A defective fruit collection mechanism 4 is mounted on the base 100. The feed end of the buffer conveying mechanism 1 is connected to the discharge end of the conveying mechanism 200. The buffer conveying mechanism 1 can convey nuts to the processing positions of the photographing mechanism 2 and the defective fruit grasping mechanism 3. The photographing mechanism 2 is used to photograph the nuts on the buffer conveying mechanism 200. The defective fruit grasping mechanism 3 is connected to both the buffer conveying mechanism 1 and the defective fruit collection mechanism 4, and is used to grasp the defective nuts on the buffer conveying mechanism 1 and place them on the defective fruit collection mechanism 4.

[0027] During processing, the conveyor 200 transports the nuts to the buffer conveyor 1, which in turn transports them to the photographing position of the photographing mechanism 2. The photographing mechanism 2 takes pictures of the nuts on the buffer conveyor 1 and sends the image information back to the controller. The controller then analyzes the images to identify which nuts are defective. Once defective nuts are detected, the defective nut grabbing mechanism 3 is activated to grab them and place them on the defective nut collection mechanism 4 for collection, thus removing the defective nuts from the buffer conveyor 1. The remaining good nuts are then transported to the sorting mechanism via the buffer conveyor 1 for further processing.

[0028] like Figure 3 As shown, the buffer conveying mechanism 1 includes a conveying motor 11, a buffer drive roller 12, and a buffer driven roller 13. The buffer drive roller 12 and the buffer driven roller 13 are rotatably connected to the machine base 100 via bearings. The conveying motor 11 is connected to the machine base 100, and the output end of the conveying motor 11 is connected to the buffer drive roller 12. A buffer conveyor belt 14 is sleeved on the buffer drive roller 12 and the buffer driven roller 13. During operation, the conveying mechanism 200 transports nuts to the buffer conveyor belt 14, and then the conveying motor 11 drives the buffer drive roller 12 to rotate. The buffer drive roller 12 drives the buffer conveyor belt 14 to circulate, thereby achieving the processing purpose of sequentially conveying the nuts to the shooting mechanism 2 and the damaged fruit grasping mechanism 3.

[0029] In this embodiment, multiple transverse blocks 15 are evenly distributed on the buffer conveyor belt 14, and the transverse blocks 15 are integrally formed with the buffer conveyor belt 14. By setting the transverse blocks 15, a grid for accommodating single or small amounts of nuts is formed between adjacent transverse blocks 15, so as to improve the stability of nut conveying, avoid the problem of nuts rolling and slipping, and improve the stability of processing.

[0030] like Figure 1-2 As shown, the shooting mechanism 2 includes a shooting mounting frame 21, which is fixedly connected to the base 100. A wide-angle camera 22 is mounted on the shooting mounting frame 21 and positioned directly above the buffer conveyor mechanism 1. The wide-angle camera 22 is used to photograph the nuts on the buffer conveyor mechanism 1. During processing, the buffer conveyor belt 14 sequentially transports the nuts to the shooting position of the wide-angle camera 22. The wide-angle camera 22 photographs the nuts on the buffer conveyor belt 14 to identify which nuts are defective. This allows the defective nut grabbing mechanism 3 to locate the defective nuts and remove them.

[0031] In this embodiment, there are two wide-angle cameras 22, and the two wide-angle cameras 22 are symmetrically distributed along the center line of the shooting mounting frame 21. By setting two wide-angle cameras 22, it can be ensured that their shooting area covers the entire transverse direction of the buffer conveyor belt 14, so that all the bad nuts conveyed by the buffer conveyor belt 14 can be detected, avoiding the problem of omission and improving the processing accuracy. In other embodiments, the wide-angle cameras 22 can also be replaced with other similar cameras, and the number of cameras can also be any other number, as long as the camera shooting area can cover the entire transverse length of the buffer conveyor belt 14.

[0032] like Figure 4 As shown, the defective fruit grabbing mechanism 3 cooperates with the buffer conveyor mechanism 1 and the defective fruit collection mechanism 4 to grab the defective fruit determined by the controller from the buffer conveyor belt 14 and transfer it to the defective fruit collection mechanism 4. Its specific structure includes:

[0033] The Y-axis gripping module 31 is a linear module with a motor pulley, which is fixed to the base 100 with bolts. The driving direction is consistent with the conveying direction of the buffer conveyor belt 14.

[0034] The X-axis gripping module 32 is a linear module with a motor pulley, which is installed on the slider at the output end of the Y-axis gripping module 31. The driving direction is perpendicular to the conveying direction of the buffer conveyor belt 14.

[0035] The Z-axis gripping module 33 uses a linear motor screw module, which is installed on the slider at the output end of the X-axis gripping module 32 to achieve vertical lifting drive.

[0036] The gripper cylinder 34, which is a finger cylinder, is installed on the slider at the output end of the gripping Z-axis module 33.

[0037] During processing, the gripping Y-axis module 31, gripping X-axis module 32, and gripping Z-axis module 33 work together to drive the gripper cylinder 34 to move freely in three-dimensional space, thereby achieving the purpose of driving the gripper cylinder 34 to move back and forth between the defective fruit collection mechanism 4 and the buffer conveyor belt 14. The gripper cylinder 34 can also pick up defective fruits from the buffer conveyor belt 14 and release them onto the defective fruit collection mechanism 4.

[0038] In this embodiment, there are two gripping X-axis modules 32 and two gripping Z-axis modules 33, and they are arranged in a one-to-one correspondence. Each gripping Z-axis module 33 has a gripper cylinder 34 installed at its output end. This allows the mechanism to process two defective products simultaneously, improving processing efficiency.

[0039] like Figure 1-2 As shown, the spoiled fruit collection mechanism 4 includes a spoiled fruit collection frame 41. A placement slot 101 is provided on the base 100. The spoiled fruit collection frame 41 and the placement slot 101 are connected by a drawer-type connection, allowing for easy removal of the spoiled fruit collection frame 41 for timely cleaning of spoiled fruit. A sloping spoiled fruit guide groove 42 is provided on the base 100 at a position corresponding to the spoiled fruit gripping mechanism 3. The upper end of the sloping spoiled fruit guide groove 42 is located below the spoiled fruit gripping mechanism 3, and the lower end is located directly above the spoiled fruit collection frame 41. During processing, the gripper cylinder 34 grips the spoiled fruit into the sloping spoiled fruit guide groove 42. After the gripper cylinder 34 releases the spoiled fruit, it rolls within the sloping spoiled fruit guide groove 42 under gravity and eventually falls into the spoiled fruit collection frame 41 for collection.

[0040] In this embodiment, there are two oblique guide grooves 42 for defective fruit, and the two oblique guide grooves 42 are symmetrically distributed along the center line of the machine base 100. The two oblique guide grooves 42 correspond one-to-one with the two gripper cylinders 34, ensuring that the defective fruit transferred by each gripper cylinder 34 can accurately fall into the corresponding oblique guide groove 42, thereby improving processing efficiency.

[0041] Working principle:

[0042] Nuts from the previous process are fed into the buffer conveyor 1 via the conveyor mechanism 200. The buffer conveyor belt 14 moves intermittently in steps, driven by the conveyor motor 11. When a batch of nuts moves into the shooting area of ​​the wide-angle camera 22, the buffer conveyor belt 14 stops, and the two wide-angle cameras 22 capture images of the nuts and transmit them to the controller. The controller runs an image recognition algorithm to quickly determine whether the nuts are good or bad and records the coordinates of the bad nuts.

[0043] Subsequently, the buffer conveyor belt 14 restarts, transporting the batch of nuts to the gripping station and then pausing. Based on received instructions, the damaged nut gripping mechanism 3 controls the coordinated movement of the gripping Y-axis module 31, gripping X-axis module 32, and gripping Z-axis module 33, driving the gripper cylinder 34 to move directly above the damaged nuts. The gripper cylinder 34 descends, grips the damaged nuts, then lifts them, and moves to above the entrance of the inclined damaged nut guide trough 42, releasing the gripper. The damaged nuts fall into the guide trough and slide into the damaged nut collection box 41.

[0044] Good nuts continue to be conveyed forward on the buffer conveyor belt 14 to the next process. This cycle is repeated to achieve continuous and automatic removal of bad nuts.

[0045] The above-described specific embodiments are preferred embodiments of this utility model, and are not intended to limit the specific scope of this utility model. The scope of this utility model includes but is not limited to the specific embodiments described above. All equivalent changes made in accordance with this utility model are within the protection scope of this utility model.

Claims

1. A defective fruit removal mechanism for a fallen fruit collection device, the fallen fruit collection device comprising a base and a controller, the base being equipped with a conveying mechanism capable of conveying nuts to the defective fruit removal mechanism, characterized in that: The defective fruit removal mechanism includes a buffer conveying mechanism, a photographing mechanism, and a defective fruit grasping mechanism, all connected to a controller. A defective fruit collection mechanism is provided on the base. The inlet end of the buffer conveying mechanism is connected to the outlet end of the conveying mechanism. The buffer conveying mechanism can convey nuts to the processing positions of the photographing mechanism and the defective fruit grasping mechanism. The photographing mechanism is used to photograph the nuts on the buffer conveying mechanism. The defective fruit grasping mechanism is connected to both the buffer conveying mechanism and the defective fruit collection mechanism and is used to grasp the defective nuts on the buffer conveying mechanism and place them on the defective fruit collection mechanism.

2. The damaged fruit removal mechanism of the fallen fruit collection device according to claim 1, characterized in that: The buffer conveying mechanism includes a conveying motor, a buffer drive roller, and a buffer driven roller. The buffer drive roller and the buffer driven roller are rotatably connected to the machine base. The conveying motor is connected to the machine base, and the output end of the conveying motor is connected to the buffer drive roller. A buffer conveyor belt is sleeved on the buffer drive roller and the buffer driven roller.

3. The defective fruit removal mechanism of the fallen fruit collection device according to claim 2, characterized in that: The buffer conveyor belt has multiple transverse blocks evenly distributed at intervals, and the transverse blocks are integrally formed with the buffer conveyor belt.

4. The defective fruit removal mechanism of the fallen fruit collection device according to claim 1, characterized in that: The shooting mechanism includes a shooting mounting frame connected to a base. A wide-angle camera is mounted on the shooting mounting frame and positioned directly above the buffer transport mechanism. The wide-angle camera is used to take pictures of the nuts on the buffer transport mechanism.

5. The defective fruit removal mechanism of the fallen fruit collection device according to claim 4, characterized in that: There are two wide-angle cameras, and the two wide-angle cameras are symmetrically distributed on the left and right sides along the center line of the shooting mounting frame.

6. The damaged fruit removal mechanism of the fruit drop collection device according to any one of claims 1-5, characterized in that: The defective fruit gripping mechanism includes a gripping Y-axis module connected to the base, a gripping X-axis module on the output end of the gripping Y-axis module, a gripping Z-axis module on the output end of the gripping X-axis module, and a gripper cylinder on the output end of the gripping Z-axis module.

7. The defective fruit removal mechanism of the fallen fruit collection device according to claim 6, characterized in that: There are two gripping X-axis modules and two gripping Z-axis modules, and they are set in a one-to-one correspondence.

8. The damaged fruit removal mechanism of the fruit drop collection device according to any one of claims 1-5, characterized in that: The spoiled fruit collection mechanism includes a spoiled fruit collection frame, which is detachably connected to the base. The base is provided with an oblique spoiled fruit guide groove at a position corresponding to the spoiled fruit grasping mechanism. The spoiled fruit grasping mechanism can grasp the spoiled fruit into the oblique spoiled fruit guide groove, which is located directly above the spoiled fruit collection frame.

9. The defective fruit removal mechanism of the fallen fruit collection device according to claim 8, characterized in that: The base is provided with a placement slot, and the spoiled fruit collection box is connected to the drawer of the placement slot.

10. The defective fruit removal mechanism of the fallen fruit collection device according to claim 8, characterized in that: There are two oblique guide grooves for damaged fruit, and the two oblique guide grooves for damaged fruit are symmetrically distributed on the left and right sides along the center line of the machine base.

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