Image acquisition mechanism and fruit and vegetable sorting device

Abstract

The utility model relates to fruit and vegetable sorting technical field discloses an image acquisition mechanism and fruit and vegetable sorting device, including frame, second conveying passage, top image acquisition subassembly, many first conveying passages, many sets of bottom image acquisition subassembly and a plurality of snatch components, all first conveying passages are installed in frame, and first conveying passage is used for driving fruit and vegetable to move, bottom image acquisition subassembly is installed in frame, and every group bottom image acquisition subassembly is located in the side of corresponding first conveying passage, snatch component is installed in frame, and every snatch component is located above corresponding first conveying passage, snatch component is used for picking up fruit and vegetable at bottom image acquisition subassembly or putting down the fruit and vegetable that is picked up, through above -mentioned structure, with solve the technical problem that the working efficiency of image acquisition mechanism in prior art is lower.

Description

Technical Field

[0001] This utility model relates to the field of fruit and vegetable sorting technology, and in particular to an image acquisition mechanism and a fruit and vegetable sorting device. Background Technology

[0002] Currently, fruits and vegetables are a type of food that people often consume. Fruits and vegetables include cherries, apples, pears, and tomatoes, among others. After ripening, fruits and vegetables need to be harvested and then transported to factories for sorting and processing to facilitate subsequent packaging and sales.

[0003] In related technologies, fruit and vegetable sorting devices may include an image acquisition mechanism, which is used to acquire image information of the surface of fruits and vegetables. The image acquisition mechanism transmits the acquired image information of the surface of fruits and vegetables to a computer, and the computer matches the fruits and vegetables with the corresponding output channels based on the image information of the surface of fruits and vegetables.

[0004] An image acquisition mechanism may include multiple image acquisition components, each of which can acquire images of different parts of fruits and vegetables. However, different image acquisition components acquire images at different speeds, causing faster image acquisition components to wait for slower ones, which reduces the working efficiency of the image acquisition mechanism. Utility Model Content

[0005] The present invention aims to provide an image acquisition mechanism and a fruit and vegetable sorting device to solve the technical problem of low working efficiency of image acquisition mechanisms in the prior art.

[0006] The technical problem solved by this utility model embodiment is addressed by the following technical solution: One embodiment of this utility model provides an image acquisition mechanism, comprising: frame; Multiple first conveying channels are provided, all of which are installed on the frame. The first conveying channels are used to move fruits and vegetables. Multiple sets of bottom image acquisition components are mounted on the rack, with each set of bottom image acquisition components located on one side of a corresponding first conveying channel; Multiple gripping components are mounted on the frame, with each gripping component located above a corresponding first conveying channel; the gripping components are used to pick up fruits and vegetables located at the bottom image acquisition component, or to put down the picked-up fruits and vegetables. A second conveying channel is connected to all of the first conveying channels; A top image acquisition component is mounted on the rack and is located above the second conveying channel.

[0007] With the above structure, the first conveying channel is used to move the fruits and vegetables. When the fruits and vegetables move to the bottom image acquisition component, the gripping component can pick them up, and the bottom image acquisition component can acquire images of the picked-up fruits and vegetables. After the bottom image acquisition component completes the image information acquisition of the fruits and vegetables, the gripping component puts the fruits and vegetables down. In addition, the second conveying channel is used to move the fruits and vegetables. When the fruits and vegetables pass by the top image acquisition component, the top image acquisition component can acquire images of the fruits and vegetables.

[0008] When the grasping component picks up the fruits and vegetables, it causes the fruits and vegetables to stop moving. As a result, the time it takes for the bottom image acquisition component to acquire the image information of a fruit and vegetable is longer than the time it takes for the top image acquisition component to acquire the image information of a fruit and vegetable. In this embodiment, the same second conveying channel is connected to multiple first conveying channels, and multiple bottom image acquisition components can acquire the image information of fruits and vegetables at the same time, so that the top image acquisition component can work more saturatedly, thereby improving the working efficiency of the image acquisition mechanism.

[0009] In addition, the number of first conveying channels can be set according to the working time ratio of the bottom image acquisition component and the top image acquisition component. For example, if the bottom image acquisition component takes three units of time to acquire the image information of a fruit and vegetable, and the top image acquisition component takes one unit of time to acquire the image information of a fruit and vegetable, then the number of first conveying channels can be set to three to ensure that both the bottom image acquisition component and the top image acquisition component can work continuously.

[0010] In some embodiments, each group of bottom image acquisition components includes multiple bottom image acquisition components; in the horizontal direction, in the same group of bottom image acquisition components, all bottom image acquisition components are evenly distributed around the periphery of the grasping component.

[0011] With the above structure, each group of bottom image acquisition components includes multiple bottom image acquisition components; in the horizontal direction, in the same group of bottom image acquisition components, all bottom image acquisition components are evenly distributed around the periphery of the gripping component; each bottom image acquisition component can acquire image information of the bottom of fruits and vegetables from one direction, so that all bottom image acquisition components can acquire the bottom information of the entire fruit and vegetable from all directions, and the bottom image acquisition components can acquire more complete image information of the bottom surface of fruits and vegetables.

[0012] In some embodiments, the image acquisition mechanism further includes a plurality of first limiting components, each of which is installed on a corresponding first conveying channel; on the same first conveying channel, the first limiting component is used to limit or release the fruit and vegetables located at the bottom image acquisition component.

[0013] With the above structure, fruits and vegetables can be carried by fruit cups. The first conveying channel transports the fruit cups containing fruits and vegetables to the bottom image acquisition component. The first limiting component limits the fruit cup, and the fruit cup stops moving. The grasping component picks up the fruits and vegetables in the fruit cup. The bottom image acquisition component can capture image information of the bottom of the fruits and vegetables by taking a picture.

[0014] In some embodiments, the first conveying channel includes a first sidewall and a second sidewall disposed opposite to each other, and the first sidewall is provided with a first mounting groove; The first limiting component is located in the first mounting slot. The first limiting component includes a first pushing component and a clamping component. The first pushing component is mounted on the frame, and the clamping component is connected to the first pushing component. The first pushing component is used to drive the clamping component to move toward the second sidewall so that the clamping component clamps the fruit and vegetables with the second sidewall; or the first pushing component is used to drive the clamping component to move away from the second sidewall so that the clamping component releases the fruit and vegetables from the second sidewall.

[0015] With the above structure, the first sidewall is provided with a first mounting groove, and the first limiting component is located in the first mounting groove so that the clamping component can extend into the first conveying channel; the first pushing component is used to drive the clamping component to move toward the second sidewall, or the first pushing component is used to drive the clamping component to move away from the second sidewall so that the clamping component can clamp or release the fruit cup carrying fruits and vegetables together with the second sidewall.

[0016] In some embodiments, the crawling component includes: Mounting bracket, the mounting bracket being mounted on the rack; A support frame, which is movably mounted on the mounting frame; A driving component for driving the support frame to move vertically relative to the mounting frame; An adsorption component is installed on the support frame and is used to adsorb fruits and vegetables that are limited by the first limiting component, or to release the adsorbed fruits and vegetables.

[0017] With the above structure, when the fruit cup carrying the fruits and vegetables is limited by the first limiting component, the adsorption component can adsorb the upper surface of the fruits and vegetables, so that the fruits and vegetables are fixed relative to the adsorption component; the support frame is vertically movably installed on the mounting frame, and the driving component is used to drive the support frame to move vertically relative to the mounting frame, so that after the adsorption component adsorbs the surface of the fruits and vegetables, it can drive the fruits and vegetables to move vertically relative to the first conveying channel, so that the fruits and vegetables can be picked up and the bottom image information can be collected by the bottom image acquisition component.

[0018] In some embodiments, the image acquisition mechanism further includes: An input channel is mounted on the frame, and the output end of the input channel is connected to the input end of all the first conveying channels. The conveying direction of the input channel is perpendicular to the conveying direction of the first conveying channels. The input end of the second conveying channel is connected to the output end of all the first conveying channels. The conveying direction of the second conveying channel is perpendicular to the conveying direction of the first conveying channel and opposite to the conveying direction of the input channel.

[0019] With the above structure, the input channel can transport fruits and vegetables into the first conveying channel. After the bottom image information of the fruits and vegetables in the first conveying channel is captured, they can be transported to the second conveying channel, where the top image information of the fruits and vegetables can be captured. The conveying direction of the input channel is perpendicular to the conveying direction of the first conveying channel, and the conveying direction of the second conveying channel is perpendicular to the conveying direction of the first conveying channel, and the conveying direction of the second conveying channel is opposite to that of the input channel; this makes the structure of the image acquisition mechanism more compact in the horizontal direction and reduces the installation space required for the image acquisition mechanism.

[0020] In some embodiments, the input channel includes a second pushing member, a third sidewall, and a fourth sidewall, the third sidewall and the fourth sidewall being disposed opposite to each other, the third sidewall having a second mounting groove, the second pushing member being installed in the second mounting groove, the input end of the first conveying channel passing through the fourth sidewall and connected to the output end of the input channel; the second pushing member is directly opposite the input end of the first conveying channel, and the second pushing member is used to push fruits and vegetables into the input end of the first conveying channel.

[0021] With the above structure, a second mounting groove is provided on the third side wall, and the second pushing component is installed in the second mounting groove; so that the second pushing component can extend into the input channel and contact the fruit cup in the input channel. The second pushing component is directly opposite the input end of the first conveying channel, so that the second pushing component can push the fruit cup into the first conveying channel more accurately.

[0022] In some embodiments, the first conveying channel includes a first conveying section and a second conveying section, the input channel, the first conveying section, the second conveying section and the second conveying channel are arranged in sequence, the output end of the first conveying section is connected to the input end of the second conveying section; in the direction from the input channel to the second conveying channel, the width of the first conveying section gradually decreases, and the bottom image acquisition component is located in the second conveying section.

[0023] With the above structure, the width of the first conveying section gradually decreases in the direction from the input channel to the second conveying channel, making the width of the first conveying section facing the input channel larger. This makes it easier for the second pushing component to push the fruit cup into the first conveying section. The width of the first conveying section facing the second conveying section is smaller, and the bottom image acquisition component is located in the second conveying section. In the horizontal direction, the fruit cup has less room to move in the width direction of the second conveying section, making it easier for the bottom image acquisition component to align with the fruits and vegetables.

[0024] In some embodiments, the image acquisition mechanism further includes a second limiting component, which is installed on the second conveying channel. All the first conveying channels are arranged in parallel, and a second limiting component is provided between two adjacent first conveying channels. The second limiting component is used to limit or release the fruit and vegetables on the second conveying channel.

[0025] With the above structure, a second limiting component is provided between two adjacent first conveying channels. The second limiting component is used to limit or release the fruit and vegetables on the second conveying channel. When the fruit cups in the two adjacent first conveying channels enter the second conveying channel in sequence and collide in the second conveying channel, the second limiting component located between the two first conveying channels can limit the fruit cups transported from one of the first conveying channels to the second conveying channel to avoid the two fruit cups from contacting each other in the second conveying channel.

[0026] Another embodiment of this utility model provides a fruit and vegetable sorting device, including the image acquisition mechanism in any of the above embodiments.

[0027] Compared to existing technologies, the first conveyor channel is used to move fruits and vegetables. When the fruits and vegetables move to the bottom image acquisition component, the gripping component can pick them up, and the bottom image acquisition component can acquire images of the picked-up fruits and vegetables. After the bottom image acquisition component completes the image information acquisition of the fruits and vegetables, the gripping component puts the fruits and vegetables down. In addition, the second conveyor channel is used to move fruits and vegetables. When the fruits and vegetables pass by the top image acquisition component, the top image acquisition component can acquire images of the fruits and vegetables.

[0028] When the grasping component picks up the fruits and vegetables, it causes the fruits and vegetables to stop moving. As a result, the time it takes for the bottom image acquisition component to acquire the image information of a fruit and vegetable is longer than the time it takes for the top image acquisition component to acquire the image information of a fruit and vegetable. In this embodiment, the same second conveying channel is connected to multiple first conveying channels, and multiple bottom image acquisition components can acquire the image information of fruits and vegetables at the same time, so that the top image acquisition component can work more saturatedly, thereby improving the working efficiency of the image acquisition mechanism. Attached Figure Description

[0029] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings do not constitute a limitation on scale.

[0030] Figure 1 This is a top view of the image acquisition mechanism in one embodiment of the present invention; Figure 2 yes Figure 1 A partial view of the first limiting component of the image acquisition mechanism in the image acquisition mechanism; Figure 3 yes Figure 1 A partial view of the grasping component of the image acquisition mechanism in the image; Figure 4 yes Figure 1 A partial view of the second pushing component of the image acquisition mechanism in the image acquisition mechanism; Figure 5 yes Figure 1 A schematic diagram of the structure of the first conveyor channel of the image acquisition mechanism in the image acquisition mechanism; Figure 6 This is a schematic diagram of the structure of the first conveying channel of the image acquisition mechanism in another embodiment of the present invention; Figure 7 yes Figure 1 A schematic diagram of the structure at the second conveyor channel of the image acquisition mechanism.

[0031] Figure label: 100. Image acquisition mechanism; 10. Frame; 20. First conveying channel; 22. First side wall; 2202. First mounting slot; 24. Second side wall; 26. First conveying section; 28. Second conveying section; 30. Bottom image acquisition component; 40. Gripping component; 42. Mounting frame; 44. Support frame; 46. Drive component; 48. Adsorption component; 50. Second conveying channel; 60. Top image acquisition component; 70. First limiting component; 72. First pushing component; 74. Clamping component; 80. Input channel; 82. Second pushing component; 84. Third side wall; 8402. Second mounting slot; 86. Fourth side wall; 90. Second limiting component; 200. Fruit cup. Detailed Implementation

[0032] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "connected" to another element, it can be directly on the other element, or one or more intermediate elements can exist between them. The terms "upper," "lower," "left," "right," "upper end," "lower end," "top," and "bottom," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention.

[0034] The following detailed description, in conjunction with all the accompanying drawings, describes in detail an image acquisition mechanism 100 and a fruit and vegetable sorting device provided in this application through specific embodiments.

[0035] Please refer to Figure 1 , Figure 2 and Figure 3 One embodiment of this utility model discloses an image acquisition mechanism 100, including a frame 10, a second conveying channel 50, a top image acquisition component 60, multiple first conveying channels 20, multiple sets of bottom image acquisition components 30, and multiple gripping components 40; all the first conveying channels 20 are installed on the frame 10, and the first conveying channels 20 are used to move fruits and vegetables; the bottom image acquisition components 30 are installed on the frame 10, and each set of bottom image acquisition components 30 is located on one side of a corresponding first conveying channel 20; the gripping components 40 are installed on the frame 10, and each gripping component 40 is located above a corresponding first conveying channel 20; the gripping components 40 are used to grab the fruits and vegetables located at the bottom image acquisition components 30, or to put down the grabbed fruits and vegetables.

[0036] The second conveying channel 50 is connected to all the first conveying channels 20; the top image acquisition component 60 is mounted on the rack 10 and is located above the second conveying channel 50.

[0037] With the above structure, the first conveying channel 20 is used to move the fruits and vegetables. When the fruits and vegetables move to the bottom image acquisition component 30, the gripping component 40 can pick them up, and the bottom image acquisition component 30 can acquire images of the picked-up fruits and vegetables. After the bottom image acquisition component 30 completes the acquisition of image information of the fruits and vegetables, the gripping component 40 puts the fruits and vegetables down. In addition, the second conveying channel 50 is used to move the fruits and vegetables. When the fruits and vegetables pass the top image acquisition component 60, the top image acquisition component 60 can acquire images of the fruits and vegetables.

[0038] During the process of gripping the fruits and vegetables, the fruits and vegetables stop moving. As a result, the time taken for the bottom image acquisition component 30 to acquire the image information of a single fruit and vegetable is longer than the time taken for the top image acquisition component 60 to acquire the image information of a single fruit and vegetable. In this embodiment, the same second conveying channel 50 is connected to multiple first conveying channels 20, and multiple bottom image acquisition components 30 can acquire the image information of fruits and vegetables simultaneously, so that the top image acquisition component 60 can work more saturatedly, thereby improving the working efficiency of the image acquisition mechanism 100.

[0039] In addition, the number of first conveying channels 20 can be set according to the working time ratio of the bottom image acquisition component 30 and the top image acquisition component 60. For example, if the bottom image acquisition component 30 takes three units of time to acquire the image information of a fruit and vegetable, and the top image acquisition component 60 takes one unit of time to acquire the image information of a fruit and vegetable, then the number of first conveying channels 20 can be set to three; so that both the bottom image acquisition component 30 and the top image acquisition component 60 can work continuously.

[0040] Specifically, in this embodiment, the frame 10 may include legs and a support structure. The frame 10 can be erected on the ground and is used to support the first conveyor channel 20, the second conveyor channel 50, the top image acquisition component 60, the bottom image acquisition component 30, and the gripping component 40. The first conveyor channel 20 and the second conveyor channel 50 have the same structure and may include a motor-driven conveyor belt structure. The number of first conveyor channels 20 can be three, all of which are arranged side by side and can be perpendicular to the second conveyor channel 50. The output end of the first conveyor channel 20 is connected to the input end of the second conveyor channel 50.

[0041] The top image acquisition component 60 may include a camera with its camera facing downwards; the bottom image acquisition component 30 may include a camera with its camera tilted upwards, and each group of bottom image acquisition components 30 may include three bottom image acquisition components 30. The gripping component 40 may include a vertically moving suction cup structure, which can adhere to the upper surface of fruits and vegetables and drive them to move vertically.

[0042] In this embodiment, the output end of the first conveying channel 20 is connected to the input end of the second conveying channel 50. When the fruit cup 200 containing fruits and vegetables passes through the first conveying channel 20, the bottom image acquisition component 30 acquires the image information of the bottom of the fruits and vegetables. Subsequently, when the fruit cup 200 containing fruits and vegetables passes through the second conveying channel 50, the top image acquisition component 60 acquires the image information of the top of the fruits and vegetables. In some other embodiments, the conveying direction of the first conveying channel 20 and the conveying direction of the second conveying channel 50 can be reversed. That is, the input end of the first conveying channel 20 can also be connected to the output end of the second conveying channel 50. When the fruit cup 200 containing fruits and vegetables passes through the second conveying channel 50, the top image acquisition component 60 acquires the image information of the top of the fruits and vegetables. Subsequently, when the fruit cup 200 containing fruits and vegetables passes through the first conveying channel 20, the bottom image acquisition component 30 acquires the image information of the bottom of the fruits and vegetables.

[0043] In other embodiments, the frame 10 may also be other structures, such as a frame structure formed by splicing steel bars, or a hollow box structure. The first conveying channel 20, the second conveying channel 50, the top image acquisition component 60, the bottom image acquisition component 30, and the gripping component 40 may all be installed inside the frame 10. The first conveying channel 20 and the second conveying channel 50 may also be other structures, such as a conveyor chain plate driven by a motor. Each group of bottom image acquisition components 30 may also include other numbers of bottom image acquisition components 30, such as one or two. The number of first conveying channels 20 may also be other, such as two. The first conveying channel 20 may also be at other angles with the second conveying channel 50, such as 60°.

[0044] In some embodiments, each group of bottom image acquisition components 30 includes multiple bottom image acquisition components 30; in the horizontal direction, in the same group of bottom image acquisition components 30, all bottom image acquisition components 30 are evenly distributed around the periphery of the gripping component 40.

[0045] With the above structure, each group of bottom image acquisition components 30 includes multiple bottom image acquisition components 30; in the horizontal direction, in the same group of bottom image acquisition components 30, all bottom image acquisition components 30 are evenly distributed around the gripping component 40; each bottom image acquisition component 30 can acquire image information of the bottom of the fruit and vegetable from one direction, so that all bottom image acquisition components 30 can acquire the bottom information of the entire fruit and vegetable from all directions, and the bottom image acquisition components 30 can acquire more complete image information of the bottom surface of the fruit and vegetable.

[0046] Specifically, in this embodiment, each group of bottom image acquisition components 30 may include three bottom image acquisition components 30. In other embodiments, each group of bottom image acquisition components 30 may also include other numbers of bottom image acquisition components 30, such as four or five.

[0047] In some embodiments, the image acquisition mechanism 100 further includes a plurality of first limiting components 70, each of which is installed on a corresponding first conveying channel 20; on the same first conveying channel 20, the first limiting component 70 is used to limit or release the fruit and vegetables located at the bottom image acquisition component 30.

[0048] With the above structure, fruits and vegetables can be carried by the fruit cup 200. The first conveying channel 20 conveys the fruit cup 200 containing fruits and vegetables to the bottom image acquisition component 30. The first limiting component 70 limits the fruit cup 200, and the fruit cup 200 stops moving. The grasping component 40 grasps the fruits and vegetables in the fruit cup 200. The bottom image acquisition component 30 can capture image information of the bottom of the fruits and vegetables by taking a picture.

[0049] Specifically, in this embodiment, the first limiting component 70 may include a block structure driven by a cylinder. The block structure can clamp the fruit cup 200 together with the side wall of the first conveying channel 20 to limit the fruit cup 200 that carries fruits and vegetables.

[0050] In other embodiments, the first limiting component 70 may also include other structures, such as an electric motor-driven barrier bar.

[0051] In some embodiments, the first conveying channel 20 includes a first sidewall 22 and a second sidewall 24 disposed opposite to each other, and the first sidewall 22 is provided with a first mounting groove 2202.

[0052] The first limiting component 70 is located in the first mounting groove 2202. The first limiting component 70 includes a first pushing component 72 and a clamping component 74. The first pushing component 72 is mounted on the frame 10, and the clamping component 74 is connected to the first pushing component 72.

[0053] The first pushing component 72 is used to drive the clamping component 74 to move toward the second side wall 24 so that the clamping component 74 clamps the fruits and vegetables with the second side wall 24; or the first pushing component 72 is used to drive the clamping component 74 to move away from the second side wall 24 so that the clamping component 74 releases the fruits and vegetables from the second side wall 24.

[0054] With the above structure, the first sidewall 22 is provided with a first mounting groove 2202, and the first limiting component 70 is located in the first mounting groove 2202 so that the clamping component 74 can extend into the first conveying channel 20; the first pushing component 72 is used to drive the clamping component 74 to move toward the second sidewall 24, or the first pushing component 72 is used to drive the clamping component 74 to move away from the second sidewall 24 so that the clamping component 74 can clamp or release the fruit cup 200 carrying fruits and vegetables together with the second sidewall 24.

[0055] Specifically, in this embodiment, both the first sidewall 22 and the second sidewall 24 can be protruding steel strip structures; the first pushing component 72 can be a cylinder, and the clamping component 74 can be a block structure connected to the piston rod of the cylinder. In the horizontal direction, the fruit cup 200 can be circular, and the side of the clamping component 74 facing the second sidewall 24 has an arc-shaped structure adapted to the fruit cup 200; this allows the contact area between the clamping component 74 and the fruit cup 200 to be larger when the clamping component 74 and the second sidewall 24 jointly clamp the fruit cup 200, enabling the clamping component 74 and the second sidewall 24 to clamp the fruit cup 200 more stably. Furthermore, the side of the clamping component 74 facing the second sidewall 24 can be made of a flexible material, such as nylon or rubber.

[0056] In other embodiments, the first pushing member 72 may also be other structures, such as an electric motor; the clamping member 74 may also be other structures, such as a cuboid block structure.

[0057] In some embodiments, the gripping component 40 includes a mounting frame 42, a support frame 44, a driving component 46, and an adsorption component 48; the mounting frame 42 is mounted on the frame 10; the support frame 44 is movably mounted on the mounting frame 42; the driving component 46 is used to drive the support frame 44 to move vertically relative to the mounting frame 42; the adsorption component 48 is mounted on the support frame 44, and the adsorption component 48 is used to adsorb fruits and vegetables that are limited by the first limiting component 70, or to release the adsorbed fruits and vegetables.

[0058] With the above structure, when the fruit cup 200 carrying fruits and vegetables is limited by the first limiting component 70, the adsorption component 48 can adsorb the upper surface of the fruits and vegetables, so that the fruits and vegetables are fixed relative to the adsorption component 48; the support frame 44 is vertically movably installed on the mounting frame 42, and the driving component 46 is used to drive the support frame 44 to move vertically relative to the mounting frame 42, so that after the adsorption component 48 adsorbs the surface of the fruits and vegetables, it can drive the fruits and vegetables to move vertically relative to the first conveying channel 20, so that the fruits and vegetables can be picked up and the bottom image information can be collected by the bottom image acquisition component 30.

[0059] Specifically, in this embodiment, the mounting frame 42 may include multiple strip-shaped steel structures, and the mounting frame 42 is erected above the first conveying channel 20; the support frame 44 may include a plate-shaped structure, and the support frame 44 may be connected to the driving component 46 by a belt. The driving component 46 may be an electric motor, and the driving component 46 may drive the belt to move, thereby driving the support frame 44 to move vertically.

[0060] The adsorption component 48 can be a suction cup. The adsorption component 48 can extend out of the lower surface of the mounting frame 42. The adsorption component 48 can be connected to the air pump through an air tube. The air tube can be arranged around one side of the mounting frame 42. The air pump can generate negative pressure so that the adsorption component 48 can contact and adsorb the upper surface of the fruits and vegetables.

[0061] In other embodiments, the mounting bracket 42 may also include other structures, such as a gantry-like structure.

[0062] In some embodiments, the image acquisition mechanism 100 further includes an input channel 80, which is mounted on the frame 10. The output end of the input channel 80 is connected to the input end of all the first conveying channels 20, and the conveying direction of the input channel 80 is perpendicular to the conveying direction of the first conveying channels 20. The input end of the second conveying channel 50 is connected to the output end of all the first conveying channels 20, and the conveying direction of the second conveying channel 50 is perpendicular to the conveying direction of the first conveying channels 20. The conveying direction of the second conveying channel 50 is opposite to the conveying direction of the input channel 80.

[0063] With the above structure, the input channel 80 can transport fruits and vegetables into the first conveying channel 20. After the bottom image information of the fruits and vegetables in the first conveying channel 20 is acquired, they can be transported to the second conveying channel 50, where the top image information of the fruits and vegetables can be acquired. The conveying direction of the input channel 80 is perpendicular to the conveying direction of the first conveying channel 20, and the conveying direction of the second conveying channel 50 is perpendicular to the conveying direction of the first conveying channel 20, but opposite to the conveying direction of the input channel 80. This makes the structure of the image acquisition mechanism 100 more compact in the horizontal direction, and reduces the installation space required for the image acquisition mechanism 100.

[0064] Specifically, in this embodiment, the input channel 80, the first conveying channel 20, and the second conveying channel 50 can all include a conveyor belt driven by an electric motor. In other embodiments, the input channel 80, the first conveying channel 20, and the second conveying channel 50 can also be other structures, such as a conveyor chain plate driven by an electric motor.

[0065] Please refer to Figure 4 In some embodiments, the input channel 80 includes a second pushing member 82, a third sidewall 84, and a fourth sidewall 86. The third sidewall 84 and the fourth sidewall 86 are disposed opposite to each other. The third sidewall 84 has a second mounting groove 8402. The second pushing member 82 is installed in the second mounting groove 8402. The input end of the first conveying channel 20 passes through the fourth sidewall 86 and is connected to the output end of the input channel 80. The second pushing member 82 is directly opposite the input end of the first conveying channel 20 and is used to push fruits and vegetables into the input end of the first conveying channel 20.

[0066] With the above structure, the third sidewall 84 has a second mounting groove 8402, and the second pushing member 82 is installed in the second mounting groove 8402; so that the second pushing member 82 can extend into the input channel 80 and contact the fruit cup 200 in the input channel 80. The second pushing member 82 is directly opposite the input end of the first conveying channel 20, so that the second pushing member 82 can push the fruit cup 200 into the first conveying channel 20 more accurately.

[0067] Specifically, in this embodiment, both the third sidewall 84 and the fourth sidewall 86 can be strip-shaped steel structures, with the third sidewall 84 parallel to the fourth sidewall 86; the second pushing component 82 can be a rod-shaped structure driven by an electric motor, which can extend into or out of the input channel 80.

[0068] In other embodiments, the third sidewall 84 and the fourth sidewall 86 may also be other structures, such as plate structures; the second pushing member 82 may also be other structures, such as a cylinder-driven block structure.

[0069] Please refer to 5 and Figure 6 In some embodiments, the first conveying channel 20 includes a first conveying section 26 and a second conveying section 28. The input channel 80, the first conveying section 26, the second conveying section 28 and the second conveying channel 50 are arranged in sequence. The output end of the first conveying section 26 is connected to the input end of the second conveying section 28. In the direction from the input channel 80 to the second conveying channel 50, the width of the first conveying section 26 gradually decreases, and the bottom image acquisition component 30 is located in the second conveying section 28.

[0070] With the above structure, the width of the first conveying section 26 gradually decreases in the direction from the input channel 80 to the second conveying channel 50, so that the width of the end of the first conveying section 26 facing the input channel 80 is larger, thus making it easier for the second pushing component 82 to push the fruit cup 200 into the first conveying section 26. The width of the end of the first conveying section 26 facing the second conveying section 28 is smaller, and the bottom image acquisition component 30 is located in the second conveying section 28. In the horizontal direction, the movement space of the fruit cup 200 in the width direction of the second conveying section 28 is smaller, making it easier for the bottom image acquisition component 30 to align with the fruits and vegetables.

[0071] Specifically, in this embodiment, in the horizontal direction, the first conveying section 26 can have a structure similar to an isosceles trapezoid, and the width of the second conveying section 28 can be adapted to the width of the fruit cup 200.

[0072] In other embodiments, the first conveying section 26 may also include other structures, such as a side parallel to the conveying direction and a side inclined relative to the conveying direction.

[0073] Please refer to the following: Figure 1 and Figure 7 In some embodiments, the image acquisition mechanism 100 further includes a second limiting component 90, which is installed on the second conveying channel 50. All the first conveying channels 20 are arranged in parallel, and a second limiting component 90 is provided between two adjacent first conveying channels 20. The second limiting component 90 is used to limit or release the fruit and vegetables on the second conveying channel 50.

[0074] With the above structure, a second limiting component 90 is provided between two adjacent first conveying channels 20. The second limiting component 90 is used to limit or release the fruit and vegetables on the second conveying channel 50. When the fruit cups 200 in the two adjacent first conveying channels 20 enter the second conveying channel 50 in sequence and collide in the second conveying channel 50, the second limiting component 90 located between the two first conveying channels 20 can limit the fruit cup 200 conveyed by one of the first conveying channels 20 into the second conveying channel 50 to prevent the two fruit cups 200 from contacting each other in the second conveying channel 50.

[0075] Specifically, in this embodiment, all the first conveying channels 20 are arranged sequentially in the conveying direction of the input channel 80, and the spacing between two adjacent first conveying channels 20 is equal. The conveying directions of all the first conveying channels 20 are parallel to each other. The second limiting component 90 may include a cylinder and a limiting block. The cylinder is used to drive the limiting block to extend into or out of the second conveying channel 50. When the limiting block extends into the second conveying channel 50, it can clamp the fruit cup 200 together with the side wall of the second conveying channel 50.

[0076] In other embodiments, the second limiting component 90 may also be other structures, such as a motor-driven rotating rod mechanism.

[0077] In another embodiment of this utility model, a fruit and vegetable sorting device is disclosed, including the image acquisition mechanism 100 in any of the above embodiments; the fruit and vegetable sorting device may further include a feeding mechanism, a cleaning mechanism, and an output mechanism, wherein the feeding mechanism, the image acquisition mechanism 100, and the output mechanism are arranged in sequence, the feeding mechanism is used to transport the fruits and vegetables to the cleaning mechanism, and then the fruits and vegetables are sent into the image acquisition mechanism 100, the image acquisition mechanism 100 transmits the image information of the fruits and vegetables to the computer, and the output mechanism may include multiple output ports, and the computer matches the fruits and vegetables with the corresponding output ports.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it; under the concept of this utility model, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this utility model as described above. For the sake of brevity, they are not provided in detail; although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An image acquisition mechanism, characterized in that, include: frame; Multiple first conveying channels are provided, all of which are installed on the frame. The first conveying channels are used to move fruits and vegetables. Multiple sets of bottom image acquisition components are mounted on the rack, and each set of bottom image acquisition components is located on one side of a corresponding first conveying channel; Multiple gripping components are mounted on the frame, with each gripping component located above a corresponding first conveying channel; the gripping components are used to pick up fruits and vegetables located at the bottom image acquisition component, or to put down the picked-up fruits and vegetables. A second conveying channel is connected to all of the first conveying channels; A top image acquisition component is mounted on the rack and is located above the second conveying channel.

2. The image acquisition mechanism according to claim 1, characterized in that, Each group of bottom image acquisition components includes multiple bottom image acquisition components; in the horizontal direction, all bottom image acquisition components in the same group are evenly distributed around the periphery of the grasping component.

3. The image acquisition mechanism according to claim 1, characterized in that, It also includes multiple first limiting components, each of which is installed on a corresponding first conveying channel; on the same first conveying channel, the first limiting component is used to limit or release the fruit and vegetables located at the bottom image acquisition component.

4. The image acquisition mechanism according to claim 3, characterized in that, The first conveying channel includes a first sidewall and a second sidewall disposed opposite to each other, and the first sidewall is provided with a first mounting groove; The first limiting component is located in the first mounting slot. The first limiting component includes a first pushing component and a clamping component. The first pushing component is mounted on the frame, and the clamping component is connected to the first pushing component. The first pushing component is used to drive the clamping component to move toward the second sidewall so that the clamping component clamps the fruit and vegetables with the second sidewall; or the first pushing component is used to drive the clamping component to move away from the second sidewall so that the clamping component releases the fruit and vegetables from the second sidewall.

5. The image acquisition mechanism according to claim 3, characterized in that, The crawling component includes: Mounting bracket, the mounting bracket being mounted on the rack; A support frame, which is movably mounted on the mounting frame; A driving component for driving the support frame to move vertically relative to the mounting frame; An adsorption component is installed on the support frame and is used to adsorb fruits and vegetables that are limited by the first limiting component, or to release the adsorbed fruits and vegetables.

6. The image acquisition mechanism according to claim 1, characterized in that, Also includes: An input channel is mounted on the frame, and the output end of the input channel is connected to the input end of all the first conveying channels. The conveying direction of the input channel is perpendicular to the conveying direction of the first conveying channels. The input end of the second conveying channel is connected to the output end of all the first conveying channels. The conveying direction of the second conveying channel is perpendicular to the conveying direction of the first conveying channel and opposite to the conveying direction of the input channel.

7. The image acquisition mechanism according to claim 6, characterized in that, The input channel includes a second pushing component, a third sidewall, and a fourth sidewall. The third sidewall and the fourth sidewall are arranged opposite to each other. The third sidewall has a second mounting groove. The second pushing component is installed in the second mounting groove. The input end of the first conveying channel passes through the fourth sidewall and is connected to the output end of the input channel. The second pushing component is directly opposite the input end of the first conveying channel and is used to push fruits and vegetables into the input end of the first conveying channel.

8. The image acquisition mechanism according to claim 7, characterized in that, The first conveying channel includes a first conveying section and a second conveying section. The input channel, the first conveying section, the second conveying section and the second conveying channel are arranged in sequence. The output end of the first conveying section is connected to the input end of the second conveying section. In the direction from the input channel to the second conveying channel, the width of the first conveying section gradually decreases. The bottom image acquisition component is located in the second conveying section.

9. The image acquisition mechanism according to claim 6, characterized in that, It also includes a second limiting component, which is installed on the second conveying channel. All the first conveying channels are arranged side by side, and a second limiting component is provided between two adjacent first conveying channels. The second limiting component is used to limit or release the fruit and vegetables on the second conveying channel.

10. A fruit and vegetable sorting device, characterized in that, Includes the image acquisition mechanism as described in any one of claims 1-9.

Images