A fruit pulp foreign matter removing apparatus

Abstract

The utility model relates to the technical field of fruit pulp foreign matter removing, especially to a kind of fruit pulp foreign matter removing equipment, comprising: rack, conveying belt, first driving device, suction assembly, camera device and controller;Conveying belt, it is located on the rack, and identification area is set on conveying belt;Feeding assembly and discharge assembly are respectively arranged at the feeding end, discharge end of conveying belt;First driving device is located on the rack;Suction assembly includes suction nozzle, suction nozzle is located on first driving device, camera device is located above the identification area, the camera device, suction assembly, first driving device and conveying belt are connected with the controller respectively.The device only removes fruit pulp to foreign matter position, not only high efficiency, but also avoid the material waste of fruit pulp, save raw material cost.

Description

Technical Field

[0001] This utility model relates to the field of fruit pulp foreign matter removal technology, and in particular to a fruit pulp foreign matter removal device. Background Technology

[0002] Removing foreign matter during fruit pulp processing is crucial for ensuring product quality. Foreign matter in fruit pulp mainly includes external debris (such as metal, glass, sand, hair, wood chips, and plastic) and inherent foreign matter that does not meet processing requirements (such as fruit peels and shells). In the fruit pulp foreign matter removal process, a 3-10mm mechanical screen is first used for pretreatment to remove large particles such as fruit peels and sand. After pretreatment, a small amount of remaining foreign matter is then removed using a filter membrane or manually, depending on the type of fruit pulp. However, manual removal is less efficient. Using a filter membrane can easily lead to the formation of a filter cake layer, causing particles or colloidal substances in the fruit pulp to quickly clog the membrane pores, resulting in low filtration efficiency. Furthermore, if the fruit pulp contains large particles, membrane filtration is not suitable.

[0003] In some existing foreign matter removal devices, such as the fruit juice impurity removal device disclosed in patent application number 202411850525.4 and the separation device for separating pulp and fruit juice impurities disclosed in patent application number 202410909923.2, both devices use sieves for filtration. If the sieve pores are too large, the filtration effect is poor and it can only be used for coarse filtration pretreatment; if the sieve pores are too small, clogging is likely to occur. Summary of the Invention

[0004] The purpose of this invention is to provide a fruit pulp foreign matter removal device, thereby overcoming the shortcomings of low efficiency of manual removal or poor filtration effect through filter screens.

[0005] To achieve the above objectives, this utility model provides a fruit pulp foreign matter removal device, comprising: frame; A conveyor belt is mounted on the frame, and an identification area is provided on the conveyor belt; The feeding assembly and the discharging assembly are respectively located at the feeding end and the discharging end of the conveyor belt; A first drive unit is mounted on the frame; A suction assembly includes a suction nozzle disposed on a first driving device, which drives the suction nozzle to move above the conveyor belt between the identification area and the discharge assembly via the first driving device. The system includes a camera device and a controller. The camera device is positioned above the identification area. The camera device, a suction assembly, a first driving device, and a conveyor belt are connected to the controller. The conveyor belt transports fruit pulp in real time. The camera device acquires images of the fruit pulp in the identification area. The controller acquires the coordinates of the foreign object in the fruit pulp image to control the first driving device to drive the suction assembly to suck up the foreign object.

[0006] Preferably, the above technical solution further includes a light source, which is used to illuminate the recognition area.

[0007] Preferably, in the above technical solution, the suction assembly further includes a suction pump and a waste bin, wherein the inlet of the suction pump is connected to the suction nozzle through a pipeline, and the outlet is connected to the waste bin through a pipeline.

[0008] Preferably, in the above technical solution, the feeding assembly includes a peristaltic pump group, a second driving device, and a nozzle group. The second driving device is used to drive the peristaltic pump group to rotate, and the multiple nozzles of the nozzle group are each connected to the discharge port of each peristaltic pump of the peristaltic pump group through a pipeline.

[0009] Preferably, in the above technical solution, multiple nozzles are arranged side by side at the feed end of the conveyor belt, and the nozzle openings of the nozzles are flat rectangular.

[0010] Preferably, in the above technical solution, the conveyor belt is transparent, and both sides of the conveyor belt are provided with retaining edges.

[0011] Preferably, in the above technical solution, the discharge component includes a discharge hopper, which is located at the discharge end of the conveyor belt.

[0012] Preferably, the above technical solution further includes a fixing nut, and both sides of the discharge hopper are provided with a rotating shaft and a limiting threaded rod. The frame is provided with a discharge rotating support seat. Both sides of the discharge rotating support seat are provided with a rotating shaft hole and an arc-shaped hole on the outer periphery of the rotating shaft hole. The rotating shaft of the discharge hopper is rotatably installed in the rotating shaft hole, and the limiting threaded rod extends out of the arc-shaped hole. The fixing nut is threadedly connected to the limiting threaded rod.

[0013] Preferably, in the above technical solution, the first driving device is a robotic arm.

[0014] Compared with existing technologies, this utility model has the following beneficial effects: 1. This utility model uses a conveyor belt to transport fruit pulp in real time. A camera device is used to periodically capture images of the fruit pulp located on the conveyor belt to obtain the coordinates of foreign objects in the fruit pulp images. The controller controls the first drive device to drive the suction component to dynamically suction the foreign objects in the fruit pulp based on the coordinates of the foreign objects and the belt movement speed. This method removes fruit pulp only at the location of foreign objects, which is not only highly efficient, but also avoids material waste of fruit pulp and saves raw material costs.

[0015] 2. This utility model uses image-based foreign object positioning and dynamic belt tracking to accurately locate the position of foreign objects, enabling continuous removal of foreign objects.

[0016] 3. This utility model uses a transparent belt combined with a light source to obtain a clearer image, making foreign object detection more accurate.

[0017] 4. The nozzle of this utility model has a flat rectangular nozzle opening. Multiple nozzles are arranged side by side and, together with a peristaltic pump, can spread the fruit pulp evenly on the transmission belt, which provides significant auxiliary support for subsequent foreign object identification and suction. Attached Figure Description

[0018] Figure 1 This is the first structural diagram of the fruit pulp foreign matter removal device of this utility model.

[0019] Figure 2 This is the second structural diagram of the fruit pulp foreign object removal device of this utility model.

[0020] Figure 3 This is a partial structural diagram of the fruit pulp foreign matter removal device of this utility model.

[0021] Figure 4 This is a partial structural diagram of the feeding assembly of this utility model.

[0022] Figure 5 This is a second partial structural diagram of the feeding assembly of this utility model.

[0023] Figure 6 This is a structural diagram of the nozzle of this utility model.

[0024] Figure 7 This is a structural diagram of the discharge device of this utility model.

[0025] In the attached diagram, 1-frame, 2-conveyor belt, 21-identification area, 22-light source, 3-feeding assembly, 31-second drive device, 32-peristaltic pump, 33-nozzle assembly, 34-controllable switch, 4-discharge assembly, 41-discharge hopper, 42-discharge rotating support, 43-rotating shaft, 44-limiting threaded rod, 45-arc-shaped hole, 46-fixing nut, 5-camera device, 6-first drive device, 7-suction nozzle. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] In the description of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "thickness", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this utility model.

[0028] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If the terms "first," "second," and "third" are used in the description, they are for descriptive purposes and to distinguish technical features, and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The embodiments of this utility model will now be described based on its overall structure.

[0030] like Figures 1-7 As shown, the pulp foreign object removal device in this embodiment includes: a frame 1, a conveyor belt 2, a feeding assembly 3, a discharging assembly 4, a first driving device 6, a suction assembly, a light source 22, a camera device 5, and a controller.

[0031] Continue to refer to Figures 1-3The conveyor belt 2 is mounted on the frame 1, and an identification area 21 is provided on the conveyor belt 2. This identification area 21 is mainly used for the camera device 5 to take fixed-point photos. In this embodiment, the conveyor belt 2 is transparent, preferably made of transparent PU material. Both sides of the conveyor belt 2 are provided with guards to prevent the material to be detected from spilling out of the belt area. The feeding assembly 3 and the discharging assembly 4 are respectively located at the feeding end and the discharging end of the conveyor belt 2.

[0032] In this embodiment, reference Figures 3-5 The feeding assembly 3 includes a second drive unit 31, a peristaltic pump group 32, and a nozzle group 33. The second drive unit 31 drives the peristaltic pump group 32 to rotate. Specifically, the second drive unit 31 can be a servo motor. The nozzle group 33 has multiple nozzles, and the peristaltic pump group 32 has multiple linked peristaltic pumps. The servo motor drives the linked peristaltic pumps to rotate. Each peristaltic pump preferably has a controllable switch 34, which allows individual control of the on / off state of each peristaltic pump. Each of the multiple nozzles is connected to the outlet of a peristaltic pump through a pipeline. The multiple nozzles are arranged side by side at the feed end of the conveyor belt via nozzle supports. The nozzle supports are preferably rotatable and adjustable to match various pulp conveying requirements. The peristaltic pump group 32 draws in the pulp, which is then conveyed to the conveyor belt 2 by the nozzle group 33.

[0033] In this embodiment, reference Figure 6 The nozzle orifice is preferably designed as a flat rectangular shape. This allows the fruit pulp to spread evenly on the conveyor belt 2 through the flat rectangular orifice. Spreading evenly on the conveyor belt 2 facilitates the identification of foreign objects in the fruit pulp, thereby enhancing the accuracy of foreign object detection. Moreover, different thicknesses of fruit pulp can be obtained by combining the speed of the belt. Under the drive of the belt, it is ensured that the material can be spread evenly without piling up. The number of nozzles can be selected according to the width of the belt.

[0034] Continue to refer to Figure 7 The discharge assembly 4 includes a discharge hopper 41, which is located at the discharge end of the conveyor belt 2. In this embodiment, the discharge hopper 41 is preferably adjustable up and down, allowing adjustment according to different fruit pulps. More specifically, this embodiment illustrates a design where the discharge assembly 4 also includes a fixing nut 46. The discharge hopper 41 has a rotating shaft 43 and a limiting threaded rod 44 on both sides. The frame 1 has a discharge rotation support 42, which has rotating shaft holes and arc-shaped holes 45 on the outer periphery of the rotating shaft holes on both sides. The rotating shaft of the discharge hopper 41 is rotatably installed in the rotating shaft hole, and the limiting threaded rod 44 extends out of the arc-shaped hole 45. The fixing nut 46 is threaded onto the limiting threaded rod 44. In use, the discharge hopper 41 is adjusted up and down along the arc-shaped hole 45. When adjusted to a certain position, the fixing nut 46 is screwed into the limiting threaded rod 44 for fixation.

[0035] In this embodiment, the first drive device 6 is mounted on the frame 1, specifically on the frame 1 located behind the identification area 21 of the conveyor belt 2. In this embodiment, the first drive device 6 is preferably a robotic arm, such as a three-axis robotic arm, but this embodiment is not limited to this and may also use other drive devices, which will not be described in detail here.

[0036] Continue to refer to Figure 3 The suction assembly includes a suction nozzle 7, a suction pump, and a waste bin. The suction nozzle 7 is mounted on the first drive device 6, and is moved above the conveyor belt 2 between the identification area 21 and the discharge assembly 4 by a three-axis robot. The inlet of the suction pump is connected to the suction nozzle through a pipeline, and the outlet is connected to the waste bin through a pipeline. When suctioning materials, the three-axis robot moves the suction nozzle 7 above the pulp foreign object, and then the suction pump is turned on to suck the pulp foreign object through the suction nozzle 7 into the waste bin.

[0037] Further reference Figure 3 The light source 22 is mainly used to illuminate the identification area 21. In this embodiment, the light source 22 can be a white light source located below the identification area 21 of the conveyor belt 2 to provide backlighting. The backlighting is suitable for semi-transparent fruit pulp, and the color of the light source can also be adjusted according to the color of the fruit pulp. For opaque fruit pulp, a top light source plus double-side light strips can be used to illuminate the identification area.

[0038] The camera device 5 is positioned above the identification area 21 of the conveyor belt. In this embodiment, the camera device 5 can be an industrial camera, such as a single 4K global shutter camera. The camera device 5 is mainly used to periodically capture images of the fruit pulp in the identification area 21. The camera device 5, the suction pump of the suction assembly, the first drive device 6, and the conveyor belt 2 are all connected to the controller. The conveyor belt 2 transports the fruit pulp in real time. The camera device 5 acquires images of the fruit pulp in the identification area, and the controller acquires the coordinates of the foreign object in the fruit pulp image to control the first drive device to drive the suction assembly to suck up the foreign object.

[0039] In this embodiment, when removing foreign matter from the fruit pulp: Step S1: Start the conveyor belt 2, and the feeding component 3 will transfer the fruit pulp onto the conveyor belt 2.

[0040] Specifically, the second drive unit 31 of the feeding component 3 drives the peristaltic pump 32 to extract fruit pulp and spread it evenly on the conveyor belt 2 through multiple nozzles. The thickness of the spread fruit pulp can be adjusted by adjusting the belt speed and the peristaltic pump extraction speed to ensure that the material can be spread evenly and will not accumulate.

[0041] In step S2, the camera device 5 continuously captures images of the pulp in the identification area 21 according to the transmission interval width of the conveyor belt 2.

[0042] Specifically, the light source 22 illuminates the identification area 21 of the transmission belt 2. For example, a backlight source located below the belt can be used, and different light sources can be adjusted according to different materials. The transmission belt 2 transports the fruit pulp horizontally to the detection position, and the camera device 5 continuously captures images of the fruit pulp at intervals according to the width of the identification area 21, based on the running position of the transmission belt 2.

[0043] Step S3: Input the fruit pulp image into the foreign object recognition model. The foreign object recognition model identifies the fruit pulp image, and if a foreign object is found, it outputs the coordinates of the foreign object in the fruit pulp image. It is worth noting that the foreign object recognition model can use an existing image recognition model, which will not be elaborated here.

[0044] Step S4: The coordinate position of the foreign object and the movement parameters of the conveyor belt are converted into movement commands for the first drive device 6 and suction commands for the suction component.

[0045] In this embodiment, after obtaining the foreign object coordinates of the fruit pulp image, the position is calibrated in advance with the robot arm, and combined with the speed parameters of the conveyor belt, it is converted into the robot arm movement coordinates of the first drive device (robot arm) at the rear end.

[0046] In step S5, the controller controls the first driving device 6 to move to the designated position according to the movement command, and the controller controls the suction component to suck up the foreign object according to the suction command.

[0047] In this embodiment, after the first driving device, the robotic arm, acquires the coordinates, its Y-axis follows the conveyor belt as it moves. When the photographed fruit pulp material passes through the suction area, the suction nozzle installed on the robotic arm sucks up foreign objects one by one. The sucked-up foreign objects are collected through a waste bin. Details are as follows: Follow the belt to absorb 1. At the moment of taking the photo: record the speed v of the conveyor belt and the coordinates (x, y) of the pulp foreign object.

[0048] 2. Predict the required displacement y* of the robot arm to move to the foreign object: y* = y + v × Td (Td is the signal delay time, which is a fixed value, Td = delay 80 ms).

[0049] 3. The robotic arm first runs to (x, y*), and at the same time, the Y-axis of the robotic arm follows synchronously at a speed v. The suction pump opens the vacuum and the suction nozzle descends. After suction is completed, the robotic arm rises and exits.

[0050] In this embodiment, a foreign object quantity threshold is also set. If the number of foreign objects in a fruit pulp foreign object image captured in a certain time exceeds the foreign object quantity threshold, the conveyor belt is reduced to a certain speed, and at the same time, the Y-axis of the robot arm is also reduced to the same speed to follow synchronously. After the suction is completed, the conveyor belt returns to normal speed so that the robot arm can completely suck out all foreign objects and avoid the problem of missed suction caused by the robot arm being too fast.

[0051] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the present invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the present invention, as well as various different choices and variations. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. A fruit pulp foreign matter removal device, characterized in that, include: frame; A conveyor belt is mounted on the frame, and an identification area is provided on the conveyor belt; The feeding assembly and the discharging assembly are respectively located at the feeding end and the discharging end of the conveyor belt; A first drive unit is mounted on the frame; A suction assembly includes a suction nozzle disposed on a first driving device, which drives the suction nozzle to move above the conveyor belt between the identification area and the discharge assembly via the first driving device. A camera device and a controller are provided. The camera device is located above the recognition area. The camera device, the suction assembly, the first drive device, and the conveyor belt are respectively connected to the controller.

2. The fruit pulp foreign matter removal device according to claim 1, characterized in that, It also includes a light source for illuminating the identification area.

3. The fruit pulp foreign matter removal device according to claim 1, characterized in that, The suction assembly also includes a suction pump and a waste bin. The inlet of the suction pump is connected to the suction nozzle through a pipeline, and the outlet is connected to the waste bin through a pipeline.

4. The fruit pulp foreign matter removal device according to claim 1, characterized in that, The feeding assembly includes a peristaltic pump group, a second drive device, and a nozzle group. The second drive device is used to drive the peristaltic pump group to rotate. The multiple nozzles of the nozzle group are each connected to the discharge port of each peristaltic pump in the peristaltic pump group through a pipeline.

5. The fruit pulp foreign matter removal device according to claim 4, characterized in that, Multiple nozzles are arranged side by side at the feed end of the conveyor belt, and the nozzle orifice of each nozzle is flat and rectangular.

6. The fruit pulp foreign matter removal device according to claim 1, characterized in that, The conveyor belt is transparent.

7. The fruit pulp foreign matter removal device according to claim 1, characterized in that, Both sides of the conveyor belt are provided with retaining edges.

8. The fruit pulp foreign matter removal device according to claim 1, characterized in that, The discharge assembly includes a discharge hopper, which is located at the discharge end of the conveyor belt.

9. The fruit pulp foreign matter removal device according to claim 8, characterized in that, It also includes a fixing nut, and the discharge hopper is provided with a rotating shaft and a limiting threaded rod on both sides. The frame is provided with a discharge rotating support seat. The discharge rotating support seat is provided with a rotating shaft hole and an arc-shaped hole on the outer periphery of the rotating shaft hole on both sides. The rotating shaft of the discharge hopper is installed in the rotating shaft hole in a rotatable manner, and the limiting threaded rod extends out of the arc-shaped hole. The fixing nut is threadedly connected to the limiting threaded rod.

10. The fruit pulp foreign matter removal device according to claim 1, characterized in that, The first driving device is a robotic arm.

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