Drive unit, appearance sorting device and fruit and vegetable sorting machine

Abstract

A fruit and vegetable sorting machine includes a load-bearing device and an appearance sorting device. The load-bearing device includes a load-bearing base, an upper load-bearing connecting rod and a lower load-bearing connecting rod pivotally connected to the load-bearing base, a support connecting rod pivotally connected to the upper load-bearing connecting rod and the lower load-bearing connecting rod, and a support platform pivotally connected to the support connecting rod. The appearance sorting device includes a drive unit and an imaging unit. The drive unit has a guide assembly and a drive assembly, and the guide assembly has a base. A guide frame is provided on the base, an upper connecting rod and a lower connecting rod are pivotally connected to the guide frame, a front connecting rod is pivotally connected to the upper connecting rod and the lower connecting rod, and a limiting plate is connected to the front side of the front connecting rod. The upper connecting rod has a drive section. After the controller determines that a fruit or vegetable is damaged based on an image to be processed, it controls the drive assembly to operate, so as to move the drive section downward, causing the support platform to swing so that the fruit or vegetable falls, thereby achieving the function of automatic sorting.

Claims

1. A drive unit comprising: a guide assembly having a base, a guide frame disposed on the base, an upper connecting rod pivotally connected to the guide frame, a lower connecting rod pivotally connected to the guide frame and located below the upper connecting rod in a vertical direction, a front connecting rod pivotally connected to the upper connecting rod and the lower connecting rod and located in a front-rear direction in front of the guide frame, and a limiting plate connected to the front side of the front connecting rod, the front-rear direction being perpendicular to the vertical direction, the upper connecting rod having a drive segment extending to the rear of the guide frame, wherein when the side of the drive segment away from the guide frame swings in the vertical direction, it will cause the front connecting rod to drive the limiting plate to swing in the opposite direction; and a drive assembly having a drive motor, a linkage module connected between the drive motor and the drive segment and capable of being driven by the drive motor to drive the drive segment to swing in the vertical direction, and a controller electrically connected to and used to control the rotation of the drive motor.

2. The drive unit as described in claim 1, wherein, The drive motor has a rotatable drive shaft, the linkage module has a sleeve connected to the drive shaft, and a connector pivotally connected to the sleeve. The connector has an elongated hole through which the drive section can move.

3. The drive unit as described in claim 1, wherein, The drive motor has a rotatable drive shaft, and the linkage module has a sleeve connected to the drive shaft, a first link pivotally connected to the sleeve, a second link pivotally connected to the drive section, and a third link pivotally connected between the first link and the second link.

4. The drive unit as described in claim 1, wherein, The drive motor has a rotatable drive shaft, and the linkage module has a sleeve connected to the drive shaft, an eccentric rod pivotally connected to the drive section, and a spring connected to the eccentric rod and eccentrically connected to the sleeve.

5. A visual sorting device for sorting fruits and vegetables, the visual sorting device comprising the driving unit as described in claim 1, and further comprising: An imaging unit has a camera electrically connected to the controller and used to capture a streaming video of the fruit and vegetables. After receiving the streaming video, the controller extracts an image to be processed from the streaming video and processes the image to be processed using an artificial intelligence model to determine whether the fruit and vegetables are damaged. After determining that the fruit and vegetables are damaged, the controller controls the drive motor to operate so as to move the drive segment downward in the vertical direction.

6. The appearance sorting device as described in claim 5, wherein, This artificial intelligence model is trained by inputting multiple normal images and multiple abnormal images to determine whether the fruits and vegetables are damaged. The normal images are images of undamaged fruits and vegetables, and the abnormal images are images of damaged fruits and vegetables.

7. A fruit and vegetable sorting machine for sorting fruits and vegetables, the fruit and vegetable sorting machine comprising: a conveying device including a base and a conveyor belt disposed on the base and capable of circulating conveying along a moving direction; a guiding device disposed on the base and spaced apart from the conveyor belt along a front-back direction, the guiding device having two guide frames spaced apart along a left-right direction, the left-right direction being perpendicular to the front-back direction, each guide frame having a guide rail extending along the left-right direction; A load-bearing device includes a load-bearing base connected to and driven by the conveyor belt, an upper load-bearing link pivotally connected to the load-bearing base, a lower load-bearing link pivotally connected to the load-bearing base and located below the upper load-bearing link, a support link pivotally connected to the upper load-bearing link and the lower load-bearing link and located in front of the load-bearing base in the front-rear direction, and a support platform pivotally connected to the support link for supporting the fruits and vegetables. The lower load-bearing link has an extension located behind the load-bearing base. The extension can be subjected to force and change between an initial position and a swing position. In the initial position, the position of the extension is lower than the bottom of the corresponding guide rail, and the top of the support platform faces upward. In the swing position, the position of the extension is higher than the bottom of the corresponding guide rail, and the top of the support platform faces diagonally forward.A visual selection device includes a drive unit and an imaging unit. The drive unit has a guide assembly and a drive assembly. The guide assembly has a base, a guide frame disposed on the base, an upper connecting rod pivotally connected to the guide frame, a lower connecting rod pivotally connected to the guide frame and located below the upper connecting rod in a vertical direction, a front connecting rod pivotally connected to the upper and lower connecting rods and located in a front-rear direction at the front of the guide frame, and a limiting plate connected to the front of the front connecting rod. The vertical direction is perpendicular to the upper and lower connecting rod. In both the front-back and left-right directions, the limiting plate is positioned between the guide rails along the left-right direction. The upper connecting rod has a drive section extending to the rear of the guide base. When the side of the drive section away from the guide base swings in the up-down direction, it will cause the front connecting rod to drive the limiting plate to swing in the opposite direction, causing the limiting plate to change between an upward swing position and a downward swing position. In the upward swing position, the bottom of the limiting plate is higher than the bottom of the guide rails, and in the downward swing position, the bottom of the limiting plate corresponds to the bottom of the guide rails. At the bottom, the drive assembly includes a drive motor, a linkage module connected between the drive motor and the drive section and capable of being driven by the drive motor to swing the drive section in the vertical direction, and a controller electrically connected to and used to control the rotation of the drive motor. The imaging unit includes a camera electrically connected to the controller and capable of capturing a streaming video of the fruits and vegetables. When the load-bearing device is driven by the conveyor belt and passes sequentially through the guide frames along the moving direction, the extension extends from the guide frame located on the upstream side. After the track moves below the limiting plate, it moves further to below the guide rail of the downstream guide frame. Upon receiving the streaming video, the controller extracts an image to be processed from the streaming video and processes it using an artificial intelligence model to determine if the fruit or vegetable is damaged. Once the damage is determined, and the extension of the load-bearing device supporting the fruit or vegetable is located between the guide rails, the controller controls the drive motor to operate, thereby causing the drive section to move downwards in the vertical direction.

8. The fruit and vegetable sorting machine as described in claim 7, wherein, The drive motor has a rotatable drive shaft, the linkage module has a sleeve connected to the drive shaft, and a connector pivotally connected to the sleeve. The connector has an elongated hole through which the drive section can move.

9. The fruit and vegetable sorting machine as described in claim 7, wherein, The drive motor has a rotatable drive shaft, and the linkage module has a sleeve connected to the drive shaft, a first link pivotally connected to the sleeve, a second link pivotally connected to the drive section, and a third link pivotally connected between the first link and the second link.

10. The fruit and vegetable sorting machine as described in claim 7, wherein, The drive motor has a rotatable drive shaft, and the linkage module has a sleeve connected to the drive shaft, an eccentric rod pivotally connected to the drive section, and a spring connected to the eccentric rod and eccentrically connected to the sleeve.

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