CN203316406U - Automatic jujube nondestructive grading machine based on machine vision technology - Google Patents
Automatic jujube nondestructive grading machine based on machine vision technology Download PDFInfo
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- CN203316406U CN203316406U CN2013203045236U CN201320304523U CN203316406U CN 203316406 U CN203316406 U CN 203316406U CN 2013203045236 U CN2013203045236 U CN 2013203045236U CN 201320304523 U CN201320304523 U CN 201320304523U CN 203316406 U CN203316406 U CN 203316406U
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Abstract
The utility model relates to automatic online nondestructive testing and grading equipment for jujubes and particularly relates to an automatic jujube nondestructive grading machine based on a machine vision technology. The automatic jujube nondestructive grading machine comprises a machine vision system and is characterized by comprising a roller wheel conveying chain board device (2), wherein a charging hopper (1) is mounted on the feeding end of the roller wheel conveying chain board device (2); an illumination and CCD (Charge Coupled Device) camera unit (5) of the machine vision system is mounted above the roller wheel conveying chain board device (2); a plurality of grading conveying channels (8) are mounted in one side of the roller wheel conveying chain board device (2) behind the illumination and CCD camera unit (5); an executing mechanism is mounted on the other side of the roller wheel conveying chain board device (2); the executing mechanism is connected with an industrial control computer (4) of the machine vision system. The utility model provides the automatic jujube nondestructive grading machine based on the machine vision technology, which can be used for carrying out identification and grading on comprehensive indexes including sizes, shapes and colors of the jujubes.
Description
Technical field
The utility model relates to red date automatic online Non-Destructive Testing classifying equipoment, and especially a kind of red date based on machine vision technique can't harm automatic grader.
Background technology
The fruit of red date, jujube is really the prolate ellipsoid body, the crisp easy damaged of the thin matter of skin, really preserve, pack and realize the high quality and favourable price sale for the ease of jujube, it must carry out the Non-Destructive Testing classification after plucking, and rejects damage, pathology fruit, and by size, the indexs such as shape, color carry out rapid classification.Current fruit is adopted rear classification and is adopted mechanical type more, and the classifying equipoment spininess of small part based on machine vision technique be to large-scale fruit (apple, oranges and tangerines etc. circular fruit) exploitation, is not suitable for the jujube fruit of individual less, shape elliposoidal.Therefore realize that jujube fruit quick nondestructive detects classification and must break through a plurality of key technical problems: at first should automatically be divided into monomer one by one to jujube fruit in heaps, and consistent being arranged in of its direction arranged on conveyer belt, send into image acquisition region; Video camera is arranged on the conveyer belt top, should obtain as far as possible jujube fruit multi-surface information in course of conveying, so that jujube fruit matter is accurately judged, should guarantee that video camera accurately triggers and takes pictures when jujube really is delivered to correct position simultaneously; The information such as the outside integrated quality of jujube fruit and internal sugar acidity, after the industrial computer software analysis is processed, produce the classification order and control executing agency corresponding jujube really is delivered to respective channel, the classification mechanism action should be accurately, quick, also can carry out the multichannel classification.Will realize that whole classification process automation completes, the palpus design sensitivity is higher, the Multi-sensor control system that antijamming capability is strong simultaneously.
The utility model content
The purpose of this utility model is to provide the harmless automatic grader of a kind of red date based on machine vision technique, can under undamaged condition, realize high speed, the automatic classification to red date.
A kind of red date based on machine vision technique can't harm automatic grader, comprise NI Vision Builder for Automated Inspection, its special feature is: comprise running roller transporting chain plate device, feed end at this running roller transporting chain plate device is equipped with elevating hopper, the illumination of described NI Vision Builder for Automated Inspection and CCD camera unit are arranged on above this running roller transporting chain plate device, thereby can take the red jujube image on running roller transporting chain plate device; Running roller transporting chain plate device one side at this illumination and CCD camera unit rear is equipped with some classification transfer passages, and at this running roller transporting chain plate device opposite side, executing agency is installed, this executing agency is connected with the Industrial Control Computer of described NI Vision Builder for Automated Inspection, thereby according to the image of taking, red date is sent into to corresponding classification transfer passage.
Wherein the Industrial Control Computer in NI Vision Builder for Automated Inspection is connected with PLC, and this PLC is connected with executing agency by control relay circuit.
Wherein executing agency comprises high-pressure air source device and the air nozzle by pipeline connection.
On its middle roll transporting chain plate device, one section of red date operation to be fractionated is comprised of an oblique ascent stage and a horizontal segment, and described illumination and CCD camera unit are arranged on this horizontal segment top.
Its middle roll transporting chain plate device comprises chain-drive mechanism, this chain-drive mechanism is provided with two parallel and be synchronized with the movement driving-chains, between these two driving-chains, some roll shafts are installed, the two ends of each roll shaft all are arranged on two driving-chains by bearing, thereby make each roll shaft all can be around its axle rotation, be equipped with in addition the groove of a ring-type in the centre of each roll shaft, thereby form one and the corresponding pit of single red date size between adjacent two roll shafts.
Wherein the sprocket wheel of chain-drive mechanism is connected with motor-driven by transmission mechanism, decelerator successively.
Wherein at least one sprocket wheel side of chain-drive mechanism, approach switch or optoelectronic switch are installed, this approach switch or optoelectronic switch are connected with the Industrial Control Computer in NI Vision Builder for Automated Inspection.
Wherein below the oblique ascent stage of running roller transporting chain plate device, be installed with a flexible rubbing plate, the surface of this flexibility rubbing plate contacts with the roll shaft that this oblique ascent stage is located, thereby can be with the action roller shaft rotation; And also being installed with a flexible rubbing plate below the horizontal segment of running roller transporting chain plate device, the surface of this flexibility rubbing plate contacts with the roll shaft at this horizontal segment place, thereby can be with the action roller shaft rotation.
Wherein flexible rubbing plate comprises base plate, at this backplate surface, is coated with the spongy layer that 2-3cm is thick.
Wherein the discharge end at the classification transfer passage also is equipped with fruit automatic weighting packaging system, this fruit automatic weighting packaging system comprises feed unit, exit at this feed unit is equipped with hopper, below this hopper, LOAD CELLS is installed, and in this feed hopper bottom, movable floor is installed, also be provided with the packing case conveyer belt below this movable floor, place the packing case place on this packing case conveyer belt position-sensing switch is installed; Also comprise control module, this control module is electrically connected to controller and the position-sensing switch of the controller of aforementioned feed unit, LOAD CELLS, packing case conveyer belt respectively; Wherein feed unit is comprised of the conveyer belt of three different amount of feeding, and the controller of each conveyer belt all is electrically connected to described control module, and fruit of the each feeding of conveyer belt of amount of feeding minimum wherein.
Wherein movable floor is hinged on hopper, and thereby this movable floor also is connected and can makes base plate rotate to open or close hopper with the piston rod of switching mechanism, this switching mechanism adopts cylinder or oil cylinder, and the controller of this switching mechanism is electrically connected to described control module.
Wherein all conveyer belts all adopt the operation of going up a slope to arrange, and and flexible baffle is installed on conveyer belt, thereby prevent the fruit landing, post flexible material with the fruit contact position on the hopper inner surface; On the packing case conveyer belt, baffle plate is installed, is synchronized with the movement together thereby can drive packing case; Be evenly equipped with 3 LOAD CELLSs below hopper, and these 3 LOAD CELLSs lay respectively at both sides and the centre position of hopper; Wherein control module adopts single-chip microcomputer or PLC, in the junction of LOAD CELLS and hopper, shock absorbing rubber is installed in addition.
The utility model provides a kind of red date based on machine vision technique to can't harm automatic grader, damage, disease in red date in heaps really can be rejected, and, according to the market demand, jujube fruit size, shape, color overall target be identified to classification.Jujube fruit matter information is completed by Machine Vision Detection, and IMAQ should comprise the feature on a plurality of surfaces of jujube fruit, and the quality identification analysis is completed by corresponding industrial computer software, and by industrial computer programme-control executing agency rapid classification.The classification process automaticity is high, and each link is connected closely, and Grading accuracy rate is high and to the red date not damaged.The utility model is a kind of jujube fruit quick nondestructive automation classification equipment based on mechanical vision inspection technology, can realize that red date automation, quick nondestructive, the many indexs of inside and outside quality detect classification.
The accompanying drawing explanation
Accompanying drawing 1 is structural representation of the present utility model;
The partial structurtes schematic diagram that accompanying drawing 2 is the utility model middle roll transporting chain plate device (2);
Accompanying drawing 3 is logic theory block diagram of the present utility model;
The structural representation that accompanying drawing 4 is fruit automatic weighting packaging system in the utility model;
The top view that accompanying drawing 5 is fruit automatic weighting packaging system in the utility model;
The main control flow chart that accompanying drawing 6 is fruit automatic weighting packaging system control module in the utility model.
The specific embodiment
As shown in Figure 1, 2, 3, the utility model is the harmless automatic grader of a kind of red date based on machine vision technique, comprise NI Vision Builder for Automated Inspection, also comprise running roller transporting chain plate device 2, feed end at this running roller transporting chain plate device 2 is equipped with elevating hopper 1, the illumination of NI Vision Builder for Automated Inspection and CCD camera unit 5 are arranged on above this running roller transporting chain plate device 2, thereby can take the red jujube image on running roller transporting chain plate device 2; Running roller transporting chain plate device 2 one sides at this illumination and CCD camera unit 5 rears are equipped with some classification transfer passages 8, and at these running roller transporting chain plate device 2 opposite sides, executing agency is installed, this executing agency is connected with the Industrial Control Computer 4 of described NI Vision Builder for Automated Inspection, thereby according to the image of taking, red date is blown into to corresponding classification transfer passage 8.
Wherein NI Vision Builder for Automated Inspection comprises that illumination and CCD camera unit 5, video frequency collection card, Industrial Control Computer 4(are industrial computer), Industrial Control Computer 4 wherein is connected with PLC, and this PLC is connected with executing agency by control relay circuit.Executing agency adopts pneumatic actuator, comprises high-pressure air source device 6 and air nozzle 7 by pipeline connection, and the controller of this high-pressure air source device 6 is connected with control relay circuit.
On running roller transporting chain plate device 2, one section of red date operation to be fractionated is comprised of an oblique ascent stage and a horizontal segment, described illumination and CCD camera unit 5 are arranged on this horizontal segment top, and air nozzle 7 and classification transfer passage 8 are arranged on respectively the both sides of this horizontal segment.Be installed with in addition a flexible rubbing plate 3 below the oblique ascent stage of running roller transporting chain plate device 2, its base plate is rigid, rigid surface is fixed with the spongy layer of 2-3cm, and the surface of this flexibility rubbing plate 3 contacts with the roll shaft 11 that this oblique ascent stage is located, thereby can be with action roller shaft 11 rotations; And also being installed with a flexible rubbing plate 3 below the level of running roller transporting chain plate device 2, the surface of this flexibility rubbing plate 3 contacts with the roll shaft 11 that this oblique ascent stage is located, thereby can be with action roller shaft 11 rotations.
Its middle roll transporting chain plate device 2 comprises chain-drive mechanism, this chain-drive mechanism is provided with two parallel and be synchronized with the movement driving-chains 12, between these two driving-chains 12, some roll shafts 11 are installed, the two ends of each roll shaft 11 all are arranged on two driving-chains 12 by bearing, thereby make each roll shaft 11 all can be around its axle rotation, be equipped with in addition the groove of a ring-type in the centre of each roll shaft 11, thereby form one and the corresponding pit of single red date size between adjacent two roll shafts 11, pit is roughly ellipse, long axis direction 3-4cm, maximum spacing 1cm left and right.
The sprocket wheel of chain-drive mechanism is in transmission connection by transmission mechanism, decelerator and motor 10 successively.On at least one sprocket wheel side of chain-drive mechanism, approach switch or optoelectronic switch 9 are installed in addition, this approach switch or optoelectronic switch 9 are connected with the Industrial Control Computer 4 in NI Vision Builder for Automated Inspection.
Operation principle of the present utility model is:
The bright jujube of plucking really is deposited in elevating hopper 1, roll shaft 11 is fixed on carrier chain and forms transporting chain plate, the jujube fruit makes progress with running roller transporting chain plate device 2 in lifting process, bulk deposition is on transporting chain plate, roll shaft 11 self has certain radian, form a pit between any two roll shafts 11, the pit size only can make a jujube fruit stable position; There is certain proper angle the oblique ascent stage of transporting chain plate, and the about 30-40 ° of angle can make the jujube fruit of stable position transmit with transporting chain plate, the jujube fruit landing downwards of astable position.
Below oblique ascent stage of running roller transporting chain plate device 2 and horizontal segment, flexible rubbing plate 3 is housed, produce friction with running roller, make its constantly rotation in running, running roller is rubbing jujube fruit again, part jujube fruit is stable at gradually potential energy extreme lower position between carrier bar two running rollers in rotary course, because only holding a jujube fruit stable position between two running roller pit arcs, the jujube fruit of other less stable tumbles downwards along the transporting chain plate inclined-plane, again finds settling position.The jujube fruit arragement direction of stable position is consistent, enter image acquisition areas with transporting chain plate, image acquisition areas running roller below is equipped with flexible rubbing plate 3 equally, when the rubbing roll shaft rotates, running roller frictional force makes the constantly rotation in course of conveying of jujube fruit, makes the CCD camera can repeatedly take the different surfaces of same jujube fruit, and image information is sent into industrial computer, after software analysis, can obtain the information such as surface size, shape, damage of jujube fruit.Finally utilize information fusion technology to obtain the outside integrated quality grade of jujube fruit, give the pneumatic type graded executing mechanism.
Whether have damage as example classified, specifically with damage≤1 place and damaged area≤2mm if for example take separately jujube fruit surface
2For standard, surpass the substandard product that is decided to be of this standard, judgement should enter substandard product classification passage, otherwise judges the classification passage that enters qualified products.
When jujube really is transported to the respective level passage, air nozzle 7 really blows into corresponding classification transfer passage 8 to jujube and completes classification.
It is chain that running roller transporting chain plate device 2 adopts driving-chain 12() drive, induction sprocket wheel and sensor are installed on sprocket shaft, the movable information of driving-chain 12 is sent to industrial computer, driving-chain 12 is often passed by the triggering of a chain link sensor counting once, triggering signal can be controlled the CCD camera and carry out IMAQ, and count results produces the classification action for controlling the pneumatic type graded executing mechanism at passage place, respective level position.Owing between illumination and CCD camera unit 5 and air nozzle 7, certain distance being arranged, therefore industrial computer show that the image processing result is temporary in the industrial computer buffer memory, when red date is transported to respective level classification position, sensor has been counted, and release control signal completes classification and performs an action.
As shown in Figure 4,5, 6, the utility model also comprises fruit automatic weighting packaging system, comprises feed unit 1, and this feed unit 1 is comprised of the conveyer belt of three different amount of feeding, and the controller of each conveyer belt all is electrically connected to control module.All conveyer belts all adopt the operation of going up a slope to arrange, and and flexible baffle is installed on conveyer belt, thereby prevent the fruit landing, and fruit of the each feeding of the conveyer belt of amount of feeding minimum.
In the exit of this feed unit 1, hopper 3 is installed, below this hopper 3, LOAD CELLS 2 is installed, specifically below hopper 3, be evenly equipped with 3 LOAD CELLSs 2, an end of these 3 LOAD CELLSs 2 is fixed and the other end supports hopper 3 jointly, and these 3 LOAD CELLSs 2 lay respectively at the both sides of hopper 3 and centre totally 3 positions.
And in these hopper 3 bottoms, movable floor 5 is installed, specifically this movable floor 5 is hinged on hopper 3, thereby thereby and this movable floor 5 also with the piston rod of switching mechanism 4, be connected and can make base plate rotation open or close hopper 3, this switching mechanism 4 adopts cylinder or oil cylinder, and the controller of this switching mechanism 4 is electrically connected to described control module.
Also be provided with packing case conveyer belt 8 below this movable floor 5, place packing case 6 places on this packing case conveyer belt 8 position-sensing switch 7 is installed; Also comprise control module, this control module is electrically connected to the controller of controller, LOAD CELLS 2, position-sensing switch 7 and the packing case conveyer belt 8 of aforementioned feed unit 1 respectively.Control module adopts the realizations such as single-chip microcomputer or PLC, in LOAD CELLS 2 and the junction of hopper 3, shock absorbing rubber is installed in addition.
Wherein on hopper 3 inner surfaces, with the fruit contact position, post flexible material, as soft silica gel, high-density sponge etc.On packing case conveyer belt 8, baffle plate is installed, is synchronized with the movement together thereby can drive packing case 6.
In the utility model, three conveyer belts load fruit amount difference, and a set of transmission system respectively arranged, its operation is controlled separately by each self-controller, as shown in Figure 2, the 3rd (third channel) conveying capacity maximum from top to bottom, article one, (first passage) conveying capacity is taken second place, middle second (second channel) conveying capacity minimum, and each amount of feeding is only 1 fruit.In addition three LOAD CELLSs 2 are arranged on respectively to three of hopper 3 not on ipsilateral, LOAD CELLS 2 load are carried out to reasonable distribution, guarantee the stability that hopper 3 is supported, consider the impact of mechanism action to LOAD CELLS 2 simultaneously, in LOAD CELLS 2 and the junction of hopper 3, adopt rubber to do the damping processing.
Three LOAD CELLSs 2 are sent signal to the fruit from different conveyer belts according to actual needs respectively, to guarantee the action of follow-up executing agency.After fruit enters hopper 3, by the action of cylinder, make the movable floor 5 of hopper 3 belows open discharging.In order to prevent that fruit from damaging when falling into hopper 3, designed the padded coaming of environmental-protecting material at hopper 3 inner surface walls, thereby guaranteed preferably the intact of fruit.Packing case conveyer belt 8 adopts chain to carry, and on carrier bar, every a segment distance, one baffles is installed, and can promote packing case 6 and carrier chain synchronous operation.
In the utility model, the operation principle of fruit automatic weighting packaging system is:
Article three, the feed end of conveyer belt all is communicated with the discharge end of same classification transfer passage 8, article three, conveyer belt is all sent into fruit the hopper 3 supported by three LOAD CELLSs 2, open for rotating hopper 3 bottoms, the controlled activity base plate 5 closed, 5 times outlets of movable floor are over against packing case 6, when hopper 3 weight reach rated capacity, (hopper 3 is supported by three weight sensors three LOAD CELLS 2 triggering signals jointly, therefore be only the weight of whole hopper 3 after three sensor values additions), send instruction by control module and make movable floor 5 upsets, fruit falls to entering in packing case 6.
Take red date as example, according to the oxed weight requirement, when the interior red date weight of hopper 3 reach specified weigh 90% before, three conveyer belts are worked simultaneously, when reach specified weigh 90% the time, a conveyer belt of maximum quits work, surpass specified weighing after 99%, a conveyer belt of medium conveying capacity also quits work, only the conveying capacity minimum a conveyer belt job, its each amount of feeding is 1 red date, therefore can control the oxed weight error in the weight of 1 red date.
Wherein the operation of packing case 6 is jointly controlled with position-sensing switch 7 by LOAD CELLS 2 setting value, and when empty packing case 6 is delivered to movable floor 5 position over against hopper 3, position-sensing switch 7 disconnects, and packing case conveyer belt 8 is out of service; Start timing when hopper 3 weight reach setting value, the fruit in timing course in hopper 3 falls into packing case 6, and the vanning time is 5s, and timing completes, and packing case conveyer belt 8 drives the packing case 6 of filling fruit and again brings into operation.
Claims (10)
1. the red date based on machine vision technique can't harm automatic grader, comprise NI Vision Builder for Automated Inspection, it is characterized in that: comprise running roller transporting chain plate device (2), feed end at this running roller transporting chain plate device (2) is equipped with elevating hopper (1), the illumination of described NI Vision Builder for Automated Inspection and CCD camera unit (5) are arranged in this running roller transporting chain plate device (2) top, thereby can take the red jujube image on running roller transporting chain plate device (2); Running roller transporting chain plate device (2) one sides at this illumination and CCD camera unit (5) rear are equipped with some classification transfer passages (8), and at this running roller transporting chain plate device (2) opposite side, executing agency is installed, this executing agency is connected with the Industrial Control Computer (4) of described NI Vision Builder for Automated Inspection, thereby according to the image of taking, red date is sent into to corresponding classification transfer passage (8).
2. the red date based on machine vision technique as claimed in claim 1 can't harm automatic grader: wherein the Industrial Control Computer in NI Vision Builder for Automated Inspection (4) is connected with PLC, and this PLC is connected with executing agency by control relay circuit.
3. the red date based on machine vision technique as claimed in claim 1 can't harm automatic grader, and it is characterized in that: wherein executing agency comprises high-pressure air source device (6) and the air nozzle (7) by pipeline connection.
4. the red date based on machine vision technique as claimed in claim 1 can't harm automatic grader, it is characterized in that: one section of the upper red date operation to be fractionated of its middle roll transporting chain plate device (2) is comprised of an oblique ascent stage and a horizontal segment, and described illumination and CCD camera unit (5) are arranged on this horizontal segment top.
5. the red date based on machine vision technique as described as any one in claim 1 to 4 can't harm automatic grader, it is characterized in that: its middle roll transporting chain plate device (2) comprises chain-drive mechanism, this chain-drive mechanism is provided with two parallel and be synchronized with the movement driving-chains (12), between these two driving-chains (12), some roll shafts (11) are installed, the two ends of each roll shaft (11) all are arranged on two driving-chains (12) by bearing, thereby make each roll shaft (11) all can be around its axle rotation, be equipped with in addition the groove of a ring-type in the centre of each roll shaft (11), thereby form one and the corresponding pit of single red date size between adjacent two roll shafts (11).
6. the red date based on machine vision technique as claimed in claim 5 can't harm automatic grader, and it is characterized in that: wherein the sprocket wheel of chain-drive mechanism is in transmission connection by transmission mechanism, decelerator and motor (10) successively; On at least one sprocket wheel side of chain-drive mechanism, approach switch or optoelectronic switch (9) are installed in addition, this approach switch or optoelectronic switch (9) are connected with the Industrial Control Computer (4) in NI Vision Builder for Automated Inspection.
7. the red date based on machine vision technique as claimed in claim 5 can't harm automatic grader, it is characterized in that: wherein in the oblique ascent stage below of running roller transporting chain plate device (2), be installed with a flexible rubbing plate, the surface of this flexibility rubbing plate (3) contacts with the roll shaft (11) that this oblique ascent stage is located, thereby can be with action roller shaft (11) rotation; And also being installed with a flexible rubbing plate (3) in the horizontal segment below of running roller transporting chain plate device (2), the surface of this flexibility rubbing plate (3) contacts with the roll shaft (11) at this horizontal segment place, thereby can be with action roller shaft (11) rotation; This flexibility rubbing plate (3) comprises base plate, at this backplate surface, is coated with the spongy layer that 2-3cm is thick.
8. the red date based on machine vision technique as described as any one in claim 1 to 4 can't harm automatic grader, it is characterized in that: wherein the discharge end at classification transfer passage (8) also is equipped with fruit automatic weighting packaging system, this fruit automatic weighting packaging system comprises feed unit (101), in the exit of this feed unit (101), hopper (103) is installed, in this hopper (103) below, LOAD CELLS (102) is installed, and in this hopper (103) bottom, movable floor (105) is installed, also be provided with packing case conveyer belt (108) in this movable floor (105) below, locate to be equipped with position-sensing switch (107) at the upper packing case (106) of placing of this packing case conveyer belt (108),
Also comprise control module, this control module is electrically connected to controller and the position-sensing switch (107) of the controller of aforementioned feed unit (101), LOAD CELLS (102), packing case conveyer belt (108) respectively;
Wherein feed unit (101) is comprised of the conveyer belt of three different amount of feeding, and the controller of each conveyer belt all is electrically connected to described control module, and fruit of the each feeding of conveyer belt of amount of feeding minimum wherein.
9. the red date based on machine vision technique as claimed in claim 8 can't harm automatic grader, it is characterized in that: wherein movable floor (105) is hinged on hopper (103), and this movable floor (105) also with switching mechanism (104) thus piston rod be connected and can make base plate rotate to open or close hopper (103), this switching mechanism (104) adopts cylinder or oil cylinder, and the controller of this switching mechanism (104) is electrically connected to described control module.
10. the red date based on machine vision technique as claimed in claim 8 can't harm automatic grader, it is characterized in that: wherein all conveyer belts all adopt the operation of going up a slope to arrange, and and flexible baffle is installed on conveyer belt, thereby prevent the fruit landing, on hopper (103) inner surface, with the fruit contact position, post flexible material; On packing case conveyer belt (108), baffle plate is installed, is synchronized with the movement together thereby can drive packing case (106); Be evenly equipped with 3 LOAD CELLSs (102) in hopper (103) below, and these 3 LOAD CELLSs (102) lay respectively at both sides and the centre position of hopper (103); Wherein control module adopts single-chip microcomputer or PLC, in LOAD CELLS (102) and the junction of hopper (103), shock absorbing rubber is installed in addition.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203045236U CN203316406U (en) | 2013-05-30 | 2013-05-30 | Automatic jujube nondestructive grading machine based on machine vision technology |
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| CN2013203045236U CN203316406U (en) | 2013-05-30 | 2013-05-30 | Automatic jujube nondestructive grading machine based on machine vision technology |
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Cited By (9)
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| CN103240228A (en) * | 2013-05-30 | 2013-08-14 | 宁夏大学 | No-wear automatic red date grader based on machine vision technology |
| CN103713597A (en) * | 2013-12-23 | 2014-04-09 | 大连佳林设备制造有限公司 | Electric control system for weighing and rejecting machine |
| CN104001676A (en) * | 2014-05-04 | 2014-08-27 | 广东都市丽人实业有限公司 | Automatic sorting method and production line for large-scale multi-variety mixed-match underwear |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103240228B (en) * | 2013-05-30 | 2015-12-09 | 宁夏大学 | Red date based on machine vision technique can't harm automatic grader |
| CN103240228A (en) * | 2013-05-30 | 2013-08-14 | 宁夏大学 | No-wear automatic red date grader based on machine vision technology |
| CN103713597A (en) * | 2013-12-23 | 2014-04-09 | 大连佳林设备制造有限公司 | Electric control system for weighing and rejecting machine |
| CN104001676A (en) * | 2014-05-04 | 2014-08-27 | 广东都市丽人实业有限公司 | Automatic sorting method and production line for large-scale multi-variety mixed-match underwear |
| CN104390582B (en) * | 2014-11-13 | 2017-02-15 | 柳州科路测量仪器有限责任公司 | Full-automatic railway wagon bearing bore diameter measuring machine |
| CN104390582A (en) * | 2014-11-13 | 2015-03-04 | 柳州科路测量仪器有限责任公司 | Full-automatic railway wagon bearing bore diameter measuring machine |
| CN104567677A (en) * | 2015-01-05 | 2015-04-29 | 江苏大学 | Multi-index high-speed dynamic detection and material dividing method and device of annular sliding bearing |
| CN104567677B (en) * | 2015-01-05 | 2017-04-05 | 江苏大学 | Annular sliding bearing multi objective high speed dynamic detection and distribution method and device |
| CN106697380A (en) * | 2017-03-10 | 2017-05-24 | 胡珂 | Automatic apple boxing machine capable of detecting apple integrity and maturity |
| CN106697380B (en) * | 2017-03-10 | 2019-08-30 | 余志浩 | A kind of apple automatic boxing machine can detecte apple integrity degree and maturity |
| CN108704867A (en) * | 2018-07-11 | 2018-10-26 | 四川农业大学 | A kind of fruit sorter |
| CN108704867B (en) * | 2018-07-11 | 2023-12-12 | 四川农业大学 | Fruit grading plant |
| CN109570070A (en) * | 2018-11-12 | 2019-04-05 | 浙江科技学院 | A kind of level meter bubble magnitude classification system and method |
| CN110000101A (en) * | 2019-04-11 | 2019-07-12 | 安徽唯嵩光电科技有限公司 | A kind of jujube classification drum structure |
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