CN210701216U - Tomato grading system - Google Patents

Tomato grading system Download PDF

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Publication number
CN210701216U
CN210701216U CN201921727766.4U CN201921727766U CN210701216U CN 210701216 U CN210701216 U CN 210701216U CN 201921727766 U CN201921727766 U CN 201921727766U CN 210701216 U CN210701216 U CN 210701216U
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CN
China
Prior art keywords
tomato
box body
box
grading system
letter sorting
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Expired - Fee Related
Application number
CN201921727766.4U
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Chinese (zh)
Inventor
张硕
李治文
乔欣
史颖刚
刘利
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Northwest A&F University
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Northwest A&F University
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Priority to CN201921727766.4U priority Critical patent/CN210701216U/en
Application granted granted Critical
Publication of CN210701216U publication Critical patent/CN210701216U/en
Expired - Fee Related legal-status Critical Current
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  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)

Abstract

The utility model relates to a tomato grading system, a serial communication port, deposit case, tomato transport mechanism, conveyer belt, master control case, machine vision grading plant, letter sorting mechanism and a plurality of letter sorting collecting box including the tomato always, tomato transport mechanism sets up the tomato always deposit the case with between the conveyer belt, machine vision grading plant with letter sorting mechanism sets up the conveyer belt top, a plurality of letter sorting collecting box sets up letter sorting mechanism both sides. The utility model discloses a to the integrated operation of transportation, classification, letter sorting of tomato, have the characteristics of high efficiency, objective, high accuracy that manual mode did not possess.

Description

Tomato grading system
Technical Field
The utility model belongs to the technical field of the tomato quality detects and the tomato is hierarchical, concretely relates to tomato grading system.
Background
China is a large country for producing and selling fruits and vegetables, the selling prices of fruits and vegetables with different qualities in the market often differ by several times, and the hierarchical management and the sale of the fruits and vegetables are effective means for improving the added value of the fruits and vegetables and are inevitable trends. And as the machine vision technology becomes mature, the machine vision is widely applied to the quality detection research of agricultural products. Therefore, the method comprises the following steps: the fruit and vegetable sorting system based on machine vision detection is indispensable and has high objective and automation degree.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a tomato grading system aims at objectively, realizes the hierarchical operation to different grade tomatoes automatically.
In order to achieve the above purpose, the utility model adopts the following scheme:
the utility model provides a tomato grading system, includes that the tomato is always deposited case, tomato transport mechanism, conveyer belt, total control case, machine vision grading plant, letter sorting mechanism and a plurality of letter sorting collecting box, tomato transport mechanism sets up the tomato is always deposited the case with between the conveyer belt, machine vision grading plant with letter sorting mechanism sets up the conveyer belt top, a plurality of letter sorting collecting box sets up letter sorting mechanism both sides.
Further, the tomato general storage box comprises a box body I and a vibration module arranged in the box body I; the export of box I is the tubaeform export of contracting gradually, and the bottom plate in export is the inclined plane structure, be provided with photoelectric sensor along the below under the export of export.
Furthermore, the top of box I is open, and the lower part still is provided with the landing leg.
Further, the vibration module adopts a vibration motor.
Further, tomato transport mechanism includes the base and sets up runner, shaft coupling and step motor on the base, the baffle that is provided with respectively at the both ends of runner shaft, the runner with the baffle forms four transportation subareas.
Further, the master control box comprises a box body II, and a control all-in-one machine and an STM32F407 development board which are arranged in the box body II, wherein the control all-in-one machine is connected with the STM32F407 development board; a side plate of the box body II is provided with a plurality of adapter ports; the control all-in-one machine is provided with a display screen.
Further, the machine vision grading device comprises a lightproof box body III, a left monocular vision camera, an upper monocular vision camera and a right monocular vision camera are respectively arranged on the inner wall of the left side, the inner wall of the top part and the inner wall of the right side of the box body III, and an LED lamp is further arranged on the inner wall of the top part of the box body III; the front side wall lower part and the rear side wall lower part of the box body III are respectively provided with a tomato inlet and a tomato outlet, and the tomato inlet and the tomato outlet are provided with shielding soft curtains.
Further, the sorting mechanism comprises two Delta sorting robots, each Delta sorting robot comprises three mechanical arms, a static platform and a vacuum chuck, each mechanical arm comprises a driving arm, a power device and a driven arm, one end of each driving arm of the three mechanical arms is uniformly distributed on the static platform in the circumferential direction, and one end of each driven arm of the three mechanical arms is connected with the vacuum chuck; the power device is fixed on the static platform and comprises a stepping motor and a planetary reducer.
Furthermore, detection modules are respectively arranged at the inlets of the working spaces of the Delta sorting robots of the sorting mechanism.
Furthermore, the detection module adopts a photoelectric sensor, and the photoelectric sensor is connected with the master control box.
This tomato grading system has following beneficial effect:
(1) the utility model discloses, adopted runner formula tomato transport mechanism and conveyer belt, guaranteed the homogeneity of distance between the tomato, be unlikely to too big or undersize, reduced the hourglass of tomato snatch the rate and improve the efficiency of tomato letter sorting.
(2) The utility model adopts machine vision as a means for measuring the tomato quality, avoids the subjective factor of manual grading, and has the advantages of high speed, low cost and easy popularization; the double-Delta sorting robot is used as a sorting mechanism, and the tail end executing mechanism is an innovative pneumatic vacuum chuck, so that the tomato grabbing and sorting efficiency is improved, and the damage rate to the tomatoes is reduced.
(3) The utility model discloses tomato grading system adopts the unified coordinated control of total accuse case, and degree of automation is high, can realize snatching fast the high-efficient of tomato and tomato grading mechanical system's long-time stable work, improves the letter sorting efficiency of tomato.
(4) The utility model discloses a to the integrated operation of transportation, classification, letter sorting of tomato, have the characteristics of high efficiency, objective, high accuracy that manual mode did not possess.
Drawings
FIG. 1: the utility model discloses a structural schematic diagram of a tomato grading system in an embodiment;
FIG. 2: the structure schematic diagram of the tomato general storage box in the embodiment of the utility model;
FIG. 3: the structure schematic diagram of the tomato transferring mechanism in the embodiment of the utility model;
FIG. 4: the structure schematic diagram of the master control box in the embodiment of the utility model;
FIG. 5: the structure schematic diagram of the machine vision grading device in the embodiment of the utility model;
FIG. 6: the utility model discloses sorting mechanism's Delta actuating mechanism's schematic structure among the embodiment.
Description of reference numerals:
1-tomato general storage box; 11-box I; 12-an outlet; 13-outlet lower edge; 14-a photosensor; 2-a tomato transfer mechanism; 21-a rotating wheel; 22-a coupling; 23-a stepper motor; 24-a base; 3, a conveyor belt; 4, a master control box; 41-box II; 42, controlling the integrated machine; 43-side plate; 5-machine vision grading device; 51-box III; 52-left monocular vision camera; 53-upper monocular vision camera; 54-LED lamp; 55-right monocular vision camera; 6, a sorting mechanism; 61-main driving arm; 62-a power plant; 63-a static platform; 64-a follower arm; 65-vacuum chuck; 7, sorting and collecting the box; 8, a detection module.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 to 6 show a specific embodiment of the present invention for a tomato grading system. FIG. 1 is a schematic diagram of the construction of a tomato grading system in this embodiment; fig. 2 is a schematic structural diagram of a tomato general storage box in the embodiment; fig. 3 is a schematic structural view of a tomato transport mechanism in this embodiment; FIG. 4 is a schematic structural view of a console box in the present embodiment; FIG. 5 is a schematic structural diagram of a machine vision grading device in the present embodiment; fig. 6 is a schematic diagram of the Delta actuator of the sorting mechanism in the present embodiment.
As shown in fig. 1, the tomato classifying system in the present embodiment includes a tomato general storage box 1, a tomato transport mechanism 2, a conveyor belt 3, a general control box 4, a machine vision classifying device 5, a sorting mechanism 6 and a plurality of sorting collecting boxes 7, the tomato transport mechanism 2 is disposed between the tomato general storage box 1 and the conveyor belt 3, the machine vision classifying device 5 and the sorting mechanism 6 are disposed above the conveyor belt 3, and the sorting collecting boxes 7 are disposed on two sides of the sorting mechanism 6.
Preferably, the tomato general storage box 1 comprises a box body I11 and a vibration module arranged in the box body I11, and the vibration module is fixed in the center of the bottom of the box body of the placement box; an outlet 12 of the box body I11 is a gradually contracted trumpet-shaped outlet, a bottom plate at the outlet 12 is of an inclined plane structure, and a photoelectric sensor 14 is arranged below an outlet lower edge 13 of the outlet 12, as shown in figure 2. In this embodiment, the vibration module is not shown, and the vibration module employs a vibration motor. During the during operation, during the tomato poured into box I11, photoelectric sensor 14 detected that the runner 21 short leaf of tomato transport mechanism 2 is about to rotate to and export 12 contact, vibrations of vibrations motor, the tomato slides to tomato transport mechanism 2 by export 12.
Preferably, the top of the box body I11 is open to facilitate pouring tomatoes, and the lower part of the box body is also provided with supporting legs to facilitate the height of the tomato main storage box 1 matched with the tomato transferring mechanism 2 and the conveyor belt 3, as shown in fig. 2.
Preferably, the tomato transferring mechanism 2 comprises a base 24, and a rotating wheel 21, a coupling 22 and a stepping motor 23 which are arranged on the base 24, wherein baffles are respectively arranged at two ends of a wheel shaft of the rotating wheel 21, and the rotating wheel 21 and the baffles form four transferring subareas, as shown in fig. 3. In this embodiment, the runner 21 is made of plastic.
Preferably, the master control box 4 comprises a box body II 41, and a control integrated machine 42 and an STM32F407 development board which are arranged in the box body II 41, wherein the control integrated machine 42 is connected with the STM32F407 development board; a side plate 43 of the box body II 41 is provided with various switching ports so as to facilitate the connection of the master control box 4 with other corresponding devices and mechanisms in the sorting system; the control unit 42 has a display screen for facilitating human-computer interaction, as shown in fig. 4. In this embodiment, the development board of STM32F407 is not shown. The general control box 4 is connected with the vibration module of the tomato general storage box 1, the stepping motor 23 of the tomato transfer mechanism 2, the conveyor belt 3, the machine vision grading device 5 and the sorting mechanism 6.
Preferably, the machine vision grading device 5 comprises a lightproof box body iii 51, a left monocular vision camera 52, an upper monocular vision camera 53 and a right monocular vision camera 55 are respectively arranged on the left inner wall, the top inner wall and the right inner wall of the box body iii 51 and used for collecting the left view, the top view and the right view of the tomato, an LED lamp 54 is further arranged on the top inner wall of the box body iii 51, and the LED lamp 54 ensures that the light in the box body iii 51 is sufficient and stable and prevents the influence of external light; the lower parts of the front side wall and the rear side wall of the box body III 51 are respectively provided with a tomato inlet and a tomato outlet, and the tomato inlet and the tomato outlet are provided with shielding soft curtains as shown in figure 5. In this embodiment, the soft shielding curtain is not shown.
Preferably, the sorting mechanism 6 comprises two Delta sorting robots, each Delta sorting robot comprises three mechanical arms, a static platform 63 and a vacuum chuck 65, each mechanical arm comprises a driving arm 61, a power device 62 and a driven arm 64, one end of each driving arm 61 of the three mechanical arms is uniformly distributed on the static platform 63 in the circumferential direction, and one end of each driven arm 64 of the three mechanical arms is connected with the vacuum chuck 65; the power unit 62 is fixed to the stationary platform 63 and includes a stepping motor and a planetary reducer, as shown in fig. 6. The stepping motor drives the driving arm 61 and the driven arm 64 to move, and further drives the vacuum chuck 65 to grab the tomatoes. Two Delta letter sorting robots cooperate each other in order to improve the efficiency of tomato letter sorting, prevent to leak and snatch.
Preferably, the entrances to the Delta sorting robot work spaces of the sorting mechanism 6 are also provided with detection modules 7, respectively, as shown in fig. 1. In this embodiment, the detection module 7 is connected to the main control box 4 by a photoelectric sensor.
During work, tomatoes are poured into the tomato main storage box 1, when the photoelectric sensor 14 detects that the short leaf of the rotating wheel 21 of the tomato transport mechanism 2 is about to be rotated to be in contact with the outlet 12, the photoelectric sensor 14 transmits the information to the main control box 4, the main control box 4 controls the vibration module arranged in the tomato main storage box 1 to start vibration, the tomatoes slide to the transport area of the tomato transport mechanism 2 from the outlet 12, the stepping motor 23 of the tomato transport mechanism 2 transmits power, and the rotating wheel 21 rotates to transport the tomatoes to the conveyor belt 3; the tomatoes move to the machine vision grading device 5 through the conveyor belt 3, the tomatoes continue to move along with the conveyor belt 3 after the tomato images are obtained through the machine vision grading device 5 and are transmitted to the master control box 4 for grading, and when the detection module 8 detects that the tomatoes arrive, the sorting mechanism 6 sorts the tomatoes under the control of the master control box 4 and puts the tomatoes into the sorting collecting boxes 7 at corresponding grades.
The utility model discloses, adopted runner formula tomato transport mechanism and conveyer belt, guaranteed the homogeneity of distance between the tomato, be unlikely to too big or undersize, reduced the hourglass of tomato snatch the rate and improve the efficiency of tomato letter sorting.
The utility model adopts machine vision as a means for measuring the tomato quality, avoids the subjective factor of manual grading, and has the advantages of high speed, low cost and easy popularization; the double-Delta sorting robot is used as a sorting mechanism, and the tail end executing mechanism is an innovative pneumatic vacuum chuck, so that the tomato grabbing and sorting efficiency is improved, and the damage rate to the tomatoes is reduced.
The utility model discloses tomato grading system adopts the unified coordinated control of total accuse case, and degree of automation is high, can realize snatching fast the high-efficient of tomato and tomato grading mechanical system's long-time stable work, improves the letter sorting efficiency of tomato.
The utility model discloses a to the integrated operation of transportation, classification, letter sorting of tomato, have the characteristics of high efficiency, objective, high accuracy that manual mode did not possess.
The present invention has been described in detail with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements of the method concept and the technical solution of the present invention can be made without modification, or the present invention can be directly applied to other occasions without modification, and is within the protection scope of the present invention.

Claims (10)

1. The utility model provides a tomato grading system, its characterized in that includes that the tomato is always deposited case, tomato transport mechanism, conveyer belt, master control case, machine vision grading plant, letter sorting mechanism and a plurality of letter sorting collecting box, tomato transport mechanism sets up the tomato is always deposited the case with between the conveyer belt, machine vision grading plant with letter sorting mechanism sets up the conveyer belt top, a plurality of letter sorting collecting box sets up letter sorting mechanism both sides.
2. The tomato grading system according to claim 1, wherein the tomato storage box comprises a box body I and a vibration module arranged in the box body I; the export of box I is the tubaeform export of contracting gradually, and the bottom plate in export is the inclined plane structure, be provided with photoelectric sensor along the below under the export of export.
3. Tomato grading system according to claim 2, characterized in that the box i is open at the top and provided with legs at the lower part.
4. The tomato grading system according to claim 2, wherein the vibration module employs a vibration motor.
5. The tomato grading system according to claim 1, wherein the tomato transferring mechanism comprises a base, and a rotating wheel, a coupling and a stepping motor which are arranged on the base, wherein two ends of the rotating wheel shaft are respectively provided with a baffle plate, and the rotating wheel and the baffle plates form four transferring subareas.
6. The tomato grading system according to claim 1, wherein the master control box comprises a box body II, and a control all-in-one machine and an STM32F407 development board which are arranged in the box body II, wherein the control all-in-one machine is connected with the STM32F407 development board; a side plate of the box body II is provided with a plurality of adapter ports; the control all-in-one machine is provided with a display screen.
7. The tomato grading system according to claim 1, wherein the machine vision grading device comprises a lightproof box body III, a left monocular vision camera, an upper monocular vision camera and a right monocular vision camera are respectively arranged on the left inner wall, the top inner wall and the right inner wall of the box body III, and an LED lamp is further arranged on the top inner wall of the box body III; the front side wall lower part and the rear side wall lower part of the box body III are respectively provided with a tomato inlet and a tomato outlet, and the tomato inlet and the tomato outlet are provided with shielding soft curtains.
8. The tomato grading system according to claim 1, wherein the sorting mechanism comprises two Delta sorting robots, the Delta sorting robot comprises three mechanical arms, a static platform and a vacuum chuck, the mechanical arms comprise a driving arm, a power device and a driven arm, one end of the driving arm of the three mechanical arms is circumferentially and uniformly distributed on the static platform, and one end of the driven arm of the three mechanical arms is connected with the vacuum chuck; the power device is fixed on the static platform and comprises a stepping motor and a planetary reducer.
9. Tomato grading system according to claim 1 or 8, characterized in that the inlet of the Delta sorting robot working space of the sorting mechanism is also provided with a detection module, respectively.
10. Tomato grading system according to claim 9, characterized in that the detection module employs a photoelectric sensor, which is connected to the general control box.
CN201921727766.4U 2019-10-15 2019-10-15 Tomato grading system Expired - Fee Related CN210701216U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921727766.4U CN210701216U (en) 2019-10-15 2019-10-15 Tomato grading system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921727766.4U CN210701216U (en) 2019-10-15 2019-10-15 Tomato grading system

Publications (1)

Publication Number Publication Date
CN210701216U true CN210701216U (en) 2020-06-09

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Application Number Title Priority Date Filing Date
CN201921727766.4U Expired - Fee Related CN210701216U (en) 2019-10-15 2019-10-15 Tomato grading system

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113619974A (en) * 2021-08-11 2021-11-09 北京施德尔汽车部件有限公司 Intelligent device for tire classification stacking

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113619974A (en) * 2021-08-11 2021-11-09 北京施德尔汽车部件有限公司 Intelligent device for tire classification stacking

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20200609

Termination date: 20201015