WO2019151553A1 - Automatic garlic basal plate removing device - Google Patents

Automatic garlic basal plate removing device Download PDF

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Publication number
WO2019151553A1
WO2019151553A1 PCT/KR2018/001484 KR2018001484W WO2019151553A1 WO 2019151553 A1 WO2019151553 A1 WO 2019151553A1 KR 2018001484 W KR2018001484 W KR 2018001484W WO 2019151553 A1 WO2019151553 A1 WO 2019151553A1
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Prior art keywords
garlic
conveyor belt
camera
index table
image
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PCT/KR2018/001484
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French (fr)
Korean (ko)
Inventor
강정근
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(주)로보토보
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Priority to PCT/KR2018/001484 priority Critical patent/WO2019151553A1/en
Publication of WO2019151553A1 publication Critical patent/WO2019151553A1/en

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    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
    • A23N15/02—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs for stemming, piercing, or stripping fruit; Removing sprouts of potatoes

Definitions

  • the present invention relates to a garlic stem automatic removal device.
  • the garlic side is peeled garlic when the skin is removed, but even in this state of garlic must be removed to be used for food.
  • the worker has to manually remove the garlic stem, so it takes a lot of time to remove the garlic stem, and the quantity that the worker can process at a predetermined time is limited, and excessive labor costs are incurred.
  • the quality of the garlic from which the faucet was removed by hand was not uniform.
  • Garlic tap cutter disclosed in the Republic of Korea Patent Registration 10-1465897 is disclosed, the configuration of cutting the tap by aligning the tap of the garlic in the reference direction by recognizing the position of the garlic, garlic is supplied to the conveyor means 50 as a single piece There was a disadvantage in that the processing speed per hour was reduced by cutting.
  • the garlic stem removal device disclosed in Republic of Korea Patent Registration 10-1595761 also includes a stem cutting member for cutting the stem of the garlic conveyed by the garlic conveying member, the conveyor belt for conveying the garlic and the garlic base supporting the garlic, garlic Garlic pressing body or the like for pressing the press is continuously formed on the conveyor belt is disclosed a configuration for removing the stem of the garlic is continuously conveyed.
  • a somewhat complicated shape of the garlic support body and the garlic press body should be formed directly on the conveyor belt. There was this.
  • the foreign matter is stuck in the garlic support and the garlic press, it is difficult to fix the garlic properly.
  • An object of the present invention is to provide an automatic garlic nipple removal device having good removal efficiency of garlic lumps per unit time.
  • an object of the present invention is to provide an automatic removal device for the garlic spigot that can easily discharge the foreign matter remaining on the conveyor belt after removal of the garlic spigot to reduce the occurrence of failure or malfunction.
  • the present invention is a hopper, the garlic is temporarily stored in the hopper, the garlic is injected, the first conveyor belt having a plurality of longitudinal grooves, the second conveyor belt, the garlic is introduced from the first conveyor belt, the upper side of the second conveyor belt Camera is installed on the side of the second conveyor belt, the camera to acquire the image of garlic, located behind the camera in the movement path of the second conveyor belt, and provided with a plurality of grooves on the outer periphery of the garlic is inserted, Circular index table having a thick but protruding thickness, installed on the side of the second conveyor belt, a circular rotary blade for cutting a garlic stem protruding from a part of the index table groove, and garlic on the second conveyor belt.
  • a robot arm that controls the robot arm according to the result of processing the robot arm moving to the groove of the index table and the garlic acquired by the camera. It provides a garlic tap automatic removal device comprising a fisherman.
  • an automatic garlic stem removing device characterized in that it further comprises a light for irradiating UVA to the photographing area of the camera.
  • an automatic garlic stem removal device characterized in that it further comprises a plurality of rollers for filtering foreign matter.
  • the garlic is temporarily stored in the hopper, the garlic is injected from the hopper, the first conveyor belt having a plurality of longitudinal grooves, the second conveyor belt, the garlic is introduced from the first conveyor belt, the upper side of the second conveyor belt Installed in the camera to acquire the image of garlic, the cutting hand to remove the stem of garlic on the second conveyor belt, the robot arm to move the cutting hand in three dimensions and the image of the garlic acquired by the camera It provides a garlic stem automatic removal device comprising a control unit for controlling the cutting hand and the robot arm.
  • an automatic garlic stem removing device characterized in that it further comprises a light for irradiating UVA to the photographing area of the camera.
  • an automatic garlic stem removal device characterized in that it further comprises a plurality of rollers for filtering foreign matter.
  • it is installed to contact the lower side of the second conveyor belt, and provides an automatic garlic scoop removal device characterized in that it further comprises a scraper scraping off the foreign matter of the second conveyor belt.
  • a garlic stem automatic removal device characterized in that it further comprises a plurality of rollers for filtering out foreign matter and cut scab and discharge only garlic.
  • Garlic stem automatic removal device provided by the present invention has a higher removal efficiency of garlic stem per unit time than the conventional device.
  • the automatic garlic nipper removing device provided by the present invention has an advantage that it is easy to discharge the foreign matter remaining on the conveyor belt after removal of the garlic nipple, thereby reducing the occurrence of failure or malfunction.
  • FIG. 1 is a perspective view of an automatic garlic tap removing device according to a first embodiment of the present invention
  • FIG. 2 is a side view of an automatic garlic nipple removing device according to the first embodiment of the present invention
  • FIG. 3 is a view showing an index table and a rotary blade provided in the automatic garlic stem removing device according to the first embodiment of the present invention
  • FIG. 4 is a perspective view of an automatic garlic nipper removing device according to a second embodiment of the present invention.
  • FIG. 5 is a side view of an automatic garlic nipple removing device according to a second embodiment of the present invention.
  • Figure 6 is a photograph showing a state in which the garlic is automatically removed using a common color camera according to an embodiment of the present invention
  • FIG. 7 is a photograph showing a state in which the garlic stem automatic removal device according to an embodiment of the present invention by photographing the garlic by irradiation with UVA illumination,
  • Figure 8 shows the result of processing the image of the photograph taken by irradiating the UVA automatic garlic scab automatic device according to an embodiment of the present invention with a computer.
  • FIG. 1 is a perspective view of an automatic garlic nipple removing device according to a first embodiment of the present invention
  • Figure 2 is a side view of the automatic garlic nipple removing device according to a first embodiment of the present invention.
  • garlic is injected from the hopper 100 and the hopper 100 in which garlic is temporarily stored, and a plurality of vertical grooves are formed on the first conveyor belt 210.
  • the circular index table 510 a circular rotary blade 520, which is installed on the side of the second conveyor belt 510 and can cut the garlic stem protruding from a part of the groove of the index table 510, the second Garlic on the conveyor belt 220 index table (5 Robot arm 400 to be transferred to the groove of 10), and a controller (not shown) for controlling the robot arm 400 in accordance with the result of processing the image of the garlic obtained by the camera.
  • the first conveyor belt 210 may be provided with a vibrator (not shown) capable of vibrating the first conveyor belt 210 so as to uniformly distribute garlic.
  • a plurality of rollers are installed between the first conveyor belt 210 and the second conveyor belt 220, by adjusting the spacing between the rollers slightly smaller than the garlic size, foreign matter of a smaller size than garlic Can be discharged to the bottom of the roller
  • UVA illumination (not shown) may be additionally installed to help read garlic by a camera.
  • UVA irradiates light in the wavelength range of approximately 300nm to 400nm.
  • UVA lighting has a transmissive effect, so the corners that are not easily readable during normal shooting are relatively clear.
  • a bactericidal effect by UVA can be obtained.
  • the control unit sends a signal to the camera 300 and the UVA illumination (not shown) so that the camera 300 acquires an image of garlic located in the photographing area.
  • the UVA light (not shown) receiving the signal is turned on, and the camera 300 takes an image and sends it to the controller.
  • the image processing program mounted on the control unit processes the corresponding image to determine the position of the garlic stem and the sum of garlic and derive the final result.
  • the controller controls the robot arm 400 in accordance with the final result.
  • the robot arm 400 picks up the garlic stem and inserts it into the groove of the index table 510 so that the position of the garlic stem protrudes out of the groove of the index table 510.
  • the state of the garlic is poor, or the defective product is too small garlic size does not move to the index table (510). That is, the garlic that has been rejected is left on the second conveyor belt 220, thereby falling downward from the end of the second conveyor belt 220, the collection box 620 located under the end of the second conveyor belt 220 Gathered at
  • the index table 510 exposes only the top of the garlic, and is made of a disc having a thickness sufficient to form a groove 512 for accommodating most of the garlic body. It may be formed to have a number of about 4-8.
  • the robot arm 400 (see Figs. 1 and 2) picks up garlic and inserts it into the groove 512 located at the top, and the rotary blade 520 when the index table 510 rotates about 60 to 120 ° clockwise. ) And the outer periphery of the index table 510 overlap, and the garlic stem is cut by the rotary blade 520.
  • the index table 510 and the rotary blade 520 are arranged at a distance in the axial direction, so that no contact or interference between the index table 510 and the rotary blade 520 occurs.
  • a pressing plate 530 may be additionally provided to prevent the garlic from inadvertently escaping out of the index table 510 when the index table 510 is rotated.
  • the pressing plate 530 is formed at a slight interval on the outer circumference of the index table 510, and is preferably part of a cylinder which is concentric with the index table 510 and slightly larger in diameter than the index table 510.
  • the pressing plate 530 is also disposed at a predetermined distance from the rotary blade 520 so as not to contact or interfere with the rotary blade 520.
  • the pressing plate 530 is formed to have a length shorter than half of the circumference so as not to cover the top and bottom of the index table 510, and is provided at a position slightly away from the top in the rotation direction of the index table 510.
  • Garlic inserted into the groove 512 of the index table 510 may fall by its own weight from the time point after the rotation of 90 ° from the top end, but is separated from the index table 510 by the pressing plate 530, the pressing plate ( After passing through the 530, the weight is separated from the index table 510 by its own weight.
  • the collection box 610 see Fig. 1 and 2 in the separation position to collect the garlic is removed.
  • a partition may be installed in the collection box 610 to separate the garlic and garlic stem, the partition is preferably aligned with respect to the lower end position of the pressing plate 530.
  • FIG. 4 is a perspective view of an automatic garlic nipple removing device according to a second embodiment of the present invention
  • Figure 5 is a side view of the automatic garlic nipple removing device according to a second embodiment of the present invention.
  • Garbage stem automatic removal device the garlic is injected from the hopper 100, the hopper 100 is temporarily stored garlic, the first conveyor belt 210 formed with a plurality of vertical grooves, The camera 300 and the second conveyor belt 220 installed on the second conveyor belt 220 into which garlic is injected from the first conveyor belt 210 and the second conveyor belt 220 to obtain an image of garlic.
  • the cutting hand 420 to remove the stem of the garlic on the top, the robot arm 400 for moving the cutting hand 420 in three dimensions, and the cutting hand according to the processing result of the garlic image obtained by the camera 300 ( 420 and a controller (not shown) for controlling the robot arm 400.
  • the camera 300 may further include UVA illumination (not shown), which may help to read the nipple from the acquired image.
  • the configuration and operation of the hopper 100, the first conveyor belt 210, the second conveyor belt 220, and the camera 300 are the same as in the first embodiment, and only the mechanism part for removing the garlic stem is different.
  • the removal of the garlic stem is performed by the cutting hand 420 installed at the end of the robot arm 400.
  • the control unit sends a signal to the camera 300 and the UVA illumination (not shown) so that the camera 300 acquires an image of garlic located in the photographing area.
  • the UVA light (not shown) receiving the signal is turned on, and the camera 300 takes an image and sends it to the controller.
  • the image processing program mounted on the control unit processes the corresponding image to determine the position of the garlic stem and the sum of garlic and derive the final result.
  • the control unit moves the robot arm 400 according to the final result so that the cutting hand 420 cuts the tap of garlic.
  • the cutting hand 420 may be adjusted by pneumatic, electric drive or motor.
  • the cut garlic and the garlic stem continue to move on the second conveyor belt 220, and are cut smaller than the gap between the rollers 700 while passing through a plurality of rollers 700 installed at the end of the second conveyor belt 220.
  • Garlic tap and foreign matter is discharged between the roller 700, only the garlic is collected in the collecting box 620 installed below.
  • the roller 700 may be rotated by a motor, and the plurality of rollers 700 may be installed at an angle so that the installation position is gradually lowered so that the garlic may move on the rollers 700 by the weight and move toward the collector 620. have.
  • the scraper 800 is installed to be in contact with the lower side of the second conveyor belt 220, scraping the foreign matter stuck to the second conveyor belt 220 may be additionally installed.
  • FIG. 6 to 8 are photographs showing a state of processing the image of the garlic obtained by the camera according to an embodiment of the present invention.
  • Figure 6 is taken by the image of the garlic on the conveyor belt in a general color camera image processing, showing the absolute part of the faucet in red, showing the center of gravity of the garlic to be picked up by the robot hand in green.
  • 7 is a picture of garlic by irradiating the UVA light, the individual garlic can be seen in more detail, it is easy to determine the top of the garlic.
  • the human eye looks similar to a color image, but irradiation with UVA light is much more effective for computer image processing.
  • 8 is a color image of the result of image processing with a computer by irradiating UVA illumination.
  • UVA illumination is a very important factor in the image processing for determining the garlic faucet in the present invention, the illumination between the blue visible wavelength band and the UVA wavelength band, that is, the 300nm ⁇ 400nm wavelength illumination to determine the shape of the garlic faucet and garlic It showed the best effect.

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  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Polymers & Plastics (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)

Abstract

The present invention relates to an automatic garlic basal plate removing device. The present invention provides an automatic garlic basal plate removing device comprising: a hopper for temporarily storing garlic; a first conveyor belt into which garlic is injected from the hopper, and having a plurality of vertical grooves formed therein; a second conveyor belt into which garlic is injected from the first conveyor belt; a camera provided on the upper side of the second conveyor belt so as to acquire an image of garlic; a disc-shaped index table provided on the side surface of the second conveyor belt, positioned on a side further back than the camera in a moving path of the second conveyor belt, having, on the outer circumferential surface thereof, a plurality of grooves into which garlic is inserted, and having a thickness that protrudes as far as only the basal plate of garlic; a rounded rotary knife-edge provided on the side surface of the second conveyor belt, and allowing a portion thereof to overlap with the grooves of the index table so as to cut the protruding garlic basal plate; a robot arm for transferring garlic on the second conveyor belt to the grooves of the index table; and a control unit for controlling the robot arm according to the result obtained by processing the garlic image acquired by the camera.

Description

마늘 꼭지 자동 제거 장치Garlic Tap Automatic Removal Device
본 발명은 마늘 꼭지 자동 제거 장치에 관한 것이다. The present invention relates to a garlic stem automatic removal device.
마늘쪽은 껍질이 제거되면 깐 마늘이 되는데, 이러한 깐마늘 상태에서도 식용으로 이용되기 위해서는 그 꼭지부가 제거되어야 한다.The garlic side is peeled garlic when the skin is removed, but even in this state of garlic must be removed to be used for food.
종래에는 작업자가 일일이 수작업으로 마늘 꼭지를 제거하여야 해서, 마늘 꼭지를 제거하는 데에 많은 시간이 소요되고, 작업자가 정해진 시간에 처리할 수 있는 물량이 한정적임은 물론 과다한 인건비가 발생되어 생산성이 떨어지는 문제가 있고, 수작업으로 인해 꼭지가 제거된 마늘의 품질이 균일하지 못한 문제가 있었다.In the related art, the worker has to manually remove the garlic stem, so it takes a lot of time to remove the garlic stem, and the quantity that the worker can process at a predetermined time is limited, and excessive labor costs are incurred. There was a problem, and there was a problem that the quality of the garlic from which the faucet was removed by hand was not uniform.
이러한 점을 개선하기 위해 자동으로 마늘 꼭지를 제거할 수 있는 장치가 개발되어 왔다. To improve this, devices have been developed that can automatically remove garlic stems.
대한민국 등록특허 10-1465897에 개시된 마늘꼭지 절단기는, 마늘의 위치를 인식하여 마늘의 꼭지를 기준 방향으로 정렬하여 꼭지를 절단하는 구성이 개시되어 있으나, 마늘이 낱개로 콘베어수단(50)으로 공급되어 절단됨으로써 시간 당 처리 속도가 떨어진다는 단점이 있었다. Garlic tap cutter disclosed in the Republic of Korea Patent Registration 10-1465897 is disclosed, the configuration of cutting the tap by aligning the tap of the garlic in the reference direction by recognizing the position of the garlic, garlic is supplied to the conveyor means 50 as a single piece There was a disadvantage in that the processing speed per hour was reduced by cutting.
또한 대한민국 등록특허 10-1595761에 개시된 마늘 꼭지 제거 장치 역시, 마늘 이송 부재에 의해 이송된 마늘의 꼭지를 절단하는 꼭지 절단 부재를 포함하고, 마늘을 이송시키는 컨베이어 벨트와 마늘을 받치는 마늘 받침체, 마늘을 눌러주는 마늘 누름체 등이 컨베이어 벨트 상에 연속적으로 형성되어 연속적으로 이송되는 마늘의 꼭지를 제거하는 구성이 개시되어 있다. 그러나, 다소 복잡한 형상의 마늘 받침체, 마늘 누름체 등을 컨베이어 벨트에 직접 형성해야 하며, 마늘 받침체와 마늘 누름체 및 컨베이어 벨트 사이의 간격에 이물질의 유입 및 끼임이 쉬우나 이물질의 배출이 어렵다는 단점이 있었다. 또한 마늘 받침체와 마늘 누름체에 이물질이 끼어있는 경우 마늘을 제대로 고정하기 어려워 마늘 꼭지의 절단이 제대로 이루어지지 않는다는 단점이 있었다. In addition, the garlic stem removal device disclosed in Republic of Korea Patent Registration 10-1595761 also includes a stem cutting member for cutting the stem of the garlic conveyed by the garlic conveying member, the conveyor belt for conveying the garlic and the garlic base supporting the garlic, garlic Garlic pressing body or the like for pressing the press is continuously formed on the conveyor belt is disclosed a configuration for removing the stem of the garlic is continuously conveyed. However, a somewhat complicated shape of the garlic support body and the garlic press body should be formed directly on the conveyor belt. There was this. In addition, when the foreign matter is stuck in the garlic support and the garlic press, it is difficult to fix the garlic properly.
본 발명은 단위 시간당 마늘 꼭지의 제거 효율이 좋은 마늘 꼭지 자동 제거 장치를 제공하는 것을 목적으로 한다.An object of the present invention is to provide an automatic garlic nipple removal device having good removal efficiency of garlic lumps per unit time.
또한 본 발명은 마늘 꼭지의 제거 후 컨베이어 벨트에 잔류하는 이물질의 배출이 용이하여 고장 또는 오작동의 발생을 줄일 수 있는 마늘 꼭지 자동 제거 장치를 제공하는 것을 목적으로 한다. In addition, an object of the present invention is to provide an automatic removal device for the garlic spigot that can easily discharge the foreign matter remaining on the conveyor belt after removal of the garlic spigot to reduce the occurrence of failure or malfunction.
본 발명은 마늘이 일시적으로 저장되는 호퍼, 호퍼로부터 마늘이 투입되며, 세로홈이 복수 개 형성된 제1 컨베이어 벨트, 제1 컨베이어 벨트로부터 마늘이 투입되는 제2 컨베이어 벨트, 제2 컨베이어 벨트의 상측에 설치되어 마늘의 영상을 획득하는 카메라, 제2 컨베이어 벨트의 측면에 설치되며, 제2 컨베이어 벨트의 이동 경로에서 카메라보다 후방에 위치하며, 마늘이 삽입되는 홈을 외주에 복수 개 구비하며, 마늘의 꼭지만 돌출하는 두께를 가지는 원판형 인덱스 테이블, 제2 컨베이어 벨트의 측면에 설치되며, 인덱스 테이블의 홈과 일부가 겹쳐 돌출된 마늘 꼭지를 절단할 수 있는 원형 회전 칼날, 제2 컨베이어 벨트 상의 마늘을 인덱스 테이블의 홈으로 이송하는 로봇 팔 및 카메라가 획득한 마늘의 영상을 처리한 결과에 따라 로봇 팔을 제어하는 제어부를 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치를 제공한다.The present invention is a hopper, the garlic is temporarily stored in the hopper, the garlic is injected, the first conveyor belt having a plurality of longitudinal grooves, the second conveyor belt, the garlic is introduced from the first conveyor belt, the upper side of the second conveyor belt Camera is installed on the side of the second conveyor belt, the camera to acquire the image of garlic, located behind the camera in the movement path of the second conveyor belt, and provided with a plurality of grooves on the outer periphery of the garlic is inserted, Circular index table having a thick but protruding thickness, installed on the side of the second conveyor belt, a circular rotary blade for cutting a garlic stem protruding from a part of the index table groove, and garlic on the second conveyor belt. A robot arm that controls the robot arm according to the result of processing the robot arm moving to the groove of the index table and the garlic acquired by the camera. It provides a garlic tap automatic removal device comprising a fisherman.
또한 본 발명의 다른 일 예로, 카메라의 촬영 영역에 UVA를 조사하는 조명을 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치를 제공한다. In another embodiment of the present invention, there is provided an automatic garlic stem removing device, characterized in that it further comprises a light for irradiating UVA to the photographing area of the camera.
또한 본 발명의 다른 일 예로, 제1 컨베이어 벨트와 제2 컨베이어 벨트 사이에 설치되며, 이물질을 걸러내기 위한 복수 개의 롤러를 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치를 제공한다. In another embodiment of the present invention, there is provided between the first conveyor belt and the second conveyor belt, and provides an automatic garlic stem removal device, characterized in that it further comprises a plurality of rollers for filtering foreign matter.
또한 본 발명은 마늘이 일시적으로 저장되는 호퍼, 호퍼로부터 마늘이 투입되며, 세로홈이 복수 개 형성된 제1 컨베이어 벨트, 제1 컨베이어 벨트로부터 마늘이 투입되는 제2 컨베이어 벨트, 제2 컨베이어 벨트의 상측에 설치되어 마늘의 영상을 획득하는 카메라, 제2 컨베이어 벨트 상의 마늘의 꼭지를 제거하는 커팅 핸드, 커팅 핸드를 3차원 적으로 이동시키는 로봇 팔 및 카메라가 획득한 마늘의 영상을 처리한 결과에 따라 커팅 핸드 및 로봇 팔을 제어하는 제어부를 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치를 제공한다.In the present invention, the garlic is temporarily stored in the hopper, the garlic is injected from the hopper, the first conveyor belt having a plurality of longitudinal grooves, the second conveyor belt, the garlic is introduced from the first conveyor belt, the upper side of the second conveyor belt Installed in the camera to acquire the image of garlic, the cutting hand to remove the stem of garlic on the second conveyor belt, the robot arm to move the cutting hand in three dimensions and the image of the garlic acquired by the camera It provides a garlic stem automatic removal device comprising a control unit for controlling the cutting hand and the robot arm.
또한 본 발명의 다른 일 예로, 카메라의 촬영 영역에 UVA를 조사하는 조명을 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치를 제공한다.In another embodiment of the present invention, there is provided an automatic garlic stem removing device, characterized in that it further comprises a light for irradiating UVA to the photographing area of the camera.
또한 본 발명의 다른 일 예로, 제1 컨베이어 벨트와 제2 컨베이어 벨트 사이에 설치되며, 이물질을 걸러내기 위한 복수 개의 롤러를 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치를 제공한다. In another embodiment of the present invention, there is provided between the first conveyor belt and the second conveyor belt, and provides an automatic garlic stem removal device, characterized in that it further comprises a plurality of rollers for filtering foreign matter.
또한 본 발명의 다른 일 예로, 제2 컨베이어 벨트의 하측에 접하도록 설치되며, 제2 컨베이어 벨트의 이물질을 긁어내는 스크래퍼를 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치를 제공한다. In another embodiment of the present invention, it is installed to contact the lower side of the second conveyor belt, and provides an automatic garlic scoop removal device characterized in that it further comprises a scraper scraping off the foreign matter of the second conveyor belt.
또한 본 발명의 다른 일 예로, 제2 컨베이어 벨트의 단부에 설치되며, 이물질 및 절단된 꼭지를 걸러내고 마늘만을 배출하기 위한 복수 개의 롤러를 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치를 제공한다. In another embodiment of the present invention, it is provided at the end of the second conveyor belt, and provides a garlic stem automatic removal device characterized in that it further comprises a plurality of rollers for filtering out foreign matter and cut scab and discharge only garlic. .
본 발명이 제공하는 마늘 꼭지 자동 제거 장치는 종래 장치에 비해 단위 시간당 마늘 꼭지의 제거 효율이 높다.Garlic stem automatic removal device provided by the present invention has a higher removal efficiency of garlic stem per unit time than the conventional device.
또한 본 발명이 제공하는 마늘 꼭지 자동 제거 장치는 마늘 꼭지의 제거 후 컨베이어 벨트에 잔류하는 이물질의 배출이 용이하여 고장 또는 오작동의 발생을 줄일 수 있다는 장점이 있다. In addition, the automatic garlic nipper removing device provided by the present invention has an advantage that it is easy to discharge the foreign matter remaining on the conveyor belt after removal of the garlic nipple, thereby reducing the occurrence of failure or malfunction.
도 1은 본 발명의 제1 실시예에 따른 마늘 꼭지 자동 제거 장치의 사시도,1 is a perspective view of an automatic garlic tap removing device according to a first embodiment of the present invention,
도 2는 본 발명의 제1 실시예에 따른 마늘 꼭지 자동 제거 장치의 측면도,2 is a side view of an automatic garlic nipple removing device according to the first embodiment of the present invention;
도 3은 본 발명의 제1 실시예에 따른 마늘 꼭지 자동 제거 장치가 구비하는 인덱스 테이블과 회전 칼날을 도시한 도면,3 is a view showing an index table and a rotary blade provided in the automatic garlic stem removing device according to the first embodiment of the present invention,
도 4는 본 발명의 제2 실시예에 따른 마늘 꼭지 자동 제거 장치의 사시도, 4 is a perspective view of an automatic garlic nipper removing device according to a second embodiment of the present invention;
도 5는 본 발명의 제2 실시예에 따른 마늘 꼭지 자동 제거 장치의 측면도,5 is a side view of an automatic garlic nipple removing device according to a second embodiment of the present invention;
도 6은 본 발명의 일 실시예에 따른 마늘 꼭지 자동 제거 장치가 일반적인 컬러 카메라를 이용하여 마늘을 촬영한 모습을 나타낸 사진,Figure 6 is a photograph showing a state in which the garlic is automatically removed using a common color camera according to an embodiment of the present invention,
도 7은 본 발명의 일 실시예에 따른 마늘 꼭지 자동 제거 장치가 UVA 조명을 조사하여 마늘을 촬영한 모습을 나타낸 사진,7 is a photograph showing a state in which the garlic stem automatic removal device according to an embodiment of the present invention by photographing the garlic by irradiation with UVA illumination,
도 8은 본 발명의 일 실시예에 따른 마늘 꼭지 자동 제거 장치가 UVA 조명을 조사하여 촬영한 사진을 컴퓨터로 영상 처리한 결과를 표시한 것.Figure 8 shows the result of processing the image of the photograph taken by irradiating the UVA automatic garlic scab automatic device according to an embodiment of the present invention with a computer.
이하, 도면을 참조하여 본 발명을 더욱 상세하게 설명한다. Hereinafter, the present invention will be described in more detail with reference to the drawings.
도 1은 본 발명의 제1 실시예에 따른 마늘 꼭지 자동 제거 장치의 사시도, 도 2는 본 발명의 제1 실시예에 따른 마늘 꼭지 자동 제거 장치의 측면도이다. 본 발명의 제1 실시예에 따른 마늘 꼭지 자동 제거 장치는, 마늘이 일시적으로 저장되는 호퍼(100), 호퍼(100)로부터 마늘이 투입되며, 세로 홈이 복수 개 형성된 제1 컨베이어 벨트(210), 제1 컨베이어 벨트(210)로부터 마늘이 투입되는 제2 컨베이어 벨트(220), 제2 컨베이어 벨트(220)의 상측에 설치되어 마늘의 영상을 획득하는 카메라(300), 제2 컨베이어 벨트(220)의 측면에 설치되며, 제2 컨베이어 벨트(220)의 이동 경로에서 카메라(300)보다 후방에 위치하며, 마늘이 삽입되는 홈을 외주에 복수 개 구비하며, 마늘의 꼭지만 돌출하는 두께를 가지는 원판형 인덱스 테이블(510), 제2 컨베이어 벨트(510)의 측면에 설치되며, 인덱스 테이블(510)의 홈과 일부가 겹쳐 돌출된 마늘 꼭지를 절단할 수 있는 원형 회전 칼날(520), 제2 컨베이어 벨트(220) 상의 마늘을 인덱스 테이블(510)의 홈으로 이송하는 로봇 팔(400), 및, 카메라가 획득한 마늘의 영상을 처리한 결과에 따라 로봇 팔(400)을 제어하는 제어부(미도시)를 포함한다. 1 is a perspective view of an automatic garlic nipple removing device according to a first embodiment of the present invention, Figure 2 is a side view of the automatic garlic nipple removing device according to a first embodiment of the present invention. In the automatic garlic stem removing device according to the first embodiment of the present invention, garlic is injected from the hopper 100 and the hopper 100 in which garlic is temporarily stored, and a plurality of vertical grooves are formed on the first conveyor belt 210. A second conveyor belt 220 into which garlic is injected from the first conveyor belt 210, a camera 300 installed above the second conveyor belt 220 to acquire an image of garlic, and a second conveyor belt 220. It is installed on the side of the), located behind the camera 300 in the movement path of the second conveyor belt 220, provided with a plurality of grooves on the outer periphery for inserting garlic, having a thickness of only protruding garlic The circular index table 510, a circular rotary blade 520, which is installed on the side of the second conveyor belt 510 and can cut the garlic stem protruding from a part of the groove of the index table 510, the second Garlic on the conveyor belt 220 index table (5 Robot arm 400 to be transferred to the groove of 10), and a controller (not shown) for controlling the robot arm 400 in accordance with the result of processing the image of the garlic obtained by the camera.
제1 컨베이어 벨트(210)는 마늘을 균일하게 분포시킬 수 있도록 제1 컨베이어 벨트(210)를 진동시켜줄 수 있는 진동부(미도시)가 설치될 수도 있다. The first conveyor belt 210 may be provided with a vibrator (not shown) capable of vibrating the first conveyor belt 210 so as to uniformly distribute garlic.
또한, 제1 컨베이어 벨트(210)와 제2 컨베이어 벨트(220) 사이에는 복수 개의 롤러(미도시)가 설치되며, 롤러 사이의 간격을 마늘 크기보다 조금 작게 조정함으로써, 마늘보다 작은 크기의 이물질은 롤러 하부로 배출할 수 있도록 할 수 있다. In addition, a plurality of rollers (not shown) are installed between the first conveyor belt 210 and the second conveyor belt 220, by adjusting the spacing between the rollers slightly smaller than the garlic size, foreign matter of a smaller size than garlic Can be discharged to the bottom of the roller
제2 컨베이어 벨트(220) 상의 마늘 촬영 영역에서는 카메라에 의한 마늘의 판독을 돕기 위한 UVA 조명(미도시)이 추가로 설치될 수 있다. UVA는 대략 300nm~400nm 파장대의 빛을 조사한다. UVA 조명은 투과효과가 있어, 일반적인 촬영 시에는 판독이 쉽지 않은 꼭지 부분도 비교적 선명하게 드러난다. 또한 부가적인 효과로 UVA에 의한 살균 효과도 얻을 수 있다. In the garlic photographing region on the second conveyor belt 220, UVA illumination (not shown) may be additionally installed to help read garlic by a camera. UVA irradiates light in the wavelength range of approximately 300nm to 400nm. UVA lighting has a transmissive effect, so the corners that are not easily readable during normal shooting are relatively clear. In addition, as an additional effect, a bactericidal effect by UVA can be obtained.
제어부는, 촬영 영역에 위치한 마늘의 영상을 카메라(300)가 획득하도록 카메라(300) 및 UVA 조명(미도시)에 신호를 보낸다. 신호를 받은 UVA 조명(미도시)은 ON 되며, 카메라(300)는 영상을 촬영하여 제어부로 보낸다. 제어부에 탑재된 영상 처리 프로그램이 해당 영상을 처리하여 마늘 꼭지의 위치 및 마늘의 합불 판정을 한 후 최종 결과를 도출한다. The control unit sends a signal to the camera 300 and the UVA illumination (not shown) so that the camera 300 acquires an image of garlic located in the photographing area. The UVA light (not shown) receiving the signal is turned on, and the camera 300 takes an image and sends it to the controller. The image processing program mounted on the control unit processes the corresponding image to determine the position of the garlic stem and the sum of garlic and derive the final result.
그 다음, 최종 결과에 따라 제어부는 로봇 팔(400)을 제어한다. 마늘 꼭지의 위치가 인덱스 테이블(510)의 홈 바깥으로 돌출되도록 로봇 팔(400)이 마늘 꼭지를 집은 다음 인덱스 테이블(510)의 홈으로 삽입한다. 이때, 마늘의 상태가 불량하거나, 마늘의 크기가 지나치게 작은 불량품의 경우 인덱스 테이블(510)로 옮기지 않는다. 즉 불합격 판정을 받은 마늘들은 제2 컨베이어 벨트(220) 상에 방치함으로써, 제2 컨베이어 벨트(220)의 끝에서 하방으로 낙하하며, 제2 컨베이어 벨트(220)의 끝단 하부에 위치한 수거함(620)에 모이게 된다. Then, the controller controls the robot arm 400 in accordance with the final result. The robot arm 400 picks up the garlic stem and inserts it into the groove of the index table 510 so that the position of the garlic stem protrudes out of the groove of the index table 510. At this time, if the state of the garlic is poor, or the defective product is too small garlic size does not move to the index table (510). That is, the garlic that has been rejected is left on the second conveyor belt 220, thereby falling downward from the end of the second conveyor belt 220, the collection box 620 located under the end of the second conveyor belt 220 Gathered at
도 3은 본 발명의 제1 실시예에 따른 마늘 꼭지 자동 제거 장치가 구비하는 인덱스 테이블과 회전 칼날을 도시한 도면이다. 인덱스 테이블(510)은 도 3에서 보는 바와 같이 마늘의 꼭지만을 노출시키며, 마늘 몸체의 대부분을 수용하는 홈(512)을 형성할 수 있을 정도의 두께를 가진 원판으로 이루어지며, 홈(512)은 4~8개 정도의 갯수를 가지도록 형성될 수 있다. 로봇 팔(400;도 1 및 도 2 참조)이 마늘을 집어 제일 상부에 위치한 홈(512)에 삽입하며, 인덱스 테이블(510)이 시계 방향으로 약 60~120° 회전할 때, 회전 칼날(520)과 인덱스 테이블(510)의 외주가 겹쳐지며, 회전 칼날(520)에 의해 마늘 꼭지가 절단된다. 이때 인덱스 테이블(510)과 회전 칼날(520)은 축 방향으로 약간의 거리를 두고 배치되어, 인덱스 테이블(510)과 회전 칼날(520) 사이의 접촉 또는 간섭은 발생하지 않는다. 한편, 인덱스 테이블(510)의 회전 시에 마늘이 인덱스 테이블(510) 밖으로 의도치 않게 탈출하는 것을 방지하기 위해 누름판(530)이 추가적으로 구비될 수 있다. 누름판(530)은 인덱스 테이블(510)의 외주에 약간 간격을 두고 형성되며, 인덱스 테이블(510)과 동심을 이루며 인덱스 테이블(510)보다 지름이 약간 큰 원통의 일부인 것이 바람직하다. 이때, 누름판(530) 역시 회전 칼날(520)과 접촉하거나 간섭되지 않도록 간격을 회전 칼날(520)과 소정의 간격을 두고 배치된다. 누름판(530)은 인덱스 테이블(510)의 최상단과 최하단은 덮지 않도록 원주의 반보다 짧은 길이로 형성되며, 최상단으로부터 인덱스 테이블(510)의 회전 방향으로 조금 떨어진 위치에 설치된다. 인덱스 테이블(510)의 홈(512)에 삽입된 마늘은 최상단으로부터 90° 회전한 이후 시점부터는 자중에 의해 떨어질 수 있으나, 누름판(530)에 의해 인덱스 테이블(510)로부터 이탈이 방지되며, 누름판(530)을 통과한 이후 자중에 의해 인덱스 테이블(510)로부터 이탈하게 된다. 이때, 이탈 위치에 수거함(610; 도 1 및 도 2 참조)을 설치하여 꼭지가 제거된 마늘을 수거한다. 또한 누름판(530)에 의해 마늘의 이탈이 방지되면서, 회전 칼날(520)과 접촉하여 마늘 꼭지가 제거되는 위치의 하방에는 마늘 꼭지가 모이게 된다. 이때, 마늘과 마늘 꼭지를 구분하여 수거하기 위해 수거함(610)에는 칸막이가 설치될 수 있으며, 칸막이는 누름판(530)의 하방 단부 위치에 대해 정렬하는 것이 바람직하다. 3 is a view showing an index table and a rotary blade included in the automatic garlic stem removing device according to the first embodiment of the present invention. As shown in FIG. 3, the index table 510 exposes only the top of the garlic, and is made of a disc having a thickness sufficient to form a groove 512 for accommodating most of the garlic body. It may be formed to have a number of about 4-8. The robot arm 400 (see Figs. 1 and 2) picks up garlic and inserts it into the groove 512 located at the top, and the rotary blade 520 when the index table 510 rotates about 60 to 120 ° clockwise. ) And the outer periphery of the index table 510 overlap, and the garlic stem is cut by the rotary blade 520. At this time, the index table 510 and the rotary blade 520 are arranged at a distance in the axial direction, so that no contact or interference between the index table 510 and the rotary blade 520 occurs. Meanwhile, a pressing plate 530 may be additionally provided to prevent the garlic from inadvertently escaping out of the index table 510 when the index table 510 is rotated. The pressing plate 530 is formed at a slight interval on the outer circumference of the index table 510, and is preferably part of a cylinder which is concentric with the index table 510 and slightly larger in diameter than the index table 510. At this time, the pressing plate 530 is also disposed at a predetermined distance from the rotary blade 520 so as not to contact or interfere with the rotary blade 520. The pressing plate 530 is formed to have a length shorter than half of the circumference so as not to cover the top and bottom of the index table 510, and is provided at a position slightly away from the top in the rotation direction of the index table 510. Garlic inserted into the groove 512 of the index table 510 may fall by its own weight from the time point after the rotation of 90 ° from the top end, but is separated from the index table 510 by the pressing plate 530, the pressing plate ( After passing through the 530, the weight is separated from the index table 510 by its own weight. At this time, by installing the collection box 610 (see Fig. 1 and 2) in the separation position to collect the garlic is removed. In addition, while the separation of the garlic is prevented by the pressing plate 530, the garlic tap is collected under the position where the garlic tap is removed in contact with the rotary blade 520. At this time, a partition may be installed in the collection box 610 to separate the garlic and garlic stem, the partition is preferably aligned with respect to the lower end position of the pressing plate 530.
도 4는 본 발명의 제2 실시예에 따른 마늘 꼭지 자동 제거 장치의 사시도, 도 5는 본 발명의 제2 실시예에 따른 마늘 꼭지 자동 제거 장치의 측면도이다. 4 is a perspective view of an automatic garlic nipple removing device according to a second embodiment of the present invention, Figure 5 is a side view of the automatic garlic nipple removing device according to a second embodiment of the present invention.
본 발명의 제2 실시예에 따른 마늘 꼭지 자동 제거 장치는 마늘이 일시적으로 저장되는 호퍼(100), 호퍼(100)로부터 마늘이 투입되며, 세로 홈이 복수 개 형성된 제1 컨베이어 벨트(210), 제1 컨베이어 벨트(210)로부터 마늘이 투입되는 제2 컨베이어 벨트(220), 제2 컨베이어 벨트(220)의 상측에 설치되어 마늘의 영상을 획득하는 카메라(300), 제2 컨베이어 벨트(220) 상의 마늘의 꼭지를 제거하는 커팅 핸드(420), 커팅 핸드(420)를 3차원 적으로 이동시키는 로봇 팔(400) 및 카메라(300)가 획득한 마늘의 영상을 처리한 결과에 따라 커팅 핸드(420) 및 로봇 팔(400)을 제어하는 제어부(미도시)를 포함한다. 또한 제1 실시예와 마찬가지로 카메라(300)가 획득한 영상에서 꼭지를 판독하는데 도움을 줄 수 있는 UVA 조명(미도시)을 더 구비할 수도 있다. Garbage stem automatic removal device according to a second embodiment of the present invention, the garlic is injected from the hopper 100, the hopper 100 is temporarily stored garlic, the first conveyor belt 210 formed with a plurality of vertical grooves, The camera 300 and the second conveyor belt 220 installed on the second conveyor belt 220 into which garlic is injected from the first conveyor belt 210 and the second conveyor belt 220 to obtain an image of garlic. The cutting hand 420 to remove the stem of the garlic on the top, the robot arm 400 for moving the cutting hand 420 in three dimensions, and the cutting hand according to the processing result of the garlic image obtained by the camera 300 ( 420 and a controller (not shown) for controlling the robot arm 400. In addition, as in the first embodiment, the camera 300 may further include UVA illumination (not shown), which may help to read the nipple from the acquired image.
호퍼(100), 제1 컨베이어 벨트(210), 제2 컨베이어 벨트(220), 카메라(300)의 구성 및 작동은 제1 실시예와 동일하며, 마늘 꼭지를 제거하는 기구부만이 상이하다.The configuration and operation of the hopper 100, the first conveyor belt 210, the second conveyor belt 220, and the camera 300 are the same as in the first embodiment, and only the mechanism part for removing the garlic stem is different.
제2 실시예에서 마늘 꼭지의 제거는 로봇 팔(400)의 단부에 설치된 커팅 핸드(420)에 의해 이루어진다. 제어부는, 촬영 영역에 위치한 마늘의 영상을 카메라(300)가 획득하도록 카메라(300) 및 UVA 조명(미도시)에 신호를 보낸다. 신호를 받은 UVA 조명(미도시)은 ON 되며, 카메라(300)는 영상을 촬영하여 제어부로 보낸다. 제어부에 탑재된 영상 처리 프로그램이 해당 영상을 처리하여 마늘 꼭지의 위치 및 마늘의 합불 판정을 한 후 최종 결과를 도출한다. In the second embodiment, the removal of the garlic stem is performed by the cutting hand 420 installed at the end of the robot arm 400. The control unit sends a signal to the camera 300 and the UVA illumination (not shown) so that the camera 300 acquires an image of garlic located in the photographing area. The UVA light (not shown) receiving the signal is turned on, and the camera 300 takes an image and sends it to the controller. The image processing program mounted on the control unit processes the corresponding image to determine the position of the garlic stem and the sum of garlic and derive the final result.
제어부는 최종 결과에 따라 로봇 팔(400)을 이동시켜 커팅 핸드(420)가 마늘의 꼭지를 절단하도록 한다. 커팅 핸드(420)는 공압, 전동장치 또는 모터 등으로 조절될 수 있다. The control unit moves the robot arm 400 according to the final result so that the cutting hand 420 cuts the tap of garlic. The cutting hand 420 may be adjusted by pneumatic, electric drive or motor.
절단된 마늘과 마늘 꼭지는 제2 컨베이어 벨트(220) 상에서 계속 이동하며, 제2 컨베이어 벨트(220)의 단부에 설치된 복수 개의 롤러(700)를 지나면서 롤러(700) 사이의 간격보다 작은 절단된 마늘 꼭지와 이물질은 롤러(700) 사이로 배출되며, 마늘만이 이동하여 하방에 설치된 수집함(620)에 수집된다. 롤러(700)는 모터에 의해 회전할 수도 있고, 복수 개의 롤러(700)를 설치 위치가 점점 낮아지도록 비스듬하게 설치하여 마늘이 자중에 의해 롤러(700) 위를 굴러 수집함(620) 쪽으로 이동할 수도 있다. The cut garlic and the garlic stem continue to move on the second conveyor belt 220, and are cut smaller than the gap between the rollers 700 while passing through a plurality of rollers 700 installed at the end of the second conveyor belt 220. Garlic tap and foreign matter is discharged between the roller 700, only the garlic is collected in the collecting box 620 installed below. The roller 700 may be rotated by a motor, and the plurality of rollers 700 may be installed at an angle so that the installation position is gradually lowered so that the garlic may move on the rollers 700 by the weight and move toward the collector 620. have.
한편, 절단된 마늘과 마늘 꼭지가 제2 컨베이어 벨트(220) 상에 놓인 상태로 이동하기 때문에 절단면에서 발생하는 마늘즙에 의해 이물질이나 마늘 꼭지가 제2 컨베이어 벨트(220)에 달라붙기 쉽다. 그에 따라, 제2 컨베이어 벨트(220)의 하측에 접하도록 설치되며, 제2 컨베이어 벨트(220)에 달라붙은 이물질을 긁어내는 스크래퍼(800)가 추가로 설치될 수 있다. On the other hand, since the cut garlic and the garlic faucet moves in a state placed on the second conveyor belt 220, foreign matter or garlic faucet easily adheres to the second conveyor belt 220 by the garlic juice generated from the cut surface. Accordingly, the scraper 800 is installed to be in contact with the lower side of the second conveyor belt 220, scraping the foreign matter stuck to the second conveyor belt 220 may be additionally installed.
도 6 내지 8은 본 발명의 일 실시예에 따른 카메라가 획득한 마늘의 영상을 처리한 모습을 나타낸 사진이다. 도 6은 컨베이어 벨트 상의 마늘을 일반적인 컬러 카메라로 촬영하여 영상처리한 것으로, 절대해야할 꼭지 부분을 빨간색으로 표시하여 보여주며, 로봇 핸드가 집어야 할 마늘의 무게 중심을 녹색으로 표시하여 보여준 것이다. 6 to 8 are photographs showing a state of processing the image of the garlic obtained by the camera according to an embodiment of the present invention. Figure 6 is taken by the image of the garlic on the conveyor belt in a general color camera image processing, showing the absolute part of the faucet in red, showing the center of gravity of the garlic to be picked up by the robot hand in green.
도 7은 UVA 조명을 조사하여 마늘을 촬영한 것으로, 개별 마늘을 더욱 자세히 볼 수 있으며, 마늘의 꼭지 부분도 판별하기 용이하다. 사람의 육안으로는 컬러 영상과 비슷해 보이나, UVA 조명을 조사할 경우 컴퓨터 영상처리에는 훨씬 효과적이다. 도 8은 UVA 조명을 조사하여 컴퓨터로 영상 처리한 결과를 컬러 영상으로 표시한 것이다. 7 is a picture of garlic by irradiating the UVA light, the individual garlic can be seen in more detail, it is easy to determine the top of the garlic. The human eye looks similar to a color image, but irradiation with UVA light is much more effective for computer image processing. 8 is a color image of the result of image processing with a computer by irradiating UVA illumination.
UVA 조명은 본 발명에서 마늘의 꼭지를 판별하기 위한 영상 처리에서 매우 중요한 요소로서, 파란색 가시광선 파장대와 UVA 파장대 사이의 조명, 즉, 300nm~400nm 파장대의 조명이 마늘 꼭지와 마늘의 형상을 판별하는데 가장 우수한 효과를 나타내었다. UVA illumination is a very important factor in the image processing for determining the garlic faucet in the present invention, the illumination between the blue visible wavelength band and the UVA wavelength band, that is, the 300nm ~ 400nm wavelength illumination to determine the shape of the garlic faucet and garlic It showed the best effect.

Claims (8)

  1. 마늘이 일시적으로 저장되는 호퍼;Hopper in which garlic is temporarily stored;
    호퍼로부터 마늘이 투입되며, 세로홈이 복수 개 형성된 제1 컨베이어 벨트;Garlic is introduced from the hopper, and a first conveyor belt having a plurality of longitudinal grooves formed therein;
    제1 컨베이어 벨트로부터 마늘이 투입되는 제2 컨베이어 벨트;A second conveyor belt into which garlic is introduced from the first conveyor belt;
    제2 컨베이어 벨트의 상측에 설치되어 마늘의 영상을 획득하는 카메라;A camera installed at an upper side of the second conveyor belt to acquire an image of garlic;
    제2 컨베이어 벨트의 측면에 설치되며, 제2 컨베이어 벨트의 이동 경로에서 카메라보다 후방에 위치하며, 마늘이 삽입되는 홈을 외주에 복수 개 구비하며, 마늘의 꼭지만 돌출하는 두께를 가지는 원판형 인덱스 테이블; It is installed on the side of the second conveyor belt, located behind the camera in the movement path of the second conveyor belt, and provided with a plurality of grooves on the outer periphery for inserting the garlic, the disk-shaped index having a thickness of only protruding garlic table;
    제2 컨베이어 벨트의 측면에 설치되며, 인덱스 테이블의 홈과 일부가 겹쳐 돌출된 마늘 꼭지를 절단할 수 있는 원형 회전 칼날; A circular rotary blade installed at the side of the second conveyor belt and capable of cutting garlic stems protruding from the grooves of the index table and partially overlapping the grooves of the index table;
    제2 컨베이어 벨트 상의 마늘을 인덱스 테이블의 홈으로 이송하는 로봇 팔; 및 A robotic arm for conveying garlic on the second conveyor belt to the groove of the index table; And
    카메라가 획득한 마늘의 영상을 처리한 결과에 따라 로봇 팔을 제어하는 제어부;를 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치.And a control unit for controlling the robot arm according to a result of processing the image of garlic acquired by the camera.
  2. 제1항에 있어서, The method of claim 1,
    카메라의 촬영 영역에 UVA를 조사하는 조명;을 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치.Automatically remove the garlic faucet, characterized in that it further comprises; lighting to irradiate UVA to the shooting area of the camera.
  3. 제1항에 있어서, The method of claim 1,
    제1 컨베이어 벨트와 제2 컨베이어 벨트 사이에 설치되며, 이물질을 걸러내기 위한 복수 개의 롤러;를 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치. Installed between the first conveyor belt and the second conveyor belt, a plurality of rollers for filtering the foreign matter; automatic removal of garlic faucet, characterized in that it further comprises.
  4. 마늘이 일시적으로 저장되는 호퍼;Hopper in which garlic is temporarily stored;
    호퍼로부터 마늘이 투입되며, 세로홈이 복수 개 형성된 제1 컨베이어 벨트;Garlic is introduced from the hopper, and a first conveyor belt having a plurality of longitudinal grooves formed therein;
    제1 컨베이어 벨트로부터 마늘이 투입되는 제2 컨베이어 벨트;A second conveyor belt into which garlic is introduced from the first conveyor belt;
    제2 컨베이어 벨트의 상측에 설치되어 마늘의 영상을 획득하는 카메라;A camera installed at an upper side of the second conveyor belt to acquire an image of garlic;
    제2 컨베이어 벨트 상의 마늘의 꼭지를 제거하는 커팅 핸드; A cutting hand for removing the scab of garlic on the second conveyor belt;
    커팅 핸드를 3차원 적으로 이동시키는 로봇 팔; 및 A robot arm which moves the cutting hand in three dimensions; And
    카메라가 획득한 마늘의 영상을 처리한 결과에 따라 커팅 핸드 및 로봇 팔을 제어하는 제어부;를 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치.And a control unit for controlling the cutting hand and the robot arm according to a result of processing the image of the garlic acquired by the camera.
  5. 제4항에 있어서, The method of claim 4, wherein
    카메라의 촬영 영역에 UVA를 조사하는 조명;을 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치.Automatically remove the garlic faucet, characterized in that it further comprises; lighting to irradiate UVA to the shooting area of the camera.
  6. 제4항에 있어서, The method of claim 4, wherein
    제1 컨베이어 벨트와 제2 컨베이어 벨트 사이에 설치되며, 이물질을 걸러내기 위한 복수 개의 롤러;를 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치. Installed between the first conveyor belt and the second conveyor belt, a plurality of rollers for filtering the foreign matter; automatic removal of garlic faucet, characterized in that it further comprises.
  7. 제4항에 있어서,The method of claim 4, wherein
    제2 컨베이어 벨트의 하측에 접하도록 설치되며, 제2 컨베이어 벨트의 이물질을 긁어내는 스크래퍼;를 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치. The scraper is installed so as to contact the lower side of the second conveyor belt, scraper scraping off the foreign matter of the second conveyor belt; Automatically remove the garlic tap, characterized in that it further comprises.
  8. 제4항에 있어서, The method of claim 4, wherein
    제2 컨베이어 벨트의 단부에 설치되며, 이물질 및 절단된 꼭지를 걸러내고 마늘만을 배출하기 위한 복수 개의 롤러;를 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치. Installed on the end of the second conveyor belt, a plurality of rollers for filtering the foreign matter and the cut faucet and discharge only the garlic; Automatically remove the garlic faucet characterized in that it further comprises.
PCT/KR2018/001484 2018-02-05 2018-02-05 Automatic garlic basal plate removing device WO2019151553A1 (en)

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