WO2019151553A1 - 마늘 꼭지 자동 제거 장치 - Google Patents
마늘 꼭지 자동 제거 장치 Download PDFInfo
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- 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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- WO
- WIPO (PCT)
- Prior art keywords
- garlic
- conveyor belt
- camera
- index table
- image
- Prior art date
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Classifications
-
- 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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- 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
Description
Claims (8)
- 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; 및카메라가 획득한 마늘의 영상을 처리한 결과에 따라 로봇 팔을 제어하는 제어부;를 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치.
- 제1항에 있어서,카메라의 촬영 영역에 UVA를 조사하는 조명;을 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치.
- 제1항에 있어서,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.
- 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; 및카메라가 획득한 마늘의 영상을 처리한 결과에 따라 커팅 핸드 및 로봇 팔을 제어하는 제어부;를 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치.
- 제4항에 있어서,카메라의 촬영 영역에 UVA를 조사하는 조명;을 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치.
- 제4항에 있어서,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.
- 제4항에 있어서,제2 컨베이어 벨트의 하측에 접하도록 설치되며, 제2 컨베이어 벨트의 이물질을 긁어내는 스크래퍼;를 더 포함하는 것을 특징으로 하는 마늘 꼭지 자동 제거 장치.
- 제4항에 있어서,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.
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Cited By (1)
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CN114081193A (zh) * | 2020-08-25 | 2022-02-25 | 山东圣捷智能设备有限公司 | 一种大蒜分瓣扒皮机 |
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