CN111921902A - Apple's internal damage detection device - Google Patents

Abstract

The invention discloses an apple internal damage detection device, comprising a single fruit sorting part, an overturn detection part and a damaged fruit dividing part. The single fruit sorting part includes a first rack, and a conveying mechanism is arranged in the middle of the inner cavity of the first rack. The upper surface of the conveying mechanism is provided with a single fruit sorting mechanism, and the overturning detection part includes a second frame, the top of the second frame is fixed with a side rail casing, the top of the side rail casing is provided with an imaging box, and the inner cavity of the side rail casing Chains are arranged on the front and rear sides, sprockets are engaged on the left and right sides of the inner cavity of the chain, and a second bearing 1 is arranged on the front and rear ends of the two sets of input shafts. The top of the third rack is provided with a fruit dividing conveying component, and the top of the fruit dividing conveying component is provided with a fruit dividing mechanism. The structure of the invention is reasonable in design, and it is convenient for different types of apples to be accurately transferred to the corresponding conveyor belt channels through the fruit picking board. The sorting of apples with or without internal damage increases the added value of apples.

Description

Apple's internal damage detection device

technical field

The invention relates to the technical field of agricultural product detection and classification, in particular to an apple internal damage detection device.

Background technique

As the life of the Chinese people is getting better and better, the pursuit of food quality is getting higher and higher. A large number of vitamins, inorganic salts, fruit fibers and other nutrients that people need exist in fruits, and people's daily life is more and more inseparable. Fruit, people pay more and more attention to the quality of fruit when buying fruit, so fruit merchants also pay more attention to the internal quality of fruit.

During the processing of the fruit after picking, it is easy to cause mechanical damage, which will cause the fruit to be infected with fungi or bacteria, resulting in rot and affecting the appearance of the fruit, and will also cause harm to the human health of the consumer, and there are quality problems during transportation. The fruit will also affect the rest of the high-quality fruit, which will also bring economic losses to the fruit farmers. Many small farmers mainly conduct testing manually and with the human eye. Problems such as inaccurate manual sorting and scoring cheating will affect the results of apple testing. At the same time, individual fruits with internal damage cannot be easily found by the naked eye, so it is impossible to accurately judge the internal damage of apples, so the internal damage detection of fruits is particularly important. For this reason, we propose an internal damage detection method for apples. device.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the above-mentioned problems existing in the prior art, and to provide an apple internal damage detection device, which is convenient for accurately dialing different types of apples to the corresponding conveyor belt channels through the fruit picking board, and completes the classification of whether there are internal damage apples. Choose to increase Apple's added value.

In order to realize the above-mentioned technical purpose and achieve the above-mentioned technical effect, the present invention is realized through the following technical solutions:

An apple internal damage detection device, comprising a single fruit sorting part, an overturn detection part and a damaged fruit dividing part, the single fruit sorting part comprises a first rack, and a conveying mechanism is arranged in the middle of the inner cavity of the first rack, A single fruit sorting mechanism is arranged on both the front and rear sides of the upper surface of the conveying mechanism, and a driving component 1 is arranged on the right side of the inner cavity of the first frame;

The right side of the single fruit sorting part is provided with an inversion detection part, and the inversion detection part includes a second frame, the top of the second frame is fixed with a side rail housing, and the top of the side rail housing is provided with a pick-up. Like a box, the left and right sides of the inner cavity of the side rail shell are provided with two input shafts, the front and rear sides of the inner cavity of the side rail shell are provided with chains, and the left and right sides of the inner cavity of the two sets of chains are meshed. There is a sprocket, and the sprocket is fixedly installed on the corresponding input shaft two, the outer side wall of the chain is fixedly installed with a third conveyor belt, and the outer side wall of the third conveyor belt is evenly provided with a rolling mechanism, and the two sets of input shafts The front and rear ends of the second bearing are provided with a second bearing, the input shaft 2 is rotatably connected to the side rail housing through the second bearing 1, and the front side of the left input shaft 2 penetrates the front side wall of the side rail housing. The left end of the front side of the side rail housing is provided with the second drive assembly;

The right side of the overturn detection part is provided with a damaged fruit dividing part, and the damaged fruit dividing part includes a third frame, and a fruit dividing conveying assembly is arranged on the top of the third frame, and the fruit dividing part is arranged on the top of the third frame. The top of the conveying assembly is provided with a fruit dividing mechanism, and the right end of the front side of the third frame is provided with a third drive assembly.

Preferably, the conveying mechanism includes a first conveyor belt, a first input shaft 1 is provided on the left side of the inner cavity of the first conveyor belt, a first bearing 1 is provided on both front and rear sides of the first conveyor belt, and the first input shaft 1 is provided on the left side of the inner cavity of the first conveyor belt. A bearing 1 is connected with the first input shaft 1, the lower surfaces of the two sets of the first bearing 1 are provided with a bearing gantry, and the lower surface of the bearing gantry is fixedly connected with the first frame, the first The right side of the inner cavity of the conveyor belt is provided with a first rotating shaft, the front and rear ends of the outer wall of the first rotating shaft are provided with a first bearing two, and the front and rear ends of the outer wall of the first rotating shaft are connected with the first bearing two. A side plate, the first side plate is located between the first conveyor belt and the first bearing one, and the first side plate is movably sleeved on the first input shaft one.

Based on the above technical features, both sides of the first conveyor belt are blocked by the first side plate, and the first input shaft 1 and the first rotating shaft are driven together to facilitate the driving of the orderly arranged apples on the first conveyor belt. Next level teleportation.

Preferably, the single-fruit sorting mechanism and the single-fruit sorting mechanism include a single-fruit sorting board, and a positioning strip is fixed at one end of the single-fruit sorting board away from the first conveyor belt, and the positioning strip is fixed to the first frame through bolts, The lower surface of the single fruit sorting board close to one end of the first conveyor belt is correspondingly fixed to the first side plate, the upper surface of the single fruit sorting board is provided with ribs at equal intervals from left to right, and the single fruit sorting mechanism on the front side is provided with ribs. The ribs on the single fruit sorting board are arranged in a staggered manner with the ribs on the single fruit sorting board in the single fruit sorting mechanism on the rear side.

Based on the above technical features, the staggered arrangement of ribs can greatly reduce the possibility of collision and blockage between individual apples.

Preferably, the first drive assembly includes a first motor, the left power output end of the first motor is provided with a first large gear 1, and the top of the first large gear 1 is meshed with a first pinion 1, so The first pinion gear 1 is located on the first input shaft 1 .

Based on the above technical features, through the meshing transmission between the first large gear 1 and the first pinion 1 by the first motor, it is convenient to provide driving force for the transmission of the first conveyor belt.

Preferably, the number of the rolling mechanisms is 24, the rolling mechanism includes a roller, the roller is movably engaged with the side rail housing, and the rollers are symmetrically arranged on the front and rear sides of the outer wall of the roller.

Based on the above technical features, it is convenient for the apples that are transported in an orderly manner from the previous stage to be moved and transported to the imaging box, so as to perform comprehensive image acquisition of the information on the internal damage of the apples.

Preferably, the fruit dividing conveying assembly includes a second conveyor belt, a second input shaft 1 is provided on the right side of the inner cavity of the second conveyor belt, and a third bearing is provided on both the front and rear ends of the outer wall of the second input shaft 1 1. The third bearing is fixedly installed on the third frame by bolts, the left and right sides of the second conveyor belt are symmetrically provided with support gantry, and the front and rear sides of the second conveyor belt are symmetrically provided with a second side The second side plate is fixedly connected between the two groups of supporting door frames, and the bottom of the second side plate is fixedly connected with the third frame, and the second side plate is movably sleeved with the second input shaft Then, the left side of the inner cavity of the second conveyor belt is provided with a second rotating shaft, the front and rear ends of the outer wall of the second rotating shaft are provided with a second bearing two, the second rotating shaft passes through the second bearing two and the second side board is connected.

Based on the above technical features, both sides of the second conveyor belt are blocked by the second side plate, and under the transmission and cooperation of the second input shaft 1 and the second rotating shaft, it is convenient to drive the second conveyor belt to separate the damaged and non-damaged parts on it. Large categories of apples are delivered separately.

Preferably, the second drive assembly includes a second motor, the rear power output end of the second motor is provided with a second pinion, the top of the second pinion is meshed with a second large gear, and the second large gear is installed on the The second input shaft on the left runs through one end of the front side wall of the side rail housing.

Based on the above technical features, through the meshing transmission between the second large gear and the second pinion by the second motor, it is convenient to provide driving force when the apple is transported into the image pickup box for detection.

Preferably, the fruit dividing mechanism includes a dividing plate, and right-angle frames are symmetrically fixed on the left and right sides of the dividing plate, and the right-angle frames are fixed to the supporting door frame by bolts. Mounting racks are symmetrically arranged on both sides, a fourth motor is mounted on the bottom of the mounting rack, and the fourth motor is located on the left side of the inner cavity of the partition plate, and a fruit picking board is arranged at the bottom power output end of the fourth motor.

Based on the above technical features, the fourth motor provides a driving force for the fruit picking board to pick the apples, so as to facilitate the picking and classification of damaged and non-damaged apples.

Preferably, the drive assembly 3 includes a third motor, the left power output end of the third motor is provided with a second large gear 1, and the top of the second large gear 1 is meshed with a second pinion 1, so The second pinion is mounted on the second input shaft.

Based on the above technical features, through the meshing transmission between the second large gear 1 and the second pinion 1 by the third motor, it is convenient to provide driving force for the transmission of the second conveyor belt.

Compared with the prior art, the beneficial effects of the present invention are as follows:

The structure design of the present invention is reasonable, and a specific application of this embodiment is as follows: first: through the arrangement of the staggered ribs, it is convenient to transport the disordered apples one by one after rolling on the single fruit sorting board to the first A conveyor belt, which can greatly reduce the possibility of collision and blockage between individual apples;

Second: The second motor provides driving force under the meshing transmission between the second large gear and the second pinion. Through the rolling action of the roller, it is convenient to move and transport the apples delivered in a single order from the previous stage to the imaging box. The image collection of the internal damage information of the apple is carried out in the image acquisition box;

Third: The conveying area on the second conveyor belt is divided into two groups of passages by the dividing plate, and the fourth motor is used to provide driving force for the apples to be moved by the fruit-picking board, which is convenient for the sorting of damaged and non-damaged apples. It is convenient to accurately dial different types of apples into the corresponding channels on the second conveyor belt, complete the sorting of apples with or without internal damage, and improve the added value of apples.

Of course, it is not necessary for any product embodying the present invention to achieve all of the above-described advantages simultaneously.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

Fig. 1 is the use state structure schematic diagram of the present invention;

Fig. 2 is the top view of Fig. 1 of the present invention;

Fig. 3 is the structural representation of the single fruit sorting part in Fig. 2 of the present invention;

Fig. 4 is the left side view of Fig. 3 of the present invention;

FIG. 5 is a schematic structural diagram of the flip detection part in FIG. 1 of the present invention;

Fig. 6 is the top view of Fig. 5 of the present invention;

Fig. 7 is the left side view of Fig. 5 of the present invention;

8 is a schematic structural diagram of the second drive assembly of the present invention;

Fig. 9 is the structural representation of the part with or without damage in Fig. 1 of the present invention;

Fig. 10 is the top view of Fig. 9 of the present invention;

Fig. 11 is the left side view of Fig. 9 of the present invention;

Fig. 12 is the structural representation of the fruit dividing mechanism of the present invention;

In the accompanying drawings, the list of components represented by each number is as follows:

1- The first frame, 2- Conveying mechanism, 201- Loading gantry, 202- The first side plate, 203- The first bearing two, 204- The first conveyor belt, 205- The first rotating shaft, 206- The first bearing one , 207-first input shaft one, 3-single fruit sorting mechanism, 301-positioning strip, 302-single fruit sorting plate, 303-rib, 4-drive assembly one, 401-first pinion gear one, 402-first motor , 403- the first large gear one, 5- rolling mechanism, 501- roller, 502- roller, 6- fruit conveying assembly, 601- support gantry, 602- second shaft, 603- second bearing two, 604 -Second side plate, 605-Third bearing one, 606-Second input shaft one, 607-Second conveyor belt, 7-Drive assembly two, 701-Big gear two, 702-Second motor, 703-Pinion two , 8- fruit dividing mechanism, 801- right angle frame, 802- fruit plate, 803- mounting frame, 804- fourth motor, 805- dividing plate, 9- drive assembly three, 901- second pinion gear one, 902 -2nd gear one, 903-third motor, 10-side rail housing, 11-image pickup box, 12-input shaft two, 13-chain, 14-sprocket, 15-second bearing one, 16-th Three racks, 17-second rack, 18-third conveyor.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The present invention provides a technical solution: an apple internal damage detection device, comprising a single fruit sorting part, a flipping detection part and a damaged fruit dividing part, and the single fruit sorting part includes a first rack 1 (refer to Figures 1 and 1 in the accompanying drawings of the description). 2), a conveying mechanism 2 is arranged in the middle of the inner cavity of the first frame 1, and the conveying mechanism 2 includes a first conveyor belt 204, and a first input shaft 1 207 is provided on the left side of the inner cavity of the first conveyor belt 204, and the first conveyor belt 204 A first bearing one 206 is provided on both the front and rear sides of the shaft. The first bearing one 206 is connected with the first input shaft one 207. The lower surfaces of the two groups of the first bearing one 206 are provided with a bearing gantry 201, and the bearing gantry is The lower surface of 201 is fixedly connected with the first frame 1, the right side of the inner cavity of the first conveyor belt 204 is provided with a first rotating shaft 205, and the front and rear ends of the outer wall of the first rotating shaft 205 are provided with a first bearing two 203. The front and rear ends of the outer wall of the rotating shaft 205 are connected to the first side plate 202 through the first bearing two 203. The first side plate 202 is located between the first conveyor belt 204 and the first bearing one 206, and the first side plate 202 is movably sleeved. On the first input shaft 1 207, the first side plate 202 blocks both sides of the first conveyor belt 204, and the first input shaft 1 207 and the first rotating shaft 205 cooperate with each other to drive the first conveyor belt 204. The orderly arranged apples on the top are conveyed to the next level, and the front and rear sides of the upper surface of the conveying mechanism 2 are provided with a single fruit sorting mechanism 3. The single fruit sorting mechanism 3 includes a single fruit sorting board 302, and the single fruit sorting board 302 is far away from the first conveyor belt 204. One end is fixed with a positioning strip 301, the positioning strip 301 is fixed with the first frame 1 through bolts, and the lower surface of one end of the single fruit sorting board 302 close to the first conveyor belt 204 is fixed with the first side plate 202 correspondingly , the upper surface of the single fruit sorting plate 302 is provided with ribs 303 at equal intervals from left to right. The ribs 303 are arranged in a staggered manner, and the staggered arrangement of the ribs 303 can greatly reduce the possibility of collision and blockage between individual apples (refer to FIG. 3 in the accompanying drawings of the description). The right side of the cavity is provided with a drive component 1 4, the drive component 1 4 includes a first motor 402, the left power output end of the first motor 402 is provided with a first large gear 1 403, and the top of the first large gear 1 403 meshes with the first large gear 1 403. One pinion gear 401, the first pinion gear one 401 is located on the first input shaft one 207, through the meshing transmission between the first large gear one 403 and the first pinion gear one 401 by the first motor 402, it is convenient for the first The transmission of a conveyor belt 204 provides the driving force (refer to FIG. 4 in the accompanying drawings of the description);

The right side of the single fruit sorting part is provided with a flip detection part, and the flip detection part includes a second rack 17, the top of the second rack 17 is fixed with a side rail housing 10, and the top of the side rail housing 10 is provided with an imaging box 11 ( Referring to Figure 5 in the accompanying drawings), the left and right sides of the inner cavity of the side rail housing 10 are provided with input shafts 2 12, the front and rear sides of the inner cavity of the side rail housing 10 are provided with chains 13, and the inner cavity of the two groups of chains 13 are provided. The left and right sides are meshed with sprockets 14, and the sprockets 14 are fixedly installed on the corresponding input shaft 2 12, the outer side wall of the chain 13 is fixedly installed with a third conveyor belt 18, and the outer side wall of the third conveyor belt 18 is evenly provided with rolling Mechanism 5, the number of the rolling mechanism 5 is 24 groups, the rolling mechanism 5 includes a roller 502, the roller 502 is movably connected with the side rail housing 10, and the outer wall of the roller 502 is symmetrically provided with rollers 501 on the front and rear sides, which is convenient for the upper The apples delivered in an orderly manner are turned over and transported into the imaging box 11 for comprehensive image acquisition of the internal damage information of the apples. The front and rear ends of the two sets of input shafts 12 are provided with second bearings 1 15. The input shafts The second 12 is rotatably connected with the side rail housing 10 through the second bearing one 15, and the front side of the left input shaft two 12 penetrates the front side wall of the side rail housing 10 (refer to FIG. 6 and FIG. 7 in the accompanying drawings of the specification), and the side rail The front left end of the housing 10 is provided with a second drive assembly 7, the second drive assembly 7 includes a second motor 702, the rear power output end of the second motor 702 is provided with a second pinion 703, and the top of the second pinion 703 is meshed with a large gear The second 701 and the second large gear 701 are installed on one end of the left input shaft 2 12 passing through the front side wall of the side rail housing 10, and are driven by the second motor 702 under the meshing transmission between the second large gear 701 and the second pinion 703, which is convenient for Provide driving force when the apple is transported into the image pickup box 11 for detection (refer to Figure 8 in the accompanying drawings of the description);

The right side of the overturning detection part is provided with a damaged fruiting part, and the damaged fruiting part includes a third frame 16 (refer to FIG. 9 in the accompanying drawings of the description), and the top of the third frame 16 is provided with a fruiting conveying assembly. 6. The fruit dividing conveying assembly 6 includes a second conveyor belt 607, the right side of the inner cavity of the second conveyor belt 607 is provided with a second input shaft 1 606, and the front and rear ends of the outer wall of the second input shaft 1 606 are provided with a third bearing 1 605 , the third bearing 605 is fixedly installed on the third frame 16 by bolts, the left and right sides of the second conveyor belt 607 are symmetrically provided with support gantry 601, and the front and rear sides of the second conveyor belt 607 are symmetrically provided with second side plates 604 , the second side plate 604 is fixedly connected between the two sets of supporting portal frames 601, and the bottom of the second side plate 604 is fixedly connected to the third frame 16, and the second side plate 604 is movably connected to the second input shaft 1 606 Socket connection, the left side of the inner cavity of the second conveyor belt 607 is provided with a second rotating shaft 602, the front and rear ends of the outer wall of the second rotating shaft 602 are provided with a second bearing 2 603, the second rotating shaft 602 passes through the second bearing 2 603 and the second bearing The side plates 604 are connected, and the two sides of the second conveyor belt 607 are blocked by the second side plate 604. Under the transmission and cooperation of the second input shaft 1 606 and the second rotating shaft 602, it is convenient to drive the second conveyor belt 607 to separate the upper part of the conveyor belt 607. Two types of apples with damage and no damage are separately conveyed (refer to Figure 10 in the accompanying drawings of the description), the top of the fruit-separating conveying assembly 6 is provided with a fruit-separating mechanism 8, and the fruit-dividing mechanism 8 includes a dividing plate 805. The dividing plate 805 A right-angle frame 801 is fixed symmetrically on the left and right sides of the partition plate 801, and the right-angle frame 801 is fixed to the supporting gantry 601 by bolts. The front and rear sides of the partition plate 805 are symmetrically arranged with a mounting frame 803, and the bottom of the mounting frame 803 is installed with a fourth The motor 804, and the fourth motor 804 is located on the left side of the inner cavity of the partition plate 805, the bottom power output end of the fourth motor 804 is provided with a fruit picking board 802, and the fourth motor 804 provides a drive for the fruit picking board 802 to pick apples force, so as to facilitate the sorting of the apples with and without damage (refer to FIG. 12 in the accompanying drawings of the description), the right end of the front side of the third frame 16 is provided with a drive assembly 9, and the drive assembly 9 includes a third motor 903 , the left power output end of the third motor 903 is provided with a second large gear 1 902, the top of the second large gear 1 902 is meshed with a second pinion 1 901, and the second pinion 1 901 is installed on the second input shaft 1 606, through the meshing transmission between the second large gear 902 and the second pinion 901 by the third motor 903, it is convenient to provide driving force for the transmission of the second conveyor belt 607 (refer to FIG. 11 in the accompanying drawings).

Design parameters of the single fruit sorting part and the part with or without damage:

Gear Transmission Design Calculation

Calculation of contact fatigue strength of tooth surface

1. Preliminary calculation

Calculate torque:

Tooth width coefficient ψ _d , ψ _d = 0.6 from the manual table, preliminary calculation of pinion diameter:

Take d ₁ =50mm, the primary tooth width is:

b=ψ _d ×d ₁ (3.3)

From the formula b = 30mm.

2. Check calculation

Circumferential speed:

节点区域系数Z_H＝2.5，接触最小安全系数S_Hmin＝1.05，接触寿命系数Z_N＝1.16。The accuracy grade is obtained from the mechanical manual, and the 8-grade accuracy is selected. The number of teeth z and the modulus m, the initial number of teeth z ₁ =20, because m = d ₁ /z ₁ , it is obtained from the mechanical manual, take m = 2.5, from z ₁ =d ₁ /m, z ₂ =i·z ₁ , get z ₁ = 20, z ₂ = 30, use coefficient K _A , K _A = 1.25 from the mechanical manual, dynamic load coefficient K _V = 1.2, inter-tooth load distribution coefficient K _Hα = 1.29, tooth load distribution Coefficient K _Hβ = 1.37. Load factor K=K _A K _V K _Hα K _Hβ =2.65. From the mechanical manual table, elastic coefficient

The nodal zone factor Z _H = 2.5, the contact minimum safety factor S _Hmin = 1.05, and the contact life factor Z _N = 1.16.

Allowable Contact Stress:

Check:

The calculation results show that σ _H <[σ _H ], the contact fatigue strength meets the requirements, and the gear size does not need to be adjusted.

3. Determine the main size of the transmission

得a＝62.5mm，齿宽b＝30mm。The diameter of the graduation circle is obtained from d=mz to obtain d ₁ =50mm and d ₂ =75mm. center distance by

Get a=62.5mm, tooth width b=30mm.

Design parameters of flip detection part:

Gear Transmission Design Calculation and Tooth Surface Contact Fatigue Strength Calculation

1. Preliminary calculation

Calculate torque:

Tooth width coefficient ψ _d , ψ _d = 0.5 from the manual table, preliminary calculation of pinion diameter:

Take d ₁ =60mm, the primary tooth width:

b=ψ _d ×d ₁ (4.3)

From the formula b = 30mm.

2. Check calculation

Circumferential speed:

节点区域系数Z_H＝2.5，接触最小安全系数S_Hmin＝1.05，接触寿命系数Z_N＝1.13。The accuracy grade is obtained from the mechanical manual, and the 8-grade accuracy is selected. The number of teeth z and the modulus m, the initial number of teeth z ₁ =20, because m=d ₁ /z ₁ , it is obtained from the mechanical manual, take m=2, from z ₁ =d ₁ /m, z ₂ =i·z ₁ , get z ₁ = 20, z ₂ = 60, use coefficient K _A , K _A = 1.25 from the mechanical manual, dynamic load coefficient K _V = 1.2, inter-tooth load distribution coefficient K _Hα = 1.32, tooth load distribution Coefficient K _Hβ = 1.38. Load factor K=K _A K _V K _Hα K _Hβ =2.73. From the mechanical manual table, elastic coefficient

The node area factor Z _H = 2.5, the contact minimum safety factor S _Hmin = 1.05, and the contact life factor Z _N = 1.13.

Allowable Contact Stress:

Check:

The calculation results show that when σ _H <[σ _H ], the contact fatigue strength is appropriate, and the gear size does not need to be adjusted.

3. Determine the main dimensions of the transmission

得a＝90mm，齿宽b＝30mm。The diameter of the graduation circle is obtained from d=mz, d ₁ =60mm, d ₂ =120mm. center distance by

Get a=90mm, tooth width b=30mm.

Power selection

The conveyor belt is one of the key parts in direct contact with the apple fruit, and it is the power device that converts the power of the motor into the forward movement of the apple. According to the forward speed requirements of the conveyor belt, a stepper motor with a power of 90w is initially selected.

1. Motor speed

In order to ensure the smooth completion of the inversion detection module, the time spent by individual apples in the inversion detection module should be higher than the time spent by the conveyor belt of the single fruit sorting module to assist in conveying individual apples. First, analyze and calculate the motion of the horizontally arranged conveyor belt separately. The frictional force of the apple itself provides acceleration to the individual apple, according to the kinematic equation of motion (4.7):

v=μgt ² (4.7)

In the formula, μ is the friction coefficient of the conveyor belt, 0.4; g is the acceleration of gravity, 9.8m/s ² (g=9.8m/s ² by default without further explanation).

In the flip detection module, without considering the time taken by the visual detection system to analyze the apple image, the time relationship of t≤0.96s should be established. From (4.8) the relationship between the rotational speed v and the linear speed n:

v=πdn (4.8)

Through the calculation formula, the speed of the motor can be obtained as n=40r/min.

2. Converted to the load inertia on the motor shaft

Coupling moment of inertia:

In the formula, m is the mass of the coupling, and r is the radius of the coupling. According to the information, m=0.05kg, r=15mm.

The conveyor belt roller is selected as composite material, and the shaft core material is 45# steel processed by rubber coating. Therefore, the moment of inertia of the conveyor belt roller in this module consists of two parts. Part of it is calculated by calculation, and its mass and radius are measured through three-dimensional modeling.

J _b =m(r ₁ ² +r ₂ ² )/2 (4.10)

In the formula, m is the quality of the lagging, r ₁ is the radius of the shaft core, and r ₂ is the radius of the lagging. Substitute the numerical values m=0.2 kg, r ₁ =15 mm, and r ₂ =30 mm.

Load inertia on motor shaft:

J _d =J _l +J _z +J _b (4.11)

In the formula, J _z is the moment of inertia of the shaft core. Substitute into numerical calculation to obtain J _d =0.1×10 ^-3 kg·m ² .

3. Load torque on the motor shaft:

Combined with the actual weight of an apple, the upper limit is 500g, and there are at most four apples on the conveyor belt. Take the transmission efficiency of the conveyor belt as 90%; set the horizontal placement as the placement method of the motor, so no axial load will be generated; set the transmission ratio as 1, so the shaft diameter of the driven roller and the driving roller of the conveyor belt are the same. Calculate the load torque on the motor shaft from equation (3.6):

In the formula, W is the total mass of the movable part; i is the reduction ratio; μ is the friction factor; F is the axial load; D is the diameter of the final pulley; β is the total efficiency of the feed transmission system; g is the acceleration of gravity .

W=2kg, μ=0.11, D=0.03m into the numerical calculation, the load torque _TL =0.36N·m converted to the motor shaft can be obtained.

④Acceleration torque on the motor shaft

In the formula, n is the required maximum speed of the motor; t _a is the acceleration time, 1s; J _m is the moment of inertia of the motor. Substitute the numerical calculation to obtain the acceleration torque Ta ₌ 0.4×10 ^-3 +4.2J _m on the motor shaft.

Therefore, the total torque converted to the motor is:

T _eq = T _a + T _L (4.14)

Substitute into numerical calculation to obtain T _eq =0.36+4.2J _m . Taking the safety factor as K=2, the required torque of the motor: T _M =KT _eq =0.72+8.2J _m . The model of the motor is preliminarily selected as 57BYG250C, and its rotor inertia is J _m =0.52×10 ^-4 kg·m ² , so: T _eq =0.36N·m, T _M =0.72N·m. The holding torque of the stepper motor with model 57BYG250C is 1.2N·m>0.72N·m, and the step angle θ=1.8°. By calculating the motion frequency of the motor at the fastest speed:

f=n×360°/(60×θ) (4.15)

Substitute the numerical calculation to obtain the motion frequency of 133Hz. Referring to the torque-frequency characteristic curve of the motor, T _eq is less than the output torque at this speed or frequency, so this motor meets the requirements.

Sprocket Design

The reason for applying chain drive in this rollover detection module is as follows. Compared with belt drive, chain drive has no elastic sliding, can keep the average transmission ratio accurate, and has higher transmission efficiency; the chain does not need large tensioning force, so the load on the shaft and bearing is smaller; no slippage occurs, The transmission is reliable, the overload capacity is strong, and it can work well under low speed and heavy load; compared with gear transmission, it can have a larger center distance, and can work in harsh environments such as dust and high temperature, and the cost is low. Of course, the chain drive also has shortcomings, such as the instantaneous chain speed and the instantaneous transmission ratio are changed, the transmission stability is poor, there is impact and noise in the work, it is not suitable for high-speed occasions, and it is not suitable for the situation where the rotation direction changes frequently. Combined with the work requirements of the overturn detection part, the chain drive can be better satisfied.

1. Selection of the number of sprocket teeth

The number of teeth of the driving sprocket is Z ₁ =23, and the number of teeth of the driven sprocket is Z ₂ =23.

2. Chain pitch and center distance

According to the recommendation of the mechanical manual, a ₀ =(30～50)p is the initial center distance. In this design, p = 38.1mm, a ₀ =30p, and the calculation can be obtained by substituting the numerical value: a ₀ =1157.4mm.

3. Chain length and chain length

In the formula, f ₃ =((z ₂ -z ₁ )/2π) ² , and the numerical value is substituted into formula (4.16) to calculate: X ₀ =83.76, according to the manual X ₀ should be rounded into an integer X, and an even number X ₀ should be taken =84.

Chain length:

Substitute the value into formula (4.17) to calculate the chain length L=0.32m.

A specific application of this embodiment is: the structure design of the present invention is reasonable. In the single fruit sorting part, the arrangement of the ribs 303 arranged in a staggered manner is convenient for rolling the disordered apples on the single fruit sorting board 302. They are sequentially transported to the first conveyor belt 204, thereby greatly reducing the possibility of collision and blockage between individual apples. The meshing transmission between the pinion 1 401 drives the first conveyor belt 204 to drive on the first input shaft 1 207 and the first rotating shaft 205, so as to facilitate driving the single orderly apples conveyed on the first conveyor belt 204 to the next The second motor 702 drives the pinion 2 703 to rotate, and through the meshing transmission between the pinion 2 703 and the large gear 2 701, it drives a group of input shafts 12 to rotate first, through the chain 13 and the second gear 701. The meshing transmission between the sprockets 14 drives the other group of input shafts 12 to rotate synchronously, and further drives the third conveyor belt 18 to drive forward, so that the rolling mechanism 5 is moved forward by the frictional force between the rollers 501 and the third conveyor belt 18. The side rail shell 10 drives the apples along the transmission direction to be turned and transported, so as to facilitate the orderly dynamic movement and transportation of the apples that have been transported in an orderly manner from the previous stage to the imaging box 11, so that the apples are exposed at multiple angles. It comes out and provides it for later image acquisition. Spectral imaging technology is applied in the image capture box 11, and the LED light source in the 400-1000nm band is selected to provide a good shooting environment for Apple. Set 529nm, 622nm and 970nm as the characteristics of the CCD camera Wavelength, through the CCD camera, comprehensive image acquisition and storage of the information on the internal damage of the apple conveyed below it, so as to obtain accurate apple image information, ensure the reliability of the results, integrate the image acquisition information and judge whether the apple is detected. There is internal damage, and at the same time, the test results are transmitted to the fourth motor 804 driver through serial communication, which provides a working basis for the next-level module. , the transfer area on the second conveyor belt 607 is divided into two groups of channels by the dividing plate 805, and the fruit picking plate 802 is driven by the fourth motor 804 and the image information control based on the result of the image acquisition information in the inversion detection part. Detecting the completed apples and changing their moving paths is convenient for sorting the damaged and non-damaged apples, so that different types of apples can be accurately dialed into the corresponding channels on the second conveyor belt 607 and driven by the third motor 903 The second large gear 1 902 rotates, and through the meshing transmission between the second large gear 1 902 and the second pinion 1 901, the second conveyor belt 607 is driven on the second rotating shaft 602 and the second input shaft 1 606 to realize the arrival of apples. The transportation after the designated channel completes the sorting of apples with or without internal damage, and improves the added value of apples.

The first motor 402 , the second motor 702 , the third motor 903 , and the fourth motor 804 in the above-mentioned embodiment all use stepper motors, so as to reduce costs as much as possible on the premise of realizing functions.

The above-disclosed preferred embodiments of the present invention are provided only to help illustrate the present invention. The preferred embodiments do not exhaust all the details, nor do they limit the invention to only the described embodiments. Obviously, many modifications and variations are possible in light of the contents of this specification. These embodiments are selected and described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is to be limited only by the claims and their full scope and equivalents.

Claims (9)

1. An apple internal damage detection device, comprising a single fruit sorting part, an overturn detection part and a damaged fruit dividing part, it is characterized in that: the single fruit sorting part comprises a first rack (1), the first rack A conveying mechanism (2) is arranged in the middle of the inner cavity of (1), and a single fruit sorting mechanism (3) is arranged on the front and rear sides of the upper surface of the conveying mechanism (2). The inner cavity of the first frame (1) The right side is provided with a drive assembly one (4); The right side of the single fruit sorting part is provided with an overturn detection part, and the overturn detection part comprises a second frame (17), and a side rail casing (10) is fixed on the top of the second frame (17), so The top of the side rail housing (10) is provided with an imaging box (11), the left and right sides of the inner cavity of the side rail housing (10) are provided with two input shafts (12), and the side rail housing (10) Chains (13) are arranged on both the front and rear sides of the inner cavity of the two sets of chains (13), sprockets (14) are engaged with the left and right sides of the inner cavity of the two groups of chains (13), and the sprockets (14) are fixedly installed on the corresponding input shafts On the second (12), a third conveyor belt (18) is fixedly installed on the outer side wall of the chain (13), and the outer side wall of the third conveyor belt (18) is evenly provided with a rolling mechanism (5). The front and rear ends of the second shaft (12) are provided with a second bearing one (15). The front side of the shaft two (12) penetrates the front side wall of the side rail housing (10), and the left end of the front side of the side rail housing (10) is provided with a driving assembly two (7); The right side of the overturning detection part is provided with a fruit-separating part with or without damage, and the fruit-separating part with or without damage includes a third frame (16), and the top of the third frame (16) is provided with a fruit-separating conveyor. Assembly (6), the top of the fruit dividing conveying assembly (6) is provided with a fruit dividing mechanism (8), and the right end of the front side of the third frame (16) is provided with three driving components (9). 2. An apple internal damage detection device according to claim 1, characterized in that: the conveying mechanism (2) comprises a first conveyor belt (204), and the left side of the inner cavity of the first conveyor belt (204) is provided There is a first input shaft one (207), the front and rear sides of the first conveyor belt (204) are provided with a first bearing one (206), the first bearing one (206) and the first input shaft one (207) ) are connected, the lower surfaces of the two sets of first bearings (206) are provided with a bearing gantry (201), and the lower surface of the bearing gantry (201) is fixedly connected with the first frame (1), A first rotating shaft (205) is disposed on the right side of the inner cavity of the first conveyor belt (204), and a first bearing two (203) is disposed on both the front and rear ends of the outer wall of the first rotating shaft (205). The front and rear ends of the outer wall of the rotating shaft (205) are connected with a first side plate (202) through a first bearing two (203), and the first side plate (202) is located between the first conveyor belt (204) and the first bearing one (203). 206), and the first side plate (202) is movably sleeved on the first input shaft one (207). 3. An apple internal damage detection device according to claim 1, characterized in that: the single fruit sorting mechanism (3) comprises a single fruit sorting board (302), and the single fruit sorting board (302) is far away from the first conveyor belt ( One end of 204) is fixed with a positioning strip (301), the positioning strip (301) is fixed to the first frame (1) by bolts, and the single fruit sorting plate (302) is close to the first conveyor belt (204) The lower surface of one end of the ) is correspondingly fixed to the first side plate (202), the upper surface of the single fruit sorting plate (302) is provided with ribs (303) at equal intervals from left to right, and the single fruit sorting mechanism on the front side is provided with ribs (303). The ribs (303) on the single fruit sorting board (302) in (3) are staggered with the ribs (303) on the single fruit sorting board (302) in the single fruit sorting mechanism (3) on the rear side. 4. An apple internal damage detection device according to claim 1, characterized in that: the driving component one (4) comprises a first motor (402), and the left power output of the first motor (402) is The end is provided with a first large gear one (403), the top of the first large gear one (403) is meshed with a first pinion one (401), and the first pinion one (401) is located on the first input shaft. One (207) on. 5. An apple internal damage detection device according to claim 1, wherein the number of the rolling mechanisms (5) is 24 groups, the rolling mechanism (5) comprises a roller (502), and the rolling mechanism (5) comprises a roller (502). The roller (502) is movably engaged with the side rail housing (10), and rollers (501) are symmetrically arranged on the front and rear sides of the outer wall of the roller (502). 6. An apple internal damage detection device according to claim 1, characterized in that: the fruit dividing conveying assembly (6) comprises a second conveyor belt (607), and the inner cavity of the second conveyor belt (607) has a right A second input shaft one (606) is provided on the side, and the front and rear ends of the outer wall of the second input shaft one (606) are provided with a third bearing one (605), and the third bearing one (605) is fixed by bolts Installed on the third frame (16), the left and right sides of the second conveyor belt (607) are symmetrically provided with support gantry (601), and the front and rear sides of the second conveyor belt (607) are symmetrically provided with a second conveyor belt (607). A side plate (604), the second side plate (604) is fixedly connected between the two sets of supporting door frames (601), and the bottom of the second side plate (604) is fixedly connected to the third frame (16) , the second side plate (604) is movably sleeved with the second input shaft one (606), the left side of the inner cavity of the second conveyor belt (607) is provided with a second rotating shaft (602), the second Two second bearings (603) are provided on the front and rear ends of the outer wall of the rotating shaft (602), and the second rotating shaft (602) is connected with the second side plate (604) through the second bearing (603). 7. An apple internal damage detection device according to claim 1, characterized in that: the second drive assembly (7) comprises a second motor (702), and the rear side power output of the second motor (702) The end is provided with a second pinion (703), the top of the second pinion (703) is meshed with a second gear (701), the second gear (701) is installed on the left input shaft two (12) through the side rail on one end of the front side wall of the casing (10). 8. An apple internal damage detection device according to claim 1, characterized in that: the fruit dividing mechanism (8) comprises a dividing plate (805), and the left and right sides of the dividing plate (805) are symmetrical A right-angle frame (801) is fixed, and the right-angle frame (801) is fixedly connected with the supporting door frame (601) through bolts, and the front and rear sides of the partition plate (805) are symmetrically provided with mounting frames (803), A fourth motor (804) is installed on the bottom of the mounting frame (803), and the fourth motor (804) is located on the left side of the inner cavity of the partition plate (805), and the bottom of the fourth motor (804) outputs power The end is provided with a fruit picking board (802). 9. The device for detecting damage inside an apple according to claim 1, characterized in that: the drive assembly three (9) comprises a third motor (903), and the left power output of the third motor (903) is The end is provided with a second large gear one (902), the top of the second large gear one (902) is meshed with a second pinion one (901), and the second pinion one (901) is installed on the second input On axis one (606).

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